dfs on ore find & ignore fluids in pathfinding

server/src/blocks.rs

@@ -5,7 +5,7 @@ use rstar::{self, PointDistance, RTree, RTreeObject, AABB};
 use serde::{Deserialize, Serialize};
 use tokio::sync::{RwLock, RwLockReadGuard, OwnedRwLockReadGuard};
 
-use crate::{turtle::TurtleCommand, paths};
+use crate::{turtle::TurtleCommand, paths::{self, TRANSPARENT}};
 
 pub type WorldReadLock = OwnedRwLockReadGuard<RTree<Block>>;
 
@@ -30,9 +30,9 @@ impl World {
         self.state.write().await.insert(block);
     }
 
-    /// Returns true if a known non-air block exists at the point
+    /// Returns true if a known non-traversable block exists at the point
     pub async fn occupied(&self, block: Vec3) -> bool {
-        self.state.read().await.locate_at_point(&block.into()).is_some_and(|b| b.name != "minecraft:air")
+        self.state.read().await.locate_at_point(&block.into()).is_some_and(|b| !TRANSPARENT.contains(&b.name.as_str()))
     }
 
     /// Returns true if a "garbage" block exists at the given point which you are free to destroy

server/src/main.rs

@@ -212,11 +212,12 @@ async fn run_command(
 async fn dig(
     Path(id): Path<u32>,
     State(state): State<SharedControl>,
-    Json(req): Json<Vec3>,
+    Json(req): Json<(Vec3, Position, Position)>,
 ) -> &'static str {
     let turtle = state.read().await.get_turtle(id).await.unwrap();
-    let fuel = Position::new(Vec3::new(-19, 93, 73), blocks::Direction::East);
+    let (req, fuel, inventory) = req;
-    let inventory = Position::new(Vec3::new(-19, 92, 73), blocks::Direction::East);
+    //let fuel = Position::new(Vec3::new(-19, 93, 73), blocks::Direction::East);
+    //let inventory = Position::new(Vec3::new(-19, 92, 73), blocks::Direction::East);
     tokio::spawn(
         async move {
             mine::mine(turtle.clone(), req, fuel, inventory).await

server/src/mine.rs

@@ -130,8 +130,9 @@ impl TurtleTask for TurtleMineJob {
 use TurtleCommand::*;
 
 /// Things to leave in the field (not worth fuel)
-const USELESS: [&str; 4] = [
+const USELESS: [&str; 5] = [
     "minecraft:dirt",
+    "minecraft:gravel",
     "minecraft:cobblestone",
     "minecraft:cobbled_deepslate",
     "minecraft:diorite",
@@ -150,17 +151,13 @@ pub async fn mine(turtle: TurtleCommander, pos: Vec3, fuel: Position, storage: P
     loop {
         mine_chunk(turtle.clone(), pos, chunk).await?;
 
-        turtle.world().lock().await
+        valuables.append(&mut near_valuables(&turtle, pos, chunk).await);
-            .locate_within_distance(pos.into(), chunk.map(|n| n.pow(2)).sum()) 
-            .filter(|n| n.name != "minecraft:air")
-            .filter(|n| VALUABLE.iter().any(|v| n.name.contains(v)))
-            .map(|b|b.pos).collect_into(&mut valuables);
-
-        dump_filter(turtle.clone(), |i| USELESS.iter().any(|u| **u == i.name)).await;
 
         while let Some(block) = valuables.pop() {
             let near = turtle.goto_adjacent(block).await?;
             turtle.execute(dbg!(near.dig(block))?).await;
+            observe(turtle.clone(), block).await;
+            valuables.append(&mut near_valuables(&turtle, near.pos, Vec3::new(2,2,2)).await);
         }
 
         if (turtle.fuel().await as f64) < (volume + (fuel.pos-turtle.pos().await.pos).abs().sum()) as f64 * 1.1 {
@@ -169,7 +166,7 @@ pub async fn mine(turtle: TurtleCommander, pos: Vec3, fuel: Position, storage: P
             refuel(turtle.clone()).await;
         }
 
