Add action to perform on pathing failure

src/Dodge/Creature/Action.hs

@@ -83,7 +83,7 @@ performAction cr w ac = case ac of
         let (imps, newAcs) = foldMap (performAction cr w) acs
          in (imps, newAcs)
     StartSentinelPost -> ([AddGoal $ SentinelAt (cr ^. crPos . _xy) (_crDir cr)], mempty)
-    PathTo p -> performPathTo cr w p
+    PathTo p a -> performPathTo a cr w p
     TurnToPoint p -> performTurnToA cr p
     LeadTarget p -> fromMaybe ([], mempty) $ do
         i <- cr ^? crIntention . targetCr . _Just
@@ -119,15 +119,15 @@ crPathing cr = case cr ^. crStance . carriage of
     Flying {} -> (isFlyable, not . S.member (WallObstacle WallNotAutoOpen))
     _ -> (isWalkable, not . pathEdgeObstructed)
 
-performPathTo :: Creature -> World -> Point2 -> ActionUpdate
+performPathTo :: Action -> Creature -> World -> Point2 -> ActionUpdate
-performPathTo cr w p
+performPathTo a cr w p
     | dist cpos p <= crRad (cr ^. crType) = mempty
     | fst (crPathing cr) cpos p w = gotowards p
     | otherwise = case uncurry pointTowardsImpulse' (crPathing cr) cpos p w of
         Just q -> gotowards q
-        _ -> ([ChangeStrategy Flee], [])
+        _ -> ([], [a])
   where
-    gotowards q = ( [MvTurnToward q, MvForward, RandomTurn jit] , [PathTo p])
+    gotowards q = ( [MvTurnToward q, MvForward, RandomTurn jit] , [PathTo p a])
     cpos = cr ^. crPos . _xy
     jit = _mvTurnJit $ crMvType cr
 

src/Dodge/Creature/ReaderUpdate.hs

@@ -6,7 +6,7 @@ module Dodge.Creature.ReaderUpdate (
     watchUpdateStrat,
     overrideInternal,
     searchIfDamaged,
-    goToTarget,
+--    goToTarget,
     flockACC,
     chaseCritMv,
     setMvPos,
@@ -142,7 +142,7 @@ chaseCritMv w cr = case _apStrategy (_crActionPlan cr) of
     _ -> case cr ^? crIntention . mvToPoint . _Just of
         Just p
             | dist (cr ^. crPos . _xy) p > crRad (cr ^. crType) ->
-                cr & crActionPlan . apAction .~ [PathTo p]
+                cr & crActionPlan . apAction .~ [PathTo p (DoImpulses [ChangeStrategy Wander])]
             | otherwise ->
                 cr & crActionPlan . apAction .~ [bfsThenReturn 500 `DoActionThen` DoImpulses [ChangeStrategy WatchAndWait]]
                     & crActionPlan . apStrategy .~ WatchAndWait
@@ -156,17 +156,17 @@ hoverCritMv w cr = case _apStrategy (_crActionPlan cr) of
     _ -> case cr ^? crIntention . mvToPoint . _Just of
         Just p
             | dist (cr ^. crPos . _xy) p > crRad (cr ^. crType) ->
-                cr & crActionPlan . apAction .~ [PathTo p]
+                cr & crActionPlan . apAction .~ [PathTo p (DoImpulses [ChangeStrategy Wander])]
             | otherwise ->
                 cr & crActionPlan . apAction .~ [bfsThenReturn 500 `DoActionThen` DoImpulses [ChangeStrategy WatchAndWait]]
                     & crActionPlan . apStrategy .~ WatchAndWait
                     & crIntention . mvToPoint .~ Nothing
         _ -> viewTarget w cr
 
-goToTarget :: World -> Creature -> Creature
+--goToTarget :: World -> Creature -> Creature
-goToTarget w cr = case cr ^? crIntention . mvToPoint . _Just of
+--goToTarget w cr = case cr ^? crIntention . mvToPoint . _Just of
-    Just p -> cr & crActionPlan . apAction .~ [PathTo p]
+--    Just p -> cr & crActionPlan . apAction .~ [PathTo p]
-    _ -> viewTarget w cr
+--    _ -> viewTarget w cr
 
 viewTarget :: World -> Creature -> Creature
 viewTarget w cr = case cr ^? crIntention . viewPoint . _Just of
@@ -177,7 +177,7 @@ viewTarget w cr = case cr ^? crIntention . viewPoint . _Just of
                 & crIntention . viewPoint .~ Nothing
                 & crActionPlan . apStrategy .~ Investigate
         | otherwise ->
-            cr & crActionPlan . apAction %~ replaceNullWith (PathTo p)
+            cr & crActionPlan . apAction %~ replaceNullWith (PathTo p (DoImpulses [ChangeStrategy Wander]))
                 & crActionPlan . apStrategy .~ Investigate
     Nothing -> cr
 

src/Dodge/Creature/Strategy.hs

@@ -14,7 +14,7 @@ goToPostStrat cr = case find sentinelGoal $ _apGoal $ _crActionPlan cr of
             (GetTo p)
             [ DoActionThen (WaitThen 150 holsterIfAiming) $
                 DoActionThen
-                    (PathTo p)
+                    (PathTo p NoAction)
                     NoAction
                     --     $ DoImpulses [ChangeStrategy WatchAndWait]
             ]

src/Dodge/Data/ActionPlan.hs

@@ -67,7 +67,7 @@ data Action
         { _targetID :: Int
         , _targetSeenAt :: Point2
         }
-    | PathTo { _pathToPoint :: Point2 }
+    | PathTo { _pathToPoint :: Point2, _pathFailAction :: Action }
     | TurnToPoint { _turnToPoint :: Point2 }
     | ImpulsesList { _impulsesListList :: [[Impulse]] }
     | DoImpulses { _doImpulsesList :: [Impulse] }
@@ -136,6 +136,7 @@ data Strategy
     | Investigate
     | WarningCry
     | LookAround
+    | Wander
     | CloseToMelee {_meleeTarget :: Int}
     | StrategyActions Strategy [Action]
     | GetTo Point2