Major re-write of explore program with remote control for netNav
This commit is contained in:
blunty666
parent
5ba89ff6c0
commit
49a0f95f7b
@ -1,9 +1,28 @@
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local tArgs = {...}
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-- CONSTANTS
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local REDNET_PROTOCOL = "NET_NAV:CONTROL"
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-- VARIABLES
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local minX, minY, minZ
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local maxX, maxY, maxZ
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local mapName
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local states
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local state, arguments
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local idle
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local startX, startY, startZ
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-- CHECK MAP NAME
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mapName = tArgs[1]
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if type(mapName) ~= "string" then
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printError("mapName must be string")
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return
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end
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-- FIND AREA BOUNDARIES
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local minX, minY, minZ = unpack(tArgs, 2, 4)
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minX, minY, minZ = unpack(tArgs, 2, 4)
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minX, minY, minZ = tonumber(minX), tonumber(minY), tonumber(minZ)
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local maxX, maxY, maxZ = unpack(tArgs, 5, 7)
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maxX, maxY, maxZ = unpack(tArgs, 5, 7)
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maxX, maxY, maxZ = tonumber(maxX), tonumber(maxY), tonumber(maxZ)
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local function isInteger(var)
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return type(var) == "number" and math.floor(var) == var
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@ -37,36 +56,82 @@ if not rednet.isOpen() then
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end
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-- SET NETNAV MAP
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local mapName = tArgs[1]
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if type(mapName) ~= "string" then
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printError("mapName must be string")
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return
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end
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netNav.setMap(mapName, 15)
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local exit = false
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local returning = false
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local function main()
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local startX, startY, startZ = gps.locate(1)
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while turtle.getFuelLevel() > 0 and not exit do
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-- SET UP STATES
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local states = {
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EXPLORE = function()
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local x = math.random(minX, maxX)
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local y = math.random(minY, maxY)
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local z = math.random(minZ, maxZ)
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netNav.goto(x, y, z)
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end,
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RETURN = function()
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netNav.goto(startX, startY, startZ)
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state = "IDLE"
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end,
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FOLLOW = function(xPos, yPos, zPos)
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netNav.goto(xPos, yPos, zPos)
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state = "IDLE"
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end,
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IDLE = function()
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idle = true
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while idle do
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os.pullEvent()
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end
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end,
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}
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-- FIND START POSITION
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startX, startY, startZ = gps.locate(1)
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-- check coords valid
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-- STATUS UPDATE FUNCTION
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local function sendStatus(senderID)
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local status = {
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mapName,
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senderID,
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"PONG",
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{netNav.getPosition()},
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state,
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arguments,
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}
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if senderID == -1 then
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rednet.broadcast(status, REDNET_PROTOCOL)
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else
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rednet.send(senderID, status, REDNET_PROTOCOL)
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end
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returning = true
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netNav.goto(startX, startY, startZ)
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end
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-- DEFINE CONTROL ROUTINE
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local function control()
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while true do
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local senderID, message = rednet.receive("explore:return_to_base")
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if not exit and not returning then
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netNav.stop()
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exit = true
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local senderID, message = rednet.receive(REDNET_PROTOCOL)
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if type(message) == "table" and message[1] == mapName then
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local sentTo = message[2]
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if sentTo == os.computerID() or sentTo == -1 then
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local request = message[3]
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if request == "PING" then
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sendStatus(senderID)
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elseif states[request] then
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state, arguments = request, message[4]
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netNav.stop()
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idle = false
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end
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end
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end
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end
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end
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parallel.waitForAny(main, control)
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-- DEFINE MAIN ROUTINE
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local function main()
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state, arguments = "EXPLORE", {}
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while true do
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sendStatus(-1)
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if states[state] then
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states[state](unpack(arguments))
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end
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end
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end
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parallel.waitForAny(control, main)
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302
netNav/remoteControl.lua
Normal file
302
netNav/remoteControl.lua
Normal file
@ -0,0 +1,302 @@
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local tArgs = {...}
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-- CONSTANTS
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local REDNET_PROTOCOL = "NET_NAV:CONTROL"
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-- VARIABLES
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local mapName
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local listWidth, listHeight
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local buttonInstance
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local turtleList
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local selectedTurtle
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local setSelectedTurtle
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local turtleData
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local guiOffset
