Async task system and relative movement complete.
This commit is contained in:
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2b856ef355
commit
6a791d2741
11
minehost.lua
11
minehost.lua
@ -14,6 +14,9 @@ local LUA_PREFIX = "?"
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local MOVEBY = "moveby"
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local MOVEBY = "moveby"
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local MOVETO = "moveto"
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local MOVETO = "moveto"
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local STATUS = "status"
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local STATUS = "status"
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local POSITION = "position"
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local HEADING = "heading"
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local QUARRY = "quarry"
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-- Constant log
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-- Constant log
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local LOG = "LOG"
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local LOG = "LOG"
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local REQUEST = "REQ"
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local REQUEST = "REQ"
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@ -22,7 +25,7 @@ local BLOCKED = "blocked"
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local ITEM = "item"
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local ITEM = "item"
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local FAILED = "failed"
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local FAILED = "failed"
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local running = true
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running = true
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local modem = peripheral.find("modem")
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local modem = peripheral.find("modem")
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if (modem == nil) then
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if (modem == nil) then
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@ -71,6 +74,12 @@ local function listenForCommands()
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sendDirective(LEADER, MOVETO .. ":" .. coords[1] .. "," .. coords[2] .. "," .. coords[3])
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sendDirective(LEADER, MOVETO .. ":" .. coords[1] .. "," .. coords[2] .. "," .. coords[3])
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elseif string.find(input, STATUS) == 1 then
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elseif string.find(input, STATUS) == 1 then
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sendDirective(LEADER, STATUS)
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sendDirective(LEADER, STATUS)
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elseif string.find(input, POSITION) == 1 then
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sendDirective(LEADER, POSITION)
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elseif string.find(input, HEADING) == 1 then
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sendDirective(LEADER, HEADING)
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elseif string.find(input, QUARRY) == 1 then
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sendDirective(LEADER, input)
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end
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end
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end
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end
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end
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end
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208
mineleader.lua
208
mineleader.lua
@ -10,6 +10,9 @@ local LUA_PREFIX = "?"
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local MOVEBY = "moveby"
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local MOVEBY = "moveby"
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local MOVETO = "moveto"
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local MOVETO = "moveto"
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local STATUS = "status"
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local STATUS = "status"
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local POSITION = "position"
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local HEADING = "heading"
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local QUARRY = "quarry"
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-- Constant log
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-- Constant log
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local LOG = "LOG"
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local LOG = "LOG"
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local REQUEST = "REQ"
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local REQUEST = "REQ"
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@ -20,8 +23,9 @@ local ITEM = "item"
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-- INIT SEQUENCE
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-- INIT SEQUENCE
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print("Initiating leader mining turtle.")
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print("Initiating leader mining turtle.")
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local running = true
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running = true
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local task = nil
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local task = nil
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local taskArgs = {}
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local modem = nil
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local modem = nil
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local heading = nil
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local heading = nil
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local position = nil
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local position = nil
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@ -181,7 +185,7 @@ local function attemptMoveRight()
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if attemptMove(turtle.turnRight) then
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if attemptMove(turtle.turnRight) then
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local previousHeading = relHeading
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local previousHeading = relHeading
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relHeading = relRightAxis
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relHeading = relRightAxis
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relRightAxis = previousHeading
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relRightAxis = -previousHeading
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if heading ~= nil then
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if heading ~= nil then
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local previousHeading = heading
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local previousHeading = heading
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@ -205,27 +209,30 @@ local function orient(v, forward, right)
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attemptMoveRight()
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attemptMoveRight()
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attemptMoveRight()
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attemptMoveRight()
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end
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end
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print("Orientation complete.")
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end
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local function attemptStartTask(f, ...)
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sendLog("attempting to start a task.")
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if task ~= nil then
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sendLog("failed: unable to start task due to another task running.")
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return
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end
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task = f
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taskArgs = arg
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end
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end
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local function attemptStartTask(f, ...) {
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if (coroutine.status(task) ~= "dead") then
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sendLog("failed: unable to start task due to another task running.")
