reorganization
This commit is contained in:
kepler155c
517
apps/shapes.lua
Normal file
517
apps/shapes.lua
Normal file
@@ -0,0 +1,517 @@
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requireInjector(getfenv(1))
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local GPS = require('gps')
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local Socket = require('socket')
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local UI = require('ui')
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local Util = require('util')
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multishell.setTitle(multishell.getCurrent(), 'Shapes')
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local args = { ... }
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local turtleId = args[1] or error('Supply turtle ID')
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turtleId = tonumber(turtleId)
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local script = [[
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requireInjector(getfenv(1))
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local GPS = require('gps')
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local ChestAdapter = require('chestAdapter18')
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local Point = require('point')
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local Util = require('util')
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local itemAdapter
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function dumpInventory()
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for i = 1, 16 do
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local qty = turtle.getItemCount(i)
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if qty > 0 then
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itemAdapter:insert(i, qty)
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end
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if turtle.getItemCount(i) ~= 0 then
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print('Adapter is full or missing - make space or replace')
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print('Press enter to continue')
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read()
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end
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end
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turtle.select(1)
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end
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local function refuel()
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while turtle.getFuelLevel() < 4000 do
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print('Refueling')
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turtle.select(1)
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itemAdapter:provide({ name = 'minecraft:coal', damage = 0 }, 64, 1)
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if turtle.getItemCount(1) == 0 then
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print('Out of fuel, add fuel to chest/ME system')
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turtle.status = 'waiting'
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os.sleep(5)
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else
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turtle.refuel(64)
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end
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end
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end
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local function goto(pt)
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while not turtle.gotoPoint(pt) do
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print('stuck')
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os.sleep(5)
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end
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end
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local function pathTo(pt)
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while not turtle.pathfind(pt) do
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print('stuck')
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os.sleep(5)
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end
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end
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local function resupply()
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if data.suppliesPt then
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pathTo(data.suppliesPt)
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itemAdapter = ChestAdapter({ direction = 'up', wrapSide = 'bottom' })
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dumpInventory()
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refuel()
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end
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end
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local function makePlane(y)
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local pt = { x = math.min(data.startPt.x, data.endPt.x),
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ex = math.max(data.startPt.x, data.endPt.x),
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z = math.min(data.startPt.z, data.endPt.z),
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ez = math.max(data.startPt.z, data.endPt.z) }
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local blocks = { }
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for z = pt.z, pt.ez do
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for x = pt.x, pt.ex do
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table.insert(blocks, { x = x, y = y, z = z })
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end
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end
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return blocks
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end
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local function optimizeRoute(plane, ptb)
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local maxDistance = 99999999
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local function getNearestNeighbor(p, pt, threshold)
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local key, block, heading
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local moves = maxDistance
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local function getMoves(b, k)
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local distance = math.abs(pt.x - b.x) + math.abs(pt.z - b.z)
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if distance < moves then
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-- this operation is expensive - only run if distance is close
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local c, h = Point.calculateMoves(pt, b, distance)
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if c < moves then
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block = b
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key = k
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moves = c
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heading = h
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end
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end
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end
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local function blockReady(b)
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return not b.u
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end
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local mid = pt.index
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local forward = mid + 1
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local backward = mid - 1
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while forward <= #p or backward > 0 do
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if forward <= #p then
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local b = p[forward]
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if blockReady(b) then
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getMoves(b, forward)
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if moves <= threshold then
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break
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end
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if moves < maxDistance and math.abs(b.z - pt.z) > moves and pt.index > 0 then
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forward = #p
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end
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end
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forward = forward + 1
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end
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if backward > 0 then
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local b = p[backward]
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if blockReady(b) then
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getMoves(b, backward)
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if moves <= threshold then
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break
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end
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if moves < maxDistance and math.abs(pt.z - b.z) > moves then
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backward = 0
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end
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end
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backward = backward - 1
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end
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end
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pt.x = block.x
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pt.z = block.z
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pt.y = block.y
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pt.heading = heading
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pt.index = key
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block.u = true
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return block
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end
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local throttle = Util.throttle()
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local t = { }
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ptb.index = 0
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local threshold = 0
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for i = 1, #plane do
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local b = getNearestNeighbor(plane, ptb, threshold)
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table.insert(t, b)
