bit of everything
This commit is contained in:
kepler155c@gmail.com
@@ -7,30 +7,40 @@ local function noop() end
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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()
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return turtle.point
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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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local function _defaultMove(action)
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while not action.move() do
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if not state.digPolicy(action) and not state.attackPolicy(action) then
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return false
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end
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end
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return true
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end
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local state = {
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moveAttack = noop,
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moveDig = noop,
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moveCallback = noop,
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locations = {},
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coordSystem = 'relative', -- type of coordinate system being used
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}
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function turtle.getState()
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return state
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end
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function turtle.setPoint(pt)
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function turtle.setPoint(pt, isGPS)
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turtle.point.x = pt.x
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turtle.point.y = pt.y
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turtle.point.z = pt.z
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if pt.heading then
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turtle.point.heading = pt.heading
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end
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turtle.point.gps = isGPS
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return true
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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.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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state.locations = { }
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return true
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end
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@@ -39,27 +49,16 @@ function turtle.reset()
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turtle.point.y = 0
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turtle.point.z = 0
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turtle.point.heading = 0
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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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state.moveAttack = noop
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state.moveDig = noop
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state.moveCallback = noop
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state.locations = {}
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state.coordSystem = 'relative'
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turtle.resetState()
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return true
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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.moveAttack = noop
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state.moveDig = noop
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state.moveCallback = noop
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state.locations = {}
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return true
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end
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turtle.reset()
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local actions = {
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up = {
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@@ -116,12 +115,12 @@ 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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[ 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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[ 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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[ 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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@@ -133,9 +132,7 @@ local namedHeadings = {
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down = headings[5]
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}
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function turtle.getHeadings()
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return headings
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end
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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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@@ -181,8 +178,8 @@ local function _place(action, indexOrId)
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if result[1] then
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return true
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end
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if not state.moveDig(action) then
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state.moveAttack(action)
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if not state.digPolicy(action) then
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state.attackPolicy(action)
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end
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return unpack(result)
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end)
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@@ -267,48 +264,66 @@ turtle.digPolicies = {
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end
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}
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turtle.policies = {
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none = { dig = turtle.digPolicies.none, attack = turtle.attackPolicies.none },
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digOnly = { dig = turtle.digPolicies.dig, attack = turtle.attackPolicies.none },
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attackOnly = { dig = turtle.digPolicies.none, attack = turtle.attackPolicies.attack },
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digAttack = { dig = turtle.digPolicies.dig, attack = turtle.attackPolicies.attack },
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turtleSafe = { dig = turtle.digPolicies.turtleSafe, attack = turtle.attackPolicies.attack },
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turtle.movePolicies = {
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none = noop,
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default = _defaultMove,
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assured = function(action)
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if not _defaultMove(action) then
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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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print('stuck')
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turtle.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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end
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return true
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end,
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}
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function turtle.setPolicy(policy)
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if type(policy) == 'string' then
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policy = turtle.policies[policy]
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turtle.policies = {
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none = { dig = turtle.digPolicies.none, attack = turtle.attackPolicies.none },
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digOnly = { dig = turtle.digPolicies.dig, attack = turtle.attackPolicies.none },
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attackOnly = { dig = turtle.digPolicies.none, attack = turtle.attackPolicies.attack },
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digAttack = { dig = turtle.digPolicies.dig, attack = turtle.attackPolicies.attack },
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turtleSafe = { dig = turtle.digPolicies.turtleSafe, attack = turtle.attackPolicies.attack },
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attack = { attack = turtle.attackPolicies.attack },
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defaultMove = { move = turtle.movePolicies.default },
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assuredMove = { move = turtle.movePolicies.assured },
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}
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function turtle.setPolicy(...)
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local args = { ... }
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for _, policy in pairs(args) do
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if type(policy) == 'string' then
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policy = turtle.policies[policy]
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end
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if not policy then
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error('Invalid policy')
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-- return false, 'Invalid policy'
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end
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if policy.dig then
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state.digPolicy = policy.dig
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end
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if policy.attack then
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state.attackPolicy = policy.attack
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end
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if policy.move then
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state.movePolicy = policy.move
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end
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end
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if not policy then
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return false, 'Invalid policy'
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end
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state.moveDig = policy.dig
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state.moveAttack = policy.attack
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return true
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end
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function turtle.setDigPolicy(policy)
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state.moveDig = policy
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end
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function turtle.setAttackPolicy(policy)
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state.moveAttack = policy
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end
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function turtle.setMoveCallback(cb)
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state.moveCallback = cb
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end
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function turtle.clearMoveCallback()
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state.moveCallback = noop
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end
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local function infoMoveCallback()
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local pt = turtle.point
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print(string.format('x:%d y:%d z:%d heading:%d', pt.x, pt.y, pt.z, pt.heading))
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end
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-- TESTING
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--turtle.setMoveCallback(infoMoveCallback)
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function turtle.setDigPolicy(policy) state.digPolicy = policy end
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function turtle.setAttackPolicy(policy) state.attackPolicy = policy end
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function turtle.setMoveCallback(cb) state.moveCallback = cb end
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function turtle.clearMoveCallback() state.moveCallback = noop end
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-- [[ Locations ]] --
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function turtle.getLocation(name)
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@@ -364,6 +379,7 @@ 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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@@ -432,17 +448,8 @@ function turtle.headTowards(pt)
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end
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-- [[ move ]] --
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local function _move(action)
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while not action.move() do
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if not state.moveDig(action) and not state.moveAttack(action) then
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return false
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end
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end
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return true
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end
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function turtle.up()
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if _move(actions.up) then
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if state.movePolicy(actions.up) then
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turtle.point.y = turtle.point.y + 1
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state.moveCallback('up', turtle.point)
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return true, turtle.point
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@@ -450,7 +457,7 @@ function turtle.up()
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end
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function turtle.down()
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if _move(actions.down) then
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if state.movePolicy(actions.down) then
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turtle.point.y = turtle.point.y - 1
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state.moveCallback('down', turtle.point)
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return true, turtle.point
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@@ -458,7 +465,7 @@ function turtle.down()
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end
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function turtle.forward()
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if _move(actions.forward) then
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if state.movePolicy(actions.forward) then
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turtle.point.x = turtle.point.x + headings[turtle.point.heading].xd
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turtle.point.z = turtle.point.z + headings[turtle.point.heading].zd
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state.moveCallback('forward', turtle.point)
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@@ -467,7 +474,7 @@ function turtle.forward()
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end
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function turtle.back()
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if _move(actions.back) then
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if state.movePolicy(actions.back) then
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turtle.point.x = turtle.point.x - headings[turtle.point.heading].xd
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turtle.point.z = turtle.point.z - headings[turtle.point.heading].zd
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state.moveCallback('back', turtle.point)
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