From 6d3541a1c65500c3ba4440ed27dd3586a53a5a75 Mon Sep 17 00:00:00 2001
From: Harrison Deng <yunyangdeng@gmail.com>
Date: Sun, 9 May 2021 13:15:50 -0500
Subject: [PATCH] Potentially fixed heading issue.

---
 mineleader.lua | 65 +++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 49 insertions(+), 16 deletions(-)

diff --git a/mineleader.lua b/mineleader.lua
index 2ba2840..64fc092 100644
--- a/mineleader.lua
+++ b/mineleader.lua
@@ -325,9 +325,17 @@ local function determineHeading()
 	sendLog(HEADING, "Heading obtained. \nForward: " .. textutils.serialiseJSON(heading) .. "\nRight direction: " .. textutils.serialiseJSON(rightAxis))
 end
 
-local function moveBy(delta, forward, right)
+local function moveBy(delta, relative)
     sendLog(MOVEBY, "Attempting to move by (" .. delta.x .. "," .. delta.y .. "," .. delta.z .. ") (x,y,z).")
-	-- x first
+	local forward
+	local right
+	if relative then
+		forward = relHeading
+		right = relRightAxis
+	else
+		forward = heading
+		right = rightAxis
+	end
 	if delta.x ~= 0 then 
 		sendLog(MOVEBY, "Moving on x axis by: " .. delta.x)
 		orient(vector.new(delta.x, 0, 0):normalize(), forward, right) 
@@ -367,7 +375,16 @@ local function moveBy(delta, forward, right)
 	end
 end
 
-local function moveTo(dest)
+local function moveTo(dest, relative)
+	local forward, right
+	if relative then
+		forward = relHeading
+		right = relRightAxis
+	else
+		forward = heading
+		right = rightAxis
+	end
+
 	dest = dest:round()
     sendLog(MOVETO, "Attempting to move by (" .. dest.x .. "," .. dest.y .. "," .. dest.z .. ") (x,y,z).")
 	if position == nil or heading == nil then
@@ -377,27 +394,33 @@ local function moveTo(dest)
 	local xBlocked, yBlocked, zBlocked = false, false, false
 	local oldPos = nil
 	while not vectorEqual(dest, position) do
-		if oldPos ~= nil and vectorEqual(oldPos, position) then
+		local pos
+		if relative then
+			pos = position
+		else
+			pos = relativePos
+		end
+		if oldPos ~= nil and vectorEqual(oldPos, pos) then
 			sendLog(FAILED, "Cannot proceed to due obstacle. XYZ being blocked: " .. tostring(xBlocked) .. "," .. tostring(yBlocked) .. "," .. tostring(zBlocked))
 			break
 		end
-		oldPos = vector.new(position.x, position.y, position.z);
+		oldPos = vector.new(pos.x, pos.y, pos.z);
 		if position.x ~= dest.x then
-			if not orient(vector.new(dest.x - position.x, 0, 0):normalize(), heading, rightAxis) then
+			if not orient(vector.new(dest.x - pos.x, 0, 0):normalize(), forward, right) then
 				sendLog(FAILED, "Unable to orient for X axis.")
 				return
 			end
 			xblocked = attemptMoveForward()
 		end
 		if position.y ~= dest.y then
-			if dest.y - position.y > 0 then
+			if dest.y - pos.y > 0 then
 				yBlocked = attemptMoveUp()
 			else
 				yBlocked = attemptMoveDown()
 			end
 		end
-		if position.z ~= dest.z then
-			if not orient(vector.new(0, 0, dest.z - position.z):normalize(), heading, rightAxis) then
+		if pos.z ~= dest.z then
+			if not orient(vector.new(0, 0, dest.z - pos.z):normalize(), forward, right) then
 				sendLog(FAILED, "Unable to orient for Z axis.")
 				return
 			end
@@ -407,10 +430,19 @@ local function moveTo(dest)
 end
 	
 
-local function quarry(x, y, z, forward, right, pattern)
+local function quarry(x, y, z, relative, pattern)
 	x = tonumber(x)
 	y = tonumber(y)
 	z = tonumber(z)
+	local forward;
+	local right;
+	if relative then
+		forward = relHeading
+		right = relRightAxis
+	else
+		forward = heading
+		right = rightAxis
+	end
 	sendLog(QUARRY, "Starting quarry of (x length,depth,z length): " .. x .. "," .. y .. "," .. z .. " with a not pattern of: " .. pattern)
 	for yDelta=1,math.abs(y) do
 		if (y > 0) then
@@ -436,6 +468,7 @@ local function quarry(x, y, z, forward, right, pattern)
 		for xDelta=1,math.abs(x) do
 			for zDelta=1,math.abs(z) do
 				print("X,Z: " .. xDelta .. "," .. zDelta)
+				print("heading, right heading: " .. forward .. ", " .. right)
 				local success = true;
 				if reverseTrip then
 					orient(vector.new(0,0, -z), forward, right)
@@ -506,11 +539,11 @@ local function listen()
 				if heading ~= nil then
 					print("Using actual coordinates.")
 					sendLog(MOVETO, "Using actual coordinates to move.")
-					attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), heading, rightAxis)
+					attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), false)
 				else
 					print("Using relative coordinates.")
 					sendLog(MOVETO, "Using relative coordinates to move.")
-					attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), relHeading, relRightAxis)
+					attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), true)
 				end
 			elseif data["request"] == MOVEBY then
 				local x = data["content"][1]
@@ -519,11 +552,11 @@ local function listen()
 				if heading ~= nil then
 					print("Using actual coordinates.")
 					sendLog(MOVEBY, "Using actual coordinates to move.")
-					attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), heading, rightAxis)
+					attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), false)
 				else
 					print("Using relative coordinates.")
 					sendLog(MOVEBY, "Using relative coordinates to move.")
-					attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), relHeading, relRightAxis)
+					attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), true)
 				end
 			elseif data["request"] == STATUS then
 				status = {
@@ -550,11 +583,11 @@ local function listen()
 				determineHeading()
 			elseif data["request"] == QUARRY then
 				if heading ~= nil then
-					quarry(data["content"][1], data["content"][2], data["content"][3], heading, rightAxis, notPattern)
+					quarry(data["content"][1], data["content"][2], data["content"][3], false, notPattern)
 					sendLog(QUARRY, "Using actual position for quarrying.")
 				else
 					sendLog(QUARRY, "Using relative position for quarrying.")
-					quarry(data["content"][1], data["content"][2], data["content"][3], relHeading, relRightAxis, notPattern)
+					quarry(data["content"][1], data["content"][2], data["content"][3], true, notPattern)
 				end
 			end
 		end