mining as task

server/src/fell.rs

@@ -102,7 +102,6 @@ impl TreeFarm {
             let near = turtle.goto_adjacent(tree).await?;
             turtle.execute(TurtleCommand::Select(sapling)).await;
             turtle.execute(near.place(tree)?).await;
-            fell_tree(turtle.clone(), tree).await?;
         }
 
         Some(())
@@ -110,12 +109,22 @@ impl TreeFarm {
 
     pub async fn build(&self, turtle: TurtleCommander) -> Option<()> {
         let trees = self.size.x * self.size.y * self.size.z;
-        turtle.dock().await;
+        let mut soil_to_lay = Vec::new();
         for tree in 0..trees {
             let index = fill(self.size, tree);
             let offset = index.component_mul(&Vec3::new(2, 32, 2));
             let tree = self.position + offset;
+            let soil = tree - Vec3::y();
+            if turtle.world().get(soil).await.map_or_else(|| true, |b| b.name.contains("dirt")) {
+                soil_to_lay.push(soil);
+            }
+        }
+
+        for block in soil_to_lay {
+            let near = turtle.goto_adjacent(block).await?;
             // TODO: item management
+            //turtle.execute(TurtleCommand::Select(soil)).await;
+            turtle.execute(near.place(block)?).await;
         }
 
         Some(())

server/src/mine.rs

@@ -1,6 +1,9 @@
 use log::{info, warn};
+use serde::{Serialize, Deserialize};
+use tokio::task::JoinHandle;
+use typetag::serde;
 
-use crate::{blocks::{Position, Vec3}, turtle::{TurtleCommand, TurtleCommander, TurtleCommandResponse, InventorySlot}, paths::TRANSPARENT};
+use crate::{blocks::{Position, Vec3, Direction}, turtle::{TurtleCommand, TurtleCommander, TurtleCommandResponse, InventorySlot}, paths::TRANSPARENT, tasks::{Task, TaskState}};
 use TurtleCommand::*;
 
 /// Things to leave in the field (not worth fuel)
@@ -18,24 +21,19 @@ const VALUABLE: [&str; 1] = [
     "ore",
 ];
 
-pub async fn mine(turtle: TurtleCommander, pos: Vec3, fuel: Position, storage: Position) -> Option<()> {
+pub async fn mine(turtle: TurtleCommander, pos: Vec3, chunk: Vec3) -> Option<()> {
-    let chunk = Vec3::new(4,4,4);
     let volume = chunk.x * chunk.y * chunk.z;
     let mut pos = pos;
     let mut valuables = Vec::new();
 
-    async fn refuel_needed(turtle: &TurtleCommander, volume: i32, fuel: Position) -> Option<()> {
+    async fn refuel_needed(turtle: &TurtleCommander, volume: i32) {
-        Some(if (turtle.fuel() as f64) < (2 * volume + (fuel.pos-turtle.pos().await.pos).abs().sum()) as f64 * 1.8 {
+        if (turtle.fuel() as i32) < 2 * volume + 4000 {
-            let name = turtle.name().to_str();
+            turtle.dock().await;
-            info!("{name}: refueling");
+        }
-            turtle.goto(fuel).await?;
-            info!("{name}: docked");
-            refuel(turtle.clone()).await;
-        })
     }
 
     loop {
-        refuel_needed(&turtle, volume, fuel).await?;
+        refuel_needed(&turtle, volume).await;
 
         mine_chunk(turtle.clone(), pos, chunk).await?;
 
@@ -50,16 +48,12 @@ pub async fn mine(turtle: TurtleCommander, pos: Vec3, fuel: Position, storage: P
             observe(turtle.clone(), block).await;
             valuables.append(&mut near_valuables(&turtle, near.pos, Vec3::new(2,2,2)).await);
 
-            refuel_needed(&turtle, volume, fuel).await?;
+            refuel_needed(&turtle, volume).await;
         }
 
         if dump_filter(turtle.clone(), |i| USELESS.iter().any(|u| **u == i.name)).await > 12 {
             info!("storage rtb");
-            turtle.goto(storage).await?;
+            turtle.dock().await;
-            dump(turtle.clone()).await;
-            // while we're here
-            turtle.goto(fuel).await?;
-            refuel(turtle.clone()).await;
         }
 
         pos += Vec3::z() * chunk.z;
@@ -179,3 +173,34 @@ async fn observe(turtle: TurtleCommander, pos: Vec3) -> Option<()> {
 
     Some(())
 }
+
+#[derive(Serialize, Deserialize,Clone)]
+pub struct Mine {
+    pos: Vec3,
+    chunk: Vec3,
+    #[serde(skip_deserializing)]
+    miners: usize, // Default is false
+}
+
+impl Mine {
+    pub fn new(pos: Vec3, chunk: Vec3) -> Self { Self { pos, chunk, miners: 0 } }
+}
+
+#[serde]
+impl Task for Mine {
+    fn run(&mut self,turtle:TurtleCommander) -> JoinHandle<()>  {
+        self.miners += 1;
+        let frozen = self.clone();
+        tokio::spawn(async move {
+            mine(turtle,frozen.pos, frozen.chunk).await.unwrap();
+        })
+        // TODO: mutability after spawn
+    }
+
+    fn poll(&mut self) -> TaskState {
+        if self.miners < 1 {
+            return TaskState::Ready(Position::new(self.pos, Direction::North));
+        }
+        TaskState::Waiting
+    }
+}

server/src/turtle_api.rs

@@ -2,6 +2,7 @@ use log::trace;
 use tokio;
 use blocks::Vec3;
 use crate::fell::TreeFarm;
+use crate::mine::Mine;
 use crate::turtle::TurtleCommandResponse;
 use crate::turtle::TurtleCommander;
 use crate::turtle::TurtleInfo;
@@ -34,12 +35,12 @@ pub fn turtle_api() -> Router<SharedControl> {
         .route("/:id/update", post(command))
         .route("/client.lua", get(client))
         .route("/:id/setGoal", post(set_goal))
-        .route("/:id/dig", post(dig))
         .route("/:id/cancelTask", post(cancel))
         .route("/:id/manual", post(run_command))
         .route("/:id/dock", post(dock))
         .route("/:id/info", get(turtle_info))
         .route("/createTreeFarm", post(fell))
+        .route("/createMine", post(dig))
         .route("/registerDepot", post(new_depot))
         .route("/pollScheduler", get(poll))
         .route("/updateAll", get(update_turtles))
@@ -101,19 +102,12 @@ pub(crate) async fn run_command(
 }
 
 pub(crate) async fn dig(
-    Path(id): Path<u32>,
     State(state): State<SharedControl>,
-    Json(req): Json<(Vec3, Position, Position)>,
+    Json(req): Json<Vec3>,
 ) -> &'static str {
-    let turtle = state.read().await.get_turtle(id).await.unwrap();
+    let schedule = &mut state.write().await.tasks;
-    let (req, fuel, inventory) = req;
+    let chunk = Vec3::new(4,4,4);
-    //let fuel = Position::new(Vec3::new(-19, 93, 73), blocks::Direction::East);
+    schedule.add_task(Box::new(Mine::new(req,chunk)));
-    //let inventory = Position::new(Vec3::new(-19, 92, 73), blocks::Direction::East);
-    tokio::spawn(
-        async move {
-            mine::mine(turtle.clone(), req, fuel, inventory).await
-        }
-    );
 
     "ACK"
 }