ccminingturtle/mineleader.lua

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Lua
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--configurables
local CHANNEL = 55555
local TOKEN = "LxdIjZPDLL2oZoayb7uR2Lbz7bnnbkxz"
-- Constant
local HOST = "HOST"
local UNIT = "LEAD"
local LUA_PREFIX = "?"
-- Constant actions
local MOVEBY = "moveby"
local MOVETO = "moveto"
local STATUS = "status"
local POSITION = "position"
local HEADING = "heading"
local QUARRY = "quarry"
local TASK = "task"
local FAILED = "failed"
-- Constant messaging
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local LOG = "LOG"
local REQUEST = "REQ"
-- Constant requests
local BLOCKED = "blocked"
local ITEM = "item"
-- INIT SEQUENCE
print("Initiating leader mining turtle.")
running = true
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local task = nil
local taskArgs = {}
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local modem = nil
local heading = nil
local position = nil
local rightAxis = nil
local relHeading = vector.new(1,0,0)
local relativePos = vector.new(0,0,0)
local relRightAxis = vector.new(0,0,1)
do
periphs = peripheral.find("modem")
if not periphs then
error("Modem peripheral not found.")
else
print("Modem found.")
modem = periphs
end
end
print("Opening channel: " .. CHANNEL)
modem.open(CHANNEL)
-- helpers
local function getMessage(data)
if string.find(data, TOKEN .. ":") == 1 then
print("Validated data token.")
local validated = string.sub(data, string.len(TOKEN) + 1 + 1)
print("Validated sequence: " .. validated)
if string.find(validated, UNIT .. ":") == 1 then
print("Checking unit...")
return string.sub(validated, string.len(UNIT) + 1 + 1)
end
end
print("Data was unable to be parsed.")
return nil
end
local function SendRequest(request, ...)
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print("Sending request: " .. request)
reqData = {
token=TOKEN,
recipient=HOST,
sender=UNIT,
type=REQUEST,
request=request,
content=arg
}
modem.transmit(CHANNEL, CHANNEL, textutils.serialise(reqData))
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end
local function sendLog(log, ...)
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print("Sending message: " .. log)
logData = {
token=TOKEN,
recipient=HOST,
sender=UNIT,
type=LOG,
log=log,
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content=arg
}
modem.transmit(CHANNEL, CHANNEL, textutils.serialise(logData))
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end
local function captureString(str, seq)
if seq == nil then seq = "([^%s]+)" end
res = {}
for i in string.gmatch(str, seq) do
table.insert(res, i)
end
return res
end
local function findItem(str)
for s=1,16 do
if string.sub(str, -string.len(str)) == str then
return s
end
end
return 0
end
local function refuel()
local slot = findItem("coal")
if slot == 0 then
--TODO: request more coal
end
turtle.select(slot)
turtle.refuel()
end
local function checkFuel()
if turtle.getFuelLevel() > 0 then return false end
refuel()
return true;
end
local function vectorEqual(a, b)
return a.x == b.x and a.y == b.y and a.z == b.z
end
local function attemptMove(movef)
if not movef() then
refuel()
return movef();
end
return true
end
local function attemptMoveUp()
if attemptMove(turtle.up) then
relativePos.y = relativePos.y + 1
if position ~= nil then position.y = position.y + 1 end
return true
end
return false
end
local function attemptMoveDown()
if attemptMove(turtle.down) then
relativePos.y = relativePos.y - 1
if position ~= nil then position.y = position.y - 1 end
return true
end
return false
end
local function attemptMoveForward()
if attemptMove(turtle.forward) then
relativePos = relativePos + relHeading
if (position ~= nil and heading ~= nil) then
position = position + heading
end
return true
end
return false
end
local function attemptMoveBackward()
if attemptMove(turtle.back) then
relativePos = relativePos - relHeading
if (position ~= nil and heading ~= nil) then
position = position - heading
end
return true
end
return false
end
local function attemptMoveLeft()
if attemptMove(turtle.turnLeft) then
local previousHeading = relHeading
relHeading = -relRightAxis
relRightAxis = previousHeading
if heading ~= nil then
local previousHeading = heading
heading = -rightAxis
rightAxis = previousHeading
end
return true
end
return false
end
local function attemptMoveRight()
if attemptMove(turtle.turnRight) then
local previousHeading = relHeading
relHeading = relRightAxis
relRightAxis = -previousHeading
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if heading ~= nil then
local previousHeading = heading
heading = rightAxis
rightAxis = -previousHeading
end
return true
end
return true
end
local function orient(v, forward, right)
print("Attempting to orient such that " .. tostring(v) .. " == " .. tostring(forward) .. ".")
if vectorEqual(v, forward) then
return
elseif vectorEqual(v, right) then
attemptMoveRight()
elseif vectorEqual(v, -right) then
attemptMoveLeft()
else
attemptMoveRight()
attemptMoveRight()
end
print("Orientation complete.")
end
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local function attemptStartTask(name, f, ...)
sendLog(TASK, "Attempting to start task.")
if task ~= nil then
sendLog(FAILED, "Unable to start task due to another task running.")
return
end
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task = {name=name, func=f, args=arg}
taskArgs = arg
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end
-- actions
local function locatePosition()
sendLog(POSITION, "Using GPS to determine position.")
