Update turtle absolute movement logic (mine only where needed)

controller/audio_testing_controller.lua

@@ -0,0 +1,82 @@
+local TurtleController = require("controller.turtle_controller")
+local AudioController = require("controller.audio_controller")
+
+---@class AudioTestingController
+---@field controller TurtleController
+---@field audio AudioController
+local AudioTestingController = {}
+AudioTestingController.__index = AudioTestingController
+
+---@return AudioTestingController
+function AudioTestingController:Create()
+	local t = {}
+	setmetatable(t, AudioTestingController)
+
+	-----------------------------------------------------------------------------------------------
+	-- Fields
+	-----------------------------------------------------------------------------------------------
+	t.controller = TurtleController:Create()
+	t.audio = AudioController:Create()
+
+	return t
+end
+
+-----------------------------------------------------------------------------------------------
+-- Behavior Methods
+-----------------------------------------------------------------------------------------------
+
+function AudioTestingController:TestAudioWithoutMovement()
+	local function dancing()
+		for _ = 1, 256 do
+			self.controller:TurnRelative(1)
+		end
+		self.audio:StopPlaying()
+	end
+
+	parallel.waitForAll(dancing, self.audio:PlayAudioFactory("bangarang"))
+end
+
+function AudioTestingController:TestAudioWithMovement()
+	local function movement()
+		for _ = 1, 10 do
+			self.controller:MoveForward(10)
+			self.controller:MoveVertical(3)
+			self.controller:TurnRelative(2)
+			self.controller:MoveForward(10)
+			self.controller:MoveVertical(-3)
+			self.controller:TurnRelative(2)
+		end
+		self.audio:StopPlaying()
+	end
+
+	parallel.waitForAll(movement, self.audio:PlayAudioFactory("bangarang"))
+end
+
+-----------------------------------------------------------------------------------------------
+-- Main Method
+-----------------------------------------------------------------------------------------------
+
+function AudioTestingController:Run()
+	self.controller:Configure()
+	self.controller:DisableMiningForward()
+	self.controller:DisableMiningAbove()
+	self.controller:DisableMiningBelow()
+
+	print("There are multiple tests available:")
+	print("1: Audio without movement")
+	print("2: Audio with movement")
+
+	local choice = 0
+	while choice < 1 or choice > 2 do
+		print("Choose a test by entering its number:")
+		choice = tonumber(io.read()) or 0
+	end
+
+	if choice == 1 then
+		self:TestAudioWithoutMovement()
+	elseif choice == 2 then
+		self:TestAudioWithMovement()
+	end
+end
+
+return AudioTestingController

controller/turtle_controller.lua

@@ -152,13 +152,12 @@ function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_r
 			self:UnstockIfFull()
 		end
 
-		-- Mine
+		-- Mine/Move
 		if mine_enabled then
-			mine_function()
-		end
-
-		-- Move
-		if not move_function() then
+			while not move_function() do
+				mine_function()
+			end
+		elseif not move_function() then
 			error("Turtle failed to move vertically!")
 		end
 
@@ -189,7 +188,15 @@ function TurtleController:MoveToPosition(x, y, z, dir, skip_unstocking, skip_ref
 	-- Store the current position on the stack, so we can return using TurtleController:MoveBack()
 	self.last_positions:Push(Position:Copy(self.position))
 
+	-- Store mining config so we can restore it later
+	local mine_forward = self.mine_forward
+	local mine_above = self.mine_above
+	local mine_below = self.mine_below
+
 	-- EAST/WEST axis (do first to not interfere with chests)
+	self:EnableMiningForward()
+	self:DisableMiningAbove()
+	self:DisableMiningBelow()
 	if self.position.x > x then
 		self:TurnToDirection(Direction.WEST)
 	elseif self.position.x < x then
@@ -206,11 +213,34 @@ function TurtleController:MoveToPosition(x, y, z, dir, skip_unstocking, skip_ref
 	self:MoveForward(math.abs(z - self.position.z), skip_unstocking, skip_refueling)
 
 	-- UP/DOWN axis
+	self:DisableMiningForward()
+	if y < self.position.y then
+		self:EnableMiningBelow()
+	elseif y > self.position.y then
+		self:EnableMiningAbove()
+	end
 	self:MoveVertical(y - self.position.y, skip_unstocking, skip_refueling)
 
 	-- Direction
 	self:TurnToDirection(dir or Direction.NORTH)
 
+	-- Restore mining config
+	if mine_forward then
+		self:EnableMiningForward()
+	else
+		self:DisableMiningForward()
+	end
+	if mine_above then
+		self:EnableMiningAbove()
+	else
+		self:DisableMiningAbove()
+	end
+	if mine_below then
+		self:EnableMiningBelow()
+	else
+		self:DisableMiningBelow()
+	end
+
 	-- Sanity check
 	if not (self.position.x == x and self.position.y == y and self.position.z == z and self.position.dir == dir) then
 		error("TurtleController:MoveToPosition failed to move to target position!")
@@ -258,6 +288,22 @@ function TurtleController:MoveBack(skip_unstocking, skip_refueling)
 	end
 end
 
