lyizai
3a508f6818
实测定位：高度偏好的启发值实现与 mineflayer-pathfinder 的内部约定冲突。 该库每次 compute() 返回 partial 时，用 h 最小的节点当 partial 路径的终点 （astar.js: if (neighborNode.h < this.bestNode.h) this.bestNode = neighborNode）， 而 AltitudeGoal 把 h 减去了 权重 × y，于是「又高又偏」的节点 h 反而更小， partial 路径被引向高处而不是目标附近 —— A* 一直在算、永不收敛， 机器人一次移动指令都发不出来。 王城平台上的对照实测（其余配置完全相同）： - altitudePreference = true → inputTicks = 0，任务永远停在「寻路超时，重新寻路」 - altitudePreference = false → inputTicks = 237，立刻开始移动 顺带排除：searchRadius 从 -1 改到 128 对结果没有任何影响， 所以不是「搜索空间无界」导致的；pathfinder 与 manual 两种执行器表现一致。 改动： - expansionConfig 默认 altitudePreference 改为 false，并在注释里写清原因与 「想重新启用应该怎么做」（把偏置改成低处加移动代价，保持启发值只反映真实距离）； - AltitudeGoal 的类注释补上完整推导与实测数据，避免以后有人又把它打开； - 新增回归用例：断言默认关闭，并用启发值差值把「为什么必然出问题」固化下来。 测试 468 → 469，全绿。
289 行
12 KiB
JavaScript
289 行
12 KiB
JavaScript
'use strict';
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const test = require('node:test');
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const assert = require('node:assert');
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const { AltitudeGoal, PathingService, PathEvent } = require('../src/bot/pathingService');
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const { GoalXZ, GoalNearXZ } = require('mineflayer-pathfinder').goals;
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const { defaultConfig } = require('../src/config/expansionConfig');
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const { FakeBot } = require('./helpers/fakeBot');
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test('AltitudeGoal 的到达判定与内层目标一致', () => {
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const inner = new GoalXZ(100, 200);
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const goal = new AltitudeGoal(inner, 0.1, 64);
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assert.strictEqual(goal.isEnd({ x: 100, y: 70, z: 200 }), true, '不约束高度');
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assert.strictEqual(goal.isEnd({ x: 101, y: 70, z: 200 }), false);
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});
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test('AltitudeGoal 对高处给更低启发值、对低处给更高启发值', () => {
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const goal = new AltitudeGoal(new GoalXZ(0, 0), 0.1, 64);
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const high = goal.heuristic({ x: 10, y: 100, z: 10 });
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const low = goal.heuristic({ x: 10, y: 20, z: 10 });
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assert.ok(high < low, `高处启发值 ${high} 应小于低处 ${low}`);
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// 与 GoalXZ 的差值应等于 weight × y
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const base = new GoalXZ(0, 0).heuristic({ x: 10, y: 100, z: 10 });
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assert.ok(Math.abs((base - high) - 0.1 * 100) < 1e-9);
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});
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test('AltitudeGoal 启发值被钳制为非负', () => {
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const goal = new AltitudeGoal(new GoalXZ(0, 0), 10, 0);
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assert.ok(goal.heuristic({ x: 0, y: 300, z: 0 }) >= 0);
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});
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test('AltitudeGoal 使用 GoalNearXZ 时保留其到达范围', () => {
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const goal = new AltitudeGoal(new GoalNearXZ(100, 200, 2), 0.1, 64);
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assert.strictEqual(goal.isEnd({ x: 100, y: 70, z: 201 }), true, '范围内算到达');
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});
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test('高度偏好默认关闭：它的启发值会破坏 partial 路径的终点选择', () => {
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// 回归：开启时实测 inputTicks = 0（寻路器一次移动指令都发不出），
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// 关掉后 inputTicks = 237（立刻开始移动）。详见 AltitudeGoal 的注释。
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const config = defaultConfig();
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assert.strictEqual(config.altitudePreference, false, '默认必须是关闭的');
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// 上面的差值断言同时说明了「为什么」：h 被减去了 weight × y，
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// 而 mineflayer-pathfinder 用 h 最小来挑 partial 路径终点，
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// 于是又高又偏的节点会胜出，路径永远到不了目标附近。
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const goal = new AltitudeGoal(new GoalXZ(0, 0), 0.1, 64);
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const farButHigh = goal.heuristic({ x: 0, y: 300, z: 0 }); // 就在目标正上方
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const nearButLow = goal.heuristic({ x: 40, y: 64, z: 0 }); // 离目标 40 格
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assert.ok(farButHigh <= nearButLow,
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`高处节点的启发值 ${farButHigh} 不大于低处近节点的 ${nearButLow}，正是问题所在`);
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});
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// ==================== 长距离分段寻路 ====================
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//
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// mineflayer-pathfinder 只能规划已加载区块范围（实测线上约 8 区块 ≈ 130 格），
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// 而扩地目标常在几十个区块外，A* 会瞬间 noPath。分段寻路就是为这个场景写的。
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/** 造一个「已加载范围」有限的 bot 与寻路服务 */
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function setupSegment(options) {
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const opts = options || {};
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const bot = new FakeBot({ x: opts.x === undefined ? 0.5 : opts.x, y: 64, z: opts.z === undefined ? 0.5 : opts.z, loadedRadius: opts.loadedRadius === undefined ? 128 : opts.loadedRadius });
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const goals = [];
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bot.pathfinder = {
