begin moving turtle specific code from opus into turtle package

builder/apis/turtle.lua

@@ -446,7 +446,7 @@ function TurtleBuilder:inAirDropoff()
       self:log('Received supply location')
       os.sleep(0)
 
-      turtle._goto(pt)
+      turtle.go(pt)
       os.sleep(.1)  -- random computer is not connected error
 
       local chestAdapter = Adapter.wrap({ direction = 'down', side = 'top' })
@@ -508,7 +508,7 @@ function TurtleBuilder:inAirResupply()
       self:log('Received supply location')
       os.sleep(0)
 
-      turtle._goto(pt)
+      turtle.go(pt)
       os.sleep(.1)  -- random computer is not connected error
 
       local chestAdapter = Adapter.wrap({ direction = 'down', side = 'top' })
@@ -608,7 +608,7 @@ function TurtleBuilder:gotoSupplyPoint()
     -- go to the corner closest to the supplies point
     -- pathfind the rest of the way
     local pt = self:getBuildingCorner(turtle.point.y)
-    turtle._goto({ x = pt.x, z = pt.z })
+    turtle.go({ x = pt.x, z = pt.z })
     turtle.set({
       digPolicy = 'digNone',
       attackPolicy = 'attackNone',
@@ -818,8 +818,8 @@ function TurtleBuilder:placePiston(b)
   return success
 end
 
-function TurtleBuilder:_goto(x, z, y, heading)
+function TurtleBuilder:go(x, z, y, heading)
-  if not turtle._goto({ x = x, z = z, y = y, heading = heading }) then
+  if not turtle.go({ x = x, z = z, y = y, heading = heading }) then
     print('stuck')
     print('Press enter to continue')
     os.sleep(1)
@@ -844,7 +844,7 @@ function TurtleBuilder:gotoEx(x, z, y, h, travelPlane)
   elseif distance > 1 then
     self:gotoTravelPlane(travelPlane)
   end
-  self:_goto(x, z, y, h)
+  self:go(x, z, y, h)
 end
 
 function TurtleBuilder:placeDirectionalBlock(b, slot, travelPlane)
@@ -1128,7 +1128,7 @@ function TurtleBuilder:build()
         if b.y ~= turtle.getPoint().y then
           turtle.gotoY(b.y)
         end
-        self:_goto(b.x, b.z, b.y)
+        self:go(b.x, b.z, b.y)
         turtle.digDown()
 
         -- if no supplier, then should fill all slots
@@ -1171,7 +1171,7 @@ function TurtleBuilder:build()
           end
         else
           self:gotoTravelPlane(travelPlane)
-          self:_goto(b.x, b.z, b.y)
+          self:go(b.x, b.z, b.y)
           b.placed = self:placeDown(slot)
         end
 

core/apis/turtle/level.lua

@@ -163,7 +163,7 @@ function turtle.level(startPt, endPt, firstPt, verbose)
 
     local node = closestPoint(turtle.point, nodes)
     node = getAdjacentPoint(node)
-    if not turtle._goto(node) then
+    if not turtle.go(node) then
       break
     end
   until turtle.isAborted()

core/etc/scripts/summon

@@ -32,7 +32,7 @@ local function summon(id)
   local function doGPS()
     tFixes = { }
     for i = 1, 4 do
-      if not turtle._goto(pts[i]) then
+      if not turtle.go(pts[i]) then
         error('turtle: Unable to perform GPS maneuver')
       end
       local distance = getDistance()

farms/farmer.lua

@@ -139,7 +139,7 @@ local function harvest(blocks)
       turtle.digForwardAt(b)
 
     elseif b.action == 'drop' and not dropped then
-      if turtle._goto(Point.above(b)) then
+      if turtle.go(Point.above(b)) then
         turtle.eachFilledSlot(function(slot)
           if not retain[slot.name] and not retain[slot.key] then
             turtle.select(slot.index)
@@ -212,7 +212,7 @@ local function harvest(blocks)
       local hi = Point.headings[(h + 2) % 4] -- opposite heading
 
