Merge netherite/excavation controllers, overhaul movement logic with verticality support

controller/excavation_controller.lua

@@ -0,0 +1,324 @@
+local Direction = require("lib.direction")
+local TurtleController = require("controller.turtle_controller")
+
+---@alias ExcavationControllerConfig {slice_length: number, slice_height: number, center_slice_width: number, slice_width: number, slice_padding: number, slices_left: number, slices_right: number}
+
+---@class ExcavationController
+---@field controller TurtleController
+---@field config ExcavationControllerConfig
+local ExcavationController = {}
+ExcavationController.__index = ExcavationController
+
+
+---@return ExcavationController
+function ExcavationController:Create()
+    local t = {}
+    setmetatable(t, ExcavationController)
+
+
+    -----------------------------------------------------------------------------------------------
+    -- Fields
+    -----------------------------------------------------------------------------------------------
+
+
+    t.controller = TurtleController:Create()
+    t.config = {
+        slice_length = 0,
+        slice_height = 0,
+        center_slice_width = 0,
+        slice_width = 0,
+        slice_padding = 0,
+        slices_left = 0,
+        slices_right = 0,
+    }
+
+
+    return t
+end
+
+
+-----------------------------------------------------------------------------------------------
+-- Behavior Methods
+-----------------------------------------------------------------------------------------------
+
+
+---Excavates a single 1x1/1x2 tunnel of configured length.
+---Will leave the turtle wherever it ends up.
+---Only unstocks/refuels if required.
+---@param mine_above boolean
+---@param mine_below boolean
+function ExcavationController:Excavate_1x1or2or3xL(mine_above, mine_below)
+    self.controller:EnableMiningForward()
+    if mine_above then
+        self.controller:EnableMiningAbove()
+    end
+    if mine_below then
+        self.controller:EnableMiningBelow()
+    end
+
+    self.controller:MoveForward(self.config.slice_length)
+
+    self.controller:DisableMiningForward()
+    self.controller:DisableMiningAbove()
+    self.controller:DisableMiningBelow()
+end
+
+
+---Excavates a single 1xH partial slice of configured length.
+---Will leave the turtle in its starting position.
+---Only unstocks/refuels if required.
+function ExcavationController:Excavate_1xHxL()
+    self.controller:StorePosition()
+
+    -- We can mine 2 blocks heigh in a single go
+    local number_of_1x3xL = math.floor(self.config.slice_height / 3)
+
+    -- Prepare for mining the blocks below the turtle
+    if number_of_1x3xL > 0 then
+        self.controller:EnableMiningAbove()
+        self.controller:MoveVertical(1)
+        self.controller:DisableMiningAbove()
+    end
+
+    -- Mine 1x3xL
+    for i = 1,number_of_1x3xL do
+        self:Excavate_1x1or2or3xL(true, true)
+
+        self.controller:TurnRelative(2)
+
+        -- Don't move upwards in the last iteration so we can decide
+        -- how much to move depending on how much we still have to excavate
+        if i == number_of_1x3xL then
+            break
+        end
+
+        self.controller:EnableMiningAbove()
+        self.controller:MoveVertical(4)
+        self.controller:MoveVertical(-1)
+        self.controller:DisableMiningAbove()
+    end
+
+    -- Mine remaining 1x2xL or 1x1xL
+    if self.config.slice_height % 3 == 2 then
+        self.controller:EnableMiningAbove()
+        self.controller:MoveVertical(3)
+        self.controller:MoveVertical(-1)
+        self.controller:DisableMiningAbove()
+
+        self:Excavate_1x1or2or3xL(true, false)
+    elseif self.config.slice_height % 3 == 1 then
+        self.controller:EnableMiningAbove()
+        self.controller:MoveVertical(3)
+        self.controller:MoveVertical(-1)
+        self.controller:DisableMiningAbove()
+
+        self:Excavate_1x1or2or3xL(false, false)
+    end
+
+    self.controller:EnableMiningBelow()
