Implement vertical movement + fix accidental recursion when unstocking/refueling
This commit is contained in:
@ -26,21 +26,24 @@ end
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function TestingController:TestRelativeMovementWithRelativeRotation()
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print("Testing relative movement with relative rotation...")
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-- N: BotCenter
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self.controller:MoveRelative(3)
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self.controller:TurnRelative(1) -- E: TopCenter
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self.controller:MoveRelative(3)
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self.controller:TurnRelative(2) -- W: TopRight
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self.controller:MoveRelative(3)
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self.controller:TurnRelative(10) -- E: TopCenter
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self.controller:MoveRelative(3)
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self.controller:TurnRelative(-3) -- S: TopRight
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self.controller:MoveRelative(3)
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self.controller:TurnRelative(1) -- W: BotRight
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self.controller:MoveRelative(3)
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self.controller:TurnRelative(1) -- N: BotCenter
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-- N: BackCenter (Center)
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self.controller:MoveForward(3)
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self.controller:TurnRelative(1) -- E: FrontCenter (Center)
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self.controller:MoveForward(3)
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self.controller:TurnRelative(2) -- W: FrontRight (Center)
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self.controller:MoveVertical(3)
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self.controller:TurnRelative(8) -- W: FrontRight (Top)
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self.controller:MoveForward(3)
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self.controller:TurnRelative(3) -- S: FrontCenter (Top)
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self.controller:MoveForward(3)
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self.controller:TurnRelative(9) -- W: BackCenter (Top)
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self.controller:MoveVertical(-3)
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self.controller:TurnRelative(1) -- N: BackCenter (Center)
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print("The turtle should be in its original location.")
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print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
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self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
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))
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print("Press Enter to continue")
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_ = io.read()
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end
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@ -49,21 +52,24 @@ end
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function TestingController:TestRelativeMovementWithAbsoluteRotation()
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print("Testing relative movement with absolute rotation...")
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-- N: BotCenter
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self.controller:MoveRelative(3)
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self.controller:TurnToDirection(Direction.EAST) -- E: TopCenter
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self.controller:MoveRelative(3)
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self.controller:TurnToDirection(Direction.WEST) -- W: TopRight
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self.controller:MoveRelative(3)
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self.controller:TurnToDirection(Direction.EAST) -- E: TopCenter
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self.controller:MoveRelative(3)
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self.controller:TurnToDirection(Direction.SOUTH) -- S: TopRight
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self.controller:MoveRelative(3)
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self.controller:TurnToDirection(Direction.WEST) -- W: BotRight
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self.controller:MoveRelative(3)
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self.controller:TurnToDirection(Direction.NORTH) -- N: BotCenter
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-- N: BackCenter (Center)
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self.controller:MoveForward(3)
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self.controller:TurnToDirection(Direction.EAST) -- E: FrontCenter (Center)
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self.controller:MoveForward(3)
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self.controller:TurnToDirection(Direction.WEST) -- W: FrontRight (Center)
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self.controller:MoveVertical(3)
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self.controller:TurnToDirection(Direction.WEST) -- W: FrontRight (Top)
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self.controller:MoveForward(3)
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self.controller:TurnToDirection(Direction.SOUTH) -- S: FrontCenter (Top)
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self.controller:MoveForward(3)
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self.controller:TurnToDirection(Direction.WEST) -- W: BackCenter (Top)
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self.controller:MoveVertical(-3)
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self.controller:TurnToDirection(Direction.NORTH) -- N: BackCenter (Center)
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print("The turtle should be in its original location.")
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print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
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self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
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))
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print("Press Enter to continue")
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_ = io.read()
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end
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@ -72,20 +78,18 @@ end
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function TestingController:TestAbsoluteMovementWithoutStack()
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print("Testing absolute movement without stack...")
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-- N: BotCenter
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self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter
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_ = io.read()
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self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: TopRight
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_ = io.read()
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self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter
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_ = io.read()
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self.controller:MoveToPosition(3, 0, 3, Direction.SOUTH) -- S: TopRight
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_ = io.read()
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self.controller:MoveToPosition(3, 0, 0, Direction.WEST) -- W: BotRight
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_ = io.read()
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self.controller:MoveToPosition(0, 0, 0, Direction.NORTH) -- N: BotCenter
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-- N: BackCenter (Center)
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self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: FrontCenter (Center)
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self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: FrontRight (Center)
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self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: FrontRight (Top)
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self.controller:MoveToPosition(0, 3, 3, Direction.SOUTH) -- S: FrontCenter (Top)
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self.controller:MoveToPosition(0, 3, 0, Direction.WEST) -- W: BackCenter (Top)
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self.controller:MoveToPosition(0, 0, 0, Direction.NORTH) -- N: BackCenter (Center)
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print("The turtle should be in its original location.")
