View difference between Paste ID: YJ97hCan and kLrNbpRG

 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 Tr = component.radar
+
 local SoldiersChannel = 2413
-local QueensResponseChannel = 2402
+
-local PawnsChannel = 2413
+
-local PawnsResponseChannel = 2403
+
 local q_firmware = require("queen_firmware")
-local drone_is_queen = true
+
 modem.open(QueensChannel)
 
 q_firmware.broadcastFirmWare(QueensChannel)
 
-local flightform = require("flight_formation")
+modem.open(SoldiersChannel)
-local radar_targeting = require("radar_targeting")
+modem.broadcast(SoldiersChannel,"Sr= component.proxy(component.list('radar')())")
-local GPS = require("GPS")
+modem.broadcast(SoldiersChannel,"Sn= component.proxy(component.list('navigation')())")
-local GPS_TRG = require("GPS_TRG")
+modem.broadcast(SoldiersChannel,"Sd= component.proxy(component.list('drone')())")
-local p_firmware = require("pawn_firmware")
+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 formation_generator = require("formation_generator")
+
 
-modem.open(QueensResponseChannel)
+local pool={}
-modem.open(PawnsResponseChannel)
+
 flightformation={}
 ffbook={flightformation}
 ffbook[2]={}
 ffbook[3]={}
 form1 = {{3,2,-2},{-3,2,-2},{0,2,3}}
---form1 = {{13,2,-2},{-13,2,-2},{0,2,13}} --bad y gps value
+form2 = {{-2,2,2},{2,2,2}}
---form1 = {{3,8,-2},{-3,14,-2},{0,20,3}} -- bad xz gps values
+form3 = {{-2,2,-2},{2,2,-2}}
---form1 = {{10,8,-10},{-10,14,0},{5,20,10}}
+fbook={form1,form2,form3}
---form1 = {{0,0,0},{5,5,0},{0,10,10},{-15,15,0},{0,20,-20}}
+
---form1 = {{0,0,0},{2,2,0},{0,4,4},{-8,8,0},{0,10,-10},{12,12,0},{0,14,14},{-16,16,0}}--golden ratio Spiral
+
-actualSatForm = {{0,25,-3},{0,25,3},{3,22,0},{-3,22,0}}-- ComputerCraft Heresy --(Tetrahedron) -- it's actually good for xz coordinates
+function killEvent(e)
---satff={}
+	if e then
---compensatedSatForm = {{0,25,-2},{0,25,3},{2,22,0},{-3,22,0}}
+		event.cancel(e)
---form1 = {{0,35,-3},{0,30,3},{3,20,0},{-3,25,0}}
+
---form1 = {{0,35,-5},{0,30,2},{5,20,0},{-2,25,0}}
+
---form2 = {{-2,10,2},{2,15,2},{0,2,0}}
+
---form3 = {{-2,20,-2},{2,25,-2}}
+msg_reaction = {
---form2 = {{-10,10,10},{10,12,10},{0,5,0}}
+	["pkme"] = function(l_add,r_add,port,dist,...) add2Pool(r_add) end,
---form3 = {{-10,14,-10},{10,16,-10}}
+    ["actv"] = function(l_add,r_add,port,dist,...) setAsActive(r_add) end
-form2 = {{3,0,0},{0,3,0},{0,0,3},{3,0,3},{-3,0,-3}}
+}
-form3 = {{-3,0,0},{0,-3,0},{0,0,-3},{3,3,3},{-3,-3,-3}}
+
 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,...)
-The radar has an inaccuracy where it recognises two blocks as zeroes in each axis.
+
-Drones positioned in coordinates with positive axis components around a target player are actually a block extra away from the origin
+
-the given formation array is thus compensated in the formUP function from the flight_formation library
+
-]]
+local reaction
---*************--
+function openFlighFormComms()
 		killEvent(reaction)
-fbook={actualSatForm,form2,form3}
+		reaction = event.listen("modem_message",msg_handler)
 end
 function closeFlighFormComms() --**********************--
 		killEvent(reaction)
-print("Bingus30")
+
-function printSwarmStats()
+
-	term.clear()
+function populatePool() --**********************--
-	print("QUEENS:")
+	--killEvent(reaction)
-	flightform.printDronePool(drone_is_queen)
+	--reaction = event.listen("modem_message",msg_handler)
-	flightform.printFFAssignment(ffbook)
+	openFlighFormComms()
 	for i = 0,3 do modem.broadcast(QueensChannel,"inv") end
 	os.sleep(1)
 end
 
