やわらかいゴールの作り方

# MIT License
# 
# Copyright (c) 2026 Pyxel 100 contributors
# 
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# 
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# 
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
# 
# The bundled Noto-derived bitmap glyphs are separately licensed under SIL OFL.
# See assets/NOTO-LICENSE.txt.
# 教材画面はASCIIとオリジナル図形のみ。Noto字形データは使いません。

"""やわらかいゴール・教材1/5。説明と簡略化の範囲はLESSON.md。"""
from dataclasses import dataclass, field, asdict
import math
import json
import hashlib

# 位置px、速度px/s、角度degree。入力30Hz、物理120Hz。重力は加えない。
DT = 1 / 120
EPS = 1e-9
RADIUS = 3.0
ORIGINS = (32., 64., 96.)

@dataclass(frozen=True)
class Level:
    title: str
    goal: float
    direction: int
    speed: float
    blocks: tuple = ()

# 原作Cを一つ選ぶ。上向きに逃げ、下側に小さな衝立がある。
LEVEL = Level('待ってから戻る', 88., -1, 22., ((136., 82., 148., 94.),))

@dataclass
class Flight:
    x: float
    y: float
    vx: float
    vy: float
    status: str = 'flying'
    ticks: int = 0
    trail: list = field(default_factory=list)
    @property
    def pos(self):
        return self.x, self.y


def launch(level, origin, angle, power, moving=False, record=True):
    if origin not in (0, 1, 2) or not all(math.isfinite(v) for v in (angle, power)):
        raise ValueError('invalid launch')
    if not -75 <= angle <= 75 or not 20 <= power <= 100:
        raise ValueError('launch outside UI range')
    speed = 50 + (power - 20) * 70 / 80
    a = math.radians(angle)
    f = Flight(24., ORIGINS[origin], speed * math.cos(a), speed * math.sin(a))
    f.trail = [f.pos]
    return f


def physics(level, f):
    if f.status != 'flying':
        return f
    f.x += f.vx * DT
    f.y += f.vy * DT
    f.ticks += 1
    if f.ticks % 4 == 0:
        f.trail.append(f.pos)
    # 教材1だけの回収条件。まだ壁も得点もない。
    if not 0 <= f.x <= 190 or not 0 <= f.y <= 128 or f.ticks >= 720:
        f.status = 'collected'
    return f


@dataclass(frozen=True)
class Input:
    pressed: tuple = ()
    held: tuple = ()

@dataclass
class Game:
    origin: int = 1
    angle: float = 0.
    mode: str = 'aim'
    power: float = 20.
    charging: bool = False
    require_release: bool = True
    attempts: int = 0
    flight: Flight | None = None


def fresh():
    return Game()


def frame(s, i=Input()):
    p, h = set(i.pressed), set(i.held)
    if 'R' in p:
        return fresh()
    if s.require_release:
        if 'SPACE' not in h:
            s.require_release = False
        space = False
    else:
        space = 'SPACE' in p
    if s.mode == 'flying':
        for _ in range(4):
            physics(LEVEL, s.flight)
        if s.flight.status != 'flying':
            s.mode = 'result'
        return s
    if s.mode == 'result':
        if space:
            s.flight = None
            s.mode = 'aim'
            s.power = 20.
            s.require_release = True
        return s
    s.angle = max(-75., min(75., s.angle + 2 * ('RIGHT' in h) - 2 * ('LEFT' in h)
                            + .4 * ('DOWN' in h) - .4 * ('UP' in h)))
    if space:
        s.charging = True
        s.power = 20.
        return s
    if s.charging:
        if 'SPACE' in h:
            s.power = min(100., s.power + 80 / 21)
        else:
            s.flight = launch(LEVEL, s.origin, s.angle, s.power)
            s.attempts += 1
            s.charging = False
            s.mode = 'flying'
    return s


def state_hash(s):
    return hashlib.sha256(json.dumps(asdict(s),sort_keys=True,separators=(',',':'),ensure_ascii=False).encode('utf-8')).hexdigest()

STAGE = 1
STAGE_TITLE = 'CHARGE + RELEASE'
CONTROLS = ('LEFT', 'RIGHT', 'UP', 'DOWN', 'SPACE', 'R')

class Controller:
    def __init__(self):
        self.state = fresh()

    def tick(self, pressed=(), held=()):
        pressed = tuple(k for k in pressed if k in CONTROLS)
        held = tuple(k for k in held if k in CONTROLS)
        self.state = frame(self.state, Input(pressed, held))

    def snapshot(self):
        return {'state': asdict(self.state), 'hash': state_hash(self.state)}


def draw_board(pyxel, controller):
    s = controller.state
    f = s.flight
    g = getattr(f, 'g', LEVEL.goal)
    pyxel.cls(1)
    pyxel.text(12, 10, f'FLEEING GOAL 016 / STEP {STAGE}', 10)
    pyxel.text(12, 24, STAGE_TITLE, 7)
    ox, oy, scale = 10, 44, 2
    def point(x, y):
        return ox+x*scale, oy+y*scale
    def line(a, b, color):
        pyxel.line(*point(*a), *point(*b), color)
    pyxel.rect(26, 68, 352, 208, 0)
    for x in range(16, 184, 12):
        line((x, 12), (x, 116), 1)
    if STAGE >= 2:
        line((8, 12), (176, 12), 7)
        line((8, 116), (176, 116), 7)
        line((8, 12), (8, 116), 13)
        for x,y,z,w in LEVEL.blocks:
            pyxel.rect(*point(x,y), (z-x)*2, (w-y)*2, 4)
            pyxel.rectb(*point(x,y), (z-x)*2, (w-y)*2, 9)
        line((176, 12), (176, g-12), 7)
        line((176, g+12), (176, 116), 7)
        line((176, g-12), (187, g-12), 7)
        line((176, g+12), (187, g+12), 7)
        line((187, g-12), (187, g+12), 6)
        line((191, 28), (191, 100), 5)
    if STAGE >= 3:
        for y in range(12,116,5):
            line((88,y),(88,y+2),10)
        pyxel.text(194, 72, 'SENSE x > 88', 10)
        if f and f.sensed:
            x,y=f.sensed
            pyxel.circb(*point(x,y),8,10)
            line((x,y),(176,g),5)
        if f:
            direction=f.direction
            line((193,g),(193,g+direction*8),10)
            line((193,g+direction*8),(191,g+direction*5),10)
            line((193,g+direction*8),(195,g+direction*5),10)
    if getattr(s,'previous',None):
        for a,b in zip(s.previous.trail,s.previous.trail[1:]):line(a,b,5)
    if f:
        for a,b in zip(f.trail,f.trail[1:]):line(a,b,6)
        pyxel.circ(*point(f.x,f.y),6,10 if f.status=='scored' else 7)
        pyxel.circb(*point(f.x,f.y),6,0)
    else:
        for k,y in enumerate(ORIGINS):
            if STAGE==1 and k!=1:continue
            pyxel.circb(*point(24,y),9,10 if k==s.origin else 5)
        x,y=24,ORIGINS[s.origin]
        a=math.radians(s.angle)
        line((x,y),(x+20*math.cos(a),y+20*math.sin(a)),10)
        pyxel.circ(*point(x,y),6,10 if s.charging else 7)
    lines=[('MODE',s.mode.upper(),10),('ANGLE',f'{s.angle:+.1f} deg',7),
           ('POWER',f'{s.power:.2f}',10),('ATTEMPTS',str(s.attempts),7),
           ('PHYSICS TICK',str(f.ticks if f else 0),6)]
    if f:lines += [('BALL',f.status.upper(),7)]
    if STAGE>=2:lines += [('GOAL Y',f'{g:.3f}',7),('BOUNCES',str(f.bounces if f else 0),6)]
    if STAGE>=3:lines += [('DELAY','18 ticks = 0.15 s',10),('SENSE',str(bool(f and f.sensing)),7),
                          ('DIRECTION',str(f.direction if f else LEVEL.direction),10)]
    if STAGE>=4:lines += [('GOAL SPEED',f'{f.gv if f else 0:.3f} px/s',6),
                          ('MEMORY',str(f.memory_ticks if f else 0),6)]
    for n,(label,value,color) in enumerate(lines):
        pyxel.text(410,48+n*16,label,13)
        pyxel.text(497,48+n*16,value,color)
    pyxel.rectb(30,298,346,12,6)
    pyxel.rect(32,300,(s.power-20)/80*342,8,10)
    pyxel.text(12, 322, 'ARROWS: aim / fine adjust   SPACE: press, hold, release   R: reset', 7)
    pyxel.text(12, 337, 'One UI frame = 4 physics ticks. Speed is px/s. No gravity.', 6)
    notes={1:'LAB: charge + straight motion. No walls, goal, selection, or pause.',
           2:'LAB: static original C. Swept collisions + reflection; no sensor / AI.',
           3:'LAB: old-ball observation + policy arrow. Goal action is still disabled.',
           4:'Original C physics. Bottom +28 deg, power 20: try a slow wall return.',
           5:'Original C + title/pause. P: pause  Z: select again. R beats P.'}
    pyxel.text(12,353,notes[STAGE],10)
    pyxel.text(12,369,'SELECT: LEFT/RIGHT then SPACE; release SPACE before starting charge.' if STAGE>=2
               else 'After reset/retry: release SPACE first. Short tap gives power 20.',7)
    pyxel.text(12,385,'WHITE: solid posts/walls  BROWN: block  YELLOW RING: old observed ball' if STAGE>=2
               else 'Hold 21 more UI frames after the new press for maximum power.',13)
    if getattr(controller,'title',False):
        pyxel.rect(50,113,322,110,1);pyxel.rectb(50,113,322,110,10)
        pyxel.text(72,132,'FLEEING GOAL / ORIGINAL CASE C',10)
        pyxel.text(72,152,'Can a slow ball beat a fleeing goal?',7)
        pyxel.text(72,173,'The goal sees only an old ball position.',6)
        pyxel.text(72,200,'SPACE: start, then release once',10)
    elif getattr(s,'paused',False):
        pyxel.rect(70,150,292,42,1);pyxel.rectb(70,150,292,42,10)
        pyxel.text(88,165,'PAUSED: physics + AI + history frozen',10)
    elif s.mode in ('result','won'):
        pyxel.rect(42,154,334,43,1);pyxel.rectb(42,154,334,43,10)
        pyxel.text(56,165,'SCORED! / R: reset same case' if s.mode=='won' else 'RESULT: '+f.status.upper(),10)
        if s.mode!='won':pyxel.text(56,182,'SPACE: retry aim / Z: select position' if STAGE>=2 else 'SPACE: retry aim',7)


def demo_keys(controller, frame_number):
    """技術QA用の一定入力。AIへの未来情報ではなくプレイヤーの操作列。"""
    # 05は最初の2フレームでタイトルを抜ける。他は直接開始。
    if STAGE==5:
        if frame_number==1:return ('SPACE',)
        frame_number-=2
    if STAGE==1:
        if 2<=frame_number<=23:return ('SPACE',)
        return ()
    # 下を選択し、28度を14入力フレームで作り、最弱で放す。
    if frame_number==2:return ('RIGHT',)
    if frame_number==4:return ('SPACE',)
    if 6<=frame_number<=19:return ('RIGHT',)
    if frame_number==21:return ('SPACE',)
    return ()


