API tools faq
paste
PHOBOSS

Swarm7.lua

PHOBOSS
Apr 4th, 2022 (edited)
311
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 16.24 KB | None | 0 0
raw download clone embed print report
  1. local component = require("component")
  2. local event = require("event")
  3. local serialization= require("serialization")
  4. local computer= require("computer")
  5. local thread= require("thread")
  6. local term= require("term")
  7. local modem = component.modem
  8. --local Tn = component.navigation
  9. --local Tr = component.radar
  10. local QueensChannel = 2412
  11. local QueensResponseChannel = 2402
  12. local PawnsChannel = 2413
  13. local PawnsResponseChannel = 2403
  14.  
  15. local drone_is_queen = true
  16.  
  17. --custom libraries
  18. local s_utils = require("swarm_utilities")
  19. local q_firmware = require("queen_firmware")
  20. local flightform = require("flight_formation")
  21. local radar_targeting = require("radar_targeting")
  22. local GPS = require("GPS")
  23. local GPS_TRG = require("GPS_TRG")
  24. local p_firmware = require("pawn_firmware")
  25. local formation_generator = require("formation_generator")
  26.  
  27. modem.open(QueensResponseChannel)
  28. modem.open(PawnsResponseChannel)
  29.  
  30. flightformation={}
  31. ffbook={flightformation}
  32. ffbook[2]={}
  33. ffbook[3]={}
  34. --form1 = {{13,2,-2},{-13,2,-2},{0,2,13}} --bad y gps value
  35. --form1 = {{3,8,-2},{-3,14,-2},{0,20,3}} -- bad xz gps values
  36. --form1 = {{10,8,-10},{-10,14,0},{5,20,10}}
  37. --form1 = {{0,0,0},{5,5,0},{0,10,10},{-15,15,0},{0,20,-20}}
  38. --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
  39. actualSatForm = {{0,25,-3},{0,25,3},{3,22,0},{-3,22,0}}-- ComputerCraft Heresy --(Tetrahedron) -- it's actually good for xz coordinates
  40. --satff={}
  41. --compensatedSatForm = {{0,25,-2},{0,25,3},{2,22,0},{-3,22,0}}
  42. --form1 = {{0,35,-3},{0,30,3},{3,20,0},{-3,25,0}}
  43. --form1 = {{0,35,-5},{0,30,2},{5,20,0},{-2,25,0}}
  44. --form2 = {{-2,10,2},{2,15,2},{0,2,0}}
  45. --form3 = {{-2,20,-2},{2,25,-2}}
  46. --form2 = {{-10,10,10},{10,12,10},{0,5,0}}
  47. --form3 = {{-10,14,-10},{10,16,-10}}
  48. form2 = {{3,0,0},{0,3,0},{0,0,3},{3,0,3},{-3,0,-3}}
  49. form3 = {{-3,0,0},{0,-3,0},{0,0,-3},{3,3,3},{-3,-3,-3}}
  50.  
  51. --*************--
  52. --[[
  53. The radar has an inaccuracy where it recognises two blocks as zeroes in each axis.
  54. Drones positioned in coordinates with positive axis components around a target player are actually a block extra away from the origin
  55. the given formation array is thus compensated in the formUP function from the flight_formation library
  56. ]]
  57. --*************--
  58.  
  59. fbook={actualSatForm,form2,form3}
  60. dynamic_fbook = fbook
  61.  
  62.  
  63. print("Bingus30")
  64. function printSwarmStats()
  65. term.clear()
  66. print("QUEENS:")
  67. flightform.printDronePool(drone_is_queen)
  68. flightform.printFFAssignment(ffbook)
  69. end
  70.  
  71.  
  72. local gpsChannel = 2
  73. --local trgChannel = 3
  74.  
  75.  
  76. --trgPortBook = {}--{[trgport]="target"} multiple to fixed single relationship
  77. trgPortBook = {[3]="Bingus",[4]="Floppa",[5]="FloppaMi",[7]="FloppaNi"}
  78.  
