exec api (global state in limbo)

server/Cargo.toml

@@ -12,10 +12,12 @@ bit-struct = "0.3.2"
 const_format = "0.2.32"
 erased-serde = "0.4.1"
 feistel_rs = "0.1.0"
+future-parking_lot = "0.3.3"
 hilbert_index = "0.2.0"
 hyper = "1.0.1"
 hyper-util = "0.1.1"
 nalgebra = { version = "0.32.3", features = ["serde-serialize"] }
+parking_lot = { version = "0.11", features = ["serde"] }
 pathfinding = "4.6.0"
 rstar = { version = "0.11.0", features = ["serde"] }
 rustmatica = "0.1.1"

server/src/main.rs

@@ -1,3 +1,5 @@
+#![feature(iter_map_windows)]
+
 use std::{collections::VecDeque, io::ErrorKind, sync::Arc};
 
 use anyhow::{Context, Error, Ok};
@@ -21,7 +23,7 @@ use tokio::sync::{
     Mutex, RwLock, mpsc
 };
 use tower::Service;
-use turtle::{TurtleTask, Iota, Receiver, Sender, Turtle, TurtleUpdate};
+use turtle::{TurtleTask, Iota, Receiver, Sender, Turtle, TurtleUpdate, TurtleInfo};
 
 use crate::{blocks::Block, paths::route};
 
@@ -127,11 +129,11 @@ async fn create_turtle(
 async fn place_up(
     Path(id): Path<u32>,
     State(state): State<SharedControl>,
-) -> Json<TurtleUpdate> {
+) -> Json<TurtleInfo> {
     let turtle = state.write().await.saved.turtles.get(id as usize).unwrap()
         .cmd();
 
-    Json(turtle.execute(Iota::Execute(turtle::TurtleCommand::PlaceUp)).await)
+    Json(turtle.execute(turtle::TurtleCommand::PlaceUp).await)
 }
 
 async fn set_goal(
@@ -139,9 +141,10 @@ async fn set_goal(
     State(state): State<SharedControl>,
     Json(req): Json<Position>,
 ) -> &'static str {
-    state.write().await.saved.tasks[id as usize].push_back(
-        TurtleMineJob::chunk(req.0)
-    );
+    state.read().await.saved.turtles[id as usize].cmd().goto(req).await;
+    //state.write().await.saved.tasks[id as usize].push_back(
+    //    TurtleMineJob::chunk(req.0)
+    //);
 
     "ACK"
 }

server/src/turtle.rs

@@ -38,15 +38,34 @@ pub(crate) struct Turtle {
     pub(crate) goal: Option<Iota>,
     pub(crate) pending_update: bool,
     #[serde(skip)]
-    callback: Option<oneshot::Sender<TurtleUpdate>>,
+    callback: Option<oneshot::Sender<TurtleInfo>>,
     #[serde(skip)]
     sender: Option<Arc<Sender>>,
     #[serde(skip)]
     receiver: Option<Receiver>,
 }
 
-pub type Sender = mpsc::Sender<(Iota, oneshot::Sender<TurtleUpdate>)>;
-pub type Receiver = mpsc::Receiver<(Iota, oneshot::Sender<TurtleUpdate>)>;
+#[derive(Debug)]
+pub struct TurtleInfo {
+    pub name: Name,
+    pub pos: Position,
+    pub fuel: usize,
+    /// Block name
+    pub ahead: String,
+    pub above: String,
+    pub below: String,
+    pub ret: TurtleCommandResponse,
+}
+
+impl TurtleInfo {
+    fn from_update(update: TurtleUpdate, name: Name, pos: Position) -> Self {
+        Self { name, pos,
+        fuel: update.fuel, ahead: update.ahead, above: update.above, below: update.below, ret: update.ret }
+    }
+}
+
+pub type Sender = mpsc::Sender<(TurtleCommand, oneshot::Sender<TurtleInfo>)>;
+pub type Receiver = mpsc::Receiver<(TurtleCommand, oneshot::Sender<TurtleInfo>)>;
 
 impl Default for Turtle {
     fn default() -> Self {
@@ -102,25 +121,40 @@ pub struct TurtleCommander {
 }
 
 impl TurtleCommander {
-    pub async fn execute(&self, command: Iota) -> TurtleUpdate {
-        let (send, recv) = oneshot::channel::<TurtleUpdate>();
+    pub async fn execute(&self, command: TurtleCommand) -> TurtleInfo {
+        let (send, recv) = oneshot::channel::<TurtleInfo>();
 
         self.sender.to_owned().send((command,send)).await.unwrap();
 
         recv.await.unwrap()
     }
+}
 
-    pub async fn command(&self, command: TurtleCommand) -> TurtleUpdate {
-        self.execute(Iota::Execute(command)).await
+async fn goto(cmd: &TurtleCommander, recent: TurtleInfo, pos: Position, world: &rstar::RTree<Block>) -> Option<()> {
+    let mut recent = recent.pos;
+    loop {
+        if recent == pos {
+            break;
         }
 
-    pub async fn goto(&self, pos: Position) -> TurtleUpdate {
-        self.execute(Iota::Goto(pos)).await
+        let route = route(recent, pos, world)?;
+
+        let steps: Vec<TurtleCommand> = route.iter().map_windows(|[from,to]| difference(**from,**to).unwrap()).collect();
+
+        'route: for (next_position, command) in route.into_iter().skip(1).zip(steps) {
+            // reroute if the goal point is not empty before moving
+            // valid routes will explicitly tell you to break ground
+
+            if world.locate_at_point(&next_position.0.into()).unwrap().name != "minecraft:air" {
+                break 'route;
             }
 
-    pub async fn mine(&self, pos: Vec3) -> TurtleUpdate {
-        self.execute(Iota::Mine(pos)).await
+            let state = cmd.execute(command).await;
+            recent = state.pos;
+            
         }
+    }
+    Some(())
 }
 
 pub(crate) async fn process_turtle_update(
@@ -171,21 +205,17 @@ pub(crate) async fn process_turtle_update(
     world.remove_at_point(&below.pos.into());
     world.insert(below.clone());
 
-    if let Some(task) = tasks.front_mut() {
-        task.handle_block(above);
-        task.handle_block(below);
-        task.handle_block(ahead);
-    }
+    let info = TurtleInfo::from_update(update, turtle.name.clone(), turtle.position.clone());
 
     if let Some(send) = turtle.callback.take() {
-        send.send(update).unwrap();
+        send.send(info).unwrap();
     }
 
     if let Some(recv) = turtle.receiver.as_mut() {
         if let Some((cmd, ret)) = recv.try_recv().ok() {
             turtle.callback = Some(ret);
 
-            turtle.goal = Some(cmd);
+            return Ok(cmd);
         }
     }