several pathfinder fixes

6 files changed, 53 insertions, 44 deletions

diff --git a/azalea-client/src/plugins/auto_reconnect.rs b/azalea-client/src/plugins/auto_reconnect.rs
index 52c6e94b..1391545f 100644
--- a/azalea-client/src/plugins/auto_reconnect.rs
+++ b/azalea-client/src/plugins/auto_reconnect.rs
@@ -70,11 +70,17 @@ fn get_delay(
     auto_reconnect_delay_query: Query<&AutoReconnectDelay>,
     entity: Entity,
 ) -> Option<Duration> {
-    if let Ok(c) = auto_reconnect_delay_query.get(entity) {
+    let delay = if let Ok(c) = auto_reconnect_delay_query.get(entity) {
         Some(c.delay)
     } else {
         auto_reconnect_delay_res.as_ref().map(|r| r.delay)
+    };
+
+    if delay == Some(Duration::MAX) {
+        // if the duration is set to max, treat that as autoreconnect being disabled
+        return None;
     }
+    delay
 }
 
 pub fn rejoin_after_delay(
diff --git a/azalea-client/src/plugins/connection.rs b/azalea-client/src/plugins/connection.rs
index 36aa2ee7..a929a4c7 100644
--- a/azalea-client/src/plugins/connection.rs
+++ b/azalea-client/src/plugins/connection.rs
@@ -169,9 +169,9 @@ pub struct RawConnection {
     ///
     /// To check if we haven't disconnected from the server, use
     /// [`Self::is_alive`].
-    network: Option<NetworkConnection>,
+    pub(crate) network: Option<NetworkConnection>,
     pub state: ConnectionProtocol,
-    is_alive: bool,
+    pub(crate) is_alive: bool,
 
     /// This exists for internal testing purposes and probably shouldn't be used
     /// for normal bots. It's basically a way to make our client think it
diff --git a/azalea-client/src/plugins/mining.rs b/azalea-client/src/plugins/mining.rs
index 797c4361..260f7140 100644
--- a/azalea-client/src/plugins/mining.rs
+++ b/azalea-client/src/plugins/mining.rs
@@ -8,6 +8,7 @@ use azalea_world::{InstanceContainer, InstanceName};
 use bevy_app::{App, Plugin, Update};
 use bevy_ecs::prelude::*;
 use derive_more::{Deref, DerefMut};
+use tracing::trace;
 
 use crate::{
     Client, InstanceHolder,
@@ -148,7 +149,7 @@ fn handle_auto_mine(
 
 /// Information about the block we're currently mining. This is only present if
 /// we're currently mining a block.
-#[derive(Component)]
+#[derive(Component, Debug, Clone)]
 pub struct Mining {
     pub pos: BlockPos,
     pub dir: Direction,
@@ -308,10 +309,12 @@ fn handle_mining_queued(
                     position: mining_queued.position,
                 });
             } else {
-                commands.entity(entity).insert(Mining {
+                let mining = Mining {
                     pos: mining_queued.position,
                     dir: mining_queued.direction,
-                });
+                };
+                trace!("inserting mining component {mining:?} for entity {entity:?}");
+                commands.entity(entity).insert(mining);
                 **current_mining_pos = Some(mining_queued.position);
                 **current_mining_item = held_item;
                 **mine_progress = 0.;
@@ -332,6 +335,7 @@ fn handle_mining_queued(
                     sequence: sequence_number.get_and_increment(),
                 },
             ));
+            // vanilla really does send two swing arm packets
             commands.trigger(SwingArmEvent { entity });
             commands.trigger(SwingArmEvent { entity });
         }
@@ -578,12 +582,12 @@ pub fn continue_mining_block(
             current_mining_pos,
             current_mining_item,
         ) {
-            println!("continue mining block at {:?}", mining.pos);
+            trace!("continue mining block at {:?}", mining.pos);
             let instance_lock = instances.get(instance_name).unwrap();
             let instance = instance_lock.read();
             let target_block_state = instance.get_block_state(&mining.pos).unwrap_or_default();
 
-            println!("target_block_state: {target_block_state:?}");
+            trace!("target_block_state: {target_block_state:?}");
 
             if target_block_state.is_air() {
                 commands.entity(entity).remove::<Mining>();
@@ -604,8 +608,10 @@ pub fn continue_mining_block(
             **mine_ticks += 1.;
 
