From 1435a7ac559dfadf672a6418ec5dddecab402feb Mon Sep 17 00:00:00 2001
From: MayaTheShy <MayaTheShy@gmail.com>
Date: Mon, 16 Feb 2026 03:07:20 -0500
Subject: [PATCH] feat: Refactor home position sync and set functions for
 non-blocking operations

---
 turtle.lua | 73 +++++++++++++++++++++++-------------------------------
 1 file changed, 31 insertions(+), 42 deletions(-)

diff --git a/turtle.lua b/turtle.lua
index 8214de3..e43698f 100644
--- a/turtle.lua
+++ b/turtle.lua
@@ -74,28 +74,9 @@ local function syncHomeWithServer()
         turtleID = os.getComputerID()
     })
     
-    -- Wait for response (with timeout)
-    local timeout = os.startTimer(3)
-    while true do
-        local event, side, channel, replyChannel, message = os.pullEvent()
-        
-        if event == "timer" and side == timeout then
-            print("⚠️  Server sync timeout")
-            return false
-        elseif event == "modem_message" and channel == CHANNEL_RECEIVE then
-            if type(message) == "table" and message.type == "home_position" and message.turtleID == os.getComputerID() then
-                os.cancelTimer(timeout)
-                if message.homePosition then
-                    state.homePosition = message.homePosition
-                    print("📍 Synced home from server:", textutils.serialize(message.homePosition))
-                    return true
-                else
-                    print("No home position on server")
-                    return false
-                end
-            end
-        end
-    end
+    -- Don't block - just request and continue
+    -- The response will be handled in the message processing loop
+    return true
 end
 
 -- Set home position (server-authoritative via wireless)
@@ -106,31 +87,19 @@ local function setHome()
         return false
     end
     
-    -- Send to server via wireless
+    -- Set locally immediately
+    state.homePosition = state.position
+    
+    -- Send to server via wireless (fire and forget)
     modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
         type = "set_home",
         turtleID = os.getComputerID(),
         position = state.position
     })
     
-    -- Wait for confirmation
-    local timeout = os.startTimer(3)
-    while true do
-        local event, side, channel, replyChannel, message = os.pullEvent()
-        
-        if event == "timer" and side == timeout then
-            print("⚠️  Server response timeout, using local home")
-            state.homePosition = state.position
-            return true
-        elseif event == "modem_message" and channel == CHANNEL_RECEIVE then
-            if type(message) == "table" and message.type == "home_set_confirm" and message.turtleID == os.getComputerID() then
-                os.cancelTimer(timeout)
-                state.homePosition = message.homePosition
-                print("✅ Home set at:", textutils.serialize(state.homePosition))
-                return true
-            end
-        end
-    end
+    print("✅ Home set at:", textutils.serialize(state.homePosition))
+    print("   (Syncing with server in background)")
+    return true
 end
 
 -- Movement tracking
@@ -741,7 +710,27 @@ parallel.waitForAny(
             if event == "modem_message" then
                 print("Modem message on channel " .. channel)
                 if channel == CHANNEL_RECEIVE then
-                    processMessage(message)
+                    -- Handle home position sync responses
+                    if type(message) == "table" then
+                        if message.type == "home_position" and message.turtleID == os.getComputerID() then
+                            if message.homePosition then
+                                state.homePosition = message.homePosition
+                                print("📍 Synced home from server:", textutils.serialize(message.homePosition))
+                            else
+                                print("No home position on server")
+                            end
+                        elseif message.type == "home_set_confirm" and message.turtleID == os.getComputerID() then
+                            if message.homePosition then
+                                state.homePosition = message.homePosition
+                                print("✅ Server confirmed home:", textutils.serialize(message.homePosition))
+                            end
+                        else
+                            -- Regular command processing
+                            processMessage(message)
+                        end
+                    else
+                        processMessage(message)
+                    end
                 end
             end
         end