patch path on timeout instead of recalculating everything

azalea/benches/pathfinder.rs

@@ -137,12 +137,16 @@ fn run_pathfinder_benchmark(
             azalea::pathfinder::call_successors_fn(&cached_world, &mining_cache, successors_fn, pos)
         };
 
-        let astar::Path { movements, partial } = a_star(
+        let astar::Path {
+            movements,
+            is_partial: partial,
+        } = a_star(
             RelBlockPos::get_origin(origin),
             |n| goal.heuristic(n.apply(origin)),
             successors,
             |n| goal.success(n.apply(origin)),
             PathfinderTimeout::Time(Duration::MAX),
+            PathfinderTimeout::Time(Duration::MAX),
         );
 
         assert!(!partial);

azalea/examples/testbot/commands/debug.rs

@@ -4,6 +4,7 @@ use azalea::{
     brigadier::prelude::*,
     entity::{LookDirection, Position},
     interact::HitResultComponent,
+    pathfinder::{ExecutingPath, Pathfinder},
     world::MinecraftEntityId,
     BlockPos,
 };
@@ -117,4 +118,34 @@ pub fn register(commands: &mut CommandDispatcher<Mutex<CommandSource>>) {
             1
         })),
     )));
+
+    commands.register(literal("pathfinderstate").executes(|ctx: &Ctx| {
+        let source = ctx.source.lock();
+        let pathfinder = source.bot.get_component::<Pathfinder>();
+        let Some(pathfinder) = pathfinder else {
+            source.reply("I don't have the Pathfinder ocmponent");
+            return 1;
+        };
+        source.reply(&format!(
+            "pathfinder.is_calculating: {}",
+            pathfinder.is_calculating
+        ));
+
+        let executing_path = source.bot.get_component::<ExecutingPath>();
+        let Some(executing_path) = executing_path else {
+            source.reply("I'm not executing a path");
+            return 1;
+        };
+        source.reply(&format!(
+            "is_path_partial: {}, path.len: {}, queued_path.len: {}",
+            executing_path.is_path_partial,
+            executing_path.path.len(),
+            if let Some(queued) = executing_path.queued_path {
+                queued.len().to_string()
+            } else {
+                "n/a".to_string()
+            },
+        ));
+        1
+    }));
 }

azalea/src/pathfinder/astar.rs

@@ -16,7 +16,7 @@ where
     P: Eq + Hash + Copy + Debug,
 {
     pub movements: Vec<Movement<P, M>>,
-    pub partial: bool,
+    pub is_partial: bool,
 }
 
 // used for better results when timing out
@@ -90,7 +90,7 @@ where
 
             return Path {
                 movements: reconstruct_path(nodes, index),
-                partial: false,
+                is_partial: false,
             };
         }
 
@@ -190,7 +190,7 @@ where
 
     Path {
         movements: reconstruct_path(nodes, best_path),
-        partial: true,
+        is_partial: true,
     }
 }