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setMovements: () => {},
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setGoal: (goal) => goals.push(goal),
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thinkTimeout: 0,
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tickTimeout: 0,
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searchRadius: 0
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};
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const config = defaultConfig();
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config.enforceClaimTime = false;
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Object.assign(config.pathing, opts.config || {});
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const service = new PathingService(bot, config, null);
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service.configure();
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return { bot, service, goals, config };
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}
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test('_probeLoadedDistance 沿方向探测到已加载范围的边缘', () => {
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const { service } = setupSegment({ loadedRadius: 128 });
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assert.ok(Math.abs(service._probeLoadedDistance(1, 0, 512) - 128) < 2,
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'向右探测应停在已加载半径处');
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assert.ok(Math.abs(service._probeLoadedDistance(0, -1, 512) - 128) < 2);
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});
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test('_segmentGoal 把远超已加载范围的目标裁剪到边缘附近', () => {
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const { service } = setupSegment({
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loadedRadius: 128,
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config: { segmentMarginBlocks: 24, maxSegmentBlocks: 4096 }
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});
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const far = { x: 0.5 + 800, z: 0.5 };
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const waypoint = service._segmentGoal(far);
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assert.ok(waypoint.x < far.x, '必须裁剪，否则寻路器会瞬间 noPath');
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assert.ok(waypoint.x > 0.5, '不能原地不动');
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assert.ok(Math.abs(waypoint.x - (0.5 + 128 - 24)) < 2, `段长应约为 已加载半径 - 边距，实际 ${waypoint.x}`);
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assert.ok(Math.abs(waypoint.z - 0.5) < 1, '方向应保持指向目标');
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});
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test('_segmentGoal 的段长同时受「单段上限」约束', () => {
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const { service } = setupSegment({
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loadedRadius: 512,
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config: { segmentMarginBlocks: 24, maxSegmentBlocks: 64 }
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});
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const waypoint = service._segmentGoal({ x: 0.5 + 800, z: 0.5 });
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assert.ok(Math.abs(waypoint.x - (0.5 + 64)) < 3,
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`即使已加载范围很大，单段也不该超过 maxSegmentBlocks，实际 ${waypoint.x}`);
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});
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test('_segmentGoal 目标在已加载范围内时不做裁剪', () => {
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const { service } = setupSegment({ loadedRadius: 128 });
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const near = { x: 0.5 + 40, z: 0.5 };
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assert.deepStrictEqual(service._segmentGoal(near), near);
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});
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test('pathTo 长距离目标时下发的是分段中途点而不是最终目标', () => {
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const { service, goals } = setupSegment({ loadedRadius: 128 });
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// 目标区块中心约在 (800, 0)
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assert.strictEqual(service.pathTo({ x: 50, z: 0 }), true);
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assert.strictEqual(goals.length, 1);
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assert.strictEqual(service._waypointIsFinal, false, '这一段不是最终目标');
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assert.ok(service.currentWaypoint.x < 800);
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});
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test('pathTo 近距离目标时直接下发最终目标', () => {
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const { service, goals } = setupSegment({ loadedRadius: 512 });
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assert.strictEqual(service.pathTo({ x: 5, z: 0 }), true);
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assert.strictEqual(goals.length, 1);
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assert.strictEqual(service._waypointIsFinal, true);
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});
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test('走到中途点后自动规划下一段，而不是当作已到达', () => {
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const { bot, service, goals } = setupSegment({ loadedRadius: 128 });
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const events = [];
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service.onPathEvent = (event) => events.push(event);
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service.pathTo({ x: 50, z: 0 });
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const before = goals.length;
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bot.emit('goal_reached');
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assert.strictEqual(goals.length, before + 1, '应继续规划下一段');
