Totoro GeoMiner Alpha

-- Totoro GeoMiner Alpha 0.02 --

local computer = require('computer')
local robot = require('robot')
local event = require('event')
local com = require('component')

-- Команды --
STOP = 0x000000
START = 0xFFFFFF
COMEBACK = 0xC0FFEE
BEACON = 0xBA0BAB
-- Состояния --
SCANNING = 0x000001
MINING = 0x000002
CHARGING = 0x000003
WAITING = 0x000004
DEADLOCK = 0x000005
CONSTRUSTION = 0x000006
-- Константы --
BEGIN_ON_START = true
START_DIR = 2 -- NORTH
INVENTORY_SIZE = 32
VALUABLE = 2.0
PORT = 27
LAYER_SIZE = 2
LAYER_RAD = 32
ATTEMPTS = 40
MAX = 100
--

function trytofind(name)
  if com.isAvailable(name) then
    return com.getPrimary(name)
  else
    return nil
  end
end

local tunnel = trytofind('tunnel')
local geo    = trytofind('geolyzer')
local gen    = trytofind('generator')
local modem  = trytofind('modem')

--======================================= Н А В И Г А Ц И Я ======================================--
moves = 0
loc = {x=0, y=0, z=0, d=START_DIR}
function forward()
  if robot.forward() then
    if loc.d == 0 then loc.z = loc.z+1
    elseif loc.d == 1 then loc.x = loc.x-1
    elseif loc.d == 2 then loc.z = loc.z-1
    else loc.x = loc.x+1 end
    moves = moves + 1
    return true
  else
    return false
  end
end
function up()
  if robot.up() then
    loc.y = loc.y+1
    moves = moves + 1
    return true
  else
    return false
  end
end
function down()
  if robot.down() then
    loc.y = loc.y-1
    moves = moves + 1
    return true
  else
    return false
  end
end
function turnRight()
  loc.d = (loc.d+1)%4
  robot.turnRight()
end
function turnAround()
  loc.d = (loc.d+2)%4
  robot.turnAround()
end
function turnLeft()
  loc.d = (loc.d+3)%4
  robot.turnLeft()
end

--============================= Т О П Л И В О   И   И Н В Е Н Т А Р Ь =============================--
function checkFuel()
  if gen ~= nil then
    if (computer.maxEnergy() - computer.energy()) > 1000 then
      if gen.count() < 64 then
        for i=1, INVENTORY_SIZE do
          robot.select(i)
          if gen.insert() then break end
        end
      end
    end
  end
end

--====================================== П О И С К   Р У Д Ы ======================================--
data = {}
function setData(x, z, d)
  if data[x] == nil then data[x] = {} end
  data[x][z] = d
end
function setDataBlock(x, y, z, d)
  data[x][z][y+33] = d
end
function getData(x, z)
  if data[x] ~= nil then return data[x][z] end
  return nil
end
function updateData()
  for k, v in pairs(data) do
    -- обрезаем по координате X
    if math.abs(k - loc.x) > LAYER_RAD then
      data[k] = nil
    else
      for a, b in pairs(v) do
        -- обрезаем по координате Z
        if math.abs(a - loc.z) > LAYER_RAD then
          v[a] = nil
        end
      end
    end
  end
end

-- ищем самый плотный блок в колонне
function check(x, z, y, ow, oy)
  if getData(x,z) == nil then return ow, oy end
  if getData(x,z)[y] > ow then return getData(x,z)[y], y end
  return ow, oy
end
function best(x, z)
  local worth = 0.0
  local wy = 0
  for y=33-LAYER_SIZE, 33+LAYER_SIZE do
    if x~=0 or z~=0 or y~=33 then
      worth, wy = check(x, z, y, worth, wy)
    end
  end
  return worth, wy
end