-        if let turtle::TurtleCommandResponse::Item(_) =  turtle.execute(ItemInfo(13)).await.ret {
+        if dump_filter(turtle.clone(), |i| USELESS.iter().any(|u| **u == i.name)).await > 13 {
             println!("storage rtb");
             turtle.goto(storage).await?;
             dump(turtle.clone()).await;
@@ -179,6 +176,14 @@ pub async fn mine(turtle: TurtleCommander, pos: Vec3, fuel: Position, storage: P
     }
 }
 
+async fn near_valuables(turtle: &TurtleCommander, pos: Vec3, chunk: Vec3) -> Vec<Vec3> {
+    turtle.world().lock().await
+        .locate_within_distance(pos.into(), chunk.map(|n| n.pow(2)).sum()) 
+        .filter(|n| n.name != "minecraft:air")
+        .filter(|n| VALUABLE.iter().any(|v| n.name.contains(v)))
+        .map(|b|b.pos).collect()
+}
+
 pub async fn mine_chunk(turtle: TurtleCommander, pos: Vec3, chunk: Vec3) -> Option<()> {
     let turtle = turtle.clone();
     let volume = chunk.x * chunk.y * chunk.z;
@@ -224,15 +229,20 @@ async fn dump(turtle: TurtleCommander) {
 }
 
 /// Dump all items that match the predicate
-async fn dump_filter<F>(turtle: TurtleCommander, mut filter: F)
+/// Returns the number of slots still full after the operation
+async fn dump_filter<F>(turtle: TurtleCommander, mut filter: F) -> u32
 where F: FnMut(InventorySlot) -> bool {
+    let mut counter = 0;
     for i in 1..=16 {
         if let TurtleCommandResponse::Item(item) = turtle.execute(Select(i)).await.ret {
             if filter(item) {
                 turtle.execute(DropFront(64)).await;
+            } else {
+                counter += 1;
             }
         }
     }
+    counter
 }
 
 /// zig from 0 to x and back, stopping on each end
@@ -255,3 +265,26 @@ fn fill(scale: Vec3, n: i32) -> Vec3 {
         step(n/scale.x/scale.y, scale.z)
     )
 }
+
+/// Looks at all the blocks around the given pos
+/// destructive
+async fn observe(turtle: TurtleCommander, pos: Vec3) -> Option<()> {
+    let adjacent = [
+        pos, 
+        pos + Vec3::y(),
+        pos + Vec3::x(),
+        pos + Vec3::z(),
+        pos - Vec3::x(),
+        pos - Vec3::z(),
+        pos - Vec3::y(),
+    ];
+
+    for pos in adjacent {
+        if turtle.world().get(pos).await.is_none() {
+            turtle.goto_adjacent(pos).await?;
+        }
+        
+    }
+
+    Some(())
+}

server/src/paths.rs

@@ -35,8 +35,7 @@ where D: FnMut(&Position) -> bool {
         move |p| next(p, &world),
         |p1| (p1.pos - &to).abs().sum() as u32,
         done,
-    )
+    )?;
-    .unwrap();
     Some(route.0)
 }
 
@@ -74,6 +73,13 @@ fn next(from: &Position, world: &WorldReadLock) -> Vec<(Position, u32)> {
     vec
 }
 
+/// Blocks that you can go through without a pickaxe
+pub const TRANSPARENT: [&str; 3] = [
+    "minecraft:air",
+    "minecraft:water",
+    "minecraft:lava",
+];
+
 /// Blocks that are fine to tunnel through
 const GARBAGE: [&str; 6] = [
     "minecraft:stone",
@@ -89,7 +95,7 @@ const UNKNOWN: Option<u32> = Some(2);
 
 // time to go somewhere
 pub fn difficulty(name: &str) -> Option<u32> {
-    if name == "minecraft:air" {
+    if TRANSPARENT.contains(&name) {
         return Some(1);
     };
     if GARBAGE.contains(&name) {