Implement testing for blocks in front/above/below the turtle so we don't mine chests

.luarc.json

@@ -0,0 +1,9 @@
+{
+    "diagnostics.globals": [
+        "printError",
+        "turtle",
+        "shell",
+        "peripheral",
+        "parallel"
+    ]
+}

.vscode/settings.json

@@ -2,6 +2,8 @@
     "Lua.diagnostics.globals": [
         "printError",
         "turtle",
-        "shell"
+        "shell",
+        "peripheral",
+        "parallel"
     ]
 }

controller/audio_controller.lua

@@ -0,0 +1,87 @@
+local dfpwm = require("cc.audio.dfpwm")
+
+---@alias AudioControllerConfig {buffer_length_seconds: number}
+
+---@class AudioController
+---@field config AudioControllerConfig
+---@field play boolean
+local AudioController = {}
+AudioController.__index = AudioController
+
+---@return AudioController
+function AudioController:Create()
+	local t = {}
+	setmetatable(t, AudioController)
+
+	-----------------------------------------------------------------------------------------------
+	-- Fields
+	-----------------------------------------------------------------------------------------------
+	t.config = {
+		buffer_length_seconds = 1,
+	}
+	t.play = false
+
+	return t
+end
+
+-----------------------------------------------------------------------------------------------
+-- Audio Methods
+-----------------------------------------------------------------------------------------------
+
+function AudioController:PlayAudio(filename)
+	self.play = true
+
+	local decoder = dfpwm.make_decoder()
+	while self.play do
+		for chunk in io.lines(("audio/%s.dfpwm"):format(filename), self.config.buffer_length_seconds * 1024) do
+			if not self.play then
+				break
+			end
+
+			local buffer = decoder(chunk)
+
+			while not self:GetSpeaker().playAudio(buffer) do
+				if not self.play then
+					break
+				end
+
+				---@diagnostic disable-next-line: undefined-field
+				os.pullEvent("speaker_audio_empty")
+			end
+		end
+	end
+end
+
+function AudioController:PlayAudioFactory(filename)
+	local function play()
+		self:PlayAudio(filename)
+	end
+
+	return play
+end
+
+-----------------------------------------------------------------------------------------------
+-- Management Methods
+-----------------------------------------------------------------------------------------------
+
+---@return table | nil
+function AudioController:GetSpeaker()
+	return peripheral.find("speaker")
+end
+
+function AudioController:StopPlaying()
+	self.play = false
+	self:GetSpeaker().stop()
+end
+
+-----------------------------------------------------------------------------------------------
+-- Main Method
+-----------------------------------------------------------------------------------------------
+
+function AudioController:Run()
+	-- self:Configure()
+
+	self:PlayAudio("bangarang")
+end
+
+return AudioController

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/excavation_controller.lua

@@ -1,27 +1,27 @@
 local Direction = require("lib.direction")
 local TurtleController = require("controller.turtle_controller")
+local AudioController = require("controller.audio_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 audio AudioController
 ---@field config ExcavationControllerConfig
 local ExcavationController = {}
 ExcavationController.__index = ExcavationController
 
-
 ---@return ExcavationController
 function ExcavationController:Create()
 	local t = {}
 	setmetatable(t, ExcavationController)
 
-
 	-----------------------------------------------------------------------------------------------
 	-- Fields
 	-----------------------------------------------------------------------------------------------
 
-
 	t.controller = TurtleController:Create()
+	t.audio = AudioController:Create()
 	t.config = {
 		slice_length = 0,
 		slice_height = 0,
@@ -32,16 +32,13 @@ function ExcavationController:Create()
 		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.
@@ -63,7 +60,6 @@ function ExcavationController:Excavate_1x1or2or3xL(mine_above, mine_below)
 	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.
@@ -120,7 +116,6 @@ function ExcavationController:Excavate_1xHxL()
 	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.
@@ -150,7 +145,6 @@ function ExcavationController:Excavate_WxHxL(center_slice)
 	self.controller:MoveBack()
 end
 
