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https://github.com/mat-1/azalea.git
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better pathfinder timeouts
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parent
adb56b7eb2
commit
344834c724
2 changed files with 71 additions and 72 deletions
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@ -49,7 +49,8 @@ pub fn a_star<P, M, HeuristicFn, SuccessorsFn, SuccessFn>(
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heuristic: HeuristicFn,
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mut successors: SuccessorsFn,
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success: SuccessFn,
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timeout: PathfinderTimeout,
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min_timeout: PathfinderTimeout,
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max_timeout: PathfinderTimeout,
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) -> Path<P, M>
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where
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P: Eq + Hash + Copy + Debug,
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@ -150,14 +151,31 @@ where
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// check for timeout every ~10ms
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if num_nodes % 10000 == 0 {
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let timed_out = match timeout {
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let min_timeout_reached = match min_timeout {
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PathfinderTimeout::Time(max_duration) => start_time.elapsed() >= max_duration,
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PathfinderTimeout::Nodes(max_nodes) => num_nodes >= max_nodes,
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};
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if timed_out {
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// timeout, just return the best path we have so far
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trace!("A* couldn't find a path in time, returning best path");
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break;
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if min_timeout_reached {
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// means we have a non-empty path
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if best_paths[6] != 0 {
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break;
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}
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if min_timeout_reached {
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let max_timeout_reached = match max_timeout {
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PathfinderTimeout::Time(max_duration) => {
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start_time.elapsed() >= max_duration
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}
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PathfinderTimeout::Nodes(max_nodes) => num_nodes >= max_nodes,
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};
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if max_timeout_reached {
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// timeout, we're gonna be returning an empty path :(
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trace!("A* couldn't find a path in time, returning best path");
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break;
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}
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}
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}
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}
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}
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@ -107,7 +107,7 @@ pub struct Pathfinder {
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pub is_calculating: bool,
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pub allow_mining: bool,
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pub default_timeout: Option<PathfinderTimeout>,
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pub min_timeout: Option<PathfinderTimeout>,
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pub max_timeout: Option<PathfinderTimeout>,
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pub goto_id: Arc<AtomicUsize>,
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@ -142,7 +142,7 @@ pub struct GotoEvent {
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pub allow_mining: bool,
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/// Also see [`PathfinderTimeout::Nodes`]
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pub default_timeout: PathfinderTimeout,
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pub min_timeout: PathfinderTimeout,
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pub max_timeout: PathfinderTimeout,
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}
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#[derive(Event, Clone, Debug)]
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@ -187,7 +187,7 @@ impl PathfinderClientExt for azalea_client::Client {
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goal: Arc::new(goal),
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successors_fn: moves::default_move,
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allow_mining: true,
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default_timeout: PathfinderTimeout::Time(Duration::from_secs(1)),
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min_timeout: PathfinderTimeout::Time(Duration::from_secs(1)),
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max_timeout: PathfinderTimeout::Time(Duration::from_secs(5)),
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});
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}
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@ -200,7 +200,7 @@ impl PathfinderClientExt for azalea_client::Client {
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goal: Arc::new(goal),
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successors_fn: moves::default_move,
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allow_mining: false,
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default_timeout: PathfinderTimeout::Time(Duration::from_secs(1)),
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min_timeout: PathfinderTimeout::Time(Duration::from_secs(1)),
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max_timeout: PathfinderTimeout::Time(Duration::from_secs(5)),
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});
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}
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@ -250,7 +250,7 @@ pub fn goto_listener(
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pathfinder.successors_fn = Some(event.successors_fn);
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pathfinder.is_calculating = true;
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pathfinder.allow_mining = event.allow_mining;
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pathfinder.default_timeout = Some(event.default_timeout);
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pathfinder.min_timeout = Some(event.min_timeout);
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pathfinder.max_timeout = Some(event.max_timeout);
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let start = if let Some(executing_path) = executing_path
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@ -284,7 +284,7 @@ pub fn goto_listener(
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None
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});
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let default_timeout = event.default_timeout;
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let min_timeout = event.min_timeout;
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let max_timeout = event.max_timeout;
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let task = thread_pool.spawn(async move {
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@ -297,7 +297,7 @@ pub fn goto_listener(
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goto_id_atomic,
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allow_mining,
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mining_cache,
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default_timeout,
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min_timeout,
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max_timeout,
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})
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});
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@ -316,7 +316,7 @@ pub struct CalculatePathOpts {
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pub allow_mining: bool,
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pub mining_cache: MiningCache,
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/// Also see [`GotoEvent::deterministic_timeout`]
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pub default_timeout: PathfinderTimeout,
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pub min_timeout: PathfinderTimeout,
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pub max_timeout: PathfinderTimeout,
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}
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@ -344,63 +344,48 @@ pub fn calculate_path(opts: CalculatePathOpts) -> Option<PathFoundEvent> {
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let mut path;
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let mut is_partial: bool;
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'calculate: loop {
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let start_time = Instant::now();
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let start_time = Instant::now();
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let timeout = if attempt_number == 0 {
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opts.default_timeout
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let astar::Path { movements, partial } = a_star(
