385 lines
9.4 KiB
Lua
385 lines
9.4 KiB
Lua
--configurables
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local CHANNEL = 55555
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local TOKEN = "LxdIjZPDLL2oZoayb7uR2Lbz7bnnbkxz"
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-- Constant
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local HOST = "HOST"
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local UNIT = "LEAD"
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local LUA_PREFIX = "?"
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-- Constant actions
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local MOVEBY = "moveby"
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local MOVETO = "moveto"
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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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local LOG = "LOG"
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local REQUEST = "REQ"
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-- Constant requests
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local BLOCKED = "blocked"
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local ITEM = "item"
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-- INIT SEQUENCE
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print("Initiating leader mining turtle.")
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running = true
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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 heading = nil
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local position = nil
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local rightAxis = nil
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local relHeading = vector.new(1,0,0)
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local relativePos = vector.new(0,0,0)
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local relRightAxis = vector.new(0,0,1)
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do
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periphs = peripheral.find("modem")
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if not periphs then
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error("Modem peripheral not found.")
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else
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print("Modem found.")
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modem = periphs
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end
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end
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print("Opening channel: " .. CHANNEL)
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modem.open(CHANNEL)
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-- helpers
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local function getMessage(data)
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if string.find(data, TOKEN .. ":") == 1 then
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print("Validated data token.")
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local validated = string.sub(data, string.len(TOKEN) + 1 + 1)
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print("Validated sequence: " .. validated)
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if string.find(validated, UNIT .. ":") == 1 then
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print("Checking unit...")
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return string.sub(validated, string.len(UNIT) + 1 + 1)
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end
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end
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print("Data was unable to be parsed.")
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return nil
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end
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local function SendRequest(request)
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print("Sending request: " .. request)
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modem.transmit(CHANNEL, CHANNEL, TOKEN .. ":" .. HOST .. ":" .. UNIT .. ":" .. REQUEST .. ":" .. request)
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end
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local function sendLog(log)
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print("Sending message: " .. log)
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modem.transmit(CHANNEL, CHANNEL, TOKEN .. ":" .. HOST .. ":" .. UNIT .. ":" .. LOG .. ":" .. log)
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end
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local function captureString(str, seq)
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if seq == nil then seq = "([^%s]+)" end
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res = {}
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for i in string.gmatch(str, seq) do
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table.insert(res, i)
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end
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return res
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end
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local function interpretData(data)
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res = captureString(data, "([^%\][^%:]+)")
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if res ~= nil then
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res[5] = table.concat(res, ":", 5)
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return res[1], res[2], res[3], res[4], res[5]
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end
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return nil
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end
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local function findItem(str)
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for s=1,16 do
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if string.sub(str, -string.len(str)) == str then
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return s
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end
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end
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return 0
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end
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local function refuel()
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local slot = findItem("coal")
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if slot == 0 then
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--TODO: request more coal
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end
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turtle.select(slot)
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turtle.refuel()
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end
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local function checkFuel()
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if turtle.getFuelLevel() > 0 then return false end
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refuel()
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return true;
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end
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local function vectorEqual(a, b)
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return a.x == b.x and a.y == b.y and a.z == b.z
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end
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local function attemptMove(movef)
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if not movef() then
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refuel()
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return movef();
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end
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return true
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end
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local function attemptMoveUp()
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if attemptMove(turtle.up) then
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relativePos.y = relativePos.y + 1
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if position ~= nil then position.y = position.y + 1 end
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return true
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end
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return false
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end
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local function attemptMoveDown()
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if attemptMove(turtle.down) then
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relativePos.y = relativePos.y - 1
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if position ~= nil then position.y = position.y - 1 end
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return true
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end
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return false
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end
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local function attemptMoveForward()
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if attemptMove(turtle.forward) then
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relativePos = relativePos + relHeading
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if (position ~= nil and heading ~= nil) then
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position = position + heading
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end
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return true
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end
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return false
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end
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local function attemptMoveBackward()
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if attemptMove(turtle.back) then
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relativePos = relativePos - relHeading
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if (position ~= nil and heading ~= nil) then
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position = position - heading
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end
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return true
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end
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return false
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end
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local function attemptMoveLeft()
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if attemptMove(turtle.turnLeft) then
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local previousHeading = relHeading
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relHeading = -relRightAxis
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relRightAxis = previousHeading
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if heading ~= nil then
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local previousHeading = heading
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heading = -rightAxis
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rightAxis = previousHeading
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end
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return true
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end
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return false
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end
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local function attemptMoveRight()
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if attemptMove(turtle.turnRight) then
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local previousHeading = relHeading
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relHeading = relRightAxis
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relRightAxis = -previousHeading
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if heading ~= nil then
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local previousHeading = heading
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heading = rightAxis
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rightAxis = -previousHeading
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end
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return true
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end
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return true
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end
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local function orient(v, forward, right)
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print("Attempting to orient such that " .. tostring(v) .. " == " .. tostring(forward) .. ".")