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assert.strictEqual(service._segmentCount, 1);
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assert.ok(events.includes(PathEvent.SEGMENT_REACHED), '应发出 SEGMENT_REACHED 供控制器重置超时');
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assert.ok(!events.includes(PathEvent.AT_GOAL), '还没到最终目标，不能报到达');
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});
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test('走到最终目标时发出 AT_GOAL 且不再规划', () => {
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const { bot, service, goals } = setupSegment({ loadedRadius: 512 });
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const events = [];
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service.onPathEvent = (event) => events.push(event);
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service.pathTo({ x: 5, z: 0 });
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const before = goals.length;
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bot.emit('goal_reached');
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assert.strictEqual(goals.length, before, '已到最终目标，不应再规划');
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assert.ok(events.includes(PathEvent.AT_GOAL));
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});
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test('本段算出 noPath 时先缩短段长重试', () => {
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const { service } = setupSegment({ loadedRadius: 128 });
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service.pathTo({ x: 50, z: 0 });
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const firstWaypoint = service.currentWaypoint.x;
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// 模拟寻路器报告本段不可达
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service.bot.emit('path_update', { status: 'noPath' });
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assert.strictEqual(service.calcFailed, false, '第一次应重试而不是直接失败');
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assert.ok(service.currentWaypoint.x < firstWaypoint, '段长应缩短');
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});
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test('反复 noPath 最终会如实报失败，不会无限重试', () => {
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const { service } = setupSegment({ loadedRadius: 128 });
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const events = [];
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service.onPathEvent = (event) => events.push(event);
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service.pathTo({ x: 50, z: 0 });
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for (let i = 0; i < 10; i++) service.bot.emit('path_update', { status: 'noPath' });
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assert.strictEqual(service.calcFailed, true);
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assert.ok(events.includes(PathEvent.CALC_FAILED));
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});
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test('cancel 清空分段状态', () => {
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const { service } = setupSegment({ loadedRadius: 128 });
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service.pathTo({ x: 50, z: 0 });
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service.cancel();
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assert.strictEqual(service.finalTarget, null);
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assert.strictEqual(service.currentWaypoint, null);
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assert.strictEqual(service._segmentCount, 0);
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assert.strictEqual(service.isPathing(), false);
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});
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test('configure 施加 Grim 合规约束（默认禁止挖 / 放 / 跑酷 / 搭塔）', () => { const bot = new FakeBot();
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const movements = {};
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bot.pathfinder = {
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setMovements: (m) => { movements.value = m; },
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thinkTimeout: 0,
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tickTimeout: 0,
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searchRadius: 0
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};
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const config = defaultConfig();
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const service = new PathingService(bot, config, null);
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assert.strictEqual(service.configure(), true);
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const m = movements.value;
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assert.strictEqual(m.canDig, false, '默认不允许挖方块');
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assert.deepStrictEqual(m.scafoldingBlocks, [], '默认不允许放方块');
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assert.strictEqual(m.allowParkour, false);
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assert.strictEqual(m.allow1by1towers, false);
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assert.strictEqual(m.allowFreeMotion, false);
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assert.strictEqual(m.maxDropDown, 3);
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assert.strictEqual(m.infiniteLiquidDropdownDistance, false);
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assert.strictEqual(m.dontMineUnderFallingBlock, true);
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// waterMode=avoid 时液体代价被推高
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assert.ok(m.liquidCost >= 200, 'avoid 模式下液体代价应被推高');
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});
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test('configure 在 allowBreak / allowPlace 打开时放行对应能力', () => {
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const bot = new FakeBot();
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const movements = {};
