turtle gps rework

turtle/apis/home.lua

@@ -1,42 +0,0 @@
-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/autorun/gps.lua

@@ -1,43 +0,0 @@
-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

@@ -1,31 +1,138 @@
-local Util = require('util')
+if not _G.turtle then
+  return
+end
 
-local device = _G.device
-local fs     = _G.fs
-local turtle = _G.turtle
+local Config = require('config')
+local GPS    = require('gps')
+local Point  = require('point')
+local Util   = require('util')
 
-if turtle then
-  fs.mount('sys/apps/system/turtle.lua', 'linkfs', 'packages/turtle/system/turtle.lua')
+local device     = _G.device
+local fs         = _G.fs
+local peripheral = _G.peripheral
+local turtle     = _G.turtle
 
-  function turtle.scan(blocks)
-    local pt = turtle.point
-    local scanner = device['plethora:scanner'] or error('Scanner not equipped')
+-- add a System setup tab
+fs.mount('sys/apps/system/turtle.lua', 'linkfs', 'packages/turtle/system/turtle.lua')
 
-    if not blocks then
-      return Util.each(scanner:scan(), function(b)
-        b.x = pt.x + b.x
-        b.y = pt.y + b.y
-        b.z = pt.z + b.z
-      end)
-    end
+-- provide a turtle function for scanning
+function turtle.scan(blocks)
+  local pt = turtle.point
+  local scanner = device['plethora:scanner'] or error('Scanner not equipped')
 
-    return Util.filter(scanner:scan(), function(b)
-      if blocks[b.name] then
-        b.x = pt.x + b.x
-        b.y = pt.y + b.y
-        b.z = pt.z + b.z
-        return true
-      end
+  if not blocks then
+    return Util.each(scanner:scan(), function(b)
+      b.x = pt.x + b.x
+      b.y = pt.y + b.y
+      b.z = pt.z + b.z
     end)
   end
+
+  return Util.filter(scanner:scan(), function(b)
+    if blocks[b.name] then
+      b.x = pt.x + b.x
+      b.y = pt.y + b.y
+      b.z = pt.z + b.z
+      return true
+    end
+  end)
+end
+
+local function getHeading(apt)
+	if not turtle then
+		return
+	end
+
+	local heading = turtle.point.heading
+	local bpt
+
+	repeat
+    if not turtle.inspect() and turtle.forward() then
+      bpt = GPS.locate()
+			break
+		end
+		turtle.turnRight()
+  until turtle.getHeading() == heading
+
+  if not bpt then
+    repeat
+      if not peripheral.getType('front') then
+        turtle.dig()
+        if turtle.forward() then
+          bpt = GPS.locate()
+          break
+        end
+      end
+      turtle.turnRight()
+    until turtle.point.heading == heading
+  end
+
+  if not bpt then
+    return false
+  end
+
+  local turns = (turtle.point.heading - heading) % 4
+
+  turtle.back()
+  turtle.setHeading(heading)
+
+	if apt.x < bpt.x then
+		return (0 - turns) % 4
+	elseif apt.z < bpt.z then
+		return (1 - turns) % 4
+	elseif apt.x > bpt.x then
+		return (2 - turns) % 4
+	end
+	return (3 - turns) % 4
+end
+
+local function getScannedHeading()
+	local facing = device['plethora:scanner'].getBlockMeta(0, 0, 0).state.facing
+	return Point.facings[facing].heading
+end
+
+-- [[ GPS ]] --
+function turtle.enableGPS(timeout)
+	local pt = GPS.getPoint(timeout or 2) or error('GPS not found')
+
+	if device['plethora:scanner'] then
+		pt.heading = getScannedHeading()
+
+	elseif turtle.select('plethora:module:2') then
+		-- never swap out modem
+		local equip = turtle.isEquipped('modem') == 'right' and turtle.equipLeft or turtle.equipRight
+
+		if equip() then
+			pt.heading = getScannedHeading()
+			equip()
+		end
+	end
+
+	if not pt.heading then
+		pt.heading = getHeading(pt)
+	end
+
+	if pt.heading then
+		turtle.setPoint(pt, true)
+		return turtle.point
+	end
+end
+
+-- return to home location if configured to do so
+if _G.device.wireless_modem then
+  local config = Config.load('gps')
+
+  if config.home then
+    if not turtle.enableGPS(2) 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

turtle/system/turtle.lua

@@ -5,13 +5,11 @@ 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 config = Config.load('gps')
 
 	local gpsTab = UI.Tab {
-		tabTitle = 'GPS',
+		tabTitle = 'Home',
+		description = 'Turtle home location',
 		labelText = UI.Text {
 			x = 3, y = 2,
 			value = 'On restart, return to this location'
@@ -19,7 +17,7 @@ if turtle then
 		grid = UI.Grid {
 			x = 3, ex = -3, y = 4,
 			height = 2,
-			values = values,
+			values = { config.home or { } },
 			inactive = true,
 			columns = {
 				{ heading = 'x', key = 'x' },
@@ -37,24 +35,41 @@ if turtle then
 			text = 'Clear',
 			event = 'gps_clear',
 		},
+		breakingText = UI.Text {
+			x = 3, y = 9,
+			value = 'Can break blocks',
+		},
+		breaking = UI.Checkbox {
+			x = 20, y = 9,
+			value = config.destructive,
+		},
 	}
+
 	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 { })
+			local pt = turtle.enableGPS()
+			if pt then
+				config.home = pt
+				Config.update('gps', config)
+				self.grid:setValues({ config.home })
 				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 == 'checkbox_change' then
+			config.destructive = event.checked
+			Config.update('gps', config)
+
 		elseif event.type == 'gps_clear' then
 			fs.delete('usr/config/gps')
 			self.grid:setValues({ })
-			self.grid:draw()
+			self.breaking:reset()
+			self:draw()
 			return true
 		end
 	end