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Further work to align starNav and netNav functionality

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This commit is contained in:
blunty666 2016-12-10 09:03:48 +00:00
parent a373369ba0
commit 0336cdaa2a
6 changed files with 139 additions and 54 deletions
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10
netNav/explore.lua
View File

@ -20,9 +20,9 @@ if minZ > maxZ then minZ, maxZ = maxZ, minZ end
-- LOAD NETNAV API
if not netNav then
if not os.loadAPI("netNav") then
error("could not load starNav API")
end
if not os.loadAPI("netNav") then
error("could not load netNav API")
end
end
-- OPEN REDNET
@ -42,9 +42,7 @@ if type(mapName) ~= "string" then
printError("mapName must be string")
return
end
if not netNav.getMap() then
netNav.setMap(mapName, 15)
end
netNav.setMap(mapName, 15)
local exit = false
local returning = false

42
netNav/netNav.lua
View File

@ -1,16 +1,13 @@
if not remoteMap then
if not os.loadAPI("remoteMap") then
error("could not load remoteMap API")
end
end
if not aStar then
if not os.loadAPI("aStar") then
error("could not load aStar API")
end
end
if not location then
if not os.loadAPI("location") then
error("could not load location API")
local apis = {
"remoteMap",
"aStar",
"location",
}
for _ api in ipairs(apis) do
if not _G[api] then
if not os.loadAPI(api) then
error("could not load API: "..api)
end
end
end
@ -20,9 +17,10 @@ local SESSION_MAX_DISTANCE_DEFAULT = 32
local SESSION_COORD_CLEAR = 1
local SESSION_COORD_BLOCKED = 2
local SESSION_COORD_DISTANCE = math.huge
local UPDATE_COORD_CLEAR = -1
local UPDATE_COORD_BLOCKED = 1
local UPDATE_COORD_DISTANCE = 2
local sessionMidPoint
local sessionMaxDistance
@ -33,18 +31,18 @@ local serverMap
local function distanceFunc(a, b)
local sessionMapA, sessionMapB = sessionMap:get(a), sessionMap:get(b)
if aStar.distance(a, sessionMidPoint) > sessionMaxDistance then
return math.huge -- first coord is outside the search region
return SESSION_COORD_DISTANCE -- first coord is outside the search region
elseif aStar.distance(b, sessionMidPoint) > sessionMaxDistance then
return math.huge -- second coord is outside the search region
return SESSION_COORD_DISTANCE -- second coord is outside the search region
elseif sessionMapA == SESSION_COORD_BLOCKED or sessionMapB == SESSION_COORD_BLOCKED then
return math.huge -- we have found one of these coords to be blocked during this session
return SESSION_COORD_DISTANCE -- we have found one of these coords to be blocked during this session
elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapB == SESSION_COORD_CLEAR then
return aStar.distance(a, b) -- we have found both of these coords to be clear during this session
else
local serverMapA, serverMapB = serverMap:get(a), serverMap:get(b)
if serverMapA or serverMapB then
serverMapA = serverMapA and 2^(serverMapA + 1) or 1
serverMapB = serverMapB and 2^(serverMapB + 1) or 1
serverMapA = serverMapA and UPDATE_COORD_DISTANCE^(serverMapA + 1) or 1
serverMapB = serverMapB and UPDATE_COORD_DISTANCE^(serverMapB + 1) or 1
return math.max(serverMapA, serverMapB) -- the remote server map is indicating one of these coords may be blocked
end
end
@ -254,16 +252,16 @@ local function _goto(x, y, z, maxDistance)
local goal = vector.new(tonumber(x), tonumber(y), tonumber(z))
serverMap:check() -- remove timed out data we have received from server
sessionMap = aStar.newMap() -- reset the sessionMap
sessionMap = aStar.newMap() -- reset the sessionMap
sessionMidPoint = vector.new(math.floor((goal.x + position.x)/2), math.floor((goal.y + position.y)/2), math.floor((goal.z + position.z)/2))
sessionMaxDistance = (type(maxDistance) == "number" and maxDistance) or math.max(2*aStar.distance(sessionMidPoint, goal), SESSION_MAX_DISTANCE_DEFAULT)
local path = aStar.compute(distanceFunc, position, goal)
if not path then
return false, "no known path to goal"
end
while not (exit or aStar.vectorEquals(position, goal)) do
local movePos = table.remove(path)
while not move(position, movePos) do

