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Implement vertical movement + fix accidental recursion when unstocking/refueling

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This commit is contained in:
Christoph Urlacher
2025-10-06 19:25:54 +02:00
parent 749c32325f
commit 13b506923b
2 changed files with 225 additions and 127 deletions
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108
controller/testing_controller.lua
View File

@ -26,21 +26,24 @@ end
function TestingController:TestRelativeMovementWithRelativeRotation() function TestingController:TestRelativeMovementWithRelativeRotation()
print("Testing relative movement with relative rotation...") print("Testing relative movement with relative rotation...")
-- N: BotCenter -- N: BackCenter (Center)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnRelative(1) -- E: TopCenter self.controller:TurnRelative(1) -- E: FrontCenter (Center)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnRelative(2) -- W: TopRight self.controller:TurnRelative(2) -- W: FrontRight (Center)
self.controller:MoveRelative(3) self.controller:MoveVertical(3)
self.controller:TurnRelative(10) -- E: TopCenter self.controller:TurnRelative(8) -- W: FrontRight (Top)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnRelative(-3) -- S: TopRight self.controller:TurnRelative(3) -- S: FrontCenter (Top)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnRelative(1) -- W: BotRight self.controller:TurnRelative(9) -- W: BackCenter (Top)
self.controller:MoveRelative(3) self.controller:MoveVertical(-3)
self.controller:TurnRelative(1) -- N: BotCenter self.controller:TurnRelative(1) -- N: BackCenter (Center)
print("The turtle should be in its original location.") print("The turtle should be in its original location.")
print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
))
print("Press Enter to continue") print("Press Enter to continue")
_ = io.read() _ = io.read()
end end
@ -49,21 +52,24 @@ end
function TestingController:TestRelativeMovementWithAbsoluteRotation() function TestingController:TestRelativeMovementWithAbsoluteRotation()
print("Testing relative movement with absolute rotation...") print("Testing relative movement with absolute rotation...")
-- N: BotCenter -- N: BackCenter (Center)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnToDirection(Direction.EAST) -- E: TopCenter self.controller:TurnToDirection(Direction.EAST) -- E: FrontCenter (Center)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnToDirection(Direction.WEST) -- W: TopRight self.controller:TurnToDirection(Direction.WEST) -- W: FrontRight (Center)
self.controller:MoveRelative(3) self.controller:MoveVertical(3)
self.controller:TurnToDirection(Direction.EAST) -- E: TopCenter self.controller:TurnToDirection(Direction.WEST) -- W: FrontRight (Top)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnToDirection(Direction.SOUTH) -- S: TopRight self.controller:TurnToDirection(Direction.SOUTH) -- S: FrontCenter (Top)
self.controller:MoveRelative(3) self.controller:MoveForward(3)
self.controller:TurnToDirection(Direction.WEST) -- W: BotRight self.controller:TurnToDirection(Direction.WEST) -- W: BackCenter (Top)
self.controller:MoveRelative(3) self.controller:MoveVertical(-3)
self.controller:TurnToDirection(Direction.NORTH) -- N: BotCenter self.controller:TurnToDirection(Direction.NORTH) -- N: BackCenter (Center)
print("The turtle should be in its original location.") print("The turtle should be in its original location.")
print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
))
print("Press Enter to continue") print("Press Enter to continue")
_ = io.read() _ = io.read()
end end
@ -72,20 +78,18 @@ end
function TestingController:TestAbsoluteMovementWithoutStack() function TestingController:TestAbsoluteMovementWithoutStack()
print("Testing absolute movement without stack...") print("Testing absolute movement without stack...")
