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Merged
jw098 merged 3 commits into from
Dec 24, 2025
+83 −65
Merged

Migrate olive program off TICKS_PER_SECOND. #920

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0dbc918
Migrate olive off TICKS_PER_SECOND.
Mysticial Dec 22, 2025
f39811c
Merge branch 'main' into olive-off-ticks
Mysticial Dec 22, 2025
02a914f
minor update
jw098 Dec 24, 2025
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76 changes: 43 additions & 33 deletions SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_OliveDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -247,41 +247,44 @@ ImageFloatBox OliveDetector::align_to_olive(

// todo: detect and handle case where olive is stuck.
// todo: detect and handle case where olive is slightly to the left, and so we need to move on to the next phase
uint16_t OliveDetector::push_olive_forward(
Milliseconds OliveDetector::push_olive_forward(
const ProgramInfo& info,
VideoStream& stream,
ProControllerContext& context,
double direction_facing,
uint16_t total_forward_distance,
uint16_t push_olive,
Milliseconds total_forward_distance,
Milliseconds push_olive,
uint8_t rgb_gap,
ImageFloatBox area_to_check,
bool throw_if_fail_change_dir
){
stream.log("push_olive_forward(): Total distance: " + std::to_string(total_forward_distance));
stream.log("push_olive_forward(): Total distance: " + std::to_string(total_forward_distance.count()) + "ms");
// uint16_t initial_push_olive = push_olive;
uint16_t ticks_walked = 0;
Milliseconds walked = 0ms;
size_t MAX_ATTEMPTS = 10;
for (size_t i = 0; i < MAX_ATTEMPTS; i++){
align_to_olive(info, stream, context, direction_facing, rgb_gap, area_to_check, throw_if_fail_change_dir);
ticks_walked += walk_up_to_olive(info, stream, context, direction_facing, rgb_gap, area_to_check);
walked += walk_up_to_olive(info, stream, context, direction_facing, rgb_gap, area_to_check);


if (ticks_walked >= total_forward_distance){
stream.log("Distance walked: " + std::to_string(ticks_walked) + "/" + std::to_string(total_forward_distance));
return ticks_walked;
if (walked >= total_forward_distance){
stream.log("Distance walked: " + std::to_string(walked.count()) + "/" + std::to_string(total_forward_distance.count()) + " ms");
return walked;
}

align_to_olive(info, stream, context, direction_facing, rgb_gap, area_to_check, throw_if_fail_change_dir);
// check location of olive before and after push
// if olive is approximately in the same location, then the olive is stuck. try moving backward and running forward again.
ImageFloatBox olive_box_1 = get_olive_floatbox(stream, context, rgb_gap, area_to_check);
for (size_t j = 0; j < 3; j++){
stream.log("Distance walked: " + std::to_string(ticks_walked) + "/" + std::to_string(total_forward_distance));
stream.log(
"Distance walked: " + std::to_string(walked.count()) +
"/" + std::to_string(total_forward_distance.count()) + " ms"
);
stream.log("Push the olive.");
pbf_move_left_joystick(context, 128, 0, push_olive, 7 * TICKS_PER_SECOND);
pbf_move_left_joystick(context, 128, 0, push_olive, 7000ms);

ticks_walked += push_olive;
walked += push_olive;
ImageFloatBox olive_box_2 = get_olive_floatbox(stream, context, rgb_gap, area_to_check);
double box_1_area = olive_box_1.width * olive_box_1.height;
double box_2_area = olive_box_2.width * olive_box_2.height;
Expand All @@ -294,8 +297,8 @@ uint16_t OliveDetector::push_olive_forward(
stream.log("Olive 1: area: " + std::to_string(box_1_area) + ", x: " + std::to_string(olive_box_1.x) + ", y: " + std::to_string(olive_box_1.y));
stream.log("Olive 2: area: " + std::to_string(box_2_area) + ", x: " + std::to_string(olive_box_2.x) + ", y: " + std::to_string(olive_box_2.y));
pbf_move_left_joystick(context, {0, -1}, 600ms, 800ms); // walk backwards
ticks_walked -= push_olive;
push_olive = 200; // run forward more on the next push
walked -= push_olive;
push_olive = 1600ms; // run forward more on the next push

if (j == 2){
throw_and_log<OliveActionFailedException>(
Expand All @@ -310,12 +313,18 @@ uint16_t OliveDetector::push_olive_forward(
}
}

if (ticks_walked > total_forward_distance){
stream.log("Distance walked: " + std::to_string(ticks_walked) + "/" + std::to_string(total_forward_distance));
return ticks_walked;
if (walked > total_forward_distance){
stream.log(
"Distance walked: " + std::to_string(walked.count()) +
"/" + std::to_string(total_forward_distance.count()) + " ms"
);
return walked;
}

stream.log("Distance walked: " + std::to_string(ticks_walked) + "/" + std::to_string(total_forward_distance));
stream.log(
"Distance walked: " + std::to_string(walked.count()) +
"/" + std::to_string(total_forward_distance.count()) + " ms"
);