+    self.controller:MoveBack()
+    self.controller:DisableMiningBelow()
+end
+
+
+---Excavates a single WxH slice of configured length (EAST to WEST).
+---Will leave the turtle in its starting position.
+---Only unstocks/refuels if required.
+---@param center_slice boolean | nil
+function ExcavationController:Excavate_WxHxL(center_slice)
+    self.controller:StorePosition()
+
+    center_slice = center_slice or false
+    local width = center_slice and self.config.center_slice_width or self.config.slice_width
+
+    for i = 1,width do
+        self:Excavate_1xHxL()
+
+        if i == width then
+            break
+        end
+
+        self.controller:TurnToDirection(Direction.WEST)
+        self.controller:EnableMiningForward()
+        self.controller:EnableMiningAbove()
+        self.controller:MoveForward(1)
+        self.controller:DisableMiningForward()
+        self.controller:DisableMiningAbove()
+        self.controller:TurnToDirection(Direction.NORTH)
+    end
+
+    self.controller:MoveBack()
+end
+
+
+---Excavates all slices.
+---Will leave the turtle refueled and unstocked in its 0x0x0 position.
+function ExcavationController:Excavate()
+    -- Enter excavation area
+    self.controller:EnableMiningForward()
+    self.controller:EnableMiningAbove()
+    self.controller:MoveForward(1)
+    self.controller:DisableMiningForward()
+    self.controller:DisableMiningAbove()
+
+    -- Excavate center slice (start from right/back/bottom)
+    -- Uneven center widths will be centered, even center widths will have a block more on the right
+    print("Excavating center slice...")
+    local center_width_right = math.floor(self.config.center_slice_width / 2)
+    self.controller:StorePosition()
+    self.controller:TurnToDirection(Direction.EAST)
+    self.controller:EnableMiningForward()
+    self.controller:EnableMiningAbove()
+    self.controller:MoveForward(center_width_right)
+    self.controller:DisableMiningForward()
+    self.controller:DisableMiningAbove()
+    self.controller:TurnToDirection(Direction.NORTH)
+    self:Excavate_WxHxL(true)
+    self.controller:MoveBack() -- (0, 0, 1)
+
+    -- Move to right slices starting location
+    local padded_width_right = self.config.slices_right * (self.config.slice_width + self.config.slice_padding)
+    self.controller:StorePosition()
+    self.controller:TurnToDirection(Direction.EAST)
+    self.controller:EnableMiningForward()
+    self.controller:EnableMiningAbove()
+    self.controller:MoveForward(center_width_right + padded_width_right)
+    self.controller:DisableMiningForward()
+    self.controller:DisableMiningAbove()
+    self.controller:TurnToDirection(Direction.NORTH)
+
+    -- Excavate right slices
+    print("Excavating right slices")
+    for i = 1,self.config.slices_right do
+        self:Excavate_WxHxL()
+
+        if i == self.config.slices_right then
+            break
+        end
+
+        -- Move to the next slice
+        self.controller:TurnToDirection(Direction.WEST)
+        self.controller:EnableMiningForward()
+        self.controller:EnableMiningAbove()
+        self.controller:MoveForward(self.config.slice_width + self.config.slice_padding)
+        self.controller:DisableMiningForward()
+        self.controller:DisableMiningAbove()
+        self.controller:TurnToDirection(Direction.NORTH)
+    end
+    self.controller:MoveBack() -- (0, 0, 1)
+
+    -- Move to left slices starting location
+    local center_width_left = self.config.center_slice_width - center_width_right
+    self.controller:StorePosition()
+    self.controller:TurnToDirection(Direction.WEST)
+    self.controller:EnableMiningForward()
+    self.controller:EnableMiningAbove()
+    self.controller:MoveForward(center_width_left)
+    self.controller:DisableMiningForward()
+    self.controller:DisableMiningAbove()
+    self.controller:TurnToDirection(Direction.NORTH)
+
+    -- Excavate left slices
+    print("Excavate left slices")
+    for i = 1,self.config.slices_left do
+        -- Move to the next slice
