Port loiter and harden 26.3 bed updates

mosfet/jobs/check_threats.py

@@ -17,6 +17,10 @@ from mosfet.info import mcdata
 from mosfet.info import mobs
 
 class CheckThreatsStates:
+    THREAT_DISTANCE = 20
+    CLEAR_DISTANCE = 30
+    CHECK_INTERVAL = 2.0
+
     def idle(self):
         return None
 
@@ -28,51 +32,63 @@ class CheckThreatsStates:
         w = self.g.world
         p = utils.pint(self.g.pos)
 
-        threats = w.find_threats(p, 40)
+        threats = w.find_threats(p, self.THREAT_DISTANCE)
 
         if threats:
-            print('Found', len(threats), 'threats, fleeing:')
+            print('Found', len(threats), 'threats, seeking safety:')
             print(threats)
+            self.threats = threats
             self.state = self.find_safety
         else:
-            print('Aborting, no threats')
-            self.state = self.cleanup
+            self.wait_time = self.CHECK_INTERVAL
+            self.state = self.wait
 
     def find_safety(self):
         w = self.g.world
         p = utils.pint(self.g.pos)
 
-        safety = w.find_blocks_indexed(p, [blocks.EMERALD_BLOCK])
-
-        if not safety:
-            print('No emerald blocks found, aborting')
-            self.state = self.cleanup
-            return
-
-        safety.sort(key=lambda s: utils.phyp(p, s))
-        print('Found emerald blocks:', safety)
-
-        for s in safety:
-            s = utils.padd(s, path.BLOCK_ABOVE)
-            navpath = w.path_to_place(p, s)
-
-            if navpath:
+        safety_blocks = w.find_blocks_indexed(
+            p, [blocks.EMERALD_BLOCK], self.THREAT_DISTANCE * 4)
+        for block in safety_blocks:
+            spot = utils.padd(block, path.BLOCK_ABOVE)
+            if w.find_threats(spot, self.CLEAR_DISTANCE):
+                continue
+            navpath = w.path_to_place(p, spot)
+            if navpath is not None:
+                self.safety = spot
+                self.external_safety = True
                 self.g.path = navpath
                 self.state = self.going_to_safety
-                self.safety = s
-                print('Going to safety', self.safety)
+                print('Going to emerald safety point', self.safety)
                 return
-            else:
-                print('Cant get to safety', self.safety)
-                time.sleep(0.1)
 
-        print('Cant get to safety, aborting')
-        self.state = self.cleanup
+        # No configured emerald safe point was reachable. Retreat to a clear,
+        # supported location that the modern navigator can actually reach.
+        for spot in w.find_bed_areas(p, self.CLEAR_DISTANCE * 2):
+            if w.find_threats(spot, self.CLEAR_DISTANCE):
+                continue
+            navpath = w.path_to_place(p, spot)
+            if navpath is not None:
+                self.safety = spot
+                self.external_safety = False
+                self.g.path = navpath
+                self.state = self.going_to_safety
+                print('Fleeing to clear area', self.safety)
+                return
+
+        print('No reachable safe area found')
+        self.wait_time = self.CHECK_INTERVAL
+        self.state = self.wait
 
     def going_to_safety(self):
         if utils.pint(self.g.pos) == self.safety:
-            print('At safety spot, waiting to be moved')
-            self.state = self.wait_for_move
+            if self.external_safety:
+                print('At emerald safety point, waiting for server move')
+                self.state = self.wait_for_move
+            else:
+                print('At clear retreat spot')
+                self.wait_time = 3
+                self.state = self.wait
 
     def wait_for_move(self):
         # wait for the server to move the bot when it's safe
@@ -103,6 +119,8 @@ class CheckThreatsStates:
 
         self.safety = None
         self.wait_time = 0
+        self.threats = []
+        self.external_safety = False
 
     def run(self):
         self.state()