Swarm7_backup2.lua

local component = require("component")
local event = require("event")
local serialization= require("serialization")
local computer= require("computer")
local thread= require("thread")
local modem = component.modem
local Tn = component.navigation
local Tr = component.radar
local QueensChannel = 2412
local SoldiersChannel = 2413

--custom libraries
local s_utils = require("swarm_utilities")
local q_firmware = require("queen_firmware")

modem.open(QueensChannel)

q_firmware.broadcastFirmWare(QueensChannel)

modem.open(SoldiersChannel)
modem.broadcast(SoldiersChannel,"Sr= component.proxy(component.list('radar')())")
modem.broadcast(SoldiersChannel,"Sn= component.proxy(component.list('navigation')())")
modem.broadcast(SoldiersChannel,"Sd= component.proxy(component.list('drone')())")
modem.broadcast(SoldiersChannel,"function sleep(timeout) checkArg(1, timeout, 'number', 'nil') local deadline = computer.uptime() + (timeout or 0) repeat computer.pullSignal(deadline - computer.uptime()) until computer.uptime() >= deadline end")


local pool={}

flightformation={}
ffbook={flightformation}
ffbook[2]={}
ffbook[3]={}
form1 = {{3,2,-2},{-3,2,-2},{0,2,3}}
form2 = {{-2,2,2},{2,2,2}}
form3 = {{-2,2,-2},{2,2,-2}}
fbook={form1,form2,form3}
dynamic_fbook = fbook

function killEvent(e)
	if e then
		event.cancel(e)
	end
end

msg_reaction = {
	["pkme"] = function(l_add,r_add,port,dist,...) add2Pool(r_add) end,
    ["actv"] = function(l_add,r_add,port,dist,...) setAsActive(r_add) end
}

function msg_handler(evt,l_add,r_add,port,dist,msg,...)
	if msg_reaction[msg] then
		msg_reaction[msg](l_add,r_add,port,dist,...)
	end
end

local reaction
function openFlighFormComms()
		killEvent(reaction)
		reaction = event.listen("modem_message",msg_handler)
end
function closeFlighFormComms() --**********************--
		killEvent(reaction)
end

function populatePool() --**********************--
	--killEvent(reaction)
	--reaction = event.listen("modem_message",msg_handler)
	openFlighFormComms()
	for i = 0,3 do modem.broadcast(QueensChannel,"inv") end
	os.sleep(1)
end

function refreshPool()
	--print("refreshing..")
	--killEvent(reaction)
	--reaction = event.listen("modem_message",msg_handler)
	openFlighFormComms()
	for addr,v in pairs(pool) do
		pool[addr][1] = false
		modem.send(addr,QueensChannel,"stop")
		os.sleep(0.5)
		modem.send(addr,QueensChannel,"uok")
	end
end

function add2Pool(addr)
	if pool[addr] then return end
	pool[addr]={true,true}
end

function setAsActive(addr)
	if pool[addr][1] then return end --if isActive or nil {return}
	pool[addr][1]=true
end

function add2FF(ff,f,addr)
	if not next(f) then return end
	if ff[addr] then return end
	ff[addr] = table.remove(f)
	modem.send(addr,QueensChannel,"commit")
	pool[addr][2]=false
end

function populateFF(ff,f)
	for addr,v in pairs(pool) do
		if v[1] and v[2] then add2FF(ff,f,addr) end
		if not next(f) then return end
	end
end

function pruneFF(ff,f)
	for addr,v in pairs(ff) do
		if pool[addr] then
			if not pool[addr][1] then
				table.insert(f,1,ff[addr])
				ff[addr] = nil
				modem.send(addr,QueensChannel,"uncommit")
				pool[addr][2]=true
			end
		end
	end
end

function refreshFF(ff,f) --**********************--
	print("refreshingFF..")
	refreshPool()
	os.sleep(1)
	pruneFF(ff,f)
	populateFF(ff,f)
end

function formFF(ff,f) --**********************--
	populateFF(ff,f)
	refreshFF(ff,f)
end
function formUP(e_name,ff,f) --**********************--
	for addr,pos in pairs(ff) do
		modem.send(addr,QueensChannel,"formup",e_name,pos[1],pos[2],pos[3])
	end
end

function breakFormation(ff,f) --**********************--
	for addr,pos in pairs(ff) do
		table.insert(f,1,ff[addr])
		ff[addr]=nil
		modem.send(addr,QueensChannel,"uncommit")
		pool[addr][2]=true
	end
	refreshPool()
end
print("Bingus28")