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local mainTerm
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-- CHECK MAP NAME
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mapName = tArgs[1]
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if type(mapName) ~= "string" then
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printError("mapName must be string")
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return
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end
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-- LOAD BUTTON_HANDLER API
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if not buttonHandler then
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if not os.loadAPI("buttonHandler") then
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error("could not load buttonHandler API")
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end
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end
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-- OPEN REDNET
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for _, side in ipairs(redstone.getSides()) do
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if peripheral.getType(side) == "modem" then
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rednet.open(side)
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end
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end
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if not rednet.isOpen() then
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printError("Could not open rednet")
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return
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end
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-- DEFINE REDNET METHODS
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local function newPacket(senderID, request, arguments)
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return {
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mapName,
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senderID,
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request,
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arguments,
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}
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end
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local function sendPacket(packet)
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if packet[2] == -1 then
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rednet.broadcast(packet, REDNET_PROTOCOL)
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else
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rednet.send(packet[2], packet, REDNET_PROTOCOL)
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end
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end
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local function sendPingPacket(sendTo)
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sendPacket(newPacket(sendTo, "PING"))
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end
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local function sendExplorePacket(sendTo)
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sendPacket(newPacket(sendTo, "EXPLORE", {}))
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end
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local function sendReturnPacket(sendTo)
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sendPacket(newPacket(sendTo, "RETURN", {}))
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end
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local function sendFollowPacket(sendTo, position)
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sendPacket(newPacket(sendTo, "FOLLOW", position))
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end
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local function sendIdlePacket(sendTo)
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sendPacket(newPacket(sendTo, "IDLE", {}))
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end
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-- SET UP GUI
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local function createListValue(turtleID, status)
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local value = turtleID..string.rep(" ", math.max(0, 4 - #tostring(turtleID)))
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value = value..string.rep(" ", math.max(0, 8 - #status))..status
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return value
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end
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do
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term.setBackgroundColour(colours.cyan)
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term.setTextColour(colours.white)
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term.clear()
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local width, height = term.getSize()
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guiOffset = math.ceil((width - 26)/2)
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local win = window.create(term.current(), guiOffset + 1, 1, 26, height, true)
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win.setBackgroundColour(colours.grey)
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win.clear()
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mainTerm = term.redirect(win)
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end
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buttonInstance = buttonHandler.new(term.current())
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local width, height = term.getSize()
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paintutils.drawLine(13, 1, 13, height, colours.cyan)
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paintutils.drawLine(14, height - 5, width, height - 5, colours.cyan)
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paintutils.drawLine(14, 6, width, 6, colours.cyan)
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-- SET UP TURTLE LIST SECTION
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local function turtleListHandler(value)
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if value then
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local turtleID = tonumber(value:match("^%d+"))
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local data = turtleData[turtleID] or {}
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setSelectedTurtle(turtleID, unpack(data))
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end
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end
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turtleData = {}
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turtleList = buttonInstance:AddList("turtle", {}, turtleListHandler, 1, 1, 12, height - 1)
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local function allPing()
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buttonInstance:Flash("ALL_PING")
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turtleData = {}
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turtleList:SetValues({})
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sendPingPacket(-1)
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end
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buttonInstance:Add("ALL_PING", allPing, 1, height, 12, 1, " Refresh ", colours.red)
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-- SET UP INDIVIDUAL TURTLE CONTROL SECTION
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term.setCursorPos(14, 1)
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term.setBackgroundColour(colours.red)
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term.setTextColour(colours.white)
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term.write(" Control: nil")
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local function selectedExplore()
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if selectedTurtle then
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buttonInstance:Flash("EXPLORE")
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sendExplorePacket(selectedTurtle)
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end
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end
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buttonInstance:Add("EXPLORE", selectedExplore, 14, 2, 13, 1, " Explore ", colours.grey)
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local function selectedReturn()
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if selectedTurtle then
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buttonInstance:Flash("RETURN")
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sendReturnPacket(selectedTurtle)
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end
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end
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buttonInstance:Add("RETURN", selectedReturn, 14, 3, 13, 1, " Return ", colours.lightGrey)
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local function selectedFollow()
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if selectedTurtle then
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buttonInstance:Flash("FOLLOW")
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local x, y, z = gps.locate()
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if x then
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local position = {math.floor(x), math.floor(y), math.floor(z)}
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sendFollowPacket(selectedTurtle, position)
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end
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end
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end
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buttonInstance:Add("FOLLOW", selectedFollow, 14, 4, 13, 1, " Follow ", colours.grey)
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local function selectedStop()
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if selectedTurtle then
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buttonInstance:Flash("STOP")
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sendIdlePacket(selectedTurtle)
