Guardian.lua

function track()
 convertedl = 0
 while radars == radar.getEntities() do
   flag = false
   for _ in pairs(radars) do
    flag = true
   end
   if flag then break end
 end
 radars = radar.getEntities()
 timeDif = os.clock() - lasttime
 lasttime = os.clock()
 print("timeDif", timeDif)
 print("hiCount", hiCount)
 converted = convertRadar(radars)
 for i, val in pairs(Contacts) do
  if convertedl > 0 then
    n = getClosest(converted, getProjected(i))
    Certainty = Contacts[i]["Certainty"]
    DivXY = getDivXY(i,n,converted)
    DivXYZ = getDivXYZ(i,n,converted)
    print("DivXZ", DivXY)
    print("DivXYZ", DivXYZ)
  else
    DivXY = 10000000000
    DivXYZ = 10000000000
  end
  print("comp", DivXY<accXY)
  if (DivXY ~= DivXY) then
   ContactsUpdate(n,i,converted,0)
   print("updateL")
  elseif ((DivXY<accXY) and (DivXYZ<(accXYZ-Certainty)) and (not Contacts[i]["new"])) then
   ContactsUpdate(n,i,converted,0.01)
   print("updateA")
  elseif ((DivXY<accXY) and (DivXYZ>=(accXYZ-Certainty)) and (not Contacts[i]["new"])) then
   ContactsUpdate(n,i,converted,-0.01)
   print("updateB")
  elseif Contacts[i]["new"] then
   if not (convertedl == 0) then
    ContactsUpdate(n,i,converted,0.01)
    Contacts[i]["new"] = false
    print("updateN")
   else
    Contacts[i] = nil
    print("updateDel")
   end
  else
   print("NoUpdate")
   if Contacts[i]["lastUpdated"] < thresholdTime then
    Contacts[i]["lastUpdated"] = Contacts[i]["lastUpdated"] + timeDif
   else
    Contacts[i]=nil
    print("del")
   end
  end
 end
 contactsEmpty = false
 while not contactsEmpty do
  contactsEmpty = true
  for iter, val in pairs(converted) do
   contactsEmpty = false
   num = string.sub(iter, 3)
   newContact(num, converted)
   break
  end
 end
end

function setNotUpdated()
  for i,v in pairs(Contacts) do
     Contacts[i]["updated"] = false
  end
end

function getDivXYZ(i,n,inList)
 PosX = Contacts[i]["PosX"]
 PosY = Contacts[i]["PosY"]
 PosZ = Contacts[i]["PosZ"]
 VectX = Contacts[i]["VectX"]
 VectY = Contacts[i]["VectY"]
 VectZ = Contacts[i]["VectZ"]
 VectXa = inList["x_"..n]-PosX
 VectYa = inList["y_"..n]-PosY
 VectZa = inList["z_"..n]-PosZ
 cos = (VectX*VectXa+VectY*VectYa+VectZ*VectZa)/(math.sqrt((VectX^2)+(VectY^2)+(VectZ^2))*math.sqrt((VectXa^2)+(VectYa^2)+(VectZa^2)))
 angle = math.acos(cos)
 return angle
end

function getDivXY(i,n,inList)
 PosX = Contacts[i]["PosX"]
 PosY = Contacts[i]["PosZ"]
 VectX = Contacts[i]["VectX"]
 VectY = Contacts[i]["VectZ"]
 VectXa = inList["x_"..n]-PosX
 VectYa = inList["z_"..n]-PosY
 angle = math.acos((VectX*VectXa+VectY*VectYa)/(math.sqrt((VectX^2)+(VectY^2))*math.sqrt((VectXa^2)+(VectYa^2))))
 return angle
end

function com(cmd)
  print(cmd)
  if     cmd == "getContacts" then
    os.sleep(0.1)
    tunnel.send(serialization.serialize(Contacts))

  elseif cmd == "resetContacts" then
    Contacts = {}
    hiCount = 0
    tunnel.send("true")

  elseif cmd == "detonateEmp" then
    if lastDetonated then
      rs.setBundledOutput(sides.front, colors.green, 255)
      os.sleep(0.1)
      rs.setBundledOutput(sides.front, colors.green, 0)
    else
      rs.setBundledOutput(sides.front, 3, 255)
      os.sleep(0.1)
      rs.setBundledOutput(sides.front, 3, 0)
    end
    lastDetonated = not lastDetonated
    tunnel.send("true")

  elseif cmd == "launchMissile" then
    local success = false
    rs.setBundledOutput(sides.front, colors.blue, 0)
    local _,_,_,_,_, x = event.pull("modem_message")
    local _,_,_,_,_, y = event.pull("modem_message")
    launchers[lastLaunched].setTarget(x,y)
    local lastLauncedStart = lastLaunched
    while (not launchers[LastLaunched].canLaunch()) do
      if lastLaunched == lastLaunchedFirst then
        break
      end
      if lastLaunched < n then
        lastLaunched = lastLaunched + 1
      else
        lastLaunched = 0
      end
      launchers[lastLaunched].setTarget(x,y)
    end
    if launchers[lastLaunched].canLaunch() then
      launchers[lastLaunched].launch()
      success = true
    end
    if lastLaunched < n then
      lastLaunched = lastLaunched + 1
    else
      lastLaunched = 0
    end
    tunnel.send(success)
    rs.setBundledOutput(sides.front, colors.blue, 255)

