fix(goap): resolve infinite routing loop by feeding masked actions to HD Map pathfinder

GramAddict/core/goap.py

@@ -173,7 +173,7 @@ class GoalExecutor:
                 continue
 
             # PLAN
-            action = self.planner.plan_next_step(goal, screen, explored_nav_actions=explored_nav_actions)
+            action = self.planner.plan_next_step(goal, screen, explored_nav_actions=explored_nav_actions, action_failures=self.action_failures)
 
             if action is None:
                 # Goal achieved!

GramAddict/core/navigation/planner.py

@@ -17,7 +17,7 @@ class GoalPlanner:
     def __init__(self, username: str):
         self.knowledge = NavigationKnowledge(username)
 
-    def plan_next_step(self, goal: str, screen: Dict[str, Any], explored_nav_actions: set = None) -> Optional[str]:
+    def plan_next_step(self, goal: str, screen: Dict[str, Any], explored_nav_actions: set = None, action_failures: dict = None) -> Optional[str]:
         """Plans the NEXT single action to take toward the goal."""
         screen_type = screen["screen_type"]
         available = screen.get("available_actions", [])
@@ -34,7 +34,7 @@ class GoalPlanner:
 
         # ── 3. Am I on the right screen? If not, navigate there ──
         selected_tab = screen.get("selected_tab")
-        nav_action = self._plan_navigation(goal_lower, screen_type, available, selected_tab, explored_nav_actions)
+        nav_action = self._plan_navigation(goal_lower, screen_type, available, selected_tab, explored_nav_actions, action_failures)
         if nav_action:
             return nav_action
 
@@ -70,6 +70,7 @@ class GoalPlanner:
         available: List[str],
         selected_tab: Optional[str] = None,
         explored_nav_actions: set = None,
+        action_failures: dict = None,
     ) -> Optional[str]:
         """If we're on the wrong screen, figure out how to navigate.
 
@@ -88,11 +89,18 @@ class GoalPlanner:
             else:
                 logger.debug(f"🛡️ [Aversive Filter] Masking trapped action: '{action}'")
         available = safe_available
+        
+        # Build avoid_actions for HD Map route planning
+        avoid_actions = (explored_nav_actions or set()).copy()
+        if action_failures:
+            for act, count in action_failures.items():
+                if count >= 2:  # MAX_RETRIES is 2 in goap
+                    avoid_actions.add(act)
 
         # ── 1. HD Map Routing (Primary Strategy) ──
         target_screen = ScreenTopology.goal_to_target_screen(goal)
         if target_screen and target_screen != screen_type:
-            route = ScreenTopology.find_route(screen_type, target_screen)
+            route = ScreenTopology.find_route(screen_type, target_screen, avoid_actions=avoid_actions)
             if route:
                 next_action, next_screen = route[0]
                 # Verify action isn't explored/trapped
@@ -131,7 +139,7 @@ class GoalPlanner:
         # 5. Find the action we need to take (from learned knowledge or HD map)
         for target_screen in required_screens:
             # Try HD Map first!
-            route = ScreenTopology.find_route(screen_type, target_screen)
+            route = ScreenTopology.find_route(screen_type, target_screen, avoid_actions=avoid_actions)
             if route:
                 next_action, next_screen = route[0]
                 if next_action not in (explored_nav_actions or set()):

GramAddict/core/screen_topology.py

@@ -88,7 +88,7 @@ class ScreenTopology:
     }
 
     @classmethod
-    def find_route(cls, from_screen: ScreenType, to_screen: ScreenType) -> Optional[List[Tuple[str, ScreenType]]]:
+    def find_route(cls, from_screen: ScreenType, to_screen: ScreenType, avoid_actions: set = None) -> Optional[List[Tuple[str, ScreenType]]]:
         """
         BFS shortest path from from_screen to to_screen.
 
@@ -99,6 +99,8 @@ class ScreenTopology:
         """
         if from_screen == to_screen:
             return []
+            
+        avoid_actions = avoid_actions or set()
 
         queue: deque = deque()
         queue.append((from_screen, []))
@@ -109,6 +111,9 @@ class ScreenTopology:
             transitions = cls.TRANSITIONS.get(current, {})
 
             for action, next_screen in transitions.items():
+                if action in avoid_actions or action.replace(" ", "_") in avoid_actions:
+                    continue
+                    
                 if next_screen == to_screen:
                     return path + [(action, next_screen)]