View difference between Paste ID: 6WUUTgQc and qMDJ9rMf

 local component = require("component")
 local event = require("event")
 local serialization= require("serialization")
 local computer= require("computer")
 local thread= require("thread")
 local term= require("term")
-local Tn = component.navigation
+
 --local Tn = component.navigation
 local Tr = component.radar
 local QueensChannel = 2412
 local QueensResponseChannel = 2402
 local SoldiersChannel = 2413
 local SoldiersResponseChannel = 2403
---local q_firmware = require("queen_firmware")
+
---local flightform = require("flight_formation")
+local drone_is_queen = true
 
-modem.open(QueensChannel)
+
 local s_utils = require("swarm_utilities")
---q_firmware.broadcastFirmWare(QueensChannel)
+local q_firmware = require("queen_firmware")
-function Q_FIRMWARE()
+local flightform = require("flight_formation")
-modem.broadcast(QueensChannel,
+
-[[
+modem.open(QueensResponseChannel)
-Qr= component.proxy(component.list('radar')())
+
-Qn= component.proxy(component.list('navigation')())
+modem.open(SoldiersResponseChannel)
-Qd= component.proxy(component.list('drone')())
+
-Qm= component.proxy(component.list('modem')())
+
-QueensChannel = 2412
+
-Qm.open(QueensChannel)
+
-]]
+
-)
+
 flightformation={}
-modem.broadcast(QueensChannel,
+
-[[
+
-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
+
 