+        self.controller:TurnToDirection(Direction.WEST)
+        self.controller:EnableMiningForward()
+        self.controller:EnableMiningAbove()
+        self.controller:MoveForward(self.config.slice_padding)
+        self.controller:DisableMiningForward()
+        self.controller:DisableMiningAbove()
+        self.controller:TurnToDirection(Direction.NORTH)
+
+        self:Excavate_WxHxL()
+
+        if i == self.config.slices_left then
+            break
+        end
+
+        self.controller:TurnToDirection(Direction.WEST)
+        self.controller:EnableMiningForward()
+        self.controller:EnableMiningAbove()
+        self.controller:MoveForward(self.config.slice_width)
+        self.controller:DisableMiningForward()
+        self.controller:DisableMiningAbove()
+        self.controller:TurnToDirection(Direction.NORTH)
+    end
+    self.controller:MoveBack() -- (0, 0, 1)
+
+    -- Finish up
+    self.controller:MoveToPosition(0, 0, 0, self.controller.config.storage_direction)
+    self.controller:DropInventory()
+    self.controller:TurnToDirection(Direction.NORTH)
+end
+
+
+-----------------------------------------------------------------------------------------------
+-- Management Methods
+-----------------------------------------------------------------------------------------------
+
+
+function ExcavationController:Configure()
+    local config_complete = false
+
+    while not config_complete do
+        print("How long should each slice be?")
+        self.config.slice_length = tonumber(io.read()) or 3
+
+        print("How high should each slice be?")
+        self.config.slice_height = tonumber(io.read()) or 3
+
+        print("How wide should the center slice be?")
+        self.config.center_slice_width = tonumber(io.read()) or 1
+
+        print("How wide should the other slices be?")
+        self.config.slice_width = tonumber(io.read()) or 1
+
+        print("How many blocks should remain between each slice?")
+        self.config.slice_padding = tonumber(io.read()) or 0
+
+        print("How many slices should the turtle mine to its right?")
+        self.config.slices_right = tonumber(io.read()) or 1
+
+        print("How many slices should the turtle mine to its left?")
+        self.config.slices_left = tonumber(io.read()) or 1
+
+        local padded_width_left = self.config.slices_left * (self.config.slice_width + self.config.slice_padding)
+        local padded_width_right = self.config.slices_right * (self.config.slice_width + self.config.slice_padding)
+        local padded_width = padded_width_left + padded_width_right + self.config.center_slice_width
+        local mined_width_left = self.config.slices_left * self.config.slice_width
+        local mined_width_right = self.config.slices_right * self.config.slice_width
+        local mined_width = mined_width_left + mined_width_right + self.config.center_slice_width
+
+        print("Configuration complete!")
+        print(("Mining area spans %d x %d x %d (width x height x forward), totalling %d blocks."):format(
+            padded_width, self.config.slice_height, self.config.slice_length, padded_width * self.config.slice_height * self.config.slice_length
+        ))
+        print(("Turtle will mine %d block wide slices (%d wide in the center) with %d blocks of padding, totalling %d mined blocks."):format(
+            self.config.slice_width, self.config.center_slice_width, self.config.slice_padding, mined_width * self.config.slice_height * self.config.slice_length
+        ))
+        print("Do you want to accept the configuration (enter 1, otherwise 0)?")
+        config_complete = tonumber(io.read()) == 1
+    end
+end
+
+
+-----------------------------------------------------------------------------------------------
+-- Main Method
+-----------------------------------------------------------------------------------------------
+
+
+function ExcavationController: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 ExcavationController

