Merge netherite/excavation controllers, overhaul movement logic with verticality support
This commit is contained in:
324
controller/excavation_controller.lua
Normal file
324
controller/excavation_controller.lua
Normal file
@ -0,0 +1,324 @@
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local Direction = require("lib.direction")
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local TurtleController = require("controller.turtle_controller")
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---@alias ExcavationControllerConfig {slice_length: number, slice_height: number, center_slice_width: number, slice_width: number, slice_padding: number, slices_left: number, slices_right: number}
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---@class ExcavationController
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---@field controller TurtleController
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---@field config ExcavationControllerConfig
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local ExcavationController = {}
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ExcavationController.__index = ExcavationController
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---@return ExcavationController
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function ExcavationController:Create()
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local t = {}
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setmetatable(t, ExcavationController)
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-----------------------------------------------------------------------------------------------
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-- Fields
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-----------------------------------------------------------------------------------------------
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t.controller = TurtleController:Create()
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t.config = {
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slice_length = 0,
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slice_height = 0,
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center_slice_width = 0,
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slice_width = 0,
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slice_padding = 0,
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slices_left = 0,
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slices_right = 0,
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}
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return t
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end
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-----------------------------------------------------------------------------------------------
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-- Behavior Methods
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-----------------------------------------------------------------------------------------------
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---Excavates a single 1x1/1x2 tunnel of configured length.
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---Will leave the turtle wherever it ends up.
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---Only unstocks/refuels if required.
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---@param mine_above boolean
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---@param mine_below boolean
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function ExcavationController:Excavate_1x1or2or3xL(mine_above, mine_below)
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self.controller:EnableMiningForward()
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if mine_above then
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self.controller:EnableMiningAbove()
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end
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if mine_below then
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self.controller:EnableMiningBelow()
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end
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self.controller:MoveForward(self.config.slice_length)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:DisableMiningBelow()
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end
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---Excavates a single 1xH partial slice of configured length.
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---Will leave the turtle in its starting position.
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---Only unstocks/refuels if required.
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function ExcavationController:Excavate_1xHxL()
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self.controller:StorePosition()
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-- We can mine 2 blocks heigh in a single go
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local number_of_1x3xL = math.floor(self.config.slice_height / 3)
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-- Prepare for mining the blocks below the turtle
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if number_of_1x3xL > 0 then
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self.controller:EnableMiningAbove()
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self.controller:MoveVertical(1)
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self.controller:DisableMiningAbove()
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end
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-- Mine 1x3xL
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for i = 1,number_of_1x3xL do
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self:Excavate_1x1or2or3xL(true, true)
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self.controller:TurnRelative(2)
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-- Don't move upwards in the last iteration so we can decide
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-- how much to move depending on how much we still have to excavate
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if i == number_of_1x3xL then
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break
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end
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self.controller:EnableMiningAbove()
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self.controller:MoveVertical(4)
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self.controller:MoveVertical(-1)
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self.controller:DisableMiningAbove()
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end
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-- Mine remaining 1x2xL or 1x1xL
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if self.config.slice_height % 3 == 2 then
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self.controller:EnableMiningAbove()
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self.controller:MoveVertical(3)
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self.controller:MoveVertical(-1)
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self.controller:DisableMiningAbove()
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self:Excavate_1x1or2or3xL(true, false)
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elseif self.config.slice_height % 3 == 1 then
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self.controller:EnableMiningAbove()
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self.controller:MoveVertical(3)
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self.controller:MoveVertical(-1)
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self.controller:DisableMiningAbove()
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self:Excavate_1x1or2or3xL(false, false)
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end
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self.controller:EnableMiningBelow()
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self.controller:MoveBack()
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self.controller:DisableMiningBelow()
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end
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---Excavates a single WxH slice of configured length (EAST to WEST).
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---Will leave the turtle in its starting position.
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---Only unstocks/refuels if required.
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---@param center_slice boolean | nil
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function ExcavationController:Excavate_WxHxL(center_slice)
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self.controller:StorePosition()
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center_slice = center_slice or false
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local width = center_slice and self.config.center_slice_width or self.config.slice_width
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for i = 1,width do
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self:Excavate_1xHxL()
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if i == width then
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break
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end
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self.controller:TurnToDirection(Direction.WEST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(1)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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end
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self.controller:MoveBack()
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end
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---Excavates all slices.