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local x, y, z = gps.locate()
if x == nil then sendLog(POSITION, "could not locate.") end
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position = vector.new(x, y, z)
end
local function determineHeading()
sendLog(HEADING, "Calculating heading.")
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if position == nil then
sendLog(FAILED, "No current position")
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return
end
local oldPos = vector.new(position.x, position.y, position.z)
if not attemptMoveForward() then
sendLog(FAILED, "Could not move to get delta.")
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return
end
if x == nil then
sendLog(FAILED, "Could not locate.")
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return
end
heading = position - oldPos
if not attemptMoveRight() then
sendLog(FAILED, "Unable to rotate right.")
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heading = nil
return
end
local oldPos = vector.new(position.x, position.y, position.z)
if not attemptMoveForward() then
sendLog(FAILED, "Unable to move forward after rotation.")
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heading = nil
return
end
if not attemptMoveLeft() then
sendLog(FAILED, "Unable to rotate left.")
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heading = nil
return
end
rightAxis = position - oldPos
end
local function moveBy(delta, forward, right)
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sendLog(MOVEBY, "Attempting to move by (" .. delta.x .. "," .. delta.y .. "," .. delta.z .. ") (x,y,z).")
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-- x first
if delta.x ~= 0 then
sendLog(MOVEBY, "Moving on x axis by: " .. delta.x)
orient(vector.new(delta.x, 0, 0):normalize(), forward, right)
for x=1,math.abs(delta.x) do
attemptMoveForward()
end
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end
if delta.z ~= 0 then
sendLog(MOVEBY, "Moving on z axis by: " .. delta.z)
orient(vector.new(0, 0, delta.z):normalize(), forward, right)
for z=1,math.abs(delta.z) do
attemptMoveForward()
end
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end
if delta.y > 0 then
sendLog(MOVEBY, "Moving on y axis by: " .. delta.y)
for y=1,delta.y do
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attemptMoveUp()
end
elseif delta.y < 0 then
sendLog(MOVEBY, "Moving on y axis by: " .. delta.y)
for y=1,math.abs(delta.y) do
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attemptMoveDown()
end
end
end
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local function quarry(a, b)
sendLog(QUARRY, "Starting quarry task from positions " .. tostring(a) .. " to " .. tostring(b) ".")
end
local function executeTasks()
while running do
if task ~= nil then
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sendLog(TASK, "Executing task: " .. task["name"])
task["func"](unpack(task["args"]))
task = nil
end
sleep(5)
end
end
local function listen()
while running do
print("Listening for directives...")
local event, side, sendChannel, replyChannel, serialized, distance = os.pullEvent("modem_message")
print("Recieved data...")
local data = textutils.unserialise(serialized)
if data["token"] == TOKEN and data["recipient"] == UNIT and data["type"] == REQUEST then
print("Got request: " .. data["request"])
if data["request"] == LUA_PREFIX then
print("Executing: " .. data["content"][0])
local f = loadstring(luaScript)
if f ~= nil then
local freturn = f()
if freturn ~= nil then
sendLog(LUA_PREFIX, textutils.serialise(freturn))
end
else
printError("Unable to load lua string.")
end
elseif data["request"] == MOVETO then
local x = data["content"][1]
local y = data["content"][2]
local z = data["content"][3]
if heading ~= nil then
print("Using actual coordinates.")
sendLog(MOVETO, "Using actual coordinates to move.")
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attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), heading, rightAxis)
else
print("Using relative coordinates.")
sendLog(MOVETO, "Using relative coordinates to move.")
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attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), relHeading, relRightAxis)
end
elseif data["request"] == MOVEBY then
local x = data["content"][1]
local y = data["content"][2]
local z = data["content"][3]
if heading ~= nil then
print("Using actual coordinates.")
sendLog(MOVEBY, "Using actual coordinates to move.")
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attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), heading, rightAxis)
else
print("Using relative coordinates.")
sendLog(MOVEBY, "Using relative coordinates to move.")
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attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), relHeading, relRightAxis)
end
elseif data["request"] == STATUS then
status = {
relative_position = {
coordinates=relativePos,
forward=relHeading,
right=relRightAxis
},
position={
coordinates=position,
forward=heading,
right=rightAxis
},
fuel=turtle.getFuelLevel(),
task=(task and task["name"] or "nothing")
}
sendLog(STATUS, status)
elseif data["request"] == POSITION then
locatePosition()
elseif data["request"] == HEADING then
determineHeading()
elseif data["request"] == QUARRY then
end
end
end
end
parallel.waitForAll(listen, executeTasks)