Reuse unreachable cache opening regions

mosfet/jobs/cache_items.py

@@ -25,6 +25,7 @@ class CacheItemsStates:
         self.failed_transfer_slots = set()
         self.pending_transfer = None
         self.transferred_to_labeled_chest = False
+        self.bad_openings = set()
         self.is_labeled_container = False
         self.container_item_ids = None
 
@@ -52,8 +53,23 @@ class CacheItemsStates:
               'trapped chests:', self.trapped_chests)
         self.state = self.choose_trapped_chest
 
+    def _opening_in_bad_region(self, world, opening):
+        opening = tuple(opening)
+        if opening in self.bad_openings:
+            return True
+        if not self.bad_openings:
+            return False
+        nearest = min(self.bad_openings,
+                      key=lambda bad: utils.phyp(opening, bad))
+        if (world.path_to_place(opening, nearest) and
+                world.path_to_place(nearest, opening)):
+            self.bad_openings.add(opening)
+            return True
+        return False
+
     def choose_trapped_chest(self):
         print('Choosing a labeled or trapped chest...')
+        self.bad_openings = set()
         w = self.g.world
         p = utils.pint(self.g.pos)
 
@@ -70,15 +86,19 @@ class CacheItemsStates:
             self.container_item_ids = container['item_ids']
             self.is_labeled_container = True
             for opening in w.find_cache_openings(self.area, p):
-                navpath = w.path_to_place(p, opening['position'])
+                opening_position = tuple(opening['position'])
+                if self._opening_in_bad_region(w, opening_position):
+                    continue
+                navpath = w.path_to_place(p, opening_position)
                 if navpath:
                     print('Going to labeled chest', container['labels'],
                           self.area)
-                    self.opening = opening['position']
+                    self.opening = opening_position
                     self.open_interaction = opening
                     self.g.path = navpath
                     self.state = self.going_to_trapped_chest
                     return
+                self.bad_openings.add(opening_position)
             print('No path to labeled chest', self.area)
 
         if not len(self.trapped_chests):
@@ -98,14 +118,18 @@ class CacheItemsStates:
         self.area = chest
 
         for opening in w.find_cache_openings(chest, p):
-            navpath = w.path_to_place(p, opening['position'])
+            opening_position = tuple(opening['position'])
+            if self._opening_in_bad_region(w, opening_position):
+                continue
+            navpath = w.path_to_place(p, opening_position)
             if navpath:
                 print('navpath to trapped chest:', navpath)
-                self.opening = opening['position']
+                self.opening = opening_position
                 self.open_interaction = opening
                 self.g.path = navpath
                 self.state = self.going_to_trapped_chest
                 return
+            self.bad_openings.add(opening_position)
 
         self.trapped_chests.pop(0)
         time.sleep(0.1)
@@ -148,12 +172,17 @@ class CacheItemsStates:
         self.area = area
         openings = w.find_cache_openings(self.area, p)
 
+        self.bad_openings = set()
         for opening in openings:
-            navpath = w.path_to_place(p, opening['position'])
+            opening_position = tuple(opening['position'])
+            if self._opening_in_bad_region(w, opening_position):
+                continue
+            navpath = w.path_to_place(p, opening_position)
             if navpath:
-                self.opening = opening['position']
+                self.opening = opening_position
                 self.open_interaction = opening
                 break
+            self.bad_openings.add(opening_position)
         else: # for
             print('Unable to get to cache area', self.area)
             self.bad_areas.append(self.area)