-
 ---Excavates all slices.
 ---Will leave the turtle refueled and unstocked in its 0x0x0 position.
 function ExcavationController:Excavate()
@@ -176,6 +170,7 @@ function ExcavationController:Excavate()
 	self:Excavate_WxHxL(true)
 	self.controller:MoveBack() -- (0, 0, 1)
 
+	if self.config.slices_right > 0 then
 		-- 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()
@@ -206,7 +201,9 @@ function ExcavationController:Excavate()
 			self.controller:TurnToDirection(Direction.NORTH)
 		end
 		self.controller:MoveBack() -- (0, 0, 1)
+	end
 
+	if self.config.slices_left > 0 then
 		-- Move to left slices starting location
 		local center_width_left = self.config.center_slice_width - center_width_right
 		self.controller:StorePosition()
@@ -245,19 +242,19 @@ function ExcavationController:Excavate()
 			self.controller:TurnToDirection(Direction.NORTH)
 		end
 		self.controller:MoveBack() -- (0, 0, 1)
+	end
 
 	-- Finish up
 	self.controller:MoveToPosition(0, 0, 0, self.controller.config.storage_direction)
-    self.controller:DropInventory()
+	self.controller:DropInventoryIntoChest()
 	self.controller:TurnToDirection(Direction.NORTH)
+	self.audio:StopPlaying()
 end
 
-
 -----------------------------------------------------------------------------------------------
 -- Management Methods
 -----------------------------------------------------------------------------------------------
 
-
 function ExcavationController:Configure()
 	local config_complete = false
 
@@ -291,23 +288,31 @@ function ExcavationController:Configure()
 		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(
+			("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()
@@ -317,8 +322,9 @@ function ExcavationController:Run()
 	turtle.refuel()
 	self.controller:RefuelIfEmpty()
 
+	parallel.waitForAll(function()
 		self:Excavate()
+	end, self.audio:PlayAudioFactory("bangarang"))
 end
 
