fix(runtime/skills): guard stationary blind fallback

2026-05-26 13:22:30 +03:00
parent 36e547a896
commit 6909715f75
3 changed files with 89 additions and 15 deletions
@@ -454,6 +454,7 @@ export async function wander(bot, radius = 12) {
 		return { ok: true, detail: { to: { x: tx, y: ty, z: tz }, via: best.name } };
 	} catch (e) {
 		warn("action", `wander pathfinder failed: ${e.message} — continuing blind in ${best.name}`);
+		const beforeBlind = clonePos(bot.entity.position);
 		try { await bot.look(best.yaw, 0, true); } catch {}
 		bot.setControlState("forward", true);
 		bot.setControlState("jump", true);
@@ -463,7 +464,19 @@ export async function wander(bot, radius = 12) {
 			bot.setControlState("forward", false);
 			bot.setControlState("jump", false);
 		}
-		return { ok: true, detail: { to: { x: tx, y: ty, z: tz }, mode: "blind", via: best.name } };
+		const moved = horizontalDistance(beforeBlind, bot.entity.position);
+		if (moved < 0.75) {
+			info("action", `wander: blind ${best.name} moved only ${moved.toFixed(2)} horizontally → tunnel-out`);
+			const tunnel = await digEscapeTunnel(bot, { maxSteps: 3, reason: `wander blind ${best.name}` });
+			const detail = { to: { x: tx, y: ty, z: tz }, mode: "blind", via: best.name, moved, recovery: tunnel.detail ?? null };
+			if (!tunnel.ok) return { ok: false, code: tunnel.code ?? "wedged", detail, worldDelta: tunnel.worldDelta ?? null };
+			return { ok: true, detail: { ...(tunnel.detail ?? {}), previousMode: "blind", recovered: true }, worldDelta: tunnel.worldDelta ?? null };
+		}
+		return {
+			ok: true,
+			detail: { to: { x: tx, y: ty, z: tz }, mode: "blind-moved", previousMode: "blind", via: best.name, moved },
+			worldDelta: { movedTo: clonePos(bot.entity.position) },
+		};
 	}
 }

@@ -122,24 +122,62 @@ export const skill = Object.freeze({
 			};
 		} catch (e) {
 			warn("action", `explore.far pathfinder failed: ${e.message} — continuing blind`);
-			try { await bot.look(best.yaw, 0, true); } catch {}
-			bot.setControlState("forward", true);
-			bot.setControlState("jump", true);
-			try {
-				await new Promise((r) => setTimeout(r, 7_000));
-			} finally {
-				bot.setControlState("forward", false);
-				bot.setControlState("jump", false);
-			}
-			return {
-				ok: true, code: "done",
-				detail: { mode: "blind", dir: best.name },
-				worldDelta: { movedTo: null },
-			};
+			return blindWalkOrTunnelOut(bot, {
+				yaw: best.yaw,
+				dirName: best.name,
+				blindMs: args.blindMs ?? 7_000,
+				tunnelPushMs: args.tunnelPushMs,
+				reason: `explore.far blind ${best.name}`,
+			});
 		}
 	},
 });

+async function blindWalkOrTunnelOut(bot, { yaw, dirName, blindMs = 7_000, minMove = 0.75, tunnelPushMs, reason = "blind fallback" } = {}) {
+	const before = clonePos(bot.entity.position);
+	try { await bot.look(yaw, 0, true); } catch {}
+	bot.setControlState("forward", true);
+	bot.setControlState("jump", true);
+	try {
+		await new Promise((r) => setTimeout(r, Math.max(0, blindMs)));
+	} finally {
+		bot.setControlState("forward", false);
+		bot.setControlState("jump", false);
+	}
+
+	const moved = horizontalDistance(before, bot.entity.position);
+	if (moved >= minMove) {
+		return {
+			ok: true,
+			code: "done",
+			detail: { mode: "blind-moved", previousMode: "blind", dir: dirName, moved },
+			worldDelta: { movedTo: clonePos(bot.entity.position) },
+		};
+	}
+
+	info("action", `explore.far: blind ${dirName} moved only ${moved.toFixed(2)} horizontally → tunnel-out`);
+	const tunnelArgs = { maxSteps: 3, reason };
+	if (tunnelPushMs !== undefined) tunnelArgs.pushMs = tunnelPushMs;
+	const tunnel = await digEscapeTunnel(bot, tunnelArgs);
+	const detail = { mode: "blind", dir: dirName, moved, recovery: tunnel.detail ?? null };
+	if (!tunnel.ok) {
+		return {
+			ok: false,
+			code: tunnel.code ?? "wedged",
+			detail,
+			worldDelta: tunnel.worldDelta ?? null,
+		};
+	}
+	return {
+		ok: true,
+		code: "done",
+		detail: { ...(tunnel.detail ?? {}), previousMode: "blind", recovered: true },
+		worldDelta: tunnel.worldDelta ?? { movedTo: clonePos(bot.entity.position) },
+	};
+}
+
+export const _internal = { blindWalkOrTunnelOut };
+
 const CARDINAL_YAWS = [
 	{ name: "N", yaw: Math.PI },
 	{ name: "E", yaw: -Math.PI / 2 },
@@ -2,6 +2,7 @@ import { test } from "node:test";
 import assert from "node:assert/strict";

 import { getSkill } from "./index.js";
+import { _internal as exploreFarInternal } from "./explore-far.js";
 import { digEscapeTunnel, _internal } from "./recovery-tunnel-out.js";

 function makePos(x, y, z) {
@@ -98,3 +99,25 @@ test("tunnel-out does not count jumping in place as escape", async () => {
 	assert.equal(res.code, "wedged");
 	assert.match(res.detail.error, /moved only 0\.00 horizontally/);
 });
+
+test("explore.far blind fallback does not report done when position is unchanged", async () => {
+	const blocks = {};
+	const bot = makeBot(blocks);
+	bot.look = async () => {};
+	bot.lookAt = async () => {};
+	bot.dig = async (block) => {
+		blocks[`${block.position.x},${block.position.y},${block.position.z}`] = "air";
+	};
+	bot.setControlState = () => {}; // no physics movement in this wedged simulation
+
+	const res = await exploreFarInternal.blindWalkOrTunnelOut(bot, {
+		yaw: 0,
+		dirName: "E",
+		blindMs: 0,
+		tunnelPushMs: 0,
+	});
+	assert.equal(res.ok, false);
+	assert.equal(res.code, "wedged");
+	assert.equal(res.detail.mode, "blind");
+	assert.equal(res.detail.dir, "E");
+});