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return false
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end
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task = coroutine.create(f)
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table.remove(args, "n")
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task.resume(args)
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return true
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}
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-- actions
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-- actions
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local function locatePosition()
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local function locatePosition()
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sendLog("position: using GPS to determine position.")
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local x, y, z = gps.locate()
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local x, y, z = gps.locate()
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if x == nil then sendLog("failed: could not locate.") end
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if x == nil then sendLog("failed: could not locate.") end
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position = vector.new(x, y, z)
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position = vector.new(x, y, z)
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end
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end
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local function determineHeading()
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local function determineHeading()
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sendLog("heading: calculating heading.")
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if position == nil then
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if position == nil then
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sendLog("failed: no current position")
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sendLog("failed: no current position")
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return
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return
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@ -262,90 +269,117 @@ local function determineHeading()
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end
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end
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local function moveBy(delta, forward, right)
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local function moveBy(delta, forward, right)
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sendLog("Attempting to move by (" .. x .. "," .. y .. "," .. z .. ") (x,y,z).")
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sendLog("Attempting to move by (" .. delta.x .. "," .. delta.y .. "," .. delta.z .. ") (x,y,z).")
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-- x first
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-- x first
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if delta.x ~= 0 then orient(vector.new(delta.x, 0, 0):normalize(), forward, right) end
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if delta.x ~= 0 then
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for x=1,math.abs(delta.x) do
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sendLog("Moving on x axis by: " .. delta.x)
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attemptMoveForward()
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orient(vector.new(delta.x, 0, 0):normalize(), forward, right)
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for x=1,math.abs(delta.x) do
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attemptMoveForward()
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end
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end
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end
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if delta.z ~= 0 then orient(vector.new(0, 0, delta.z):normalize(), forward, right) end
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if delta.z ~= 0 then
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for z=1,math.abs(delta.z) do
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sendLog("Moving on z axis by: " .. delta.z)
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attemptMoveForward()
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orient(vector.new(0, 0, delta.z):normalize(), forward, right)
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for z=1,math.abs(delta.z) do
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attemptMoveForward()
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end
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end
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end
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if delta.y > 0 then
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if delta.y > 0 then
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for z=1,delta.y do
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sendLog("Moving on y axis by: " .. delta.y)
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for y=1,delta.y do
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attemptMoveUp()
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attemptMoveUp()
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end
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end
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elseif delta.y < 0 then
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elseif delta.y < 0 then
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for z=1,math.abs(delta.y) do
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sendLog("Moving on y axis by: " .. delta.y)
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for y=1,math.abs(delta.y) do
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attemptMoveDown()
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attemptMoveDown()
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end
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end
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end
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end
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end
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end
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while running do
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local function executeTasks()
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print("Listening for directives...")
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while running do
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local event, side, sendChannel, replyChannel, data, distance = os.pullEvent("modem_message")
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if task ~= nil then
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print("Recieved data: " .. data)
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task(unpack(taskArgs))
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local token, recipient, sender, type, content = interpretData(data)
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task = nil
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if token == TOKEN and recipient == UNIT then
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end
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print("Got content: " .. content)
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sleep(5)
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if string.find(content, LUA_PREFIX) == 1 then
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end
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local luaScript = string.sub(content, string.len(LUA_PREFIX) + 1)
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end
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print("Executing: " .. luaScript)
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local f = loadstring(luaScript)
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local function listen()
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if f ~= nil then
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while running do
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local freturn = f()
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print("Listening for directives...")
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local event, side, sendChannel, replyChannel, data, distance = os.pullEvent("modem_message")
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if freturn ~= nil then
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print("Recieved data: " .. data)
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modem.transmit(CHANNEL, CHANNEL, TOKEN .. ":" .. UNIT .. ":" .. "obj" .. ":")
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local token, recipient, sender, type, content = interpretData(data)
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modem.transmit(CHANNEL, CHANNEL, freturn)
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if token == TOKEN and recipient == UNIT then
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end
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print("Got content: " .. content)
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else
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if string.find(content, LUA_PREFIX) == 1 then
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printError("Unable to load lua string.")
