robot particler

--robot
component    = require('component')
event        = require('event')
robot        = require('robot')
computer     = require('computer')
shell        = require("shell")
filesystem   = require("filesystem")
modem        = component.modem
particle     = component.particle
nav          = component.navigation
particle_map = {}
sides        = {[2]={0,-1},[3]={0,1},[4]={-1,0},[5]={1,0}}
arg          = {...}
pos          = {x=arg[1] or 0,y=arg[2] or 0,z=arg[2] or 0}
send         = component.tunnel.send
filesystem.setAutorunEnabled(true)
modem.setWakeMessage("ROBOTSTART")

function getN()
    return #particle_map
end
function up(self)
    for i=1,3 do
        local out=robot.up()
        if out  then pos.y=pos.y+1 return true end
        os.sleep(0.5)
    end
    return false
end
function down(self)
    for i=1,3 do
        local out=robot.down()
        if out  then pos.y=pos.y-1 return true end
        os.sleep(0.5)
    end
    return false
end
function left(self)
    return robot.turnLeft()
end
function right(self)
    return robot.turnRight()
end
function go(self)
    for i=1,3 do
        local out=robot.forward()
        if out then
            pos.x=pos.x+sides[nav.getFacing()][1]
            pos.z=pos.z+sides[nav.getFacing()][2]
            return true
        end
        os.sleep(0.5)
    end
    return false
end


function back(self)
    for i=1,3 do
        local out=robot.back()
        if out  then
            pos.x=pos.x-sides[nav.getFacing()][1]
            pos.z=pos.z-sides[nav.getFacing()][2]
            return true
        end
        os.sleep(0.5)
    end
    return false
end
function add(x,y,z,name,random_speed,random_pos_radius)
    table.insert(particle_map,{name=name,x=x,y=y,z=z,rand=random_speed,rand_rad=random_pos_radius*2})
    return #particle_map
end
function del(self)
    particle_map[#particle_map]=nil
    return #particle_map
end
function editpos(x,y,z)
    pos.x=x
    pos.y=y
    pos.z=z
    return true
end
function chat(_,_,_,_,_,msg)
    print("s:"..msg)
    local text=tostring(load("return "..msg)())
    print("c:"..text)
    send(text)
end
event.listen("modem_message",chat)

function particle_update()
    for i=1,#particle_map do
        local self     = particle_map[i]
        local vx,vy,vz = 0,0,0
        local name     = self.name
        local x        = self.x-pos.x+self.rand_rad*(math.random()-0.5)
        local y        = self.y-pos.y+math.max(math.min(self.rand_rad,256),0)*math.random()
        local z        = self.z-pos.z+self.rand_rad*(math.random()-0.5)
        if self.rand then vx,vy,vz=math.random()-0.5,math.random()-0.5,math.random()-0.5 end
        particle.spawn(name,x,y,z,vx,vy,vz)
    end
end

while true do
    os.sleep(0) -- too long without yielding не дремлет!
    pcall(particle_update)
end