Drone firmware

local useport = 1351 -- make sure this number is the same as the drone client

local drone = component.proxy(component.list("drone")())
local navigation = component.proxy(component.list("navigation")())
local modem = component.proxy(component.list("modem")())
modem.open(useport)
modem.setWakeMessage("_BROADCAST_TARGETS_PS_BOOT")

local function split(str, chrs)
    local ret = {} string.gsub(str, "[^"..chrs.."]+", function(s) table.insert(ret, s) end) return ret
end

local function main()
    computer.beep(500, 1)
    while true do
        local name, receiver, sender, _, _, command = computer.pullSignal()
        if name == "modem_message" then
            local cmd = split(command, " ")
            if cmd[1] == "_BROADCAST_TARGETS_PS_K" then
                modem.send(sender, useport, "target "..drone.name())
            elseif cmd[1] == "list" then
                if cmd[2] == "waypoints" then
                    local ways = navigation.findWaypoints(100)
                    local ret = ""
                    for i, v in ipairs(ways) do
                        ret = ret .. tostring(i)..". "..v.label.."\n"
                    end
                    modem.send(sender, useport, ret)
                end
            elseif cmd[1] == "goto" then
                local wname = cmd[2]
                    local ways = navigation.findWaypoints(100)
                    for i, v in ipairs(ways) do
                        if not (type(v)=="number") then
                            if v.label == wname then
                                modem.send(sender, useport, "Operation succeed.")
                                drone.move(v.position[1], v.position[2], v.position[3])
                                break
                            end
                        end
                    end
            elseif cmd[1] == "move" then
                if cmd[2] == "waypoints" then
                    local wname = cmd[3]
                    local ways = navigation.findWaypoints(100)
                    for i, v in ipairs(ways) do
                        if not (type(v)=="number") then
                            if v.label == wname then
                                modem.send(sender, useport, "Operation succeed.")
                                drone.move(v.position[1], v.position[2], v.position[3])
                                break
                            end
                        end
                    end
                elseif cmd[2] == "relpos" then
                    local x = tonumber(cmd[3])
                    local y = tonumber(cmd[4])
                    local z = tonumber(cmd[5])
                    modem.send(sender, useport, "Operation succeed.")
                    drone.move(x, y, z)
                end
            end
            for i=1, 30 do
                computer.pullSignal(0.01)
            end
        end
    end
end

while true do
    pcall(main)
end