       -- without pathfinding, will be unable to circle log
-      if turtle._goto({ x = b.x + hi.xd, z = b.z + hi.zd, heading = h }) then
+      if turtle.go({ x = b.x + hi.xd, z = b.z + hi.zd, heading = h }) then
         if turtle.dig() then
           turtle.place(crops[b.name].seed)
         end

farms/superTreefarm.lua

@@ -308,7 +308,7 @@ local function getCobblestone(count)
 
     until turtle.getItemCount(COBBLESTONE) >= count
 
-    turtle._goto(pt)
+    turtle.go(pt)
     turtle.placeDown(DIRT)
 
     turtle.drop(DIRT)

farms/treefarm.lua

@@ -295,7 +295,7 @@ local function getCobblestone(count)
 
     until turtle.getItemCount(COBBLESTONE) >= count
 
-    turtle._goto(pt)
+    turtle.go(pt)
     turtle.placeDown(DIRT)
 
     turtle.drop(DIRT)

gps/gpsServer.lua

@@ -185,7 +185,7 @@ if args[1] == 'build' then
 
 	turtle.setPoint({ x = 0, y = -y, z = 0, heading = 0 })
 	build()
-	turtle._goto({ x = 0, y = 1, z = 0, heading = 0 })
+	turtle.go({ x = 0, y = 1, z = 0, heading = 0 })
 
 	configure()
 

miners/findSwarm.lua

@@ -2,8 +2,8 @@
 local Event   = require('event')
 local GPS     = require('gps')
 local Point   = require('point')
-local Socket  = require('socket')
 local Sound   = require('sound')
+local Swarm   = require('swarm')
 local Util    = require('util')
 
 local device  = _G.device
@@ -19,7 +19,7 @@ end
 
 local paused, abort
 local chunkIndex = 0
-local pool = { }
+local swarm = Swarm()
 local blocks = Util.transpose({
   'minecraft:chest',
 --  'minecraft:mob_spawner',
@@ -41,8 +41,6 @@ local function getLocations()
   end
 end
 
-getLocations()
-
 for _, b in pairs(scanner.scan()) do
   if b.name == 'computercraft:turtle_advanced' or
      b.name == 'computercraft:turtle' then
@@ -54,46 +52,20 @@ for _, b in pairs(scanner.scan()) do
       elseif v.turtle.fuel < 100 then
         print('not enough fuel: ' .. v.computer.id)
       else
-        pool[v.computer.id] = {
+        swarm:add(v.computer.id, {
-          id = v.computer.id,
           point = {
             x = gpt.x + b.x,
             y = gpt.y + b.y,
             z = gpt.z + b.z,
             heading = Point.facings[v.state.facing].heading,
           },
-          index = Util.size(pool),
+          index = Util.size(swarm.pool),
-        }
+        })
       end
     end
   end
 end
 
-local function hijackTurtle(remoteId)
-	local socket, msg = Socket.connect(remoteId, 188)
-
-  if not socket then
-		error(msg)
-	end
-
-	socket:write('turtle')
-	local methods = socket:read()
-
-	local hijack = { }
-	for _,method in pairs(methods) do
-		hijack[method] = function(...)
-			socket:write({ fn = method, args = { ... } })
-			local resp = socket:read()
-			if not resp then
-				error('timed out: ' .. method)
-			end
-			return table.unpack(resp)
-		end
-	end
-
-	return hijack, socket
-end
-
 local function getNextPoint(member)
   local z = math.floor(chunkIndex / COLUMNS)
   local x = chunkIndex % COLUMNS
@@ -107,85 +79,75 @@ local function getNextPoint(member)
   return {
     x = gpt.x + (x * 16),
     y = gpt.y + member.index,
-    z = gpt.z + (z * 16) }
+    z = gpt.z + (z * 16)
+  }
 end
 
 local function run(member)
-  Event.addRoutine(function()
+  local turtle = member.turtle
-    local turtle, socket
-    local _, m = pcall(function()
-      member.active = true
-      turtle, socket = hijackTurtle(member.id)
 