-- N: BotCenter -- N: BackCenter (Center)
self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: FrontCenter (Center)
_ = io.read() self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: FrontRight (Center)
self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: TopRight self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: FrontRight (Top)
_ = io.read() self.controller:MoveToPosition(0, 3, 3, Direction.SOUTH) -- S: FrontCenter (Top)
self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter self.controller:MoveToPosition(0, 3, 0, Direction.WEST) -- W: BackCenter (Top)
_ = io.read() self.controller:MoveToPosition(0, 0, 0, Direction.NORTH) -- N: BackCenter (Center)
self.controller:MoveToPosition(3, 0, 3, Direction.SOUTH) -- S: TopRight
_ = io.read()
self.controller:MoveToPosition(3, 0, 0, Direction.WEST) -- W: BotRight
_ = io.read()
self.controller:MoveToPosition(0, 0, 0, Direction.NORTH) -- N: BotCenter
print("The turtle should be in its original location.") print("The turtle should be in its original location.")
print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
))
print("Press Enter to continue") print("Press Enter to continue")
_ = io.read() _ = io.read()
end end
@ -94,16 +98,16 @@ end
function TestingController:TestAbsoluteMovementWithStack() function TestingController:TestAbsoluteMovementWithStack()
print("Testing absolute movement with stack...") print("Testing absolute movement with stack...")
-- N: BotCenter -- N: BotCenter (Center)
self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter (Center)
_ = io.read() self.controller:MoveBack() -- N: BotCenter (Center)
self.controller:MoveBack() -- N: BotCenter self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: TopRight (Top)
_ = io.read() self.controller:MoveBack() -- N: BotCenter (Center)
self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: TopRight
_ = io.read()
self.controller:MoveBack() -- N: BotCenter
print("The turtle should be in its original location.") print("The turtle should be in its original location.")
print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
))
print("Press Enter to continue") print("Press Enter to continue")
_ = io.read() _ = io.read()
end end
@ -111,12 +115,13 @@ end
function TestingController:TestUnstocking() function TestingController:TestUnstocking()
print("Testing inventory unloading...") print("Testing inventory unloading...")
print("Please fill multiple inventory slots with items.")
_ = io.read()
self.controller:MoveToPosition(3, 0, 3, Direction.WEST) self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
print("Please fill the entire inventory with items.")
print("Press Enter to continue")
_ = io.read() _ = io.read()
self.controller:UnstockIfFull(true) self.controller:UnstockIfFull(true)
print("Press Enter to continue")
_ = io.read() _ = io.read()
self.controller:MoveBack() self.controller:MoveBack()
@ -128,12 +133,13 @@ end
function TestingController:TestRefueling() function TestingController:TestRefueling()
print("Testing refueling...") print("Testing refueling...")
print("Please fill multiple inventory slots with items.")
_ = io.read()
self.controller:MoveToPosition(3, 0, 3, Direction.WEST) self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
print("Please fill multiple inventory slots with items.")
print("Press Enter to continue")
_ = io.read() _ = io.read()
self.controller:RefuelIfEmpty(true) self.controller:RefuelIfEmpty(true)
print("Press Enter to continue")
_ = io.read() _ = io.read()
self.controller:MoveBack() self.controller:MoveBack()
@ -150,7 +156,7 @@ end
function TestingController:Run() function TestingController:Run()
self.controller:Configure() self.controller:Configure()
self.controller:DisableMining() self.controller:DisableMiningForward()
print("There are multiple tests available:") print("There are multiple tests available:")
print("1: Relative movement with relative rotation") print("1: Relative movement with relative rotation")

244
controller/turtle_controller.lua
View File

@ -8,15 +8,13 @@ local Stack = require("lib.stack")
---@field config TurtleControllerConfig ---@field config TurtleControllerConfig
---@field position Position ---@field position Position
---@field last_positions Stack ---@field last_positions Stack
---@field mine boolean ---@field mine_forward boolean
---@field mine_above boolean
---@field mine_below boolean
local TurtleController = {} local TurtleController = {}
TurtleController.__index = TurtleController TurtleController.__index = TurtleController
-- TODO: StackOverflow once the inventory is full...
-- TODO: Test if there's a chest when dropping/sucking/mining (don't mine chests!)