def main(headless=False, frames=180, demo=False, replay=None, screenshot=None, report=None):
    from pathlib import Path
    import pyxel  # モデルのimportと標準ライブラリテストには不要。
    controller=Controller()
    codes={name:getattr(pyxel,'KEY_'+name) for name in CONTROLS}
    frame_number=0
    old_held=set()
    changes=[]
    screenshot=str(Path(screenshot).resolve()) if screenshot else None
    report=str(Path(report).resolve()) if report else None
    def update():
        nonlocal frame_number,old_held
        frame_number+=1
        if headless:
            if replay is not None:
                held=set(replay[frame_number-1]) if frame_number<=len(replay) else set()
            else:
                held=set(demo_keys(controller,frame_number) if demo else ())
            pressed=held-old_held
            old_held=held
        else:
            held={name for name,code in codes.items() if pyxel.btn(code)}
            pressed={name for name,code in codes.items() if pyxel.btnp(code)}
        old_mode=controller.state.mode
        controller.tick(pressed,held)
        if pressed or controller.state.mode!=old_mode:
            changes.append({'frame':frame_number,'pressed':sorted(pressed),'held':sorted(held),
                            'mode':controller.state.mode,'hash':state_hash(controller.state)})
    def draw():
        draw_board(pyxel,controller)
        if headless and frame_number>=frames:
            if screenshot:pyxel.screenshot(screenshot,scale=1)
            if report:
                Path(report).write_text(json.dumps({'label':'Actual Pyxel headless; synthetic controller inputs; silent; not human play',
                    'stage':STAGE,'requested_frames':frames,'actual_frames':frame_number,'demo':demo,
                    'changes':changes,'snapshot':controller.snapshot()},ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
            pyxel.quit()
    pyxel.init(630,406,title=f'Fleeing Goal / Step {STAGE}',fps=30,headless=headless)
    pyxel.run(update,draw)


if __name__=='__main__':
    import argparse
    from pathlib import Path
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--headless',action='store_true')
    parser.add_argument('--frames',type=int,default=180)
    parser.add_argument('--demo',action='store_true')
    parser.add_argument('--replay-json',help='UTF-8 JSON list of held-key lists, one per UI frame')
    parser.add_argument('--screenshot',help='PNG output; headless only; relative to current directory')
    parser.add_argument('--report',help='UTF-8 JSON output; headless only')
    args=parser.parse_args()
    if not 12<=args.frames<=100000:parser.error('Use 12 through 100000 frames')
    if not args.headless and (args.demo or args.replay_json or args.screenshot or args.report):
        parser.error('QA input/output options require --headless')
    if args.demo and args.replay_json:parser.error('Choose demo or replay, not both')
    replay=None
    if args.replay_json:
        try:replay=json.loads(Path(args.replay_json).read_text(encoding='utf-8'))
        except (OSError,ValueError) as error:parser.error(str(error))
        if not isinstance(replay,list) or any(not isinstance(keys,list) or any(not isinstance(k,str) or k not in CONTROLS for k in keys) for keys in replay):
            parser.error('Replay must be a list of lists of supported key names')
    main(args.headless,args.frames,args.demo,replay,args.screenshot,args.report)

# MIT License
# 
# Copyright (c) 2026 Pyxel 100 contributors
# 
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# 
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# 
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
# 
# The bundled Noto-derived bitmap glyphs are separately licensed under SIL OFL.
# See assets/NOTO-LICENSE.txt.
# 教材画面はASCIIとオリジナル図形のみ。Noto字形データは使いません。

"""やわらかいゴール・教材2/5。説明と簡略化の範囲はLESSON.md。"""
from dataclasses import dataclass, field, asdict
import math
import json
import hashlib

# 位置px、速度px/s、角度degree。入力30Hz、物理120Hz。重力は加えない。
DT = 1 / 120
EPS = 1e-9
RADIUS = 3.0
ORIGINS = (32., 64., 96.)

@dataclass(frozen=True)
class Level:
    title: str
    goal: float
    direction: int
    speed: float
    blocks: tuple = ()

# 原作Cを一つ選ぶ。上向きに逃げ、下側に小さな衝立がある。
LEVEL = Level('待ってから戻る', 88., -1, 22., ((136., 82., 148., 94.),))

def ray_box(p,d,b):
    lo=0.;hi=1.
    for axis in (0,1):
        if abs(d[axis])<EPS:
            if not b[axis]-EPS<=p[axis]<=b[axis+2]+EPS:return None
        else:
            a=(b[axis]-p[axis])/d[axis];z=(b[axis+2]-p[axis])/d[axis]
            lo=max(lo,min(a,z));hi=min(hi,max(a,z))
            if lo>hi+EPS:return None
    return max(0.,lo) if lo<=1+EPS and hi>=0 else None

def ray_circle(p,d,c,r=RADIUS):
    q=(p[0]-c[0],p[1]-c[1]);a=d[0]*d[0]+d[1]*d[1]
    cc=q[0]*q[0]+q[1]*q[1]-r*r
    if cc<=EPS:return 0.
    if a<EPS:return None
    b=2*(q[0]*d[0]+q[1]*d[1]);disc=b*b-4*a*cc
    if disc<0:return None
    t=(-b-math.sqrt(max(0,disc)))/(2*a)
    return t if -EPS<=t<=1+EPS else None

def circle_box(p,d,b):
    x,y,z,w=b
    hits=[ray_box(p,d,(x-RADIUS,y,z+RADIUS,w)),ray_box(p,d,(x,y-RADIUS,z,w+RADIUS))]
    hits += [ray_circle(p,d,c) for c in ((x,y),(x,w),(z,y),(z,w))]
    return min((h for h in hits if h is not None),default=None)

def gate_hit(p,d,g,dg):
    """Moving posts, treated as capsules. y is transformed into gate-relative space."""
    q=(p[0],p[1]-g);v=(d[0],d[1]-dg)
    hits=[ray_box(q,v,(173.,-1000.,179.,-12.)),ray_box(q,v,(173.,12.,179.,1000.)),
          ray_circle(q,v,(176.,-12.)),ray_circle(q,v,(176.,12.))]
    return min((h for h in hits if h is not None),default=None)

@dataclass
class Flight:
    x:float
    y:float
    vx:float
    vy:float
    g:float
    direction:int
    gv:float=0.
    status:str='flying'
    ticks:int=0
    bounces:int=0
    trail:list=field(default_factory=list)
    goal_trail:list=field(default_factory=list)
    first_contact_goal:float|None=None
    moving:bool=True
    record:bool=True
    @property
    def age(self):return self.ticks*DT
    @property
    def pos(self):return self.x,self.y

def launch(level,origin,angle,power,moving=True,record=True):
    if origin not in (0,1,2) or not all(math.isfinite(v) for v in (angle,power)):raise ValueError('invalid launch')
    if not -75<=angle<=75 or not 20<=power<=100:raise ValueError('launch outside UI range')
    speed=50+(power-20)*70/80;a=math.radians(angle)
    f=Flight(24.,ORIGINS[origin],speed*math.cos(a),speed*math.sin(a),level.goal,level.direction,moving=moving,record=record)
    if record:f.trail=[f.pos];f.goal_trail=[f.g]
    return f

def physics(level, f):
    if f.status != 'flying':
        return f
    oldg, dg = f.g, 0.  # 教材2/3は静止ゴール。
    remain=1.;elapsed=0.
    for _ in range(4):
        d=(f.vx*DT*remain,f.vy*DT*remain);p=f.pos
        hits=[]
        for i,b in enumerate(level.blocks):
            t=circle_box(p,d,b)
            if t is not None:hits.append((t,0,'block'))
        h=gate_hit(p,d,oldg+dg*elapsed,dg*remain)
        if h is not None:hits.append((h,0,'post'))
        for boundary,axis,sense,name in ((15.,1,-1,'top'),(113.,1,1,'bottom'),(11.,0,-1,'left'),(179.,0,1,'goal')):
            if d[axis]*sense>EPS:
                t=(boundary-p[axis])/d[axis]
                if -EPS<=t<=1+EPS:hits.append((max(0.,t),1 if name=='goal' else 0,name))
        if not hits:
            f.x+=d[0];f.y+=d[1];break
        t,_,reason=min(hits,key=lambda h:(round(h[0],10),h[1],h[2]))
        f.x+=d[0]*t;f.y+=d[1]*t;elapsed+=remain*t;remain*=1-t
        if f.record:f.trail.append(f.pos)
        if reason in ('top','bottom'):
            f.vy=-f.vy;f.bounces+=1;f.y+=.01 if reason=='top' else -.01
            if remain<EPS:break
        else:
            f.status='scored' if reason=='goal' else reason
            f.first_contact_goal=oldg+dg*elapsed;f.g=f.first_contact_goal
            break
    f.ticks+=1
    if f.record and (f.ticks%4==0 or f.status!='flying'):
        f.trail.append(f.pos);f.goal_trail.append(f.g)
    if f.status=='flying' and f.ticks>=720:f.status='timeout'
    return f

def simulate(level,origin,angle,power,moving=True,record=False):
    f=launch(level,origin,angle,power,moving,record)
    while f.status=='flying':physics(level,f)
    return f

@dataclass(frozen=True)
class Input:
    pressed:tuple=()
    held:tuple=()
@dataclass
class Game:
    level:int=2
    origin:int=1
    angle:float=0.
    mode:str='select'
    paused:bool=False
    power:float=20.
    charging:bool=False
    require_release:bool=True
    attempts:int=0
    flight:Flight|None=None
    previous:Flight|None=None
    moving:bool=True

def fresh(level=2,moving=True):return Game(level=level,moving=moving)
def frame(s,i=Input()):
    p=set(i.pressed);h=set(i.held)
    if 'R' in p:return fresh(s.level,s.moving)
    if s.require_release:
        if 'SPACE' not in h:s.require_release=False
        space=False
    else:space='SPACE' in p
    if s.mode=='won':
        return s
    if s.mode=='select':
        if 'LEFT' in p:s.origin=(s.origin-1)%3
        if 'RIGHT' in p:s.origin=(s.origin+1)%3
        if space:s.mode='aim';s.require_release=True
        return s
    if s.mode=='flying':
        for _ in range(4):physics(LEVEL,s.flight)
        if s.flight.status!='flying':s.mode='won' if s.flight.status=='scored' else 'result'
        return s
    if 'Z' in p:
        s.previous=s.flight;s.flight=None;s.mode='select';s.charging=False;s.power=20.;s.require_release=True
        return s
    if s.mode=='result':
        if space:
            s.previous=s.flight;s.flight=None;s.mode='aim';s.power=20.;s.require_release=True
        return s
    s.angle=max(-75.,min(75.,s.angle+2*('RIGHT'in h)-2*('LEFT'in h)+.4*('DOWN'in h)-.4*('UP'in h)))
    if space:
        s.charging=True;s.power=20.
        return s
    if s.charging:
        if 'SPACE' in h:s.power=min(100.,s.power+80/21)
        else:
            s.flight=launch(LEVEL,s.origin,s.angle,s.power,s.moving)
            s.attempts+=1;s.charging=False;s.mode='flying'
    return s

def state_hash(s):
    return hashlib.sha256(json.dumps(asdict(s),sort_keys=True,separators=(',',':'),ensure_ascii=False).encode('utf-8')).hexdigest()

