turtle gps rework

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