relative-gps coord system

sys/apis/gps.lua

@@ -31,13 +31,13 @@ function GPS.getPoint(timeout, debug)
   return pt
 end
 
-function GPS.getHeading()
+function GPS.getHeading(timeout)
 
   if not turtle then
     return
   end
 
-  local apt = GPS.locate()
+  local apt = GPS.locate(timeout)
   if not apt then
     return
   end
@@ -67,8 +67,8 @@ function GPS.getHeading()
   return 3
 end
 
-function GPS.getPointAndHeading()
+function GPS.getPointAndHeading(timeout)
-  local heading = GPS.getHeading()
+  local heading = GPS.getHeading(timeout)
   if heading then
     local pt = GPS.getPoint()
     if pt then

sys/apis/ui.lua

@@ -1260,6 +1260,8 @@ function UI.Device:runTransitions(transitions, canvas)
   canvas:blitClipped(self.device) -- and blit the remainder
   canvas:reset()
 
+  local queue = { } -- don't miss events while transition is running
+                    -- especially timers
   while true do
     for _,k in ipairs(Util.keys(transitions)) do
       local transition = transitions[k]
@@ -1270,7 +1272,17 @@ function UI.Device:runTransitions(transitions, canvas)
     if Util.empty(transitions) then
       break
     end
-    os.sleep() -- ?
+    local timerId = os.startTimer(0)
+    while true do
+      local e = { os.pullEvent() }
+      if e[1] == 'timer' and e[2] == timerId then
+        break
+      end
+      table.insert(queue, e)
+    end
+  end
+  for _, e in ipairs(queue) do
+    Event.processEvent(e)
   end
 end
 

sys/apps/builder.lua

@@ -2143,13 +2143,14 @@ UI:setPages({
 })
 
 UI:setPage('start')
-turtle.setPolicy(turtle.policies.digAttack)
-turtle.setPoint({ x = -1, z = -1, y = 0, heading = 0 })
-turtle.saveLocation('supplies')
-turtle.status = 'idle'
-turtle.abort = false
 
-Event.pullEvents()
+turtle.run(function()
+  turtle.setPolicy(turtle.policies.digAttack)
+  turtle.setPoint({ x = -1, z = -1, y = 0, heading = 0 })
+  turtle.getState().coordSystem = 'relative'
+  turtle.saveLocation('supplies')
+  Event.pullEvents()
+end)
 
 UI.term:reset()
-turtle.status = 'idle'
+--turtle.status = 'idle'

sys/apps/supplier.lua

@@ -387,9 +387,6 @@ __BUILDER_ID = tonumber(args[1])
 
 maxStackDB:load()
 
-turtle.setPoint({ x = -1, z = -2, y = 0, heading = 0 })
-turtle.saveLocation('supplies')
-
 Builder.itemProvider = MEProvider()
 if not Builder.itemProvider:isValid() then
   Builder.itemProvider = ChestProvider()
@@ -399,5 +396,10 @@ if not Builder.itemProvider:isValid() then
 end
 
 turtle.run(function()
+  turtle.setPoint({ x = -1, z = -2, y = 0, heading = 0 })
+  turtle.getState().coordSystem = 'relative'
+
+  turtle.saveLocation('supplies')
+
   Event.pullEvents(onTheWay)
 end)

sys/autorun/gps.lua

@@ -12,21 +12,16 @@ if turtle and device.wireless_modem then
       }
       Config.load('gps', config)
 
-      local GPS = require('gps')
+      local s = turtle.enableGPS(2)
-      local pt
+      if not s then
-      for i = 1, 3 do
+        s = turtle.enableGPS(2)
-        pt = GPS.getPointAndHeading(2)
-        if pt then
-          break
-        end
       end
-
+      if not s and config.destructive then
-      if not pt and config.destructive then
         turtle.setPolicy('turtleSafe')
-        pt = GPS.getPointAndHeading(2)
+        s = turtle.enableGPS(2)
       end
 
-      if not pt then
+      if not s then
         error('Unable to get GPS position')
       end
 
@@ -34,18 +29,12 @@ if turtle and device.wireless_modem then
         turtle.setPolicy('turtleSafe')
       end
 
-      Util.print('Setting turtle point to %d %d %d', pt.x, pt.y, pt.z)
-      turtle.setPoint(pt)
-      turtle.getState().coordSystem = 'GPS'
-
       if not turtle.pathfind(homePt) then
         error('Failed to return home')
       end
     end
   end)
 
-  turtle.setPolicy('none')
-
   if not s and m then
     error(m)
   end

sys/etc/scripts/follow

@@ -1,20 +1,16 @@
 local function follow(id)
 
   require = requireInjector(getfenv(1))
-  local GPS = require('gps')
   local Socket = require('socket')
   local Point = require('point')
   local process = require('process')
 
   turtle.status = 'follow ' .. id
 
-  local pt = GPS.getPointAndHeading()
+  if not turtle.enableGPS() then
-  if not pt or not pt.heading then
     error('turtle: No GPS found')
   end
 
-  turtle.setPoint(pt)
-
   local socket = Socket.connect(id, 161)
   if not socket then
     error('turtle: Unable to connect to ' .. id)

sys/etc/scripts/moveTo

@@ -5,13 +5,10 @@ turtle.run(function()
 
   local id = {COMPUTER_ID}
 
-  local pt = GPS.getPointAndHeading()
+  if not turtle.enableGPS() then
-  if not pt or not pt.heading then
     error('turtle: No GPS found')
   end
 
-  turtle.setPoint(pt)
-
   local socket = Socket.connect(id, 161)
   if not socket then
     error('turtle: Unable to connect to ' .. id)

sys/etc/scripts/summon

@@ -7,6 +7,7 @@ local function summon(id)
 
   turtle.status = 'GPSing'
   turtle.setPoint({ x = 0, y = 0, z = 0, heading = 0 })
+  turtle.getState().coordSystem = 'relative'
 
   local pts = {
     [ 1 ] = { x = 0, z = 0, y = 0 },

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()
+function turtle.enableGPS(timeout)
-  local pt = GPS.getPointAndHeading()
+  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 turtle.enableGPS() then
-    if pt then
-      turtle.setPoint(pt)
       turtle.pathfind(homePt)
     end
   end
 end
 
 function turtle.setGPSHome()
-  local GPS = require('gps')
+  if turtle.enableGPS() then
-
+    turtle.storeLocation('gpsHome', turtle.point)
-  local pt = GPS.getPoint()
+    turtle.gotoPoint(tturtle.point)
-  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
   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,