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print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
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self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
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))
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print("Press Enter to continue")
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_ = io.read()
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end
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@ -94,16 +98,16 @@ end
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function TestingController:TestAbsoluteMovementWithStack()
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print("Testing absolute movement with stack...")
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-- N: BotCenter
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self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter
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_ = io.read()
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self.controller:MoveBack() -- N: BotCenter
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_ = io.read()
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self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: TopRight
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_ = io.read()
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self.controller:MoveBack() -- N: BotCenter
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-- N: BotCenter (Center)
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self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter (Center)
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self.controller:MoveBack() -- N: BotCenter (Center)
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self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: TopRight (Top)
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self.controller:MoveBack() -- N: BotCenter (Center)
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print("The turtle should be in its original location.")
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print(("The turtle has internal position (%d, %d, %d) and internal direction %d"):format(
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self.controller.position.x, self.controller.position.y, self.controller.position.z, self.controller.position.dir
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))
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print("Press Enter to continue")
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_ = io.read()
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end
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@ -111,12 +115,13 @@ end
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function TestingController:TestUnstocking()
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print("Testing inventory unloading...")
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print("Please fill multiple inventory slots with items.")
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_ = io.read()
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self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
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print("Please fill the entire inventory with items.")
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print("Press Enter to continue")
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_ = io.read()
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self.controller:UnstockIfFull(true)
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print("Press Enter to continue")
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_ = io.read()
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self.controller:MoveBack()
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@ -128,12 +133,13 @@ end
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function TestingController:TestRefueling()
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print("Testing refueling...")
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print("Please fill multiple inventory slots with items.")
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_ = io.read()
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self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
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print("Please fill multiple inventory slots with items.")
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print("Press Enter to continue")
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_ = io.read()
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self.controller:RefuelIfEmpty(true)
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print("Press Enter to continue")
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_ = io.read()
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self.controller:MoveBack()
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@ -150,7 +156,7 @@ end
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function TestingController:Run()
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self.controller:Configure()
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self.controller:DisableMining()
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self.controller:DisableMiningForward()
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print("There are multiple tests available:")
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print("1: Relative movement with relative rotation")
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@ -8,15 +8,13 @@ local Stack = require("lib.stack")
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---@field config TurtleControllerConfig
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---@field position Position
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---@field last_positions Stack
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---@field mine boolean
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---@field mine_forward boolean
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---@field mine_above boolean
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---@field mine_below boolean
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local TurtleController = {}
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TurtleController.__index = TurtleController
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-- TODO: StackOverflow once the inventory is full...
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-- TODO: Test if there's a chest when dropping/sucking/mining (don't mine chests!)
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---@return TurtleController
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function TurtleController:Create()
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local t = {}
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@ -37,7 +35,9 @@ function TurtleController:Create()
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}
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t.position = Position:Empty()
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t.last_positions = Stack:Create()
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t.mine = false
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t.mine_forward = false
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t.mine_above = false
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t.mine_below = false
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return t
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@ -52,21 +52,19 @@ end
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---Positive numbers turn clockwise, negative numbers turn counterclockwise
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---@param number_of_turns number
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function TurtleController:TurnRelative(number_of_turns)
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if number_of_turns == 0 then
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if number_of_turns % 4 == 0 then
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return
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end
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self:RefuelIfEmpty()
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-- Turn turtle
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local turns = number_of_turns % 4
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if turns == 3 then
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print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))
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-- print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))
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-- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
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turtle.turnLeft()
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else
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print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
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-- print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
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for _ = 1,turns do
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turtle.turnRight()
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@ -90,31 +88,42 @@ end
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---Move forward by a number of blocks depending on the current rotation
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---@param number_of_blocks number
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function TurtleController:MoveRelative(number_of_blocks)
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---@param skip_unstocking boolean | nil
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---@param skip_refueling boolean | nil
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function TurtleController:MoveForward(number_of_blocks, skip_unstocking, skip_refueling)
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skip_unstocking = skip_unstocking or false
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skip_refueling = skip_refueling or false
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if number_of_blocks == 0 then
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return
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end
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print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks))
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-- print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks))
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for _ = 1,math.abs(number_of_blocks) do
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if not skip_refueling then
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self:RefuelIfEmpty()
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end
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if not skip_unstocking then
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self:UnstockIfFull()
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end
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-- Break blocks
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if self.mine then
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while not turtle.forward() do
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-- Mine
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if self.mine_forward then
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turtle.dig()
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end
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if self.mine_above then
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turtle.digUp()
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turtle.digDown()
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else
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if not turtle.forward() then
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printError("Turtle wants to move without mining but is blocked!")