STAGE = 2
STAGE_TITLE = 'SWEPT CONTACT + WALL BOUNCE'
CONTROLS = ('LEFT', 'RIGHT', 'UP', 'DOWN', 'SPACE', 'R', 'Z')

class Controller:
    def __init__(self):
        self.state = fresh()

    def tick(self, pressed=(), held=()):
        pressed = tuple(k for k in pressed if k in CONTROLS)
        held = tuple(k for k in held if k in CONTROLS)
        self.state = frame(self.state, Input(pressed, held))

    def snapshot(self):
        return {'state': asdict(self.state), 'hash': state_hash(self.state)}


def draw_board(pyxel, controller):
    s = controller.state
    f = s.flight
    g = getattr(f, 'g', LEVEL.goal)
    pyxel.cls(1)
    pyxel.text(12, 10, f'FLEEING GOAL 016 / STEP {STAGE}', 10)
    pyxel.text(12, 24, STAGE_TITLE, 7)
    ox, oy, scale = 10, 44, 2
    def point(x, y):
        return ox+x*scale, oy+y*scale
    def line(a, b, color):
        pyxel.line(*point(*a), *point(*b), color)
    pyxel.rect(26, 68, 352, 208, 0)
    for x in range(16, 184, 12):
        line((x, 12), (x, 116), 1)
    if STAGE >= 2:
        line((8, 12), (176, 12), 7)
        line((8, 116), (176, 116), 7)
        line((8, 12), (8, 116), 13)
        for x,y,z,w in LEVEL.blocks:
            pyxel.rect(*point(x,y), (z-x)*2, (w-y)*2, 4)
            pyxel.rectb(*point(x,y), (z-x)*2, (w-y)*2, 9)
        line((176, 12), (176, g-12), 7)
        line((176, g+12), (176, 116), 7)
        line((176, g-12), (187, g-12), 7)
        line((176, g+12), (187, g+12), 7)
        line((187, g-12), (187, g+12), 6)
        line((191, 28), (191, 100), 5)
    if STAGE >= 3:
        for y in range(12,116,5):
            line((88,y),(88,y+2),10)
        pyxel.text(194, 72, 'SENSE x > 88', 10)
        if f and f.sensed:
            x,y=f.sensed
            pyxel.circb(*point(x,y),8,10)
            line((x,y),(176,g),5)
        if f:
            direction=f.direction
            line((193,g),(193,g+direction*8),10)
            line((193,g+direction*8),(191,g+direction*5),10)
            line((193,g+direction*8),(195,g+direction*5),10)
    if getattr(s,'previous',None):
        for a,b in zip(s.previous.trail,s.previous.trail[1:]):line(a,b,5)
    if f:
        for a,b in zip(f.trail,f.trail[1:]):line(a,b,6)
        pyxel.circ(*point(f.x,f.y),6,10 if f.status=='scored' else 7)
        pyxel.circb(*point(f.x,f.y),6,0)
    else:
        for k,y in enumerate(ORIGINS):
            if STAGE==1 and k!=1:continue
            pyxel.circb(*point(24,y),9,10 if k==s.origin else 5)
        x,y=24,ORIGINS[s.origin]
        a=math.radians(s.angle)
        line((x,y),(x+20*math.cos(a),y+20*math.sin(a)),10)
        pyxel.circ(*point(x,y),6,10 if s.charging else 7)
    lines=[('MODE',s.mode.upper(),10),('ANGLE',f'{s.angle:+.1f} deg',7),
           ('POWER',f'{s.power:.2f}',10),('ATTEMPTS',str(s.attempts),7),
           ('PHYSICS TICK',str(f.ticks if f else 0),6)]
    if f:lines += [('BALL',f.status.upper(),7)]
    if STAGE>=2:lines += [('GOAL Y',f'{g:.3f}',7),('BOUNCES',str(f.bounces if f else 0),6)]
    if STAGE>=3:lines += [('DELAY','18 ticks = 0.15 s',10),('SENSE',str(bool(f and f.sensing)),7),
                          ('DIRECTION',str(f.direction if f else LEVEL.direction),10)]
    if STAGE>=4:lines += [('GOAL SPEED',f'{f.gv if f else 0:.3f} px/s',6),
                          ('MEMORY',str(f.memory_ticks if f else 0),6)]
    for n,(label,value,color) in enumerate(lines):
        pyxel.text(410,48+n*16,label,13)
        pyxel.text(497,48+n*16,value,color)
    pyxel.rectb(30,298,346,12,6)
    pyxel.rect(32,300,(s.power-20)/80*342,8,10)
    pyxel.text(12, 322, 'ARROWS: aim / fine adjust   SPACE: press, hold, release   R: reset', 7)
    pyxel.text(12, 337, 'One UI frame = 4 physics ticks. Speed is px/s. No gravity.', 6)
    notes={1:'LAB: charge + straight motion. No walls, goal, selection, or pause.',
           2:'LAB: static original C. Swept collisions + reflection; no sensor / AI.',
           3:'LAB: old-ball observation + policy arrow. Goal action is still disabled.',
           4:'Original C physics. Bottom +28 deg, power 20: try a slow wall return.',
           5:'Original C + title/pause. P: pause  Z: select again. R beats P.'}
    pyxel.text(12,353,notes[STAGE],10)
    pyxel.text(12,369,'SELECT: LEFT/RIGHT then SPACE; release SPACE before starting charge.' if STAGE>=2
               else 'After reset/retry: release SPACE first. Short tap gives power 20.',7)
    pyxel.text(12,385,'WHITE: solid posts/walls  BROWN: block  YELLOW RING: old observed ball' if STAGE>=2
               else 'Hold 21 more UI frames after the new press for maximum power.',13)
    if getattr(controller,'title',False):
        pyxel.rect(50,113,322,110,1);pyxel.rectb(50,113,322,110,10)
        pyxel.text(72,132,'FLEEING GOAL / ORIGINAL CASE C',10)
        pyxel.text(72,152,'Can a slow ball beat a fleeing goal?',7)
        pyxel.text(72,173,'The goal sees only an old ball position.',6)
        pyxel.text(72,200,'SPACE: start, then release once',10)
    elif getattr(s,'paused',False):
        pyxel.rect(70,150,292,42,1);pyxel.rectb(70,150,292,42,10)
        pyxel.text(88,165,'PAUSED: physics + AI + history frozen',10)
    elif s.mode in ('result','won'):
        pyxel.rect(42,154,334,43,1);pyxel.rectb(42,154,334,43,10)
        pyxel.text(56,165,'SCORED! / R: reset same case' if s.mode=='won' else 'RESULT: '+f.status.upper(),10)
        if s.mode!='won':pyxel.text(56,182,'SPACE: retry aim / Z: select position' if STAGE>=2 else 'SPACE: retry aim',7)


def demo_keys(controller, frame_number):
    """技術QA用の一定入力。AIへの未来情報ではなくプレイヤーの操作列。"""
    # 05は最初の2フレームでタイトルを抜ける。他は直接開始。
    if STAGE==5:
        if frame_number==1:return ('SPACE',)
        frame_number-=2
    if STAGE==1:
        if 2<=frame_number<=23:return ('SPACE',)
        return ()
    # 下を選択し、28度を14入力フレームで作り、最弱で放す。
    if frame_number==2:return ('RIGHT',)
    if frame_number==4:return ('SPACE',)
    if 6<=frame_number<=19:return ('RIGHT',)
    if frame_number==21:return ('SPACE',)
    return ()


def main(headless=False, frames=180, demo=False, replay=None, screenshot=None, report=None):
    from pathlib import Path
    import pyxel  # モデルのimportと標準ライブラリテストには不要。
    controller=Controller()
    codes={name:getattr(pyxel,'KEY_'+name) for name in CONTROLS}
    frame_number=0
    old_held=set()
    changes=[]
    screenshot=str(Path(screenshot).resolve()) if screenshot else None
    report=str(Path(report).resolve()) if report else None
    def update():
        nonlocal frame_number,old_held
        frame_number+=1
        if headless:
            if replay is not None:
                held=set(replay[frame_number-1]) if frame_number<=len(replay) else set()
            else:
                held=set(demo_keys(controller,frame_number) if demo else ())
            pressed=held-old_held
            old_held=held
        else:
            held={name for name,code in codes.items() if pyxel.btn(code)}
            pressed={name for name,code in codes.items() if pyxel.btnp(code)}
        old_mode=controller.state.mode
        controller.tick(pressed,held)
        if pressed or controller.state.mode!=old_mode:
            changes.append({'frame':frame_number,'pressed':sorted(pressed),'held':sorted(held),
                            'mode':controller.state.mode,'hash':state_hash(controller.state)})
    def draw():
        draw_board(pyxel,controller)
        if headless and frame_number>=frames:
            if screenshot:pyxel.screenshot(screenshot,scale=1)
            if report:
                Path(report).write_text(json.dumps({'label':'Actual Pyxel headless; synthetic controller inputs; silent; not human play',
                    'stage':STAGE,'requested_frames':frames,'actual_frames':frame_number,'demo':demo,
                    'changes':changes,'snapshot':controller.snapshot()},ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
            pyxel.quit()
    pyxel.init(630,406,title=f'Fleeing Goal / Step {STAGE}',fps=30,headless=headless)
    pyxel.run(update,draw)


if __name__=='__main__':
    import argparse
    from pathlib import Path
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--headless',action='store_true')
    parser.add_argument('--frames',type=int,default=180)
    parser.add_argument('--demo',action='store_true')
    parser.add_argument('--replay-json',help='UTF-8 JSON list of held-key lists, one per UI frame')
    parser.add_argument('--screenshot',help='PNG output; headless only; relative to current directory')
    parser.add_argument('--report',help='UTF-8 JSON output; headless only')
    args=parser.parse_args()
    if not 12<=args.frames<=100000:parser.error('Use 12 through 100000 frames')
    if not args.headless and (args.demo or args.replay_json or args.screenshot or args.report):
        parser.error('QA input/output options require --headless')
    if args.demo and args.replay_json:parser.error('Choose demo or replay, not both')
    replay=None
    if args.replay_json:
        try:replay=json.loads(Path(args.replay_json).read_text(encoding='utf-8'))
        except (OSError,ValueError) as error:parser.error(str(error))
        if not isinstance(replay,list) or any(not isinstance(keys,list) or any(not isinstance(k,str) or k not in CONTROLS for k in keys) for keys in replay):
            parser.error('Replay must be a list of lists of supported key names')
    main(args.headless,args.frames,args.demo,replay,args.screenshot,args.report)

# MIT License
# 
# Copyright (c) 2026 Pyxel 100 contributors
# 
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# 
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# 
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
# 
# The bundled Noto-derived bitmap glyphs are separately licensed under SIL OFL.
# See assets/NOTO-LICENSE.txt.
# 教材画面はASCIIとオリジナル図形のみ。Noto字形データは使いません。

"""やわらかいゴール・教材3/5。説明と簡略化の範囲はLESSON.md。"""
from dataclasses import dataclass, field, asdict
import math
import json
import hashlib

# 位置px、速度px/s、角度degree。入力30Hz、物理120Hz。重力は加えない。
DT = 1 / 120
EPS = 1e-9
RADIUS = 3.0
ORIGINS = (32., 64., 96.)

@dataclass(frozen=True)
class Level:
    title: str
    goal: float
    direction: int
    speed: float
    blocks: tuple = ()

# 原作Cを一つ選ぶ。上向きに逃げ、下側に小さな衝立がある。
LEVEL = Level('待ってから戻る', 88., -1, 22., ((136., 82., 148., 94.),))

def ray_box(p,d,b):
    lo=0.;hi=1.
    for axis in (0,1):
        if abs(d[axis])<EPS:
            if not b[axis]-EPS<=p[axis]<=b[axis+2]+EPS:return None
        else:
            a=(b[axis]-p[axis])/d[axis];z=(b[axis+2]-p[axis])/d[axis]
            lo=max(lo,min(a,z));hi=min(hi,max(a,z))
            if lo>hi+EPS:return None
    return max(0.,lo) if lo<=1+EPS and hi>=0 else None

def ray_circle(p,d,c,r=RADIUS):
    q=(p[0]-c[0],p[1]-c[1]);a=d[0]*d[0]+d[1]*d[1]
    cc=q[0]*q[0]+q[1]*q[1]-r*r
    if cc<=EPS:return 0.
    if a<EPS:return None
    b=2*(q[0]*d[0]+q[1]*d[1]);disc=b*b-4*a*cc
    if disc<0:return None
    t=(-b-math.sqrt(max(0,disc)))/(2*a)
    return t if -EPS<=t<=1+EPS else None

def circle_box(p,d,b):
    x,y,z,w=b
    hits=[ray_box(p,d,(x-RADIUS,y,z+RADIUS,w)),ray_box(p,d,(x,y-RADIUS,z,w+RADIUS))]
    hits += [ray_circle(p,d,c) for c in ((x,y),(x,w),(z,y),(z,w))]
    return min((h for h in hits if h is not None),default=None)

def gate_hit(p,d,g,dg):
    """Moving posts, treated as capsules. y is transformed into gate-relative space."""
    q=(p[0],p[1]-g);v=(d[0],d[1]-dg)
    hits=[ray_box(q,v,(173.,-1000.,179.,-12.)),ray_box(q,v,(173.,12.,179.,1000.)),
          ray_circle(q,v,(176.,-12.)),ray_circle(q,v,(176.,12.))]
    return min((h for h in hits if h is not None),default=None)

