feat: Enhance exploration algorithm with intelligent navigation and stuck detection

turtle.lua

@@ -598,7 +598,36 @@ end
 
 -- Exploration algorithm with intelligent navigation
 local function exploreStep()
-    -- Check all directions for valuable ores
+    -- Mark current position as visited
+    if state.position then
+        markVisited(state.position)
+    end
+    
+    -- Check if stuck in same position
+    if isStuckInSamePosition() then
+        state.stuckInHoleCounter = state.stuckInHoleCounter + 1
+        print("Stuck counter: " .. state.stuckInHoleCounter)
+    else
+        state.stuckInHoleCounter = 0
+    end
+    
+    -- Save current position for next check
+    if state.position then
+        state.lastPosition = {
+            x = state.position.x,
+            y = state.position.y,
+            z = state.position.z
+        }
+    end
+    
+    -- If stuck in hole for too long, try to climb out
+    if state.stuckInHoleCounter > 3 or isInHole() then
+        if tryClimbOut() then
+            return -- Successfully climbed out
+        end
+    end
+    
+    -- Check all directions for valuable ores first (priority)
     for _, direction in ipairs({"forward", "up", "down"}) do
         local dug, valuable, blockName = smartDig(direction)
         if valuable then
@@ -607,27 +636,106 @@ local function exploreStep()
         end
     end
     
-    -- Random exploration with preference for going deeper
+    -- Smart movement decision making
-    local r = math.random(1, 10)
+    local canGoUp = canMoveInDirection("up")
-    if r <= 3 then
+    local canGoForward = canMoveInDirection("forward")
-        -- Go down 30% of the time
+    local canGoDown = canMoveInDirection("down")
-        if not smartDown() then
+    
-            smartDig("down")
+    -- If we're too deep (below y=0) or stuck, prioritize going up
-            smartDown()
+    if state.position and (state.position.y < 0 or state.stuckInHoleCounter > 1) then
+        if canGoUp then
+            if smartUp() then
+                print("Climbing up (too deep or stuck)")
+                return
             end
-    elseif r <= 5 then
+        else
-        -- Turn
+            smartDig("up")
+            if smartUp() then
+                print("Dug up and climbed")
+                return
+            end
+        end
+    end
+    
+    -- Intelligent direction selection based on visited positions
+    local forwardPos = nil
+    if state.position then
+        forwardPos = {x = state.position.x, y = state.position.y, z = state.position.z}
+        if facing == 0 then forwardPos.z = forwardPos.z - 1
+        elseif facing == 1 then forwardPos.x = forwardPos.x + 1
+        elseif facing == 2 then forwardPos.z = forwardPos.z + 1
+        elseif facing == 3 then forwardPos.x = forwardPos.x - 1
+        end
+    end
+    
+    -- Prefer unvisited directions
+    local forwardVisited = hasVisited(forwardPos)
+    
+    -- Decision tree for exploration
+    local r = math.random(1, 100)
+    
+    if forwardVisited and r < 60 then
+        -- If forward is visited, turn to find new direction (60% chance)
+        local turnAttempts = 0
+        while turnAttempts < 4 do
             if math.random() > 0.5 then
                 smartTurnRight()
             else
                 smartTurnLeft()
             end
+            
+            -- Check new forward position
+            if state.position then
+                forwardPos = {x = state.position.x, y = state.position.y, z = state.position.z}
+                if facing == 0 then forwardPos.z = forwardPos.z - 1
+                elseif facing == 1 then forwardPos.x = forwardPos.x + 1
+                elseif facing == 2 then forwardPos.z = forwardPos.z + 1
+                elseif facing == 3 then forwardPos.x = forwardPos.x - 1
+                end
+                
+                if not hasVisited(forwardPos) then
+                    break -- Found unvisited direction
+                end
+            end
+            turnAttempts = turnAttempts + 1
+        end
+    elseif r < 20 and canGoUp then
+        -- Go up 20% of time to avoid getting too deep
+        if not smartUp() then
+            smartDig("up")
+            smartUp()
+        end
+    elseif r < 30 and canGoDown and state.position and state.position.y > 10 then
+        -- Go down only if not too deep (30% of time, above y=10)
+        if not smartDown() then
+            smartDig("down")
+            smartDown()
+        end
     else
-        -- Move forward
+        -- Try to move forward (main exploration)
+        if canGoForward then
             if not smartForward() then
+                -- Blocked, try to dig
                 smartDig("forward")
                 if not smartForward() then
+                    -- Still blocked, turn
+                    if math.random() > 0.5 then
                         smartTurnRight()
+                    else
+                        smartTurnLeft()
+                    end
+                end
+            end
+        else
+            -- Can't move forward, dig and try
+            smartDig("forward")
+            if not smartForward() then
+                -- Failed, turn to new direction
+                if math.random() > 0.5 then
+                    smartTurnRight()
+                else
+                    smartTurnLeft()
+                end
             end
         end
     end