-      if turtle then
+  if not turtle.has('plethora:module:2') then
-        if not turtle.has('plethora:module:2') then
+    error('missing scanner')
-          error('missing scanner')
+  end
+  turtle.reset()
+  turtle.set({
+    attackPolicy = 'attack',
+    digPolicy = 'turtleSafe',
+    movementStrategy = 'goto',
+    point = member.point,
+  })
+  turtle.select(1)
+
+  repeat
+    local pt = getNextPoint(member)
+    if pt then
+      turtle.go({ y = pt.y })
+      while not turtle.go(pt) do
+        if abort then
+          break
         end
-        turtle.reset()
+        os.sleep(.5)
-        turtle.set({
-          attackPolicy = 'attack',
-          digPolicy = 'turtleSafe',
-          movementStrategy = 'goto',
-          point = member.point,
-        })
-        turtle.select(1)
-
-        repeat
-          local pt = getNextPoint(member)
-          if pt then
-            turtle.gotoY(pt.y)
-            while not turtle._goto(pt) do
-              if abort then
-                break
-              end
-              os.sleep(.5)
-            end
-
-            for _, v in ipairs(locations) do
-              if abort then
-                break
-              end
-              turtle.gotoY(v)
-              turtle.equip('right', 'plethora:module:2')
-              local found = turtle.scan(blocks)
-              turtle.equip('right', 'minecraft:diamond_pickaxe')
-              if Util.size(found) > 0 then
-                paused = true
-                local _, b = next(found)
-                print(string.format('%s:%s:%s %s', b.x, b.y, b.z, b.name))
-                print('press r to continue')
-                for _ = 1, 3 do
-                  Sound.play('block.note.pling')
-                  os.sleep(.3)
-                 end
-              end
-            end
-            turtle.gotoY(pt.y)
-          end
-        until abort
-
-        turtle.gotoY(gpt.y + member.index)
-        turtle._goto({ x = gpt.x, y = gpt.y + member.index, z = gpt.z })
       end
 
-      repeat until turtle.gotoY(gpt.y)
+      for _, v in ipairs(locations) do
-    end)
+        if abort then
-
+          break
-    if m then
+        end
-      Sound.play('entity.villager.no')
+        turtle.go({ y = v })
-      _G.printError(m)
+        turtle.equip('right', 'plethora:module:2')
+        local found = turtle.scan(blocks)
+        turtle.equip('right', 'minecraft:diamond_pickaxe')
+        if Util.size(found) > 0 then
+          paused = true
+          local _, b = next(found)
+          print(string.format('%s:%s:%s %s', b.x, b.y, b.z, b.name))
+          print('press r to continue')
+          for _ = 1, 3 do
+            Sound.play('block.note.pling')
+            os.sleep(.3)
+            end
+        end
+      end
+      turtle.go({ y = pt.y })
     end
+  until abort
 
-    pool[member.id] = nil
+  turtle.go({ y = gpt.y + member.index })
-    print('Turtles: ' .. Util.size(pool))
+  turtle.go({ x = gpt.x, y = gpt.y + member.index, z = gpt.z })
-    if Util.size(pool) == 0 then
-      Event.exitPullEvents()
-    end
 
-    if socket then
+  repeat until turtle.go({ y = gpt.y })
-      socket:close()
+end
-    end
+
-  end)
+function swarm:onRemove(member, success, message)
+  if not success then
+    Sound.play('entity.villager.no')
+    _G.printError(message)
+  end
+
+  print('Turtles: ' .. Util.size(self.pool))
+  if Util.size(self.pool) == 0 then
+    Event.exitPullEvents()
+  end
 end
 
 print('press a to abort, r to resume')
@@ -200,9 +162,9 @@ Event.on('char', function(_, k)
   end
 end)
 
-Util.print('Found %s turtles', Util.size(pool))
+getLocations()
-Util.each(pool, function(member)
+
-  run(member)
+Util.print('Found %s turtles', Util.size(swarm.pool))
-end)
+swarm:run(run)
 
 Event.pullEvents()

miners/multiMiner.lua

@@ -104,7 +104,7 @@ local function run(member, point)
         local topPoint = Point.copy(chestPoint)
         topPoint.y = topPoint.y + 2
         turtle.gotoY(topPoint.y)
-        while not turtle._goto(topPoint) do
+        while not turtle.go(topPoint) do
           os.sleep(.5)
         end
 
@@ -196,14 +196,14 @@ local function run(member, point)
 
       if chestPoint then
         dropOff()
-        while not turtle._goto(Point.above(spt)) do
+        while not turtle.go(Point.above(spt)) do
           os.sleep(.5)
         end
         turtle.set({ digPolicy = 'dig' })
-        turtle._goto(spt)
+        turtle.go(spt)
       else
         turtle.gotoY(spt.y)
-        turtle._goto(spt)
+        turtle.go(spt)
       end
     end)
 

miners/scanningMiner.lua

@@ -233,7 +233,7 @@ end
 local function safeGoto(x, z, y, h)
   local oldStatus = turtle.getStatus()
 