  elseif cmd == "setTubes" then
    local _,_,_,_,_,args = event.pull("modem_message")
    if args == "open" then
      rs.setBundledOutput(sides.front, colors.blue, 0)
    else
      rs.setBundledOutput(sides.front, colors.blue, 255)
    end
    tunnel.send("true")
  end
  cmd = nil
end

function convertRadar(inList)
  local ActualPositions = {}
  convertedl = 0
  for u,i in pairs(inList) do
    ActualPositions[u] = i
    convertedl = convertedl+1
  end
  return ActualPositions
end

function getClosest(inList, PosX, PosY, PosZ)
  smlDist=1000000
  for iv, v in pairs(inList) do
    i = string.sub(iv, 3)
    X = inList["x_"..i]
    Y = inList["y_"..i]
    Z = inList["z_"..i]
    dist = math.sqrt(((X-PosX)^2)+((Y-PosY)^2)+((Z-PosZ)^2))
    if dist<smlDist then
      smlDist=dist
      smlI = i
    end
  end
  return smlI
end

function getProjected(n)
  PosX = Contacts[n]["PosX"]
  PosY = Contacts[n]["PosY"]
  PosZ = Contacts[n]["PosZ"]
  VectX = Contacts[n]["VectX"]
  VectY = Contacts[n]["VectY"]
  VectZ = Contacts[n]["VectZ"]
  lastUpdate = Contacts[n]["lastUpdated"]
  X = PosX + VectX*lastUpdate
  Y = PosY + VectY*lastUpdate
  Z = PosZ + VectZ*lastUpdate
  return X, Y, Z
end

function ContactsUpdate(im, ln, inList, crtntyIn)
  X = inList["x_"..im]
  Y = inList["y_"..im]
  Z = inList["z_"..im]
  inList["x_"..im] = nil
  inList["y_"..im] = nil
  inList["z_"..im] = nil
  convertedl = convertedl - 3
  PosX = Contacts[ln]["PosX"]
  PosY = Contacts[ln]["PosY"]
  PosZ = Contacts[ln]["PosZ"]
  crtnty = Contacts[ln]["Certainty"]
  VectX = (X-PosX)/timeDif
  VectY = (Y-PosY)/timeDif
  VectZ = (Z-PosZ)/timeDif
  PosX=X
  PosY=Y
  PosZ=Z
  Contacts[ln]["Certainty"] = crtnty + crtntyIn
  Contacts[ln]["PosX"] = PosX
  Contacts[ln]["PosY"] = PosY
  Contacts[ln]["PosZ"] = PosZ
  Contacts[ln]["VectX"] = VectX
  Contacts[ln]["VectY"] = VectY
  Contacts[ln]["VectZ"] = VectZ
  Contacts[ln]["updated"]=true
  Contacts[ln]["lastUpdated"] = 0
end

function newContact(n, inList)
  X = inList["x_"..n]
  Y = inList["y_"..n]
  Z = inList["z_"..n]
  nxt = tostring(hiCount)
  Contacts[nxt] = {}
  Contacts[nxt]["PosX"] = X
  Contacts[nxt]["PosY"] = Y
  Contacts[nxt]["PosZ"] = Z
  Contacts[nxt]["VectX"] = 0.0001
  Contacts[nxt]["VectY"] = 0.0001
  Contacts[nxt]["VectZ"] = 0.0001
  Contacts[nxt]["Certainty"] = initCertainty
  Contacts[nxt]["updated"]=true
  Contacts[nxt]["lastUpdated"] = 0
  Contacts[nxt]["new"] = true
  hiCount = hiCount + 1
  inList["x_"..n] = nil
  inList["y_"..n] = nil
  inList["z_"..n] = nil
end

local addrLauncher1 = "331255f5"
local addrLauncher2 = "f45f0841"

local lastLaunched = 0
local lastDetonated = true
Contacts={}
hiCount = 0
accXY = 0.17
accXYZ = 1.5
thresholdTime = 0.05

lasttime = os.clock()
initCertainty = 0.1

math = require("math")
component = require("component")
event = require("event")
sides = require("sides")
colors = require("colors")
serialization = require("serialization")

tunnel = component.tunnel
rs = component.redstone
radar = component.radar_station
local addrLstLauncher = component.list("defense")
local n = 0
local launchers = {}
for i,v in pairs(addrLstLauncher) do
  launchers[n] = component.get(i)
  n=n+1
end

print(n)

radars = radar.getBlocks()
print("done1")
converted = convertRadar(radars)
print(converted["x_0"])
print("done2")
print(converted)

rs.setBundledOutput(sides.front, colors.blue, 255)

while true do
  local _,_,_,_,_,cmd = event.pull(0.2,"modem_message")
  if (not (cmd == nil)) then
    com(cmd)
    cmd = nil
  end
 track()
 if (rs.getBundledInput(sides.front, colors.white)>0)then
  os.exit()
 end
end