refactor + cleanup
This commit is contained in:
kepler155c@gmail.com
@@ -1,8 +1,4 @@
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local os = _G.os
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local peripheral = _G.peripheral
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local turtle = _G.turtle
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if not turtle or turtle.getPoint then
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if not _G.turtle then
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return
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end
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@@ -13,16 +9,25 @@ local synchronized = require('sync')
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local Util = require('util')
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local Pathing = require('turtle.pathfind')
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local os = _G.os
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local peripheral = _G.peripheral
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local turtle = _G.turtle
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local function noop() end
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local headings = Point.headings
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local state = {
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status = 'idle',
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abort = false,
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}
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turtle.pathfind = Pathing.pathfind
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turtle.point = { x = 0, y = 0, z = 0, heading = 0 }
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turtle.status = 'idle'
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turtle.abort = false
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local state = { }
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function turtle.getPoint() return turtle.point end
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function turtle.getState() return state end
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function turtle.getPoint() return turtle.point end
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function turtle.getState() return state end
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function turtle.isAborted() return state.abort end
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function turtle.getStatus() return state.status end
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function turtle.setStatus(s) state.status = s end
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local function _defaultMove(action)
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while not action.move() do
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@@ -45,15 +50,13 @@ function turtle.setPoint(pt, isGPS)
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end
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function turtle.resetState()
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--turtle.abort = false -- should be part of state
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--turtle.status = 'idle' -- should be part of state
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state.abort = false
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state.status = 'idle'
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state.attackPolicy = noop
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state.digPolicy = noop
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state.movePolicy = _defaultMove
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state.moveCallback = noop
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Pathing.reset()
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turtle.abort = false
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return true
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end
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@@ -63,11 +66,8 @@ function turtle.reset()
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turtle.point.z = 0
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turtle.point.heading = 0 -- should be facing
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turtle.point.gps = false
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turtle.abort = false -- should be part of state
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--turtle.status = 'idle' -- should be part of state
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turtle.resetState()
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return true
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end
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@@ -126,31 +126,7 @@ function turtle.getAction(direction)
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return actions[direction]
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end
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-- [[ Heading data ]] --
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local headings = {
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[ 0 ] = { xd = 1, zd = 0, yd = 0, heading = 0, direction = 'east' },
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[ 1 ] = { xd = 0, zd = 1, yd = 0, heading = 1, direction = 'south' },
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[ 2 ] = { xd = -1, zd = 0, yd = 0, heading = 2, direction = 'west' },
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[ 3 ] = { xd = 0, zd = -1, yd = 0, heading = 3, direction = 'north' },
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[ 4 ] = { xd = 0, zd = 0, yd = 1, heading = 4, direction = 'up' },
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[ 5 ] = { xd = 0, zd = 0, yd = -1, heading = 5, direction = 'down' }
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}
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local namedHeadings = {
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east = headings[0],
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south = headings[1],
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west = headings[2],
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north = headings[3],
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up = headings[4],
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down = headings[5]
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}
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function turtle.getHeadings() return headings end
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function turtle.getHeadingInfo(heading)
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if heading and type(heading) == 'string' then
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return namedHeadings[heading]
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end
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heading = heading or turtle.point.heading
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return headings[heading]
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end
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@@ -307,13 +283,13 @@ turtle.movePolicies = {
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if action.side == 'back' then
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return false
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end
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local oldStatus = turtle.status
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local oldStatus = state.status
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print('assured move: stuck')
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turtle.status = 'stuck'
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state.status = 'stuck'
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repeat
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os.sleep(1)
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until _defaultMove(action)
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turtle.status = oldStatus
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state.status = oldStatus
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end
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return true
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end,
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@@ -381,18 +357,17 @@ function turtle.turnAround()
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return turtle.point
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end
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-- combine with setHeading
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function turtle.setNamedHeading(headingName)
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local headingInfo = namedHeadings[headingName]
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if headingInfo then
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return turtle.setHeading(headingInfo.heading)
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end
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return false, 'Invalid heading'
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end
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function turtle.setHeading(heading)
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if not heading then
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return
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return false, 'Invalid heading'
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end
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if type(heading) == 'string' then
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local hi = headings[heading]
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if not hi then
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return false, 'Invalid heading'
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end
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heading = hi.heading
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end
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heading = heading % 4
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@@ -484,7 +459,6 @@ function turtle.back()
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end
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function turtle.moveTowardsX(dx)
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local direction = dx - turtle.point.x
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local move