-]]
+
-)
+
 
-modem.broadcast(QueensChannel,
+
-[[
+
 local trgChannel = 2472
 
-	for k,v in ipairs(Qr.getPlayers()) do
+
 function gpsBroadcast(gps_port)
 	while true do
 		modem.broadcast(gps_port,"gps",0,0,0)
 		--print("broadcasting..")
 		os.sleep()
 	end
-]]
+
-)
+
-modem.broadcast(QueensChannel,
+
-[[
+
-function move(x,y,z)
+
-	checkArg(1,x,'number','nil')
+
-	checkArg(1,y,'number','nil')
+
-	checkArg(1,z,'number','nil')
+
-	if x and y and z then
+
-			Qd.setLightColor(0x00FFAF)
+
-			Qd.move(x,y,z)
+
 		gpsThread:kill()
 	end
-]]
+
-)
+
-modem.broadcast(QueensChannel,
+
-[[
+
-function sub_vec(A,B) return {A[1]-B[1],A[2]-B[2],A[3]-B[3]} end
+
-function math.trunc(v)
+
-    local t = math.modf(v)
+
-	return t
+
 	end
-function vec_trunc(A)
+
-	if A then
+
-		return {math.trunc(A[1]),math.trunc(A[2]),math.trunc(A[3])}
+
 function trgBroadcast(e_name)
-	return nil
+
 		local player_co = getPlayerCoord(e_name)
-function navMoveToPlayer(e_name)
+
-	checkArg(1,e_name,"string","nil")
+
-	local trgPos = {Qn.getPosition()},stp
+
-
+
-	if not trgPos[1] then Qd.setLightColor(0xFF0000) return "Out Of\nRange" end
+
-
+
-	trgPos = vec_trunc(trgPos)
+
-	local mv = {0,0,0}
+
-	local mapRange = Qn.getRange()
+
-
+
-	repeat
+
-		local v = getPlayerCoord(e_name)
+
-		v = vec_trunc(v)
+
-		local Qnpos = {Qn.getPosition()}
+
-		if Qnpos[1] then
+
-			Qnpos = vec_trunc(Qnpos)
+
-			local Qpn = {Qnpos[1] + v[1], Qnpos[2] + v[2] + 2, Qnpos[3] + v[3]}
+
-			mv = sub_vec(Qpn,trgPos)
+
-			if math.abs(Qpn[1]) < mapRange-5 and math.abs(Qpn[3]) < mapRange-5 then
+
-				Qd.move(mv[1],mv[2],mv[3])
+function printSwarmStats()
-				trgPos = Qpn
+	term.clear()
-			end
+	flightform.printDronePool(drone_is_queen)
-		else
+	flightform.printFFAssignment(ffbook)
-			Qd.setLightColor(0xFF0000)
+
-			Qd.setStatusText("Out Of\nRange")
+
-			Qd.move(-mv[1],-mv[2],-mv[3])
+
 	local cmd=io.read()
-		stp = select(6,computer.pullSignal(0.5))
+
-	until stp == "stop"
+
-	return Qd.name()
+		q_firmware.broadcastFirmWare(QueensChannel)
     	os.sleep(0.5)
-]]
+
-)
+
-modem.broadcast(QueensChannel,
+
-[[
+
-function navSwarmPlayer(e_name)
+
-	checkArg(1,e_name,"string","nil")
+
-	local trgPos = {Qn.getPosition()},stp
+
-
+
-	if not trgPos[1] then Qd.setLightColor(0xFF0000) return "Out Of\nRange" end
+
-
+
-	trgPos = vec_trunc(trgPos)
+
-	local mv = {0,0,0}
+
-	local mapRange = Qn.getRange()
+
-
+
-	repeat
+
-		local v = getPlayerCoord(e_name)
+		flightform.populatePool(QueensChannel,drone_is_queen)
-		v = vec_trunc(v)
+		printSwarmStats()
-		local Qnpos = {Qn.getPosition()}
+
-		if Qnpos[1] then
+
-			Qnpos = vec_trunc(Qnpos)
+
-			local Qpn = {Qnpos[1] + v[1] +math.random(-3,3), Qnpos[2] + v[2] +math.random(-3,3), Qnpos[3] + v[3]+math.random(-3,3)}
+		flightform.formFF(ffbook[1],dynamic_fbook[1],QueensChannel,drone_is_queen)
-			mv = sub_vec(Qpn,trgPos)
+		flightform.formUP("ph0",ffbook[1],dynamic_fbook[1],QueensChannel)
-			if math.abs(Qpn[1]) < mapRange-5 and math.abs(Qpn[3]) < mapRange-5 then
+		printSwarmStats()
-				Qd.move(mv[1],mv[2],mv[3])
+
-				trgPos = Qpn
+
-			end
+		flightform.formFF(ffbook[2],dynamic_fbook[2],QueensChannel,drone_is_queen)
-		else
+		flightform.formFF(ffbook[3],dynamic_fbook[3],QueensChannel,drone_is_queen)
-			Qd.setLightColor(0xFF0000)
+		flightform.formUP("ph0",ffbook[2],dynamic_fbook[2],QueensChannel)
-			Qd.setStatusText("Out Of\nRange")
+		flightform.formUP("ph0",ffbook[3],dynamic_fbook[3],QueensChannel)
-			Qd.move(-mv[1],-mv[2],-mv[3])
+		printSwarmStats()
 	    os.sleep(0.5)
-		stp = select(6,computer.pullSignal(0.5))
+
-	until stp == "stop"
+
-	return Qd.name()
+			flightform.breakFormation(ffbook[i],dynamic_fbook[i],QueensChannel,drone_is_queen)
 		end
-]]
+		printSwarmStats()
-)
+
-modem.broadcast(QueensChannel,
+
-[[
+
-local cc = 1
+			flightform.refreshFFT(ffbook[i],dynamic_fbook[i],QueensChannel,drone_is_queen)
-isFree = true
+
-function replyInv(add)
+		printSwarmStats()
-	if isFree then
+
-		Qd.setLightColor(0xFF00BB)
+
-		Qm.send(add,QueensChannel,"pkme")
+		printSwarmStats()
-		--Qd.setStatusText(tostring(cc))
+
-		cc=cc+1
+
 	elseif(cmd == "GPS") then
 		toggleGPSBroadCast(gpsChannel)
-]]
+
-)
+
-modem.broadcast(QueensChannel,
+
-[[
+
-acts = {
+
-	["go"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x00FF00) Qd.setStatusText(navMoveToPlayer(tag)) end,
+
-    ["bzz"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x0000FF) Qd.setStatusText(navSwarmPlayer(tag)) end,
+
-	["move"] = function(r_add,tag,x,y,z) move(x,y,z) end,
+
-	["inv"] = function(r_add,tag,x,y,z) replyInv(r_add) end,
+
-	["commit"] = function(r_add,tag,x,y,z) Qd.setLightColor(0xFF1F00) isFree = false Qd.setStatusText("cmt "..tostring(isFree)) end,
+	elseif(cmd == "HUSH") then
-	["uncommit"] = function(r_add,tag,x,y,z) isFree = true end,
+		modem.broadcast(QueensChannel,"HUSH")
-	["uok"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x77FF77) isFree = true Qm.send(r_add,QueensChannel,"actv") end,
+
-	["formup"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x0011FF) Qd.setStatusText(navMoveToPlayerWOffset(tag,x,y,z)) end,
+
-	["HUSH"] = function(r_add,tag,x,y,z) computer.shutdown() end
+
-}
+		flightform.closeFlighFormComms()
-]]
+		if gpsThread then
-)
+			gpsThread:kill()
-modem.broadcast(QueensChannel,
+
-[[
+		if trgThread then
-gpsChannel = 2
+			trgThread:kill()
-trgChannel = 2472
+
-function QgpsBroadcast()
+
-	Qm.broadcast(gpsChannel,"Qgps")
+
     	modem.broadcast(QueensChannel,cmd)
-]]
+
-)
+
-modem.broadcast(QueensChannel,
+