Initial commit

apps/scripts/abort

@@ -0,0 +1 @@
+turtle.abortAction()

apps/scripts/follow

@@ -0,0 +1,120 @@
+local function follow(id)
+
+  local GPS = require('gps')
+  local Socket = require('socket')
+  local Point = require('point')
+  local process = require('process')
+
+  turtle.status = 'follow ' .. id
+
+  local pt = GPS.getPointAndHeading()
+  if not pt or not pt.heading then
+    error('turtle: No GPS found')
+  end
+
+  turtle.setPoint(pt)
+
+  local socket = Socket.connect(id, 161)
+  if not socket then
+    error('turtle: Unable to connect to ' .. id)
+    return
+  end
+
+  local lastPoint
+  local following = false
+
+  local followThread = process:newThread('follower', function()
+    while true do
+
+      local function getRemotePoint()
+        if not turtle.abort then
+          if socket:write({ type = 'gps' }) then
+            return socket:read(3)
+          end
+        end
+      end
+
+      -- sometimes gps will fail if moving
+      local pt, d
+
+      for i = 1, 3 do
+        pt, d = getRemotePoint()
+        if pt then
+          break
+        end
+        os.sleep(.5)
+      end
+
+      if not pt or turtle.abort then
+        error('Did not receive GPS location')
+      end
+
+      if not lastPoint or (lastPoint.x ~= pt.x or lastPoint.y ~= pt.y or lastPoint.z ~= pt.z) then
+
+        if following then
+          turtle.abort = true
+          while following do
+            os.sleep(.1)
+          end
+          turtle.abort = false
+        end
+
+        -- check if gps is inaccurate (player moving too fast)
+        if d < Point.pythagoreanDistance(turtle.point, pt) + 10 then
+          lastPoint = Point.copy(pt)
+          following = true
+          process:newThread('turtle_follow', function()
+
+            local pts = {
+              { x = pt.x + 2, z = pt.z,     y = pt.y },
+              { x = pt.x - 2, z = pt.z,     y = pt.y },
+              { x = pt.x,     z = pt.z + 2, y = pt.y },
+              { x = pt.x,     z = pt.z - 2, y = pt.y },
+            }
+
+            local cpt = Point.closest(turtle.point, pts)
+
+            local blocks = { }
+
+            local function addBlocks(tpt)
+              table.insert(blocks, tpt)
+              local apts = Point.adjacentPoints(tpt)
+              for _,apt in pairs(apts) do
+                table.insert(blocks, apt)
+              end
+            end
+
+            -- don't run into player
+            addBlocks(pt)
+            addBlocks({ x = pt.x, z = pt.z, y = pt.y + 1 })
+
+            if turtle.pathfind(cpt, blocks) then
+              turtle.headTowards(pt)
+            end
+            following = false
+          end)
+        end
+      end
+
+      os.sleep(.5)
+    end
+  end)
+
+  while true do
+    local e = process:pullEvent()
+    if e == 'terminate' or followThread:isDead() or e =='turtle_abort' then
+      process:threadEvent('terminate')
+      break
+    end
+  end
+
+  socket:close()
+
+  return true
+end
+
+local s, m = turtle.run(function() follow({COMPUTER_ID}) end)
+if not s and m then
+  error(m)
+end
+

apps/scripts/goHome

@@ -0,0 +1 @@
+turtle.run(turtle.gotoGPSHome)

apps/scripts/moveTo

@@ -0,0 +1,29 @@
+turtle.run(function()
+  local GPS = require('gps')
+  local Socket = require('socket')
+
+  local id = {COMPUTER_ID}
+
+  local pt = GPS.getPointAndHeading()
+  if not pt or not pt.heading then
+    error('turtle: No GPS found')
+  end
+
+  turtle.setPoint(pt)
+
+  local socket = Socket.connect(id, 161)
+  if not socket then
+    error('turtle: Unable to connect to ' .. id)
+  end
+
+  socket:write({ type = 'gps' })
+
+  local pt = socket:read(3)
+  if not pt then
+    error('turtle: No GPS response')
+  end
+
+  if not turtle.pathfind(pt, nil, 64) then
+    error('Unable to go to location')
+  end
+end)

apps/scripts/reboot

@@ -0,0 +1 @@
+os.reboot()

apps/scripts/setHome

@@ -0,0 +1 @@
+turtle.run(turtle.setGPSHome)

apps/scripts/shutdown

@@ -0,0 +1 @@
+os.shutdown()

apps/scripts/summon

@@ -0,0 +1,72 @@
+local function summon(id)
+
+  local GPS = require('gps')
+  local Socket = require('socket')
+  local Point = require('point')
+
+  turtle.status = 'GPSing'
+  turtle.setPoint({ x = 0, y = 0, z = 0, heading = 0 })
+
+  local pts = {
+    [ 1 ] = { x = 0, z = 0, y = 0 },
+    [ 2 ] = { x = 4, z = 0, y = 0 },
+    [ 3 ] = { x = 2, z = -2, y = 2 },
+    [ 4 ] = { x = 2, z = 2, y = 2 },
+  }
+  local tFixes = { }
+
+  local socket = Socket.connect(id, 161)
+
+  if not socket then
+    error('turtle: Unable to connect to ' .. id)
+  end
+
+  local function getDistance()
+    socket:write({ type = 'ping' })
+    local _, d = socket:read(5)
+    return d
+  end
+
+  local function doGPS()
+    tFixes = { }
+    for i = 1, 4 do
+      if not turtle.gotoPoint(pts[i]) then
+        error('turtle: Unable to perform GPS maneuver')
+      end
+      local distance = getDistance()
+      if not distance then
+        error('turtle: No response from ' .. id)
+      end
+      table.insert(tFixes, {
+        position = vector.new(turtle.point.x, turtle.point.y, turtle.point.z),
+        distance = distance
+      })
+    end
+    return true
+  end
+
+  if not doGPS() then
+    turtle.turnAround()
+    turtle.setPoint({ x = 0, y = 0, z = 0, heading = 0})
+    if not doGPS() then
+      socket:close()
+      return false
+    end
+  end
+
+  socket:close()
+
+  local pos = GPS.trilaterate(tFixes)
+
+  if pos then
+    local pt = { x = pos.x, y = pos.y, z = pos.z }
+    local _, h = Point.calculateMoves(turtle.getPoint(), pt)
+    local hi = turtle.getHeadingInfo(h)
+    turtle.status = 'recalling'
+    turtle.pathfind({ x = pt.x - hi.xd, z = pt.z - hi.zd, y = pt.y - hi.yd, heading = h })
+  else
+    error("turtle: Could not determine position")
+  end
+end
+
+turtle.run(function() summon({COMPUTER_ID}) end)

apps/scripts/update

@@ -0,0 +1 @@
+shell.run('/apps/update.lua')