-
 return ExcavationController

controller/testing_controller.lua

@@ -1,211 +0,0 @@
-local Direction = require("lib.direction")
-local TurtleController = require("controller.turtle_controller")
-
----@class TestingController
----@field controller TurtleController
-local TestingController = {}
-TestingController.__index = TestingController
-
-
----@return TestingController
-function TestingController:Create()
-    local t = {}
-    setmetatable(t, TestingController)
-
-    t.controller = TurtleController:Create()
-
-    return t
-end
-
-
------------------------------------------------------------------------------------------------
--- Behavior Methods
------------------------------------------------------------------------------------------------
-
-
-function TestingController:TestRelativeMovementWithRelativeRotation()
-    print("Testing relative movement with relative rotation...")
-
-                                     -- N: BackCenter (Center)
-    self.controller:MoveForward(3)
-    self.controller:TurnRelative(1)  -- E: FrontCenter (Center)
-    self.controller:MoveForward(3)
-    self.controller:TurnRelative(2)  -- W: FrontRight (Center)
-    self.controller:MoveVertical(3)
-    self.controller:TurnRelative(8)  -- W: FrontRight (Top)
-    self.controller:MoveForward(3)
-    self.controller:TurnRelative(3)  -- S: FrontCenter (Top)
-    self.controller:MoveForward(3)
-    self.controller:TurnRelative(9)  -- W: BackCenter (Top)
-    self.controller:MoveVertical(-3)
-    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
-
-
-function TestingController:TestRelativeMovementWithAbsoluteRotation()
-    print("Testing relative movement with absolute rotation...")
-
-                                                     -- N: BackCenter (Center)
-    self.controller:MoveForward(3)
-    self.controller:TurnToDirection(Direction.EAST)  -- E: FrontCenter (Center)
-    self.controller:MoveForward(3)
-    self.controller:TurnToDirection(Direction.WEST)  -- W: FrontRight (Center)
-    self.controller:MoveVertical(3)
-    self.controller:TurnToDirection(Direction.WEST)  -- W: FrontRight (Top)
-    self.controller:MoveForward(3)
-    self.controller:TurnToDirection(Direction.SOUTH) -- S: FrontCenter (Top)
-    self.controller:MoveForward(3)
-    self.controller:TurnToDirection(Direction.WEST)  -- W: BackCenter (Top)
-    self.controller:MoveVertical(-3)
-    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
-
-
-function TestingController:TestAbsoluteMovementWithoutStack()
-    print("Testing absolute movement without stack...")
-
-                                                             -- N: BackCenter (Center)
-    self.controller:MoveToPosition(0, 0, 3, Direction.EAST)  -- E: FrontCenter (Center)
-    self.controller:MoveToPosition(3, 0, 3, Direction.WEST)  -- W: FrontRight (Center)
-    self.controller:MoveToPosition(3, 3, 3, Direction.WEST)  -- W: FrontRight (Top)
-    self.controller:MoveToPosition(0, 3, 3, Direction.SOUTH) -- S: FrontCenter (Top)
-    self.controller:MoveToPosition(0, 3, 0, Direction.WEST)  -- W: BackCenter (Top)
-    self.controller:MoveToPosition(0, 0, 0, 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
-
-
-function TestingController:TestAbsoluteMovementWithStack()
-    print("Testing absolute movement with stack...")
-
-                                                            -- N: BotCenter (Center)
-    self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter (Center)
-    self.controller:MoveBack()                              -- N: BotCenter (Center)
-    self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: TopRight (Top)
-    self.controller:MoveBack()                              -- N: BotCenter (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
-
-
-function TestingController:TestUnstocking()
-    print("Testing inventory unloading...")
-
-    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()
-
-    print("The turtle should be in its original location.")
-    print("Press Enter to continue")
-    _ = io.read()
-end
-
-
-function TestingController:TestRefueling()
-    print("Testing refueling...")
-
-    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()
-
-    print("The turtle should be in its original location.")
-    print("Press Enter to continue")
-    _ = io.read()
-end
-
-
------------------------------------------------------------------------------------------------
--- Main Method
------------------------------------------------------------------------------------------------
-
-
-function TestingController:Run()
-    self.controller:Configure()
-    self.controller:DisableMiningForward()
-    self.controller:DisableMiningAbove()
-    self.controller:DisableMiningBelow()
-
-    print("There are multiple tests available:")
-    print("1: Relative movement with relative rotation")
-    print("2: Relative movement with absolute rotation")
-    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
-
-
-return TestingController

controller/turtle_controller.lua

@@ -14,18 +14,15 @@ local Stack = require("lib.stack")
 local TurtleController = {}
 TurtleController.__index = TurtleController
 
-
 ---@return TurtleController
 function TurtleController:Create()
 	local t = {}
 	setmetatable(t, TurtleController)
 
-
 	-----------------------------------------------------------------------------------------------
 	-- Fields
 	-----------------------------------------------------------------------------------------------
 
-
 	t.config = {
 		fuel_direction = Direction.EAST,
 		fuel_name = turtle.getItemDetail(1) == nil and "" or turtle.getItemDetail(1).name,
@@ -39,16 +36,13 @@ function TurtleController:Create()
 	t.mine_above = false
 	t.mine_below = false
 
-
 	return t
 end
 
-
 -----------------------------------------------------------------------------------------------
 -- Movement Methods
 -----------------------------------------------------------------------------------------------
 
-
 ---Positive numbers turn clockwise, negative numbers turn counterclockwise
 ---@param number_of_turns number
 function TurtleController:TurnRelative(number_of_turns)
@@ -75,7 +69,6 @@ function TurtleController:TurnRelative(number_of_turns)
 	self.position.dir = (self.position.dir + number_of_turns) % 4
 end
 
-
 ---@param direction Direction
 function TurtleController:TurnToDirection(direction)
 	if self.position.dir == direction then
@@ -85,7 +78,6 @@ function TurtleController:TurnToDirection(direction)
 	self:TurnRelative(direction - self.position.dir)
 end
 
