福瑞信号导航 autonav.lua

-- autonav.lua
-- Place this as /startup (or make sure it's run on boot).

local ship = peripheral.find("warpdriveShipCore")
assert(ship, "No warpdriveShipCore found!")

local navfile    = ".navdata"
local backupfile = ".navbackup"

-- load / save helpers
local function loadNav()
  if fs.exists(navfile) then
    local f = fs.open(navfile, "r")
    local t = textutils.unserialize(f.readAll())
    f.close()
    return t
  end
end

local function saveNav(t)
  local f = fs.open(navfile, "w")
  f.write(textutils.serialize(t))
  f.close()
end

local function backupNav()
  if fs.exists(navfile) then
    if fs.exists(backupfile) then fs.delete(backupfile) end
    fs.copy(navfile, backupfile)
  end
end

local function clearNav()
  if fs.exists(navfile) then fs.delete(navfile) end
end

-- execute just one hop then reboot
local function runOneHop(nav)
  local move = table.remove(nav, 1)
  if #nav > 0 then
    saveNav(nav)
  else
    clearNav()
  end
  backupNav()

  -- fire the jump
  ship.command("MANUAL", false)
  ship.movement(move[1], 0, move[2])  -- [1]=forward/back, [2]=left/right
  ship.rotationSteps(0)
  ship.command("MANUAL", true)

  print(string.format(
    "→ Executed hop. Remaining: %d", #nav
  ))
  sleep(5)
  os.reboot()
end

-- if there’s a pending nav list, resume it
local pending = loadNav()
if pending then
  print("Resuming auto-nav, hops left:", #pending)
  runOneHop(pending)
end

-- otherwise wait for a broadcast
for _, side in ipairs(peripheral.getNames()) do
  if peripheral.getType(side) == "modem" then
    rednet.open(side)
  end
end
print("Waiting for ONJMcoordBroadcast…")
local _, msg = rednet.receive("ONJMcoordBroadcast")

assert(type(msg)=="table" and msg.x and msg.z,
       "Invalid broadcast payload")

local tx, tz = tonumber(msg.x), tonumber(msg.z)
print(("Target received → X:%d  Z:%d"):format(tx, tz))

-- fetch dims & orientation
local front, right = ship.dim_positive()
local back,  left  = ship.dim_negative()
local rx,_,rz    = ship.getOrientation()
local mx,_,mz    = ship.getLocalPosition()

-- world deltas
local dx, dz = tx-mx, tz-mz

-- convert into ship-local axes
local fb, lr = 0,0
if     rx== 1 then fb, lr = dx,  dz
elseif rx==-1 then fb, lr = -dx, -dz
elseif rz== 1 then fb, lr = dz,  -dx
elseif rz==-1 then fb, lr = -dz,  dx
end

-- clearance + max jump
local minFB = front+back
local minLR = right+left
local ok, maxJ = ship.getMaxJumpDistance()
if not ok or maxJ<=0 then
  error("Could not get max jump distance")
end

-- one-axis “computeMove” from your main.lua
local function computeMove(mindist, rem, unconstrained)
  if rem==0 then return 0 end
  local s = rem<0 and -1 or 1
  if math.abs(rem)<mindist and not unconstrained then
    return -s*mindist
  end
  return s * math.min(math.abs(rem), maxJ)
end

-- build the full list of (forward/back, left/right) hops
local nav = {}
repeat
  local m_fb = computeMove(minFB+1, fb, false)
  fb = fb - m_fb
  local m_lr = computeMove(minLR+1, lr, math.abs(m_fb)>minFB)
  lr = lr - m_lr
  table.insert(nav, { m_fb, m_lr })
until fb==0 and lr==0

assert(#nav>0, "Computed zero hops?")

-- save & run first hop
saveNav(nav)
print("Computed "..#nav.." hops; starting…")
runOneHop(nav)