Features and fixtures

Added ability to stop pathfinding whilst in the middle of running
Prevented more than one instance of pathfinding being run at once
Added search area bounds to netNav (already existed in starNav)
Other minor fixes

netNav/netNav.lua

@@ -16,18 +16,27 @@ end
 
 local position
 
+local SESSION_MAX_DISTANCE_DEFAULT = 32
+
 local SESSION_COORD_CLEAR = 1
 local SESSION_COORD_BLOCKED = 2
 
 local UPDATE_COORD_CLEAR = -1
 local UPDATE_COORD_BLOCKED = 1
 
+local sessionMidPoint
+local sessionMaxDistance
+
 local sessionMap
 local serverMap
 
 local function distanceFunc(a, b)
 	local sessionMapA, sessionMapB = sessionMap:get(a), sessionMap:get(b)
-	if sessionMapA == SESSION_COORD_BLOCKED or sessionMapB == SESSION_COORD_BLOCKED then
+	if aStar.distance(a, sessionMidPoint) > sessionMaxDistance then
+		return math.huge -- first coord is outside the search region
+	elseif aStar.distance(b, sessionMidPoint) > sessionMaxDistance then
+		return math.huge -- second coord is outside the search region
+	elseif sessionMapA == SESSION_COORD_BLOCKED or sessionMapB == SESSION_COORD_BLOCKED then
 		return math.huge -- we have found one of these coords to be blocked during this session
 	elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapB == SESSION_COORD_CLEAR then
 		return aStar.distance(a, b) -- we have found both of these coords to be clear during this session
@@ -193,9 +202,22 @@ local function scan(currPos)
 			end
 			blockInfo.checked = true
 		end
+		for _, blockInfo in ipairs(rawBlockInfo) do
+			local pos = currPos + vector.new(blockInfo.x, blockInfo.y, blockInfo.z)
+			local blockInfo = sortedBlockInfo:get(pos)
+			if not blockInfo.checked then
+				if blockInfo.type == "AIR" then
+					sessionMap:set(pos, SESSION_COORD_CLEAR)
+				else
+					sessionMap:set(pos, SESSION_COORD_BLOCKED)
+				end
+			end
+		end
 	else
 		detectAll(currPos)
 	end
+	serverMap:check()
+	serverMap:pushUpdates()
 end
 
 local function move(currPos, adjPos)
@@ -213,7 +235,9 @@ local function move(currPos, adjPos)
 	return false
 end
 
-function goto(x, y, z)
+local exit = false
+local function _goto(x, y, z, maxDistance)
+	exit = false
 	if not serverMap then
 		error("serverMap has not been specified")
 	end
@@ -231,13 +255,16 @@ function goto(x, y, z)
 	
 	serverMap:check() -- remove timed out data we have received from server
 	sessionMap = aStar.newMap() -- reset the sessionMap
+
+	sessionMidPoint = vector.new(math.floor((goal.x + position.x)/2), math.floor((goal.y + position.y)/2), math.floor((goal.z + position.z)/2))
+	sessionMaxDistance = (type(maxDistance) == "number" and maxDistance) or math.max(2*aStar.distance(sessionMidPoint, goal), SESSION_MAX_DISTANCE_DEFAULT)
 	
 	local path = aStar.compute(distanceFunc, position, goal)
 	if not path then
 		return false, "no known path to goal"
 	end
 	
-	while not aStar.vectorEquals(position, goal) do
+	while not (exit or aStar.vectorEquals(position, goal)) do
 		local movePos = table.remove(path)
 		while not move(position, movePos) do
 			local blockPresent, blockData = inspect(position, movePos)
@@ -257,8 +284,6 @@ function goto(x, y, z)
 			end
 			if recalculate then
 				scan(position)
-				serverMap:check()
-				serverMap:pushUpdates()
 				if sessionMap:get(goal) == SESSION_COORD_BLOCKED then return false, "goal is blocked" end
 				path = aStar.compute(distanceFunc, position, goal)
 				if not path then
@@ -278,7 +303,28 @@ function goto(x, y, z)
 	serverMap:check()
 	serverMap:pushUpdates(true)
 	
