Builder Turtle Routines - Global Builders Project

-- Construction Turtle (Builder)

local mtx, mty, mtz = -205, 72, 113
local mtd = 1
local mRange = 0
-- mtx, mty, mtz are coordinates of
-- resupply dock, and can also be used
-- to assign absolute coordinates to
-- turtle if no GPS system is available.

-- mtd is the direction the turtle
-- should be facing on approach to the
-- resupply dock, and can be used to
-- initialize the turtle direction if
-- no GPS system is available.

-- mRange stores turtles theoretical
-- maximum modem range assuming
-- clear weather

local tx, ty, tz, td = 0, 0, 0, 0
-- tx, ty, tz are absolute world coords
-- td represents direction turtle is facing

local bty, btx, btz, btd = 0, 1, 1, 1
-- variables for turtle location within
-- current construction chunk

local gpsLinked = false

local commLog = {}
-- commLog table stores information from
-- incoming messages to check for duplicates

local m, d = nil, nil
-- handles for peripherals

local destructiveTurtle = false
-- toggle to define whether or not turtle is
-- allowed to break blocks

local roomForFuel = true
-- toggle to determine whether or not turtle
-- will reserve slot 16 for on-board fuel reserve

local cInvSlot = 1
-- variable indexing current turtle inventory
-- slot
local maxMats = 1
-- variable indicating how many different material
-- types are specified in coordinate block

local cInvCatalog = {}
for i = 1, 16, 1 do
    cInvCatalog[i] = {0, 0}
end
-- table to contain index values for all
-- turtle inventory slots using format:
-- {itemtype, quantity}
local maxFuel = 8000
-- variable for upper limit on turtle fuel
-- refuel function will not consume more fuel
-- if fuel level is above maxFuel

local tLabel, tID = os.getComputerLabel (), os.getComputerID ()
-- assigned modem channel for turtle

local North, East, South, West = 1, 2, 3, 4
-- numeric values for compass directions

local workBlock = {}
-- table to contain build coordinates
-- received from central computer

function termStatus ()
    term.clear()
    term.setCursorPos(1, 1)
    write (tLabel..' ('..tostring(tID)..')')
    term.setCursorPos(15, 1)
    write ('Fuel: '..turtle.getFuelLevel())
    term.setCursorPos(1, 2)
    write ('GPS: ')
    term.setCursorPos(6, 2)
    if gpsLinked then
        write ('OK')
    else write ('*NO*')
    end
    term.setCursorPos(12, 2)
    write ('Modem: ')
    term.setCursorPos(19, 2)
    if m == nil then
        write('*NO*')
    else write ('OK')
    end
    term.setCursorPos (24, 2)
    write ('Range: '..tostring(mRange)..'m')
    term.setCursorPos (1, 3)
    local tFacingStr = ""
    if td == 1 then
        tFacingStr = "north"
    elseif td == 2 then
        tFacingStr = "east"
    elseif td == 3 then
        tFacingStr = "south"
    elseif td == 4 then
        tFacingStr = "west"
    end
    write ('Y= '..tostring(ty)..'  X= '..tostring(tx)..'  Z= '..tostring(tz)..'  Facing: '..tFacingStr)
    term.setCursorPos(1, 5)
    write ('Inventory:')
    for i = 1, 4, 1 do
        local ix = 1 + ((i-1) * 10)
        term.setCursorPos (ix, 7)
        term.write (i..': ')
        term.setCursorPos ((ix + 4), 7)
        term.write (cInvCatalog[i][1]..':'..cInvCatalog[i][2])
        term.setCursorPos (ix, 8)
        term.write ((i + 4)..': ')
        term.setCursorPos ((ix + 4), 8)
        term.write (cInvCatalog[i+4][1]..':'..cInvCatalog[i+4][2])
        term.setCursorPos (ix, 9)
        term.write ((i + 8)..': ')
        term.setCursorPos ((ix + 4), 9)
        term.write (cInvCatalog[i+8][1]..':'..cInvCatalog[i+8][2])
        term.setCursorPos (ix, 10)
        term.write ((i + 12)..': ')
        term.setCursorPos ((ix + 4), 10)
        term.write (cInvCatalog[i+12][1]..':'..cInvCatalog[i+12][2])
    end
    term.setCursorPos (1, 12)
end