-
 ---Move forward by a number of blocks depending on the current rotation
 ---@param number_of_blocks number
 ---@param skip_unstocking boolean | nil
@@ -110,15 +102,24 @@ function TurtleController:MoveForward(number_of_blocks, skip_unstocking, skip_re
 		-- Mine/Move
 		if self.mine_forward then
 			while not turtle.forward() do
+				if self:TestForBlock("minecraft:chest") then
+					error("Won't mine because a chest is in the way!")
+				end
 				turtle.dig()
 			end
 		elseif not turtle.forward() then
 			error("Turtle failed to move forward!")
 		end
 		if self.mine_above then
+			if self:TestForBlock("minecraft:chest", true, false) then
+				error("Won't mine because a chest is in the way!")
+			end
 			turtle.digUp()
 		end
 		if self.mine_below then
+			if self:TestForBlock("minecraft:chest", false, true) then
+				error("Won't mine because a chest is in the way!")
+			end
 			turtle.digDown()
 		end
 
@@ -160,13 +161,15 @@ function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_r
 			self:UnstockIfFull()
 		end
 
-        -- Mine
+		-- Mine/Move
 		if mine_enabled then
+			while not move_function() do
+				if self:TestForBlock("minecraft:chest", number_of_blocks > 0, number_of_blocks < 0) then
+					error("Won't mine because a chest is in the way!")
+				end
 				mine_function()
 			end
-
-        -- Move
-        if not move_function() then
+		elseif not move_function() then
 			error("Turtle failed to move vertically!")
 		end
 
@@ -179,13 +182,11 @@ function TurtleController:MoveVertical(number_of_blocks, skip_unstocking, skip_r
 	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)
@@ -199,7 +200,15 @@ 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
@@ -216,18 +225,40 @@ 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!")
 	end
 end
 
-
 ---Move by a vector. 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)
@@ -236,10 +267,16 @@ end
 ---@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)
+	self:MoveToPosition(
+		self.position.x + x,
+		self.position.y + y,
+		self.position.z + z,
+		dir,
+		skip_unstocking,
+		skip_refueling
+	)
 end
 
-
 ---Move to the previously stored position and pop this position from the stack.
 ---@param skip_unstocking boolean | nil
 ---@param skip_refueling boolean | nil
@@ -249,19 +286,55 @@ function TurtleController:MoveBack(skip_unstocking, skip_refueling)
 	if last_position == nil then
 		error("Failed to obtain last_position to move back!")
 	else
-        self:MoveToPosition(last_position.x, last_position.y, last_position.z, last_position.dir, skip_unstocking, skip_refueling)
+		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
 
+-----------------------------------------------------------------------------------------------
+-- Testing Methods
+-----------------------------------------------------------------------------------------------
+
+---@param block_name string
+---@param above boolean | nil
+---@param below boolean | nil
+---@return boolean
+function TurtleController:TestForBlock(block_name, above, below)
+	above = above or false
+	below = below or false
+	if above and below then
+		error("Can only test for blocks in one direction!")
+	end
+
+	local inspect_function = turtle.inspect
+	if above then
+		inspect_function = turtle.inspectUp
+	elseif below then
+		inspect_function = turtle.inspectDown
+	end
+
+	local has_block, block_data = inspect_function()
+
+	if not has_block then
+		return false
+	end
+
+	return block_data.name == block_name
+end
 
 -----------------------------------------------------------------------------------------------
 -- Inventory Methods
 -----------------------------------------------------------------------------------------------
 
-
 ---@return boolean
 function TurtleController:HasFuel()
 	local level = turtle.getFuelLevel()
@@ -270,7 +343,6 @@ function TurtleController:HasFuel()
 	return level > distance_home + self.config.refuel_safety_margin
 end
 
