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refactor: clean up debug logging in pathfinder and pathfind command

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Remove verbose per-node insertion tracking from A*. Keep essential
logging: start, goal reached, partial/failed results. Clean up
pathfind command with exception handling and cleaner output.

Made-with: Cursor
This commit is contained in:
BruceChen 2026-04-11 02:13:48 +08:00
parent e9b19d3cbb
commit deb1bc47cc
2 changed files with 23 additions and 59 deletions
Download patch file Download diff file Expand all files Collapse all files

64
MinecraftClient/Commands/Pathfind.cs
View file

@ -70,50 +70,32 @@ namespace MinecraftClient.Commands
{
try
{
handler.Log.Info($"[Pathfind] Diagnosing blocks around start ({startX},{startY},{startZ}):");
for (int ddx = -1; ddx <= 1; ddx++)
using var cts = new CancellationTokenSource(TimeSpan.FromSeconds(10));
var result = finder.Calculate(ctx, startX, startY, startZ, goalObj, cts.Token, timeoutMs: 10000);
handler.Log.Info($"[Pathfind] Result: {result.Status}, {result.Path.Count} nodes, " +
$"{result.NodesExplored} explored, {result.ElapsedMs}ms");
if (result.Path.Count > 1)
{
for (int ddz = -1; ddz <= 1; ddz++)
handler.Log.Info("[Pathfind] Path waypoints:");
for (int i = 0; i < result.Path.Count; i++)
{
int tx = startX + ddx, tz = startZ + ddz;
var below = ctx.GetMaterial(tx, startY - 1, tz);
var body = ctx.GetMaterial(tx, startY, tz);
var head = ctx.GetMaterial(tx, startY + 1, tz);
bool canOn = ctx.CanWalkOn(tx, startY - 1, tz);
bool canThru = ctx.CanWalkThrough(tx, startY, tz);
bool canThruH = ctx.CanWalkThrough(tx, startY + 1, tz);
handler.Log.Info($" ({tx},{tz}): below={below}(walkOn={canOn}) body={body}(thru={canThru}) head={head}(thru={canThruH})");
var n = result.Path[i];
handler.Log.Info($" [{i}] ({n.X},{n.Y},{n.Z}) via {n.MoveUsed}");
}
handler.Log.Info("[Pathfind] Beginning movement along path...");
FollowPath(handler, result);
}
else
{
handler.Log.Warn("[Pathfind] No path found!");
}
handler.Log.Info($"[Pathfind] ChunkLoaded at start: {ctx.IsChunkLoaded(startX, startZ)}");
handler.Log.Info($"[Pathfind] ChunkLoaded at goal: {ctx.IsChunkLoaded(goalX, goalZ)}");
}
catch (Exception ex)
{
handler.Log.Warn($"[Pathfind] Diagnostic exception: {ex.Message}");
}
using var cts = new CancellationTokenSource(TimeSpan.FromSeconds(10));
var result = finder.Calculate(ctx, startX, startY, startZ, goalObj, cts.Token, timeoutMs: 10000);
handler.Log.Info($"[Pathfind] Result: {result.Status}, {result.Path.Count} nodes, " +
$"{result.NodesExplored} explored, {result.ElapsedMs}ms");
if (result.Path.Count > 0)
{
handler.Log.Info("[Pathfind] Path waypoints:");
for (int i = 0; i < result.Path.Count; i++)
{
var n = result.Path[i];
handler.Log.Info($" [{i}] ({n.X},{n.Y},{n.Z}) via {n.MoveUsed}");
}
handler.Log.Info("[Pathfind] Beginning movement along path...");
FollowPath(handler, result);
}
else
{
handler.Log.Warn("[Pathfind] No path found!");
handler.Log.Warn($"[Pathfind] Exception: {ex.Message}");
}
});
@ -127,12 +109,12 @@ namespace MinecraftClient.Commands
var node = result.Path[i];
var target = new Location(node.X + 0.5, node.Y, node.Z + 0.5);
handler.Log.Info($"[Pathfind] Moving to waypoint [{i}]: ({node.X},{node.Y},{node.Z}) via {node.MoveUsed}");
handler.Log.Info($"[Pathfind] Moving to waypoint [{i}/{result.Path.Count - 1}]: ({node.X},{node.Y},{node.Z}) via {node.MoveUsed}");
bool success = handler.MoveTo(target, allowUnsafe: true, allowDirectTeleport: false, timeout: TimeSpan.FromSeconds(10));
if (!success)
{
handler.Log.Warn($"[Pathfind] Old pathfinder failed to plan sub-path to ({node.X},{node.Y},{node.Z}), trying direct teleport");
handler.Log.Warn($"[Pathfind] Sub-path failed for waypoint [{i}], using direct move");
handler.MoveTo(target, allowUnsafe: true, allowDirectTeleport: true);
}
@ -147,9 +129,9 @@ namespace MinecraftClient.Commands
var cur = handler.GetCurrentLocation();
double dx = cur.X - target.X;
double dz = cur.Z - target.Z;
double horizDistSq = dx * dx + dz * dz;
double horizDist = Math.Sqrt(dx * dx + dz * dz);
handler.Log.Info($"[Pathfind] Arrived near waypoint [{i}], pos=({cur.X:F2},{cur.Y:F2},{cur.Z:F2}), horizDist={Math.Sqrt(horizDistSq):F2}");
handler.Log.Info($"[Pathfind] Waypoint [{i}] done, pos=({cur.X:F2},{cur.Y:F2},{cur.Z:F2}), dist={horizDist:F2}");
}
handler.Log.Info("[Pathfind] Path execution complete!");

