drone.fsh

drn = component.proxy(component.list("drone")())
inv = component.proxy(component.list("inventory_controller")())
mod = component.proxy(component.list("modem")())

address = nil
port    = 3341

facing = {
       [1] = { -- N
              forward  = {x=0,y=0,z=-1},
              backward = {x=0,y=0,z=1}
             },
       [2] = { -- E
              forward  = {x=1,y=0,z=0},
              backward = {x=-1,y=0,z=0}
             },
       [3] = { -- S
              forward  = {x=0,y=0,z=1},
              backward = {x=0,y=0,z=-1}
             },
       [4] = { -- W
              forward  = {x=-1,y=0,z=0},
              backward = {x=1,y=0,z=0}
             }}
direct = 1
light =  {[1] = 0x0000FF,[2] = 0xFFFF00,[3] = 0xFF0000,[4] = 0x00FF00}
sides =  {["Q"] = 0,["E"] = 1,["W"] = 2,["S"] = 3,["A"] = 4,["D"] = 5}
pX = {}
pY = {}
pZ = {}
pI = 0
pC = 0
pXk  = false
pYk  = false
pZk  = false

function sleep(tm)
  local go = computer.uptime() + tm
  while (go > computer.uptime()) do
    computer.pullSignal(go - computer.uptime())
  end
end

function pZero(i)
  pX[i] = 0
  pY[i] = 0
  pZ[i] = 0
end

function addPath(px,py,pz)
  if (px~=0) then
    if (pXk==false) then
      pI = pI + 1
      pZero(pI)
      pXk = true
      pYk = false
      pZk = false
    end
  elseif (py~=0) then
    if (pYk==false) then
      pI = pI + 1
      pZero(pI)
      pXk = false
      pYk = true
      pZk = false
    end
  elseif (pz~=0) then
    if (pZk==false) then
      pI = pI + 1
      pZero(pI)
      pXk = false
      pYk = false
      pZk = true
    end
  end
  pX[pI] = pX[pI] + px
  pY[pI] = pY[pI] + py
  pZ[pI] = pZ[pI] + pz
end

function goBack()
  local i = pI
  if (pC~=1) then
    while (i~=0) do
      sleep(2)
      drn.move(-1 * pX[i], -1 * pY[i], -1 * pZ[i])
      i = i - 1
    end
  end
  pC = 1
end

function goTo()
  local i = 1
  if (pC~=pI) then
    while (i<=pI) do
      sleep(2)
      drn.move(pX[i],pY[i],pZ[i])
      i = i + 1
    end
  end
  pC = pI
end

side = 0
sideMod = false
suckSlot = 1

function suck()
  local i = 4
  while (i>0) do
    --inv.suckFromSlot(side,suckSlot)
    drn.suck(0)
    sleep(0.4)
    suckSlot = suckSlot + 1
    i = i - 1
  end
end

mod.open(port)
drn.setLightColor(light[direct])
drn.select(1)

while true do
  local signal,_,remote,iport,_,cmd = computer.pullSignal()
  if (signal=="modem_message") then
    if (port==iport) then
      if (address==nil) then address = remote end
      if(address==remote) then

        if (sideMod==false) then
          if     (cmd=="W") then
            local mfx = facing[direct].forward.x
            local mfy = facing[direct].forward.y
            local mfz = facing[direct].forward.z
            addPath(mfx,mfy,mfz)
            drn.move(mfx,mfy,mfz)
          elseif (cmd=="S") then
            local mbx = facing[direct].backward.x
            local mby = facing[direct].backward.y
            local mbz = facing[direct].backward.z
            addPath(mbx,mby,mbz)
            drn.move(mbx,mby,mbz)
          elseif (cmd=="A") then
            direct = direct - 1
            if (direct<=0) then direct = 4 end
            drn.setLightColor(light[direct])
          elseif (cmd=="D") then
            direct = direct + 1
            if (direct>=5) then direct = 1 end
            drn.setLightColor(light[direct])
          elseif (cmd=="Q") then
            drn.move(0,-1,0)
            addPath(0,-1,0)
          elseif (cmd=="E") then
            drn.move(0,1,0)
            addPath(0,1,0)
          end
        else
          side = sides[cmd]
        end

        if (cmd=="1") then
          if (sideMod==true) then sideMod = false
          else sideMod = true end
        elseif (cmd=="2") then
          suck()
        elseif (cmd=="3") then

        end

        if (cmd=="Z") then
          goBack()
        elseif (cmd=="X") then
          goTo()
        elseif (cmd=="C") then

        end
      end
    end
  end
end