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turtle api

This commit is contained in:
kepler155c@gmail.com 2017-10-31 02:01:18 -04:00
parent 1b9450017d
commit f533e42c0c
2 changed files with 102 additions and 99 deletions
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97
sys/apis/point.lua
View File

@ -2,29 +2,37 @@ local Util = require('util')
local Point = { }
Point.facings = {
Point.directions = {
[ 0 ] = { xd = 1, zd = 0, yd = 0, heading = 0, direction = 'east' },
[ 1 ] = { xd = 0, zd = 1, yd = 0, heading = 1, direction = 'south' },
[ 2 ] = { xd = -1, zd = 0, yd = 0, heading = 2, direction = 'west' },
[ 3 ] = { xd = 0, zd = -1, yd = 0, heading = 3, direction = 'north' },
}
Point.directions = {
[ 4 ] = { xd = 0, zd = 0, yd = 1, heading = 4, direction = 'up' },
[ 5 ] = { xd = 0, zd = 0, yd = -1, heading = 5, direction = 'down' },
}
Point.facings = {
[ 0 ] = Point.directions[0],
[ 1 ] = Point.directions[1],
[ 2 ] = Point.directions[2],
[ 3 ] = Point.directions[3],
east = Point.directions[0],
south = Point.directions[1],
west = Point.directions[2],
north = Point.directions[3],
}
Point.headings = {
[ 0 ] = Point.facings[0],
[ 1 ] = Point.facings[1],
[ 2 ] = Point.facings[2],
[ 3 ] = Point.facings[3],
[ 0 ] = Point.directions[0],
[ 1 ] = Point.directions[1],
[ 2 ] = Point.directions[2],
[ 3 ] = Point.directions[3],
[ 4 ] = Point.directions[4],
[ 5 ] = Point.directions[5],
east = Point.facings[0],
south = Point.facings[1],
west = Point.facings[2],
north = Point.facings[3],
east = Point.directions[0],
south = Point.directions[1],
west = Point.directions[2],
north = Point.directions[3],
up = Point.directions[4],
down = Point.directions[5],
}
@ -95,17 +103,9 @@ function Point.calculateHeading(pta, ptb)
local xd, zd = pta.x - ptb.x, pta.z - ptb.z
if (pta.heading % 2) == 0 and zd ~= 0 then
if zd < 0 then
heading = 1
else
heading = 3
end
heading = zd < 0 and 1 or 3
elseif (pta.heading % 2) == 1 and xd ~= 0 then
if xd < 0 then
heading = 0
else
heading = 2
end
heading = xd < 0 and 0 or 2
elseif pta.heading == 0 and xd > 0 then
heading = 2
elseif pta.heading == 2 and xd < 0 then
@ -160,12 +160,15 @@ function Point.closest(reference, pts)
return pts[1]
end
local lpt, lm -- lowest
local lm, lpt = math.huge
for _,pt in pairs(pts) do
local m = Point.calculateMoves(reference, pt)
if not lm or m < lm then
lpt = pt
lm = m
local distance = Point.turtleDistance(reference, pt)
if distance < lm then
local m = Point.calculateMoves(reference, pt, distance)
if m < lm then
lpt = pt
lm = m
end
end
end
return lpt
@ -287,33 +290,17 @@ function Point.inBox(pt, box)
pt.z <= box.ez
end
return Point
function Point.closestPointInBox(pt, box)
local cpt = {
x = math.abs(pt.x - box.x) < math.abs(pt.x - box.ex) and box.x or box.ex,
y = math.abs(pt.y - box.y) < math.abs(pt.y - box.ey) and box.y or box.ey,
z = math.abs(pt.z - box.z) < math.abs(pt.z - box.ez) and box.z or box.ez,
}
cpt.x = pt.x > box.x and pt.x < box.ex and pt.x or cpt.x
cpt.y = pt.y > box.y and pt.y < box.ey and pt.y or cpt.y
cpt.z = pt.z > box.z and pt.z < box.ez and pt.z or cpt.z
--[[
Box = { }
function Box.contain(boundingBox, containedBox)
local shiftX = boundingBox.ax - containedBox.ax
if shiftX > 0 then
containedBox.ax = containedBox.ax + shiftX
containedBox.bx = containedBox.bx + shiftX
end
local shiftZ = boundingBox.az - containedBox.az
if shiftZ > 0 then
containedBox.az = containedBox.az + shiftZ
containedBox.bz = containedBox.bz + shiftZ
end
shiftX = boundingBox.bx - containedBox.bx
if shiftX < 0 then
containedBox.ax = containedBox.ax + shiftX
containedBox.bx = containedBox.bx + shiftX
end
shiftZ = boundingBox.bz - containedBox.bz
if shiftZ < 0 then
containedBox.az = containedBox.az + shiftZ
containedBox.bz = containedBox.bz + shiftZ
end
return cpt
end
--]]
return Point

