From ab4fd29d16fb737cad0c7b7e36c33e04595a4481 Mon Sep 17 00:00:00 2001
From: "kepler155c@gmail.com" <kepler155c@gmail.com>
Date: Wed, 20 Feb 2019 08:52:27 -0500
Subject: [PATCH] turtle follow

---
 sys/apis/gps.lua          | 25 ++++++++++++++++---------
 sys/apis/trace.lua        | 12 +++++++++++-
 sys/apps/system/kiosk.lua |  4 ++--
 sys/extensions/6.tl3.lua  |  4 ++--
 4 files changed, 31 insertions(+), 14 deletions(-)

diff --git a/sys/apis/gps.lua b/sys/apis/gps.lua
index cf53d61..c7f24e7 100644
--- a/sys/apis/gps.lua
+++ b/sys/apis/gps.lua
@@ -34,30 +34,37 @@ function GPS.getPoint(timeout, debug)
 	return pt
 end
 
-function GPS.getHeading(timeout)
-
+function GPS.getHeading(timeout, destructive)
 	if not turtle then
 		return
 	end
 
 	local apt = GPS.locate(timeout)
 	if not apt then
-		return
+		return false, 'GPS not available'
 	end
 
 	local heading = turtle.point.heading
 
-	while not turtle.forward() do
+	while true do
+		if not turtle.inspect() and turtle.forward() then
+			break
+		end
 		turtle.turnRight()
 		if turtle.getHeading() == heading then
-			_G.printError('GPS.getPoint: Unable to move forward')
-			return
+			if destructive then
+				turtle.dig()
+				if turtle.forward() then
+					break
+				end
+			end
+			return false, 'GPS.getPoint: Unable to move forward'
 		end
 	end
 
 	local bpt = GPS.locate()
 	if not bpt then
-		return
+		return false, 'GPS not available'
 	end
 
 	if apt.x < bpt.x then
@@ -70,8 +77,8 @@ function GPS.getHeading(timeout)
 	return 3
 end
 
-function GPS.getPointAndHeading(timeout)
-	local heading = GPS.getHeading(timeout)
+function GPS.getPointAndHeading(timeout, destructive)
+	local heading = GPS.getHeading(timeout, destructive)
 	if heading then
 		local pt = GPS.getPoint()
 		if pt then
diff --git a/sys/apis/trace.lua b/sys/apis/trace.lua
index 6a0a2cb..ddb023c 100644
--- a/sys/apis/trace.lua
+++ b/sys/apis/trace.lua
@@ -84,15 +84,25 @@ return function (fn, ...)
       if trace[i] == "stack traceback:" then trace_starts = i; break end
     end
 
+    for _, line in pairs(trace) do
+      _G._debug(line)
+    end
+
     -- If this traceback is more than 15 elements long, keep the first 9, last 5
     -- and put an ellipsis between the rest
     local max = 10
     if trace_starts and #trace - trace_starts > max then
       local keep_starts = trace_starts + 7
-      for i = #trace - trace_starts - max, 0, -1 do table.remove(trace, keep_starts + i) end
+      for i = #trace - trace_starts - max, 0, -1 do
+        table.remove(trace, keep_starts + i)
+      end
       table.insert(trace, keep_starts, "  ...")
     end
 
+    for k, line in pairs(trace) do
+      trace[k] = line:gsub("in function", " in")
+    end
+
     return false, table.remove(trace, 1), table.concat(trace, "\n")
   end
 
diff --git a/sys/apps/system/kiosk.lua b/sys/apps/system/kiosk.lua
index 0eda77b..d75bec2 100644
--- a/sys/apps/system/kiosk.lua
+++ b/sys/apps/system/kiosk.lua
@@ -28,9 +28,9 @@ local tab = UI.Tab {
 function tab:enable()
 	local choices = {	}
 
-	for k,v in pairs(device) do
+	for _,v in pairs(device) do
 		if v.type == 'monitor' then
-			table.insert(choices, { name = k, value = v.side })
+			table.insert(choices, { name = v.side, value = v.side })
 		end
 	end
 
diff --git a/sys/extensions/6.tl3.lua b/sys/extensions/6.tl3.lua
index 23fee77..d3649ba 100644
--- a/sys/extensions/6.tl3.lua
+++ b/sys/extensions/6.tl3.lua
@@ -1239,8 +1239,8 @@ function turtle.inspectForwardAt(pt)     return _actionForwardAt(actionsAt.inspe
 function turtle.inspectUpAt(pt)          return _actionUpAt(actionsAt.inspect, pt) end
 
 -- [[ GPS ]] --
-function turtle.enableGPS(timeout)
-	local pt = GPS.getPointAndHeading(timeout)
+function turtle.enableGPS(timeout, destructive)
+	local pt = GPS.getPointAndHeading(timeout, destructive)
 	if pt then
 		turtle.setPoint(pt, true)
 		return turtle.point