Implement modular scan strategies
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blunty666
parent
6c28791112
commit
61bef0e040
19
location.lua
19
location.lua
@ -154,4 +154,21 @@ function new( x, y, z, h )
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}
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setmetatable( l, lmetatable )
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return l
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end
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end
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local headings = {
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[vector.new(0, 0, 1)] = 0,
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[vector.new(-1, 0, 0)] = 1,
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[vector.new(0, 0, -1)] = 2,
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[vector.new(1, 0, 0)] = 3,
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[vector.new(0, 1, 0)] = 4,
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[vector.new(0, -1, 0)] = 5,
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}
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function headingFromDelta(delta)
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for vec, dir in pairs(headings) do
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if aStar.vectorEquals(delta, vec) then
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return dir
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end
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end
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end
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@ -2,6 +2,7 @@ local apis = {
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"remoteMap",
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"aStar",
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"location",
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"scanStrategy",
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}
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for _, api in ipairs(apis) do
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if not _G[api] then
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@ -49,23 +50,6 @@ local function distanceFunc(a, b)
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return aStar.distance(a, b) -- we dont know anything useful so just calc the distance
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end
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local directions = {
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[vector.new(0, 0, 1)] = 0,
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[vector.new(-1, 0, 0)] = 1,
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[vector.new(0, 0, -1)] = 2,
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[vector.new(1, 0, 0)] = 3,
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[vector.new(0, 1, 0)] = 4,
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[vector.new(0, -1, 0)] = 5,
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}
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local function deltaToDirection(delta)
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for vec, dir in pairs(directions) do
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if aStar.vectorEquals(delta, vec) then
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return dir
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end
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end
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end
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local function tryMove()
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for i = 1, 4 do
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if turtle.forward() then
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@ -107,31 +91,16 @@ local function findPosition()
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error("no gps signal - phase 2")
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end
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local direction = deltaToDirection(p1 - p2)
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if direction and direction < 4 then
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return location.new(p2.x, p2.y, p2.z, direction)
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local currentDirection = location.headingFromDelta(p1 - p2)
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if currentDirection and currentDirection < 4 then
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return location.new(p2.x, p2.y, p2.z, currentDirection)
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else
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return false
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end
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end
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local function detect(currPos, adjPos)
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local direction = deltaToDirection(adjPos - currPos)
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if direction then
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position:setHeading(direction)
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if direction == 4 then
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return turtle.detectUp()
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elseif direction == 5 then
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return turtle.detectDown()
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else
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return turtle.detect()
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end
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end
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return false
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end
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local function inspect(currPos, adjPos)
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local direction = deltaToDirection(adjPos - currPos)
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local direction = location.headingFromDelta(adjPos - currPos)
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if direction then
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position:setHeading(direction)
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if direction == 4 then
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@ -145,81 +114,35 @@ local function inspect(currPos, adjPos)
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return false
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end
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local function updateCoord(coord, isBlocked)
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local function updateSessionMap(coord, isBlocked)
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if isBlocked then
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sessionMap:set(coord, SESSION_COORD_BLOCKED)
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serverMap:set(coord, UPDATE_COORD_BLOCKED)
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else
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sessionMap:set(coord, SESSION_COORD_CLEAR)
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end
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end
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local function updateServerMap(coord, isBlocked)
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if isBlocked then
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serverMap:set(coord, UPDATE_COORD_BLOCKED)
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else
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serverMap:set(coord, UPDATE_COORD_CLEAR)
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end
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end
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local function detectAll(currPos)
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for _, pos in ipairs(aStar.adjacent(currPos)) do -- better order of checking directions
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updateCoord(pos, detect(currPos, pos))
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end
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end
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local function findSensor()
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for _, side in ipairs({"left", "right"}) do
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if peripheral.getType(side) == "turtlesensorenvironment" then
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return side
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end
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end
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return false
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end
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local function scan(currPos)
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local sensorSide = findSensor()
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if sensorSide then
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local rawBlockInfo = peripheral.call(sensorSide, "sonicScan")
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local sortedBlockInfo = aStar.newMap()
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for _, blockInfo in ipairs(rawBlockInfo) do
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sortedBlockInfo:set(currPos + vector.new(blockInfo.x, blockInfo.y, blockInfo.z), blockInfo)
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end
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local toCheckQueue = {}
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for _, pos in ipairs(aStar.adjacent(currPos)) do
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if sortedBlockInfo:get(pos) then
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table.insert(toCheckQueue, pos)
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end
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end