function refuel ()
    turtle.select (16)
    while (turtle.getItemCount(16) > 0) and
    (maxFuel > turtle.getFuelLevel()) do
        turtle.refuel(1)
    end
end


function turnLeft ()
    if turtle.turnLeft () then
        if (td - 1) == 0 then
            td = 4
        else td = (td - 1)
        end
    else
        print ("ERROR attempting to turn left!")
    end
end


function turnRight ()
    if turtle.turnRight () then
        if (td + 1) == 5 then
            td = 1
        else td = (td + 1)
        end
    else
        print ("ERROR attempting to turn right!")
    end
end


function moveUp ()
    if turtle.up () then
        ty = ty + 1
    else
        print ("ERROR attempting to move up!")
    end
end


function moveDown ()
    if turtle.down () then
        ty = ty - 1
    else
        print ("ERROR attempting to move down!")
    end
end


function moveForward ()
    if turtle.forward () then
        if td == 1 then tz = tz + 1
        elseif td == 2 then tx = tx + 1
        elseif td == 3 then tz = tz - 1
        elseif td == 4 then tx = tx - 1
        end
    else
        print ("ERROR attempting to move forward!")
    end
end


function moveBack ()
    if turtle.back () then
        if td == 1 then tz = tz - 1
        elseif td == 2 then tx = tx - 1
        elseif td == 3 then tz = tz + 1
        elseif td == 4 then tx = tx + 1
        end
    else
        print ("ERROR attempting to move back!")
    end
end


function manageInv (itemType)
    -- manages turtle's internal inventory, ensuring
    -- 'sample' block remains in slot 1 for
    -- comparison during resupply.  Function returns
    -- false if inventory is empty.

    local maxSlots = 0

    if destructiveTurtle then maxSlots = 12
    elseif roomForFuel then maxSlots = 15
    else maxSlots = 16
    end


    for i = 1, maxSlots, 1 do
        if (cInvCatalog[i][1] == itemType) and
        (turtle.getItemCount (i) > 1) then
            turtle.select(i)
            return true
        end
    end
    return false
end


function placeDown (blockTab)
    -- places block below turtle
    -- returns 0 if successful, 1 if no inventory,
    -- 2 if other error

    if manageInv(blockTab[1]) then
        local ok = turtle.placeDown()
        if ok then return 0
        else return 2
        end
    else return 1
    end
end


function placeForward (blockTab)
    -- places block in front of turtle
    -- should be used for directional placements only
    -- error codes as with placeDown

    if manageInv(blockTab[1]) then
        local ok = turtle.place()
        if ok then return 0
        else return 2
        end
    else return 1
    end
end


function faceAbs (ftd)
    -- function to change turtle direction based
    -- on absolute coordinates

    if ftd > td then
        for i = 1, (ftd - td), 1 do
            turnRight ()
        end
    elseif ftd < td then
        for i = 1, (td - ftd), 1 do
            turnLeft ()
        end
    end
end


function faceDir (curDir, faceTo)
    -- function to change turtle direction based
    -- on relative coordinates

    if (curDir == 4) and (faceTo == 1) then
        turnRight()
    elseif (curDir == 1) and (faceTo == 4) then
        turnLeft()
    elseif (faceTo == 0) then
        return false
    elseif (curDir > faceTo) then
        for i = 1, (curDir - faceTo), 1 do
            turnLeft()
        end
    elseif (faceTo > curDir) then
        for i = 1, (faceTo - curDir), 1 do
            turnRight()
        end
    end
end