  79. Pawnffbook = {}
  80. Pawnffbook[1] = {}
  81. Pawnffbook[2] = {}
  82. Pawnffbook[3] = {}
  83. Pawnffbook[4] = {}
  84. Pawnffbook[5] = {}
  85. Pawnffbook[6] = {}
  86. dynamicTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
  87. --staticTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
  88. --staticTriangle = formation_generator.TriangleFormation("Y:spanX",4,8,2,{x=0,y=2,z=0})
  89. staticTriangle = formation_generator.TriangleFormation("Y:spanX",8,10,2,{x=0,y=2,z=0})
  90. staticTriangle = formation_generator.rotateFormation("X",math.pi/4,staticTriangle)
  91. --staticOrbitTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
  92. --staticOrbitSquare = {{1,1,0},{-1,1,0},{0,1,1},{0,1,-1}}
  93. staticOrbitSquare = formation_generator.hollowSquareFormation("Z",5,5,7,{x=-2,y=0,z=0})
  94. dynamicOrbitSquareMe = {{1,3,0},{-1,3,0},{0,3,1},{0,3,-1}}
  95. dynamicTriangleMe = {{3,4,-2},{-3,4,-2},{0,4,3}}
  96. --Pawnform1 = {{0,2,0}}
  97. Pawnfbook = {dynamicTriangle,staticTriangle,staticOrbitSquare,dynamicOrbitSquareMe,dynamicTriangleMe}
  98. Pawndynamic_fbook = Pawnfbook
  99.  
  100. ring = formation_generator.circleFormation("Y",10,{x=0,y=0,z=7})
  101. ring2 = formation_generator.circleFormation("Y",10,{x=0,y=0,z=7})
  102. hollow_square = formation_generator.hollowSquareFormation("Y",3,3,7,{x=-1,y=0,z=-1})
  103. triangle = formation_generator.TriangleFormation("Y:spanX",2,4,2,{x=0,y=2,z=0})
  104. rotated_hsqr = formation_generator.rotateFormation("Z",math.pi/4,hollow_square)
  105.  
  106. dynamicTriangle = formation_generator.TriangleFormation("X:spanZ",1,2,3,{x=-1,y=1,z=0})
  107. dynamicTriangle2 = formation_generator.TriangleFormation("X:spanZ",1,2,3,{x=-1,y=-1,z=0})
  108. for k,v in ipairs(dynamicTriangle2) do
  109. table.insert(dynamicTriangle,v)
  110. end
  111.  
  112. --numbering must be the same with ffbook, can't regen otherwise:
  113. PawnGeneratedFormBook = {{},{},{},ring,ring2,dynamicTriangle,hollow_square,triangle,rotated_hsqr}
  114. dynamicPawnPyramidBook = PawnGeneratedFormBook
  115.  
  116. --[[
  117. For Floppa:
  118. Pawnffbook[1] = Pawndynamic_fbook[1] = dynamicTriangle
  119. Static:
  120. Pawnffbook[2] = Pawndynamic_fbook[2] = staticTriangle
  121. Pawnffbook[3] = Pawndynamic_fbook[3] = staticOrbitSquare
  122. Follow Me:
  123. Pawnffbook[4] = PawnGeneratedFormBook[4] = ring
  124. Pawnffbook[5] = PawnGeneratedFormBook[5] = ring2
  125. Pawnffbook[6] = PawnGeneratedFormBook[6] = dynamicTriangle
  126. ]]
  127. trgPortBookME = {[11]="ph0",[12]="ph0",[13]="ph0"}
  128. StaticFormationtrgPortBook = {[8]="team1",[10]="team2"}
  129.  
  130. function printSwarmStatsPawn()
  131. term.clear()
  132. print("PAWNS:")
  133. flightform.printDronePool(false)
  134. flightform.printFFAssignment(Pawnffbook)
  135. end
  136.  
  137. while true do
  138. local cmd=io.read()
  139. if not cmd then return end
  140.  
  141. -- QUEEN Commands
  142. if(cmd == "F") then
  143. q_firmware.broadcastFirmWare(QueensChannel)
  144. os.sleep(0.5)
  145. elseif(cmd == "G") then
  146. modem.broadcast(QueensChannel,"stop")
  147. modem.broadcast(QueensChannel,"go","ph0")
  148. os.sleep(0.5)
  149. elseif(cmd == "B") then
  150. modem.broadcast(QueensChannel,"stop")
  151. modem.broadcast(QueensChannel,"bzz","ph0")
  152. os.sleep(0.5)
  153. elseif(cmd == "M") then
  154. modem.broadcast(QueensChannel,"stop")
  155. modem.broadcast(QueensChannel,"move","",0,3,0)
  156. os.sleep(0.5)
  157.  
  158.  
  159. elseif(cmd == "P") then --refreshFormation
  160. flightform.populatePool(QueensChannel,drone_is_queen)
  161. os.sleep(0.5)
  162. printSwarmStats()
  163. os.sleep(0.5)
  164.  