controller/netherite_controller.lua

@@ -1,148 +0,0 @@
-local Direction = require("lib.direction")
-local TurtleController = require("controller.turtle_controller")
-
----@alias NetheriteControllerConfig {mine_forward: number, slices_left: number, slices_right: number, slices_padding: number}
-
----@class NetheriteController
----@field controller TurtleController
----@field config NetheriteControllerConfig
-local NetheriteController = {}
-NetheriteController.__index = NetheriteController
-
-
--- TODO: This controller can't return to unstock/refuel if stuck in the middle of a slice
-
-
----@return NetheriteController
-function NetheriteController:Create()
-    local t = {}
-    setmetatable(t, NetheriteController)
-
-
-    -----------------------------------------------------------------------------------------------
-    -- Fields
-    -----------------------------------------------------------------------------------------------
-
-
-    t.controller = TurtleController:Create()
-    t.config = {
-        mine_forward = 0,
-        slices_left = 0,
-        slices_right = 0,
-        slices_padding = 0,
-    }
-
-
-    return t
-end
-
-
------------------------------------------------------------------------------------------------
--- Behavior Methods
------------------------------------------------------------------------------------------------
-
-
-function NetheriteController:Excavate()
-    -- Enter the excavation area
-    self.controller:EnableMining()
-    self.controller:MoveRelative(1)
-
-    local right_padded_width = self.config.slices_right * (self.config.slices_padding + 1)
-    local left_padded_width = self.config.slices_left * (self.config.slices_padding + 1)
-
-    -- Move to the bottom right corner of the layer
-    self.controller:TurnToDirection(Direction.EAST)
-    self.controller:MoveRelative(right_padded_width)
-    self.controller:TurnToDirection(Direction.NORTH)
-    self.controller:MoveRelative(self.config.mine_forward)
-    self.controller:TurnToDirection(Direction.WEST)
-    self.controller:MoveRelative(left_padded_width + right_padded_width)
-    self.controller:TurnToDirection(Direction.SOUTH)
-    self.controller:MoveRelative(self.config.mine_forward)
-    self.controller:TurnToDirection(Direction.EAST)
-    self.controller:MoveRelative(left_padded_width + right_padded_width)
-    self.controller:TurnToDirection(Direction.NORTH)
-
-    -- Zig zag mine the full width from back to front
-    local turn_dir = -1
-    for i = 1,self.config.slices_right + self.config.slices_left do
-        self.controller:MoveRelative(self.config.mine_forward)
-
-        -- Skip the last turn, as we won't mine that slice
-        if i == self.config.slices_right + self.config.slices_left then
-            break
-        end
-
-        self.controller:TurnRelative(turn_dir)
-        self.controller:MoveRelative(self.config.slices_padding + 1)
-        self.controller:TurnRelative(turn_dir)
-
-        turn_dir = -1 * turn_dir
-    end
-
-    if self.controller.position.z > 1 then
-        self.controller:TurnToDirection(Direction.SOUTH)
-        self.controller:MoveRelative(self.controller.position.z - 1)
-        self.controller:MoveToPosition(0, 0, 0, Direction.NORTH)
-    end
-
-    -- 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 NetheriteController: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 slices should the turtle to its right?")
-        self.config.slices_right = tonumber(io.read()) or 3
-
-        print("How many blocks should the turtle mine to its left?")
-        self.config.slices_left = tonumber(io.read()) or 3
-
-        print("How many blocks should the turtle leave between the slices?")
-        self.config.slices_padding = tonumber(io.read()) or 3
-
-        local width = self.config.slices_left + self.config.slices_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, excluding padding) 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 NetheriteController: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 NetheriteController

controller/testing_controller.lua

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

controller/turtle_controller.lua

@@ -8,15 +8,13 @@ local Stack = require("lib.stack")
 ---@field config TurtleControllerConfig
 ---@field position Position
 ---@field last_positions Stack
----@field mine boolean
+---@field mine_forward boolean
+---@field mine_above boolean
+---@field mine_below boolean
 local TurtleController = {}
 TurtleController.__index = TurtleController
 
 
--- TODO: StackOverflow once the inventory is full...
--- TODO: Test if there's a chest when dropping/sucking/mining (don't mine chests!)
-
-
 ---@return TurtleController
 function TurtleController:Create()
     local t = {}
@@ -37,7 +35,9 @@ function TurtleController:Create()
     }
     t.position = Position:Empty()
     t.last_positions = Stack:Create()
-    t.mine = false
+    t.mine_forward = false
+    t.mine_above = false
+    t.mine_below = false
 
 
     return t
@@ -52,21 +52,19 @@ end
 ---Positive numbers turn clockwise, negative numbers turn counterclockwise
 ---@param number_of_turns number
 function TurtleController:TurnRelative(number_of_turns)
-    if number_of_turns == 0 then
+    if number_of_turns % 4 == 0 then
         return
     end
 
-    self:RefuelIfEmpty()
-
     -- Turn turtle
     local turns = number_of_turns % 4
     if turns == 3 then
-        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))
+        -- print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))
 
         -- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
         turtle.turnLeft()
     else
-        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
+        -- print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
 
         for _ = 1,turns do
             turtle.turnRight()
@@ -90,31 +88,41 @@ end
 
 ---Move forward by a number of blocks depending on the current rotation
 ---@param number_of_blocks number
-function TurtleController:MoveRelative(number_of_blocks)
+---@param skip_unstocking boolean | nil
+---@param skip_refueling boolean | nil
+function TurtleController:MoveForward(number_of_blocks, skip_unstocking, skip_refueling)
+    skip_unstocking = skip_unstocking or false
+    skip_refueling = skip_refueling or false
     if number_of_blocks == 0 then
         return
     end
 