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local luaScript = string.sub(content, string.len(LUA_PREFIX) + 1)
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end
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print("Executing: " .. luaScript)
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elseif string.find(content, MOVETO .. ":") == 1 then
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local f = loadstring(luaScript)
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local coordsRaw = string.sub(content, string.len(MOVETO .. ":") + 1)
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if f ~= nil then
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print("Raw coordinate data: " .. coordsRaw)
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local freturn = f()
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local coords = captureString(coordsRaw, "([+-]?%d+)")
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local x = coords[1]
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if freturn ~= nil then
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local y = coords[2]
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modem.transmit(CHANNEL, CHANNEL, TOKEN .. ":" .. UNIT .. ":" .. "obj" .. ":")
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local z = coords[3]
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modem.transmit(CHANNEL, CHANNEL, freturn)
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if heading ~= nil then
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end
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attemptStartTask(moveTo, vector.new(x,y,z), heading, rightAxis)
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else
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else
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printError("Unable to load lua string.")
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attemptStartTask(moveTo, vector.new(x,y,z), relHeading, relRightAxis)
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end
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end
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elseif string.find(content, MOVETO .. ":") == 1 then
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elseif string.find(content, MOVEBY .. ":") == 1 then
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local coordsRaw = string.sub(content, string.len(MOVETO .. ":") + 1)
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local valuesRaw = string.sub(content, string.len(MOVEBY .. ":") + 1)
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print("Raw coordinate data: " .. coordsRaw)
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print("Raw coordinate data: " .. valuesRaw)
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local coords = captureString(coordsRaw, "([+-]?%d+)")
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local deltas = captureString(valuesRaw, "([+-]?%d+)")
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local x = coords[1]
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local x = deltas[1]
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local y = coords[2]
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local y = deltas[2]
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local z = coords[3]
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local z = deltas[3]
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if heading ~= nil then
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if heading ~= nil then
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attemptStartTask(moveTo, vector.new(x,y,z), heading, rightAxis)
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print("Using actual coordinates.")
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else
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moveBy(vector.new(x,y,z), heading, rightAxis)
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attemptStartTask(moveTo, vector.new(x,y,z), relHeading, relRightAxis)
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else
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end
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print("Using relative coordinates.")
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elseif string.find(content, MOVEBY .. ":") == 1 then
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moveBy(vector.new(x,y,z), relHeading, relRightAxis)
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local valuesRaw = string.sub(content, string.len(MOVEBY .. ":") + 1)
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end
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print("Raw coordinate data: " .. valuesRaw)
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elseif string.find(content, STATUS .. ":") == 1 then
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local deltas = captureString(valuesRaw, "([+-]?%d+)")
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table = {
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local x = deltas[1]
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"relative_position"={
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local y = deltas[2]
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"coordinates"=relativePos,
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local z = deltas[3]
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"forward"=relHeading,
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if heading ~= nil then
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"right"=relRightAxis
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print("Using actual coordinates.")
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},
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attemptStartTask(moveBy, vector.new(x,y,z), heading, rightAxis)
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"position"={
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else
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"coordinates"=position,
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print("Using relative coordinates.")
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"forward"=heading,
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attemptStartTask(moveBy, vector.new(x,y,z), relHeading, relRightAxis)
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"right"=rightAxis
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end
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},
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elseif string.find(content, STATUS) == 1 then
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"fuel"=turtle.getFuelLevel(),
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status = {
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"task"=taskName
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relative_position = {
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}
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coordinates=relativePos,
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sendLog()
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forward=relHeading,
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end
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right=relRightAxis
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end
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},
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end
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position={
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coordinates=position,
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forward=heading,
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right=rightAxis
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},
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fuel=turtle.getFuelLevel(),
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status=coroutine.status(task)
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}
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sendLog("status:" .. textutils.serialise(status))
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elseif string.find(content, POSITION) == 1 then
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locatePosition()
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elseif string.find(content, HEADING) == 1 then
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determineHeading()
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elseif string.find(content, QUARRY) == 1 then
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end
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end
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end
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end
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parallel.waitForAll(listen, executeTasks)
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