  165. elseif(cmd == "T") then
  166. flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
  167. flightform.formFF(ffbook[1],dynamic_fbook[1],QueensChannel,drone_is_queen)
  168. flightform.QformUP("ph0",ffbook[1],QueensChannel)
  169. printSwarmStats()
  170. os.sleep(0.5)
  171. elseif(cmd == "Q") then
  172. flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
  173. flightform.formFF(ffbook[2],dynamic_fbook[2],QueensChannel,drone_is_queen)
  174. flightform.formFF(ffbook[3],dynamic_fbook[3],QueensChannel,drone_is_queen)
  175. flightform.QformUP("ph0",ffbook[2],QueensChannel)
  176. flightform.QformUP("ph0",ffbook[3],QueensChannel)
  177. printSwarmStats()
  178. os.sleep(0.5)
  179. elseif(cmd == "E") then
  180. for i = 1,#ffbook do
  181. flightform.breakFormation(ffbook[i],dynamic_fbook[i],QueensChannel,drone_is_queen)
  182. end
  183. printSwarmStats()
  184. os.sleep(0.5)
  185. elseif(cmd == "R") then --refreshFormation
  186. flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
  187. printSwarmStats()
  188. os.sleep(0.5)
  189. elseif(cmd == "PRINTQ") then --printGroup
  190. printSwarmStats()
  191. os.sleep(0.5)
  192. elseif(cmd == "S") then
  193. modem.broadcast(QueensChannel,"stop")
  194. event.ignore("modem_message",msg_handler)
  195. os.sleep(0.5)
  196. elseif(cmd == "HUSH") then
  197. modem.broadcast(QueensChannel,"HUSH")
  198. os.sleep(0.5)
  199.  
  200. elseif(cmd == "GPS") then -- activate QUEEN satellite GPS broadcasting
  201. for addr,c in pairs(ffbook[1]) do
  202. print(addr,c)
  203. modem.send(addr,QueensChannel,"setgpspos",_,c[1],c[2],c[3])
  204. end
  205. modem.broadcast(QueensChannel,"startgps")
  206. os.sleep(0.5)
  207.  
  208.  
  209. --PAWN Commands
  210.  
  211.  
  212. elseif(cmd == "K") then -- terminate GPS targeting thread
  213. GPS_TRG.killGPSTRGThread(gpsChannel)
  214. os.sleep(0.5)
  215.  
  216. elseif(cmd == "A") then -- form triangle on Floppa with PAWNS
  217. local targetingChannel = 4
  218. --flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
  219. flightform.formFF(Pawnffbook[1],Pawndynamic_fbook[1],PawnsChannel,false)
  220. flightform.PformUP(targetingChannel,Pawnffbook[1],PawnsChannel)
  221. printSwarmStatsPawn()
  222. os.sleep(0.5)
  223.  
  224. elseif(cmd == "TRG") then -- start entity (Floppa) targeting broadcast
  225. local targetingChannel = 4
  226. GPS_TRG.updateGPSTRGsPRINT(trgPortBook,gpsChannel,{[targetingChannel]=0},{[targetingChannel]="Y"},{[targetingChannel]=0})
  227. os.sleep(0.5)
  228.  
  229. elseif(cmd == "SFP") then -- Static Formation PAWNS
  230. local targetingChannel = 8
  231. --modem.broadcast(targetingChannel,"stop")
  232. --flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
  233. flightform.formFF(Pawnffbook[2],Pawndynamic_fbook[2],PawnsChannel,false)
  234. flightform.PformUP(targetingChannel,Pawnffbook[2],PawnsChannel)
  235. --flightform.POrbit(targetingChannel,Pawnffbook[2],PawnsChannel)
  236. os.sleep(0.5)
  237.  
  238. elseif(cmd == "USFP") then -- Update Static Formation PAWNS
  239. local targetingChannel = 8
  240. modem.broadcast(targetingChannel,"color",0xBC18FB)
  241. GPS_TRG.updateStaticGPS(targetingChannel,gpsChannel,{[targetingChannel]=0},{[targetingChannel]="Y"},{[targetingChannel]=0})
  242. os.sleep(0.5)
  243.  
  244. elseif(cmd == "SRFP") then -- Static Rotating Formation PAWNS
  245. local targetingChannel = 10
  246. --modem.broadcast(targetingChannel,"stop")
  247. --flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
  248. flightform.formFF(Pawnffbook[3],Pawndynamic_fbook[3],PawnsChannel,false)
  249. flightform.POrbit(targetingChannel,Pawnffbook[3],PawnsChannel)
  250. os.sleep(0.5)
  251.  
