Async task system and relative movement complete.

minehost.lua

@@ -14,6 +14,9 @@ local LUA_PREFIX = "?"
 local MOVEBY = "moveby"
 local MOVETO = "moveto"
 local STATUS = "status"
+local POSITION = "position"
+local HEADING = "heading"
+local QUARRY = "quarry"
 -- Constant log
 local LOG = "LOG"
 local REQUEST = "REQ"
@@ -22,7 +25,7 @@ local BLOCKED = "blocked"
 local ITEM = "item"
 local FAILED = "failed"
  
-local running = true
+running = true
 local modem = peripheral.find("modem")
  
 if (modem == nil) then
@@ -71,6 +74,12 @@ local function listenForCommands()
             sendDirective(LEADER, MOVETO .. ":" .. coords[1] .. "," .. coords[2] .. "," .. coords[3])
         elseif string.find(input, STATUS) == 1 then
             sendDirective(LEADER, STATUS)
+        elseif string.find(input, POSITION) == 1 then
+            sendDirective(LEADER, POSITION)
+        elseif string.find(input, HEADING) == 1 then
+            sendDirective(LEADER, HEADING)
+        elseif string.find(input, QUARRY) == 1 then
+            sendDirective(LEADER, input)
         end
     end
 end

mineleader.lua

@@ -10,6 +10,9 @@ local LUA_PREFIX = "?"
 local MOVEBY = "moveby"
 local MOVETO = "moveto"
 local STATUS = "status"
+local POSITION = "position"
+local HEADING = "heading"
+local QUARRY = "quarry"
 -- Constant log
 local LOG = "LOG"
 local REQUEST = "REQ"
@@ -20,8 +23,9 @@ local ITEM = "item"
 -- INIT SEQUENCE
 print("Initiating leader mining turtle.")
 
-local running = true
+running = true
 local task = nil
+local taskArgs = {}
 local modem = nil
 local heading = nil
 local position = nil
@@ -181,7 +185,7 @@ local function attemptMoveRight()
 	if attemptMove(turtle.turnRight) then
 		local previousHeading = relHeading
 		relHeading = relRightAxis
-		relRightAxis = previousHeading
+		relRightAxis = -previousHeading
 		
 		if heading ~= nil then
 			local previousHeading = heading
@@ -205,27 +209,30 @@ local function orient(v, forward, right)
 		attemptMoveRight()
 		attemptMoveRight()
 	end
+	print("Orientation complete.")
 end
 
-local function attemptStartTask(f, ...) {
+local function attemptStartTask(f, ...)
-    if (coroutine.status(task) ~= "dead") then 
+	sendLog("attempting to start a task.")
+	if task ~= nil then 
 		sendLog("failed: unable to start task due to another task running.")
-        return false 
+		return
 	end
-    task = coroutine.create(f)
+	task = f
-    table.remove(args, "n")
+	taskArgs = arg
-    task.resume(args)
+end
-    return true
+
-}
 -- actions
 
 local function locatePosition()
+	sendLog("position: using GPS to determine position.")
 	local x, y, z = gps.locate()
 	if x == nil then sendLog("failed: could not locate.") end
 	position = vector.new(x, y, z)
 end
 
 local function determineHeading()
+	sendLog("heading: calculating heading.")
 	if position == nil then
 		sendLog("failed: no current position")
 		return
@@ -262,28 +269,47 @@ local function determineHeading()
 end
 
 local function moveBy(delta, forward, right)
-    sendLog("Attempting to move by (" .. x .. "," .. y .. "," .. z .. ") (x,y,z).")
+    sendLog("Attempting to move by (" .. delta.x .. "," .. delta.y .. "," .. delta.z .. ") (x,y,z).")
 	-- x first
-	if delta.x ~= 0 then orient(vector.new(delta.x, 0, 0):normalize(), forward, right) end
+	if delta.x ~= 0 then 
+		sendLog("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
-	if delta.z ~= 0 then orient(vector.new(0, 0, delta.z):normalize(), forward, right) end
+	end
+	if delta.z ~= 0 then 
+		sendLog("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
+	end
 	if delta.y > 0 then
-		for z=1,delta.y do
+		sendLog("Moving on y axis by: " .. delta.y)
+		for y=1,delta.y do
 			attemptMoveUp()
 		end
 	elseif delta.y < 0 then
-		for z=1,math.abs(delta.y) do
+		sendLog("Moving on y axis by: " .. delta.y)
+		for y=1,math.abs(delta.y) do
 			attemptMoveDown()
 		end
 	end
 end
 
-while running do
+local function executeTasks()
+	while running do
+		if task ~= nil then
+			task(unpack(taskArgs))
+			task = nil
+		end
+		sleep(5)
+	end
+end
+
+local function listen()
+	while running do
 		print("Listening for directives...")
 		local event, side, sendChannel, replyChannel, data, distance = os.pullEvent("modem_message")
 		print("Recieved data: " .. data)
@@ -325,27 +351,35 @@ while running do
 				local z = deltas[3]
 				if heading ~= nil then
 					print("Using actual coordinates.")
-                moveBy(vector.new(x,y,z), heading, rightAxis)
+					attemptStartTask(moveBy, vector.new(x,y,z), heading, rightAxis)
 				else
 					print("Using relative coordinates.")
-                moveBy(vector.new(x,y,z), relHeading, relRightAxis)
+					attemptStartTask(moveBy, vector.new(x,y,z), relHeading, relRightAxis)
 				end
-		elseif string.find(content, STATUS .. ":") == 1 then
+			elseif string.find(content, STATUS) == 1 then
-            table = {
+				status = {
-                "relative_position"={
+					relative_position = {
-                    "coordinates"=relativePos,
+						coordinates=relativePos,
-                    "forward"=relHeading,
+						forward=relHeading,
-                    "right"=relRightAxis
+						right=relRightAxis
 					},
-                "position"={
+					position={
-                    "coordinates"=position,
+						coordinates=position,
-                    "forward"=heading,
+						forward=heading,
-                    "right"=rightAxis
+						right=rightAxis
 					},
-                "fuel"=turtle.getFuelLevel(),
+					fuel=turtle.getFuelLevel(),
-                "task"=taskName
+					status=coroutine.status(task)
 				}
-            sendLog()
+				sendLog("status:" .. textutils.serialise(status))
+			elseif string.find(content, POSITION) == 1 then
+				locatePosition()
+			elseif string.find(content, HEADING) == 1 then
+				determineHeading()
+			elseif string.find(content, QUARRY) == 1 then
 			end
 		end
 	end
+end
+
+parallel.waitForAll(listen, executeTasks)