18
MinecraftClient/Pathing/Core/AStarPathFinder.cs
View file

@ -96,9 +96,6 @@ namespace MinecraftClient.Pathing.Core
current.IsClosed = true;
nodesExplored++;
if (nodesExplored <= 10)
DebugLog?.Invoke($"[A*] Expand #{nodesExplored}: ({current.X},{current.Y},{current.Z}) F={current.FCost:F2} G={current.GCost:F2} H={current.HCost:F2}, openSet={openSet.Count}");
if (goal.IsInGoal(current.X, current.Y, current.Z))
{
DebugLog?.Invoke($"[A*] Goal reached! {nodesExplored} nodes, {sw.ElapsedMilliseconds}ms");
@ -111,15 +108,6 @@ namespace MinecraftClient.Pathing.Core
moveResult.Cost = 0;
move.Calculate(ctx, current.X, current.Y, current.Z, ref moveResult);
if (nodesExplored <= 2)
{
if (moveResult.IsImpossible)
DebugLog?.Invoke($"[A*] move {move.Type}({move.XOffset},{move.ZOffset}) from ({current.X},{current.Y},{current.Z}): IMPOSSIBLE");
else
DebugLog?.Invoke($"[A*] move {move.Type}({move.XOffset},{move.ZOffset}) from ({current.X},{current.Y},{current.Z}): " +
$"-> ({moveResult.DestX},{moveResult.DestY},{moveResult.DestZ}) cost={moveResult.Cost:F2}");
}
if (moveResult.IsImpossible)
continue;
@ -139,8 +127,6 @@ namespace MinecraftClient.Pathing.Core
if (nodeMap.TryGetValue(packed, out var neighbor))
{
if (nodesExplored <= 2)
DebugLog?.Invoke($"[A*] EXISTS ({nx},{ny},{nz}) pack={packed} actual=({neighbor.X},{neighbor.Y},{neighbor.Z}) closed={neighbor.IsClosed} tentG={tentativeG:F2} existG={neighbor.GCost:F2}");
if (neighbor.IsClosed)
continue;
if (tentativeG >= neighbor.GCost)
@ -154,8 +140,6 @@ namespace MinecraftClient.Pathing.Core
}
else
{
if (nodesExplored <= 2)
DebugLog?.Invoke($"[A*] NEW ({nx},{ny},{nz}) pack={packed} G={tentativeG:F2} H={goal.Heuristic(nx, ny, nz):F2}");
neighbor = new PathNode(nx, ny, nz)
{
GCost = tentativeG,
@ -171,8 +155,6 @@ namespace MinecraftClient.Pathing.Core
double partialScore = neighbor.HCost + neighbor.GCost * 0.5;
if (partialScore < bestPartialScore)
{
if (nodesExplored <= 3)
DebugLog?.Invoke($"[A*] partial improved: ({neighbor.X},{neighbor.Y},{neighbor.Z}) score={partialScore:F2} < {bestPartialScore:F2}");
bestPartialScore = partialScore;
bestPartialNode = neighbor;
}