---@return TurtleController ---@return TurtleController
function TurtleController:Create() function TurtleController:Create()
local t = {} local t = {}
@ -37,7 +35,9 @@ function TurtleController:Create()
} }
t.position = Position:Empty() t.position = Position:Empty()
t.last_positions = Stack:Create() t.last_positions = Stack:Create()
t.mine = false t.mine_forward = false
t.mine_above = false
t.mine_below = false
return t return t
@ -52,21 +52,19 @@ end
---Positive numbers turn clockwise, negative numbers turn counterclockwise ---Positive numbers turn clockwise, negative numbers turn counterclockwise
---@param number_of_turns number ---@param number_of_turns number
function TurtleController:TurnRelative(number_of_turns) function TurtleController:TurnRelative(number_of_turns)
if number_of_turns == 0 then if number_of_turns % 4 == 0 then
return return
end end
self:RefuelIfEmpty()
-- Turn turtle -- Turn turtle
local turns = number_of_turns % 4 local turns = number_of_turns % 4
if turns == 3 then if turns == 3 then
print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1)) -- print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))
-- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction -- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
turtle.turnLeft() turtle.turnLeft()
else else
print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns)) -- print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
for _ = 1,turns do for _ = 1,turns do
turtle.turnRight() turtle.turnRight()
@ -90,31 +88,42 @@ end
---Move forward by a number of blocks depending on the current rotation ---Move forward by a number of blocks depending on the current rotation
---@param number_of_blocks number ---@param number_of_blocks number
function TurtleController:MoveRelative(number_of_blocks) ---@param skip_unstocking boolean | nil
---@param skip_refueling boolean | nil
function TurtleController:MoveForward(number_of_blocks, skip_unstocking, skip_refueling)
skip_unstocking = skip_unstocking or false
skip_refueling = skip_refueling or false
if number_of_blocks == 0 then if number_of_blocks == 0 then
return return
end end
print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks)) -- print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks))
for _ = 1,math.abs(number_of_blocks) do for _ = 1,math.abs(number_of_blocks) do
self:RefuelIfEmpty() if not skip_refueling then
self:UnstockIfFull() self:RefuelIfEmpty()
end
-- Break blocks if not skip_unstocking then
if self.mine then self:UnstockIfFull()
while not turtle.forward() do
turtle.dig()
end
turtle.digUp()
turtle.digDown()
else
if not turtle.forward() then
printError("Turtle wants to move without mining but is blocked!")
end
end end
-- Update current_position -- Mine
if self.mine_forward then
turtle.dig()
end
if self.mine_above then
turtle.digUp()
end
if self.mine_below then
turtle.digDown()
end
-- Move
if not turtle.forward() then
error("Turtle failed to move forward!")
end
-- Update current position
if self.position.dir == Direction.NORTH then if self.position.dir == Direction.NORTH then
self.position.z = self.position.z + 1 self.position.z = self.position.z + 1
elseif self.position.dir == Direction.SOUTH then elseif self.position.dir == Direction.SOUTH then
@ -127,35 +136,71 @@ function TurtleController:MoveRelative(number_of_blocks)
end end
end end
---Positive numbers move up, negative numbers move down.
---@param number_of_blocks number
---@param skip_unstocking boolean | nil
---@param skip_refueling boolean | nil
function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_refueling)
skip_unstocking = skip_unstocking or false
skip_refueling = skip_refueling or false
if number_of_blocks == 0 then
return
end
-- print(("Turtle is moving vertically by %d blocks..."):format(number_of_blocks))
local move_function = number_of_blocks > 0 and turtle.up or turtle.down
local mine_function = number_of_blocks > 0 and turtle.digUp or turtle.digDown
local mine_enabled = number_of_blocks > 0 and self.mine_above or self.mine_below
for _ = 1,math.abs(number_of_blocks) do
if not skip_refueling then
self:RefuelIfEmpty()
end
if not skip_unstocking then
self:UnstockIfFull()
end
-- Mine
if mine_enabled then
mine_function()
end
-- Move
if not move_function() then
error("Turtle failed to move vertically!")