-
 ---@return boolean
 function TurtleController:HasInventorySpace()
 	for slot = 1, 16 do
@@ -282,11 +354,14 @@ function TurtleController:HasInventorySpace()
 	return false
 end
 
-
 ---@param slot number
 ---@param count number
 ---@return boolean
-function TurtleController:SuckItem(slot, count)
+function TurtleController:SuckItemFromChest(slot, count)
+	if not self:TestForBlock("minecraft:chest") then
+		error("Can't suck item: no chest!")
+	end
+
 	local previous_slot = turtle.getSelectedSlot()
 
 	turtle.select(slot or 1)
@@ -297,11 +372,14 @@ function TurtleController:SuckItem(slot, count)
 	return sucked
 end
 
-
 ---@param slot number
 ---@param count number
 ---@return boolean
-function TurtleController:DropItem(slot, count)
+function TurtleController:DropItemIntoChest(slot, count)
+	if not self:TestForBlock("minecraft:chest") then
+		error("Can't drop item: no chest!")
+	end
+
 	local previous_slot = turtle.getSelectedSlot()
 
 	turtle.select(slot or 1)
@@ -312,8 +390,11 @@ function TurtleController:DropItem(slot, count)
 	return dropped
 end
 
+function TurtleController:DropInventoryIntoChest()
+	if not self:TestForBlock("minecraft:chest") then
+		error("Can't drop item: no chest!")
+	end
 
-function TurtleController:DropInventory()
 	print("Dropping inventory into chest...")
 
 	for slot = 1, 16 do
@@ -324,7 +405,6 @@ function TurtleController:DropInventory()
 	turtle.select(1)
 end
 
-
 ---@param skip_inventory_check boolean | nil
 function TurtleController:UnstockIfFull(skip_inventory_check)
 	skip_inventory_check = skip_inventory_check or false
@@ -338,13 +418,14 @@ function TurtleController:UnstockIfFull(skip_inventory_check)
 	print("Turtle is unstocking...")
 
 	self:MoveToPosition(0, 0, 0, self.config.storage_direction, true, true)
-    self:DropInventory()
+	self:DropInventoryIntoChest()
 	self:RefuelIfEmpty()
 
+	self:TurnToDirection(Direction.NORTH)
+	self:MoveForward(1)
 	self:MoveBack(true, true)
 end
 
-
 ---@param skip_fuel_check boolean | nil
 function TurtleController:RefuelIfEmpty(skip_fuel_check)
 	skip_fuel_check = skip_fuel_check or false
@@ -359,7 +440,7 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
 
 	-- Clear our inventory into the storage chest
 	self:MoveToPosition(0, 0, 0, self.config.storage_direction, true, true)
-    self:DropInventory()
+	self:DropInventoryIntoChest()
 
 	-- Prepare refueling
 	self:TurnToDirection(self.config.fuel_direction)
@@ -378,24 +459,30 @@ function TurtleController:RefuelIfEmpty(skip_fuel_check)
 	-- Refuel until we hit the refuel_amount
 	local before_level = turtle.getFuelLevel()
 	repeat
-        if not self:SuckItem(1, 1) then
+		if not self:SuckItemFromChest(1, 1) then
 			error("Failed to suck fuel out of fuel chest!")
 		end
 		turtle.refuel()
 	until turtle.getFuelLevel() >= target_fuel_level
 	local after_level = turtle.getFuelLevel()
 
+	self:TurnToDirection(Direction.NORTH)
+	self:MoveForward(1)
 	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))
+	print(
+		("Refuelled %d units, current level is %d (old level was %d)"):format(
+			after_level - before_level,
+			after_level,
+			before_level
+		)
+	)
 end
 
-
 -----------------------------------------------------------------------------------------------
 -- Management Methods
 -----------------------------------------------------------------------------------------------
 