21
netNav/netNav_goto.lua
View File

@ -1,8 +1,9 @@
local function printUsage()
print("Usage:")
print(fs.getName(shell.getRunningProgram()).." <remoteMap_name> <x_pos> <y_pos> <z_pos>")
print("<remoteMap_name> The name of the remoteMap to connect to and use.")
print(fs.getName(shell.getRunningProgram()).." <map_name> <x_pos> <y_pos> <z_pos> <(optional)max_distance>")
print("<map_name> The name of the map to use.")
print("<x_pos> <y_pos> <z_pos> The GPS coordinates you want to go to.")
print("<(optional)max_distance> The farthest distance allowed to travel from start position.")
end
if not netNav then
@ -40,10 +41,22 @@ for i = 2, 4 do
end
end
local maxDistance
if tArgs[5] ~= nil then
if tonumber(tArgs[5]) then
print("setting max_distance to: ", tArgs[5])
maxDistance = tonumber(tArgs[5])
else
printError("max_distance: number expected")
printUsage()
return
end
end
print("going to coordinates = ", tArgs[2], ",", tArgs[3], ",", tArgs[4])
local ok, err = netNav.goto(tArgs[2], tArgs[3], tArgs[4])
local ok, err = netNav.goto(tArgs[2], tArgs[3], tArgs[4], maxDistance)
if not ok then
printError("navigation failed: ", err)
else
print("succesfully navigated to coordinates")
end
end

72
starNav/explore.lua Normal file
View File

@ -0,0 +1,72 @@
local tArgs = {...}
-- FIND AREA BOUNDARIES
local minX, minY, minZ = unpack(tArgs, 2, 4)
minX, minY, minZ = tonumber(minX), tonumber(minY), tonumber(minZ)
local maxX, maxY, maxZ = unpack(tArgs, 5, 7)
maxX, maxY, maxZ = tonumber(maxX), tonumber(maxY), tonumber(maxZ)
local function isInteger(var)
return type(var) == "number" and math.floor(var) == var
end
if not isInteger(minX) then printError("minX must be integer") return end
if not isInteger(minY) then printError("minX must be integer") return end
if not isInteger(minZ) then printError("minX must be integer") return end
if not isInteger(maxX) then printError("maxX must be integer") return end
if not isInteger(maxY) then printError("maxY must be integer") return end
if not isInteger(maxZ) then printError("maxZ must be integer") return end
if minX > maxX then minX, maxX = maxX, minX end
if minY > maxY then minY, maxY = maxY, minY end
if minZ > maxZ then minZ, maxZ = maxZ, minZ end
-- LOAD STARNAV API
if not starNav then
if not os.loadAPI("starNav") then
error("could not load starNav API")
end
end
-- OPEN REDNET
for _, side in ipairs({"left", "right"}) do
if peripheral.getType(side) == "modem" then
rednet.open(side)
end
end
if not rednet.isOpen() then
printError("Could not open rednet")
return
end
-- SET STARNAV MAP
local mapName = tArgs[1]
if type(mapName) ~= "string" then
printError("mapName must be string")
return
end
starNav.setMap(mapName)
local exit = false
local returning = false
local function main()
local startX, startY, startZ = gps.locate(1)
while turtle.getFuelLevel() > 0 and not exit do
local x = math.random(minX, maxX)
local y = math.random(minY, maxY)
local z = math.random(minZ, maxZ)
starNav.goto(x, y, z)
end
returning = true
starNav.goto(startX, startY, startZ)
end
local function control()
while true do
local senderID, message = rednet.receive("explore:return_to_base")
if not exit and not returning then
starNav.stop()
exit = true
end
end
end
parallel.waitForAny(main, control)