function moveTo (yDif, xDif, zDif, cDir)

    if xDif ~= 0 then
        if xDif > 0 then
            faceDir (cDir, 2)
            cDir = 2
            for i = 1, xDif, 1 do
                moveForward()
            end
        elseif xDif < 0 then
            faceDir (cDir, 4)
            cDir = 4
            for i = 1, (xDif * -1) do
                moveForward()
            end
        end
    end
    if zDif ~= 0 then
        if zDif > 0 then
            faceDir (cDir, 3)
            cDir = 1
            for i = 1, zDif, 1 do
                moveForward()
            end
        elseif zDif < 0 then
            faceDir (cDir, 1)
            cDir = 3
            for i = 1, (zDif * -1) do
                moveForward()
            end
        end
    end
    if yDif ~= 0 then
        if yDif > 0 then
            for i = 1, yDif, 1 do
                moveUp()
            end
        elseif yDif < 0 then
            for i = 1, (yDif * -1), 1 do
                moveDown()
            end
        end
    end
    return cDir
end


function initInvCatalog ()
    -- examines turtle inventory and sets item
    -- types and quantities in table

    local matched = false
    local maxSlots, tItemType = 0, 1

    if destructiveTurtle then maxSlots = 12
    elseif roomForFuel then maxSlots = 15
    else maxSlots = 16
    end

    for i = 1, 16, 1 do
        cInvCatalog[i][1] = 0
    end

    for i = 1, maxSlots, 1 do
        cInvCatalog[i][2] = turtle.getItemCount (i)
        if (cInvCatalog[i][1] == 0)  and
        (not (cInvCatalog[i][2] == 0)) then
            turtle.select (i)
            for ii = 1, maxSlots, 1 do
                if not (i == ii) then
                    if turtle.compareTo(ii) and not
                    (cInvCatalog[ii][1] == 0) then
                        cInvCatalog[i][1] = cInvCatalog[ii][1]
                        matched = true
                    end
                end
            end
            if not matched then
                cInvCatalog[i][1] = tItemType
                tItemType = tItemType + 1
            else matched = false
            end
        end
    end
end


function checkCommLog (msg)

    local sType = msg[2]
    if commLog[sType] == nil then
        commLog[sType] = {}
        commLog[sType][1] = { msg[3], msg[4], msg[5], {msg[6], msg[1]} }
        return true
    else
        for i = 1, #commLog[sType], 1 do
            if (commLog[sType][i][1] == msg[3]) and
            (commlog[sType][i][2] == msg[4]) and
            (commLog[sType][i][3] == msg[5]) then
                local msgs = #commLog[sType][i][4]
                for ii = 1, msgs, 1 do
                    if commLog[sType][i][4][ii] == {msg[6], msg[1]} then
                        return false
                    end
                end
                table.insert (commLog[sType][i][4], {msg[6], msg[1]})
                if msgs > 5 then
                    table.remove (commLog[sType][i][4], 1)
                end
                return true
            else
                table.insert (commLog[sType], {msg[3], msg[4], msg[5], {msg[6], msg[1]}})
                return true
            end
        end
    end
end


function reqMessageID ()

    local IDStr = tostring( os.day() )..'-'..tostring( os.time () )
    return IDStr
end


function listen ()