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if vectorEqual(v, forward) then
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return
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elseif vectorEqual(v, right) then
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attemptMoveRight()
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elseif vectorEqual(v, -right) then
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attemptMoveLeft()
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else
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attemptMoveRight()
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attemptMoveRight()
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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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-- actions
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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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if x == nil then sendLog("failed: could not locate.") end
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position = vector.new(x, y, z)
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end
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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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sendLog("failed: no current position")
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return
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end
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local oldPos = vector.new(position.x, position.y, position.z)
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if not attemptMoveForward() then
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sendLog("failed: could not move to get delta.")
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return
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end
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if x == nil then
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sendLog("failed: could not locate.")
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return
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end
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heading = position - oldPos
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if not attemptMoveRight() then
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sendLog("failed: unable to rotate right.")
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heading = nil
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return
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end
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local oldPos = vector.new(position.x, position.y, position.z)
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if not attemptMoveForward() then
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sendLog("failed: unable to move forward after rotation.")
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heading = nil
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return
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end
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if not attemptMoveLeft() then
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sendLog("failed: unable to rotate left.")
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heading = nil
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return
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end
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rightAxis = position - oldPos
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end
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local function moveBy(delta, forward, right)
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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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if delta.x ~= 0 then
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sendLog("Moving on x axis by: " .. delta.x)
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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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if delta.z ~= 0 then
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sendLog("Moving on z axis by: " .. delta.z)
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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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if delta.y > 0 then
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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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end
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elseif delta.y < 0 then
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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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end
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end
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end
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local function executeTasks()
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while running do
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if task ~= nil then
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task(unpack(taskArgs))
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task = nil
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end
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sleep(5)
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end
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end
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local function listen()
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while running do
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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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print("Recieved data: " .. data)
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local token, recipient, sender, type, content = interpretData(data)
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if token == TOKEN and recipient == UNIT then
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print("Got content: " .. content)
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if string.find(content, LUA_PREFIX) == 1 then
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local luaScript = string.sub(content, string.len(LUA_PREFIX) + 1)
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print("Executing: " .. luaScript)
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local f = loadstring(luaScript)
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if f ~= nil then
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local freturn = f()
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if freturn ~= nil then
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modem.transmit(CHANNEL, CHANNEL, TOKEN .. ":" .. UNIT .. ":" .. "obj" .. ":")
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modem.transmit(CHANNEL, CHANNEL, freturn)
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end
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else
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printError("Unable to load lua string.")
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end
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elseif string.find(content, MOVETO .. ":") == 1 then
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local coordsRaw = string.sub(content, string.len(MOVETO .. ":") + 1)
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print("Raw coordinate data: " .. coordsRaw)
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local coords = captureString(coordsRaw, "([+-]?%d+)")
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local x = coords[1]
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local y = coords[2]
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local z = coords[3]
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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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else
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attemptStartTask(moveTo, vector.new(x,y,z), relHeading, relRightAxis)
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end
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elseif string.find(content, MOVEBY .. ":") == 1 then
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local valuesRaw = string.sub(content, string.len(MOVEBY .. ":") + 1)
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print("Raw coordinate data: " .. valuesRaw)
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local deltas = captureString(valuesRaw, "([+-]?%d+)")
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local x = deltas[1]
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local y = deltas[2]
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local z = deltas[3]
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if heading ~= nil then
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print("Using actual coordinates.")
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attemptStartTask(moveBy, vector.new(x,y,z), heading, rightAxis)
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else
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print("Using relative coordinates.")
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attemptStartTask(moveBy, vector.new(x,y,z), relHeading, relRightAxis)
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end
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elseif string.find(content, STATUS) == 1 then
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status = {
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relative_position = {
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coordinates=relativePos,
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forward=relHeading,
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right=relRightAxis
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},
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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) |