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refactor(minecraft): add ETA-based pathfinding timeout with stuck detection and retry limits

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Patches mineflayer-pathfinder to implement estimated-time-of-arrival based navigation timeouts (2× estimated travel time + grace period). Adds stuck detection counter that triggers failure after 3 consecutive resets without progress. Introduces patchedGoto wrapper returning {ok, reason, elapsedMs, estimatedTimeMs, message} for all navigation calls. Updates goToPlayer/goToPosition actions to surface timeout
This commit is contained in:
Rin
2026-02-19 00:25:06 +08:00
parent 91e5158cf3
commit a5287c08d2
10 changed files with 513 additions and 66 deletions
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patches/mineflayer-pathfinder.patch
+64 -18
View File
@@ -20,10 +20,10 @@
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
diff --git a/index.js b/index.js
index b38bd30..2ca8205 100644
index b38bd30..patched 100644
--- a/index.js
+++ b/index.js
@@ -14,6 +14,7 @@ const interactableBlocks = require('./lib/interactable.json')
@@ -14,6 +14,7 @@
function inject (bot) {
const waterType = bot.registry.blocksByName.water.id
@@ -31,7 +31,16 @@ index b38bd30..2ca8205 100644
const ladderId = bot.registry.blocksByName.ladder.id
const vineId = bot.registry.blocksByName.vine.id
let stateMovements = new Movements(bot)
@@ -61,6 +62,10 @@ function inject (bot) {
@@ -29,6 +30,8 @@
let lastNodeTime = performance.now()
let returningPos = null
let stopPathing = false
+ let stuckCount = 0
+ let lastStuckPos = null
const physics = new Physics(bot)
const lockPlaceBlock = new Lock()
const lockEquipItem = new Lock()
@@ -61,6 +64,10 @@
}
bot.pathfinder.getPathTo = (movements, goal, timeout) => {
@@ -42,7 +51,19 @@ index b38bd30..2ca8205 100644
const generator = bot.pathfinder.getPathFromTo(movements, bot.entity.position, goal, { timeout })
const { value: { result, astarContext: context } } = generator.next()
astarContext = context
@@ -170,6 +175,16 @@ function inject (bot) {
@@ -136,6 +143,11 @@
lockUseBlock.release()
stateMovements.clearCollisionIndex()
if (clearStates) bot.clearControlStates()
+ // Reset stuck counter when path is reset for non-stuck reasons
+ if (reason !== 'stuck') {
+ stuckCount = 0
+ lastStuckPos = null
+ }
if (stopPathing) return stop()
}
@@ -170,6 +182,16 @@
const curPoint = path[i]
if (curPoint.toBreak.length > 0 || curPoint.toPlace.length > 0) break
const b = bot.blockAt(new Vec3(curPoint.x, curPoint.y, curPoint.z))
@@ -59,7 +80,7 @@ index b38bd30..2ca8205 100644
if (b && (b.type === waterType || ((b.type === ladderId || b.type === vineId) && i + 1 < path.length && path[i + 1].y < curPoint.y))) {
curPoint.x = Math.floor(curPoint.x) + 0.5
curPoint.y = Math.floor(curPoint.y)
@@ -524,6 +539,9 @@ function inject (bot) {
@@ -524,6 +546,9 @@
bot.activateBlock(bot.blockAt(new Vec3(placingBlock.x, placingBlock.y, placingBlock.z))).then(() => {
lockUseBlock.release()
placingBlock = nextPoint.toPlace.shift()
@@ -69,7 +90,7 @@ index b38bd30..2ca8205 100644
}, err => {
console.error(err)
lockUseBlock.release()
@@ -550,6 +568,7 @@ function inject (bot) {
@@ -550,6 +575,7 @@
lockEquipItem.release()
const refBlock = bot.blockAt(new Vec3(placingBlock.x, placingBlock.y, placingBlock.z), false)
if (!lockPlaceBlock.tryAcquire()) return
@@ -77,7 +98,7 @@ index b38bd30..2ca8205 100644
if (interactableBlocks.includes(refBlock.name)) {
bot.setControlState('sneak', true)
}
@@ -557,6 +576,7 @@ function inject (bot) {
@@ -557,6 +583,7 @@
.then(function () {
// Dont release Sneak if the block placement was not successful
bot.setControlState('sneak', false)
@@ -85,7 +106,7 @@ index b38bd30..2ca8205 100644
if (bot.pathfinder.LOSWhenPlacingBlocks && placingBlock.returnPos) returningPos = placingBlock.returnPos.clone()
})