end
-- Update current position
if number_of_blocks > 0 then
self.position.y = self.position.y + 1
elseif number_of_blocks < 0 then
self.position.y = self.position.y - 1
end
end
end
---Move to an absolute position. Stores the current position on the stack so we can return using TurtleController:MoveBack()
---@param x number The EAST/WEST axis (grows from WEST to EAST) ---@param x number The EAST/WEST axis (grows from WEST to EAST)
---@param y number The UP/DOWN axis (grows from DOWN to UP) ---@param y number The UP/DOWN axis (grows from DOWN to UP)
---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH) ---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
---@param dir Direction ---@param dir Direction
function TurtleController:MoveToPosition(x, y, z, dir) ---@param skip_unstocking boolean | nil
print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z)) ---@param skip_refueling boolean | nil
function TurtleController:MoveToPosition(x, y, z, dir, skip_unstocking, skip_refueling)
-- print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
self:DisableMining() -- Store the current position on the stack, so we can return using TurtleController:MoveBack()
self.last_positions:Push(Position:Copy(self.position)) self.last_positions:Push(Position:Copy(self.position))
if self.position.z > 1 then -- EAST/WEST axis (do first to not interfere with chests)
-- Move south once (if we're at the top) to not be blocked by the slice that is currently mined.
-- This assumes that we mine the full width back to front.
self:TurnToDirection(Direction.SOUTH)
self:MoveRelative(1)
elseif self.position.z == 0 then
-- Move north once (if we're at the bottom) to not be blocked by the chests
self:TurnToDirection(Direction.NORTH)
self:MoveRelative(1)
end
-- EAST/WEST axis (do first to not interfere with chests or unmined walls)
if self.position.x > x then if self.position.x > x then
self:TurnToDirection(Direction.WEST) self:TurnToDirection(Direction.WEST)
elseif self.position.x < x then elseif self.position.x < x then
self:TurnToDirection(Direction.EAST) self:TurnToDirection(Direction.EAST)
end end
self:MoveRelative(math.abs(self.position.x - x)) self:MoveForward(math.abs(x - self.position.x), skip_unstocking, skip_refueling)
-- NORTH/SOUTH axis -- NORTH/SOUTH axis
if self.position.z > z then if self.position.z > z then
@ -163,28 +208,47 @@ function TurtleController:MoveToPosition(x, y, z, dir)
elseif self.position.z < z then elseif self.position.z < z then
self:TurnToDirection(Direction.NORTH) self:TurnToDirection(Direction.NORTH)
end end
self:MoveRelative(math.abs(self.position.z - z)) self:MoveForward(math.abs(z - self.position.z), skip_unstocking, skip_refueling)
-- UP/DOWN axis
self:MoveVertical(y - self.position.y, skip_unstocking, skip_refueling)
-- Direction -- Direction
self:TurnToDirection(dir or Direction.NORTH) self:TurnToDirection(dir or Direction.NORTH)
-- Sanity check -- Sanity check
if not(self.position.x == x and self.position.y == y and self.position.z == z and self.position.dir == dir) then if not(self.position.x == x and self.position.y == y and self.position.z == z and self.position.dir == dir) then
printError("TurtleController:MoveToPosition failed to move to target position!") error("TurtleController:MoveToPosition failed to move to target position!")
end end
end end
function TurtleController:MoveBack() ---Move by a vector. Stores the current position on the stack so we can return using TurtleController:MoveBack()
local target_position = self.last_positions:Pop() ---@param x number The EAST/WEST axis (grows from WEST to EAST)
---@param y number The UP/DOWN axis (grows from DOWN to UP)
---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
---@param dir Direction
---@param skip_unstocking boolean | nil
---@param skip_refueling boolean | nil
function TurtleController:MoveByVector(x, y, z, dir, skip_unstocking, skip_refueling)
self:MoveToPosition(self.position.x + x, self.position.y + y, self.position.z + z, dir, skip_unstocking, skip_refueling)
end
if target_position == nil then
shell.exit() ---Move to the previously stored position and pop this position from the stack.
---@param skip_unstocking boolean | nil
---@param skip_refueling boolean | nil
function TurtleController:MoveBack(skip_unstocking, skip_refueling)
local last_position = self.last_positions:Pop()
if last_position == nil then
error("Failed to obtain last_position to move back!")
