Mostly works

nodejs/controller/commands/navigation.js

@@ -0,0 +1,150 @@
+'use strict';
+
+const Vec3 = require('vec3');
+const { goals: { GoalNear } } = require('mineflayer-pathfinder');
+const { sleep } = require('../../utils');
+
+class Navigation {
+	constructor(args) {
+		this.bot = args.bot;
+
+		this.commands = [
+			{
+				name: 'goto',
+				description: 'Move the bot to coordinates or a player position',
+				parameters: [
+					{ name: 'target', type: 'string', required: true, description: 'Coordinates "x y z" or player name' },
+					{ name: 'range', type: 'number', required: false, description: 'Stop distance from target (default: 0)' }
+				],
+				category: 'movement'
+			},
+			{
+				name: 'come',
+				description: 'Come to the requesting player with recovery on failure',
+				parameters: [
+					{ name: 'player', type: 'string', required: false, description: 'Player to come to (defaults to requester)' }
+				],
+				category: 'movement'
+			},
+			{
+				name: 'follow',
+				description: 'Go to a player and maintain distance',
+				parameters: [
+					{ name: 'target', type: 'string', required: true, description: 'Player to follow' },
+					{ name: 'range', type: 'number', required: false, description: 'Follow distance (default: 3)' }
+				],
+				category: 'movement'
+			},
+			{
+				name: 'stop',
+				description: 'Stop current pathfinding',
+				parameters: [],
+				category: 'movement'
+			}
+		];
+	}
+
+	async init() {}
+	async unload() {
+		try { this.bot.bot.pathfinder.stop(); } catch (e) { /* ignore */ }
+		return true;
+	}
+
+	async handleCommand(from, command, ...args) {
+		switch (command) {
+			case 'goto': {
+				const [target, rangeStr] = args;
+				const range = parseFloat(rangeStr) || 0;
+				if (!target) return 'Specify coordinates "x y z" or a player name';
+
+				// Parse coordinates
+				const parts = target.split(' ');
+				if (parts.length >= 3) {
+					const coords = parts.map(Number);
+					if (coords.every(c => !isNaN(c))) {
+						return this._goWithRecovery(new Vec3(coords[0], coords[1], coords[2]), range);
+					}
+				}
+
+				// Player target
+				const player = this.bot.bot.players[target];
+				if (player && player.entity) {
+					return this._goWithRecovery(player.entity.position, range);
+				}
+				return `Target not found: ${target}`;
+			}
+
+			case 'come': {
+				const [playerName] = args;
+				const target = playerName || from;
+				const player = this.bot.bot.players[target];
+				if (!player || !player.entity) return `Cannot find ${target}`;
+				return this._goWithRecovery(player.entity.position, 3);
+			}
+
+			case 'follow': {
+				const [target, rangeStr] = args;
+				const range = parseFloat(rangeStr) || 3;
+				const player = this.bot.bot.players[target];
+				if (!player || !player.entity) return `Cannot find ${target}`;
+				return this._goWithRecovery(player.entity.position, range);
+			}
+
+			case 'stop':
+				try { this.bot.bot.pathfinder.stop(); } catch (e) { /* ignore */ }
+				return 'Movement stopped';
+
+			default:
+				return `Unknown navigation command: ${command}`;
+		}
+	}
+
+	// Smart movement with recovery — retries with 360 scan and waypoint unstick when goTo fails
+	async _goWithRecovery(targetPos, range) {
+		let attempts = 0;
+
+		while (attempts < 3) {
+			const ok = await this.bot.goTo({ where: targetPos, range });
+			if (ok) return `Arrived at destination`;
+
+			attempts++;
+			console.log(`[Navigation] goTo failed (attempt ${attempts}/3), applying recovery...`);
+
+			// 360 visual refresh
+			const bot = this.bot.bot;
+			for (let i = 0; i < 4; i++) {
+				await bot.look(bot.entity.yaw + Math.PI / 2, 0, true);
+				await sleep(150);
+			}
+
+			// Perpendicular waypoint to unstick
+			const pos = bot.entity.position;
+			if (!isNaN(pos.x) && !isNaN(pos.z)) {
+				const yaw = Math.atan2(targetPos.z - pos.z, targetPos.x - pos.x);
+				const perps = [yaw + Math.PI / 2, yaw - Math.PI / 2, yaw + Math.PI];
+				for (const p of perps) {
+					const wx = pos.x + Math.cos(p) * 3;
+					const wz = pos.z + Math.sin(p) * 3;
+					try {
+						await bot.pathfinder.goto(
+							new GoalNear(wx, pos.y, wz, 1)
+						);
+						await sleep(1000);
+						bot.clearControlStates();
+						break;
+					} catch (e) { /* try next */ }
+				}
+
+				// Backward nudge
+				bot.setControlState('back', true);
+				await sleep(300);
+				bot.clearControlStates();
+				await sleep(200);
+			}
+		}
+
+		return 'Failed to reach destination after recovery attempts';
+	}
+}
+
+module.exports = Navigation;