Improve turning logic in TurtleController and add edgecases in MoveToPosition when at the front/back of the mining area

controller/testing_controller.lua

@@ -23,19 +23,123 @@ end
 -----------------------------------------------------------------------------------------------
 
 
-function TestingController:TestSimpleMovement()
+function TestingController:TestRelativeMovementWithRelativeRotation()
+    print("Testing relative movement with relative rotation...")
+
+                                     -- N: BotCenter
+    self.controller:MoveRelative(3)
+    self.controller:TurnRelative(1)  -- E: TopCenter
+    self.controller:MoveRelative(3)
+    self.controller:TurnRelative(2)  -- W: TopRight
+    self.controller:MoveRelative(3)
+    self.controller:TurnRelative(10) -- E: TopCenter
+    self.controller:MoveRelative(3)
+    self.controller:TurnRelative(-3) -- S: TopRight
+    self.controller:MoveRelative(3)
+    self.controller:TurnRelative(1)  -- W: BotRight
+    self.controller:MoveRelative(3)
+    self.controller:TurnRelative(1)  -- N: BotCenter
+
+    print("The turtle should be in its original location.")
+    print("Press Enter to continue")
+    _ = io.read()
 end
 
 
-function TestingController:TestComplexMovement()
+function TestingController:TestRelativeMovementWithAbsoluteRotation()
+    print("Testing relative movement with absolute rotation...")
+
+                                                     -- N: BotCenter
+    self.controller:MoveRelative(3)
+    self.controller:TurnToDirection(Direction.EAST)  -- E: TopCenter
+    self.controller:MoveRelative(3)
+    self.controller:TurnToDirection(Direction.WEST)  -- W: TopRight
+    self.controller:MoveRelative(3)
+    self.controller:TurnToDirection(Direction.EAST)  -- E: TopCenter
+    self.controller:MoveRelative(3)
+    self.controller:TurnToDirection(Direction.SOUTH) -- S: TopRight
+    self.controller:MoveRelative(3)
+    self.controller:TurnToDirection(Direction.WEST)  -- W: BotRight
+    self.controller:MoveRelative(3)
+    self.controller:TurnToDirection(Direction.NORTH) -- N: BotCenter
+
+    print("The turtle should be in its original location.")
+    print("Press Enter to continue")
+    _ = io.read()
 end
 
 
-function TestingController:TestUnloading()
+function TestingController:TestAbsoluteMovementWithoutStack()
+    print("Testing absolute movement without stack...")
+
+                                                             -- N: BotCenter
+    self.controller:MoveToPosition(0, 0, 3, Direction.EAST)  -- E: TopCenter
+    _ = io.read()
+    self.controller:MoveToPosition(3, 0, 3, Direction.WEST)  -- W: TopRight
+    _ = io.read()
+    self.controller:MoveToPosition(0, 0, 3, Direction.EAST)  -- E: TopCenter
+    _ = io.read()
+    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("Press Enter to continue")
+    _ = io.read()
+end
+
+
+function TestingController:TestAbsoluteMovementWithStack()
+    print("Testing absolute movement with stack...")
+
+                                                            -- N: BotCenter
+    self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter
+    _ = io.read()
+    self.controller:MoveBack()                              -- N: BotCenter
+    _ = io.read()
+    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("Press Enter to continue")
+    _ = io.read()
+end
+
+
+function TestingController:TestUnstocking()
+    print("Testing inventory unloading...")
+    print("Please fill multiple inventory slots with items.")
+    _ = io.read()
+
+    self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
+    _ = io.read()
+    self.controller:UnstockIfFull(true)
+    _ = io.read()
+    self.controller:MoveBack()
+
+    print("The turtle should be in its original location.")
+    print("Press Enter to continue")
+    _ = io.read()
 end
 
 
 function TestingController:TestRefueling()
+    print("Testing refueling...")
+    print("Please fill multiple inventory slots with items.")
+    _ = io.read()
+
+    self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
+    _ = io.read()
+    self.controller:RefuelIfEmpty(true)
+    _ = io.read()
+    self.controller:MoveBack()
+
+    print("The turtle should be in its original location.")
+    print("Press Enter to continue")
+    _ = io.read()
 end
 
