Add openperipheral sensor scan stategy

netNav/scanStrategies/openPeripheralSensorStrategy.lua

@@ -0,0 +1,55 @@
+local function findSensor()
+	for _, side in ipairs({"left", "right"}) do
+		if peripheral.getType(side) == "turtlesensorenvironment" then
+			return side
+		end
+	end
+	return false
+end
+
+function new()
+  return {
+    priority = 10,
+    isAvailable = function()
+      return findSensor() and true
+    end,
+    execute = function(currentPosition, updateSessionMap, updateServerMap)
+      local rawBlockInfo = peripheral.call(findSensor(), "sonicScan")
+      local sortedBlockInfo = aStar.newMap()
+      for _, blockInfo in ipairs(rawBlockInfo) do
+        sortedBlockInfo:set(currPos + vector.new(blockInfo.x, blockInfo.y, blockInfo.z), blockInfo)
+      end
+      local toCheckQueue = {}
+      for _, pos in ipairs(aStar.adjacent(currPos)) do
+        if sortedBlockInfo:get(pos) then
+          table.insert(toCheckQueue, pos)
+        end
+      end
+      while toCheckQueue[1] do
+        local pos = table.remove(toCheckQueue, 1)
+        local blockInfo = sortedBlockInfo:get(pos)
+        if blockInfo.type == "AIR" then
+          for _, pos2 in ipairs(aStar.adjacent(pos)) do
+            local blockInfo2 = sortedBlockInfo:get(pos2)
+            if blockInfo2 and not blockInfo2.checked then
+              table.insert(toCheckQueue, pos2)
+            end
+          end
+          updateSessionMap(pos, false)
+          updateServerMap(pos, false)
+        else
+          updateSessionMap(pos, true)
+          updateServerMap(pos, true)
+        end
+        blockInfo.checked = true
+      end
+      for _, blockInfo in ipairs(rawBlockInfo) do
+        local pos = currPos + vector.new(blockInfo.x, blockInfo.y, blockInfo.z)
+        local blockInfo = sortedBlockInfo:get(pos)
+        if not blockInfo.checked then
+          updateSessionMap(pos, blockInfo.type ~= "AIR")
+        end
+      end
+    end,
+  }
+end