reorganization

apps/pickup.lua

@@ -0,0 +1,337 @@
+requireInjector(getfenv(1))
+
+local Event = require('event')
+local GPS = require('gps')
+local Logger = require('logger')
+local MEProvider = require('meProvider')
+local Point = require('point')
+local Socket = require('socket')
+local Util  = require('util')
+
+if not device.wireless_modem then
+  error('Modem is required')
+end
+
+Logger.setWirelessLogging()
+
+if not turtle then
+  error('Can only be run on a turtle')
+end
+
+local blocks = { }
+local meProvider = MEProvider()
+local items = { }
+
+local pickups = Util.readTable('pickup.tbl') or { }
+local cells = Util.readTable('cells.tbl') or { }
+local refills = Util.readTable('refills.tbl') or { }
+local fluids = Util.readTable('fluids.tbl') or { }
+local chestPt = turtle.loadLocation('chest')
+local chargePt = turtle.loadLocation('charge')
+
+local fuel = {
+  item = {
+    id = 'minecraft:coal',
+    dmg = 0,
+  },
+  qty = 64
+}
+
+local slots
+
+turtle.setMoveCallback(function(action, pt)
+  if slots then
+    for _,slot in pairs(slots) do
+      if turtle.getItemCount(slot.index) ~= slot.qty then
+        printError('Slots changed')
+        Event.exitPullEvents()
+      end
+    end
+  end
+end)
+
+function refuel()
+  if turtle.getFuelLevel() < 5000 then
+    print('refueling')
+    turtle.status = 'refueling'
+    gotoPoint(chestPt, true)
+    dropOff(chestPt)
+    while turtle.getFuelLevel() < 5000 do
+      turtle.select(1)
+      meProvider:provide(fuel.item, fuel.qty, 1)
+      turtle.refuel(64)
+      print(turtle.getFuelLevel())
+      os.sleep(1)
+    end
+  end
+end
+
+function pickUp(pt)
+  turtle.status = 'picking up'
+  gotoPoint(pt, true)
+  while true do
+    if not turtle.selectOpenSlot() then
+      dropOff(chestPt)
+      gotoPoint(pt, true)
+    end
+    turtle.select(1)
+    if not turtle.suckDown(64) then
+      return
+    end
+  end
+end
+
+function dropOff(pt)
+  if turtle.selectSlotWithItems() then
+    gotoPoint(pt, true)
+    turtle.emptyInventory(turtle.dropDown)
+    if pt == chestPt then
+      print('refreshing items')
+      items = meProvider:refresh()
+    end
+  end
+end
+
+function gotoPoint(pt, doDetect)
+  slots = turtle.getInventory()
+  while not turtle.pathfind(pt, blocks) do
+    if turtle.abort then
+      error('aborted')
+    end
+    turtle.status = 'blocked'
+    os.sleep(5)
+  end
+
+  if doDetect and not turtle.detectDown() then
+    printError('Missing target')
+    Event.exitPullEvents()
+  end
+end
+
+function checkCell(pt)
+  if not turtle.selectOpenSlot() then
+    dropOff(chestPt)
+  end
+
+  print('checking cell')
+  turtle.status = 'recharging'
+  gotoPoint(pt, true)
+  local c = peripheral.wrap('bottom')
+  local energy = c.getMaxEnergyStored() -
+      c.getEnergyStored()
+  if energy > 20000 then
+    print('charging cell')
+    turtle.selectOpenSlot()
+    turtle.digDown()
+    gotoPoint(chargePt, true)
+    turtle.dropDown()
+    os.sleep(energy / 20000)
+    turtle.suckDown()
+    print('replacing cell')
+    gotoPoint(pt)
+    if not turtle.placeDown() then
+      error('could not place down cell')
+    end
+  end
+end
+
+function fluid(points)
+  print('checking fluid')
+  turtle.status = 'fluiding'
+  gotoPoint(points.source, true)
+  turtle.select(1)
+  turtle.digDown()
+  gotoPoint(points.target)
+  if not turtle.placeDown() then
+    error('could not place fluid container')
+  end
+  os.sleep(5)
+  turtle.digDown()
+  gotoPoint(points.source)
+  turtle.placeDown()
+end
+
+function refill(entry)
+  dropOff(chestPt)
+
+  turtle.status = 'refilling'
+  gotoPoint(chestPt)
+  for _,item in pairs(entry.items) do
+    meProvider:provide(item, tonumber(item.qty), turtle.selectOpenSlot())
+  end
+
+  if turtle.selectSlotWithItems() then
+    if entry.point then
+      dropOff(entry.point)
+    end
+  end
+end
+
+function oldRefill(points)
+  gotoPoint(points.source)