-  while not turtle._goto({ x = x, z = z, y = y or turtle.point.y, heading = h }) do
+  while not turtle.go({ x = x, z = z, y = y or turtle.point.y, heading = h }) do
     status('stuck')
     if turtle.isAborted() then
       return false
@@ -647,7 +647,7 @@ Event.addRoutine(function()
 
   status(success and 'finished' or turtle.isAborted() and 'aborting' or 'error')
   turtle.gotoY(0)
-  if turtle._goto(HOME_PT) then
+  if turtle.go(HOME_PT) then
     unload()
   end
   turtle.reset()

miners/simpleMiner.lua

@@ -1,4 +1,4 @@
-local Pathing = require('turtle.pathfind')
+local Pathing = require('pathfind')
 local Point   = require('point')
 local Util    = require('util')
 

turtle/.package

@@ -0,0 +1,6 @@
+{
+	title = 'Turtle programs and apis',
+	repository = 'kepler155c/opus-apps/{{OPUS_BRANCH}}/turtle',
+	description = [[Support programs and apis for turtles]],
+	licence = 'MIT',
+}

turtle/apis/home.lua

@@ -0,0 +1,42 @@
+local Config = require('config')
+local GPS    = require('gps')
+
+local turtle = _G.turtle
+
+local Home = { }
+
+function Home.go()
+  local config = { }
+  Config.load('gps', config)
+
+  if config.home then
+    if turtle.enableGPS() then
+      return turtle.pathfind(config.home)
+    end
+  end
+end
+
+function Home.set()
+  local config = { }
+  Config.load('gps', config)
+
+  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.go(config.home)
+      return config.home
+    end
+  end
+end
+
+return Home

turtle/apis/swarm.lua

@@ -0,0 +1,72 @@
+local Event   = require('event')
+local Socket  = require('socket')
+local Util    = require('util')
+
+local function hijackTurtle(remoteId)
+	local socket, msg = Socket.connect(remoteId, 188)
+
+  if not socket then
+		error(msg)
+	end
+
+	socket:write('turtle')
+	local methods = socket:read()
+
+	local hijack = { }
+	for _,method in pairs(methods) do
+		hijack[method] = function(...)
+			socket:write({ fn = method, args = { ... } })
+			local resp = socket:read()
+			if not resp then
+				error('timed out: ' .. method)
+			end
+			return table.unpack(resp)
+		end
+	end
+
+	return hijack, socket
+end
+local class = require('class')
+local Swarm = class()
+function Swarm:init(args)
+  self.pool = { }
+  Util.merge(self, args)
+end
+function Swarm:add(id, args)
+  local member = Util.shallowCopy(args)
+  member.id = id
+  self.pool[id] = member
+end
+function Swarm:run(fn)
+  for id, member in pairs(self.pool) do
+    Event.addRoutine(function()
+      local s, m = pcall(function()
+        member.turtle, member.socket = hijackTurtle(id)
+
+        fn(member)
+      end)
+      if member.socket then
+        member.socket:close()
+        member.socket = nil
+      end
+      self.pool[id] = nil
+      self:onRemove(member, s, m)
+    end)
+  end
+end
+function Swarm:shutdown()
+  for _, member in pairs(self.pool) do
+    if member.socket then
+      member.socket:close()
+      member.socket = nil
+    end
+  end
+end
+function Swarm:onRemove(member, success, msg)
+  print('removed from pool: ' .. member.id)
+  if not success then
+    _G.printError(msg)
+  end
+end
+
+return Swarm

turtle/autorun/gps.lua

@@ -0,0 +1,43 @@
+local modem  = _G.device.wireless_modem
+local turtle = _G.turtle
+
+if turtle and modem then
+	local s, m = turtle.run(function()
+
+		_G.requireInjector(_ENV)
+
+		local Config = require('config')
+		local config = {
+			destructive = false,
+		}
+		Config.load('gps', config)
+
+		if config.home then
+
+			local s = turtle.enableGPS(2)
+			if not s then
+				s = turtle.enableGPS(2)
+			end
+			if not s and config.destructive then
+				turtle.set({ attackPolicy = 'attack', digPolicy = 'turtleSafe' })
+				s = turtle.enableGPS(2)
+			end
+
+			if not s then
+				error('Unable to get GPS position')
+			end
+
+			if config.destructive then
+				turtle.set({ attackPolicy = 'attack', digPolicy = 'turtleSafe' })
+			end
+
+			if not turtle.pathfind(config.home) then
+				error('Failed to return home')
+			end
+		end
+	end)
+
+	if not s and m then
+		error(m)
+	end
+end