---local trgChannel = 3
+function refreshPool()
 	--print("refreshing..")
 	--killEvent(reaction)
---trgPortBook = {}--{[trgport]="target"} multiple to fixed single relationship
+	--reaction = event.listen("modem_message",msg_handler)
-trgPortBook = {[3]="Bingus",[4]="Floppa",[5]="FloppaMi",[7]="FloppaNi"}
+	openFlighFormComms()
 	for addr,v in pairs(pool) do
-Pawnffbook = {}
+		pool[addr][1] = false
-Pawnffbook[1] = {}
+		modem.send(addr,QueensChannel,"stop")
-Pawnffbook[2] = {}
+
-Pawnffbook[3] = {}
+		modem.send(addr,QueensChannel,"uok")
-Pawnffbook[4] = {}
+
-Pawnffbook[5] = {}
+
-Pawnffbook[6] = {}
+
-dynamicTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
+function add2Pool(addr)
---staticTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
+	if pool[addr] then return end
---staticTriangle = formation_generator.TriangleFormation("Y:spanX",4,8,2,{x=0,y=2,z=0})
+	pool[addr]={true,true}
-staticTriangle = formation_generator.TriangleFormation("Y:spanX",8,10,2,{x=0,y=2,z=0})
+
-staticTriangle = formation_generator.rotateFormation("X",math.pi/4,staticTriangle)
+
---staticOrbitTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
+function setAsActive(addr)
---staticOrbitSquare = {{1,1,0},{-1,1,0},{0,1,1},{0,1,-1}}
+	if pool[addr][1] then return end --if isActive or nil {return}
-staticOrbitSquare = formation_generator.hollowSquareFormation("Z",5,5,7,{x=-2,y=0,z=0})
+	pool[addr][1]=true
-dynamicOrbitSquareMe = {{1,3,0},{-1,3,0},{0,3,1},{0,3,-1}}
+
-dynamicTriangleMe = {{3,4,-2},{-3,4,-2},{0,4,3}}
+
---Pawnform1 = {{0,2,0}}
+function add2FF(ff,f,addr)
-Pawnfbook = {dynamicTriangle,staticTriangle,staticOrbitSquare,dynamicOrbitSquareMe,dynamicTriangleMe}
+	if not next(f) then return end
-Pawndynamic_fbook = Pawnfbook
+	if ff[addr] then return end
 	ff[addr] = table.remove(f)
-ring = formation_generator.circleFormation("Y",10,{x=0,y=0,z=7})
+	modem.send(addr,QueensChannel,"commit")
-ring2 = formation_generator.circleFormation("Y",10,{x=0,y=0,z=7})
+	pool[addr][2]=false
-hollow_square = formation_generator.hollowSquareFormation("Y",3,3,7,{x=-1,y=0,z=-1})
+
-triangle = formation_generator.TriangleFormation("Y:spanX",2,4,2,{x=0,y=2,z=0})
+
-rotated_hsqr = formation_generator.rotateFormation("Z",math.pi/4,hollow_square)
+function populateFF(ff,f)
 	for addr,v in pairs(pool) do
-dynamicTriangle = formation_generator.TriangleFormation("X:spanZ",1,2,3,{x=-1,y=1,z=0})
+		if v[1] and v[2] then add2FF(ff,f,addr) end
-dynamicTriangle2 = formation_generator.TriangleFormation("X:spanZ",1,2,3,{x=-1,y=-1,z=0})
+		if not next(f) then return end
-for k,v in ipairs(dynamicTriangle2) do
+
-      table.insert(dynamicTriangle,v)
+
-    end
+
 function pruneFF(ff,f)
---numbering must be the same with ffbook, can't regen otherwise:
+	for addr,v in pairs(ff) do
-PawnGeneratedFormBook = {{},{},{},ring,ring2,dynamicTriangle,hollow_square,triangle,rotated_hsqr}
+		if pool[addr] then
-dynamicPawnPyramidBook = PawnGeneratedFormBook
+			if not pool[addr][1] then
 				table.insert(f,1,ff[addr])
---[[
+				ff[addr] = nil
-For Floppa:
+				modem.send(addr,QueensChannel,"uncommit")
-Pawnffbook[1] = Pawndynamic_fbook[1] = dynamicTriangle
+				pool[addr][2]=true
-Static:
+			end
-Pawnffbook[2] = Pawndynamic_fbook[2] = staticTriangle
+
-Pawnffbook[3] = Pawndynamic_fbook[3] = staticOrbitSquare
+
-Follow Me:
+
-Pawnffbook[4] = PawnGeneratedFormBook[4] = ring
+
-Pawnffbook[5] = PawnGeneratedFormBook[5] = ring2
+function refreshFF(ff,f) --**********************--
-Pawnffbook[6] = PawnGeneratedFormBook[6] = dynamicTriangle
+	print("refreshingFF..")
-]]
+	refreshPool()
-trgPortBookME = {[11]="ph0",[12]="ph0",[13]="ph0"}
+	os.sleep(1)
-StaticFormationtrgPortBook = {[8]="team1",[10]="team2"}
+	pruneFF(ff,f)
 	populateFF(ff,f)
-function printSwarmStatsPawn()
+
-	term.clear()
+
-	print("PAWNS:")
+function formFF(ff,f) --**********************--
-	flightform.printDronePool(false)
+	populateFF(ff,f)
-	flightform.printFFAssignment(Pawnffbook)
+	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
-
+
-	-- QUEEN Commands
+
-	if(cmd == "F") then
+function breakFormation(ff,f) --**********************--
-		q_firmware.broadcastFirmWare(QueensChannel)
+	for addr,pos in pairs(ff) do
 		table.insert(f,1,ff[addr])
-	elseif(cmd == "G") then
+		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
-		flightform.populatePool(QueensChannel,drone_is_queen)
+		modem.broadcast(gps_port,"gps",0,0,0)
 		--print("broadcasting..")
-		printSwarmStats()
+		os.sleep()
 	end
 end
 
