clonable scheduler (ick)

server/src/main.rs

@@ -161,7 +161,7 @@ async fn write_to_disk(state: &LiveState) -> anyhow::Result<()> {
     let turtles = ron::ser::to_string_pretty(&turtles, pretty.clone())?;
     let world = bincode::serialize(&*state.world.clone().lock().await)?;
     let depots = ron::ser::to_string_pretty(&depots, pretty.clone())?;
-    let tasks = ron::ser::to_string_pretty(tasks, pretty.clone())?;
+    let tasks = ron::ser::to_string_pretty(&*tasks.lock().await, pretty.clone())?;
 
     let path = &SAVE.get().unwrap();
     tokio::fs::write(path.join("turtles.ron"), turtles).await?;
@@ -226,7 +226,8 @@ async fn read_from_disk(kill: watch::Sender<bool>) -> anyhow::Result<LiveState>
     };
     let depots = Depots::from_vec(depots);
     
-    Ok(LiveState { turtles: bound_turtles.into_iter().map(|t| Arc::new(RwLock::new(t))).collect(), tasks: scheduler, 
+    Ok(LiveState { turtles: bound_turtles.into_iter().map(|t| Arc::new(RwLock::new(t))).collect(),
+        tasks: Arc::new(Mutex::new(scheduler)), 
         world: SharedWorld::from_world(world),
         depots,
         started: Instant::now(),
@@ -244,7 +245,7 @@ struct SavedState {
 
 struct LiveState {
     turtles: Vec<Arc<RwLock<turtle::Turtle>>>,
-    tasks: Scheduler,
+    tasks: Arc<Mutex<Scheduler>>,
     world: blocks::SharedWorld,
     depots: Depots,
     started: Instant,
@@ -260,7 +261,7 @@ impl LiveState {
         };
         let depots = Depots::from_vec(save.depots);
             
-        Self { turtles: turtles.into_iter().map(|t| Arc::new(RwLock::new(t))).collect(), tasks: scheduler, world: SharedWorld::from_world(save.world),
+        Self { turtles: turtles.into_iter().map(|t| Arc::new(RwLock::new(t))).collect(), tasks: Arc::new(Mutex::new(scheduler)), world: SharedWorld::from_world(save.world),
             depots,
             started: Instant::now(),
             kill:sender,

server/src/turtle.rs

@@ -6,6 +6,7 @@ use crate::blocks::SharedWorld;
 use crate::depot::DepotGuard;
 use crate::depot::Depots;
 use crate::paths::route_facing;
+use crate::tasks::Scheduler;
 
 use anyhow::Ok;
 
@@ -156,6 +157,7 @@ pub struct TurtleCommander {
     max_fuel: Arc<AtomicUsize>,
     name: Arc<OnceCell<Name>>,
     inventory: Arc<RwLock<Option<Vec<Option<InventorySlot>>>>>,
+    tasks: Arc<Mutex<Scheduler>>, // this feels subpar, I feel like a mpsc would do better
 }
 
 impl fmt::Debug for TurtleCommander {
@@ -179,6 +181,7 @@ impl TurtleCommander {
             name: Arc::new(OnceCell::new_with(Some(turtle.name))),
             depots: state.depots.clone(),
             inventory: Default::default(),
+            tasks: state.tasks.clone(),
         })
     }
 
@@ -192,6 +195,7 @@ impl TurtleCommander {
             name: Arc::new(OnceCell::new_with(Some(turtle.name))),
             depots: state.depots.clone(),
             inventory: Default::default(),
+            tasks: state.tasks.clone(),
         }
     }
 
@@ -523,6 +527,10 @@ pub enum TurtleCommand {
     Poweroff,
     Refuel,
     CycleFront,
+    /// Name of the computer in front of the one commanded
+    NameFront,
+    /// Name of the current computer
+    Name,
 }
 
 #[derive(Serialize, Deserialize, Clone, Debug)]
@@ -538,6 +546,7 @@ pub(crate) enum TurtleCommandResponse {
     Failure,
     Item(InventorySlot),
     Inventory(Vec<InventorySlot>),
+    Name(String),
 }
 
 impl TurtleCommand {

server/src/turtle_api.rs

@@ -79,7 +79,7 @@ pub(crate) async fn register_turtle(
 ) -> &'static str {
     let state = &mut state.write().await;
     let commander = state.get_turtle(id).await.unwrap().clone();
-    state.tasks.add_turtle(&commander);
+    state.tasks.lock().await.add_turtle(&commander);
     info!("registered turtle: {id}");
 
     "ACK"
@@ -94,7 +94,7 @@ pub(crate) async fn create_turtle(
     let (send, receive) = mpsc::channel(1);
     let turtle = turtle::Turtle::with_channel(id, Position::new(req.position, req.facing), req.fuel, req.fuellimit, send,receive);
     let commander = TurtleCommander::with_turtle(&turtle, state);
-    state.tasks.add_turtle(&commander);
+    state.tasks.lock().await.add_turtle(&commander);
     state.turtles.push(
         Arc::new(RwLock::new(
             turtle
@@ -144,7 +144,8 @@ pub(crate) async fn dig(
     State(state): State<SharedControl>,
     Json(req): Json<Vec3>,
 ) -> &'static str {
-    let schedule = &mut state.write().await.tasks;
+    let state = state.read().await;
+    let mut schedule = state.tasks.lock().await;
     let size = Vec3::new(16,16,16);
     schedule.add_task(Box::new(Quarry::new(req,req+size)));
 
@@ -164,7 +165,8 @@ pub(crate) async fn new_depot(
 pub(crate) async fn poll(
     State(state): State<SharedControl>,
 ) -> &'static str {
-    let schedule = &mut state.write().await.tasks;
+    let state = state.read().await;
+    let mut schedule = state.tasks.lock().await;
     schedule.poll().await;
 
     "ACK"
@@ -174,9 +176,10 @@ pub(crate) async fn shutdown(
     State(state): State<SharedControl>,
 ) -> &'static str {
     let signal = {
-        let mut state = state.write().await;
-        let signal = state.tasks.shutdown();
-        state.tasks.poll().await;
+        let state = state.read().await;
+        let scheduler = &mut state.tasks.lock().await;
+        let signal = scheduler.shutdown();
+        scheduler.poll().await;
         signal
     };
 
@@ -196,7 +199,7 @@ pub(crate) async fn fell(
     Json(req): Json<Vec3>,
 ) -> &'static str {
     let schedule = &mut state.write().await.tasks;
-    schedule.add_task(Box::new(TreeFarm::new(req)));
+    schedule.lock().await.add_task(Box::new(TreeFarm::new(req)));
 
     "ACK"
 }
@@ -218,7 +221,7 @@ pub(crate) async fn cancel(
     Path(id): Path<u32>,
     State(state): State<SharedControl>,
 ) -> &'static str {
-    state.write().await.tasks.cancel(Name::from_num(id)).await;
+    state.read().await.tasks.lock().await.cancel(Name::from_num(id)).await;
 
     "ACK"
 }
@@ -269,7 +272,8 @@ pub(crate) async fn command(
             tokio::spawn(async move {
                 let state = &state.clone();
                 if Instant::elapsed(&state.clone().read().await.started).as_secs_f64() > STARTUP_ALLOWANCE {
-                    let schedule = &mut state.write().await.tasks;
+                    let state = state.read().await;
+                    let mut schedule = state.tasks.lock().await;
                     trace!("idle, polling");
                     schedule.add_turtle(&turtle_commander.unwrap());
                     schedule.poll().await;