mine: Fix long recall

mine.lua

@@ -158,7 +158,7 @@ function pathThrough(points, dist, s, e)
 end
 
 -- A*
-function findPath(s, e, neighbors)
+function findPath(s, e, neighbors, limit)
   local points = {}
   function addPoint(p)
     local k = p:tostring()
@@ -201,11 +201,16 @@ function findPath(s, e, neighbors)
 
   local prev = {}
   local found = false
+  local brokeLimit = false
   while not openSet:empty() do
     local current = openSet:dequeue()
     if current == e then
       found = true
       break
+    elseif limit and (points[current] - points[s]):length() > limit then
+      e = current
+      brokeLimit = true
+      break
     end
 
     local ns = neighbors(points[current])
@@ -225,7 +230,7 @@ function findPath(s, e, neighbors)
       end
     end
   end
-  assert(found)
+  assert(found or brokeLimit)
 
   local path = {points[e]}
   local current = e
@@ -233,7 +238,7 @@ function findPath(s, e, neighbors)
     current = prev[current]
     table.insert(path, 1, points[current])
   end
-  return path
+  return path, brokeLimit
 end
 
 local ORES = Set{
@@ -372,7 +377,7 @@ function Miner:dig(dir)
   end
 end
 
-function Miner:xchgItems()
+function Miner:xchgItems(forceUnload)
   local slots = {}
   local emptySlots = 0
   for i = 1, 16 do
@@ -387,7 +392,7 @@ function Miner:xchgItems()
     end
   end
 
-  if emptySlots >= 2 and turtle.getFuelLevel() >= 1000 then
+  if (emptySlots >= 2 and not forceUnload) and turtle.getFuelLevel() >= 1000 then
     return
   end
 
@@ -395,7 +400,7 @@ function Miner:xchgItems()
     self:dig("down")
   end
 
-  if emptySlots < 2 then
+  if emptySlots < 2 or forceUnload then
     selectItem("enderchests:ender_chest")
     assert(turtle.placeDown())
 
@@ -515,7 +520,7 @@ function Miner:faceDir(newDir)
   end
 end
 
-function Miner:navigateThrough(path)
+function Miner:navigateThrough(path, limit)
   for _, p in ipairs(path) do
     -- print("move from to", self.pos, p)
     local delta = p - self.pos
@@ -523,12 +528,17 @@ function Miner:navigateThrough(path)
     -- print("doing", delta)
     if delta:length() ~= 1 then
       -- print("path finding between points")
-      local path = findPath(self.pos, p, function(v) return self:safeNeighbors(v) end)
+      local path, brokeLimit = findPath(self.pos, p, function(v) return self:safeNeighbors(v) end, limit)
       table.remove(path, 1)
-      table.remove(path, #path)
+      if not brokeLimit then
+        table.remove(path, #path)
+      end
       assert(#path ~= 0)
 
       self:navigateThrough(path)
+      if brokeLimit then
+        return false
+      end
       delta = p - self.pos
     end
     assert(delta:length() == 1)
@@ -547,6 +557,7 @@ function Miner:navigateThrough(path)
     self.pos = p
     self.absolutePos = self.absolutePos + delta
   end
+  return true
 end
 
 function Miner:checkRecall()
@@ -556,9 +567,14 @@ function Miner:checkRecall()
     sleep(0.5)
     self:sendMessage("ackRecall", msg)
 
+    self:xchgItems(true)
+
     local to = vector.new(msg.to.x, msg.to.y, msg.to.z)
     print("Recalling to " .. to:tostring())
-    self:navigateThrough({self.pos + (to - self.absolutePos)})
+    while not self:navigateThrough({self.pos + (to - self.absolutePos)}, 64) do
+      self:sendMessage("recallProgress", { to = msg.to })
+      self:xchgItems()
+    end
     return true
   end
 

mineMonitor.lua

@@ -90,10 +90,11 @@ function Chat:send(msg, target)
 end
 
 MineMonitor = {}
-function MineMonitor.new(chat)
+function MineMonitor.new(chat, target)
   local self = setmetatable({}, { __index = MineMonitor })
 
   self.chat = chat
+  self.target = target
 
   self.cart = peripheral.find("cartographer")
   self.cart.refreshIntegrations()
@@ -189,7 +190,7 @@ function MineMonitor:handleVein(msg)
     {text = " / ", color = "white"},
     {text = tostring(msg.total), color = "red"},
     {text = ")!", color = "white"},
-  }, TARGET)
+  }, self.target)
 
   local id = self:prepareMap(msg)
   self:setPosMarker(msg)
@@ -219,6 +220,24 @@ function MineMonitor:handleRecall(msg)
   })
 end
 
+function MineMonitor:handleRecallProgress(msg)
+  self.chat:send({
+    {text = msg.name, color = "green"},
+    {text = " @ ", color = "white"},
+    {text = vecToStr(msg.pos), color = "aqua"},
+    {text = " in ", color = "white"},
+    {text = msg.dimension, color = "aqua"},
+    {text = " is ", color = "white"},
+    {text = "still", color = "green"},
+    {text = " recalling to ", color = "white"},
+    {text = vecToStr(msg.to), color = "green"},
+    {text = "!", color = "white"},
+  }, self.target)
+
+  self:prepareMap(msg)
+  self:setPosMarker(msg)
+end
+
 function MineMonitor:loop()
   while true do
     local _, sender, msg = os.pullEvent("mine_monitor_message")
@@ -229,6 +248,8 @@ function MineMonitor:loop()
       handler = self.handleVein
     elseif msg.type == "ackRecall" then
       handler = self.handleRecall
+    elseif msg.type == "recallProgress" then
+      handler = self.handleRecallProgress
     end
 
     if handler then
@@ -252,5 +273,5 @@ function MineMonitor:run()
 end
 
 local chat = Chat.new("AutoMine")
-local mineMon = MineMonitor.new(chat)
+local mineMon = MineMonitor.new(chat, TARGET)
 mineMon:run()