    local event, modemSide, senderChannel,
    replyChannel, message, senderDistance =
    os.pullEvent("modem_message")
    print ('Received message on channel '..tostring(senderChannel))
    local tTab = textutils.unserialize (message)
    if checkCommLog (tTab) then
        if tTab[1] == 1 then
            print ('Device status requested.')
        elseif tTab[1] == 2 then
            -- insert debug prints in place of move orders
            -- confirm accurate math
            print ('Relocation order received.')
            local newCoords = tTab[7]
            local nY = newCoords[1] - ty
            moveTo (nY, 0, 0, td)
            nY = newCoords[2] - ty
            local nX, nZ = 0, 0
            if tx > 0 then
                if newCoords[3] <= 0 then
                    nX = newCoords[3] + (-1 * tx)
                else
                    nX = newCoords[3] - tx
                end
            else
                if newCoords[3] <= 0 then
                    nX = newCoords[3] + (-1 * tx)
                else
                    nX = newCoords[3] + (-1 * tx)
                end
            end
            if tz > 0 then
                if newCoords[4] <= 0 then
                    nZ = newCoords[4] + (-1 * tz)
                else
                    nZ = newCoords[4] - tz
                end
            else
                if newCoords[4] <= 0 then
                    nZ = newCoords[4] + (-1 * tz)
                else
                    nZ = newCoords[4] + (-1 * tz)
                end
            end
            moveTo (nY, nX, nZ, td)
            print ('Yoff: '..tostring(nY)..' Xoff: '..tostring(nX)..' Zoff: '..tostring(nZ))
        elseif tTab[1] == 3 then
            print ('Build order received.')
        end
    else
        print ('Error receiving message:')
        print ('Duplicate indicated.')
    end
end

function reqChunk ()

    local tTab = {1, 5, tLabel, tID, tID, reqMessageID ()}
    m.transmit (1, tID, textutils.serialize (tTab))
    listen ()
end


function outOfBounds (wy, wx, wz)
    if (wy < 1) or (wy > 16) then
        return true
    elseif (wx < 1) or (wx > 16) then
        return true
    elseif (wz < 1) or (wz > 16) then
        return true
    else return false
    end
end


function advNext (cty, ctx, ctz, seekDir)
    -- seekDir indicates direction to move on
    -- horizontal plane
    -- 0 = right to left, 1 = left to right


    if seekDir == 0 then
        if math.ceil (ctx / 2) > math.floor (ctx / 2) then
            ctz = ctz + 1
            if ctz > 16 then
                ctz = 16
                ctx = ctx + 1
            end
        else
            ctz = ctz - 1
            if ctz < 1 then
                ctz = 1
                ctx = ctx + 1
                if ctx > 16 then
                    ctx = 16
                    cty = cty + 1
                end
            end
        end
    elseif seekDir == 1 then
        if math.ceil (ctx / 2) > math.floor (ctx / 2) then
            ctz = ctz - 1
            if ctz < 1 then
                ctz = 1
                ctx = ctx - 1
                if ctx < 1 then
                    ctx = 1
                    cty = cty + 1
                end
            end
        else ctz = ctz + 1
            if ctz > 16 then
                ctz = 16
                ctx = ctx - 1
            end
        end
    end
    if cty > 16 then return cty, ctx, ctz, {nil, nil}
    else return cty, ctx, ctz, workBlock[cty][ctx][ctz]
    end
end


function buildChunk ()
    -- builds block defined by workBlock

    local wty, wtx, wtz, wtm = 0, 0, 0, 0

    if workBlock == nil then
        print ('ERROR: Block table undefined.')
        print ('Unable to build block.')
        return false
    else
        moveUp ()
        bty = 1
        maxMats = 0
        for i = 1, 16, 1 do
            for ii = 1, 16, 1 do
                for iii = 1, 16, 1 do
                    if workBlock[i][ii][iii][1] > maxMats then
                        maxMats = workBlock[i][ii][iii][1]
                    end
                end
            end
        end
    end

    local nty, ntx, ntz, ntm, pDir = 1, 1, 1, {}, 0
    local wty, wtx, wtz, wtm = 0, 0, 0, {}