-
 function TurtleController:Configure()
 	local config_complete = false
 
@@ -422,41 +509,38 @@ function TurtleController:Configure()
 		self.config.storage_direction = tonumber(io.read()) or Direction.EAST
 
 		print("Configuration complete!")
-        print(("Turtle will consume \"%s\" for fuel. Put the desired fuel into the first slot to change."):format(self.config.fuel_name))
+		print(
+			('Turtle will consume "%s" for fuel. Put the desired fuel into the first slot to change.'):format(
+				self.config.fuel_name
+			)
+		)
 		print("Do you want to accept the configuration (enter 1, otherwise 0)?")
 		config_complete = tonumber(io.read()) == 1
 	end
 end
 
-
 function TurtleController:EnableMiningForward()
 	self.mine_forward = true
 end
 
-
 function TurtleController:DisableMiningForward()
 	self.mine_forward = false
 end
 
-
 function TurtleController:EnableMiningAbove()
 	self.mine_above = true
 end
 
-
 function TurtleController:DisableMiningAbove()
 	self.mine_above = false
 end
 
-
 function TurtleController:EnableMiningBelow()
 	self.mine_below = true
 end
 
-
 function TurtleController:DisableMiningBelow()
 	self.mine_below = false
 end
 
-
 return TurtleController

controller/turtle_testing_controller.lua

@@ -0,0 +1,220 @@
+local Direction = require("lib.direction")
+local TurtleController = require("controller.turtle_controller")
+
+---@class TurtleTestingController
+---@field controller TurtleController
+local TurtleTestingController = {}
+TurtleTestingController.__index = TurtleTestingController
+
+---@return TurtleTestingController
+function TurtleTestingController:Create()
+	local t = {}
+	setmetatable(t, TurtleTestingController)
+
+	t.controller = TurtleController:Create()
+
+	return t
+end
+
+-----------------------------------------------------------------------------------------------
+-- Behavior Methods
+-----------------------------------------------------------------------------------------------
+
+function TurtleTestingController:TestRelativeMovementWithRelativeRotation()
+	print("Testing relative movement with relative rotation...")
+
+	-- N: BackCenter (Center)
+	self.controller:MoveForward(3)
+	self.controller:TurnRelative(1) -- E: FrontCenter (Center)
+	self.controller:MoveForward(3)
+	self.controller:TurnRelative(2) -- W: FrontRight (Center)
+	self.controller:MoveVertical(3)
+	self.controller:TurnRelative(8) -- W: FrontRight (Top)
+	self.controller:MoveForward(3)
+	self.controller:TurnRelative(3) -- S: FrontCenter (Top)
+	self.controller:MoveForward(3)
+	self.controller:TurnRelative(9) -- W: BackCenter (Top)
+	self.controller:MoveVertical(-3)
+	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
+
+function TurtleTestingController:TestRelativeMovementWithAbsoluteRotation()
+	print("Testing relative movement with absolute rotation...")
+
+	-- N: BackCenter (Center)
+	self.controller:MoveForward(3)
+	self.controller:TurnToDirection(Direction.EAST) -- E: FrontCenter (Center)
+	self.controller:MoveForward(3)
+	self.controller:TurnToDirection(Direction.WEST) -- W: FrontRight (Center)
+	self.controller:MoveVertical(3)
+	self.controller:TurnToDirection(Direction.WEST) -- W: FrontRight (Top)
+	self.controller:MoveForward(3)
+	self.controller:TurnToDirection(Direction.SOUTH) -- S: FrontCenter (Top)
+	self.controller:MoveForward(3)
+	self.controller:TurnToDirection(Direction.WEST) -- W: BackCenter (Top)
+	self.controller:MoveVertical(-3)
+	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
+
+function TurtleTestingController:TestAbsoluteMovementWithoutStack()
+	print("Testing absolute movement without stack...")
+
+	-- N: BackCenter (Center)
+	self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: FrontCenter (Center)
+	self.controller:MoveToPosition(3, 0, 3, Direction.WEST) -- W: FrontRight (Center)
+	self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: FrontRight (Top)
+	self.controller:MoveToPosition(0, 3, 3, Direction.SOUTH) -- S: FrontCenter (Top)
+	self.controller:MoveToPosition(0, 3, 0, Direction.WEST) -- W: BackCenter (Top)
+	self.controller:MoveToPosition(0, 0, 0, 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
+
+function TurtleTestingController:TestAbsoluteMovementWithStack()
+	print("Testing absolute movement with stack...")
+
+	-- N: BotCenter (Center)
+	self.controller:MoveToPosition(0, 0, 3, Direction.EAST) -- E: TopCenter (Center)
+	self.controller:MoveBack() -- N: BotCenter (Center)
+	self.controller:MoveToPosition(3, 3, 3, Direction.WEST) -- W: TopRight (Top)
+	self.controller:MoveBack() -- N: BotCenter (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
+
+function TurtleTestingController:TestUnstocking()
+	print("Testing inventory unloading...")
+
+	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()
+
+	print("The turtle should be in its original location.")
+	print("Press Enter to continue")
+	_ = io.read()
+end
+
+function TurtleTestingController:TestRefueling()
+	print("Testing refueling...")
+
+	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()
+
+	print("The turtle should be in its original location.")
+	print("Press Enter to continue")
+	_ = io.read()
+end
+
+-----------------------------------------------------------------------------------------------
+-- Main Method
+-----------------------------------------------------------------------------------------------
+
+function TurtleTestingController:Run()
+	self.controller:Configure()
+	self.controller:DisableMiningForward()
+	self.controller:DisableMiningAbove()
+	self.controller:DisableMiningBelow()
+
+	print("There are multiple tests available:")
+	print("1: Relative movement with relative rotation")
+	print("2: Relative movement with absolute rotation")
+	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
+
+return TurtleTestingController

