Swarm3.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 QueensChannel = 2412
local SoldiersChannel = 2413
local gpsChannel = 2471
local trgChannel = 2472

modem.open(QueensChannel)

modem.broadcast(QueensChannel,"Qr= component.proxy(component.list('radar')())")
modem.broadcast(QueensChannel,"Qn= component.proxy(component.list('navigation')())")
modem.broadcast(QueensChannel,"Qd= component.proxy(component.list('drone')())")
modem.broadcast(QueensChannel,"Qm= component.proxy(component.list('modem')())")
modem.broadcast(QueensChannel,"QueensChannel = 2412")
modem.broadcast(QueensChannel,"Qm.open(QueensChannel)")

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
end
]])

modem.broadcast(QueensChannel,
[[
function getPlayerCoord(e_name)
	checkArg(1,e_name,'string','nil')
	for k,v in ipairs(Qr.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
]])

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)
	end
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])}
	end
	return nil
end
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])
				trgPos = Qpn
			end
		else
			Qd.setLightColor(0xFF0000)
			Qd.setStatusText("Out Of\nRange")
			Qd.move(-mv[1],-mv[2],-mv[3])
		end
		stp = select(6,computer.pullSignal(0.5))
	until stp == "stop"
	return Qd.name()
end
]])

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)
		v = vec_trunc(v)
		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)}
			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])
				trgPos = Qpn
			end
		else
			Qd.setLightColor(0xFF0000)
			Qd.setStatusText("Out Of\nRange")
			Qd.move(-mv[1],-mv[2],-mv[3])
		end
		stp = select(6,computer.pullSignal(0.5))
	until stp == "stop"
	return Qd.name()
end
]])

modem.broadcast(QueensChannel,
[[
local cc = 1
isFree = true
function replyInv(add)
	if isFree then
		Qd.setLightColor(0xFF00BB)
		Qm.send(add,QueensChannel,"pkme")
		--Qd.setStatusText(tostring(cc))
		cc=cc+1
	end
end
]])

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,
	["uncommit"] = function(r_add,tag,x,y,z) isFree = true end,
	["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
}
]])


modem.broadcast(QueensChannel,
[[
function navMoveToPlayerWOffset(e_name,xo,yo,zo)
	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] + xo, Qnpos[2] + v[2] + yo, Qnpos[3] + v[3] + zo}
			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])
				trgPos = Qpn
			end
		else
			Qd.setLightColor(0xFF0000)
			Qd.setStatusText("Out Of\nRange")
			Qd.move(-mv[1],-mv[2],-mv[3])
		end
		stp = select(6,computer.pullSignal(0.5))
	until stp == "stop"
	return Qd.name()
end
]])


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 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 queensOnly7 =
[[
Qd.setAcceleration(100)
local cmd,tag,x,y,z
Qd.setLightColor(0xFFAF00)
while true do
	_,_,r_add,_,_,cmd,tag,x,y,z = computer.pullSignal(0.5)
	if Qd.name():match("^Q%d+$") then
		if acts[cmd] then
			acts[cmd](r_add,tag,x,y,z)
		end
	end
	--Qd.setLightColor(0xFFAF00)
	--Qd.setLightColor(0x77FF77)
end
]]
modem.broadcast(QueensChannel,queensOnly7)



pool={}
flightformation={}
ffbook={flightformation}
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 populatePool()
	modem.broadcast(QueensChannel,"inv")
end

function add2Pool(addr)
	if pool[addr] then return end
	pool[addr]={true,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 setAsActive(addr)
	if pool[addr][1] then return end --if isActive or nil {return}
	pool[addr][1]=true
end

function refreshPool()
	--print("refreshing..")
	for addr,v in pairs(pool) do
		pool[addr][1] = false
		modem.send(addr,QueensChannel,"stop")
		sleep(0.5)
		modem.send(addr,QueensChannel,"uok")
	end
end

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


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("Bingus27")


event.listen("modem_message",msg_handler)

for i = 0,3 do populatePool() end
sleep(1)
ffbook[2]={}
ffbook[3]={}

local sat_mode = false
local gpsChannel = 2471
local trgChannel = 2472

function gpsBroadcast()
	if sat_mode then
		modem.broadcast(gpsChannel,"gps",0,0,0)
	end
end

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

	if(cmd == "G") then
		modem.broadcast(QueensChannel,"stop")
    	modem.broadcast(QueensChannel,"go","ph0")
    	sleep(0.5)
	elseif(cmd == "B") then
		modem.broadcast(QueensChannel,"stop")
   		modem.broadcast(QueensChannel,"bzz","ph0")
    	sleep(0.5)
	elseif(cmd == "M") then
		modem.broadcast(QueensChannel,"stop")
   		modem.broadcast(QueensChannel,"move","",0,3,0)
    	sleep(0.5)
	elseif(cmd == "T") then
		formFF(ffbook[1],dynamic_fbook[1])
		formUP("ph0",ffbook[1],dynamic_fbook[1])
	    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])
	    sleep(0.5)
	elseif(cmd == "E") then
		for i = 1,#ffbook do
			breakFormation(ffbook[i],dynamic_fbook[i])
		end
	    sleep(0.5)
	elseif(cmd == "R") then	--refreshFormation
		for i = 1,#ffbook do
			refreshFF(ffbook[i],dynamic_fbook[i])
		end
	    sleep(0.5)
	elseif(cmd == "P") 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
	    sleep(0.5)
	elseif(cmd == "GPS") then
		sat_mode = not sat_mode
		print("sat_mode: "..tostring(sat_mode))
    	sleep(0.5)
	elseif(cmd == "S") then
    	modem.broadcast(QueensChannel,"stop")
		event.ignore("modem_message",msg_handler)
    	sleep(0.5)
	else
    	modem.broadcast(QueensChannel,cmd)
	end
end