-    print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks))
+    -- print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks))
 
     for _ = 1,math.abs(number_of_blocks) do
-        self:RefuelIfEmpty()
+        if not skip_refueling then
-        self:UnstockIfFull()
+            self:RefuelIfEmpty()
+        end
+        if not skip_unstocking then
+            self:UnstockIfFull()
+        end
 
-        -- Break blocks
+        -- Mine/Move
-        if self.mine then
+        if self.mine_forward then
             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()
+        end
+        if self.mine_below then
             turtle.digDown()
-        else
-            if not turtle.forward() then
-                printError("Turtle wants to move without mining but is blocked!")
-            end
         end
 
-        -- Update current_position
+        -- Update current position
         if self.position.dir == Direction.NORTH then
             self.position.z = self.position.z + 1
         elseif self.position.dir == Direction.SOUTH then
@@ -127,35 +135,77 @@ function TurtleController:MoveRelative(number_of_blocks)
     end
 end
 
+---Positive numbers move up, negative numbers move down.
+---@param number_of_blocks number
+---@param skip_unstocking boolean | nil
+---@param skip_refueling boolean | nil
+function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_refueling)
+    skip_unstocking = skip_unstocking or false
+    skip_refueling = skip_refueling or false
+    if number_of_blocks == 0 then
+        return
+    end
 
+    -- print(("Turtle is moving vertically by %d blocks..."):format(number_of_blocks))
+
+    local move_function = number_of_blocks > 0 and turtle.up or turtle.down
+    local mine_function = number_of_blocks > 0 and turtle.digUp or turtle.digDown
+    local mine_enabled = number_of_blocks > 0 and self.mine_above or self.mine_below
+
+    for _ = 1,math.abs(number_of_blocks) do
+        if not skip_refueling then
+            self:RefuelIfEmpty()
+        end
+        if not skip_unstocking then
+            self:UnstockIfFull()
+        end
+
+        -- Mine
+        if mine_enabled then
+            mine_function()
+        end
+
+        -- Move
+        if not move_function() then
+            error("Turtle failed to move vertically!")
+        end
+
+        -- Update current position
+        if number_of_blocks > 0 then
+            self.position.y = self.position.y + 1
+        elseif number_of_blocks < 0 then
+            self.position.y = self.position.y - 1
+        end
+    end
+end
+
+
+---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)
 ---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
 ---@param dir Direction
-function TurtleController:MoveToPosition(x, y, z, dir)
+---@param skip_unstocking boolean | nil
-    print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
+---@param skip_refueling boolean | nil
+function TurtleController:MoveToPosition(x, y, z, dir, skip_unstocking, skip_refueling)
+    -- print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
 
-    self:DisableMining()
+    -- Store the current position on the stack, so we can return using TurtleController:MoveBack()
     self.last_positions:Push(Position:Copy(self.position))
 
-    if self.position.z > 1 then
+    -- EAST/WEST axis (do first to not interfere with chests)
-        -- Move south once (if we're at the top) to not be blocked by the slice that is currently mined.
-        -- This assumes that we mine the full width back to front.
-        self:TurnToDirection(Direction.SOUTH)
-        self:MoveRelative(1)
-    elseif self.position.z == 0 then
-        -- Move north once (if we're at the bottom) to not be blocked by the chests
-        self:TurnToDirection(Direction.NORTH)
-        self:MoveRelative(1)
-    end
-
-    -- EAST/WEST axis (do first to not interfere with chests or unmined walls)
     if self.position.x > x then
         self:TurnToDirection(Direction.WEST)
     elseif self.position.x < x then
         self:TurnToDirection(Direction.EAST)
     end
-    self:MoveRelative(math.abs(self.position.x - x))
+    self:MoveForward(math.abs(x - self.position.x), skip_unstocking, skip_refueling)
 
     -- NORTH/SOUTH axis
     if self.position.z > z then
@@ -163,28 +213,47 @@ function TurtleController:MoveToPosition(x, y, z, dir)
     elseif self.position.z < z then
         self:TurnToDirection(Direction.NORTH)
     end
-    self:MoveRelative(math.abs(self.position.z - z))
+    self:MoveForward(math.abs(z - self.position.z), skip_unstocking, skip_refueling)
+
+    -- UP/DOWN axis
+    self:MoveVertical(y - self.position.y, skip_unstocking, skip_refueling)
 