@dataclass
class Flight:
    x:float
    y:float
    vx:float
    vy:float
    g:float
    direction:int
    gv:float=0.
    status:str='flying'
    ticks:int=0
    bounces:int=0
    trail:list=field(default_factory=list)
    goal_trail:list=field(default_factory=list)
    history:list=field(default_factory=list)
    sensed:tuple|None=None
    memory_ticks:int=0
    sensing:bool=False
    first_contact_goal:float|None=None
    moving:bool=True
    record:bool=True
    @property
    def age(self):return self.ticks*DT
    @property
    def pos(self):return self.x,self.y

def launch(level,origin,angle,power,moving=True,record=True):
    if origin not in (0,1,2) or not all(math.isfinite(v) for v in (angle,power)):raise ValueError('invalid launch')
    if not -75<=angle<=75 or not 20<=power<=100:raise ValueError('launch outside UI range')
    speed=50+(power-20)*70/80;a=math.radians(angle)
    f=Flight(24.,ORIGINS[origin],speed*math.cos(a),speed*math.sin(a),level.goal,level.direction,moving=moving,record=record)
    f.history=[(24.,ORIGINS[origin])]*19
    if record:f.trail=[f.pos];f.goal_trail=[f.g]
    return f

@dataclass(frozen=True)
class Observation:
    active: bool
    delayed: tuple | None
    goal_y: float


def observe(f):
    """今のxは反応帯への入場だけに使う。高さの情報は履歴だけ。"""
    active = f.x > 88
    return Observation(active, f.history[0] if active else None, f.g)


def policy(observation, previous_direction):
    """観測と以前の向きだけで判断。速度・現在の球y・入力は受け取らない。"""
    if not observation.active:
        return previous_direction
    diff = observation.delayed[1] - observation.goal_y
    if abs(diff) > 2:
        return -1 if diff > 0 else 1
    return previous_direction


def remember(f, observation):
    # 減算前の値を保存。30だったら、その後30tickは惰性の目標速度を保つ。
    coasting = f.memory_ticks > 0
    f.sensing = observation.active
    if observation.active:
        f.sensed = observation.delayed
        f.direction = policy(observation, f.direction)
        f.memory_ticks = 30
    elif f.memory_ticks > 0:
        f.memory_ticks -= 1
    return coasting


def physics(level, f):
    if f.status != 'flying':
        return f
    observation = observe(f)
    coasting = remember(f, observation)
    oldg, dg = f.g, 0.  # 教材2/3は静止ゴール。
    remain=1.;elapsed=0.
    for _ in range(4):
        d=(f.vx*DT*remain,f.vy*DT*remain);p=f.pos
        hits=[]
        for i,b in enumerate(level.blocks):
            t=circle_box(p,d,b)
            if t is not None:hits.append((t,0,'block'))
        h=gate_hit(p,d,oldg+dg*elapsed,dg*remain)
        if h is not None:hits.append((h,0,'post'))
        for boundary,axis,sense,name in ((15.,1,-1,'top'),(113.,1,1,'bottom'),(11.,0,-1,'left'),(179.,0,1,'goal')):
            if d[axis]*sense>EPS:
                t=(boundary-p[axis])/d[axis]
                if -EPS<=t<=1+EPS:hits.append((max(0.,t),1 if name=='goal' else 0,name))
        if not hits:
            f.x+=d[0];f.y+=d[1];break
        t,_,reason=min(hits,key=lambda h:(round(h[0],10),h[1],h[2]))
        f.x+=d[0]*t;f.y+=d[1]*t;elapsed+=remain*t;remain*=1-t
        if f.record:f.trail.append(f.pos)
        if reason in ('top','bottom'):
            f.vy=-f.vy;f.bounces+=1;f.y+=.01 if reason=='top' else -.01
            if remain<EPS:break
        else:
            f.status='scored' if reason=='goal' else reason
            f.first_contact_goal=oldg+dg*elapsed;f.g=f.first_contact_goal
            break
    f.ticks+=1
    f.history.append(f.pos);f.history.pop(0)
    if f.record and (f.ticks%4==0 or f.status!='flying'):
        f.trail.append(f.pos);f.goal_trail.append(f.g)
    if f.status=='flying' and f.ticks>=720:f.status='timeout'
    return f

def simulate(level,origin,angle,power,moving=True,record=False):
    f=launch(level,origin,angle,power,moving,record)
    while f.status=='flying':physics(level,f)
    return f

@dataclass(frozen=True)
class Input:
    pressed:tuple=()
    held:tuple=()
@dataclass
class Game:
    level:int=2
    origin:int=1
    angle:float=0.
    mode:str='select'
    paused:bool=False
    power:float=20.
    charging:bool=False
    require_release:bool=True
    attempts:int=0
    flight:Flight|None=None
    previous:Flight|None=None
    moving:bool=True

def fresh(level=2,moving=True):return Game(level=level,moving=moving)
def frame(s,i=Input()):
    p=set(i.pressed);h=set(i.held)
    if 'R' in p:return fresh(s.level,s.moving)
    if s.require_release:
        if 'SPACE' not in h:s.require_release=False
        space=False
    else:space='SPACE' in p
    if s.mode=='won':
        return s
    if s.mode=='select':
        if 'LEFT' in p:s.origin=(s.origin-1)%3
        if 'RIGHT' in p:s.origin=(s.origin+1)%3
        if space:s.mode='aim';s.require_release=True
        return s
    if s.mode=='flying':
        for _ in range(4):physics(LEVEL,s.flight)
        if s.flight.status!='flying':s.mode='won' if s.flight.status=='scored' else 'result'
        return s
    if 'Z' in p:
        s.previous=s.flight;s.flight=None;s.mode='select';s.charging=False;s.power=20.;s.require_release=True
        return s
    if s.mode=='result':
        if space:
            s.previous=s.flight;s.flight=None;s.mode='aim';s.power=20.;s.require_release=True
        return s
    s.angle=max(-75.,min(75.,s.angle+2*('RIGHT'in h)-2*('LEFT'in h)+.4*('DOWN'in h)-.4*('UP'in h)))
    if space:
        s.charging=True;s.power=20.
        return s
    if s.charging:
        if 'SPACE' in h:s.power=min(100.,s.power+80/21)
        else:
            s.flight=launch(LEVEL,s.origin,s.angle,s.power,s.moving)
            s.attempts+=1;s.charging=False;s.mode='flying'
    return s

def state_hash(s):
    return hashlib.sha256(json.dumps(asdict(s),sort_keys=True,separators=(',',':'),ensure_ascii=False).encode('utf-8')).hexdigest()

STAGE = 3
STAGE_TITLE = 'OBSERVE OLD BALL / POLICY'
CONTROLS = ('LEFT', 'RIGHT', 'UP', 'DOWN', 'SPACE', 'R', 'Z')

class Controller:
    def __init__(self):
        self.state = fresh()

    def tick(self, pressed=(), held=()):
        pressed = tuple(k for k in pressed if k in CONTROLS)
        held = tuple(k for k in held if k in CONTROLS)
        self.state = frame(self.state, Input(pressed, held))

    def snapshot(self):
        return {'state': asdict(self.state), 'hash': state_hash(self.state)}


def draw_board(pyxel, controller):
    s = controller.state
    f = s.flight
    g = getattr(f, 'g', LEVEL.goal)
    pyxel.cls(1)
    pyxel.text(12, 10, f'FLEEING GOAL 016 / STEP {STAGE}', 10)
    pyxel.text(12, 24, STAGE_TITLE, 7)
    ox, oy, scale = 10, 44, 2
    def point(x, y):
        return ox+x*scale, oy+y*scale
    def line(a, b, color):
        pyxel.line(*point(*a), *point(*b), color)
    pyxel.rect(26, 68, 352, 208, 0)
    for x in range(16, 184, 12):
        line((x, 12), (x, 116), 1)
    if STAGE >= 2:
        line((8, 12), (176, 12), 7)
        line((8, 116), (176, 116), 7)
        line((8, 12), (8, 116), 13)
        for x,y,z,w in LEVEL.blocks:
            pyxel.rect(*point(x,y), (z-x)*2, (w-y)*2, 4)
            pyxel.rectb(*point(x,y), (z-x)*2, (w-y)*2, 9)
        line((176, 12), (176, g-12), 7)
        line((176, g+12), (176, 116), 7)
        line((176, g-12), (187, g-12), 7)
        line((176, g+12), (187, g+12), 7)
        line((187, g-12), (187, g+12), 6)
        line((191, 28), (191, 100), 5)
    if STAGE >= 3:
        for y in range(12,116,5):
            line((88,y),(88,y+2),10)
        pyxel.text(194, 72, 'SENSE x > 88', 10)
        if f and f.sensed:
            x,y=f.sensed
            pyxel.circb(*point(x,y),8,10)
            line((x,y),(176,g),5)
        if f:
            direction=f.direction
            line((193,g),(193,g+direction*8),10)
            line((193,g+direction*8),(191,g+direction*5),10)
            line((193,g+direction*8),(195,g+direction*5),10)
    if getattr(s,'previous',None):
        for a,b in zip(s.previous.trail,s.previous.trail[1:]):line(a,b,5)
    if f:
        for a,b in zip(f.trail,f.trail[1:]):line(a,b,6)
        pyxel.circ(*point(f.x,f.y),6,10 if f.status=='scored' else 7)
        pyxel.circb(*point(f.x,f.y),6,0)
    else:
        for k,y in enumerate(ORIGINS):
            if STAGE==1 and k!=1:continue
            pyxel.circb(*point(24,y),9,10 if k==s.origin else 5)
        x,y=24,ORIGINS[s.origin]
        a=math.radians(s.angle)
        line((x,y),(x+20*math.cos(a),y+20*math.sin(a)),10)
        pyxel.circ(*point(x,y),6,10 if s.charging else 7)
    lines=[('MODE',s.mode.upper(),10),('ANGLE',f'{s.angle:+.1f} deg',7),
           ('POWER',f'{s.power:.2f}',10),('ATTEMPTS',str(s.attempts),7),
           ('PHYSICS TICK',str(f.ticks if f else 0),6)]
    if f:lines += [('BALL',f.status.upper(),7)]
    if STAGE>=2:lines += [('GOAL Y',f'{g:.3f}',7),('BOUNCES',str(f.bounces if f else 0),6)]
    if STAGE>=3:lines += [('DELAY','18 ticks = 0.15 s',10),('SENSE',str(bool(f and f.sensing)),7),
                          ('DIRECTION',str(f.direction if f else LEVEL.direction),10)]
    if STAGE>=4:lines += [('GOAL SPEED',f'{f.gv if f else 0:.3f} px/s',6),
                          ('MEMORY',str(f.memory_ticks if f else 0),6)]
    for n,(label,value,color) in enumerate(lines):
        pyxel.text(410,48+n*16,label,13)
        pyxel.text(497,48+n*16,value,color)
    pyxel.rectb(30,298,346,12,6)
    pyxel.rect(32,300,(s.power-20)/80*342,8,10)
    pyxel.text(12, 322, 'ARROWS: aim / fine adjust   SPACE: press, hold, release   R: reset', 7)
    pyxel.text(12, 337, 'One UI frame = 4 physics ticks. Speed is px/s. No gravity.', 6)
    notes={1:'LAB: charge + straight motion. No walls, goal, selection, or pause.',
           2:'LAB: static original C. Swept collisions + reflection; no sensor / AI.',
           3:'LAB: old-ball observation + policy arrow. Goal action is still disabled.',
           4:'Original C physics. Bottom +28 deg, power 20: try a slow wall return.',
           5:'Original C + title/pause. P: pause  Z: select again. R beats P.'}
    pyxel.text(12,353,notes[STAGE],10)
    pyxel.text(12,369,'SELECT: LEFT/RIGHT then SPACE; release SPACE before starting charge.' if STAGE>=2
               else 'After reset/retry: release SPACE first. Short tap gives power 20.',7)
    pyxel.text(12,385,'WHITE: solid posts/walls  BROWN: block  YELLOW RING: old observed ball' if STAGE>=2
               else 'Hold 21 more UI frames after the new press for maximum power.',13)
    if getattr(controller,'title',False):
        pyxel.rect(50,113,322,110,1);pyxel.rectb(50,113,322,110,10)
        pyxel.text(72,132,'FLEEING GOAL / ORIGINAL CASE C',10)
        pyxel.text(72,152,'Can a slow ball beat a fleeing goal?',7)
        pyxel.text(72,173,'The goal sees only an old ball position.',6)
        pyxel.text(72,200,'SPACE: start, then release once',10)
    elif getattr(s,'paused',False):
        pyxel.rect(70,150,292,42,1);pyxel.rectb(70,150,292,42,10)
        pyxel.text(88,165,'PAUSED: physics + AI + history frozen',10)
    elif s.mode in ('result','won'):
        pyxel.rect(42,154,334,43,1);pyxel.rectb(42,154,334,43,10)
        pyxel.text(56,165,'SCORED! / R: reset same case' if s.mode=='won' else 'RESULT: '+f.status.upper(),10)
        if s.mode!='won':pyxel.text(56,182,'SPACE: retry aim / Z: select position' if STAGE>=2 else 'SPACE: retry aim',7)


