feat: Implement non-blocking return home functionality with improved navigation

turtle.lua

@@ -438,63 +438,61 @@ function broadcastStatus()
     })
 end
 
--- Return to home with better navigation
+-- Return to home step (non-blocking)
-local function returnHome()
+local returnHomeAttempts = 0
-    print("Returning home...")
+local function returnHomeStep()
-    state.mode = "returning"
+    if not state.homePosition or not state.position then
+        print("No home or position set!")
+        state.mode = "idle"
+        broadcastStatus()
+        return true -- Done (failed)
+    end
+    
+    if getDistance(state.position, state.homePosition) <= 1 then
+        print("Arrived at home!")
+        state.mode = "idle"
         state.stuckCounter = 0
         broadcastStatus()
+        return true -- Done (success)
+    end
     
-    local maxAttempts = 1000
+    if returnHomeAttempts >= 1000 then
-    local attempts = 0
+        print("Could not reach home - gave up after 1000 attempts")
-    
+        state.mode = "idle"
-    while state.homePosition and state.position and 
+        broadcastStatus()
-          getDistance(state.position, state.homePosition) > 1 and
+        return true -- Done (failed)
-          attempts < maxAttempts do
-        
-        -- Check for stop command
-        if state.mode ~= "returning" then
-            print("Return cancelled")
-            return
     end
     
     updateFuel()
     if needsRefuel() then
         print("Low fuel, trying to refuel...")
-            if tryRefuel() then
+        if not tryRefuel() then
-                print("Refueled!")
-            else
             print("WARNING: Out of fuel!")
             state.mode = "idle"
             broadcastStatus()
-                return
+            return true -- Done (failed)
         end
+        print("Refueled!")
     end
     
-        local arrived = navigateTowards(state.homePosition)
+    navigateTowards(state.homePosition)
-        if arrived then
+    returnHomeAttempts = returnHomeAttempts + 1
-            break
-        end
-        
-        attempts = attempts + 1
     
     -- Update GPS position every few steps
-        if attempts % 10 == 0 then
+    if returnHomeAttempts % 10 == 0 then
         updatePosition()
         print("Distance to home: " .. getDistance(state.position, state.homePosition))
     end
     
-        sleep(0.1)
+    return false -- Not done yet
-    end
+end
 
-    if attempts >= maxAttempts then
+-- Start return home (just initialize)
-        print("Could not reach home - gave up after " .. maxAttempts .. " attempts")
+local function returnHome()
-    else
+    print("Returning home...")
-        print("Arrived at home!")
+    state.mode = "returning"
-    end
-    
-    state.mode = "idle"
     state.stuckCounter = 0
+    returnHomeAttempts = 0
     broadcastStatus()
 end
 
@@ -745,8 +743,7 @@ parallel.waitForAny(
                 -- Safety check: too far from home
                 if isTooFarFromHome() then
                     print("Too far from home! Returning...")
-                    state.mode = "returning"
+                    returnHome() -- Initialize return home
-                    broadcastStatus()
                 -- Check if we need to pause (chunk loading concern)
                 elseif shouldPauseOperations() then
                     print("Pausing operations (safety limit)")
@@ -755,15 +752,18 @@ parallel.waitForAny(
                 -- Check if we should stop
                 elseif needsRefuel() or inventoryFull() then
                     print("Need to return home")
-                    state.mode = "returning"
+                    returnHome() -- Initialize return home
-                    broadcastStatus()
                 else
                     exploreStep()
                     sleep(0.2)
                 end
                 
             elseif state.mode == "returning" then
-                returnHome()
+                -- Non-blocking return home step
+                local done = returnHomeStep()
+                if not done then
+                    sleep(0.1)
+                end
                 
             else
                 -- Idle or manual mode