Implement base TurtleController and simple VolumeExcavationController

controller/volume_excavation_controller.lua

@@ -0,0 +1,130 @@
+local Direction = require("lib.direction")
+local TurtleController = require("controller.turtle_controller")
+
+---@alias VolumeExcavationControllerConfig {mine_forward: number, mine_left: number, mine_right: number}
+
+---@class VolumeExcavationController
+---@field controller TurtleController
+---@field config VolumeExcavationControllerConfig
+local VolumeExcavationController = {}
+VolumeExcavationController.__index = VolumeExcavationController
+
+
+---@return VolumeExcavationController
+function VolumeExcavationController:Create()
+    local t = {}
+    setmetatable(t, VolumeExcavationController)
+
+
+    -----------------------------------------------------------------------------------------------
+    -- Fields
+    -----------------------------------------------------------------------------------------------
+
+
+    t.controller = TurtleController:Create()
+    t.config = {
+        mine_forward = 0,
+        mine_left = 0,
+        mine_right = 0,
+    }
+
+
+    return t
+end
+
+
+-----------------------------------------------------------------------------------------------
+-- Behavior Methods
+-----------------------------------------------------------------------------------------------
+
+
+function VolumeExcavationController:Excavate()
+    print(("Turtle is mining layer at y=%d..."):format(self.controller.position.y))
+
+    -- Enter the excavation area
+    self.controller:EnableMining()
+    self.controller:MoveRelative(1)
+
+    -- Move to the bottom right corner of the layer
+    self.controller:TurnToDirection(Direction.EAST)
+    self.controller:MoveRelative(self.config.mine_right)
+    self.controller:TurnToDirection(Direction.WEST)
+
+    -- Zig zag mine back to front
+    -- The direction is important so we can travel to start without colliding with unminded walls
+    local turn_dir = 1
+    for i = 1,self.config.mine_forward do
+        self.controller:MoveRelative(self.config.mine_left + self.config.mine_right)
+
+        -- Skip the last turn, as we won't mine that slice
+        -- We want to stay in the mined area so we can move back freely
+        if i == self.config.mine_forward then
+            break
+        end
+
+        self.controller:TurnRelative(turn_dir)
+        self.controller:MoveRelative(1)
+        self.controller:TurnRelative(turn_dir)
+
+        turn_dir = -1 * turn_dir
+    end
+
+    self.controller:MoveToPosition(0, 0, 0, Direction.NORTH)
+
+    -- Unload before doing the next layer
+    self.controller:TurnToDirection(self.controller.config.storage_direction)
+    self.controller:DropInventory()
+    self.controller:TurnToDirection(Direction.NORTH)
+end
+
+
+-----------------------------------------------------------------------------------------------
+-- Management Methods
+-----------------------------------------------------------------------------------------------
+
+
+function VolumeExcavationController:Configure()
+    local config_complete = false
+
+    while not config_complete do
+        print("How many blocks should the turtle mine forward?")
+        self.config.mine_forward = tonumber(io.read()) or 3
+
+        print("How many blocks should the turtle to its right?")
+        self.config.mine_right = tonumber(io.read()) or 3
+
+        print("How many blocks should the turtle mine to its left?")
+        self.config.mine_left = tonumber(io.read()) or 3
+
+        local width = self.config.mine_left + self.config.mine_right + 1
+        local height = 3
+
+        print("Configuration complete!")
+        print(("Turtle will mine an area of %d x %d x %d (forward x width x height) totalling %d blocks."):format(
+            self.config.mine_forward, width, height, self.config.mine_forward * width * height
+        ))
+        print("Do you want to accept the configuration (enter 1, otherwise 0)?")
+        config_complete = tonumber(io.read()) == 1
+    end
+end
+
+
+-----------------------------------------------------------------------------------------------
+-- Main Method
+-----------------------------------------------------------------------------------------------
+
+
+function VolumeExcavationController:Run()
+    self.controller:Configure()
+    self:Configure()
+
+    -- Consume our starting fuel and refuel to the full amount
+    turtle.select(1)
+    turtle.refuel()
+    self.controller:RefuelIfEmpty()
+
+    self:Excavate()
+end
+
+
+return VolumeExcavationController