398 lines
9.6 KiB
Lua
398 lines
9.6 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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local TASK = "task"
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local FAILED = "failed"
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-- Constant messaging
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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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reqData = {
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token=TOKEN,
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recipient=HOST,
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sender=UNIT,
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type=REQUEST,
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request=request,
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content=arg
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}
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modem.transmit(CHANNEL, CHANNEL, textutils.serialise(reqData))
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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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logData = {
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token=TOKEN,
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recipient=HOST,
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sender=UNIT,
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type=LOG,
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log=log,
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content=arg
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}
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modem.transmit(CHANNEL, CHANNEL, textutils.serialise(logData))
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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 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(name, f, ...)
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sendLog(TASK, "Attempting to start 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 = {name=name, func=f, args=arg}
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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(POSITION, "could not locate.") end
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position = vector.new(x, y, z)
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sendLog(POSITION, "Position obtained: " .. tostring(position))
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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 position == 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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local fDelta = position - oldPos
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if not attemptMoveRight() then
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sendLog(FAILED, "Unable to rotate right.")
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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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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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return
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end
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heading = fDelta
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rightAxis = position - oldPos
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sendLog(HEADING, "Heading obtained. \nForward: " .. heading .. "\nRight direction: " .. rightAxis)
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end
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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
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if delta.x ~= 0 then
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sendLog(MOVEBY, "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(MOVEBY, "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(MOVEBY, "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(MOVEBY, "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 quarry(a, b)
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sendLog(QUARRY, "Starting quarry task from positions " .. tostring(a) .. " to " .. tostring(b) ".")
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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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sendLog(TASK, "Executing task: " .. task["name"])
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task["func"](unpack(task["args"]))
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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, serialized, distance = os.pullEvent("modem_message")
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print("Recieved data...")
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local data = textutils.unserialise(serialized)
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if data["token"] == TOKEN and data["recipient"] == UNIT and data["type"] == REQUEST then
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print("Got request: " .. data["request"])
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if data["request"] == LUA_PREFIX then
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print("Executing: " .. data["content"][0])
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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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sendLog(LUA_PREFIX, textutils.serialise(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 data["request"] == MOVETO then
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local x = data["content"][1]
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local y = data["content"][2]
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local z = data["content"][3]
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if heading ~= nil then
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print("Using actual coordinates.")
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sendLog(MOVETO, "Using actual coordinates to move.")
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attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), heading, rightAxis)
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else
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print("Using relative coordinates.")
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sendLog(MOVETO, "Using relative coordinates to move.")
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attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), relHeading, relRightAxis)
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end
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elseif data["request"] == MOVEBY then
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local x = data["content"][1]
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local y = data["content"][2]
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local z = data["content"][3]
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if heading ~= nil then
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print("Using actual coordinates.")
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sendLog(MOVEBY, "Using actual coordinates to move.")
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attemptStartTask(MOVEBY, 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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sendLog(MOVEBY, "Using relative coordinates to move.")
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attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), relHeading, relRightAxis)
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end
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elseif data["request"] == STATUS 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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task=(task and task["name"] or "nothing")
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}
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sendLog(STATUS, status)
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elseif data["request"] == POSITION then
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locatePosition()
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elseif data["request"] == HEADING then
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determineHeading()
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elseif data["request"] == QUARRY 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) |