}

Expand All @@ -328,50 +337,51 @@ uint16_t OliveDetector::push_olive_forward(

}

uint16_t OliveDetector::walk_up_to_olive(
Milliseconds OliveDetector::walk_up_to_olive(
const ProgramInfo& info,
VideoStream& stream,
ProControllerContext& context,
double direction_facing,
uint8_t rgb_gap,
ImageFloatBox area_to_check
){
uint16_t ticks_walked = 0;
Milliseconds walked = 0ms;
size_t MAX_ATTEMPTS = 20;
for (size_t i = 0; i < MAX_ATTEMPTS; i++){
ImageFloatBox olive_box = get_olive_floatbox(stream, context, rgb_gap, area_to_check);
std::pair<double, double> olive = box_center(olive_box);
// double olive_x = olive.first;
double olive_y = olive.second;

uint16_t scale_factor = 2000;
uint16_t push_duration = std::max(uint16_t((0.57 - olive_y)*(0.57 - olive_y) * scale_factor), uint16_t(20));
double scale_factor = 16000;
Milliseconds push_duration((int64_t)((0.57 - olive_y) * (0.57 - olive_y) * scale_factor));
push_duration = std::max(push_duration, 160ms);
stream.log("walk_up_to_olive(): olive_y: " + std::to_string(olive_y));
if (olive_y > 0.515){
return ticks_walked;
return walked;
}
stream.log("push duration: " + std::to_string(push_duration));
stream.log("push duration: " + std::to_string(push_duration.count()) + " ms");
// when push durations are low, the player moves less than expected
// once above 45, you walk about as much as expected
double walking_factor = 1;
if (push_duration <= 20){
if (push_duration <= 160ms){
walking_factor = 0.40;
}else if (push_duration <= 25){
}else if (push_duration <= 200ms){
walking_factor = 0.53;
}else if (push_duration <= 30){
}else if (push_duration <= 240ms){
walking_factor = 0.69;
}else if (push_duration <= 35){
}else if (push_duration <= 280ms){
walking_factor = 0.83;
}else if (push_duration <= 40){
}else if (push_duration <= 320ms){
walking_factor = 0.91;
}
ticks_walked += uint16_t(push_duration * walking_factor);
walked += Milliseconds((int64_t)(push_duration.count() * walking_factor));

uint16_t wait_ticks = 50;
Milliseconds wait = 400ms;
if (olive_y > 0.4){
wait_ticks = 100;
wait = 800ms;
}
pbf_move_left_joystick(context, 128, 0, push_duration, wait_ticks);
pbf_move_left_joystick(context, 128, 0, push_duration, wait);
}

throw_and_log<OliveActionFailedException>(
Expand Down
10 changes: 5 additions & 5 deletions SerialPrograms/Source/PokemonSV/Inference/Overworld/PokemonSV_OliveDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,19 +55,19 @@ class OliveDetector {
// move forward a certain number of ticks, as per total_forward_distance
// always face a certain direction, as per direction_facing
// return number of ticks walked
uint16_t push_olive_forward(
Milliseconds push_olive_forward(
const ProgramInfo& info,
VideoStream& stream,
ProControllerContext& context,
double direction_facing,
uint16_t total_forward_distance,
uint16_t push_olive = 75,
double direction_facing,
Milliseconds total_forward_distance,
Milliseconds push_olive = Milliseconds(600),
uint8_t rgb_gap = 20,
ImageFloatBox area_to_check = {0, 0.3, 1.0, 0.40}, // {0, 0.15, 1, 0.7}
bool throw_if_fail_change_dir = true
);

