tasks trait v2

server/Cargo.toml

@@ -25,7 +25,7 @@ parking_lot = { version = "0.11", features = ["serde"] }
 pathfinding = "4.6.0"
 rstar = { version = "0.11.0", features = ["serde"] }
 rustmatica = "0.1.1"
-serde = { version = "1.0.193", features = ["rc"] }
+serde = { version = "1.0.193", features = ["rc", "derive"] }
 serde_json = "1.0.108"
 tokio = { version = "1.0", features = ["full"] }
 tower = { version = "0.4", features = ["util", "timeout", "load-shed", "limit"] }

server/src/depot.rs

@@ -0,0 +1,79 @@
+use std::sync::Arc;
+
+use log::warn;
+use tokio::sync::{Mutex, OwnedMutexGuard};
+
+use crate::{blocks::Position, turtle::TurtleCommander};
+use crate::turtle::{TurtleCommand::*, TurtleCommandResponse};
+
+
+/// List of available depots
+///
+/// below the specified position is an output chest of infinite capacity
+/// ahead of the specified position is a chest of combustibles
+#[derive(Clone)]
+pub struct Depots {
+    depots: Arc<Mutex<Vec<Arc<Mutex<Position>>>>>
+}
+
+impl Depots {
+    /// Nearest depot to the given position
+    pub async fn nearest(&self, pos: Position) -> Option<OwnedMutexGuard<Position>> {
+        self.depots.lock().await
+            .iter().map(|i| i.clone())
+            .filter_map(|i| i.try_lock_owned().ok())
+            .min_by_key(|d| d.manhattan(pos))
+            .map(|d| d)
+    }
+
+    pub async fn dock(&self, turtle: TurtleCommander) -> Option<usize> {
+        let depot = self.nearest(turtle.pos().await).await?;
+        turtle.goto(*depot).await?;
+
+        // dump inventory
+        for i in 1..=16 {
+            turtle.execute(Select(i)).await;
+            turtle.execute(DropFront(64)).await;
+        }
+
+        // refuel
+        turtle.execute(Select(1)).await;
+        let limit = turtle.fuel_limit().await;
+        while turtle.fuel().await < limit {
+            turtle.execute(SuckFront(64)).await;
+            let re = turtle.execute(Refuel).await;
+            turtle.execute(DropDown(64)).await;
+            if let TurtleCommandResponse::Failure = re.ret {
+                // partial refuel, good enough
+                warn!("only received {} fuel", turtle.fuel().await);
+                if turtle.fuel().await > 5000 {
+                    break;
+                } else {
+                    turtle.execute(Wait(15)).await;
+                }
+            }
+        }
+        
+        turtle.execute(Backward(1)).await;
+
+        drop(depot); // assumes that the turtle will very quickly leave
+
+        Some(turtle.fuel().await)
+    }
+
+    pub fn from_vec(vec: Vec<Position>) -> Self {
+        let mut depots = Vec::new();
+        for depot in vec {
+            depots.push(Arc::new(Mutex::new(depot)));
+        }
+        Depots { depots: Arc::new(Mutex::new(depots)) }
+    }
+
+    pub async fn to_vec(self) -> Vec<Position> {
+        let mut depots = Vec::new();
+        for depot in self.depots.lock().await.iter() {
+            depots.push(*depot.lock().await)
+        }
+        depots
+    }
+}

server/src/fell.rs

@@ -0,0 +1,5 @@
+use crate::{blocks::Vec3, turtle::TurtleCommander};
+
+pub async fn fell(turtle: TurtleCommander, corner: Vec3) -> Option<()> {
+    Some(())
+}

server/src/main.rs

@@ -9,6 +9,7 @@ use axum::{
     Router,
 };
 use blocks::{World, Position, };
+use depot::Depots;
 use log::info;
 use rstar::RTree;
 
@@ -31,6 +32,7 @@ mod safe_kill;
 mod turtle;
 mod turtle_api;
 mod tasks;
+mod depot;
 
 #[derive(Serialize, Deserialize)]
 struct SavedState {
@@ -44,7 +46,7 @@ struct LiveState {
     turtles: Vec<Arc<RwLock<turtle::Turtle>>>,
     tasks: Vec<VecDeque<()>>,
     world: blocks::World,
-    depots: Mutex<Vec<Arc<Mutex<Position>>>>,
+    depots: Depots,
 }
 
 impl LiveState {
@@ -53,10 +55,7 @@ impl LiveState {
         for turtle in self.turtles.iter() {
             turtles.push(turtle.read().await.info());
         };
-        let mut depots = Vec::new();
+        let depots = self.depots.clone().to_vec().await;
-        for depot in self.depots.lock().await.iter() {
-            depots.push(*depot.lock().await);
-        };
         SavedState { turtles, world: self.world.tree().await, depots }
     }
 
