add a secondary failure cutoff

src/api/java/baritone/api/Settings.java

@@ -247,14 +247,24 @@ public class Settings {
     public Setting<Integer> movementTimeoutTicks = new Setting<>(100);
 
     /**
-     * Pathing can never take longer than this
+     * Pathing ends after this amount of time, if a path has been found
      */
-    public Setting<Long> pathTimeoutMS = new Setting<>(2000L);
+    public Setting<Long> primaryTimeoutMS = new Setting<>(500L);
 
     /**
-     * Planning ahead while executing a segment can never take longer than this
+     * Pathing can never take longer than this, even if that means failing to find any path at all
      */
-    public Setting<Long> planAheadTimeoutMS = new Setting<>(4000L);
+    public Setting<Long> failureTimeoutMS = new Setting<>(2000L);
+
+    /**
+     * Planning ahead while executing a segment ends after this amount of time, if a path has been found
+     */
+    public Setting<Long> planAheadPrimaryTimeoutMS = new Setting<>(4000L);
+
+    /**
+     * Planning ahead while executing a segment can never take longer than this, even if that means failing to find any path at all
+     */
+    public Setting<Long> planAheadFailureTimeoutMS = new Setting<>(5000L);
 
     /**
      * For debugging, consider nodes much much slower

src/api/java/baritone/api/pathing/calc/IPathFinder.java

@@ -36,7 +36,7 @@ public interface IPathFinder {
      *
      * @return The final path
      */
-    PathCalculationResult calculate(long timeout);
+    PathCalculationResult calculate(long primaryTimeout, long failureTimeout);
 
     /**
      * Intended to be called concurrently with calculatePath from a different thread to tell if it's finished yet

src/main/java/baritone/behavior/PathingBehavior.java

@@ -40,7 +40,10 @@ import baritone.utils.PathRenderer;
 import net.minecraft.util.math.BlockPos;
 import net.minecraft.world.chunk.EmptyChunk;
 
-import java.util.*;
+import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.HashSet;
+import java.util.Optional;
 import java.util.concurrent.LinkedBlockingQueue;
 import java.util.stream.Collectors;
 
@@ -396,11 +399,14 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
             logDebug("no goal"); // TODO should this be an exception too? definitely should be checked by caller
             return;
         }
-        long timeout;
+        long primaryTimeout;
+        long failureTimeout;
         if (current == null) {
-            timeout = Baritone.settings().pathTimeoutMS.<Long>get();
+            primaryTimeout = Baritone.settings().primaryTimeoutMS.get();
+            failureTimeout = Baritone.settings().failureTimeoutMS.get();
         } else {
-            timeout = Baritone.settings().planAheadTimeoutMS.<Long>get();
+            primaryTimeout = Baritone.settings().planAheadPrimaryTimeoutMS.get();
+            failureTimeout = Baritone.settings().planAheadFailureTimeoutMS.get();
         }
         CalculationContext context = new CalculationContext(baritone); // not safe to create on the other thread, it looks up a lot of stuff in minecraft
         AbstractNodeCostSearch pathfinder = createPathfinder(start, goal, current == null ? null : current.getPath(), context);
@@ -410,7 +416,7 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
                 logDebug("Starting to search for path from " + start + " to " + goal);
             }
 
-            PathCalculationResult calcResult = pathfinder.calculate(timeout);
+            PathCalculationResult calcResult = pathfinder.calculate(primaryTimeout, failureTimeout);
             Optional<IPath> path = calcResult.getPath();
             if (Baritone.settings().cutoffAtLoadBoundary.get()) {
                 path = path.map(p -> {