local gpsChannel = 2
local trgChannel = 2472


function gpsBroadcast(gps_port)
	while true do
		modem.broadcast(gps_port,"gps",0,0,0)
		--print("broadcasting..")
		os.sleep()
	end
end

local gpsThread
local sat_mode = false
function toggleGPSBroadCast(channel) --**********************--
	sat_mode = not sat_mode
	print("sat_mode: "..tostring(sat_mode))
	if sat_mode then
		print("creating GPS Thread..")
		gpsThread = thread.create(function(port) gpsBroadcast(port) end,channel)
	else
		gpsThread:kill()
	end
end

function getPlayerCoord(e_name)
	checkArg(1,e_name,'string','nil')
	for k,v in ipairs(Tr.getPlayers()) do
		if v.name == e_name then
			return {v.x,v.y,v.z},v.distance
		end
	end
	return {0,0,0},0
end

function trgBroadcast(e_name)
	while true do
		local player_co = getPlayerCoord(e_name)
		player_co = s_utils.vec_trunc(player_co)
		modem.broadcast(trgChannel,"trg",player_co[1],player_co[2],player_co[3])
		--print("broadcasting target..")
		os.sleep()
	end
end
local trgThread
local send_trg = false
function toggleTargetBroadCast(target) --**********************--
	send_trg = not send_trg
	print("send_trg: "..tostring(send_trg))
	if send_trg then
		print("creating GPS Thread..")
		trgThread = thread.create(function(t) trgBroadcast(t) end,target)
	else
		trgThread:kill()
	end
end

while true do
	local cmd=io.read()
	if not cmd then return end

	if(cmd == "G") then
		modem.broadcast(QueensChannel,"stop")
    	modem.broadcast(QueensChannel,"go","ph0")
    	os.sleep(0.5)
	elseif(cmd == "B") then
		modem.broadcast(QueensChannel,"stop")
   		modem.broadcast(QueensChannel,"bzz","ph0")
    	os.sleep(0.5)
	elseif(cmd == "M") then
		modem.broadcast(QueensChannel,"stop")
   		modem.broadcast(QueensChannel,"move","",0,3,0)
    	os.sleep(0.5)
	elseif(cmd == "P") then	--refreshFormation
		populatePool()
	    os.sleep(0.5)
	elseif(cmd == "T") then
		formFF(ffbook[1],dynamic_fbook[1])
		formUP("ph0",ffbook[1],dynamic_fbook[1])
	    os.sleep(0.5)
	elseif(cmd == "Q") then
		formFF(ffbook[2],dynamic_fbook[2])
		formFF(ffbook[3],dynamic_fbook[3])
		formUP("ph0",ffbook[2],dynamic_fbook[2])
		formUP("ph0",ffbook[3],dynamic_fbook[3])
	    os.sleep(0.5)
	elseif(cmd == "E") then
		for i = 1,#ffbook do
			breakFormation(ffbook[i],dynamic_fbook[i])
		end
		killEvent(reaction)
	    os.sleep(0.5)
	elseif(cmd == "R") then	--refreshFormation
		for i = 1,#ffbook do
			refreshFF(ffbook[i],dynamic_fbook[i])
		end
	    os.sleep(0.5)
	elseif(cmd == "PRINT") then --printGroup
		for k,v in pairs(pool) do
			print(k.." :: "..tostring(v[1]).." "..tostring(v[2]))
		end
		print(tostring(groupSize))
		for i = 1,#ffbook do
			print("ffbook["..i.."]:")
			for k,v in pairs(ffbook[i]) do
				print(k.." :: "..tostring(v[1]).." "..tostring(v[2]).." "..tostring(v[3]))
			end
		end
	    os.sleep(0.5)
	elseif(cmd == "GPS") then
		toggleGPSBroadCast(gpsChannel)
    	os.sleep(0.5)
	elseif(cmd == "TRG") then
		toggleTargetBroadCast("ph0")
    	os.sleep(0.5)
	elseif(cmd == "S") then
    	modem.broadcast(QueensChannel,"stop")
		event.ignore("modem_message",msg_handler)
    	os.sleep(0.5)
	elseif(cmd == "EXIT") then
		closeFlighFormComms()
		os.exit()
	else
    	modem.broadcast(QueensChannel,cmd)
	end
end