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end
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if self.mine_below then
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turtle.digDown()
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end
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-- Update current_position
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-- Move
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if not turtle.forward() then
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error("Turtle failed to move forward!")
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end
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-- Update current position
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if self.position.dir == Direction.NORTH then
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self.position.z = self.position.z + 1
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elseif self.position.dir == Direction.SOUTH then
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@ -127,35 +136,71 @@ function TurtleController:MoveRelative(number_of_blocks)
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end
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end
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---Positive numbers move up, negative numbers move down.
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---@param number_of_blocks number
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---@param skip_unstocking boolean | nil
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---@param skip_refueling boolean | nil
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function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_refueling)
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skip_unstocking = skip_unstocking or false
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skip_refueling = skip_refueling or false
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if number_of_blocks == 0 then
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return
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end
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-- print(("Turtle is moving vertically by %d blocks..."):format(number_of_blocks))
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local move_function = number_of_blocks > 0 and turtle.up or turtle.down
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local mine_function = number_of_blocks > 0 and turtle.digUp or turtle.digDown
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local mine_enabled = number_of_blocks > 0 and self.mine_above or self.mine_below
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for _ = 1,math.abs(number_of_blocks) do
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if not skip_refueling then
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self:RefuelIfEmpty()
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end
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if not skip_unstocking then
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self:UnstockIfFull()
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end
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-- Mine
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if mine_enabled then
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mine_function()
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end
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-- Move
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if not move_function() then
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error("Turtle failed to move vertically!")
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end
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-- Update current position
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if number_of_blocks > 0 then
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self.position.y = self.position.y + 1
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elseif number_of_blocks < 0 then
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self.position.y = self.position.y - 1
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end
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end
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end
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---Move to an absolute position. Stores the current position on the stack so we can return using TurtleController:MoveBack()
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---@param x number The EAST/WEST axis (grows from WEST to EAST)
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---@param y number The UP/DOWN axis (grows from DOWN to UP)
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---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
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---@param dir Direction
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function TurtleController:MoveToPosition(x, y, z, dir)
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print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
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---@param skip_unstocking boolean | nil
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---@param skip_refueling boolean | nil
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function TurtleController:MoveToPosition(x, y, z, dir, skip_unstocking, skip_refueling)
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-- print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
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self:DisableMining()
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-- Store the current position on the stack, so we can return using TurtleController:MoveBack()
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self.last_positions:Push(Position:Copy(self.position))
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if self.position.z > 1 then
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-- Move south once (if we're at the top) to not be blocked by the slice that is currently mined.
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-- This assumes that we mine the full width back to front.
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self:TurnToDirection(Direction.SOUTH)
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self:MoveRelative(1)
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elseif self.position.z == 0 then
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-- Move north once (if we're at the bottom) to not be blocked by the chests
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self:TurnToDirection(Direction.NORTH)
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self:MoveRelative(1)
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end
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-- EAST/WEST axis (do first to not interfere with chests or unmined walls)
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-- EAST/WEST axis (do first to not interfere with chests)
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if self.position.x > x then
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self:TurnToDirection(Direction.WEST)
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elseif self.position.x < x then
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self:TurnToDirection(Direction.EAST)
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end
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self:MoveRelative(math.abs(self.position.x - x))
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self:MoveForward(math.abs(x - self.position.x), skip_unstocking, skip_refueling)
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-- NORTH/SOUTH axis
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if self.position.z > z then
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@ -163,28 +208,47 @@ function TurtleController:MoveToPosition(x, y, z, dir)
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elseif self.position.z < z then
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self:TurnToDirection(Direction.NORTH)
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end
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self:MoveRelative(math.abs(self.position.z - z))
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self:MoveForward(math.abs(z - self.position.z), skip_unstocking, skip_refueling)
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-- UP/DOWN axis
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self:MoveVertical(y - self.position.y, skip_unstocking, skip_refueling)
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-- Direction
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self:TurnToDirection(dir or Direction.NORTH)
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-- Sanity check
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if not(self.position.x == x and self.position.y == y and self.position.z == z and self.position.dir == dir) then
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printError("TurtleController:MoveToPosition failed to move to target position!")
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error("TurtleController:MoveToPosition failed to move to target position!")