def demo_keys(controller, frame_number):
    """技術QA用の一定入力。AIへの未来情報ではなくプレイヤーの操作列。"""
    # 05は最初の2フレームでタイトルを抜ける。他は直接開始。
    if STAGE==5:
        if frame_number==1:return ('SPACE',)
        frame_number-=2
    if STAGE==1:
        if 2<=frame_number<=23:return ('SPACE',)
        return ()
    # 下を選択し、28度を14入力フレームで作り、最弱で放す。
    if frame_number==2:return ('RIGHT',)
    if frame_number==4:return ('SPACE',)
    if 6<=frame_number<=19:return ('RIGHT',)
    if frame_number==21:return ('SPACE',)
    return ()


def main(headless=False, frames=180, demo=False, replay=None, screenshot=None, report=None):
    from pathlib import Path
    import pyxel  # モデルのimportと標準ライブラリテストには不要。
    controller=Controller()
    codes={name:getattr(pyxel,'KEY_'+name) for name in CONTROLS}
    frame_number=0
    old_held=set()
    changes=[]
    screenshot=str(Path(screenshot).resolve()) if screenshot else None
    report=str(Path(report).resolve()) if report else None
    def update():
        nonlocal frame_number,old_held
        frame_number+=1
        if headless:
            if replay is not None:
                held=set(replay[frame_number-1]) if frame_number<=len(replay) else set()
            else:
                held=set(demo_keys(controller,frame_number) if demo else ())
            pressed=held-old_held
            old_held=held
        else:
            held={name for name,code in codes.items() if pyxel.btn(code)}
            pressed={name for name,code in codes.items() if pyxel.btnp(code)}
        old_mode=controller.state.mode
        controller.tick(pressed,held)
        if pressed or controller.state.mode!=old_mode:
            changes.append({'frame':frame_number,'pressed':sorted(pressed),'held':sorted(held),
                            'mode':controller.state.mode,'hash':state_hash(controller.state)})
    def draw():
        draw_board(pyxel,controller)
        if headless and frame_number>=frames:
            if screenshot:pyxel.screenshot(screenshot,scale=1)
            if report:
                Path(report).write_text(json.dumps({'label':'Actual Pyxel headless; synthetic controller inputs; silent; not human play',
                    'stage':STAGE,'requested_frames':frames,'actual_frames':frame_number,'demo':demo,
                    'changes':changes,'snapshot':controller.snapshot()},ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
            pyxel.quit()
    pyxel.init(630,406,title=f'Fleeing Goal / Step {STAGE}',fps=30,headless=headless)
    pyxel.run(update,draw)


if __name__=='__main__':
    import argparse
    from pathlib import Path
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--headless',action='store_true')
    parser.add_argument('--frames',type=int,default=180)
    parser.add_argument('--demo',action='store_true')
    parser.add_argument('--replay-json',help='UTF-8 JSON list of held-key lists, one per UI frame')
    parser.add_argument('--screenshot',help='PNG output; headless only; relative to current directory')
    parser.add_argument('--report',help='UTF-8 JSON output; headless only')
    args=parser.parse_args()
    if not 12<=args.frames<=100000:parser.error('Use 12 through 100000 frames')
    if not args.headless and (args.demo or args.replay_json or args.screenshot or args.report):
        parser.error('QA input/output options require --headless')
    if args.demo and args.replay_json:parser.error('Choose demo or replay, not both')
    replay=None
    if args.replay_json:
        try:replay=json.loads(Path(args.replay_json).read_text(encoding='utf-8'))
        except (OSError,ValueError) as error:parser.error(str(error))
        if not isinstance(replay,list) or any(not isinstance(keys,list) or any(not isinstance(k,str) or k not in CONTROLS for k in keys) for keys in replay):
            parser.error('Replay must be a list of lists of supported key names')
    main(args.headless,args.frames,args.demo,replay,args.screenshot,args.report)

# MIT License
# 
# Copyright (c) 2026 Pyxel 100 contributors
# 
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# 
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# 
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
# 
# The bundled Noto-derived bitmap glyphs are separately licensed under SIL OFL.
# See assets/NOTO-LICENSE.txt.
# 教材画面はASCIIとオリジナル図形のみ。Noto字形データは使いません。

"""やわらかいゴール・教材4/5。説明と簡略化の範囲はLESSON.md。"""
from dataclasses import dataclass, field, asdict
import math
import json
import hashlib

# 位置px、速度px/s、角度degree。入力30Hz、物理120Hz。重力は加えない。
DT = 1 / 120
EPS = 1e-9
RADIUS = 3.0
ORIGINS = (32., 64., 96.)

@dataclass(frozen=True)
class Level:
    title: str
    goal: float
    direction: int
    speed: float
    blocks: tuple = ()

# 原作Cを一つ選ぶ。上向きに逃げ、下側に小さな衝立がある。
LEVEL = Level('待ってから戻る', 88., -1, 22., ((136., 82., 148., 94.),))

def ray_box(p,d,b):
    lo=0.;hi=1.
    for axis in (0,1):
        if abs(d[axis])<EPS:
            if not b[axis]-EPS<=p[axis]<=b[axis+2]+EPS:return None
        else:
            a=(b[axis]-p[axis])/d[axis];z=(b[axis+2]-p[axis])/d[axis]
            lo=max(lo,min(a,z));hi=min(hi,max(a,z))
            if lo>hi+EPS:return None
    return max(0.,lo) if lo<=1+EPS and hi>=0 else None

def ray_circle(p,d,c,r=RADIUS):
    q=(p[0]-c[0],p[1]-c[1]);a=d[0]*d[0]+d[1]*d[1]
    cc=q[0]*q[0]+q[1]*q[1]-r*r
    if cc<=EPS:return 0.
    if a<EPS:return None
    b=2*(q[0]*d[0]+q[1]*d[1]);disc=b*b-4*a*cc
    if disc<0:return None
    t=(-b-math.sqrt(max(0,disc)))/(2*a)
    return t if -EPS<=t<=1+EPS else None

def circle_box(p,d,b):
    x,y,z,w=b
    hits=[ray_box(p,d,(x-RADIUS,y,z+RADIUS,w)),ray_box(p,d,(x,y-RADIUS,z,w+RADIUS))]
    hits += [ray_circle(p,d,c) for c in ((x,y),(x,w),(z,y),(z,w))]
    return min((h for h in hits if h is not None),default=None)

def gate_hit(p,d,g,dg):
    """Moving posts, treated as capsules. y is transformed into gate-relative space."""
    q=(p[0],p[1]-g);v=(d[0],d[1]-dg)
    hits=[ray_box(q,v,(173.,-1000.,179.,-12.)),ray_box(q,v,(173.,12.,179.,1000.)),
          ray_circle(q,v,(176.,-12.)),ray_circle(q,v,(176.,12.))]
    return min((h for h in hits if h is not None),default=None)

@dataclass
class Flight:
    x:float
    y:float
    vx:float
    vy:float
    g:float
    direction:int
    gv:float=0.
    status:str='flying'
    ticks:int=0
    bounces:int=0
    trail:list=field(default_factory=list)
    goal_trail:list=field(default_factory=list)
    history:list=field(default_factory=list)
    sensed:tuple|None=None
    memory_ticks:int=0
    sensing:bool=False
    first_contact_goal:float|None=None
    moving:bool=True
    record:bool=True
    @property
    def age(self):return self.ticks*DT
    @property
    def pos(self):return self.x,self.y

def launch(level,origin,angle,power,moving=True,record=True):
    if origin not in (0,1,2) or not all(math.isfinite(v) for v in (angle,power)):raise ValueError('invalid launch')
    if not -75<=angle<=75 or not 20<=power<=100:raise ValueError('launch outside UI range')
    speed=50+(power-20)*70/80;a=math.radians(angle)
    f=Flight(24.,ORIGINS[origin],speed*math.cos(a),speed*math.sin(a),level.goal,level.direction,moving=moving,record=record)
    f.history=[(24.,ORIGINS[origin])]*19
    if record:f.trail=[f.pos];f.goal_trail=[f.g]
    return f