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@@ -508,7 +482,6 @@ function turtle.moveTowardsX(dx)
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end
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function turtle.moveTowardsZ(dz)
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local direction = dz - turtle.point.z
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local move
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@@ -534,7 +507,6 @@ end
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-- [[ go ]] --
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-- 1 turn goto (going backwards if possible)
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function turtle.gotoSingleTurn(dx, dz, dy, dh)
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dy = dy or turtle.point.y
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local function gx()
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@@ -593,7 +565,6 @@ function turtle.gotoSingleTurn(dx, dz, dy, dh)
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end
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local function gotoEx(dx, dz, dy)
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-- determine the heading to ensure the least amount of turns
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-- first check is 1 turn needed - remaining require 2 turns
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if turtle.point.heading == 0 and turtle.point.x <= dx or
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@@ -628,7 +599,6 @@ end
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-- fallback goto - will turn around if was previously moving backwards
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local function gotoMultiTurn(dx, dz, dy)
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if gotoEx(dx, dz, dy) then
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return true
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end
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@@ -659,18 +629,18 @@ local function gotoMultiTurn(dx, dz, dy)
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end
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function turtle.gotoPoint(pt)
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return turtle.goto(pt.x, pt.z, pt.y, pt.heading)
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return turtle._goto(pt.x, pt.z, pt.y, pt.heading)
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end
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-- go backwards - turning around if necessary to fight mobs / break blocks
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function turtle.goback()
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local hi = headings[turtle.point.heading]
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return turtle.goto(turtle.point.x - hi.xd, turtle.point.z - hi.zd, turtle.point.y, turtle.point.heading)
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return turtle._goto(turtle.point.x - hi.xd, turtle.point.z - hi.zd, turtle.point.y, turtle.point.heading)
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end
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function turtle.gotoYfirst(pt)
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if turtle.gotoY(pt.y) then
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if turtle.goto(pt.x, pt.z, nil, pt.heading) then
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if turtle._gotoY(pt.y) then
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if turtle._goto(pt.x, pt.z, nil, pt.heading) then
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turtle.setHeading(pt.heading)
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return true
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end
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@@ -678,7 +648,7 @@ function turtle.gotoYfirst(pt)
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end
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function turtle.gotoYlast(pt)
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if turtle.goto(pt.x, pt.z, nil, pt.heading) then
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if turtle._goto(pt.x, pt.z, nil, pt.heading) then
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if turtle.gotoY(pt.y) then
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turtle.setHeading(pt.heading)
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return true
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@@ -686,7 +656,7 @@ function turtle.gotoYlast(pt)
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end
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end
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function turtle.goto(dx, dz, dy, dh)
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function turtle._goto(dx, dz, dy, dh)
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if not turtle.gotoSingleTurn(dx, dz, dy, dh) then
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if not gotoMultiTurn(dx, dz, dy) then
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return false
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@@ -697,7 +667,7 @@ function turtle.goto(dx, dz, dy, dh)
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end
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-- avoid lint errors
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turtle._goto = turtle.goto
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turtle['goto'] = turtle._goto
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function turtle.gotoX(dx)
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turtle.headTowardsX(dx)
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@@ -738,7 +708,6 @@ end
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-- [[ Slot management ]] --
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function turtle.getSlot(indexOrId, slots)
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if type(indexOrId) == 'string' then
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slots = slots or turtle.getInventory()
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local _,c = string.gsub(indexOrId, ':', '')
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@@ -774,7 +743,6 @@ function turtle.getSlot(indexOrId, slots)
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end
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function turtle.select(indexOrId)
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if type(indexOrId) == 'number' then
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return turtle.native.select(indexOrId)
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end
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@@ -925,7 +893,6 @@ function turtle.getItemCount(idOrName)
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end
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function turtle.equip(side, item)
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if item then
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if not turtle.select(item) then
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return false, 'Unable to equip ' .. item
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@@ -938,6 +905,7 @@ function turtle.equip(side, item)
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return turtle.equipRight()
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end
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-- [[ ]] --
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function turtle.run(fn, ...)
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local args = { ... }
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local s, m
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@@ -947,25 +915,22 @@ function turtle.run(fn, ...)
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end
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synchronized(turtle, function()
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turtle.abort = false
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turtle.status = 'busy'
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turtle.resetState()
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s, m = pcall(function() fn(unpack(args)) end)
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turtle.abort = false
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turtle.status = 'idle'
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turtle.resetState()
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if not s and m then
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printError(m)
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_G.printError(m)
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end
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end)
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return s, m
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end
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function turtle.abortAction()
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--if turtle.status ~= 'idle' then
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turtle.abort = true
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function turtle.abort(abort)
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state.abort = abort
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if abort then
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os.queueEvent('turtle_abort')
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--end
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end
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end
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-- [[ Pathing ]] --
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@@ -989,9 +954,7 @@ function turtle.faceAgainst(pt, options) -- 4 sided
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options = options or { }
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options.dest = { }
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for i = 0, 3 do
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local hi = turtle.getHeadingInfo(i)
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for hi in pairs(Point.facings) do
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table.insert(options.dest, {
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x = pt.x + hi.xd,
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z = pt.z + hi.zd,
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@@ -1104,10 +1067,14 @@ local function _actionUpAt(action, pt, ...)