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bot.pathfinder = { setMovements: (m) => { movements.value = m; }, thinkTimeout: 0, tickTimeout: 0, searchRadius: 0 };
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const config = defaultConfig();
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config.allowBreak = true;
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config.allowPlace = true;
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config.waterMode = 'swim';
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const service = new PathingService(bot, config, null);
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service.configure();
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assert.strictEqual(movements.value.canDig, true);
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assert.ok(movements.value.scafoldingBlocks.length > 0);
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assert.strictEqual(movements.value.liquidCost, config.pathing.liquidCost);
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});
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test('pathTo 下发目标区块中心并触发 CALC_STARTED', () => {
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const bot = new FakeBot();
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let goal = null;
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bot.pathfinder = {
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setMovements: () => {},
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setGoal: (g) => { goal = g; },
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thinkTimeout: 0,
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tickTimeout: 0,
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searchRadius: 0
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};
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const events = [];
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const service = new PathingService(bot, defaultConfig(), null);
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service.configure();
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service.onPathEvent = (event, detail) => events.push({ event, detail });
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assert.strictEqual(service.pathTo({ x: 3, z: -2 }), true);
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assert.ok(goal, '应下发目标');
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assert.strictEqual(goal.isEnd({ x: 3 * 16 + 8, y: 64, z: -2 * 16 + 8 }), true, '目标应为区块中心附近');
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assert.strictEqual(events[0].event, PathEvent.CALC_STARTED);
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assert.strictEqual(service.isPathing(), true);
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});
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test('关闭高度偏好时不包装目标', () => {
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const bot = new FakeBot();
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let goal = null;
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bot.pathfinder = { setMovements: () => {}, setGoal: (g) => { goal = g; }, thinkTimeout: 0, tickTimeout: 0, searchRadius: 0 };
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const config = defaultConfig();
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config.altitudePreference = false;
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const service = new PathingService(bot, config, null);
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service.configure();
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service.pathTo({ x: 0, z: 0 });
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assert.ok(!(goal instanceof AltitudeGoal), '未启用高度偏好时不应包装');
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});
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test('cancel 清空目标并停止寻路状态', () => {
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const bot = new FakeBot();
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let cleared = false;
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bot.pathfinder = {
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setMovements: () => {},
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setGoal: (g) => { if (g === null) cleared = true; },
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thinkTimeout: 0,
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tickTimeout: 0,
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searchRadius: 0
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};
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const service = new PathingService(bot, defaultConfig(), null);
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service.configure();
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service.pathTo({ x: 1, z: 1 });
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service.cancel();
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assert.strictEqual(cleared, true);
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assert.strictEqual(service.isPathing(), false);
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assert.strictEqual(service.currentTarget, null);
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});
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test('pathfinder 未加载时 configure 返回 false 且 pathTo 不抛异常', () => {
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const bot = new FakeBot();
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const service = new PathingService(bot, defaultConfig(), null);
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assert.strictEqual(service.configure(), false);
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assert.strictEqual(service.isAvailable(), false);
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assert.strictEqual(service.pathTo({ x: 0, z: 0 }), false);
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service.cancel(); // 不应抛异常
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});
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