@dataclass(frozen=True)
class Observation:
    active: bool
    delayed: tuple | None
    goal_y: float


def observe(f):
    """今のxは反応帯への入場だけに使う。高さの情報は履歴だけ。"""
    active = f.x > 88
    return Observation(active, f.history[0] if active else None, f.g)


def policy(observation, previous_direction):
    """観測と以前の向きだけで判断。速度・現在の球y・入力は受け取らない。"""
    if not observation.active:
        return previous_direction
    diff = observation.delayed[1] - observation.goal_y
    if abs(diff) > 2:
        return -1 if diff > 0 else 1
    return previous_direction


def remember(f, observation):
    # 減算前の値を保存。30だったら、その後30tickは惰性の目標速度を保つ。
    coasting = f.memory_ticks > 0
    f.sensing = observation.active
    if observation.active:
        f.sensed = observation.delayed
        f.direction = policy(observation, f.direction)
        f.memory_ticks = 30
    elif f.memory_ticks > 0:
        f.memory_ticks -= 1
    return coasting


def act_goal(level, f, observation, coasting):
    """意図を加速度制限付きの運動へ変換。レール端で速度も0にする。"""
    desired = f.direction * level.speed if f.moving and (observation.active or coasting) else 0.
    oldg = f.g
    dv = max(-90 * DT, min(90 * DT, desired - f.gv))
    f.gv += dv
    f.g += f.gv * DT
    if f.g <= 28:
        f.g, f.gv = 28., 0.
    if f.g >= 100:
        f.g, f.gv = 100., 0.
    return oldg, f.g - oldg


def physics(level, f):
    if f.status != 'flying':
        return f
    observation = observe(f)
    coasting = remember(f, observation)
    oldg, dg = act_goal(level, f, observation, coasting)
    remain=1.;elapsed=0.
    for _ in range(4):
        d=(f.vx*DT*remain,f.vy*DT*remain);p=f.pos
        hits=[]
        for i,b in enumerate(level.blocks):
            t=circle_box(p,d,b)
            if t is not None:hits.append((t,0,'block'))
        h=gate_hit(p,d,oldg+dg*elapsed,dg*remain)
        if h is not None:hits.append((h,0,'post'))
        for boundary,axis,sense,name in ((15.,1,-1,'top'),(113.,1,1,'bottom'),(11.,0,-1,'left'),(179.,0,1,'goal')):
            if d[axis]*sense>EPS:
                t=(boundary-p[axis])/d[axis]
                if -EPS<=t<=1+EPS:hits.append((max(0.,t),1 if name=='goal' else 0,name))
        if not hits:
            f.x+=d[0];f.y+=d[1];break
        t,_,reason=min(hits,key=lambda h:(round(h[0],10),h[1],h[2]))
        f.x+=d[0]*t;f.y+=d[1]*t;elapsed+=remain*t;remain*=1-t
        if f.record:f.trail.append(f.pos)
        if reason in ('top','bottom'):
            f.vy=-f.vy;f.bounces+=1;f.y+=.01 if reason=='top' else -.01
            if remain<EPS:break
        else:
            f.status='scored' if reason=='goal' else reason
            f.first_contact_goal=oldg+dg*elapsed;f.g=f.first_contact_goal
            break
    f.ticks+=1
    f.history.append(f.pos);f.history.pop(0)
    if f.record and (f.ticks%4==0 or f.status!='flying'):
        f.trail.append(f.pos);f.goal_trail.append(f.g)
    if f.status=='flying' and f.ticks>=720:f.status='timeout'
    return f

def simulate(level,origin,angle,power,moving=True,record=False):
    f=launch(level,origin,angle,power,moving,record)
    while f.status=='flying':physics(level,f)
    return f

@dataclass(frozen=True)
class Input:
    pressed:tuple=()
    held:tuple=()
@dataclass
class Game:
    level:int=2
    origin:int=1
    angle:float=0.
    mode:str='select'
    paused:bool=False
    power:float=20.
    charging:bool=False
    require_release:bool=True
    attempts:int=0
    flight:Flight|None=None
    previous:Flight|None=None
    moving:bool=True

def fresh(level=2,moving=True):return Game(level=level,moving=moving)
def frame(s,i=Input()):
    p=set(i.pressed);h=set(i.held)
    if 'R' in p:return fresh(s.level,s.moving)
    if s.require_release:
        if 'SPACE' not in h:s.require_release=False
        space=False
    else:space='SPACE' in p
    if s.mode=='won':
        return s
    if s.mode=='select':
        if 'LEFT' in p:s.origin=(s.origin-1)%3
        if 'RIGHT' in p:s.origin=(s.origin+1)%3
        if space:s.mode='aim';s.require_release=True
        return s
    if s.mode=='flying':
        for _ in range(4):physics(LEVEL,s.flight)
        if s.flight.status!='flying':s.mode='won' if s.flight.status=='scored' else 'result'
        return s
    if 'Z' in p:
        s.previous=s.flight;s.flight=None;s.mode='select';s.charging=False;s.power=20.;s.require_release=True
        return s
    if s.mode=='result':
        if space:
            s.previous=s.flight;s.flight=None;s.mode='aim';s.power=20.;s.require_release=True
        return s
    s.angle=max(-75.,min(75.,s.angle+2*('RIGHT'in h)-2*('LEFT'in h)+.4*('DOWN'in h)-.4*('UP'in h)))
    if space:
        s.charging=True;s.power=20.
        return s
    if s.charging:
        if 'SPACE' in h:s.power=min(100.,s.power+80/21)
        else:
            s.flight=launch(LEVEL,s.origin,s.angle,s.power,s.moving)
            s.attempts+=1;s.charging=False;s.mode='flying'
    return s

def state_hash(s):
    return hashlib.sha256(json.dumps(asdict(s),sort_keys=True,separators=(',',':'),ensure_ascii=False).encode('utf-8')).hexdigest()

STAGE = 4
STAGE_TITLE = 'INTENT + ACCELERATION / CASE C'
CONTROLS = ('LEFT', 'RIGHT', 'UP', 'DOWN', 'SPACE', 'R', 'Z')

class Controller:
    def __init__(self):
        self.state = fresh()

    def tick(self, pressed=(), held=()):
        pressed = tuple(k for k in pressed if k in CONTROLS)
        held = tuple(k for k in held if k in CONTROLS)
        self.state = frame(self.state, Input(pressed, held))

    def snapshot(self):
        return {'state': asdict(self.state), 'hash': state_hash(self.state)}


def draw_board(pyxel, controller):
    s = controller.state
    f = s.flight
    g = getattr(f, 'g', LEVEL.goal)
    pyxel.cls(1)
    pyxel.text(12, 10, f'FLEEING GOAL 016 / STEP {STAGE}', 10)
    pyxel.text(12, 24, STAGE_TITLE, 7)
    ox, oy, scale = 10, 44, 2
    def point(x, y):
        return ox+x*scale, oy+y*scale
    def line(a, b, color):
        pyxel.line(*point(*a), *point(*b), color)
    pyxel.rect(26, 68, 352, 208, 0)
    for x in range(16, 184, 12):
        line((x, 12), (x, 116), 1)
    if STAGE >= 2:
        line((8, 12), (176, 12), 7)
        line((8, 116), (176, 116), 7)
        line((8, 12), (8, 116), 13)
        for x,y,z,w in LEVEL.blocks:
            pyxel.rect(*point(x,y), (z-x)*2, (w-y)*2, 4)
            pyxel.rectb(*point(x,y), (z-x)*2, (w-y)*2, 9)
        line((176, 12), (176, g-12), 7)
        line((176, g+12), (176, 116), 7)
        line((176, g-12), (187, g-12), 7)
        line((176, g+12), (187, g+12), 7)
        line((187, g-12), (187, g+12), 6)
        line((191, 28), (191, 100), 5)
    if STAGE >= 3:
        for y in range(12,116,5):
            line((88,y),(88,y+2),10)
        pyxel.text(194, 72, 'SENSE x > 88', 10)
        if f and f.sensed:
            x,y=f.sensed
            pyxel.circb(*point(x,y),8,10)
            line((x,y),(176,g),5)
        if f:
            direction=f.direction
            line((193,g),(193,g+direction*8),10)
            line((193,g+direction*8),(191,g+direction*5),10)
            line((193,g+direction*8),(195,g+direction*5),10)
    if getattr(s,'previous',None):
        for a,b in zip(s.previous.trail,s.previous.trail[1:]):line(a,b,5)
    if f:
        for a,b in zip(f.trail,f.trail[1:]):line(a,b,6)
        pyxel.circ(*point(f.x,f.y),6,10 if f.status=='scored' else 7)
        pyxel.circb(*point(f.x,f.y),6,0)
    else:
        for k,y in enumerate(ORIGINS):
            if STAGE==1 and k!=1:continue
            pyxel.circb(*point(24,y),9,10 if k==s.origin else 5)
        x,y=24,ORIGINS[s.origin]
        a=math.radians(s.angle)
        line((x,y),(x+20*math.cos(a),y+20*math.sin(a)),10)
        pyxel.circ(*point(x,y),6,10 if s.charging else 7)
    lines=[('MODE',s.mode.upper(),10),('ANGLE',f'{s.angle:+.1f} deg',7),
           ('POWER',f'{s.power:.2f}',10),('ATTEMPTS',str(s.attempts),7),
           ('PHYSICS TICK',str(f.ticks if f else 0),6)]
    if f:lines += [('BALL',f.status.upper(),7)]
    if STAGE>=2:lines += [('GOAL Y',f'{g:.3f}',7),('BOUNCES',str(f.bounces if f else 0),6)]
    if STAGE>=3:lines += [('DELAY','18 ticks = 0.15 s',10),('SENSE',str(bool(f and f.sensing)),7),
                          ('DIRECTION',str(f.direction if f else LEVEL.direction),10)]
    if STAGE>=4:lines += [('GOAL SPEED',f'{f.gv if f else 0:.3f} px/s',6),
                          ('MEMORY',str(f.memory_ticks if f else 0),6)]
    for n,(label,value,color) in enumerate(lines):
        pyxel.text(410,48+n*16,label,13)
        pyxel.text(497,48+n*16,value,color)
    pyxel.rectb(30,298,346,12,6)
    pyxel.rect(32,300,(s.power-20)/80*342,8,10)
    pyxel.text(12, 322, 'ARROWS: aim / fine adjust   SPACE: press, hold, release   R: reset', 7)
    pyxel.text(12, 337, 'One UI frame = 4 physics ticks. Speed is px/s. No gravity.', 6)
    notes={1:'LAB: charge + straight motion. No walls, goal, selection, or pause.',
           2:'LAB: static original C. Swept collisions + reflection; no sensor / AI.',
           3:'LAB: old-ball observation + policy arrow. Goal action is still disabled.',
           4:'Original C physics. Bottom +28 deg, power 20: try a slow wall return.',
           5:'Original C + title/pause. P: pause  Z: select again. R beats P.'}
    pyxel.text(12,353,notes[STAGE],10)
    pyxel.text(12,369,'SELECT: LEFT/RIGHT then SPACE; release SPACE before starting charge.' if STAGE>=2
               else 'After reset/retry: release SPACE first. Short tap gives power 20.',7)
    pyxel.text(12,385,'WHITE: solid posts/walls  BROWN: block  YELLOW RING: old observed ball' if STAGE>=2
               else 'Hold 21 more UI frames after the new press for maximum power.',13)
    if getattr(controller,'title',False):
        pyxel.rect(50,113,322,110,1);pyxel.rectb(50,113,322,110,10)
        pyxel.text(72,132,'FLEEING GOAL / ORIGINAL CASE C',10)
        pyxel.text(72,152,'Can a slow ball beat a fleeing goal?',7)
        pyxel.text(72,173,'The goal sees only an old ball position.',6)
        pyxel.text(72,200,'SPACE: start, then release once',10)
    elif getattr(s,'paused',False):
        pyxel.rect(70,150,292,42,1);pyxel.rectb(70,150,292,42,10)
        pyxel.text(88,165,'PAUSED: physics + AI + history frozen',10)
    elif s.mode in ('result','won'):
        pyxel.rect(42,154,334,43,1);pyxel.rectb(42,154,334,43,10)
        pyxel.text(56,165,'SCORED! / R: reset same case' if s.mode=='won' else 'RESULT: '+f.status.upper(),10)
        if s.mode!='won':pyxel.text(56,182,'SPACE: retry aim / Z: select position' if STAGE>=2 else 'SPACE: retry aim',7)


def demo_keys(controller, frame_number):
    """技術QA用の一定入力。AIへの未来情報ではなくプレイヤーの操作列。"""
    # 05は最初の2フレームでタイトルを抜ける。他は直接開始。
    if STAGE==5:
        if frame_number==1:return ('SPACE',)
        frame_number-=2
    if STAGE==1:
        if 2<=frame_number<=23:return ('SPACE',)
        return ()
    # 下を選択し、28度を14入力フレームで作り、最弱で放す。
    if frame_number==2:return ('RIGHT',)
    if frame_number==4:return ('SPACE',)
    if 6<=frame_number<=19:return ('RIGHT',)
    if frame_number==21:return ('SPACE',)
    return ()