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end
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end
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local function _actionXXXAt(action, pt, dir, ...)
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local reversed =
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local function _actionPlaceAt(action, pt, name, dir, facing)
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if not dir then
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return _actionAt(action, pt, name)
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end
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local reversed =
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{ [0] = 2, [1] = 3, [2] = 0, [3] = 1, [4] = 5, [5] = 4, }
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dir = reversed[dir]
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dir = reversed[headings[dir].heading]
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local apt = { x = pt.x + headings[dir].xd,
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y = pt.y + headings[dir].yd,
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z = pt.z + headings[dir].zd, }
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@@ -1118,55 +1085,108 @@ local function _actionXXXAt(action, pt, dir, ...)
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apt.heading = (dir + 2) % 4
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direction = 'forward'
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elseif dir == 4 then
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apt.heading = pt.heading
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apt.heading = facing
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direction = 'down'
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elseif dir == 5 then
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apt.heading = pt.heading
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apt.heading = facing
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direction = 'up'
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end
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if turtle.pathfind(apt) then
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return action[direction](...)
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return action[direction](name)
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end
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end
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function turtle.detectAt(pt) return _actionAt(actionsAt.detect, pt) end
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function turtle.detectDownAt(pt) return _actionDownAt(actionsAt.detect, pt) end
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function turtle.detectForwardAt(pt) return _actionForwardAt(actionsAt.detect, pt) end
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function turtle.detectUpAt(pt) return _actionUpAt(actionsAt.detect, pt) end
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function turtle.detectAt(pt) return _actionAt(actionsAt.detect, pt) end
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function turtle.detectDownAt(pt) return _actionDownAt(actionsAt.detect, pt) end
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function turtle.detectForwardAt(pt) return _actionForwardAt(actionsAt.detect, pt) end
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function turtle.detectUpAt(pt) return _actionUpAt(actionsAt.detect, pt) end
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function turtle.digAt(pt) return _actionAt(actionsAt.dig, pt) end
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function turtle.digDownAt(pt) return _actionDownAt(actionsAt.dig, pt) end
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function turtle.digForwardAt(pt) return _actionForwardAt(actionsAt.dig, pt) end
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function turtle.digUpAt(pt) return _actionUpAt(actionsAt.dig, pt) end
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function turtle.digAt(pt) return _actionAt(actionsAt.dig, pt) end
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function turtle.digDownAt(pt) return _actionDownAt(actionsAt.dig, pt) end
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function turtle.digForwardAt(pt) return _actionForwardAt(actionsAt.dig, pt) end
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function turtle.digUpAt(pt) return _actionUpAt(actionsAt.dig, pt) end
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function turtle.attackAt(pt) return _actionAt(actionsAt.attack, pt) end
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function turtle.attackDownAt(pt) return _actionDownAt(actionsAt.attack, pt) end
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function turtle.attackForwardAt(pt) return _actionForwardAt(actionsAt.attack, pt) end
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function turtle.attackUpAt(pt) return _actionUpAt(actionsAt.attack, pt) end
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function turtle.attackAt(pt) return _actionAt(actionsAt.attack, pt) end
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function turtle.attackDownAt(pt) return _actionDownAt(actionsAt.attack, pt) end
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function turtle.attackForwardAt(pt) return _actionForwardAt(actionsAt.attack, pt) end
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function turtle.attackUpAt(pt) return _actionUpAt(actionsAt.attack, pt) end
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function turtle.placeAt(pt, arg) return _actionAt(actionsAt.place, pt, arg) end
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function turtle.placeDownAt(pt, arg) return _actionDownAt(actionsAt.place, pt, arg) end
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function turtle.placeForwardAt(pt, arg) return _actionForwardAt(actionsAt.place, pt, arg) end
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function turtle.placeUpAt(pt, arg) return _actionUpAt(actionsAt.place, pt, arg) end
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function turtle.placeXXXAt(pt, dir, arg) return _actionXXXAt(actionsAt.place, pt, dir, arg) end
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function turtle.placeAt(pt, arg, dir) return _actionPlaceAt(actionsAt.place, pt, arg, dir) end
