quarry_144

-- random_fly_20.lua  (OC Robot + hover)
-- Стартуй на зарядке: это (0,0,0) и "база". Смотрим на север.
-- Летает случайно в кубе 20x20x20 по +X/+Y/+Z, пикает, при <30% энергии возвращается на базу и ждёт до 95%.

local robot    = require("robot")
local computer = require("computer")
local os       = require("os")

----------------------------------------------------------------
-- Настройки
----------------------------------------------------------------
local BOUNDS = {x=20,y=20,z=20}
local ENERGY_LOW  = 0.30
local ENERGY_FULL = 0.95
local STEP_DELAY  = 0.05
local BEEP_EVERY  = 25  -- шагов

-- Направления (старт см. на Север). Север=-Z, Восток=+X, Юг=+Z, Запад=-X
local DIRS = {N=0,E=1,S=2,W=3}
local dir = DIRS.N

-- Координаты (от базы)
local pos  = {x=0,y=0,z=0}
local base = {x=0,y=0,z=0}

----------------------------------------------------------------
-- Безопасные бипы (не падают на старых версиях OC)
----------------------------------------------------------------
local function safeBeep(a,b)
  if type(a)=="table" then
    for i=1,#a do
      local n=a[i]; local f=tonumber(n[1]) or 0; local d=tonumber(n[2]) or 0.1
      pcall(computer.beep,f,d); os.sleep(d+0.01)
    end
  else
    pcall(computer.beep, tonumber(a) or 0, tonumber(b) or 0.1)
  end
end

local function beep_tick()  safeBeep(1200,0.03) end
local function beep_warn()  safeBeep({{659,0.12},{0,0.05},{659,0.12}}) end
local function beep_ok()    safeBeep({{1046,0.06},{1318,0.08}}) end
local function beep_start() safeBeep({{880,0.08},{988,0.08},{1046,0.12}}) end
local function beep_home()  safeBeep({{784,0.08},{659,0.08},{523,0.12}}) end
local function beep_err()   safeBeep({{220,0.20},{196,0.20}}) end

----------------------------------------------------------------
-- Энергия
----------------------------------------------------------------
local function energy()
  local m = computer.maxEnergy() or 1
  local e = computer.energy() or 0
  if m<=0 then return 1 end
  return e/m
end

----------------------------------------------------------------
-- Повороты/шаги (минимум вложенности)
----------------------------------------------------------------
local function turnLeft()  local ok=robot.turnLeft();  if ok then dir=(dir+3)%4 end; return ok end
local function turnRight() local ok=robot.turnRight(); if ok then dir=(dir+1)%4 end; return ok end

local function face(t)
  t = t % 4
  local n=0
  while dir ~= t and n < 4 do
    turnRight(); n = n + 1
  end
end

local function stepForward()
  if robot.forward() then
    if     dir==DIRS.N then pos.z=pos.z-1
    elseif dir==DIRS.S then pos.z=pos.z+1
    elseif dir==DIRS.E then pos.x=pos.x+1
    else                      pos.x=pos.x-1
    end
    return true
  end
  return false
end

local function stepBack()
  if robot.back() then
    if     dir==DIRS.N then pos.z=pos.z+1
    elseif dir==DIRS.S then pos.z=pos.z-1
    elseif dir==DIRS.E then pos.x=pos.x-1
    else                      pos.x=pos.x+1
    end
    return true
  end
  return false
end

local function stepUp()   if robot.up()   then pos.y=pos.y+1 return true end return false end
local function stepDown() if robot.down() then pos.y=pos.y-1 return true end return false end

----------------------------------------------------------------
-- Навигация
----------------------------------------------------------------
local function clamp(p)
  if p.x<0 then p.x=0 elseif p.x>=BOUNDS.x then p.x=BOUNDS.x-1 end
  if p.y<0 then p.y=0 elseif p.y>=BOUNDS.y then p.y=BOUNDS.y-1 end
  if p.z<0 then p.z=0 elseif p.z>=BOUNDS.z then p.z=BOUNDS.z-1 end
end

local function moveTo(t)
  clamp(t)
  -- Y
  while pos.y < t.y do
    if energy()<ENERGY_LOW then return false,"low_energy" end
    if not stepUp() then return false,"blocked_y_up" end
    os.sleep(STEP_DELAY)
  end
  while pos.y > t.y do
    if energy()<ENERGY_LOW then return false,"low_energy" end
    if not stepDown() then return false,"blocked_y_down" end
    os.sleep(STEP_DELAY)
  end
  -- X
  while pos.x < t.x do
    if energy()<ENERGY_LOW then return false,"low_energy" end
    face(DIRS.E); if not stepForward() then return false,"blocked_x_pos" end
    os.sleep(STEP_DELAY)
  end
  while pos.x > t.x do
    if energy()<ENERGY_LOW then return false,"low_energy" end
    face(DIRS.W); if not stepForward() then return false,"blocked_x_neg" end
    os.sleep(STEP_DELAY)
  end
  -- Z
  while pos.z < t.z do
    if energy()<ENERGY_LOW then return false,"low_energy" end
    face(DIRS.S); if not stepForward() then return false,"blocked_z_pos" end
    os.sleep(STEP_DELAY)
  end
  while pos.z > t.z do
    if energy()<ENERGY_LOW then return false,"low_energy" end
    face(DIRS.N); if not stepForward() then return false,"blocked_z_neg" end
    os.sleep(STEP_DELAY)
  end
  return true
end

local function goHome()
  io.write(string.format("[HOME] -> (%d,%d,%d)\n", base.x,base.y,base.z))
  local ok,why = moveTo(base)
  if not ok then io.write("[HOME] fail: "..tostring(why).."\n"); beep_err(); return false end
  beep_home(); io.write("[HOME] charging...\n")
  while energy() < ENERGY_FULL do os.sleep(0.5) end
  io.write("[HOME] charged\n"); beep_ok(); return true
end

----------------------------------------------------------------
-- Цель и основной цикл
----------------------------------------------------------------
local function randomTarget()
  return {x=math.random(0,BOUNDS.x-1), y=math.random(0,BOUNDS.y-1), z=math.random(0,BOUNDS.z-1)}
end

math.randomseed(os.time())
beep_start()
io.write("[INIT] Куб 20x20x20 от базы по +X/+Y/+Z. Старт на зарядке, смотрим на Север.\n")

local steps=0
while true do
  if energy() < ENERGY_LOW then beep_warn(); goHome() end
  local t = randomTarget()
  io.write(string.format("[MOVE] -> (%d,%d,%d)\n", t.x,t.y,t.z))
  local ok,why = moveTo(t)
  if ok then
    io.write(string.format("[MOVE] at (%d,%d,%d)\n", pos.x,pos.y,pos.z))
  else
    io.write("[WARN] move fail: "..tostring(why).."\n")
  end
  steps=steps+1
  if steps % BEEP_EVERY == 0 then beep_tick() end
  os.sleep(0.05)
end