    for i = 1, 16, 1 do
        for ii = 1, maxMats, 1 do
            if math.ceil (ii / 2) > math.floor (ii / 2) then
                nty, ntx, ntz = i, 1, 1
                pDir = 0
            else
                nty, ntx, ntz = i, 16, 1
                pDir = 1
            end
            ntm = workBlock[nty][ntx][ntz]
            if (nty == i) and (ntm[1] == ii) and (ntm[2] > 0) then
                wty, wtx, wtz = nty, ntx, ntz
                if ntm[2] == 1 then
                    wtz = wtz + 1
                elseif ntm[2] == 2 then
                    wtx = wtx + 1
                elseif ntm[2] == 3 then
                    wtz = wtz - 1
                elseif ntm[2] == 4 then
                    wtx = wtx - 1
                end
                if (not (outOfBounds (wty, wtx, wtz))) then
                    if (workBlock[wty][wtx][wtz][1] > 0) then
                        wtm = workBlock[wty][wtx][wtz]
                        btd = moveTo (wty - bty, wtx - btx, wtz - btz, btd)
                        bty = wty
                        btx = wtx
                        btz = wtz
                        if not (wtm[2] == 0) then
                            faceDir (btd, wtm[2])
                            btd = wtm[2]
                        end
                        placeDown(wtm)
                        workBlock[wty][wtx][wtz] = {0, 0}
                        faceDir (btd, ntm[2])
                        btd = ntm[2]
                        moveBack()
                        bty = nty
                        btx = ntx
                        btz = ntz
                        placeDown(ntm)
                        workBlock[nty][ntx][ntz] = {0, 0}
                    end
                end
            end
            while not (nty > i) do
                nty, ntx, ntz, ntm = advNext (nty, ntx, ntz, pDir)
                if (nty == i) and (ntm[1] == ii) and (ntm[2] > 0) then
                    wty, wtx, wtz = nty, ntx, ntz
                    if ntm[2] == 1 then
                        wtz = wtz + 1
                    elseif ntm[2] == 2 then
                        wtx = wtx + 1
                    elseif ntm[2] == 3 then
                        wtz = wtz - 1
                    elseif ntm[2] == 4 then
                        wtx = wtx - 1
                    end
                    if (not (outOfBounds (wty, wtx, wtz))) then
                        if (workBlock[wty][wtx][wtz][1] > 0) then
                            wtm = workBlock[wty][wtx][wtz]
                            btd = moveTo ((wty - bty), (wtx - btx), (wtz - btz), btd)
                            bty = wty
                            btx = wtx
                            btz = wtz
                            if not (wtm[2] == 0) then
                                faceDir (btd, wtm[2])
                                btd = wtm[2]
                            end
                            placeDown(wtm)
                            workBlock[wty][wtx][wtz] = {0, 0}
                            faceDir (btd, ntm[2])
                            btd = ntm[2]
                            moveBack()
                            btx = ntx
                            btz = ntz
                            btd = ntm[2]
                            placeDown(ntm)
                            workBlock[wty][ntx][ntz] = {0, 0}
                        end
                    end
                end
            end
        end

        nty, ntx, ntz = i, 1, 1
        ntm = workBlock[i][1][1]
        if (ntm[2] == 0) and (ntm[1] > 0) then
            btd = moveTo ((nty - bty), (ntx - btx), (ntz - btz), btd)
            bty = nty
            btx = ntx
            btz = ntz
            placeDown(ntm)
            workBlock[bty][btx][btz][1] = 0
        end
        while not (nty > i) do
            nty, ntx, ntz, ntm = advNext (nty, ntx, ntz, 0)
            if (nty == i) and (ntm[2] == 0) and (ntm[1] > 0) then
                btd = moveTo ((nty - bty), (ntx - btx), (ntz - btz), btd)
                bty = nty
                btx = ntx
                btz = ntz
                placeDown(ntm)
                workBlock[bty][btx][btz][1] = 0
            end
        end