+  repeat until not turtle.suckDown(64)
+  if points.target then
+    dropOff(points.target)
+  end
+  if points.targets then
+    for k,target in pairs(points.targets) do
+      dropOff(target)
+    end
+  end
+  dropOff(points.source)
+  dropOff(chestPt)
+end
+
+local function makeKey(pt)
+  return string.format('%d:%d:%d', pt.x, pt.y, pt.z)
+end
+
+local function pickupHost(socket)
+
+  while true do
+    local data = socket:read()
+    if not data then
+      print('pickup: closing connection to ' .. socket.dhost)
+      return
+    end
+
+    print('command: ' .. data.type)
+    
+    if data.type == 'pickup' then
+      local key = makeKey(data.point)
+      pickups[key] = data.point
+      Util.writeTable('pickup.tbl', pickups)
+      socket:write( { type = "response", response = 'added' })
+
+    elseif data.type == 'items' then
+      socket:write( { type = "response", response = items })
+    
+    elseif data.type == 'refill' then
+      local key = makeKey(data.entry.point)
+      refills[key] = data.entry
+      Util.writeTable('refills.tbl', refills)
+      socket:write( { type = "response", response = 'added' })
+
+    elseif data.type == 'setPickup' then
+      chestPt = data.point
+-- fix
+      turtle.storeLocation('chest', chestPt)
+      socket:write( { type = "response", response = 'Location set' })
+
+    elseif data.type == 'setRecharge' then
+      chargePt = data.point
+-- fix
+      turtle.storeLocation('charge', chargePt)
+      socket:write( { type = "response", response = 'Location set' })
+    
+    elseif data.type == 'charge' then
+      local key = makeKey(data.point)
+      cells[key] = data.point
+      Util.writeTable('cells.tbl', cells)
+      socket:write( { type = "response", response = 'added' })
+    
+    elseif data.type == 'fluid' then
+
+    elseif data.type == 'clear' then
+      local key = makeKey(data.point)
+      refills[key] = nil
+      cells[key] = nil
+      fluids[key] = nil
+      pickups[key] = nil
+
+      Util.writeTable('refills.tbl', refills)
+      Util.writeTable('cells.tbl', cells)
+      Util.writeTable('fluids.tbl', fluids)
+      Util.writeTable('pickup.tbl', pickups)
+    
+      socket:write( { type = "response", response = 'cleared' })
+    else
+      print('unknown command')
+    end
+  end
+end
+
+Event.addRoutine(function()
+  while true do
+    print('waiting for connection on port 5222')
+    local socket = Socket.server(5222)
+
+    print('pickup: connection from ' .. socket.dhost)
+
+    Event.addRoutine(function() pickupHost(socket) end)
+  end
+end)
+
+local function eachEntry(t, fn)
+
+  local keys = Util.keys(t)
+  for _,key in pairs(keys) do
+    if t[key] then
+      if turtle.abort then
+        return
+      end
+      fn(t[key])
+    end
+  end
+end
+
+local function eachClosestEntry(t, fn)
+
+  local points = { }
+  for k,v in pairs(t) do
+    v = Util.shallowCopy(v)
+    v.key = k
+    table.insert(points, v)
+  end
+
+  while not Util.empty(points) do
+    local closest = Point.closest(turtle.point, points)
+    if turtle.abort then
+      return
+    end
+    if t[closest.key] then
+      fn(closest)
+    end
+    for k,v in pairs(points) do
+      if v.key == closest.key then
+        table.remove(points, k)
+        break
+      end
+    end
+  end
+end
+
+Event.addRoutine(function()
+
+  while true do
+    if chestPt then
+      eachClosestEntry(pickups, pickUp)
+      eachEntry(refills, refill)
+      refuel()
+    end
+    eachEntry(fluids, fluid)
+    if chargePt then
+      eachEntry(cells, checkCell)
+    end
+    print('sleeping')
+    turtle.status = 'sleeping'
+    if turtle.abort then
+      printError('aborted')
+      break
+    end
+    os.sleep(60)
+  end
+
+  Event.exitPullEvents()
+end)
+
+turtle.run(function()
+
+  if not turtle.enableGPS() then
+    error('turtle: No GPS found')
+  end
+
+  refuel()
+  Event.pullEvents()
+
+end)