 
@@ -46,11 +150,53 @@ end
 
 function TestingController:Run()
     self.controller:Configure()
+    self.controller:DisableMining()
 
-    self:TestSimpleMovement()
+    print("There are multiple tests available:")
-    self:TestComplexMovement()
+    print("1: Relative movement with relative rotation")
-    self:TestUnloading()
+    print("2: Relative movement with absolute rotation")
-    self:TestRefueling()
+    print("3: Absolute movement without stack")
+    print("4: Absolute movement with stack")
+    print("5: All movement tests")
+    print("6: Unloading")
+    print("7: Refueling")
+    print("8: All non-movement tests")
+    print("9: All tests")
+
+    local choice = 0
+    while choice < 1 or choice > 9 do
+        print("Choose a test by entering its number:")
+        choice = tonumber(io.read()) or 0
+    end
+
+    if choice == 1 then
+        self:TestRelativeMovementWithRelativeRotation()
+    elseif choice == 2 then
+        self:TestRelativeMovementWithAbsoluteRotation()
+    elseif choice == 3 then
+        self:TestAbsoluteMovementWithoutStack()
+    elseif choice == 4 then
+        self:TestAbsoluteMovementWithStack()
+    elseif choice == 5 then
+        self:TestRelativeMovementWithRelativeRotation()
+        self:TestRelativeMovementWithAbsoluteRotation()
+        self:TestAbsoluteMovementWithoutStack()
+        self:TestAbsoluteMovementWithStack()
+    elseif choice == 6 then
+        self:TestUnstocking()
+    elseif choice == 7 then
+        self:TestRefueling()
+    elseif choice == 8 then
+        self:TestUnstocking()
+        self:TestRefueling()
+    elseif choice == 9 then
+        self:TestRelativeMovementWithRelativeRotation()
+        self:TestRelativeMovementWithAbsoluteRotation()
+        self:TestAbsoluteMovementWithoutStack()
+        self:TestAbsoluteMovementWithStack()
+        self:TestUnstocking()
+        self:TestRefueling()
+    end
 end
 
 

controller/turtle_controller.lua

@@ -55,16 +55,20 @@ function TurtleController:TurnRelative(number_of_turns)
         return
     end
 
-    print(("Turtle is turning by %d..."):format(number_of_turns))
-
     self:RefuelIfEmpty()
 
     -- Turn turtle
-    for _ = 1,math.abs(number_of_turns) do
+    local turns = number_of_turns % 4
-        if number_of_turns > 0 then
+    if turns == 3 then
+        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
+        turtle.turnLeft()
+    else
+        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
+
+        for _ = 1,turns do
             turtle.turnRight()
-        else
-            turtle.turnLeft()
         end
     end
 
@@ -79,17 +83,7 @@ function TurtleController:TurnToDirection(direction)
         return
     end
 
-    print(("Turtle is turning to direction %d..."):format(direction))
+    self:TurnRelative(direction - self.position.dir)
-
-    self:RefuelIfEmpty()
-
-    local rotation = direction - self.position.dir
-    if math.abs(rotation) == 3 then
-        -- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
-        rotation = -1 * (rotation - 1)
-    end
-
-    self:TurnRelative(rotation)
 end
 
 
@@ -133,9 +127,9 @@ function TurtleController:MoveRelative(number_of_blocks)
 end
 
 
----@param x number
+---@param x number The EAST/WEST axis (grows from WEST to EAST)
----@param y number
+---@param y number The UP/DOWN axis (grows from DOWN to UP)
----@param z number
+---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
 ---@param dir Direction
 function TurtleController:MoveToPosition(x, y, z, dir)
     print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
@@ -143,9 +137,16 @@ function TurtleController:MoveToPosition(x, y, z, dir)
     self:DisableMining()
     self.last_positions:Push(Position:Copy(self.position))
 