  252. elseif(cmd == "USRFP") then -- Update Static Rotating Formation PAWNS
  253. local targetingChannel = 10
  254. local rotationAngleInterval = math.pi/8
  255. local tiltAngle = math.pi/4
  256. modem.broadcast(targetingChannel,"color",0xF78E1E)
  257. GPS_TRG.updateStaticGPS(targetingChannel,gpsChannel,{[targetingChannel]=rotationAngleInterval},{[targetingChannel]="X"},{[targetingChannel]=tiltAngle})
  258. os.sleep(0.5)
  259.  
  260. elseif(cmd == "RM") then -- Rotating on Me
  261. local targetingChannel1 = 11
  262. local targetingChannel2 = 12
  263. local targetingChannel3 = 13
  264. --modem.broadcast(targetingChannel1,"stop")
  265. --modem.broadcast(targetingChannel2,"stop")
  266. --modem.broadcast(targetingChannel3,"stop")
  267.  
  268. --flightform.refreshFFT(Pawnffbook,dynamicPawnPyramidBook,PawnsChannel,false) -- use RPM
  269.  
  270. --[[
  271. flightform.formFF(Pawnffbook[4],Pawndynamic_fbook[4],PawnsChannel,false)
  272. flightform.POrbit(targetingChannel,Pawnffbook[4],PawnsChannel)
  273.  
  274. flightform.formFF(Pawnffbook[5],Pawndynamic_fbook[5],PawnsChannel,false)
  275. flightform.PformUP(targetingChannel,Pawnffbook[5],PawnsChannel)
  276. ]]
  277. ----flightform.formFF(Pawnffbook[4],dynamicPawnPyramidBook[2],PawnsChannel,false)
  278. flightform.formFF(Pawnffbook[4],dynamicPawnPyramidBook[4],PawnsChannel,false)
  279. flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[5],PawnsChannel,false)
  280. flightform.formFF(Pawnffbook[6],dynamicPawnPyramidBook[6],PawnsChannel,false)
  281. --flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[2],PawnsChannel,false)
  282. --flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[3],PawnsChannel,false)
  283. --flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[4],PawnsChannel,false)
  284. --flightform.PformUP(targetingChannel2,Pawnffbook[4],PawnsChannel)
  285. flightform.POrbit(targetingChannel1,Pawnffbook[4],PawnsChannel)
  286. flightform.POrbit(targetingChannel2,Pawnffbook[5],PawnsChannel)
  287. flightform.POrbit(targetingChannel3,Pawnffbook[6],PawnsChannel)
  288.  
  289.  
  290. os.sleep(0.5)
  291. elseif(cmd == "URM") then -- Update Static Formation PAWNS
  292. local targetingChannel1 = 11
  293. local targetingChannel2 = 12
  294. local targetingChannel3 = 13
  295. --modem.broadcast(targetingChannel,"color",tonumber(0xFF8800))
  296. --for addr,c in pairs(Pawnffbook[5]) do modem.send(addr,targetingChannel1,"color",0x8800FF) end
  297. --for addr,c in pairs(Pawnffbook[4]) do modem.send(addr,targetingChannel2,"color",0xFF8800) end
  298. --local rotationAngleInterval = math.pi/8 -- for squares
  299. --modem.broadcast(targetingChannel1,"color",0x8800FF)
  300. --modem.broadcast(targetingChannel2,"color",0xFF8800)
  301. modem.broadcast(targetingChannel1,"color",0xBC18FB)
  302. modem.broadcast(targetingChannel2,"color",0x28DDEF)
  303. modem.broadcast(targetingChannel3,"color",0x00FF00)
  304. local rotationAngleInterval1 = math.pi/4
  305. local tiltAngle1 = math.pi/4
  306. local rotationAngleInterval2 = -math.pi/4
  307. local tiltAngle2 = -math.pi/4
  308. --local axisTable = {[targetingChannel1] = "Z",[targetingChannel2] = "Z"}
  309. local axisTable = {[targetingChannel1] = "X",[targetingChannel2] = "X",[targetingChannel3]="Y"}
  310. local tiltAngleTable = {[targetingChannel1] = tiltAngle1,[targetingChannel2] = tiltAngle2,[targetingChannel3]=0}
  311. local rotAngIntTable = {[targetingChannel1] = rotationAngleInterval1,[targetingChannel2] = rotationAngleInterval2,[targetingChannel3]=0}
  312. GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotAngIntTable,axisTable,tiltAngleTable)
  313. --GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"Z")
  314. --GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"X")
  315. os.sleep(0.5)