+-----------------------------------------------------------------------------------------------
+-- Testing Methods
+-----------------------------------------------------------------------------------------------
+
+---@param block_name string
+---@return boolean
+function TurtleController:TestForBlock(block_name)
+	local has_block, block_data = turtle.inspect()
+
+	if not has_block then
+		return false
+	end
+
+	return block_data.name == block_name
+end
+
 -----------------------------------------------------------------------------------------------
 -- Inventory Methods
 -----------------------------------------------------------------------------------------------
@@ -336,6 +382,8 @@ function TurtleController:UnstockIfFull(skip_inventory_check)
 	self:DropInventory()
 	self:RefuelIfEmpty()
 
+	self:TurnToDirection(Direction.NORTH)
+	self:MoveForward(1)
 	self:MoveBack(true, true)
 end
 
@@ -379,6 +427,8 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
 	until turtle.getFuelLevel() >= target_fuel_level
 	local after_level = turtle.getFuelLevel()
 
+	self:TurnToDirection(Direction.NORTH)
+	self:MoveForward(1)
 	self:MoveBack(true, true)
 
 	print(

controller/turtle_testing_controller.lua

@@ -1,15 +1,15 @@
 local Direction = require("lib.direction")
 local TurtleController = require("controller.turtle_controller")
 
----@class TestingController
+---@class TurtleTestingController
 ---@field controller TurtleController
-local TestingController = {}
-TestingController.__index = TestingController
+local TurtleTestingController = {}
+TurtleTestingController.__index = TurtleTestingController
 
----@return TestingController
-function TestingController:Create()
+---@return TurtleTestingController
+function TurtleTestingController:Create()
 	local t = {}
-	setmetatable(t, TestingController)
+	setmetatable(t, TurtleTestingController)
 
 	t.controller = TurtleController:Create()
 
@@ -20,7 +20,7 @@ end
 -- Behavior Methods
 -----------------------------------------------------------------------------------------------
 
-function TestingController:TestRelativeMovementWithRelativeRotation()
+function TurtleTestingController:TestRelativeMovementWithRelativeRotation()
 	print("Testing relative movement with relative rotation...")
 
 	-- N: BackCenter (Center)
@@ -50,7 +50,7 @@ function TestingController:TestRelativeMovementWithRelativeRotation()
 	_ = io.read()
 end
 
-function TestingController:TestRelativeMovementWithAbsoluteRotation()
+function TurtleTestingController:TestRelativeMovementWithAbsoluteRotation()
 	print("Testing relative movement with absolute rotation...")
 
 	-- N: BackCenter (Center)
@@ -80,7 +80,7 @@ function TestingController:TestRelativeMovementWithAbsoluteRotation()
 	_ = io.read()
 end
 
-function TestingController:TestAbsoluteMovementWithoutStack()
+function TurtleTestingController:TestAbsoluteMovementWithoutStack()
 	print("Testing absolute movement without stack...")
 
 	-- N: BackCenter (Center)
@@ -104,7 +104,7 @@ function TestingController:TestAbsoluteMovementWithoutStack()
 	_ = io.read()
 end
 
-function TestingController:TestAbsoluteMovementWithStack()
+function TurtleTestingController:TestAbsoluteMovementWithStack()
 	print("Testing absolute movement with stack...")
 
 	-- N: BotCenter (Center)
@@ -126,7 +126,7 @@ function TestingController:TestAbsoluteMovementWithStack()
 	_ = io.read()
 end
 
-function TestingController:TestUnstocking()
+function TurtleTestingController:TestUnstocking()
 	print("Testing inventory unloading...")
 
 	self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
@@ -143,7 +143,7 @@ function TestingController:TestUnstocking()
 	_ = io.read()
 end
 
-function TestingController:TestRefueling()
+function TurtleTestingController:TestRefueling()
 	print("Testing refueling...")
 
 	self.controller:MoveToPosition(3, 0, 3, Direction.WEST)
@@ -164,7 +164,7 @@ end
 -- Main Method
 -----------------------------------------------------------------------------------------------
 
-function TestingController:Run()
+function TurtleTestingController:Run()
 	self.controller:Configure()
 	self.controller:DisableMiningForward()
 	self.controller:DisableMiningAbove()
@@ -217,4 +217,4 @@ function TestingController:Run()
 	end
 end
 
-return TestingController
+return TurtleTestingController

main.lua

@@ -1,17 +1,20 @@
-local TestingController = require("controller.testing_controller")
+local TurtleTestingController = require("controller.turtle_testing_controller")
+local AudioTestingController = require("controller.audio_testing_controller")
 local ExcavationController = require("controller.excavation_controller")
 local AudioController = require("controller.audio_controller")
 
 local controllers = {
-	TestingController:Create(),
+	TurtleTestingController:Create(),
+	AudioTestingController:Create(),
 	ExcavationController:Create(),
 	AudioController:Create(),
 }
 
 print("Multiple controllers are available:")
-print("1: Testing Mode")
-print("2: Volume Excavation")
-print("3: Play Bangarang")
+print("1: Turtle Testing Mode")
+print("2: Audio Testing Mode")
+print("3: Volume Excavation")
+print("4: Play Bangarang")
 
 local choice = 0
 while choice < 1 or choice > #controllers do
@@ -21,10 +24,12 @@ end
 
 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)
+-- TODO: When refueling but chest is missing, wait there until the user puts a chest with fuel
+-- TODO: Add emergency return routine if can't move (e.g. try to move in different directions first)
+-- TODO: Add shortcuts for the volume excavation:
+--       - Tunnel forward 3x2 or 3x3 with specified length
+--       - Excavate downwards (quarry) in a square, specify side length
+-- TODO: Add a stair building mode (specify side length, min 2x2)