def main(headless=False, frames=180, demo=False, replay=None, screenshot=None, report=None):
    from pathlib import Path
    import pyxel  # モデルのimportと標準ライブラリテストには不要。
    controller=Controller()
    codes={name:getattr(pyxel,'KEY_'+name) for name in CONTROLS}
    frame_number=0
    old_held=set()
    changes=[]
    screenshot=str(Path(screenshot).resolve()) if screenshot else None
    report=str(Path(report).resolve()) if report else None
    def update():
        nonlocal frame_number,old_held
        frame_number+=1
        if headless:
            if replay is not None:
                held=set(replay[frame_number-1]) if frame_number<=len(replay) else set()
            else:
                held=set(demo_keys(controller,frame_number) if demo else ())
            pressed=held-old_held
            old_held=held
        else:
            held={name for name,code in codes.items() if pyxel.btn(code)}
            pressed={name for name,code in codes.items() if pyxel.btnp(code)}
        old_mode=controller.state.mode
        controller.tick(pressed,held)
        if pressed or controller.state.mode!=old_mode:
            changes.append({'frame':frame_number,'pressed':sorted(pressed),'held':sorted(held),
                            'mode':controller.state.mode,'hash':state_hash(controller.state)})
    def draw():
        draw_board(pyxel,controller)
        if headless and frame_number>=frames:
            if screenshot:pyxel.screenshot(screenshot,scale=1)
            if report:
                Path(report).write_text(json.dumps({'label':'Actual Pyxel headless; synthetic controller inputs; silent; not human play',
                    'stage':STAGE,'requested_frames':frames,'actual_frames':frame_number,'demo':demo,
                    'changes':changes,'snapshot':controller.snapshot()},ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
            pyxel.quit()
    pyxel.init(630,406,title=f'Fleeing Goal / Step {STAGE}',fps=30,headless=headless)
    pyxel.run(update,draw)


if __name__=='__main__':
    import argparse
    from pathlib import Path
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--headless',action='store_true')
    parser.add_argument('--frames',type=int,default=180)
    parser.add_argument('--demo',action='store_true')
    parser.add_argument('--replay-json',help='UTF-8 JSON list of held-key lists, one per UI frame')
    parser.add_argument('--screenshot',help='PNG output; headless only; relative to current directory')
    parser.add_argument('--report',help='UTF-8 JSON output; headless only')
    args=parser.parse_args()
    if not 12<=args.frames<=100000:parser.error('Use 12 through 100000 frames')
    if not args.headless and (args.demo or args.replay_json or args.screenshot or args.report):
        parser.error('QA input/output options require --headless')
    if args.demo and args.replay_json:parser.error('Choose demo or replay, not both')
    replay=None
    if args.replay_json:
        try:replay=json.loads(Path(args.replay_json).read_text(encoding='utf-8'))
        except (OSError,ValueError) as error:parser.error(str(error))
        if not isinstance(replay,list) or any(not isinstance(keys,list) or any(not isinstance(k,str) or k not in CONTROLS for k in keys) for keys in replay):
            parser.error('Replay must be a list of lists of supported key names')
    main(args.headless,args.frames,args.demo,replay,args.screenshot,args.report)

# MIT License
# 
# Copyright (c) 2026 Pyxel 100 contributors
# 
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# 
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# 
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
# 
# The bundled Noto-derived bitmap glyphs are separately licensed under SIL OFL.
# See assets/NOTO-LICENSE.txt.
# 教材画面はASCIIとオリジナル図形のみ。Noto字形データは使いません。

"""やわらかいゴール・教材5/5。説明と簡略化の範囲はLESSON.md。"""
from dataclasses import dataclass, field, asdict
import math
import json
import hashlib

# 位置px、速度px/s、角度degree。入力30Hz、物理120Hz。重力は加えない。
DT = 1 / 120
EPS = 1e-9
RADIUS = 3.0
ORIGINS = (32., 64., 96.)

@dataclass(frozen=True)
class Level:
    title: str
    goal: float
    direction: int
    speed: float
    blocks: tuple = ()

# 原作Cを一つ選ぶ。上向きに逃げ、下側に小さな衝立がある。
LEVEL = Level('待ってから戻る', 88., -1, 22., ((136., 82., 148., 94.),))

def ray_box(p,d,b):
    lo=0.;hi=1.
    for axis in (0,1):
        if abs(d[axis])<EPS:
            if not b[axis]-EPS<=p[axis]<=b[axis+2]+EPS:return None
        else:
            a=(b[axis]-p[axis])/d[axis];z=(b[axis+2]-p[axis])/d[axis]
            lo=max(lo,min(a,z));hi=min(hi,max(a,z))
            if lo>hi+EPS:return None
    return max(0.,lo) if lo<=1+EPS and hi>=0 else None

def ray_circle(p,d,c,r=RADIUS):
    q=(p[0]-c[0],p[1]-c[1]);a=d[0]*d[0]+d[1]*d[1]
    cc=q[0]*q[0]+q[1]*q[1]-r*r
    if cc<=EPS:return 0.
    if a<EPS:return None
    b=2*(q[0]*d[0]+q[1]*d[1]);disc=b*b-4*a*cc
    if disc<0:return None
    t=(-b-math.sqrt(max(0,disc)))/(2*a)
    return t if -EPS<=t<=1+EPS else None

def circle_box(p,d,b):
    x,y,z,w=b
    hits=[ray_box(p,d,(x-RADIUS,y,z+RADIUS,w)),ray_box(p,d,(x,y-RADIUS,z,w+RADIUS))]
    hits += [ray_circle(p,d,c) for c in ((x,y),(x,w),(z,y),(z,w))]
    return min((h for h in hits if h is not None),default=None)

def gate_hit(p,d,g,dg):
    """Moving posts, treated as capsules. y is transformed into gate-relative space."""
    q=(p[0],p[1]-g);v=(d[0],d[1]-dg)
    hits=[ray_box(q,v,(173.,-1000.,179.,-12.)),ray_box(q,v,(173.,12.,179.,1000.)),
          ray_circle(q,v,(176.,-12.)),ray_circle(q,v,(176.,12.))]
    return min((h for h in hits if h is not None),default=None)

@dataclass
class Flight:
    x:float
    y:float
    vx:float
    vy:float
    g:float
    direction:int
    gv:float=0.
    status:str='flying'
    ticks:int=0
    bounces:int=0
    trail:list=field(default_factory=list)
    goal_trail:list=field(default_factory=list)
    history:list=field(default_factory=list)
    sensed:tuple|None=None
    memory_ticks:int=0
    sensing:bool=False
    first_contact_goal:float|None=None
    moving:bool=True
    record:bool=True
    @property
    def age(self):return self.ticks*DT
    @property
    def pos(self):return self.x,self.y

def launch(level,origin,angle,power,moving=True,record=True):
    if origin not in (0,1,2) or not all(math.isfinite(v) for v in (angle,power)):raise ValueError('invalid launch')
    if not -75<=angle<=75 or not 20<=power<=100:raise ValueError('launch outside UI range')
    speed=50+(power-20)*70/80;a=math.radians(angle)
    f=Flight(24.,ORIGINS[origin],speed*math.cos(a),speed*math.sin(a),level.goal,level.direction,moving=moving,record=record)
    f.history=[(24.,ORIGINS[origin])]*19
    if record:f.trail=[f.pos];f.goal_trail=[f.g]
    return f

@dataclass(frozen=True)
class Observation:
    active: bool
    delayed: tuple | None
    goal_y: float


def observe(f):
    """今のxは反応帯への入場だけに使う。高さの情報は履歴だけ。"""
    active = f.x > 88
    return Observation(active, f.history[0] if active else None, f.g)


def policy(observation, previous_direction):
    """観測と以前の向きだけで判断。速度・現在の球y・入力は受け取らない。"""
    if not observation.active:
        return previous_direction
    diff = observation.delayed[1] - observation.goal_y
    if abs(diff) > 2:
        return -1 if diff > 0 else 1
    return previous_direction


def remember(f, observation):
    # 減算前の値を保存。30だったら、その後30tickは惰性の目標速度を保つ。
    coasting = f.memory_ticks > 0
    f.sensing = observation.active
    if observation.active:
        f.sensed = observation.delayed
        f.direction = policy(observation, f.direction)
        f.memory_ticks = 30
    elif f.memory_ticks > 0:
        f.memory_ticks -= 1
    return coasting


def act_goal(level, f, observation, coasting):
    """意図を加速度制限付きの運動へ変換。レール端で速度も0にする。"""
    desired = f.direction * level.speed if f.moving and (observation.active or coasting) else 0.
    oldg = f.g
    dv = max(-90 * DT, min(90 * DT, desired - f.gv))
    f.gv += dv
    f.g += f.gv * DT
    if f.g <= 28:
        f.g, f.gv = 28., 0.
    if f.g >= 100:
        f.g, f.gv = 100., 0.
    return oldg, f.g - oldg


def physics(level, f):
    if f.status != 'flying':
        return f
    observation = observe(f)
    coasting = remember(f, observation)
    oldg, dg = act_goal(level, f, observation, coasting)
    remain=1.;elapsed=0.
    for _ in range(4):
        d=(f.vx*DT*remain,f.vy*DT*remain);p=f.pos
        hits=[]
        for i,b in enumerate(level.blocks):
            t=circle_box(p,d,b)
            if t is not None:hits.append((t,0,'block'))
        h=gate_hit(p,d,oldg+dg*elapsed,dg*remain)
        if h is not None:hits.append((h,0,'post'))
        for boundary,axis,sense,name in ((15.,1,-1,'top'),(113.,1,1,'bottom'),(11.,0,-1,'left'),(179.,0,1,'goal')):
            if d[axis]*sense>EPS:
                t=(boundary-p[axis])/d[axis]
                if -EPS<=t<=1+EPS:hits.append((max(0.,t),1 if name=='goal' else 0,name))
        if not hits:
            f.x+=d[0];f.y+=d[1];break
        t,_,reason=min(hits,key=lambda h:(round(h[0],10),h[1],h[2]))
        f.x+=d[0]*t;f.y+=d[1]*t;elapsed+=remain*t;remain*=1-t
        if f.record:f.trail.append(f.pos)
        if reason in ('top','bottom'):
            f.vy=-f.vy;f.bounces+=1;f.y+=.01 if reason=='top' else -.01
            if remain<EPS:break
        else:
            f.status='scored' if reason=='goal' else reason
            f.first_contact_goal=oldg+dg*elapsed;f.g=f.first_contact_goal
            break
    f.ticks+=1
    f.history.append(f.pos);f.history.pop(0)
    if f.record and (f.ticks%4==0 or f.status!='flying'):
        f.trail.append(f.pos);f.goal_trail.append(f.g)
    if f.status=='flying' and f.ticks>=720:f.status='timeout'
    return f

def simulate(level,origin,angle,power,moving=True,record=False):
    f=launch(level,origin,angle,power,moving,record)
    while f.status=='flying':physics(level,f)
    return f

@dataclass(frozen=True)
class Input:
    pressed:tuple=()
    held:tuple=()
@dataclass
class Game:
    level:int=2
    origin:int=1
    angle:float=0.
    mode:str='select'
    paused:bool=False
    power:float=20.
    charging:bool=False
    require_release:bool=True
    attempts:int=0
    flight:Flight|None=None
    previous:Flight|None=None
    moving:bool=True

def fresh(level=2,moving=True):return Game(level=level,moving=moving)
def frame(s,i=Input()):
    p=set(i.pressed);h=set(i.held)
    if 'R' in p:return fresh(s.level,s.moving)
    if 'P' in p:
        s.paused=not s.paused
        # Pause cancels a partially held shot. Resume cannot accidentally release it.
        s.charging=False;s.power=20.;s.require_release=True
        return s
    if s.paused:return s
    if s.require_release:
        if 'SPACE' not in h:s.require_release=False
        space=False
    else:space='SPACE' in p
    if s.mode=='won':
        return s
    if s.mode=='select':
        if 'LEFT' in p:s.origin=(s.origin-1)%3
        if 'RIGHT' in p:s.origin=(s.origin+1)%3
        if space:s.mode='aim';s.require_release=True
        return s
    if s.mode=='flying':
        for _ in range(4):physics(LEVEL,s.flight)
        if s.flight.status!='flying':s.mode='won' if s.flight.status=='scored' else 'result'
        return s
    if 'Z' in p:
        s.previous=s.flight;s.flight=None;s.mode='select';s.charging=False;s.power=20.;s.require_release=True
        return s
    if s.mode=='result':
        if space:
            s.previous=s.flight;s.flight=None;s.mode='aim';s.power=20.;s.require_release=True
        return s
    s.angle=max(-75.,min(75.,s.angle+2*('RIGHT'in h)-2*('LEFT'in h)+.4*('DOWN'in h)-.4*('UP'in h)))
    if space:
        s.charging=True;s.power=20.
        return s
    if s.charging:
        if 'SPACE' in h:s.power=min(100.,s.power+80/21)
        else:
            s.flight=launch(LEVEL,s.origin,s.angle,s.power,s.moving)
            s.attempts+=1;s.charging=False;s.mode='flying'
    return s

def state_hash(s):
    return hashlib.sha256(json.dumps(asdict(s),sort_keys=True,separators=(',',':'),ensure_ascii=False).encode('utf-8')).hexdigest()