turtle/autorun/startup.lua

@@ -1,9 +1,12 @@
 local Util = require('util')
 
 local device = _G.device
+local fs     = _G.fs
 local turtle = _G.turtle
 
 if turtle then
+  fs.mount('sys/apps/system/turtle.lua', 'linkfs', 'packages/turtle/system/turtle.lua')
+
   function turtle.scan(blocks)
     local pt = turtle.point
     local scanner = device['plethora:scanner'] or error('Scanner not equipped')

turtle/etc/apps.db

@@ -0,0 +1,8 @@
+{
+	[ "47b3d6dc1170faf4ae496fff3db374817bf32e2f" ] = {
+		title = "Refuel",
+		category = "Apps",
+		run = "lavaRefuel.lua",
+		requires = 'turtle',
+	},
+}

turtle/lavaRefuel.lua

@@ -56,7 +56,7 @@ local s, m = turtle.run(function()
 end)
 
 turtle.gotoY(0)
-turtle._goto({ x = 0, y = 0, z = 0 })
+turtle.go({ x = 0, y = 0, z = 0 })
 
 turtle.unequip('right')
 print('Fuel: ' .. turtle.getFuelLevel())

turtle/obsidian.lua

@@ -1,5 +1,3 @@
-_G.requireInjector(_ENV)
-
 local Point = require('point')
 local Util  = require('util')
 
@@ -67,7 +65,7 @@ local function findObsidian()
     end
 
     node = Point.closest(turtle.point, nodes)
-    if not turtle._goto(node) then
+    if not turtle.go(node) then
       break
     end
   until turtle.isAborted()
@@ -91,7 +89,7 @@ turtle.run(function()
       if not turtle.select('minecraft:water_bucket') then
         break
       end
-      turtle._goto({ x = 0, z = 0 })
+      turtle.go({ x = 0, z = 0 })
       turtle.placeDown()
       os.sleep(2)
       turtle.placeDown()
@@ -104,5 +102,5 @@ turtle.run(function()
     error(m)
   end
 
-  turtle._goto({ x = 0, y = 0, z = 0, heading = 0 })
+  turtle.go({ x = 0, y = 0, z = 0, heading = 0 })
 end)

turtle/system/turtle.lua

@@ -0,0 +1,63 @@
+local Config = require('config')
+local UI     = require('ui')
+
+local fs     = _G.fs
+local turtle = _G.turtle
+
+if turtle then
+	local Home = require('turtle.home')
+
+	local values = { }
+	Config.load('gps', values.home and { values.home } or { })
+
+	local gpsTab = UI.Tab {
+		tabTitle = 'GPS',
+		labelText = UI.Text {
+			x = 3, y = 2,
+			value = 'On restart, return to this location'
+		},
+		grid = UI.Grid {
+			x = 3, ex = -3, y = 4,
+			height = 2,
+			values = values,
+			inactive = true,
+			columns = {
+				{ heading = 'x', key = 'x' },
+				{ heading = 'y', key = 'y' },
+				{ heading = 'z', key = 'z' },
+			},
+		},
+		button1 = UI.Button {
+			x = 3, y = 7,
+			text = 'Set home',
+			event = 'gps_set',
+		},
+		button2 = UI.Button {
+			ex = -3, y = 7, width = 7,
+			text = 'Clear',
+			event = 'gps_clear',
+		},
+	}
+	function gpsTab:eventHandler(event)
+		if event.type == 'gps_set' then
+			self:emit({ type = 'info_message', message = 'Determining location' })
+			self:sync()
+			if Home.set() then
+				Config.load('gps', values)
+				self.grid:setValues(values.home and { values.home } or { })
+				self.grid:draw()
+				self:emit({ type = 'success_message', message = 'Location set' })
+			else
+				self:emit({ type = 'error_message', message = 'Unable to determine location' })
+			end
+			return true
+		elseif event.type == 'gps_clear' then
+			fs.delete('usr/config/gps')
+			self.grid:setValues({ })
+			self.grid:draw()
+			return true
+		end
+	end
+
+	return gpsTab
+end