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RelBlockPos::get_origin(origin),
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|n| opts.goal.heuristic(n.apply(origin)),
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successors,
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|n| opts.goal.success(n.apply(origin)),
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opts.min_timeout,
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opts.max_timeout,
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);
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let end_time = Instant::now();
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debug!("partial: {partial:?}");
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let duration = end_time - start_time;
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if partial {
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if movements.is_empty() {
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info!("Pathfinder took {duration:?} (empty path)");
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} else {
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opts.max_timeout
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};
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let astar::Path { movements, partial } = a_star(
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RelBlockPos::get_origin(origin),
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|n| opts.goal.heuristic(n.apply(origin)),
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successors,
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|n| opts.goal.success(n.apply(origin)),
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timeout,
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);
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let end_time = Instant::now();
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debug!("partial: {partial:?}");
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let duration = end_time - start_time;
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if partial {
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if movements.is_empty() {
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info!("Pathfinder took {duration:?} (empty path)");
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} else {
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info!("Pathfinder took {duration:?} (incomplete path)");
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}
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// wait a bit so it's not a busy loop
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thread::sleep(Duration::from_millis(100));
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} else {
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info!("Pathfinder took {duration:?}");
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info!("Pathfinder took {duration:?} (incomplete path)");
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}
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// wait a bit so it's not a busy loop
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thread::sleep(Duration::from_millis(100));
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} else {
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info!("Pathfinder took {duration:?}");
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}
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debug!("Path:");
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for movement in &movements {
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debug!(" {}", movement.target.apply(origin));
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}
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debug!("Path:");
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for movement in &movements {
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debug!(" {}", movement.target.apply(origin));
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}
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path = movements.into_iter().collect::<VecDeque<_>>();
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is_partial = partial;
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path = movements.into_iter().collect::<VecDeque<_>>();
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is_partial = partial;
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let goto_id_now = opts.goto_id_atomic.load(atomic::Ordering::SeqCst);
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if goto_id != goto_id_now {
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// we must've done another goto while calculating this path, so throw it away
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warn!("finished calculating a path, but it's outdated");
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return None;
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}
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let goto_id_now = opts.goto_id_atomic.load(atomic::Ordering::SeqCst);
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if goto_id != goto_id_now {
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// we must've done another goto while calculating this path, so throw it away
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warn!("finished calculating a path, but it's outdated");
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return None;
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}
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if path.is_empty() && partial {
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if attempt_number == 0 && opts.default_timeout != opts.max_timeout {
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debug!("this path is empty, retrying with a higher timeout");
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attempt_number += 1;
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continue 'calculate;
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} else {
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debug!("this path is empty, giving up");
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break 'calculate;
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}
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}
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break;
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if path.is_empty() && partial {
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debug!("this path is empty, we might be stuck :(");
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}
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// replace the RelBlockPos types with BlockPos
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@ -758,7 +743,7 @@ pub fn check_for_path_obstruction(
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goto_id_atomic,
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allow_mining,
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mining_cache,
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default_timeout: PathfinderTimeout::Nodes(10_000),
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min_timeout: PathfinderTimeout::Nodes(10_000),
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max_timeout: PathfinderTimeout::Nodes(10_000),
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});
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debug!("obstruction patch: {path_found_event:?}");
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@ -825,9 +810,7 @@ pub fn recalculate_near_end_of_path(
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goal,
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successors_fn,
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allow_mining: pathfinder.allow_mining,
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default_timeout: pathfinder
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.default_timeout
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.expect("default_timeout should be set"),
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min_timeout: pathfinder.min_timeout.expect("min_timeout should be set"),
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max_timeout: pathfinder.max_timeout.expect("max_timeout should be set"),
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});
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pathfinder.is_calculating = true;
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@ -925,9 +908,7 @@ pub fn recalculate_if_has_goal_but_no_path(
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goal,
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successors_fn: pathfinder.successors_fn.unwrap(),
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allow_mining: pathfinder.allow_mining,
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default_timeout: pathfinder
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.default_timeout
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.expect("default_timeout should be set"),
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min_timeout: pathfinder.min_timeout.expect("min_timeout should be set"),
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max_timeout: pathfinder.max_timeout.expect("max_timeout should be set"),
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});
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pathfinder.is_calculating = true;
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@ -1082,7 +1063,7 @@ mod tests {
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goal: Arc::new(BlockPosGoal(end_pos)),
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successors_fn: moves::default_move,
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allow_mining: false,
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default_timeout: PathfinderTimeout::Nodes(1_000_000),
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min_timeout: PathfinderTimeout::Nodes(1_000_000),
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max_timeout: PathfinderTimeout::Nodes(5_000_000),
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});
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simulation
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