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while toCheckQueue[1] do
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local pos = table.remove(toCheckQueue, 1)
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local blockInfo = sortedBlockInfo:get(pos)
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if blockInfo.type == "AIR" then
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for _, pos2 in ipairs(aStar.adjacent(pos)) do
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local blockInfo2 = sortedBlockInfo:get(pos2)
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if blockInfo2 and not blockInfo2.checked then
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table.insert(toCheckQueue, pos2)
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end
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end
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updateCoord(pos, false)
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else
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updateCoord(pos, true)
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end
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blockInfo.checked = true
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end
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for _, blockInfo in ipairs(rawBlockInfo) do
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local pos = currPos + vector.new(blockInfo.x, blockInfo.y, blockInfo.z)
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local blockInfo = sortedBlockInfo:get(pos)
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if not blockInfo.checked then
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if blockInfo.type == "AIR" then
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sessionMap:set(pos, SESSION_COORD_CLEAR)
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else
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sessionMap:set(pos, SESSION_COORD_BLOCKED)
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end
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end
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end
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local function scan(currentPosition)
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local strategy = scanStrategy.getBest()
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if strategy then
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strategy.execute(currentPosition, updateSessionMap, updateServerMap)
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serverMap:check()
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serverMap:pushUpdates()
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else
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detectAll(currPos)
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-- throw error ?
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end
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serverMap:check()
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serverMap:pushUpdates()
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end
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local function move(currPos, adjPos)
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local direction = deltaToDirection(adjPos - currPos)
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local direction = location.headingFromDelta(adjPos - currPos)
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if direction then
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position:setHeading(direction)
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if direction == 4 then
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@ -356,3 +279,7 @@ function getPosition()
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return position:value()
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end
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end
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function addScanStrategy(strategy)
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scanStrategy.add(strategy)
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end
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84
netNav/scanStrategy.lua
Normal file
84
netNav/scanStrategy.lua
Normal file
@ -0,0 +1,84 @@
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local strategies = {}
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local function compareStrategies(a, b)
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return a.priority > b.priority
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end
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function add(strategy)
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table.insert(strategies, strategy)
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table.sort(strategies, compareStrategies)
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end
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function getBest()
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for _, strategy in ipairs(strategies) do
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if strategy.isAvailable() then
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return strategy
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end
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end
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return false
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end
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--===== SET UP VANILLA SCAN STRATEGY =====--
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local function detect(currPos, adjPos)
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local heading = location.headingFromDelta(adjPos - currPos)
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if heading then
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currPos:setHeading(heading)
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if heading == 4 then
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return turtle.detectUp()
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elseif heading == 5 then
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return turtle.detectDown()
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else
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return turtle.detect()
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end
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end
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return false
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end
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local vanillaScanStrategy = {
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priority = 0, -- lowest priority
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isAvailable = function() return true end, -- always available
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execute = function(currentPosition, updateSessionMap, updateServerMap)
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for _, pos in ipairs(aStar.adjacent(currentPosition)) do -- find better order of checking directions
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local isBlocked = detect(currentPosition, pos)
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updateSessionMap(pos, isBlocked)
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updateServerMap(pos, isBlocked)
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end
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end,
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}
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add(vanillaScanStrategy)
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--===== LOAD STRATEGIES FROM NET NAV STRATEGY FOLDER
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local function loadStrategy(path)
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local name = fs.getName(path)
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if name:sub(-4) == ".lua" then
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name = name:sub(1, -5)
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end
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local tEnv = {}
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setmetatable(tEnv, {__index = _G})
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local fnAPI, err = loadfile(path, tEnv)
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if fnAPI then
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local ok, err = pcall(fnAPI)
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if not ok then
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return printError("Failed to load strategy " .. name .. " due to " .. err, 1)
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end
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else
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return printError("Failed to load strategy " .. name .. " due to " .. err, 1)
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end
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if type(tEnv.new) == "function" then
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local strategy = tEnv.new()
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add(strategy)
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else
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return printError("Failed to find constructor for strategy " .. name)
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end
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end
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local STRATEGY_FOLDER = "netNavScanStrategies"
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if fs.exists(STRATEGY_FOLDER) and fs.isDir(STRATEGY_FOLDER) then
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for _, file in ipairs(fs.list(STRATEGY_FOLDER)) do
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local path = fs.combine(STRATEGY_FOLDER, file)
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loadStrategy(path)
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end
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end
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