             if **mine_progress >= 1. {
-                commands.entity(entity).remove::<Mining>();
-                println!("finished mining block at {:?}", mining.pos);
+                // MiningQueued is removed in case we were doing an infinite loop that
+                // repeatedly inserts MiningQueued
+                commands.entity(entity).remove::<(Mining, MiningQueued)>();
+                trace!("finished mining block at {:?}", mining.pos);
                 finish_mining_events.write(FinishMiningBlockEvent {
                     entity,
                     position: mining.pos,
@@ -631,7 +637,7 @@ pub fn continue_mining_block(
             });
             commands.trigger(SwingArmEvent { entity });
         } else {
-            println!("switching mining target to {:?}", mining.pos);
+            trace!("switching mining target to {:?}", mining.pos);
             commands.entity(entity).insert(MiningQueued {
                 position: mining.pos,
                 direction: mining.dir,
diff --git a/azalea/src/pathfinder/astar.rs b/azalea/src/pathfinder/astar.rs
index 9ae7ae20..8d23ed2e 100644
--- a/azalea/src/pathfinder/astar.rs
+++ b/azalea/src/pathfinder/astar.rs
@@ -285,26 +285,11 @@ pub struct WeightedNode {
 impl Ord for WeightedNode {
     #[inline]
     fn cmp(&self, other: &Self) -> cmp::Ordering {
-        // we compare bits instead of floats because it's faster. this is the same as
-        // f32::total_cmp as long as the numbers aren't negative
-
-        debug_assert!(self.f_score >= 0.0);
-        debug_assert!(other.f_score >= 0.0);
-        debug_assert!(self.g_score >= 0.0);
-        debug_assert!(other.g_score >= 0.0);
-
-        let self_f_score = self.f_score.to_bits() as i32;
-        let other_f_score = other.f_score.to_bits() as i32;
-
-        if self_f_score == other_f_score {
-            let self_g_score = self.g_score.to_bits() as i32;
-            let other_g_score = other.g_score.to_bits() as i32;
-
-            return self_g_score.cmp(&other_g_score);
-        }
-
         // intentionally inverted to make the BinaryHeap a min-heap
-        other_f_score.cmp(&self_f_score)
+        match other.f_score.total_cmp(&self.f_score) {
+            cmp::Ordering::Equal => self.g_score.total_cmp(&other.g_score),
+            s => s,
+        }
     }
 }
 impl Eq for WeightedNode {}
diff --git a/azalea/src/pathfinder/mod.rs b/azalea/src/pathfinder/mod.rs
index dca0cc99..94d5bc69 100644
--- a/azalea/src/pathfinder/mod.rs
+++ b/azalea/src/pathfinder/mod.rs
@@ -861,9 +861,10 @@ pub fn check_for_path_obstruction(
         drop(custom_state_ref);
 
         warn!(
-            "path obstructed at index {obstructed_index} (starting at {:?}, path: {:?})",
-            executing_path.last_reached_node, executing_path.path
+            "path obstructed at index {obstructed_index} (starting at {:?})",
+            executing_path.last_reached_node,
         );
+        debug!("obstructed path: {:?}", executing_path.path);
         // if it's near the end, don't bother recalculating a patch, just truncate and
         // mark it as partial
         if obstructed_index + 5 > executing_path.path.len() {
@@ -1223,11 +1224,19 @@ where
             }
         }
 
-        if let Some(found_edge) = found_edge
-            && found_edge.cost <= edge.cost
+        current_position = movement_target;
+        // if found_edge is None or the cost increased, then return the index
+        if found_edge
+            .map(|found_edge| found_edge.cost > edge.cost)
+            .unwrap_or(true)
         {
-            current_position = found_edge.movement.target;
-        } else {
+            // if the node that we're currently executing was obstructed then it's often too
+            // late to change the path, so it's usually better to just ignore this case :/
+            if i == 0 {
+                warn!("path obstructed at index 0, ignoring");
+                continue;
+            }
+
             return Some(i);
         }
     }
diff --git a/azalea/src/swarm/mod.rs b/azalea/src/swarm/mod.rs
index 170effc8..f4fb6f5d 100644
--- a/azalea/src/swarm/mod.rs
+++ b/azalea/src/swarm/mod.rs
@@ -32,7 +32,7 @@ use bevy_app::{App, PluginGroup, PluginGroupBuilder, Plugins, SubApp};
 use bevy_ecs::prelude::*;
 use futures::future::{BoxFuture, join_all};
 use parking_lot::{Mutex, RwLock};
-use tokio::sync::mpsc;
+use tokio::{sync::mpsc, time::sleep};
 use tracing::{debug, error, warn};
 
 use crate::{BoxHandleFn, DefaultBotPlugins, HandleFn, JoinOpts, NoState, StartError};
@@ -495,9 +495,7 @@ where
                 for ((account, bot_join_opts), state) in accounts.iter().zip(states) {
                     let mut join_opts = default_join_opts.clone();
                     join_opts.update(bot_join_opts);
-                    swarm_clone
-                        .add_and_retry_forever_with_opts(account, state, &join_opts)
-                        .await;
+                    let _ = swarm_clone.add_with_opts(account, state, &join_opts).await;
                     tokio::time::sleep(join_delay).await;
                 }
             } else {
@@ -507,9 +505,9 @@ where
                     |((account, bot_join_opts), state)| async {
                         let mut join_opts = default_join_opts.clone();
                         join_opts.update(bot_join_opts);
-                        swarm_borrow
+                        let _ = swarm_borrow
                             .clone()
-                            .add_and_retry_forever_with_opts(account, state, &join_opts)
+                            .add_with_opts(account, state, &join_opts)
                             .await;
                     },
                 ))
@@ -830,24 +828,29 @@ impl Swarm {
     ///
     /// This does exponential backoff (though very limited), starting at 5
     /// seconds and doubling up to 15 seconds.
+    #[deprecated(note = "azalea has auto-reconnect functionality built-in now, use `add` instead")]
     pub async fn add_and_retry_forever<S: Component + Clone>(
         &self,
         account: &Account,
         state: S,
     ) -> Client {
+        #[allow(deprecated)]
         self.add_and_retry_forever_with_opts(account, state, &JoinOpts::default())
             .await
     }
 
     /// Same as [`Self::add_and_retry_forever`], but allow passing custom join
     /// options.
+    #[deprecated(
+        note = "azalea has auto-reconnect functionality built-in now, use `add_with_opts` instead"
+    )]
     pub async fn add_and_retry_forever_with_opts<S: Component + Clone>(
         &self,
         account: &Account,
         state: S,
         opts: &JoinOpts,
     ) -> Client {
-        let mut disconnects = 0;
+        let mut disconnects: u32 = 0;
         loop {
             match self.add_with_opts(account, state.clone(), opts).await {
                 Ok(bot) => return bot,
@@ -870,7 +873,7 @@ impl Swarm {
                         }
                     }
 
-                    tokio::time::sleep(delay).await;
+                    sleep(delay).await;
                 }
             }
         }