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end
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end
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buttonInstance:Add("STOP", selectedStop, 14, 5, 13, 1, " Stop ", colours.lightGrey)
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-- SET UP TURTLE INFO SECTION
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setSelectedTurtle = function(turtleID, xPos, yPos, zPos)
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if turtleID then
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selectedTurtle = turtleID
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end
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term.setCursorPos(14, 1)
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term.setBackgroundColour(colours.red)
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term.setTextColour(colours.white)
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term.write(" Control:"..string.rep(" ", math.max(0, 4 - #tostring(turtleID)))..tostring(turtleID))
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term.setBackgroundColour(colours.grey)
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term.setTextColour(colours.white)
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term.setCursorPos(14, 7)
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term.write("ID:"..string.rep(" ", 10 - #tostring(turtleID))..tostring(turtleID))
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term.setCursorPos(14, 9)
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term.write("X Pos:"..string.rep(" ", 7 - #tostring(xPos))..tostring(xPos))
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term.setCursorPos(14, 10)
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term.write("Y Pos:"..string.rep(" ", 7 - #tostring(yPos))..tostring(yPos))
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term.setCursorPos(14, 11)
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term.write("Z Pos:"..string.rep(" ", 7 - #tostring(zPos))..tostring(zPos))
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end
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setSelectedTurtle()
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local function selectedPing()
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if selectedTurtle then
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buttonInstance:Flash("PING")
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sendPingPacket(selectedTurtle)
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end
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end
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buttonInstance:Add("PING", selectedPing, 14, height - 6, 13, 1, " Refresh ", colours.red)
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-- SET UP CONTROL ALL SECTION
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term.setCursorPos(14, height - 4)
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term.setBackgroundColour(colours.red)
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term.setTextColour(colours.white)
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term.write(" Control All ")
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local function allExplore()
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buttonInstance:Flash("ALL_EXPLORE")
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sendExplorePacket(-1)
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end
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buttonInstance:Add("ALL_EXPLORE", allExplore, 14, height - 3, 13, 1, " Explore ", colours.grey)
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local function allReturn()
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buttonInstance:Flash("ALL_RETURN")
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sendReturnPacket(-1)
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end
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buttonInstance:Add("ALL_RETURN", allReturn, 14, height - 2, 13, 1, " Return ", colours.lightGrey)
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local function allFollow()
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buttonInstance:Flash("ALL_FOLLOW")
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local x, y, z = gps.locate()
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if x then
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local position = {math.floor(x), math.floor(y), math.floor(z)}
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sendFollowPacket(-1, position)
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end
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end
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buttonInstance:Add("ALL_FOLLOW", allFollow, 14, height - 1, 13, 1, " Follow ", colours.grey)
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local function allStop()
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buttonInstance:Flash("ALL_STOP")
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sendIdlePacket(-1)
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end
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buttonInstance:Add("ALL_STOP", allStop, 14, height, 13, 1, " Stop ", colours.lightGrey)
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-- DEFINE INPUT ROUTINE
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local function input()
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buttonInstance:Draw()
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while true do
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local event = {os.pullEvent()}
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if event[1] == "mouse_click" then
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buttonInstance:HandleClick(event[3] - guiOffset, event[4])
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elseif event[1] == "key" then
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if event[2] == keys.backspace then
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break
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elseif event[2] == keys.up then
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turtleList:SetOffset(turtleList:GetOffset() - 1)
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elseif event[2] == keys.down then
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turtleList:SetOffset(turtleList:GetOffset() + 1)
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end
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end
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end
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end
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-- DEFINE LISTEN ROUTINE
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local function listen()
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sendPingPacket(-1)
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while true do
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local senderID, message = rednet.receive(REDNET_PROTOCOL)
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if type(message) == "table" and message[1] == mapName then
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local sentTo = message[2]
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if sentTo == os.computerID() or sentTo == -1 then
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if message[3] == "PONG" then
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-- update turtleList
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local values = turtleList:GetValues()
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local found = false
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for index, data in ipairs(values) do
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local id = tonumber(data:match("^%d+"))
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if id == senderID then
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data = createListValue(senderID, message[5])
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table.remove(values, index)
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table.insert(values, index, data)
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turtleList:SetValues(values)
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found = true
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break
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end
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end
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if not found then
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local data = createListValue(senderID, message[5])
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table.insert(values, data)
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turtleList:SetValues(values)
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end
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turtleData[senderID] = message[4]
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if senderID == selectedTurtle then
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setSelectedTurtle(senderID, unpack(message[4]))
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-- update selectedTurtle info
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end
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end
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end
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end
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end
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end
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parallel.waitForAny(input, listen)
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term.redirect(mainTerm)
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term.setBackgroundColour(colours.black)
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term.setTextColour(colours.white)
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term.clear()
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term.setCursorPos(1, 1)
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Reference in New Issue
Block a user