.catch(_ignoreError => {
@@ -576,7 +596,7 @@ function inject (bot) {
@@ -576,7 +603,7 @@
let dx = nextPoint.x - p.x
const dy = nextPoint.y - p.y
let dz = nextPoint.z - p.z
@@ -94,7 +115,7 @@ index b38bd30..2ca8205 100644
// arrived at next point
lastNodeTime = performance.now()
if (stopPathing) {
@@ -611,6 +631,9 @@ function inject (bot) {
@@ -611,6 +638,9 @@
if (bot.entity.isInWater) {
bot.setControlState('jump', true)
bot.setControlState('sprint', false)
@@ -104,11 +125,36 @@ index b38bd30..2ca8205 100644
} else if (stateMovements.allowSprinting && physics.canStraightLine(path, true)) {
bot.setControlState('jump', false)
bot.setControlState('sprint', true)
@@ -628,9 +658,22 @@
bot.setControlState('sprint', false)
}
- // check for futility
+ // check for futility — with stuck counter to prevent infinite reset loops
if (performance.now() - lastNodeTime > 3500) {
- // should never take this long to go to the next node
+ const currentPos = bot.entity.position.clone()
+ if (lastStuckPos && currentPos.distanceTo(lastStuckPos) < 1.5) {
+ stuckCount++
+ } else {
+ stuckCount = 1
+ lastStuckPos = currentPos
+ }
+ if (stuckCount >= 3) {
+ // Truly stuck after 3 consecutive resets without progress — give up
+ stuckCount = 0
+ lastStuckPos = null
+ stop()
+ return
+ }
resetPath('stuck')
}
}
diff --git a/lib/movements.js b/lib/movements.js
index a7e3505..84a0841 100644
index a7e3505..patched 100644
--- a/lib/movements.js
+++ b/lib/movements.js
@@ -50,7 +50,12 @@ class Movements {
@@ -50,7 +50,12 @@
this.blocksToAvoid.add(registry.blocksByName.fire.id)
if (registry.blocksByName.cobweb) this.blocksToAvoid.add(registry.blocksByName.cobweb.id)
if (registry.blocksByName.web) this.blocksToAvoid.add(registry.blocksByName.web.id)
@@ -122,7 +168,7 @@ index a7e3505..84a0841 100644
this.liquids = new Set()
this.liquids.add(registry.blocksByName.water.id)
@@ -62,7 +67,13 @@ class Movements {
@@ -62,7 +67,13 @@
this.climbables = new Set()
this.climbables.add(registry.blocksByName.ladder.id)
@@ -137,7 +183,7 @@ index a7e3505..84a0841 100644
this.emptyBlocks = new Set()
this.replaceables = new Set()
@@ -92,13 +103,15 @@ class Movements {
@@ -92,13 +103,15 @@
}
})
registry.blocksArray.forEach(block => {
@@ -155,7 +201,7 @@ index a7e3505..84a0841 100644
this.exclusionAreasStep = []
this.exclusionAreasBreak = []
@@ -230,8 +243,13 @@ class Movements {
@@ -230,8 +243,13 @@
}
}
b.climbable = this.climbables.has(b.type)
@@ -171,7 +217,7 @@ index a7e3505..84a0841 100644
b.replaceable = this.replaceables.has(b.type) && !b.physical
b.liquid = this.liquids.has(b.type)
b.height = pos.y + dy
@@ -284,6 +302,18 @@ class Movements {
@@ -284,6 +302,18 @@
cost += this.exclusionStep(block) // Is excluded so can't move or break
cost += this.getNumEntitiesAt(block.position, 0, 0, 0) * this.entityCost
if (block.safe) return cost
@@ -190,7 +236,7 @@ index a7e3505..84a0841 100644
if (!this.safeToBreak(block)) return 100 // Can't break, so can't move
toBreak.push(block.position)
@@ -387,8 +417,8 @@ class Movements {
@@ -387,8 +417,8 @@
cost += this.safeOrBreak(blockB, toBreak)
if (cost > 100) return
@@ -201,7 +247,7 @@ index a7e3505..84a0841 100644
toPlace.push({ x: node.x + dir.x, y: node.y, z: node.z + dir.z, dx: 0, dy: 0, dz: 0, useOne: true }) // Indicate that a block should be used on this block not placed
} else {
cost += this.safeOrBreak(blockC, toBreak)
@@ -554,6 +584,54 @@ class Movements {
@@ -554,6 +584,54 @@
neighbors.push(new Move(node.x, node.y + 1, node.z, node.remainingBlocks - toPlace.length, cost, toBreak, toPlace))
}
@@ -256,7 +302,7 @@ index a7e3505..84a0841 100644
// Jump up, down or forward over a 1 block gap
getMoveParkourForward (node, dir, neighbors) {
const block0 = this.getBlock(node, 0, -1, 0)
@@ -656,8 +734,27 @@ class Movements {
@@ -656,8 +734,27 @@
this.getMoveDown(node, neighbors)
this.getMoveUp(node, neighbors)