-		flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
+local gpsThread
-		flightform.formFF(ffbook[1],dynamic_fbook[1],QueensChannel,drone_is_queen)
+local sat_mode = false
-		flightform.QformUP("ph0",ffbook[1],QueensChannel)
+function toggleGPSBroadCast(channel) --**********************--
-		printSwarmStats()
+	sat_mode = not sat_mode
 	print("sat_mode: "..tostring(sat_mode))
 	if sat_mode then
-		flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
+		print("creating GPS Thread..")
-		flightform.formFF(ffbook[2],dynamic_fbook[2],QueensChannel,drone_is_queen)
+		gpsThread = thread.create(function(port) gpsBroadcast(port) end,channel)
-		flightform.formFF(ffbook[3],dynamic_fbook[3],QueensChannel,drone_is_queen)
+
-		flightform.QformUP("ph0",ffbook[2],QueensChannel)
+		gpsThread:kill()
-		flightform.QformUP("ph0",ffbook[3],QueensChannel)
+
-		printSwarmStats()
+
 
 function getPlayerCoord(e_name)
 	checkArg(1,e_name,'string','nil')
-			flightform.breakFormation(ffbook[i],dynamic_fbook[i],QueensChannel,drone_is_queen)
+	for k,v in ipairs(Tr.getPlayers()) do
 		if v.name == e_name then
-		printSwarmStats()
+			return {v.x,v.y,v.z},v.distance
 		end
 	end
-		flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
+	return {0,0,0},0
-		printSwarmStats()
+
 
-	elseif(cmd == "PRINTQ") then --printGroup
+function trgBroadcast(e_name)
-		printSwarmStats()
+	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()
-	elseif(cmd == "HUSH") then
+
-		modem.broadcast(QueensChannel,"HUSH")
+
 local trgThread
-
+local send_trg = false
-	elseif(cmd == "GPS") then -- activate QUEEN satellite GPS broadcasting
+function toggleTargetBroadCast(target) --**********************--
-		for addr,c in pairs(ffbook[1]) do
+	send_trg = not send_trg
-			print(addr,c)
+	print("send_trg: "..tostring(send_trg))
-			modem.send(addr,QueensChannel,"setgpspos",_,c[1],c[2],c[3])
+	if send_trg then
 		print("creating GPS Thread..")
-		modem.broadcast(QueensChannel,"startgps")
+		trgThread = thread.create(function(t) trgBroadcast(t) end,target)
 	else
 		trgThread:kill()
-
+
-	--PAWN Commands
+
-
+
-
+
-	elseif(cmd == "K") then -- terminate GPS targeting thread
+
-		GPS_TRG.killGPSTRGThread(gpsChannel)
+
 
