303 lines
7.7 KiB
Lua
303 lines
7.7 KiB
Lua
if not tinyMap then
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if not os.loadAPI("tinyMap") then
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error("could not load tinyMap API")
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end
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end
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if not aStar then
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if not os.loadAPI("aStar") then
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error("could not load aStar API")
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end
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end
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if not location then
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if not os.loadAPI("location") then
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error("could not load location API")
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end
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end
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local position
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local SESSION_MAX_DISTANCE_DEFAULT = 32
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local SESSION_COORD_CLEAR = 1
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local SESSION_COORD_BLOCKED = 2
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local SESSION_COORD_DISTANCE = math.huge
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local MAIN_COORD_CLEAR = nil
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local MAIN_COORD_BLOCKED = 1
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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
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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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end
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local function distanceFunc(a, b)
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local sessionMapA, sessionMapB = sessionMap:get(a), sessionMap:get(b)
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if sup_norm(a, sessionMidPoint) > sessionMaxDistance then
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return SESSION_COORD_DISTANCE -- first coord is outside the search region
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elseif sup_norm(b, sessionMidPoint) > sessionMaxDistance then
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return SESSION_COORD_DISTANCE -- second coord is outside the search region
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elseif sessionMapA == SESSION_COORD_BLOCKED or sessionMapB == SESSION_COORD_BLOCKED then
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return SESSION_COORD_DISTANCE -- one of the coords has been found to be blocked this during this session
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elseif sessionMapA == SESSION_COORD_CLEAR and sessionMapA == SESSION_COORD_CLEAR then
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return aStar.distance(a, b) -- both coords has been found to be clear this during this session
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elseif mainMap:get(a) or mainMap:get(b) then
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return MAIN_COORD_DISTANCE
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end
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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 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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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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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 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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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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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(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(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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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(peripheral.getNames()) 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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else
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detectAll(currPos)
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end
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mainMap:saveAll()
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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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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 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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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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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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local goal = vector.new(tonumber(x), tonumber(y), tonumber(z))
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sessionMap = aStar.newMap()
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sessionMidPoint = vector.new(math.floor((goal.x + position.x)/2), math.floor((goal.y + position.y)/2), math.floor((goal.z + position.z)/2))
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sessionMaxDistance = (type(maxDistance) == "number" and maxDistance) or math.max(2*sup_norm(sessionMidPoint, goal), SESSION_MAX_DISTANCE_DEFAULT)
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local 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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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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local blockPresent, blockData = inspect(position, movePos)
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local recalculate, isTurtle = false, false
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if blockPresent and (blockData.name == "ComputerCraft:CC-TurtleAdvanced" or blockData.name == "ComputerCraft:CC-Turtle") then -- there is a turtle in the way
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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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recalculate, isTurtle = true, true
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end
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elseif blockPresent then
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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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else
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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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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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mainMap:set(movePos, MAIN_COORD_CLEAR)
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end
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end
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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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