-	return true
+	return aStar.vectorEquals(position, goal)
+end
+
+local isRunning = false
+function goto(...)
+	if isRunning then
+		return false, "already running"
+	end
+	isRunning = true
+	local passback = {pcall(_goto, ...)}
+	isRunning = false
+	if not passback[1] then
+		printError(passback[2])
+		return false
+	end
+	return unpack(passback, 2)
+end
+
+function stop()
+	if isRunning then
+		exit = true
+	end
 end
 
 function setMap(mapName, mapTimeout)

starNav/starNav.lua

@@ -27,18 +27,15 @@ local MAIN_COORD_DISTANCE = 1024
 
 local sessionMidPoint
 local sessionMaxDistance
+
 local sessionMap
 local mainMap
 
-local function sup_norm(a, b)
-	return math.max(math.abs(a.x - b.x), math.abs(a.y - b.y), math.abs(a.z - b.z))
-end
-
 local function distanceFunc(a, b)
 	local sessionMapA, sessionMapB = sessionMap:get(a), sessionMap:get(b)
-	if sup_norm(a, sessionMidPoint) > sessionMaxDistance then
+	if aStar.distance(a, sessionMidPoint) > sessionMaxDistance then
 		return SESSION_COORD_DISTANCE -- first coord is outside the search region
-	elseif sup_norm(b, sessionMidPoint) > sessionMaxDistance then
+	elseif aStar.distance(b, sessionMidPoint) > sessionMaxDistance then
 		return SESSION_COORD_DISTANCE -- second coord is outside the search region
 	elseif sessionMapA == SESSION_COORD_BLOCKED or sessionMapB == SESSION_COORD_BLOCKED then
 		return SESSION_COORD_DISTANCE -- one of the coords has been found to be blocked this during this session
@@ -201,6 +198,17 @@ local function scan(currPos)
 			end
 			blockInfo.checked = true
 		end
+		for _, blockInfo in ipairs(rawBlockInfo) do
+			local pos = currPos + vector.new(blockInfo.x, blockInfo.y, blockInfo.z)
+			local blockInfo = sortedBlockInfo:get(pos)
+			if not blockInfo.checked then
+				if blockInfo.type == "AIR" then
+					sessionMap:set(pos, SESSION_COORD_CLEAR)
+				else
+					sessionMap:set(pos, SESSION_COORD_BLOCKED)
+				end
+			end
+		end
 	else
 		detectAll(currPos)
 	end
@@ -222,7 +230,7 @@ local function move(currPos, adjPos)
 	return false
 end
 
-function goto(x, y, z, maxDistance)
+local function _goto(x, y, z, maxDistance)
 	if not mainMap then
 		error("mainMap has not been specified")
 	end
@@ -240,12 +248,13 @@ function goto(x, y, z, maxDistance)
 
 	sessionMap = aStar.newMap()
 	sessionMidPoint = vector.new(math.floor((goal.x + position.x)/2), math.floor((goal.y + position.y)/2), math.floor((goal.z + position.z)/2))
-	sessionMaxDistance = (type(maxDistance) == "number" and maxDistance) or math.max(2*sup_norm(sessionMidPoint, goal), SESSION_MAX_DISTANCE_DEFAULT)
+	sessionMaxDistance = (type(maxDistance) == "number" and maxDistance) or math.max(2*aStar.distance(sessionMidPoint, goal), SESSION_MAX_DISTANCE_DEFAULT)
 
 	local path = aStar.compute(distanceFunc, position, goal)
 	if not path then
 		return false, "no known path to goal"
 	end
+
 	while not aStar.vectorEquals(position, goal) do
 		local movePos = table.remove(path)
 		while not move(position, movePos) do
@@ -281,9 +290,27 @@ function goto(x, y, z, maxDistance)
 			mainMap:set(movePos, MAIN_COORD_CLEAR)
 		end
 	end
+
+	mainMap:saveAll()
+
 	return true
 end
 
+local isRunning = false
+function goto(...)
+	if isRunning then
+		return false, "already running"
+	end
+	isRunning = true
+	local passback = {pcall(_goto, ...)}
+	isRunning = false
+	if not passback[1] then
+		printError(passback[2])
+		return false
+	end
+	return unpack(passback, 2)
+end
+
 function setMap(mapName)
 	if type(mapName) ~= "string" then
 		error("mapName must be string")