else else
self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir) self:MoveToPosition(last_position.x, last_position.y, last_position.z, last_position.dir, skip_unstocking, skip_refueling)
-- Pop the stack because MoveToPosition pushes our current position
self.last_positions:Pop() self.last_positions:Pop()
end end
end end
@ -193,6 +257,27 @@ end
----------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------
---@return boolean
function TurtleController:HasFuel()
local level = turtle.getFuelLevel()
local distance_home = self.position.x + self.position.y + self.position.z
return level > distance_home + self.config.refuel_safety_margin
end
---@return boolean
function TurtleController:HasInventorySpace()
for slot = 1,16 do
if turtle.getItemDetail(slot) == nil then
return true
end
end
return false
end
---@param slot number ---@param slot number
---@param count number ---@param count number
---@return boolean ---@return boolean
@ -241,14 +326,17 @@ function TurtleController:UnstockIfFull(skip_inventory_check)
if not skip_inventory_check and self:HasInventorySpace() then if not skip_inventory_check and self:HasInventorySpace() then
return return
end end
if skip_inventory_check then
print(("HasInventorySpace() returned %s"):format(self:HasInventorySpace()))
end
print("Turtle is unstocking...") print("Turtle is unstocking...")
self:MoveToPosition(0, 0, 0, self.config.storage_direction) self:MoveToPosition(0, 0, 0, self.config.storage_direction, true, true)
self:DropInventory() self:DropInventory()
self:RefuelIfEmpty() self:RefuelIfEmpty()
self:MoveBack() self:MoveBack(true, true)
end end
@ -258,11 +346,14 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
if not skip_fuel_check and self:HasFuel() then if not skip_fuel_check and self:HasFuel() then
return return
end end
if skip_fuel_check then
print(("HasFuel() returned %s"):format(self:HasFuel()))
end
print("Turtle is refueling...") print("Turtle is refueling...")
-- Clear our inventory into the storage chest -- Clear our inventory into the storage chest
self:MoveToPosition(0, 0, 0, self.config.storage_direction) self:MoveToPosition(0, 0, 0, self.config.storage_direction, true, true)
self:DropInventory() self:DropInventory()
-- Prepare refueling -- Prepare refueling
@ -274,7 +365,7 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
local target_fuel_level = self.config.refuel_amount local target_fuel_level = self.config.refuel_amount
local last_position = self.last_positions:Peek() local last_position = self.last_positions:Peek()
if last_position == nil then if last_position == nil then
shell.exit() error("Failed to obtain last_position while refueling!")
else else
target_fuel_level = target_fuel_level + last_position.x + last_position.y + last_position.z target_fuel_level = target_fuel_level + last_position.x + last_position.y + last_position.z
end end
@ -283,14 +374,13 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
local before_level = turtle.getFuelLevel() local before_level = turtle.getFuelLevel()
repeat repeat
if not self:SuckItem(1, 1) then if not self:SuckItem(1, 1) then
printError("Failed to suck fuel out of fuel chest!") error("Failed to suck fuel out of fuel chest!")
shell.exit()
end end
turtle.refuel() turtle.refuel()
until turtle.getFuelLevel() >= target_fuel_level until turtle.getFuelLevel() >= target_fuel_level
local after_level = turtle.getFuelLevel() local after_level = turtle.getFuelLevel()
self:MoveBack() self:MoveBack(true, true)
print(("Refuelled %d units, current level is %d (old level was %d)"):format(after_level - before_level, after_level, before_level)) print(("Refuelled %d units, current level is %d (old level was %d)"):format(after_level - before_level, after_level, before_level))
end end
@ -334,32 +424,34 @@ function TurtleController:Configure()
end end
function TurtleController:EnableMining() function TurtleController:EnableMiningForward()
self.mine = true self.mine_forward = true
end end
function TurtleController:DisableMining() function TurtleController:DisableMiningForward()
self.mine = false self.mine_forward = false
end end
function TurtleController:HasFuel() function TurtleController:EnableMiningAbove()
local level = turtle.getFuelLevel() self.mine_above = true
local distance_home = self.position.x + self.position.y + self.position.z
return level > distance_home + self.config.refuel_safety_margin
end end
function TurtleController:HasInventorySpace() function TurtleController:DisableMiningAbove()
for slot = 1,16 do self.mine_above = false
if turtle.getItemDetail(slot) == nil then
return true
end
end
return false
end end
function TurtleController:EnableMiningBelow()
self.mine_below = true
end
function TurtleController:DisableMiningBelow()
self.mine_below = false
end
return TurtleController return TurtleController