@@ -66,12 +65,10 @@ impl LiveState {
             let (tx, rx) = mpsc::channel(1);
             turtles.push(Turtle::with_channel(turtle.name.to_num(), turtle.position, turtle.fuel, turtle.fuel_limit, tx, rx));
         };
-        let mut depots = Vec::new();
+        let depots = Depots::from_vec(save.depots);
-        for depot in save.depots {
+            
-            depots.push(Arc::new(Mutex::new(depot)));
-        }
         Self { turtles: turtles.into_iter().map(|t| Arc::new(RwLock::new(t))).collect(), tasks: Vec::new(), world: World::from_tree(save.world),
-            depots: Mutex::new(depots)
+            depots,
         }
     }
 

server/src/tasks.rs

@@ -0,0 +1,80 @@
+use std::sync::Arc;
+
+use erased_serde::serialize_trait_object;
+use serde::{Deserialize, Serialize};
+use tokio::sync::{Mutex, MutexGuard, RwLock, OwnedMutexGuard};
+use tokio::task::JoinHandle;
+
+use crate::LiveState;
+use crate::{turtle::{self, TurtleCommander}, blocks::Position};
+
+#[typetag::serde(tag = "type")]
+trait Task {
+    /// Execute the task
+    fn run(&self, turtle: TurtleCommander) -> JoinHandle<()>;
+    /// Return Some if the task should be scheduled
+    fn poll(&self) -> Option<Position>;
+}
+
+#[derive(Serialize, Deserialize)]
+struct Scheduler {
+    #[serde(skip)]
+    turtles: Vec<(TurtleCommander, Option<JoinHandle<()>>)>,
+    tasks: Vec<Box<dyn Task>>,
+}
+
+impl Default for Scheduler {
+    fn default() -> Self {
+        Self {
+            turtles: Vec::new(),
+            tasks: Vec::new(),
+        }
+    }
+}
+
+impl Scheduler {
+    /// Add a new turtle to the scheduler
+    /// Whether or not the turtle is already in the scheduler is not verified
+    fn add_turtle(&mut self, turtle: &TurtleCommander) {
+        self.turtles.push((
+                turtle.clone(),
+                None
+            ));
+    }
+
+    fn add_task(&mut self, task: Box<dyn Task>) {
+        self.tasks.push(task);
+    }
+
+    async fn poll(&mut self) {
+        for turtle in &mut self.turtles {
+            if let Some(join)  = &turtle.1 {
+                if join.is_finished() {
+                    turtle.1 = None;
+                }
+            }
+        }
+
+        let mut free_turtles: Vec<&mut (TurtleCommander, Option<JoinHandle<()>>)> = 
+            self.turtles.iter_mut().filter(|t| t.1.is_none()).collect();
+
+        let mut turtle_positions = Vec::new();
+        for turtle in &free_turtles {
+            turtle_positions.push(turtle.0.pos().await);
+        }
+
+        for task in &mut self.tasks {
+            if let Some(position) = task.poll() {
+                let closest_turtle = match free_turtles.iter_mut().zip(turtle_positions.iter()).min_by_key( |(_,p)| {
+                    p.manhattan(position)
+                }) {
+                    Some(turtle) => turtle.0,
+                    None => break,
+                };
+
+                closest_turtle.1 = Some(task.run(closest_turtle.0.clone()));
+            }
+        }
+        
+    }
+}

server/src/turtle.rs

@@ -3,6 +3,7 @@ use crate::blocks::Direction;
 use crate::blocks::Position;
 use crate::blocks::Vec3;
 use crate::blocks::World;
+use crate::depot::Depots;
 use crate::paths::route_facing;
 
 use anyhow::Ok;
@@ -12,6 +13,7 @@ use anyhow::Context;
 use log::trace;
 use log::warn;
 use log::info;
+use tokio::sync::Mutex;
 use tokio::sync::OnceCell;
 use tokio::sync::RwLock;
 use tokio::sync::mpsc;
@@ -141,6 +143,7 @@ impl Turtle {
 pub struct TurtleCommander {
     sender: Arc<Sender>,
     world: World,
+    depots: Depots,
     // everything below is best-effort
     // TODO: make not bad
     pos: Arc<RwLock<Position>>,
@@ -160,6 +163,7 @@ impl TurtleCommander {
             fuel: Arc::new(AtomicUsize::new(turtle.fuel)),
             max_fuel: Arc::new(AtomicUsize::new(turtle.fuel_limit)),
             name: Arc::new(OnceCell::new_with(Some(turtle.name))),
+            depots: state.depots.clone(),
         })
     }