several pathfinder fixes

3 files changed, 30 insertions, 33 deletions

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;
                 }
             }
         }