-- сканируем колонны по окружности
function scan(dist)
  local value = 0
  local vx = 0
  local vy = 0
  local vz = 0

  for z=-dist, dist do
    x = dist - math.abs(z)

    if getData(x+loc.x, z+loc.z) == nil then
      while loc.y>0 do forcedown() end
      while loc.y<0 do forceup() end
      setData(x+loc.x, z+loc.z, geo.scan(x, z))
    end
    local w, y = best(x+loc.x, z+loc.z)
    if w >= value then
      value = w
      vx = x; vy = y; vz = z
    end

    if x ~= 0 then
      if getData(loc.x-x, z+loc.z) == nil then
        while loc.y>0 do forcedown() end
        while loc.y<0 do forceup() end
        setData(loc.x-x, z+loc.z, geo.scan(-x, z))
      end
      local w, y = best(loc.x-x, z+loc.z)
      if w >= value then
        value = w
        vx = -x; vy = y; vz = z
      end
    end
  end
  return value, vx, vy, vz
end

-- сканируем концентрическими окружностями
function search()
  for distance=0, LAYER_RAD do
    print("Дистанция: "..distance)
    v, x, y, z = scan(distance)
    if v >= VALUABLE then
      return true, x+loc.x, y-33, z+loc.z, v
    end
  end
  return false
end

--======================================== Д В И Ж Е Н И Е ========================================--
function turnTo(dir)
  while loc.d < dir do turnRight() end
  while loc.d > dir do turnLeft() end
end
function forceforward()
  local c = 0
  while not forward() do
    robot.swing()
    c = c+1
    if c > ATTEMPTS then return false end
  end
  return true
end
function forceup()
  local c = 0
  while not up() do
    robot.swingUp()
    c = c+1
    if c > ATTEMPTS then return false end
  end
  return true
end
function forcedown()
  local c = 0
  while not down() do
    robot.swingDown()
    c = c+1
    if c > ATTEMPTS then return false end
  end
  return true
end
function moveTo(target)
  if loc.x < target.x then
    turnTo(3)
    if forceforward() then return true end
  end
  if loc.x > target.x then
    turnTo(1)
    if forceforward() then return true end
  end
  if loc.z < target.z then
    turnTo(0)
    if forceforward() then return true end
  end
  if loc.z > target.z then
    turnTo(2)
    if forceforward() then return true end
  end
  if loc.y < target.y then
    if forceup() then return true end
  end
  if loc.y > target.y then
    if forcedown() then return true end
  end
  return false
end

--======================================= С О С Т О Я Н И Я =======================================--
function setState(code)
  if tunnel ~= nil then tunnel.send(code) end
  if modem ~= nil then modem.broadcast(PORT, code) end
  if code == DEADLOCK then
    active = false
  end
end

--==================================== Г Л А В Н Ы Й   Ц И К Л ====================================--
-- в конструкции должен присутствовать геосканер
if geo == nil then
  setState(CONSTRUSTION)
  return false
end
if modem ~= nil then modem.open(PORT) end

print("Ожидаю сигнала...")

active = BEGIN_ON_START
target = {x=0, y=0, z=0, active=false, worth=0}

while true do
  checkFuel()

  -- обработка команд
  name, add, _, _, _, message, a,b,c = event.pull(0.1)
  if name == 'modem_message' then
    if message == STOP then
      active = false
    elseif message == START then
      active = true
    end
  end

  -- поиск руды и добыча
  if active then
    -- если цель не обнаружена - сканировать
    if not target.active then
      setState(SCANNING)
      target.active, target.x, target.y, target.z, target.worth = search()
      print('Новая цель: ', target.x, target.y, target.z, target.worth)
    -- если есть цель - двигаться к цели
    else
      setState(MINING)
      -- робот двигается блоками по 10
      for i=1, 10 do
        -- если движение прекратилось
        if not moveTo(target) then
          target.active = false
          -- если робот не дошел до цели
          if target.x ~= loc.x or target.y ~= loc.y or target.z ~= loc.z then
            setState(DEADLOCK)
          else
            setDataBlock(loc.x, loc.y, loc.z, 0.0)
            updateData()
          end
          break
        end
      end
    end
  end
end

if modem ~= nil then modem.close(PORT) end