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---Will leave the turtle refueled and unstocked in its 0x0x0 position.
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function ExcavationController:Excavate()
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-- Enter excavation area
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(1)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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-- Excavate center slice (start from right/back/bottom)
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-- Uneven center widths will be centered, even center widths will have a block more on the right
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print("Excavating center slice...")
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local center_width_right = math.floor(self.config.center_slice_width / 2)
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self.controller:StorePosition()
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self.controller:TurnToDirection(Direction.EAST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(center_width_right)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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self:Excavate_WxHxL(true)
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self.controller:MoveBack() -- (0, 0, 1)
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-- Move to right slices starting location
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local padded_width_right = self.config.slices_right * (self.config.slice_width + self.config.slice_padding)
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self.controller:StorePosition()
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self.controller:TurnToDirection(Direction.EAST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(center_width_right + padded_width_right)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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-- Excavate right slices
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print("Excavating right slices")
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for i = 1,self.config.slices_right do
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self:Excavate_WxHxL()
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if i == self.config.slices_right then
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break
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end
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-- Move to the next slice
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self.controller:TurnToDirection(Direction.WEST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(self.config.slice_width + self.config.slice_padding)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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end
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self.controller:MoveBack() -- (0, 0, 1)
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-- Move to left slices starting location
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local center_width_left = self.config.center_slice_width - center_width_right
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self.controller:StorePosition()
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self.controller:TurnToDirection(Direction.WEST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(center_width_left)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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-- Excavate left slices
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print("Excavate left slices")
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for i = 1,self.config.slices_left do
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-- Move to the next slice
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self.controller:TurnToDirection(Direction.WEST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(self.config.slice_padding)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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self:Excavate_WxHxL()
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if i == self.config.slices_left then
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break
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end
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self.controller:TurnToDirection(Direction.WEST)
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self.controller:EnableMiningForward()
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self.controller:EnableMiningAbove()
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self.controller:MoveForward(self.config.slice_width)
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:TurnToDirection(Direction.NORTH)
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end
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self.controller:MoveBack() -- (0, 0, 1)
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-- Finish up
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self.controller:MoveToPosition(0, 0, 0, self.controller.config.storage_direction)
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self.controller:DropInventory()
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self.controller:TurnToDirection(Direction.NORTH)
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end
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-----------------------------------------------------------------------------------------------
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-- Management Methods
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-----------------------------------------------------------------------------------------------
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function ExcavationController:Configure()
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local config_complete = false
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while not config_complete do
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print("How long should each slice be?")
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self.config.slice_length = tonumber(io.read()) or 3
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print("How high should each slice be?")
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self.config.slice_height = tonumber(io.read()) or 3
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print("How wide should the center slice be?")
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self.config.center_slice_width = tonumber(io.read()) or 1
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print("How wide should the other slices be?")
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self.config.slice_width = tonumber(io.read()) or 1
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print("How many blocks should remain between each slice?")
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self.config.slice_padding = tonumber(io.read()) or 0
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print("How many slices should the turtle mine to its right?")
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self.config.slices_right = tonumber(io.read()) or 1
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print("How many slices should the turtle mine to its left?")
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self.config.slices_left = tonumber(io.read()) or 1
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local padded_width_left = self.config.slices_left * (self.config.slice_width + self.config.slice_padding)
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local padded_width_right = self.config.slices_right * (self.config.slice_width + self.config.slice_padding)
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local padded_width = padded_width_left + padded_width_right + self.config.center_slice_width
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local mined_width_left = self.config.slices_left * self.config.slice_width
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local mined_width_right = self.config.slices_right * self.config.slice_width
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local mined_width = mined_width_left + mined_width_right + self.config.center_slice_width
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print("Configuration complete!")
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print(("Mining area spans %d x %d x %d (width x height x forward), totalling %d blocks."):format(
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padded_width, self.config.slice_height, self.config.slice_length, padded_width * self.config.slice_height * self.config.slice_length
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))
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print(("Turtle will mine %d block wide slices (%d wide in the center) with %d blocks of padding, totalling %d mined blocks."):format(
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self.config.slice_width, self.config.center_slice_width, self.config.slice_padding, mined_width * self.config.slice_height * self.config.slice_length
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))
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print("Do you want to accept the configuration (enter 1, otherwise 0)?")
