cleanup + example start

ignore/scripts/abort

@@ -0,0 +1 @@
+turtle.abort(true)

ignore/scripts/goHome

@@ -0,0 +1,7 @@
+_G.requireInjector(_ENV)
+local config = require('config').load('gps')
+if config.home then
+  if turtle.enableGPS() then
+    return turtle.pathfind(config.home)
+  end
+end

ignore/scripts/moveTo

@@ -0,0 +1,29 @@
+turtle.run(function()
+
+  _G.requireInjector(_ENV)
+
+  local GPS    = require('gps')
+  local Socket = require('socket')
+
+  local id = {COMPUTER_ID}
+
+  if not turtle.enableGPS() then
+    error('turtle: No GPS found')
+  end
+
+  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) then
+    error('Unable to go to location')
+  end
+end)

ignore/scripts/reboot

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

ignore/scripts/setHome

@@ -0,0 +1,8 @@
+_G.requireInjector(_ENV)
+local Config = require('config')
+local pt = turtle.enableGPS()
+if pt then
+  local config = Config.load('gps', { })
+  config.home = pt
+  Config.update('gps', config)
+end

ignore/scripts/shutdown

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

ignore/scripts/summon

@@ -0,0 +1,74 @@
+local function summon(id)
+
+  _G.requireInjector(_ENV)
+
+  local GPS    = require('gps')
+  local Point  = require('point')
+  local Socket = require('socket')
+
+  turtle.setStatus('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.go(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.setStatus('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)