  316. elseif(cmd == "URMREV") then -- Update Static Formation PAWNS Reverse
  317. --[[local targetingChannel = 11
  318. --modem.broadcast(targetingChannel,"color",tonumber(0x8800FF))
  319. for addr,c in pairs(Pawnffbook[5]) do modem.send(addr,targetingChannel,"color",0xFF8800) end
  320. --for addr,c in pairs(Pawnffbook[4]) do modem.send(addr,targetingChannel,"color",0x8800FF) end
  321. --local rotationAngleInterval = -math.pi/8
  322. local rotationAngleInterval = -math.pi/4 -- for circles
  323. local tiltAngle = -math.pi/4 -- for circles
  324. GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"Z",tiltAngle)
  325. --GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"X",tiltAngle)
  326. --GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"Z")
  327. --GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"X")]]
  328. local targetingChannel1 = 11
  329. local targetingChannel2 = 12
  330. local targetingChannel3 = 13
  331. modem.broadcast(targetingChannel1,"color",0xFF9945)
  332. modem.broadcast(targetingChannel2,"color",0x1CF6C5)
  333. modem.broadcast(targetingChannel3,"color",0xFFD700)
  334. local rotationAngleInterval1 = -math.pi/4
  335. local tiltAngle1 = -math.pi/4
  336. local rotationAngleInterval2 = math.pi/4
  337. local tiltAngle2 = math.pi/4
  338. --local axisTable = {[targetingChannel1] = "X",[targetingChannel2] = "X"}
  339. --local tiltAngleTable = {[targetingChannel1] = tiltAngle1,[targetingChannel2] = tiltAngle2}
  340. --local rotAngIntTable = {[targetingChannel1] = rotationAngleInterval1,[targetingChannel2] = rotationAngleInterval2}
  341. local axisTable = {[targetingChannel1] = "X",[targetingChannel2] = "X",[targetingChannel3]="X"}
  342. local tiltAngleTable = {[targetingChannel1] = tiltAngle1,[targetingChannel2] = tiltAngle2,[targetingChannel3]= math.pi/2}
  343. local rotAngIntTable = {[targetingChannel1] = rotationAngleInterval1,[targetingChannel2] = rotationAngleInterval2,[targetingChannel3]=0}
  344. GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotAngIntTable,axisTable,tiltAngleTable)
  345. os.sleep(0.5)
  346.  
  347. elseif(cmd == "GP") then -- recall PAWNS
  348. modem.broadcast(PawnsChannel,"stop")
  349. GPS_TRG.GPSRecall(trgPortBook,gpsChannel,PawnsChannel)
  350. os.sleep(0.5)
  351.  
  352. elseif(cmd == "FP") then
  353. p_firmware.broadcastFirmWare(PawnsChannel)
  354. os.sleep(0.5)
  355. elseif(cmd == "EP") then
  356. for i = 1,#Pawnffbook do
  357. flightform.breakFormation(Pawnffbook[i],Pawndynamic_fbook[i],PawnsChannel,false)
  358. end
  359. printSwarmStatsPawn()
  360. os.sleep(0.5)
  361. elseif(cmd == "RPE") then --refresh PAWN Entity Formation
  362. flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)
  363. printSwarmStatsPawn()
  364. os.sleep(0.5)
  365. elseif(cmd == "RPM") then --refresh PAWN ME Formation
  366. flightform.refreshFFT(Pawnffbook,dynamicPawnPyramidBook,PawnsChannel,false)
  367. printSwarmStatsPawn()
  368. os.sleep(0.5)
  369. elseif(cmd == "PRINTP") then
  370. printSwarmStatsPawn()
  371. os.sleep(0.5)
  372. elseif(cmd == "SP") then
  373. modem.broadcast(PawnsChannel,"stop")
  374. os.sleep(0.5)
  375. elseif(cmd == "HUSHP") then
  376. modem.broadcast(PawnsChannel,"HUSH")
  377. os.sleep(0.5)
  378.  
  379. elseif(cmd == "WRU") then
  380. modem.broadcast(PawnsChannel,"wru")
  381. modem.close(gpsChannel)
  382. local _,_,r_addr,_,_,msg,x,y,z = event.pull("modem_message")
  383. if msg == "here" then
  384. print("r_addr: ",r_addr,"c: ",x,y,z)
  385. end
  386. os.sleep(0.5)
  387.  
  388.  
  389. elseif(cmd == "EXIT") then
  390. flightform.closeFlighFormComms()
  391. GPS_TRG.killGPSTRGThread(gpsChannel)
  392. os.exit()
  393. else
  394. modem.broadcast(QueensChannel,cmd)
  395. end
  396. end
  397.  
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!