-    -- Move south once (if possible) to not be blocked by the slice that is currently mined
+    if self.position.z > 1 then
-    self:TurnToDirection(Direction.SOUTH)
+        -- Move south once (if we're at the top) to not be blocked by the slice that is currently mined.
-    self:MoveRelative(1)
+        -- 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
@@ -176,8 +177,13 @@ end
 function TurtleController:MoveBack()
     local target_position = self.last_positions:Pop()
 
-    self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
+    if target_position == nil then
-    self.last_positions:Pop()
+        shell.exit()
+    else
+        self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
+        self.last_positions:Pop()
+    end
+
 end
 
 
@@ -228,8 +234,10 @@ function TurtleController:DropInventory()
 end
 
 
-function TurtleController:UnstockIfFull()
+---@param skip_inventory_check boolean | nil
-    if self:HasInventorySpace() then
+function TurtleController:UnstockIfFull(skip_inventory_check)
+    skip_inventory_check = skip_inventory_check or false
+    if not skip_inventory_check and self:HasInventorySpace() then
         return
     end
 
@@ -243,8 +251,10 @@ function TurtleController:UnstockIfFull()
 end
 
 
-function TurtleController:RefuelIfEmpty()
+---@param skip_fuel_check boolean | nil
-    if self:HasFuel() then
+function TurtleController:RefuelIfEmpty(skip_fuel_check)
+    skip_fuel_check = skip_fuel_check or false
+    if not skip_fuel_check and self:HasFuel() then
         return
     end
 
@@ -260,8 +270,13 @@ function TurtleController:RefuelIfEmpty()
 
     -- Include the distance to the last position when refueling
     -- to keep the amount of work done between refuelings constant
+    local target_fuel_level = self.config.refuel_amount
     local last_position = self.last_positions:Peek()
-    local target_fuel_level = self.config.refuel_amount + last_position.x + last_position.y + last_position.z
+    if last_position == nil then
+        shell.exit()
+    else
+        target_fuel_level = target_fuel_level + last_position.x + last_position.y + last_position.z
+    end
 
     -- Refuel until we hit the refuel_amount
     local before_level = turtle.getFuelLevel()

controller/volume_excavation_controller.lua

@@ -50,7 +50,7 @@ function VolumeExcavationController:Excavate()
     self.controller:MoveRelative(self.config.mine_right)
     self.controller:TurnToDirection(Direction.WEST)
 
-    -- Zig zag mine back to front
+    -- 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
@@ -62,9 +62,12 @@ function VolumeExcavationController:Excavate()
             break
         end
 
-        self.controller:TurnRelative(turn_dir)
+        -- Skip the turning if we're mining in a straight line
-        self.controller:MoveRelative(1)
+        if self.config.mine_left + self.config.mine_right > 0 then
-        self.controller:TurnRelative(turn_dir)
+            self.controller:TurnRelative(turn_dir)
+            self.controller:MoveRelative(1)
+            self.controller:TurnRelative(turn_dir)
+        end
 
         turn_dir = -1 * turn_dir
     end

lib/stack.lua

@@ -1,5 +1,7 @@
+local Position = require("lib.position")
+
 ---@class Stack
----@field elements table[]
+---@field elements Position[]
 local Stack = {}
 Stack.__index = Stack
 
@@ -17,9 +19,10 @@ function Stack:Create()
 end
 
 
----@param element table
+---@param element Position
 function Stack:Push(element)
     if element == nil or element == {} then
+        printError("Failed to push empty element to the stack!")
         return
     end
 
@@ -27,15 +30,25 @@ function Stack:Push(element)
 end
 
 
----@return table
+---@return Position | nil
 function Stack:Pop()
+    if self:Count() == 0 then
+        printError("Failed to pop element from the empty stack!")
+        return nil
+    end
+
     return table.remove(self.elements)
 end
 
 
----@return table
+---@return Position | nil
 function Stack:Peek()
-    return table[#self.elements]
+    if self:Count() == 0 then
+        printError("Failed to peek element from the empty stack!")
+        return nil
+    end
+
+    return self.elements[#self.elements]
 end