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throttle()
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threshold = 1
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end
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return t
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end
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local function clear()
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local pt = Util.shallowCopy(data.startPt)
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pt.y = math.min(data.startPt.y, data.endPt.y)
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pt.heading = 0
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local osy = pt.y
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local sy = osy + 1
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local ey = math.max(data.startPt.y, data.endPt.y)
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local firstPlane = true
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resupply()
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while true do
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if sy > ey then
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sy = ey
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end
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local plane = makePlane(sy)
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plane = optimizeRoute(plane, pt)
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if firstPlane then
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turtle.pathfind(plane[1])
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turtle.setPolicy(turtle.policies.digAttack)
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firstPlane = false
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end
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for _,b in ipairs(plane) do
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turtle.gotoPoint(b)
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if sy < ey then
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turtle.digUp()
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end
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if sy > osy then
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turtle.digDown()
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end
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if turtle.abort then
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break
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end
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end
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if turtle.abort then
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break
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end
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if sy + 1 >= ey then
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break
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end
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sy = sy + 3
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end
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turtle.setPolicy(turtle.policies.none)
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resupply()
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end
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turtle.run(function()
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turtle.status = 'Clearing'
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if turtle.enableGPS() then
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local pt = Util.shallowCopy(turtle.point)
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local s, m = pcall(clear)
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pathTo(pt)
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if not s and m then
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error(m)
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read()
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end
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end
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end)
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]]
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local levelScript = [[
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requireInjector(getfenv(1))
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local Point = require('point')
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local Util = require('util')
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local checkedNodes = { }
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local nodes = { }
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local box = { }
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local function inBox(pt, box)
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return pt.x >= box.x and
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pt.y >= box.y and
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pt.z >= box.z and
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pt.x <= box.ex and
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pt.y <= box.ey and
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pt.z <= box.ez
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end
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local function toKey(pt)
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return table.concat({ pt.x, pt.y, pt.z }, ':')
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end
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local function addNode(node)
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for i = 0, 5 do
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local hi = turtle.getHeadingInfo(i)
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local testNode = { x = node.x + hi.xd, y = node.y + hi.yd, z = node.z + hi.zd }
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if inBox(testNode, box) then
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local key = toKey(testNode)
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if not checkedNodes[key] then
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nodes[key] = testNode
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end
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end
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end
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end
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local function dig(action)
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local directions = {
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top = 'up',
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bottom = 'down',
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}
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-- convert to up, down, north, south, east, west
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local direction = directions[action.side] or
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turtle.getHeadingInfo(turtle.point.heading).direction
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local hi = turtle.getHeadingInfo(direction)
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local node = { x = turtle.point.x + hi.xd, y = turtle.point.y + hi.yd, z = turtle.point.z + hi.zd }
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if inBox(node, box) then
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local key = toKey(node)
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checkedNodes[key] = true
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nodes[key] = nil
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if action.dig() then
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addNode(node)
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repeat until not action.dig() -- sand, etc
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return true
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end
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end
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end
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local function move(action)
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if action == 'turn' then
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dig(turtle.getAction('forward'))
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elseif action == 'up' then
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dig(turtle.getAction('up'))
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elseif action == 'down' then
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dig(turtle.getAction('down'))
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elseif action == 'back' then
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dig(turtle.getAction('up'))
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dig(turtle.getAction('down'))
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end
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end
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local function getAdjacentPoint(pt)
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local t = { }
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table.insert(t, pt)
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for i = 0, 5 do
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local hi = turtle.getHeadingInfo(i)
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local heading
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if i < 4 then
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heading = (hi.heading + 2) % 4
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end
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table.insert(t, { x = pt.x + hi.xd, z = pt.z + hi.zd, y = pt.y + hi.yd, heading = heading })
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end
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return Point.closest2(turtle.getPoint(), t)
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end
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local function level()
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box.x = math.min(data.startPt.x, data.endPt.x)
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box.y = math.min(data.startPt.y, data.endPt.y)
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box.z = math.min(data.startPt.z, data.endPt.z)
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box.ex = math.max(data.startPt.x, data.endPt.x)
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box.ey = math.max(data.startPt.y, data.endPt.y)
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box.ez = math.max(data.startPt.z, data.endPt.z)
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turtle.pathfind(data.firstPt)
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turtle.setPolicy("attack", { dig = dig }, "assuredMove")