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end
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end
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function TurtleController:MoveBack()
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local target_position = self.last_positions:Pop()
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---Move by a vector. Stores the current position on the stack so we can return using TurtleController:MoveBack()
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---@param x number The EAST/WEST axis (grows from WEST to EAST)
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---@param y number The UP/DOWN axis (grows from DOWN to UP)
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---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
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---@param dir Direction
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---@param skip_unstocking boolean | nil
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---@param skip_refueling boolean | nil
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function TurtleController:MoveByVector(x, y, z, dir, skip_unstocking, skip_refueling)
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self:MoveToPosition(self.position.x + x, self.position.y + y, self.position.z + z, dir, skip_unstocking, skip_refueling)
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end
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if target_position == nil then
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shell.exit()
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---Move to the previously stored position and pop this position from the stack.
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---@param skip_unstocking boolean | nil
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---@param skip_refueling boolean | nil
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function TurtleController:MoveBack(skip_unstocking, skip_refueling)
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local last_position = self.last_positions:Pop()
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if last_position == nil then
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error("Failed to obtain last_position to move back!")
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else
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self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
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self:MoveToPosition(last_position.x, last_position.y, last_position.z, last_position.dir, skip_unstocking, skip_refueling)
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-- Pop the stack because MoveToPosition pushes our current position
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self.last_positions:Pop()
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end
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end
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@ -193,6 +257,27 @@ end
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-----------------------------------------------------------------------------------------------
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---@return boolean
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function TurtleController:HasFuel()
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local level = turtle.getFuelLevel()
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local distance_home = self.position.x + self.position.y + self.position.z
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|
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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 count number
|
||||
---@return boolean
|
||||
@ -241,14 +326,17 @@ function TurtleController:UnstockIfFull(skip_inventory_check)
|
||||
if not skip_inventory_check and self:HasInventorySpace() then
|
||||
return
|
||||
end
|
||||
if skip_inventory_check then
|
||||
print(("HasInventorySpace() returned %s"):format(self:HasInventorySpace()))
|
||||
end
|
||||
|
||||
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:RefuelIfEmpty()
|
||||
|
||||
self:MoveBack()
|
||||
self:MoveBack(true, true)
|
||||
end
|
||||
|
||||
|
||||
@ -258,11 +346,14 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
|
||||
if not skip_fuel_check and self:HasFuel() then
|
||||
return
|
||||
end
|
||||
if skip_fuel_check then
|
||||
print(("HasFuel() returned %s"):format(self:HasFuel()))
|
||||
end
|
||||
|
||||
print("Turtle is refueling...")
|
||||
|
||||
-- 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()
|
||||
|
||||
-- Prepare refueling
|
||||
@ -274,7 +365,7 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
|
||||
local target_fuel_level = self.config.refuel_amount
|
||||
local last_position = self.last_positions:Peek()
|
||||
if last_position == nil then
|
||||
shell.exit()
|
||||
error("Failed to obtain last_position while refueling!")
|
||||
else
|
||||
target_fuel_level = target_fuel_level + last_position.x + last_position.y + last_position.z
|
||||
end
|
||||
@ -283,14 +374,13 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
|
||||
local before_level = turtle.getFuelLevel()
|
||||
repeat
|
||||
if not self:SuckItem(1, 1) then
|
||||
printError("Failed to suck fuel out of fuel chest!")
|
||||
shell.exit()
|
||||
error("Failed to suck fuel out of fuel chest!")
|
||||
end
|
||||
turtle.refuel()
|
||||
until turtle.getFuelLevel() >= target_fuel_level
|
||||
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))
|
||||
end
|
||||
@ -334,32 +424,34 @@ function TurtleController:Configure()
|
||||
end
|
||||
|
||||
|
||||
function TurtleController:EnableMining()
|
||||
self.mine = true
|
||||
function TurtleController:EnableMiningForward()
|
||||
self.mine_forward = true
|
||||
end
|
||||
|
||||
|
||||
function TurtleController:DisableMining()
|
||||
self.mine = false
|
||||
function TurtleController:DisableMiningForward()
|
||||
self.mine_forward = false
|
||||
end
|
||||
|
||||
|
||||
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
|
||||
function TurtleController:EnableMiningAbove()
|
||||
self.mine_above = true
|
||||
end
|
||||
|
||||
|
||||
function TurtleController:HasInventorySpace()
|
||||
for slot = 1,16 do
|
||||
if turtle.getItemDetail(slot) == nil then
|
||||
return true
|
||||
end
|
||||
end
|
||||
|
||||
return false
|
||||
function TurtleController:DisableMiningAbove()
|
||||
self.mine_above = false
|
||||
end
|
||||
|
||||
|
||||
function TurtleController:EnableMiningBelow()
|
||||
self.mine_below = true
|
||||
end
|
||||
|
||||
|
||||
function TurtleController:DisableMiningBelow()
|
||||
self.mine_below = false
|
||||
end
|
||||
|
||||
|
||||
return TurtleController
|
||||
Reference in New Issue
Block a user