lib/direction.lua

@@ -3,7 +3,7 @@ local Direction = {
 	NORTH = 0,
 	EAST = 1,
 	SOUTH = 2,
-    WEST = 3
+	WEST = 3,
 }
 
 return Direction

lib/position.lua

@@ -8,7 +8,6 @@ local Direction = require("lib.direction")
 local Position = {}
 Position.__index = Position
 
-
 ---@return Position
 function Position:Empty()
 	local t = {}

lib/stack.lua

@@ -1,11 +1,8 @@
-local Position = require("lib.position")
-
 ---@class Stack
 ---@field elements Position[]
 local Stack = {}
 Stack.__index = Stack
 
-
 ---@return Stack
 function Stack:Create()
 	-- stack table
@@ -18,7 +15,6 @@ function Stack:Create()
 	return t
 end
 
-
 ---@param element Position
 function Stack:Push(element)
 	if element == nil or element == {} then
@@ -29,7 +25,6 @@ function Stack:Push(element)
 	table.insert(self.elements, element)
 end
 
-
 ---@return Position | nil
 function Stack:Pop()
 	if self:Count() == 0 then
@@ -40,7 +35,6 @@ function Stack:Pop()
 	return table.remove(self.elements)
 end
 
-
 ---@return Position | nil
 function Stack:Peek()
 	if self:Count() == 0 then
@@ -51,11 +45,9 @@ function Stack:Peek()
 	return self.elements[#self.elements]
 end
 
-
 ---@return number
 function Stack:Count()
 	return #self.elements
 end
 
-
 return Stack

main.lua

@@ -1,15 +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("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
@@ -19,11 +24,13 @@ end
 
 controllers[choice]:Run()
 
+-- TODO: When refueling but chest is missing, wait there until the user puts a chest with fuel
+-- TODO: Improve error handling: Don't abort the program in all cases,
+--       but wait until the user fixes the issue (e.g. places a chest)
 
--- 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 shortcuts for the volume excavation:
+--       - Tunnel forward 3x2 or 3x3 with specified length
+--       - Excavate downwards (quarry) in a square, specify side length
 -- TODO: Add controller to build rooms with walls of a specified material
--- TODO: Support specifying the mining height
+-- TODO: Add a stair building mode (specify side length, min 2x2)
 -- 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)