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function turtle.placeDownAt(pt, arg) return _actionDownAt(actionsAt.place, pt, arg) end
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function turtle.placeForwardAt(pt, arg) return _actionForwardAt(actionsAt.place, pt, arg) end
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function turtle.placeUpAt(pt, arg) return _actionUpAt(actionsAt.place, pt, arg) end
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function turtle.dropAt(pt, ...) return _actionAt(actionsAt.drop, pt, ...) end
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function turtle.dropDownAt(pt, ...) return _actionDownAt(actionsAt.drop, pt, ...) end
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function turtle.dropForwardAt(pt, ...) return _actionForwardAt(actionsAt.drop, pt, ...) end
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function turtle.dropUpAt(pt, ...) return _actionUpAt(actionsAt.drop, pt, ...) end
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function turtle.dropAt(pt, ...) return _actionAt(actionsAt.drop, pt, ...) end
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function turtle.dropDownAt(pt, ...) return _actionDownAt(actionsAt.drop, pt, ...) end
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function turtle.dropForwardAt(pt, ...) return _actionForwardAt(actionsAt.drop, pt, ...) end
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function turtle.dropUpAt(pt, ...) return _actionUpAt(actionsAt.drop, pt, ...) end
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function turtle.suckAt(pt, qty) return _actionAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckDownAt(pt, qty) return _actionDownAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckForwardAt(pt, qty) return _actionForwardAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckUpAt(pt, qty) return _actionUpAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckAt(pt, qty) return _actionAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckDownAt(pt, qty) return _actionDownAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckForwardAt(pt, qty) return _actionForwardAt(actionsAt.suck, pt, qty or 64) end
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function turtle.suckUpAt(pt, qty) return _actionUpAt(actionsAt.suck, pt, qty or 64) end
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function turtle.compareAt(pt) return _actionAt(actionsAt.compare, pt) end
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function turtle.compareDownAt(pt) return _actionDownAt(actionsAt.compare, pt) end
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function turtle.compareForwardAt(pt) return _actionForwardAt(actionsAt.compare, pt) end
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function turtle.compareUpAt(pt) return _actionUpAt(actionsAt.compare, pt) end
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function turtle.compareAt(pt) return _actionAt(actionsAt.compare, pt) end
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function turtle.compareDownAt(pt) return _actionDownAt(actionsAt.compare, pt) end
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function turtle.compareForwardAt(pt) return _actionForwardAt(actionsAt.compare, pt) end
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function turtle.compareUpAt(pt) return _actionUpAt(actionsAt.compare, pt) end
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function turtle.inspectAt(pt) return _actionAt(actionsAt.inspect, pt) end
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function turtle.inspectDownAt(pt) return _actionDownAt(actionsAt.inspect, pt) end
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function turtle.inspectForwardAt(pt) return _actionForwardAt(actionsAt.inspect, pt) end
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function turtle.inspectUpAt(pt) return _actionUpAt(actionsAt.inspect, pt) end
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function turtle.inspectAt(pt) return _actionAt(actionsAt.inspect, pt) end
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function turtle.inspectDownAt(pt) return _actionDownAt(actionsAt.inspect, pt) end
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function turtle.inspectForwardAt(pt) return _actionForwardAt(actionsAt.inspect, pt) end
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function turtle.inspectUpAt(pt) return _actionUpAt(actionsAt.inspect, pt) end
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-- [[ GPS ]] --
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local GPS = require('gps')
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local Config = require('config')
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function turtle.enableGPS(timeout)
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--if turtle.point.gps then
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-- return turtle.point
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--end
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local pt = GPS.getPointAndHeading(timeout)
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if pt then
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turtle.setPoint(pt, true)
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return turtle.point
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end
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end
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function turtle.gotoGPSHome()
|
||||
local config = { }
|
||||
Config.load('gps', config)
|
||||
|
||||
if config.home then
|
||||
if turtle.enableGPS() then
|
||||
turtle.pathfind(config.home)
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
function turtle.setGPSHome()
|
||||
local config = { }
|
||||
Config.load('gps', config)
|
||||
|
||||
if turtle.point.gps then
|
||||
config.home = turtle.point
|
||||
Config.update('gps', config)
|
||||
else
|
||||
local pt = GPS.getPoint()
|
||||
if pt then
|
||||
local originalHeading = turtle.point.heading
|
||||
local heading = GPS.getHeading()
|
||||
if heading then
|
||||
local turns = (turtle.point.heading - originalHeading) % 4
|
||||
pt.heading = (heading - turns) % 4
|
||||
config.home = pt
|
||||
Config.update('gps', config)
|
||||
|
||||
pt = GPS.getPoint()
|
||||
pt.heading = heading
|
||||
turtle.setPoint(pt, true)
|
||||
turtle.gotoPoint(config.home)
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
Reference in New Issue
Block a user