STAGE = 5
STAGE_TITLE = 'TITLE + PAUSE + SAFE INPUT'
CONTROLS = ('LEFT', 'RIGHT', 'UP', 'DOWN', 'SPACE', 'R', 'Z', 'P')

class Controller:
    def __init__(self):
        self.state = fresh()
        self.title = True

    def tick(self, pressed=(), held=()):
        pressed = tuple(k for k in pressed if k in CONTROLS)
        held = tuple(k for k in held if k in CONTROLS)
        if self.title:
            if 'SPACE' in pressed:
                self.title = False
                self.state = fresh()
            return
        self.state = frame(self.state, Input(pressed, held))

    def snapshot(self):
        return {'state': asdict(self.state), 'hash': state_hash(self.state), 'title': self.title}


def draw_board(pyxel, controller):
    s = controller.state
    f = s.flight
    g = getattr(f, 'g', LEVEL.goal)
    pyxel.cls(1)
    pyxel.text(12, 10, f'FLEEING GOAL 016 / STEP {STAGE}', 10)
    pyxel.text(12, 24, STAGE_TITLE, 7)
    ox, oy, scale = 10, 44, 2
    def point(x, y):
        return ox+x*scale, oy+y*scale
    def line(a, b, color):
        pyxel.line(*point(*a), *point(*b), color)
    pyxel.rect(26, 68, 352, 208, 0)
    for x in range(16, 184, 12):
        line((x, 12), (x, 116), 1)
    if STAGE >= 2:
        line((8, 12), (176, 12), 7)
        line((8, 116), (176, 116), 7)
        line((8, 12), (8, 116), 13)
        for x,y,z,w in LEVEL.blocks:
            pyxel.rect(*point(x,y), (z-x)*2, (w-y)*2, 4)
            pyxel.rectb(*point(x,y), (z-x)*2, (w-y)*2, 9)
        line((176, 12), (176, g-12), 7)
        line((176, g+12), (176, 116), 7)
        line((176, g-12), (187, g-12), 7)
        line((176, g+12), (187, g+12), 7)
        line((187, g-12), (187, g+12), 6)
        line((191, 28), (191, 100), 5)
    if STAGE >= 3:
        for y in range(12,116,5):
            line((88,y),(88,y+2),10)
        pyxel.text(194, 72, 'SENSE x > 88', 10)
        if f and f.sensed:
            x,y=f.sensed
            pyxel.circb(*point(x,y),8,10)
            line((x,y),(176,g),5)
        if f:
            direction=f.direction
            line((193,g),(193,g+direction*8),10)
            line((193,g+direction*8),(191,g+direction*5),10)
            line((193,g+direction*8),(195,g+direction*5),10)
    if getattr(s,'previous',None):
        for a,b in zip(s.previous.trail,s.previous.trail[1:]):line(a,b,5)
    if f:
        for a,b in zip(f.trail,f.trail[1:]):line(a,b,6)
        pyxel.circ(*point(f.x,f.y),6,10 if f.status=='scored' else 7)
        pyxel.circb(*point(f.x,f.y),6,0)
    else:
        for k,y in enumerate(ORIGINS):
            if STAGE==1 and k!=1:continue
            pyxel.circb(*point(24,y),9,10 if k==s.origin else 5)
        x,y=24,ORIGINS[s.origin]
        a=math.radians(s.angle)
        line((x,y),(x+20*math.cos(a),y+20*math.sin(a)),10)
        pyxel.circ(*point(x,y),6,10 if s.charging else 7)
    lines=[('MODE',s.mode.upper(),10),('ANGLE',f'{s.angle:+.1f} deg',7),
           ('POWER',f'{s.power:.2f}',10),('ATTEMPTS',str(s.attempts),7),
           ('PHYSICS TICK',str(f.ticks if f else 0),6)]
    if f:lines += [('BALL',f.status.upper(),7)]
    if STAGE>=2:lines += [('GOAL Y',f'{g:.3f}',7),('BOUNCES',str(f.bounces if f else 0),6)]
    if STAGE>=3:lines += [('DELAY','18 ticks = 0.15 s',10),('SENSE',str(bool(f and f.sensing)),7),
                          ('DIRECTION',str(f.direction if f else LEVEL.direction),10)]
    if STAGE>=4:lines += [('GOAL SPEED',f'{f.gv if f else 0:.3f} px/s',6),
                          ('MEMORY',str(f.memory_ticks if f else 0),6)]
    for n,(label,value,color) in enumerate(lines):
        pyxel.text(410,48+n*16,label,13)
        pyxel.text(497,48+n*16,value,color)
    pyxel.rectb(30,298,346,12,6)
    pyxel.rect(32,300,(s.power-20)/80*342,8,10)
    pyxel.text(12, 322, 'ARROWS: aim / fine adjust   SPACE: press, hold, release   R: reset', 7)
    pyxel.text(12, 337, 'One UI frame = 4 physics ticks. Speed is px/s. No gravity.', 6)
    notes={1:'LAB: charge + straight motion. No walls, goal, selection, or pause.',
           2:'LAB: static original C. Swept collisions + reflection; no sensor / AI.',
           3:'LAB: old-ball observation + policy arrow. Goal action is still disabled.',
           4:'Original C physics. Bottom +28 deg, power 20: try a slow wall return.',
           5:'Original C + title/pause. P: pause  Z: select again. R beats P.'}
    pyxel.text(12,353,notes[STAGE],10)
    pyxel.text(12,369,'SELECT: LEFT/RIGHT then SPACE; release SPACE before starting charge.' if STAGE>=2
               else 'After reset/retry: release SPACE first. Short tap gives power 20.',7)
    pyxel.text(12,385,'WHITE: solid posts/walls  BROWN: block  YELLOW RING: old observed ball' if STAGE>=2
               else 'Hold 21 more UI frames after the new press for maximum power.',13)
    if getattr(controller,'title',False):
        pyxel.rect(50,113,322,110,1);pyxel.rectb(50,113,322,110,10)
        pyxel.text(72,132,'FLEEING GOAL / ORIGINAL CASE C',10)
        pyxel.text(72,152,'Can a slow ball beat a fleeing goal?',7)
        pyxel.text(72,173,'The goal sees only an old ball position.',6)
        pyxel.text(72,200,'SPACE: start, then release once',10)
    elif getattr(s,'paused',False):
        pyxel.rect(70,150,292,42,1);pyxel.rectb(70,150,292,42,10)
        pyxel.text(88,165,'PAUSED: physics + AI + history frozen',10)
    elif s.mode in ('result','won'):
        pyxel.rect(42,154,334,43,1);pyxel.rectb(42,154,334,43,10)
        pyxel.text(56,165,'SCORED! / R: reset same case' if s.mode=='won' else 'RESULT: '+f.status.upper(),10)
        if s.mode!='won':pyxel.text(56,182,'SPACE: retry aim / Z: select position' if STAGE>=2 else 'SPACE: retry aim',7)


def demo_keys(controller, frame_number):
    """技術QA用の一定入力。AIへの未来情報ではなくプレイヤーの操作列。"""
    # 05は最初の2フレームでタイトルを抜ける。他は直接開始。
    if STAGE==5:
        if frame_number==1:return ('SPACE',)
        frame_number-=2
    if STAGE==1:
        if 2<=frame_number<=23:return ('SPACE',)
        return ()
    # 下を選択し、28度を14入力フレームで作り、最弱で放す。
    if frame_number==2:return ('RIGHT',)
    if frame_number==4:return ('SPACE',)
    if 6<=frame_number<=19:return ('RIGHT',)
    if frame_number==21:return ('SPACE',)
    return ()


def main(headless=False, frames=180, demo=False, replay=None, screenshot=None, report=None):
    from pathlib import Path
    import pyxel  # モデルのimportと標準ライブラリテストには不要。
    controller=Controller()
    codes={name:getattr(pyxel,'KEY_'+name) for name in CONTROLS}
    frame_number=0
    old_held=set()
    changes=[]
    screenshot=str(Path(screenshot).resolve()) if screenshot else None
    report=str(Path(report).resolve()) if report else None
    def update():
        nonlocal frame_number,old_held
        frame_number+=1
        if headless:
            if replay is not None:
                held=set(replay[frame_number-1]) if frame_number<=len(replay) else set()
            else:
                held=set(demo_keys(controller,frame_number) if demo else ())
            pressed=held-old_held
            old_held=held
        else:
            held={name for name,code in codes.items() if pyxel.btn(code)}
            pressed={name for name,code in codes.items() if pyxel.btnp(code)}
        old_mode=controller.state.mode
        controller.tick(pressed,held)
        if pressed or controller.state.mode!=old_mode:
            changes.append({'frame':frame_number,'pressed':sorted(pressed),'held':sorted(held),
                            'mode':controller.state.mode,'hash':state_hash(controller.state)})
    def draw():
        draw_board(pyxel,controller)
        if headless and frame_number>=frames:
            if screenshot:pyxel.screenshot(screenshot,scale=1)
            if report:
                Path(report).write_text(json.dumps({'label':'Actual Pyxel headless; synthetic controller inputs; silent; not human play',
                    'stage':STAGE,'requested_frames':frames,'actual_frames':frame_number,'demo':demo,
                    'changes':changes,'snapshot':controller.snapshot()},ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
            pyxel.quit()
    pyxel.init(630,406,title=f'Fleeing Goal / Step {STAGE}',fps=30,headless=headless)
    pyxel.run(update,draw)


if __name__=='__main__':
    import argparse
    from pathlib import Path
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--headless',action='store_true')
    parser.add_argument('--frames',type=int,default=180)
    parser.add_argument('--demo',action='store_true')
    parser.add_argument('--replay-json',help='UTF-8 JSON list of held-key lists, one per UI frame')
    parser.add_argument('--screenshot',help='PNG output; headless only; relative to current directory')
    parser.add_argument('--report',help='UTF-8 JSON output; headless only')
    args=parser.parse_args()
    if not 12<=args.frames<=100000:parser.error('Use 12 through 100000 frames')
    if not args.headless and (args.demo or args.replay_json or args.screenshot or args.report):
        parser.error('QA input/output options require --headless')
    if args.demo and args.replay_json:parser.error('Choose demo or replay, not both')
    replay=None
    if args.replay_json:
        try:replay=json.loads(Path(args.replay_json).read_text(encoding='utf-8'))
        except (OSError,ValueError) as error:parser.error(str(error))
        if not isinstance(replay,list) or any(not isinstance(keys,list) or any(not isinstance(k,str) or k not in CONTROLS for k in keys) for keys in replay):
            parser.error('Replay must be a list of lists of supported key names')
    main(args.headless,args.frames,args.demo,replay,args.screenshot,args.report)