Further work to align starNav and netNav functionality

netNav/explore.lua

@@ -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
+	if not os.loadAPI("netNav") then
-    error("could not load starNav API")
+		error("could not load netNav API")
-  end
+	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)
-  netNav.setMap(mapName, 15)
-end
 
 local exit = false
 local returning = false

netNav/netNav.lua

@@ -1,16 +1,13 @@
-if not remoteMap then
+local apis = {
-	if not os.loadAPI("remoteMap") then
+	"remoteMap",
-		error("could not load remoteMap API")
+	"aStar",
-	end
+	"location",
-end
+}
-if not aStar then
+for _ api in ipairs(apis) do
-	if not os.loadAPI("aStar") then
+	if not _G[api] then
-		error("could not load aStar API")
+		if not os.loadAPI(api) then
-	end
+			error("could not load API: "..api)
-end
+		end
-if not location then
-	if not os.loadAPI("location") then
-		error("could not load location API")
 	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
+			serverMapA = serverMapA and UPDATE_COORD_DISTANCE^(serverMapA + 1) or 1
-			serverMapB = serverMapB and 2^(serverMapB + 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

netNav/netNav_goto.lua

@@ -1,8 +1,9 @@
 local function printUsage()
 	print("Usage:")
-	print(fs.getName(shell.getRunningProgram()).." <remoteMap_name> <x_pos> <y_pos> <z_pos>")
+	print(fs.getName(shell.getRunningProgram()).." <map_name> <x_pos> <y_pos> <z_pos> <(optional)max_distance>")
-	print("<remoteMap_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
 
 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

starNav/explore.lua

@@ -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)

starNav/starNav.lua

@@ -1,16 +1,13 @@
-if not tinyMap then
+local apis = {
-	if not os.loadAPI("tinyMap") then
+	"tinyMap",
-		error("could not load tinyMap API")
+	"aStar",
-	end
+	"location",
-end
+}
-if not aStar then
+for _ api in ipairs(apis) do
-	if not os.loadAPI("aStar") then
+	if not _G[api] then
-		error("could not load aStar API")
+		if not os.loadAPI(api) then
-	end
+			error("could not load API: "..api)
-end
+		end
-if not location then
-	if not os.loadAPI("location") then
-		error("could not load location API")
 	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
+		return SESSION_COORD_DISTANCE -- we have found one of these coords to be blocked during this session
-	elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapA == SESSION_COORD_CLEAR then
+	elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapB == SESSION_COORD_CLEAR then
-		return aStar.distance(a, b) -- both coords has been found to be clear this during this session
+		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")

starNav/starNav_goto.lua

@@ -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