uint16_t walk_up_to_olive(
Milliseconds walk_up_to_olive(
const ProgramInfo& info,
VideoStream& stream,
ProControllerContext& context,
Expand Down
62 changes: 35 additions & 27 deletions SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStory_Segment_11.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -268,11 +268,11 @@ void checkpoint_26(
pbf_move_left_joystick(context, 128, 0, 400, 50);
OliveDetector green(env.console);
size_t MAX_ATTEMPTS_SECTION_1 = 2;
uint16_t ticks_to_walk_for_section1 = 650;
uint16_t push_strength_section_1 = 75;
Milliseconds duration_to_walk_for_section1 = 5200ms;
Milliseconds push_strength_section_1 = 600ms;
for (size_t i = 0; i < MAX_ATTEMPTS_SECTION_1; i++){
try{
green.push_olive_forward(env.program_info(), env.console, context, 4.38, ticks_to_walk_for_section1, push_strength_section_1);
green.push_olive_forward(env.program_info(), env.console, context, 4.38, duration_to_walk_for_section1, push_strength_section_1);
// green.align_to_olive(env.program_info(), env.console, context, 4.38);
green.walk_up_to_olive(env.program_info(), env.console, context, 4.38);
break;
Expand All @@ -290,8 +290,8 @@ void checkpoint_26(
pbf_move_left_joystick(context, {0, -1}, 1600ms, 400ms);
pbf_wait(context, 5000ms);
context.wait_for_all_requests();
ticks_to_walk_for_section1 = 100;
push_strength_section_1 = 50;
duration_to_walk_for_section1 = 800ms;
push_strength_section_1 = 400ms;
}else{ // FAILED_PUSH_OLIVE_TOTAL_DISTANCE
throw e;
}
Expand All @@ -315,7 +315,7 @@ void checkpoint_26(
size_t MAX_ATTEMPTS_SECTION_2_1 = 2;
for (size_t i = 0; i < MAX_ATTEMPTS_SECTION_2_1; i++){
try{
green.push_olive_forward(env.program_info(), env.console, context, 5.95, 50, 50);
green.push_olive_forward(env.program_info(), env.console, context, 5.95, 400ms, 400ms);
break;
}catch (OliveActionFailedException& e){
if (i >= MAX_ATTEMPTS_SECTION_2_1-1){
Expand Down Expand Up @@ -350,7 +350,7 @@ void checkpoint_26(
// uint16_t ticks_walked_section2_2 = 0;
for (size_t i = 0; i < MAX_ATTEMPTS_SECTION_2_2; i++){
try{
green.push_olive_forward(env.program_info(), env.console, context, 5.8, 250, 50);
green.push_olive_forward(env.program_info(), env.console, context, 5.8, 2000ms, 400ms);
break;
}catch (OliveActionFailedException& e){
if (i >= MAX_ATTEMPTS_SECTION_2_2-1){
Expand All @@ -364,7 +364,7 @@ void checkpoint_26(
// push olive parallel to fence
green.align_to_olive(env.program_info(), env.console, context, 4.28, 20);
green.walk_up_to_olive(env.program_info(), env.console, context, 4.28);
green.push_olive_forward(env.program_info(), env.console, context, 4.28, 100);
green.push_olive_forward(env.program_info(), env.console, context, 4.28, 800ms);
green.align_to_olive(env.program_info(), env.console, context, 4.28, 20);
green.walk_up_to_olive(env.program_info(), env.console, context, 4.28);
// back off
Expand Down Expand Up @@ -399,11 +399,11 @@ void checkpoint_26(
pbf_move_left_joystick(context, {0, -1}, 4000ms, 400ms);

// section 2.3 push olive past first NPC
uint16_t ticks_to_walk_for_section2_3 = 950;
Milliseconds duration_to_walk_for_section2_3 = 7600ms;
size_t MAX_ATTEMPTS = 2;
for (size_t i = 0; i < MAX_ATTEMPTS; i++){
try{
green.push_olive_forward(env.program_info(), env.console, context, 5.95, ticks_to_walk_for_section2_3, 75, 10);
green.push_olive_forward(env.program_info(), env.console, context, 5.95, duration_to_walk_for_section2_3, 600ms, 10);
// green.align_to_olive(env.program_info(), env.console, context, 5.95, 10);
green.walk_up_to_olive(env.program_info(), env.console, context, 5.95, 10);
break;
Expand Down Expand Up @@ -438,11 +438,18 @@ void checkpoint_26(
pbf_move_left_joystick(context, 128, 0, 400ms, 400ms);

// section 3.1 push olive across the hump
uint16_t ticks_to_walk_for_section3_1 = 350;
uint16_t ticks_walked_section3_1 = 0;
Milliseconds duration_to_walk_for_section3_1 = 2800ms;
Milliseconds duration_walked_section3_1 = 0ms;
for (size_t i = 0; i < MAX_ATTEMPTS; i++){
try{
ticks_walked_section3_1 = green.push_olive_forward(env.program_info(), env.console, context, 1.27, ticks_to_walk_for_section3_1, 125);
duration_walked_section3_1 = green.push_olive_forward(
env.program_info(),
env.console,
context,
1.27,
duration_to_walk_for_section3_1,
1000ms
);
break;
}catch (OliveActionFailedException& e){
// may have failed to push the olive past the hump. and walked past it
Expand All @@ -455,14 +462,14 @@ void checkpoint_26(
pbf_move_left_joystick(context, 128, 0, 400ms, 400ms); // move forward slight in case the olive is undetectable since it's right in front of the character
pbf_wait(context, 5000ms);
context.wait_for_all_requests();
ticks_to_walk_for_section3_1 = 200;
duration_to_walk_for_section3_1 = 1600ms;
}else if (e.m_fail_reason == OliveFail::FAILED_WALK_TO_OLIVE || e.m_fail_reason == OliveFail::OLIVE_STUCK){
// try moving back and then ramming forward
pbf_move_left_joystick(context, {0, -1}, 400ms, 400ms);
pbf_move_left_joystick(context, 128, 0, 150, 50);
pbf_wait(context, 7000ms);
context.wait_for_all_requests();
ticks_to_walk_for_section3_1 = 200;
duration_to_walk_for_section3_1 = 1600ms;
}else{ // FAILED_PUSH_OLIVE_TOTAL_DISTANCE,
throw e;
}
Expand All @@ -472,14 +479,14 @@ void checkpoint_26(