 	if(cmd == "G") then
-	elseif(cmd == "A") then -- form triangle on Floppa with PAWNS
+
-		local targetingChannel = 4
+
-		--flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
+
-		flightform.formFF(Pawnffbook[1],Pawndynamic_fbook[1],PawnsChannel,false)
+
-		flightform.PformUP(targetingChannel,Pawnffbook[1],PawnsChannel)
+
-		printSwarmStatsPawn()
+
     	os.sleep(0.5)
-
+
-	elseif(cmd == "TRG") then -- start entity (Floppa) targeting broadcast
+
-		local targetingChannel = 4
+
-		GPS_TRG.updateGPSTRGsPRINT(trgPortBook,gpsChannel,{[targetingChannel]=0},{[targetingChannel]="Y"},{[targetingChannel]=0})
+
 	elseif(cmd == "P") then	--refreshFormation
-
+		populatePool()
-	elseif(cmd == "SFP") then -- Static Formation PAWNS
+	    os.sleep(0.5)
-		local targetingChannel = 8
+
-		--modem.broadcast(targetingChannel,"stop")
+		formFF(ffbook[1],dynamic_fbook[1])
-		--flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
+		formUP("ph0",ffbook[1],dynamic_fbook[1])
-		flightform.formFF(Pawnffbook[2],Pawndynamic_fbook[2],PawnsChannel,false)
+
-		flightform.PformUP(targetingChannel,Pawnffbook[2],PawnsChannel)
+
-		--flightform.POrbit(targetingChannel,Pawnffbook[2],PawnsChannel)
+		formFF(ffbook[2],dynamic_fbook[2])
 		formFF(ffbook[3],dynamic_fbook[3])
-
+		formUP("ph0",ffbook[2],dynamic_fbook[2])
-	elseif(cmd == "USFP") then -- Update Static Formation PAWNS
+		formUP("ph0",ffbook[3],dynamic_fbook[3])
-		local targetingChannel = 8
+
-		modem.broadcast(targetingChannel,"color",0xBC18FB)
+
-		GPS_TRG.updateStaticGPS(targetingChannel,gpsChannel,{[targetingChannel]=0},{[targetingChannel]="Y"},{[targetingChannel]=0})
+
 			breakFormation(ffbook[i],dynamic_fbook[i])
 		end
-	elseif(cmd == "SRFP") then -- Static Rotating Formation PAWNS
+		killEvent(reaction)
-		local targetingChannel = 10
+
-		--modem.broadcast(targetingChannel,"stop")
+
-		--flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
+
-		flightform.formFF(Pawnffbook[3],Pawndynamic_fbook[3],PawnsChannel,false)
+			refreshFF(ffbook[i],dynamic_fbook[i])
-		flightform.POrbit(targetingChannel,Pawnffbook[3],PawnsChannel)
+
-		os.sleep(0.5)
+
-
+	elseif(cmd == "PRINT") then --printGroup
-	elseif(cmd == "USRFP") then -- Update Static Rotating Formation PAWNS
+		for k,v in pairs(pool) do
-		local targetingChannel = 10
+			print(k.." :: "..tostring(v[1]).." "..tostring(v[2]))
-		local rotationAngleInterval = math.pi/8
+
-		local tiltAngle = math.pi/4
+		print(tostring(groupSize))
-		modem.broadcast(targetingChannel,"color",0xF78E1E)
+
-		GPS_TRG.updateStaticGPS(targetingChannel,gpsChannel,{[targetingChannel]=rotationAngleInterval},{[targetingChannel]="X"},{[targetingChannel]=tiltAngle})
+			print("ffbook["..i.."]:")
-		os.sleep(0.5)
+			for k,v in pairs(ffbook[i]) do
-
+				print(k.." :: "..tostring(v[1]).." "..tostring(v[2]).." "..tostring(v[3]))
-	elseif(cmd == "RM") then -- Rotating on Me
+			end
-		local targetingChannel1 = 11
+
-		local targetingChannel2 = 12
+
-		local targetingChannel3 = 13
+	elseif(cmd == "GPS") then
-		--modem.broadcast(targetingChannel1,"stop")
+		toggleGPSBroadCast(gpsChannel)
-		--modem.broadcast(targetingChannel2,"stop")
+
-		--modem.broadcast(targetingChannel3,"stop")
+	elseif(cmd == "TRG") then
-
+		toggleTargetBroadCast("ph0")
-		--flightform.refreshFFT(Pawnffbook,dynamicPawnPyramidBook,PawnsChannel,false) -- use RPM
+
-
+
-		--[[
+
-		flightform.formFF(Pawnffbook[4],Pawndynamic_fbook[4],PawnsChannel,false)
+
-		flightform.POrbit(targetingChannel,Pawnffbook[4],PawnsChannel)
+
-
+
-		flightform.formFF(Pawnffbook[5],Pawndynamic_fbook[5],PawnsChannel,false)
+		closeFlighFormComms()
-		flightform.PformUP(targetingChannel,Pawnffbook[5],PawnsChannel)
+
-		]]
+
-		----flightform.formFF(Pawnffbook[4],dynamicPawnPyramidBook[2],PawnsChannel,false)
+
-		flightform.formFF(Pawnffbook[4],dynamicPawnPyramidBook[4],PawnsChannel,false)
+
-		flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[5],PawnsChannel,false)
+
-		flightform.formFF(Pawnffbook[6],dynamicPawnPyramidBook[6],PawnsChannel,false)
+