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turtle.setMoveCallback(move)
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repeat
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local key = toKey(turtle.point)
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checkedNodes[key] = true
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nodes[key] = nil
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dig(turtle.getAction('down'))
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dig(turtle.getAction('up'))
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dig(turtle.getAction('forward'))
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print(string.format('%d nodes remaining', Util.size(nodes)))
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if Util.size(nodes) == 0 then
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break
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end
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local node = Point.closest2(turtle.point, nodes)
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node = getAdjacentPoint(node)
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if not turtle.gotoPoint(node) then
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break
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end
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until turtle.abort
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turtle.resetState()
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end
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local s, m = turtle.run(function()
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turtle.status = 'Leveling'
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if turtle.enableGPS() then
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local pt = Util.shallowCopy(turtle.point)
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local s, m = pcall(level)
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turtle.pathfind(pt)
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if not s and m then
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error(m)
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end
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end
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end)
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if not s then
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error(m)
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end
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]]
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local data = Util.readTable('/usr/config/shapes') or { }
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local page = UI.Page {
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titleBar = UI.TitleBar { title = 'Shapes' },
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info = UI.Window { x = 5, y = 3, height = 1 },
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startCoord = UI.Button { x = 2, y = 6, text = 'Start ', event = 'startCoord' },
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endCoord = UI.Button { x = 2, y = 8, text = 'End ', event = 'endCoord' },
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supplies = UI.Button { x = 2, y = 10, text = 'Supplies', event = 'supplies' },
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first = UI.Button { x = 2, y = 11, text = 'First', event = 'firstCoord' },
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cancel = UI.Button { rx = 2, ry = -2, text = 'Abort', event = 'cancel' },
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begin = UI.Button { rx = -7, ry = -2, text = 'Begin', event = 'begin' },
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accelerators = { q = 'quit' },
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notification = UI.Notification(),
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statusBar = UI.StatusBar(),
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}
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function page.info:draw()
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local function size(a, b)
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return (math.abs(a.x - b.x) + 1) *
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(math.abs(a.y - b.y) + 1) *
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(math.abs(a.z - b.z) + 1)
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end
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self:clear()
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if not data.startPt then
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self:write(1, 1, 'Set starting corner')
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elseif not data.endPt then
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self:write(1, 1, 'Set ending corner')
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else
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self:write(1, 1, 'Blocks: ' .. size(data.startPt, data.endPt))
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end
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end
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function page:getPoint()
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local pt = GPS.getPoint()
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if not pt then
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self.notification:error('GPS not available')
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end
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return pt
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end
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function page:runFunction(id, script)
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Util.writeFile('script.tmp', script)
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self.notification:info('Connecting')
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local fn, msg = loadstring(script, 'script')
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if not fn then
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self.notification:error('Error in script')
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debug(msg)
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return
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end
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local socket = Socket.connect(id, 161)
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if not socket then
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self.notification:error('Unable to connect')
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return
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end
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socket:write({ type = 'script', args = script })
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socket:close()
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self.notification:success('Sent')
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end
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function page:eventHandler(event)
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if event.type == 'startCoord' then
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data.startPt = self:getPoint()
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if data.startPt then
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self.statusBar:setStatus('starting corner set')
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Util.writeTable('/usr/config/shapes', data)
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end
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self:draw()
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elseif event.type == 'endCoord' then
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data.endPt = self:getPoint()
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if data.endPt then
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self.statusBar:setStatus('ending corner set')
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Util.writeTable('/usr/config/shapes', data)
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end
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self:draw()
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elseif event.type == 'firstCoord' then
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data.firstPt = self:getPoint()
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if data.firstPt then
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self.statusBar:setStatus('first point set')
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Util.writeTable('/usr/config/shapes', data)
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end
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self:draw()
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elseif event.type == 'supplies' then
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data.suppliesPt = self:getPoint()
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if data.suppliesPt then
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self.statusBar:setStatus('supplies location set')
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Util.writeTable('/usr/config/shapes', data)
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end
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elseif event.type == 'begin' then
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if data.startPt and data.endPt then
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local s = 'local data = ' .. textutils.serialize(data) .. levelScript
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self:runFunction(turtleId, s)
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else
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self.notification:error('Corners not set')
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end
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self.statusBar:setStatus('')
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elseif event.type == 'cancel' then
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self:runFunction(turtleId, 'turtle.abortAction()')
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self.statusBar:setStatus('')
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else
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return UI.Page.eventHandler(self, event)
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end
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return true
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end
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UI:setPage(page)
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UI:pullEvents()
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UI.term:reset()
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Reference in New Issue
Block a user