relative-gps coord system

sys/extensions/scheduler.lua

@@ -67,6 +67,7 @@ function turtle.run(fn, ...)
     end
     if id == ticketId then
       turtle.abort = false
+      turtle.resetState()
       local args = { ... }
       local s, m = pcall(function() fn(unpack(args)) end)
       turtle.abort = false

sys/extensions/tgps.lua

@@ -5,10 +5,15 @@ end
 require = requireInjector(getfenv(1))
 local GPS = require('gps')
 
-function turtle.enableGPS()
-  local pt = GPS.getPointAndHeading()
+function turtle.enableGPS(timeout)
+  if turtle.getState().coordSystem == 'GPS' then
+    return turtle.point
+  end
+
+  local pt = GPS.getPointAndHeading(timeout)
   if pt then
     turtle.setPoint(pt)
+    turtle.getState().coordSystem = 'GPS'
     return true
   end
 end
@@ -16,25 +21,15 @@ end
 function turtle.gotoGPSHome()
   local homePt = turtle.loadLocation('gpsHome')
   if homePt then
-    local pt = GPS.getPointAndHeading()
-    if pt then
-      turtle.setPoint(pt)
+    if turtle.enableGPS() then
       turtle.pathfind(homePt)
     end
   end
 end
 
 function turtle.setGPSHome()
-  local GPS = require('gps')
-
-  local pt = GPS.getPoint()
-  if pt then
-    turtle.setPoint(pt)
-    pt.heading = GPS.getHeading()
-    if pt.heading then
-      turtle.point.heading = pt.heading
-      turtle.storeLocation('gpsHome', pt)
-      turtle.gotoPoint(pt)
-    end
+  if turtle.enableGPS() then
+    turtle.storeLocation('gpsHome', turtle.point)
+    turtle.gotoPoint(tturtle.point)
   end
 end

sys/extensions/tl3.lua

@@ -50,6 +50,17 @@ function turtle.reset()
   return true
 end
 
+function turtle.resetState()
+  --turtle.abort = false -- should be part of state
+  --turtle.status = 'idle' -- should be part of state
+  state.moveAttack = noop
+  state.moveDig = noop
+  state.moveCallback = noop
+  state.locations = {}
+
+  return true
+end
+
 local actions = {
   up = {
     detect = turtle.native.detectUp,