104
sys/extensions/tl3.lua
View File

@ -343,17 +343,17 @@ function turtle.getHeading()
end
function turtle.turnRight()
turtle.setHeading(turtle.point.heading + 1)
turtle.setHeading((turtle.point.heading + 1) % 4)
return turtle.point
end
function turtle.turnLeft()
turtle.setHeading(turtle.point.heading - 1)
turtle.setHeading((turtle.point.heading - 1) % 4)
return turtle.point
end
function turtle.turnAround()
turtle.setHeading(turtle.point.heading + 2)
turtle.setHeading((turtle.point.heading + 2) % 4)
return turtle.point
end
@ -362,15 +362,12 @@ function turtle.setHeading(heading)
return false, 'Invalid heading'
end
if type(heading) == 'string' then
local hi = headings[heading]
if not hi then
return false, 'Invalid heading'
end
heading = hi.heading
local fi = Point.facings[heading]
if not fi then
return false, 'Invalid heading'
end
heading = heading % 4
heading = fi.heading % 4
if heading ~= turtle.point.heading then
while heading < turtle.point.heading do
heading = heading + 4
@ -905,6 +902,14 @@ function turtle.equip(side, item)
return turtle.equipRight()
end
function turtle.isEquipped(item)
if peripheral.getType('left') == item then
return 'left'
elseif peripheral.getType('right') == item then
return 'right'
end
end
-- [[ ]] --
function turtle.run(fn, ...)
local args = { ... }
@ -954,7 +959,8 @@ function turtle.faceAgainst(pt, options) -- 4 sided
options = options or { }
options.dest = { }
for hi in pairs(Point.facings) do
for i = 0, 3 do
local hi = Point.facings[i]
table.insert(options.dest, {
x = pt.x + hi.xd,
z = pt.z + hi.zd,
@ -966,6 +972,10 @@ function turtle.faceAgainst(pt, options) -- 4 sided
return turtle.pathfind(Point.closest(turtle.point, options.dest), options)
end
-- move against this point
-- if the point does not contain a heading, then the turtle
-- will face the block (if on same plane)
-- if above or below, the heading is undetermined unless specified
function turtle.moveAgainst(pt, options) -- 6 sided
options = options or { }
options.dest = { }
@ -987,7 +997,7 @@ function turtle.moveAgainst(pt, options) -- 6 sided
z = pt.z + hi.zd,
y = pt.y + hi.yd,
direction = direction,
heading = heading,
heading = pt.heading or heading,
})
end
@ -1042,39 +1052,21 @@ local actionsAt = {
},
}
-- pt = { x,y,z,heading,direction }
-- direction should only be up or down if provided
-- heading can be provided to tell which way to face during action
-- ex: place a block at the point from above facing east
local function _actionAt(action, pt, ...)
pt = turtle.moveAgainst(pt)
if pt then
return action[pt.direction](...)
end
end
local function _actionDownAt(action, pt, ...)
if turtle.pathfind(Point.above(pt)) then
return action.down(...)
end
end
local function _actionForwardAt(action, pt, ...)
if turtle.faceAgainst(pt) then
return action.forward(...)
end
end
local function _actionUpAt(action, pt, ...)
if turtle.pathfind(Point.below(pt)) then
return action.up(...)
end
end
local function _actionPlaceAt(action, pt, name, dir, facing)
if not dir then
return _actionAt(action, pt, name)
if not pt.heading and not pt.direction then
pt = turtle.moveAgainst(pt)
if pt then
return action[pt.direction](...)
end
end
local reversed =
{ [0] = 2, [1] = 3, [2] = 0, [3] = 1, [4] = 5, [5] = 4, }
dir = reversed[headings[dir].heading]
local dir = reversed[headings[pt.direction or pt.heading].heading]
local apt = { x = pt.x + headings[dir].xd,
y = pt.y + headings[dir].yd,
z = pt.z + headings[dir].zd, }
@ -1085,15 +1077,33 @@ local function _actionPlaceAt(action, pt, name, dir, facing)
apt.heading = (dir + 2) % 4
direction = 'forward'
elseif dir == 4 then
apt.heading = facing
apt.heading = pt.heading
direction = 'down'
elseif dir == 5 then
apt.heading = facing
apt.heading = pt.heading
direction = 'up'
end
if turtle.pathfind(apt) then
return action[direction](name)
return action[direction](...)
end
end
local function _actionDownAt(action, pt, ...)
pt = Util.shallowCopy(pt)
pt.direction = Point.DOWN
return _actionAt(action, pt, ...)
end
local function _actionUpAt(action, pt, ...)
pt = Util.shallowCopy(pt)
pt.direction = Point.UP
return _actionAt(action, pt, ...)
end
local function _actionForwardAt(action, pt, ...)
if turtle.faceAgainst(pt) then
return action.forward(...)
end
end
@ -1112,7 +1122,7 @@ function turtle.attackDownAt(pt) return _actionDownAt(actionsAt.attack,
function turtle.attackForwardAt(pt) return _actionForwardAt(actionsAt.attack, pt) end
function turtle.attackUpAt(pt) return _actionUpAt(actionsAt.attack, pt) end
function turtle.placeAt(pt, arg, dir) return _actionPlaceAt(actionsAt.place, pt, arg, dir) end
function turtle.placeAt(pt, arg, dir) return _actionAt(actionsAt.place, pt, arg, dir) end
function turtle.placeDownAt(pt, arg) return _actionDownAt(actionsAt.place, pt, arg) end
function turtle.placeForwardAt(pt, arg) return _actionForwardAt(actionsAt.place, pt, arg) end
function turtle.placeUpAt(pt, arg) return _actionUpAt(actionsAt.place, pt, arg) end
@ -1190,3 +1200,9 @@ function turtle.setGPSHome()
end
end
end
function turtle.addFeatures(...)
for _,feature in pairs({ ... }) do
require('turtle.' .. feature)
end
end