turtle gps rework

core/Turtles.lua

@@ -37,10 +37,10 @@ local socket
 local page = UI.Page {
   coords = UI.Window {
     backgroundColor = colors.black,
-    height = 4,
+    height = 3,
   },
   tabs = UI.Tabs {
-    x = 1, y = 5, ey = -2,
+    x = 1, y = 4, ey = -2,
     scripts = UI.ScrollingGrid {
       tabTitle = 'Run',
       backgroundColor = colors.cyan,
@@ -122,12 +122,19 @@ local page = UI.Page {
         fn = 'turtle.turnRight',
       },
       info = UI.TextArea {
-        x = 2, y = 9,
+        x = 15, y = 2,
         inactive = true,
       }
     },
   },
-  statusBar = UI.StatusBar(),
+  statusBar = UI.StatusBar {
+    values = { },
+    columns = {
+      { key = 'status'              },
+      { key = 'distance', width = 6 },
+      { key = 'fuel',     width = 6 },
+    },
+  },
   notification = UI.Notification(),
   accelerators = {
     q = 'quit',
@@ -184,8 +191,8 @@ function page.coords:draw()
     if not t.point.gps then
       ind = 'REL'
     end
-    self:print(string.format('%s : %d,%d,%d\n Fuel: %s\n',
+    self:print(string.format('%s : %d,%d,%d',
-      ind, t.point.x, t.point.y, t.point.z, Util.toBytes(t.fuel)))
+      ind, t.point.x, t.point.y, t.point.z))
   end
 end
 
@@ -289,14 +296,14 @@ end
 function page.statusBar:draw()
   local t = self.parent.turtle
   if t then
-    local status = string.format('%s [ %s ]', t.status, Util.round(t.distance, 2))
+    self.values.status = t.status
-    self:setStatus(status, true)
+    self.values.distance = Util.round(t.distance, 2)
+    self.values.fuel = Util.toBytes(t.fuel)
   end
   UI.StatusBar.draw(self)
 end
 
 function page:showBlocks()
-
   local script = [[
     local function inspect(direction)
       local s,b = turtle['inspect' .. (direction or '')]()

core/etc/apps.db

@@ -99,4 +99,12 @@ Needs work
 \030 \031f\030f\031e\139\030e\128\030f\159\129\0314\130\131\131\129",
     run = "recorder.lua",
   },
+	[ "4486006f811b88cacd5f211fd579717e29b600cd" ] = {
+		title = "Swarm",
+		category = "Turtle",
+		icon = "    \0315\\\030 \031  \
+ \0304\031f _ \030 \031c/\0315\\\
+ \0304   ",
+		run = "multiMiner.lua",
+	},
 }

core/etc/scripts/goHome

@@ -1,3 +1,7 @@
 _G.requireInjector(_ENV)
-local Home = require('turtle.home')
+local config = require('config').load('gps')
-turtle.run(Home.go)
+if config.home then
+  if turtle.enableGPS() then
+    return turtle.pathfind(config.home)
+  end
+end

core/etc/scripts/setHome

@@ -1,3 +1,8 @@
 _G.requireInjector(_ENV)
-local Home = require('turtle.home')
+local Config = require('config')
-turtle.run(Home.set)
+local pt = turtle.enableGPS()
+if pt then
+  local config = Config.load('gps', { })
+  config.home = pt
+  Config.update('gps', config)
+end

miners/etc/apps.db

@@ -17,12 +17,4 @@
 		run = "scanningMiner.lua",
 		requires = 'turtle',
 	},
-	[ "4486006f811b88cacd5f211fd579717e29b600cd" ] = {
-		title = "Multi",
-		category = "Turtle",
-		icon = "    \0315\\\030 \031  \
- \0304\031f _ \030 \031c/\0315\\\
- \0304   ",
-		run = "multiMiner.lua",
-	},
 }

miners/findSwarm.lua

@@ -72,6 +72,9 @@ local function getNextPoint(member)
   chunkIndex = chunkIndex + 1
 
   while paused do
+    if abort then
+      return
+    end
     os.sleep(3)
   end
 

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 Config = require('config')
-local fs     = _G.fs
+local GPS    = require('gps')
-local turtle = _G.turtle
+local Point  = require('point')
+local Util   = require('util')
 
-if turtle then
+local device     = _G.device
-  fs.mount('sys/apps/system/turtle.lua', 'linkfs', 'packages/turtle/system/turtle.lua')
+local fs         = _G.fs
+local peripheral = _G.peripheral
+local turtle     = _G.turtle
 
-  function turtle.scan(blocks)
+-- add a System setup tab
-    local pt = turtle.point
+fs.mount('sys/apps/system/turtle.lua', 'linkfs', 'packages/turtle/system/turtle.lua')
-    local scanner = device['plethora:scanner'] or error('Scanner not equipped')
 
-    if not blocks then
+-- provide a turtle function for scanning
-      return Util.each(scanner:scan(), function(b)
+function turtle.scan(blocks)
-        b.x = pt.x + b.x
+  local pt = turtle.point
-        b.y = pt.y + b.y
+  local scanner = device['plethora:scanner'] or error('Scanner not equipped')
-        b.z = pt.z + b.z
-      end)
-    end
 
-    return Util.filter(scanner:scan(), function(b)
+  if not blocks then
-      if blocks[b.name] then
+    return Util.each(scanner:scan(), function(b)
-        b.x = pt.x + b.x
+      b.x = pt.x + b.x
-        b.y = pt.y + b.y
+      b.y = pt.y + b.y
-        b.z = pt.z + b.z
+      b.z = pt.z + b.z
-        return true
-      end
     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 config = Config.load('gps')
-
-	local values = { }
-	Config.load('gps', values.home and { values.home } or { })
 
 	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
+			local pt = turtle.enableGPS()
-				Config.load('gps', values)
+			if pt then
-				self.grid:setValues(values.home and { values.home } or { })
+				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