// section 3.2 push olive across the hump and into fence
uint16_t total_ticks_to_walk_for_section3 = 550;
uint16_t ticks_to_walk_for_section3_2 = 0;
if (ticks_walked_section3_1 < total_ticks_to_walk_for_section3){
ticks_to_walk_for_section3_2 = (total_ticks_to_walk_for_section3 - ticks_walked_section3_1);
Milliseconds total_duration_to_walk_for_section3 = 4400ms;
Milliseconds duration_to_walk_for_section3_2 = 0ms;
if (duration_walked_section3_1 < total_duration_to_walk_for_section3){
duration_to_walk_for_section3_2 = (total_duration_to_walk_for_section3 - duration_walked_section3_1);
}
for (size_t i = 0; i < MAX_ATTEMPTS; i++){
try{
green.push_olive_forward(env.program_info(), env.console, context, 1.27, ticks_to_walk_for_section3_2, 125);
green.push_olive_forward(env.program_info(), env.console, context, 1.27, duration_to_walk_for_section3_2, 1000ms);
pbf_move_left_joystick(context, {0, -1}, 800ms, 400ms);
green.align_to_olive(env.program_info(), env.console, context, 1.27);
green.walk_up_to_olive(env.program_info(), env.console, context, 1.27);
Expand All @@ -493,7 +500,7 @@ void checkpoint_26(
pbf_move_left_joystick(context, {0, -1}, 1600ms, 400ms);
pbf_wait(context, 7000ms);
context.wait_for_all_requests();
ticks_to_walk_for_section3_2 += 200;
duration_to_walk_for_section3_2 += 1600ms;
}else if (e.m_fail_reason == OliveFail::FAILED_WALK_TO_OLIVE || e.m_fail_reason == OliveFail::OLIVE_STUCK){
// try moving back and then ramming forward
pbf_move_left_joystick(context, {0, -1}, 400ms, 400ms);
Expand All @@ -519,7 +526,7 @@ void checkpoint_26(
try{
green.align_to_olive(env.program_info(), env.console, context, 6.0);
green.walk_up_to_olive(env.program_info(), env.console, context, 6.0);
green.push_olive_forward(env.program_info(), env.console, context, 6.0, 50, 50);
green.push_olive_forward(env.program_info(), env.console, context, 6.0, 400ms, 400ms);
break;
}catch (OliveActionFailedException& e){
// may have failed to push the olive. and walked past it
Expand Down Expand Up @@ -547,10 +554,10 @@ void checkpoint_26(
[&](ProControllerContext& context){
for (size_t i = 0; i < MAX_ATTEMPTS_SECTION_4; i++){
try{
green.push_olive_forward(env.program_info(), env.console, context, 6.0, 250, 75, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 5.8, 100, 75, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 6.0, 200, 75, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 6.1, 200, 75, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 6.0, 2000ms, 600ms, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 5.8, 800ms, 600ms, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 6.0, 1600ms, 600ms, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 6.1, 1600ms, 600ms, 20, {0, 0.3, 1.0, 0.40}, false);
break;
}catch (OliveActionFailedException& e){
// may have failed to push the olive. and walked past it
Expand All @@ -565,7 +572,7 @@ void checkpoint_26(
pbf_wait(context, 7000ms);
context.wait_for_all_requests();
// then push angled towards the right
green.push_olive_forward(env.program_info(), env.console, context, 5.8, 100, 75, 20, {0, 0.3, 1.0, 0.40}, false);
green.push_olive_forward(env.program_info(), env.console, context, 5.8, 800ms, 600ms, 20, {0, 0.3, 1.0, 0.40}, false);
}else{ // FAILED_PUSH_OLIVE_TOTAL_DISTANCE,
throw e;
}
Expand Down Expand Up @@ -623,3 +630,4 @@ void checkpoint_27(
}
}
}