     -- Direction
     self:TurnToDirection(dir or Direction.NORTH)
 
     -- Sanity check
     if not(self.position.x == x and self.position.y == y and self.position.z == z and self.position.dir == dir) then
-        printError("TurtleController:MoveToPosition failed to move to target position!")
+        error("TurtleController:MoveToPosition failed to move to target position!")
     end
 end
 
 
-function TurtleController:MoveBack()
+---Move by a vector. Stores the current position on the stack so we can return using TurtleController:MoveBack()
-    local target_position = self.last_positions:Pop()
+---@param x number The EAST/WEST axis (grows from WEST to EAST)
+---@param y number The UP/DOWN axis (grows from DOWN to UP)
+---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
+---@param dir Direction
+---@param skip_unstocking boolean | nil
+---@param skip_refueling boolean | nil
+function TurtleController:MoveByVector(x, y, z, dir, skip_unstocking, skip_refueling)
+    self:MoveToPosition(self.position.x + x, self.position.y + y, self.position.z + z, dir, skip_unstocking, skip_refueling)
+end
 
-    if target_position == nil then
+
-        shell.exit()
+---Move to the previously stored position and pop this position from the stack.
+---@param skip_unstocking boolean | nil
+---@param skip_refueling boolean | nil
+function TurtleController:MoveBack(skip_unstocking, skip_refueling)
+    local last_position = self.last_positions:Pop()
+
+    if last_position == nil then
+        error("Failed to obtain last_position to move back!")
     else
-        self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
+        self:MoveToPosition(last_position.x, last_position.y, last_position.z, last_position.dir, skip_unstocking, skip_refueling)
+
+        -- Pop the stack because MoveToPosition pushes our current position
         self.last_positions:Pop()
     end
-
 end
 
 
@@ -193,6 +262,27 @@ end
 -----------------------------------------------------------------------------------------------
 
 
+---@return boolean
+function TurtleController:HasFuel()
+    local level = turtle.getFuelLevel()
+    local distance_home = self.position.x + self.position.y + self.position.z
+
+    return level > distance_home + self.config.refuel_safety_margin
+end
+
+
+---@return boolean
+function TurtleController:HasInventorySpace()
+    for slot = 1,16 do
+        if turtle.getItemDetail(slot) == nil then
+            return true
+        end
+    end
+
+    return false
+end
+
+
 ---@param slot number
 ---@param count number
 ---@return boolean
@@ -241,14 +331,17 @@ 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 +351,14 @@ 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 +370,7 @@ 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 +379,13 @@ 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!")
+            error("Failed to suck fuel out of fuel chest!")
-            shell.exit()
         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 +429,34 @@ function TurtleController:Configure()
 end
 
 
-function TurtleController:EnableMining()
+function TurtleController:EnableMiningForward()
-    self.mine = true
+    self.mine_forward = true
 end
 
 
-function TurtleController:DisableMining()
+function TurtleController:DisableMiningForward()
-    self.mine = false
+    self.mine_forward = false
 end
 
 
-function TurtleController:HasFuel()
+function TurtleController:EnableMiningAbove()
-    local level = turtle.getFuelLevel()
+    self.mine_above = true
-    local distance_home = self.position.x + self.position.y + self.position.z
-
-    return level > distance_home + self.config.refuel_safety_margin
 end
 
 
-function TurtleController:HasInventorySpace()
+function TurtleController:DisableMiningAbove()
-    for slot = 1,16 do
+    self.mine_above = false
-        if turtle.getItemDetail(slot) == nil then
-            return true
-        end
-    end
-
-    return false
 end
 
+
+function TurtleController:EnableMiningBelow()
+    self.mine_below = true
+end
+
+
+function TurtleController:DisableMiningBelow()
+    self.mine_below = false
+end
+
+
 return TurtleController

controller/volume_excavation_controller.lua

@@ -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

main.lua

@@ -1,18 +1,15 @@
 local TestingController = require("controller.testing_controller")
-local VolumeExcavationController = require("controller.volume_excavation_controller")
+local ExcavationController = require("controller.excavation_controller")
-local NetheriteController = require("controller.netherite_controller")
 
 
 local controllers = {
     TestingController:Create(),
-    VolumeExcavationController:Create(),
+    ExcavationController:Create(),
-    NetheriteController: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)