mirror of
https://github.com/kepler155c/opus
synced 2024-12-29 10:00:26 +00:00
75 lines
1.8 KiB
Plaintext
75 lines
1.8 KiB
Plaintext
local function summon(id)
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require = requireInjector(getfenv(1))
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local GPS = require('gps')
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local Socket = require('socket')
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local Point = require('point')
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turtle.status = 'GPSing'
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turtle.setPoint({ x = 0, y = 0, z = 0, heading = 0 })
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turtle.getState().coordSystem = 'relative'
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local pts = {
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[ 1 ] = { x = 0, z = 0, y = 0 },
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[ 2 ] = { x = 4, z = 0, y = 0 },
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[ 3 ] = { x = 2, z = -2, y = 2 },
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[ 4 ] = { x = 2, z = 2, y = 2 },
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}
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local tFixes = { }
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local socket = Socket.connect(id, 161)
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if not socket then
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error('turtle: Unable to connect to ' .. id)
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end
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local function getDistance()
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socket:write({ type = 'ping' })
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local _, d = socket:read(5)
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return d
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end
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local function doGPS()
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tFixes = { }
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for i = 1, 4 do
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if not turtle.gotoPoint(pts[i]) then
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error('turtle: Unable to perform GPS maneuver')
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end
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local distance = getDistance()
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if not distance then
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error('turtle: No response from ' .. id)
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end
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table.insert(tFixes, {
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position = vector.new(turtle.point.x, turtle.point.y, turtle.point.z),
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distance = distance
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})
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end
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return true
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end
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if not doGPS() then
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turtle.turnAround()
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turtle.setPoint({ x = 0, y = 0, z = 0, heading = 0})
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if not doGPS() then
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socket:close()
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return false
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end
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end
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socket:close()
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local pos = GPS.trilaterate(tFixes)
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if pos then
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local pt = { x = pos.x, y = pos.y, z = pos.z }
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local _, h = Point.calculateMoves(turtle.getPoint(), pt)
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local hi = turtle.getHeadingInfo(h)
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turtle.status = 'recalling'
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turtle.pathfind({ x = pt.x - hi.xd, z = pt.z - hi.zd, y = pt.y - hi.yd, heading = h })
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else
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error("turtle: Could not determine position")
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end
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end
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turtle.run(function() summon({COMPUTER_ID}) end)
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