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config_complete = tonumber(io.read()) == 1
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end
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end
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-----------------------------------------------------------------------------------------------
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-- Main Method
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-----------------------------------------------------------------------------------------------
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function ExcavationController:Run()
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self.controller:Configure()
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self:Configure()
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-- Consume our starting fuel and refuel to the full amount
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turtle.select(1)
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turtle.refuel()
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self.controller:RefuelIfEmpty()
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self:Excavate()
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end
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return ExcavationController
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@ -1,148 +0,0 @@
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local Direction = require("lib.direction")
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local TurtleController = require("controller.turtle_controller")
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---@alias NetheriteControllerConfig {mine_forward: number, slices_left: number, slices_right: number, slices_padding: number}
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---@class NetheriteController
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---@field controller TurtleController
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---@field config NetheriteControllerConfig
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local NetheriteController = {}
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NetheriteController.__index = NetheriteController
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-- TODO: This controller can't return to unstock/refuel if stuck in the middle of a slice
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---@return NetheriteController
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function NetheriteController:Create()
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local t = {}
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setmetatable(t, NetheriteController)
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-----------------------------------------------------------------------------------------------
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-- Fields
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-----------------------------------------------------------------------------------------------
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t.controller = TurtleController:Create()
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t.config = {
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mine_forward = 0,
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slices_left = 0,
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slices_right = 0,
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slices_padding = 0,
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}
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return t
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end
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-----------------------------------------------------------------------------------------------
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-- Behavior Methods
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-----------------------------------------------------------------------------------------------
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function NetheriteController:Excavate()
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-- Enter the excavation area
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self.controller:EnableMining()
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self.controller:MoveRelative(1)
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local right_padded_width = self.config.slices_right * (self.config.slices_padding + 1)
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local left_padded_width = self.config.slices_left * (self.config.slices_padding + 1)
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-- Move to the bottom right corner of the layer
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self.controller:TurnToDirection(Direction.EAST)
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self.controller:MoveRelative(right_padded_width)
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self.controller:TurnToDirection(Direction.NORTH)
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self.controller:MoveRelative(self.config.mine_forward)
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self.controller:TurnToDirection(Direction.WEST)
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self.controller:MoveRelative(left_padded_width + right_padded_width)
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self.controller:TurnToDirection(Direction.SOUTH)
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self.controller:MoveRelative(self.config.mine_forward)
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self.controller:TurnToDirection(Direction.EAST)
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self.controller:MoveRelative(left_padded_width + right_padded_width)
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self.controller:TurnToDirection(Direction.NORTH)
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-- Zig zag mine the full width from back to front
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local turn_dir = -1
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for i = 1,self.config.slices_right + self.config.slices_left do
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self.controller:MoveRelative(self.config.mine_forward)
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-- Skip the last turn, as we won't mine that slice
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if i == self.config.slices_right + self.config.slices_left then
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break
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end
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self.controller:TurnRelative(turn_dir)
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self.controller:MoveRelative(self.config.slices_padding + 1)
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self.controller:TurnRelative(turn_dir)
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turn_dir = -1 * turn_dir
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end
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if self.controller.position.z > 1 then
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self.controller:TurnToDirection(Direction.SOUTH)
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self.controller:MoveRelative(self.controller.position.z - 1)
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self.controller:MoveToPosition(0, 0, 0, Direction.NORTH)
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end
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-- Unload before doing the next layer
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self.controller:TurnToDirection(self.controller.config.storage_direction)
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self.controller:DropInventory()
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self.controller:TurnToDirection(Direction.NORTH)
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end
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-----------------------------------------------------------------------------------------------
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-- Management Methods
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-----------------------------------------------------------------------------------------------
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function NetheriteController:Configure()
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local config_complete = false
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while not config_complete do
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print("How many blocks should the turtle mine forward?")
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self.config.mine_forward = tonumber(io.read()) or 3
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print("How many slices should the turtle to its right?")
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self.config.slices_right = tonumber(io.read()) or 3
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print("How many blocks should the turtle mine to its left?")
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self.config.slices_left = tonumber(io.read()) or 3
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print("How many blocks should the turtle leave between the slices?")
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self.config.slices_padding = tonumber(io.read()) or 3
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local width = self.config.slices_left + self.config.slices_right + 1
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local height = 3
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print("Configuration complete!")