44
starNav/starNav.lua
View File

@ -1,16 +1,13 @@
if not tinyMap then
if not os.loadAPI("tinyMap") then
error("could not load tinyMap API")
end
end
if not aStar then
if not os.loadAPI("aStar") then
error("could not load aStar API")
end
end
if not location then
if not os.loadAPI("location") then
error("could not load location API")
local apis = {
"tinyMap",
"aStar",
"location",
}
for _ api in ipairs(apis) do
if not _G[api] then
if not os.loadAPI(api) then
error("could not load API: "..api)
end
end
end
@ -38,13 +35,13 @@ local function distanceFunc(a, b)
elseif aStar.distance(b, sessionMidPoint) > sessionMaxDistance then
return SESSION_COORD_DISTANCE -- second coord is outside the search region
elseif sessionMapA == SESSION_COORD_BLOCKED or sessionMapB == SESSION_COORD_BLOCKED then
return SESSION_COORD_DISTANCE -- one of the coords has been found to be blocked this during this session
elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapA == SESSION_COORD_CLEAR then
return aStar.distance(a, b) -- both coords has been found to be clear this during this session
return SESSION_COORD_DISTANCE -- we have found one of these coords to be blocked during this session
elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapB == SESSION_COORD_CLEAR then
return aStar.distance(a, b) -- we have found both of these coords to be clear during this session
elseif mainMap:get(a) or mainMap:get(b) then
return MAIN_COORD_DISTANCE
end
return aStar.distance(a, b) -- we are assuming both coords are clear
return aStar.distance(a, b) -- we dont know anything useful so just calc the distance
end
local directions = {
@ -230,7 +227,9 @@ local function move(currPos, adjPos)
return false
end
local exit = false
local function _goto(x, y, z, maxDistance)
exit = false
if not mainMap then
error("mainMap has not been specified")
end
@ -246,7 +245,7 @@ local function _goto(x, y, z, maxDistance)
local goal = vector.new(tonumber(x), tonumber(y), tonumber(z))
sessionMap = aStar.newMap()
sessionMap = aStar.newMap() -- reset the sessionMap
sessionMidPoint = vector.new(math.floor((goal.x + position.x)/2), math.floor((goal.y + position.y)/2), math.floor((goal.z + position.z)/2))
sessionMaxDistance = (type(maxDistance) == "number" and maxDistance) or math.max(2*aStar.distance(sessionMidPoint, goal), SESSION_MAX_DISTANCE_DEFAULT)
@ -255,7 +254,7 @@ local function _goto(x, y, z, maxDistance)
return false, "no known path to goal"
end
while not aStar.vectorEquals(position, goal) do
while not (exit or aStar.vectorEquals(position, goal)) do
local movePos = table.remove(path)
while not move(position, movePos) do
local blockPresent, blockData = inspect(position, movePos)
@ -293,7 +292,7 @@ local function _goto(x, y, z, maxDistance)
mainMap:saveAll()
return true
return aStar.vectorEquals(position, goal)
end
local isRunning = false
@ -311,6 +310,11 @@ function goto(...)
return unpack(passback, 2)
end
function stop()
if isRunning then
exit = true
end
end
function setMap(mapName)
if type(mapName) ~= "string" then
error("mapName must be string")

4
starNav/starNav_goto.lua
View File

@ -1,7 +1,7 @@
local function printUsage()
print("Usage:")
print(fs.getName(shell.getRunningProgram()).." <map_name> <x_pos> <y_pos> <z_pos> <(optional)max_distance>")
print("<map_name> The name of the remoteMap to connect to and use.")
print("<map_name> The name of the map to use.")
print("<x_pos> <y_pos> <z_pos> The GPS coordinates you want to go to.")
print("<(optional)max_distance> The farthest distance allowed to travel from start position.")
end
@ -49,4 +49,4 @@ if not ok then
printError("navigation failed: ", err)
else
print("succesfully navigated to coordinates")
end
end