src/main/java/baritone/pathing/calc/AStarPathFinder.java

@@ -49,7 +49,7 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
     }
 
     @Override
-    protected Optional<IPath> calculate0(long timeout) {
+    protected Optional<IPath> calculate0(long primaryTimeout, long failureTimeout) {
         startNode = getNodeAtPosition(startX, startY, startZ, BetterBlockPos.longHash(startX, startY, startZ));
         startNode.cost = 0;
         startNode.combinedCost = startNode.estimatedCostToGoal;
@@ -68,10 +68,11 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
         long startTime = System.nanoTime() / 1000000L;
         boolean slowPath = Baritone.settings().slowPath.get();
         if (slowPath) {
-            logDebug("slowPath is on, path timeout will be " + Baritone.settings().slowPathTimeoutMS.<Long>get() + "ms instead of " + timeout + "ms");
+            logDebug("slowPath is on, path timeout will be " + Baritone.settings().slowPathTimeoutMS.<Long>get() + "ms instead of " + primaryTimeout + "ms");
         }
-        long timeoutTime = startTime + (slowPath ? Baritone.settings().slowPathTimeoutMS.<Long>get() : timeout);
+        long primaryTimeoutTime = startTime + (slowPath ? Baritone.settings().slowPathTimeoutMS.<Long>get() : primaryTimeout);
-        //long lastPrintout = 0;
+        long failureTimeoutTime = startTime + (slowPath ? Baritone.settings().slowPathTimeoutMS.<Long>get() : failureTimeout);
+        boolean failing = true;
         int numNodes = 0;
         int numMovementsConsidered = 0;
         int numEmptyChunk = 0;
@@ -79,7 +80,14 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
         int pathingMaxChunkBorderFetch = Baritone.settings().pathingMaxChunkBorderFetch.get(); // grab all settings beforehand so that changing settings during pathing doesn't cause a crash or unpredictable behavior
         double favorCoeff = Baritone.settings().backtrackCostFavoringCoefficient.get();
         boolean minimumImprovementRepropagation = Baritone.settings().minimumImprovementRepropagation.get();
-        while (!openSet.isEmpty() && numEmptyChunk < pathingMaxChunkBorderFetch && System.nanoTime() / 1000000L - timeoutTime < 0 && !cancelRequested) {
+        while (!openSet.isEmpty() && numEmptyChunk < pathingMaxChunkBorderFetch && !cancelRequested) {
+            long now = System.nanoTime() / 1000000L;
+            if (now - failureTimeoutTime >= 0 || (!failing && now - primaryTimeoutTime >= 0)) {
+                break;
+            }
+            if (failing == bestPathSoFar().isPresent()) {
+                throw new IllegalStateException();
+            }
             if (slowPath) {
                 try {
                     Thread.sleep(Baritone.settings().slowPathTimeDelayMS.<Long>get());
@@ -166,6 +174,9 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
                             }
                             bestHeuristicSoFar[i] = heuristic;
                             bestSoFar[i] = neighbor;
+                            if (getDistFromStartSq(neighbor) > MIN_DIST_PATH * MIN_DIST_PATH) {
+                                failing = false;
+                            }
                         }
                     }
                 }

src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java

@@ -83,13 +83,14 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
         cancelRequested = true;
     }
 
-    public synchronized PathCalculationResult calculate(long timeout) {
+    @Override
+    public synchronized PathCalculationResult calculate(long primaryTimeout, long failureTimeout) {
         if (isFinished) {
             throw new IllegalStateException("Path Finder is currently in use, and cannot be reused!");
         }
         this.cancelRequested = false;
         try {
-            IPath path = calculate0(timeout).map(IPath::postProcess).orElse(null);
+            IPath path = calculate0(primaryTimeout, failureTimeout).map(IPath::postProcess).orElse(null);
             isFinished = true;
             if (cancelRequested) {
                 return new PathCalculationResult(PathCalculationResult.Type.CANCELLATION, path);
@@ -112,7 +113,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
         }
     }
 
-    protected abstract Optional<IPath> calculate0(long timeout);
+    protected abstract Optional<IPath> calculate0(long primaryTimeout, long failureTimeout);
 
     /**
      * Determines the distance squared from the specified node to the start
@@ -157,7 +158,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
 
     @Override
     public Optional<IPath> bestPathSoFar() {
-        if (startNode == null || bestSoFar == null || bestSoFar[0] == null) {
+        if (startNode == null || bestSoFar == null) {
             return Optional.empty();
         }
         for (int i = 0; i < bestSoFar.length; i++) {
@@ -165,12 +166,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
                 continue;
             }
             if (getDistFromStartSq(bestSoFar[i]) > MIN_DIST_PATH * MIN_DIST_PATH) { // square the comparison since distFromStartSq is squared
-                try {
                 return Optional.of(new Path(startNode, bestSoFar[i], 0, goal, context));
-                } catch (IllegalStateException ex) {
-                    System.out.println("Unable to construct path to render");
-                    return Optional.empty();
-                }
             }
         }
         // instead of returning bestSoFar[0], be less misleading