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