Woodhouse/bin/wpath.lua

--[[ This program allows sending a path to a robot in the form of a string.
    i.e. "F30L2RBU3D14" where the letter represents a direction and
    the number represents a distance.
    Author: Hyndgrinder
    Inspired by:
      -CheersKevinGames' Agoraphobia series  on Youtube:
         https://www.youtube.com/watch?v=7zADq9gUx4A&list=PLhiX1gKc3-5xZbBp8yj_1emGpX-mk2_Z6
      -Sangar's pastebin.lua program in OpenOS/bin
 ]]


local shell = require("shell")
local robot = require("robot")
local c = require("component")
local computer=require("computer")
local term = require("term")
local args, options = shell.parse(...)

local  wpath = {}

-----------------Constants-------------
local function spinSwing()
  robot.turnAround()
  robot.swing()
  robot.turnAround()
end


local actions = {
--[[  actions table provides a conversion from the user inputted vector string
    to a set of actions that will move the robot and clear it's path if necessary.
    The 'out' records instruct the robot to interpret the steps of the vector string.
    The in records instruct the robot how to return on the same path.
    Assumes the robot turns around at the end of the vector string.
]]
  ["F"] = {
            ["out"] = {["mvmt"] = robot.forward, ["swing"] = robot.swing},
            ["in"]  = {["mvmt"] = robot.forward, ["swing"] = robot.swing},
        },
  ["L"] = {
            ["out"] = {["mvmt"] = robot.turnLeft},
            ["in"]  = {["mvmt"] = robot.turnRight},
        },
  ["R"] = {
            ["out"] = {["mvmt"] = robot.turnRight},
            ["in"]  = {["mvmt"] = robot.turnLeft},
        },
  ["B"] = {
            ["out"] = {["mvmt"] = robot.back, ["swing"] = spinSwing},
            ["in"]  = {["mvmt"] = robot.back, ["swing"] = spinSwing},
        },
  ["U"] = {
            ["out"] = {["mvmt"] = robot.up, ["swing"] = robot.swingUp},
            ["in"]  = {["mvmt"] = robot.down, ["swing"] = robot.swingDown},
        },
  ["D"] = {
            ["out"] = {["mvmt"] = robot.down, ["swing"] = robot.swingDown},
            ["in"]  = {["mvmt"] = robot.up, ["swing"] = robot.swingUp},
        },
  ["T"] = robot.turnAround,
}
--You'll want to make sure that you have enough fuel
local function checkEnergy()
----make this better
    local NRG = math.floor(computer.energy()/computer.maxEnergy()*100)
    if NRG<0.5 then
        term.clearLine()
        term.write("My energy levels are falling(".. NRG .."%), are you sure?")
        local confirm = io.read()
        if not string.upper(confirm) == 'Y' then
            return false, NRG
        end
    else
        return true, NRG
    end
end

local function walkPath(vectorString, inOut)
  local vectors = string.gmatch(vectorString,".%d*")
  for step in vectors do
    local direction = string.sub(step,1,1)
    local distance = tonumber(string.sub(step,2)) or 1
    for i=1, distance do
      repeat
        local result, err = actions[direction][inOut]['mvmt']()
        if err then
        print(direction, distance, result, err)
          if err=='entity' then
            os.sleep(0.5)
          else
            actions[direction][inOut]["swing"]()
          end
        end
      until result
    end
  end
  actions["T"]["out"]()
end

--[[  printVectors:  This code splits and prints the
      individual vectors for user review
]]
local function printVectors(vectorString)
  local vectors = string.gmatch(vectorString,".%d*")
  for step in vectors do
        term.write(step.." ")
  end
end

--[[  move:  This code parses the path from the options
    and walks the path.
]]
local function move(vectorString)
    local energyConfirm, energy = checkEnergy()
    if energyConfirm then
        term.write("Here is the current plan, sir: \n")
        printVectors(vectorString)
        term.write("We currently have "..energy.."% energy,  Shall we proceed with this ridiculous scheme, sir?\n")
        local confirm = string.upper(io.read())
        if confirm =='Y' then

            local returnTrip = {'out', 'in'} -- ensure the return of the robot
                for k, inOut in pairs(returnTrip) do
                    walkPath(vectorString, inOut)
                end
            term.write("Well played, sir, I've completed another task for you.\n")
        else
            term.write("Probably wise, sir\n")
        end
    end
end


local command = args[1]
if command == "move" then
  if #args >= 2 then
    move(args[2])
    return
  end
elseif command == "printVectors" then
  if #args == 2 then
    printVectors(args[2])
    return
  end
end

-- If we come here there was some invalid input.
io.write("Usages:\n")
io.write("wpath move \"F30L2RBU3D14\"\n  --Robot waits for entities, clears blocks,\n     and returns on same path\n")
io.write("wpath printVectors \"F30L2RBU3D14\"\n  --robot echos the steps on screen")

return {
spinSwing = spinSwing;
actions=actions;
checkEnergy=checkEnergy;
printVectors = printVectors;
move = move
}