Few corrections to netNav and align starNav to recent changes in netNav
This commit is contained in:
Matt Blunt
parent
26f3750b00
commit
7808328601
10
netNav
10
netNav
@ -284,8 +284,8 @@ end
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function setMap(mapName, mapTimeout)
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if type(mapName) ~= "string" then
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error("mapName must be string")
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if type(mapTimeout) ~= "number" or mapTimeout < 0 then
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end
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if type(mapTimeout) ~= "number" or mapTimeout < 0 then
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error("timeout must be positive number")
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end
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serverMap = remoteMap.new(mapName, mapTimeout)
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@ -293,4 +293,10 @@ end
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function getMap()
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return serverMap
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end
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end
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function getPosition()
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if position then
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return position:value()
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end
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end
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187
starNav
187
starNav
@ -28,7 +28,7 @@ local MAIN_COORD_DISTANCE = 1024
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local sessionMidPoint
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local sessionMaxDistance
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local sessionMap
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local mainMap = tinyMap.new("starNavMaps")
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local mainMap
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local function sup_norm(a, b)
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return math.max(math.abs(a.x - b.x), math.abs(a.y - b.y), math.abs(a.z - b.z))
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@ -50,106 +50,109 @@ local function distanceFunc(a, b)
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return aStar.distance(a, b) -- we are assuming both coords are clear
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end
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local function getHeading()
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local i = 0
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while turtle.detect() do
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if i == 4 then
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if turtle.up() then
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i = 0
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else
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error("help I'm trapped in a ridiculous place")
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end
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else
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turtle.turnRight()
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i = i + 1
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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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return true
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end
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turtle.turnRight()
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end
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return false
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end
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local function findPosition()
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local move = turtle.up
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while not tryMove() do
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if not move() then
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if move == turtle.up then
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move = turtle.down
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move()
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else
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error("trapped in a ridiculous place")
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end
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end
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end
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local p1 = {gps.locate()}
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if #p1 == 3 then
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p1 = vector.new(unpack(p1))
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else
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error("no gps signal - phase 1")
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end
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i = 0
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while not turtle.forward() do
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if i > 5 then error("couldn't move to determine direction") end
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i = i + 1
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sleep(1)
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if not turtle.back() then
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error("couldn't move to determine direction")
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end
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local p2 = {gps.locate()}
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turtle.back()
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if #p2 == 3 then
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p2 = vector.new(unpack(p2))
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else
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error("no gps signal - phase 2")
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end
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local dir = p2 - p1
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if dir.x == 1 then
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return 3
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elseif dir.x == -1 then
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return 1
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elseif dir.z == 1 then
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return 0
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elseif dir.z == -1 then
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return 2
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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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else
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error("could not determine direction - phase 3")
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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 dir = adjPos - currPos
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if dir.y == 1 then
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return turtle.detectUp()
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elseif dir.y == -1 then
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return turtle.detectDown()
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elseif dir.x == 1 then
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position:setHeading(3)
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return turtle.detect()
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elseif dir.x == -1 then
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position:setHeading(1)
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return turtle.detect()
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elseif dir.z == 1 then
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position:setHeading(0)
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return turtle.detect()
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elseif dir.z == -1 then
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position:setHeading(2)
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return turtle.detect()
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else
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return false
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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 dir = adjPos - currPos
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if dir.y == 1 then
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return turtle.inspectUp()
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elseif dir.y == -1 then
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return turtle.inspectDown()
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elseif dir.x == 1 then
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position:setHeading(3)
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return turtle.inspect()
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elseif dir.x == -1 then
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position:setHeading(1)
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return turtle.inspect()
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elseif dir.z == 1 then
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position:setHeading(0)
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return turtle.inspect()
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elseif dir.z == -1 then
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position:setHeading(2)
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return turtle.inspect()
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else
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return false
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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.inspectUp()
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elseif direction == 5 then
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return turtle.inspectDown()
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else
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return turtle.inspect()
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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 updateCoord(coord, isBlocked)
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if isBlocked then
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sessionMap:set(pos, SESSION_COORD_BLOCKED)
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mainMap:set(pos, MAIN_COORD_BLOCKED)
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sessionMap:set(coord, SESSION_COORD_BLOCKED)
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mainMap:set(coord, MAIN_COORD_BLOCKED)
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else
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sessionMap:set(pos, SESSION_COORD_CLEAR)
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mainMap:set(pos, MAIN_COORD_CLEAR)
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sessionMap:set(coord, SESSION_COORD_CLEAR)
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mainMap:set(coord, MAIN_COORD_CLEAR)
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end
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end
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@ -205,31 +208,30 @@ local function scan(currPos)
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end
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local function move(currPos, adjPos)
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if not detect(position, adjPos) then
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local dir = adjPos - currPos
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if dir.y == 1 then
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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 position:up()
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elseif dir.y == -1 then
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elseif direction == 5 then
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return position:down()
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else
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return position:forward()
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end
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else
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return false
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end
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return false
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end
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function goto(x, y, z, maxDistance)
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if not mainMap then
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error("mainMap has not been specified")
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end
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if turtle.getFuelLevel() == 0 then
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return false, "ran out of fuel"
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end
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if not position then
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local heading = getHeading()
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local currPos = {gps.locate()}
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if #currPos == 3 then
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local x, y, z = unpack(currPos)
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position = location.new(x, y, z, heading)
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else
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position = findPosition()
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if not position then
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return false, "couldn't determine location"
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end
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end
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@ -244,7 +246,6 @@ function goto(x, y, z, maxDistance)
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if not path then
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return false, "no known path to goal"
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end
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while not aStar.vectorEquals(position, goal) do
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local movePos = table.remove(path)
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while not move(position, movePos) do
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@ -254,11 +255,9 @@ function goto(x, y, z, maxDistance)
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sleep(math.random(0, 3))
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local blockPresent2, blockData2 = inspect(position, movePos)
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if blockPresent2 and (blockData2.name == "ComputerCraft:CC-TurtleAdvanced" or blockData2.name == "ComputerCraft:CC-Turtle") then -- the turtle is still there
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sessionMap:set(movePos, SESSION_COORD_BLOCKED)
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recalculate, isTurtle = true, true
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end
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elseif blockPresent then
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scan(position) -- update map info
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recalculate = true
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elseif turtle.getFuelLevel() == 0 then
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return false, "ran out of fuel"
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@ -266,15 +265,16 @@ function goto(x, y, z, maxDistance)
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sleep(1)
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end
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if recalculate then
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scan(position)
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if sessionMap:get(goal) == SESSION_COORD_BLOCKED then return false, "goal is blocked" end
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path = aStar.compute(distanceFunc, position, goal)
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if not path then
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return false, "no known path to goal"
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end
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movePos = table.remove(path)
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if isTurtle then
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sessionMap:set(movePos, nil)
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end
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movePos = table.remove(path)
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end
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end
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if mainMap:get(movePos) then
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@ -284,8 +284,19 @@ function goto(x, y, z, maxDistance)
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return true
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end
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function setMap(mapName)
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if type(mapName) ~= "string" then
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error("mapName must be string")
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end
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mainMap = tinyMap.new(mapName)
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end
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function getMap()
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return mainMap
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end
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function getPosition()
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if position then
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return position:value()
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end
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end
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end
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