        nty, ntx, ntz = i, 16, 1
        ntm = workBlock[i][16][1]
        if (ntm[2] > 0) and (ntm[1] > 0) then
            btd = moveTo ((nty - bty), (ntx - btx), (ntz - btz), btd)
            bty = nty
            btx = ntx
            btz = ntz
            faceDir (btd, ntm[2])
            btd = ntm[2]
            placeDown(ntm)
            workBlock[i][16][1][1] = 0
        end
        while not (nty > i) do
            nty, ntx, ntz, ntm = advNext (nty, ntx, ntz, 1)
            if (not (nty > bty)) and (ntm[2] > 0) and (ntm[1] > 0) then
                btd = moveTo ((nty - bty), (ntx - btx), (ntz - btz), btd)
                bty = nty
                btx = ntx
                btz = ntz
                faceDir (btd, ntm[2])
                btd = ntm[2]
                placeDown(ntm)
                workBlock[bty][btx][btz][1] = 0
            end
        end
    end

    return true
end


function getModemRange (mY)

    local modHeight = 0
    if mY <= 96 then modHeight = 0
    else modHeight = (mY - 96)
    end

    local tempRange = math.floor (64 + (modHeight * (320 / 159)))
    print ('Current maximum range is ', tempRange, 'm')
    return tempRange
end


function initTurtle ()

    local periLoc = {"top", "bottom", "left", "right", "front", "back"}
    local periStr, tempStr = "", ""

    for i = 1, 6, 1 do
        periStr = peripheral.getType (periLoc[i])
        if periStr == "modem" then
            m = peripheral.wrap (periLoc[i])
            m.open (tID)
        elseif periStr == "drive" then
            print ('Drive detected (not connected): '..periLoc[i])
        end
    end
    print ('Pausing for network startup.')
    sleep (2)
    local fx, fy, fz = gps.locate(3)
    if fx == nil then
        tx = mtx
        ty = mty
        tz = mtz
        td = mtd
    else
        gpsLinked = true
        sleep (0.5)
        tx = fx
        ty = fy
        tz = fz
        print (tx, ty, tz)
        if turtle.back() then
            -- account for fringe case where movement pushes
            -- turtle out of gps range
            fx, fy, fz = gps.locate (3)
            if not (fx == nil) then
                print (fx, fy, fz)
                if fx ~= tx then
                    if fx > tx then
                        td = East
                    else
                        td = West
                    end
                else
                    if fz > tz then
                        td = North
                    else
                        td = South
                    end
                end
            else
                turtle.forward()
                if turtle.forward() then
                    fx, fy, fz = gps.locate (3)
                    if not (fx == nil) then
                        if fx ~= tx then
                            if fx > tx then
                                td = East
                            else
                                td = West
                            end
                        else
                            if fz > tz then
                                td = North
                            else
                                td = South
                            end
                        end
                    else
                        print ('Error detecting turtle direction:')
                        print ('Out of range.')
                    end
                else
                    print ('Error detecting turtle direction:')
                    print ('Forward movement restricted.')
                end
            end
        else
            print ('Error initializing turtle facing.')
            print ('Turtle could not reverse.')
        end
        tx = fx
        ty = fy
        tz = fz
    end

    tempStr = "Builder_"..tostring(tID)
    if (tLabel == "") or (tLabel ~= tempStr) then
        os.setComputerLabel (tempStr)
        tLabel = tempStr
    end

    mRange = getModemRange (ty)

    local msgContainer = textutils.serialize ({0, 5, tLabel, tID, tID, reqMessageID ()})
    m.transmit (1, tID, msgContainer)

    initInvCatalog()
    termStatus()
end


initTurtle ()
termStatus()

-- refuel ()

while true do
    listen ()
end

--[[
refuel ()
local newChunk = true
local oMsgTab = {}
local oMsgStr = ""

reqChunk ()
while newChunk do
termStatus()
newChunk = buildChunk ()
print ('buildChunk returned : ', newChunk)
oMsgTab = {2, 5, tLabel, tID, tID, reqMessageID ()}
oMsgStr = textutils.serialize (oMsgTab)
m.transmit (0, tID, oMsgStr)
sleep (1)
reqChunk ()
end
m.close(tID)--]]