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print(("Turtle will mine an area of %d x %d x %d (forward x width x height, excluding padding) totalling %d blocks."):format(
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self.config.mine_forward, width, height, self.config.mine_forward * width * height
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))
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print("Do you want to accept the configuration (enter 1, otherwise 0)?")
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config_complete = tonumber(io.read()) == 1
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end
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end
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-----------------------------------------------------------------------------------------------
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-- Main Method
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-----------------------------------------------------------------------------------------------
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function NetheriteController:Run()
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self.controller:Configure()
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self:Configure()
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-- Consume our starting fuel and refuel to the full amount
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turtle.select(1)
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turtle.refuel()
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self.controller:RefuelIfEmpty()
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self:Excavate()
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end
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return NetheriteController
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@ -157,6 +157,8 @@ end
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function TestingController:Run()
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self.controller:Configure()
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self.controller:DisableMiningForward()
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self.controller:DisableMiningAbove()
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self.controller:DisableMiningBelow()
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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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@ -107,9 +107,13 @@ function TurtleController:MoveForward(number_of_blocks, skip_unstocking, skip_re
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self:UnstockIfFull()
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end
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-- Mine
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-- Mine/Move
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if self.mine_forward then
|
||||
turtle.dig()
|
||||
while not turtle.forward() do
|
||||
turtle.dig()
|
||||
end
|
||||
elseif not turtle.forward() then
|
||||
error("Turtle failed to move forward!")
|
||||
end
|
||||
if self.mine_above then
|
||||
turtle.digUp()
|
||||
@ -118,11 +122,6 @@ function TurtleController:MoveForward(number_of_blocks, skip_unstocking, skip_re
|
||||
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
|
||||
self.position.z = self.position.z + 1
|
||||
@ -181,6 +180,12 @@ function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_r
|
||||
end
|
||||
|
||||
|
||||
---Stores the current position on the stack so we can return using TurtleController:MoveBack()
|
||||
function TurtleController:StorePosition()
|
||||
self.last_positions:Push(Position:Copy(self.position))
|
||||
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 y number The UP/DOWN axis (grows from DOWN to UP)
|
||||
|
||||
@ -1,131 +0,0 @@
|
||||
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()
|
||||
-- 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 the full width from 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
|
||||
|
||||
-- Skip the turning if we're mining in a straight line
|
||||
if self.config.mine_left + self.config.mine_right > 0 then
|
||||
self.controller:TurnRelative(turn_dir)
|
||||
self.controller:MoveRelative(1)
|
||||
self.controller:TurnRelative(turn_dir)
|
||||
end
|
||||
|
||||
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
|
||||
18
main.lua
18
main.lua
@ -1,18 +1,15 @@
|
||||
local TestingController = require("controller.testing_controller")
|
||||
local VolumeExcavationController = require("controller.volume_excavation_controller")
|
||||
local NetheriteController = require("controller.netherite_controller")
|
||||
local ExcavationController = require("controller.excavation_controller")
|
||||
|
||||
|
||||
local controllers = {
|
||||
TestingController:Create(),
|
||||
VolumeExcavationController:Create(),
|
||||
NetheriteController:Create(),
|
||||
ExcavationController:Create(),
|
||||
}
|
||||
|
||||
print("Multiple controllers are available:")
|
||||
print("1: Testing Mode")
|
||||
print("2: Volume Excavation")
|
||||
print("3: Netherite Excavation")
|
||||
|
||||
local choice = 0
|
||||
while choice < 1 or choice > #controllers do
|
||||
@ -20,4 +17,13 @@ while choice < 1 or choice > #controllers do
|
||||
choice = tonumber(io.read()) or 0
|
||||
end
|
||||
|
||||
controllers[choice]:Run()
|
||||
controllers[choice]:Run()
|
||||
|
||||
|
||||
-- TODO: StackOverflow once the inventory is full, unstocking doesn't work...
|
||||
-- Is the InventoryFull check wrong?
|
||||
-- TODO: Test if there's a chest when dropping/sucking/mining (don't mine chests!)
|
||||
-- TODO: Add controller to build rooms with walls of a specified material
|
||||
-- TODO: Support specifying the mining height
|
||||
-- TODO: Add configurable trash_list with items that won't be picked up
|
||||
-- TODO: Add a speaker to the turtle (listen to music while mining)
|
||||
Reference in New Issue
Block a user