Update pairingtool

dominic/pairingtool.lua

@@ -0,0 +1,703 @@
+args = {...}
+x, z, direction = 0, 0, 0
+turtlestate = {
+    fuel = "",
+    state = "init",
+    job = nil,
+    ores = {}
+}
+
+function noop() end
+
+function pair(x, y)
+    return math.floor((x + y) * (x + y + 1)/2 + y)
+end
+
+function unpairX(z)
+    local j = math.floor(math.sqrt(0.25 + 2*z) - 0.5)
+    return j - (z - j*(j+1)/2)
+end
+
+
+function unpairZ(z)
+    local j = math.floor(math.sqrt(0.25 + 2*z) - 0.5)
+    return z - j * (j+1)/2;
+end
+
+lookup = {4, 1, 3, 0, 2}
+local function isDiggingSpot(x, y)
+    local val = lookup[(y % 5) + 1]
+    return (x % 5) == val
+end
+
+offset = 10
+function ithSpot(i)
+    j = offset
+    while true do
+        x, z = unpairX(j), unpairZ(j)
+        if isDiggingSpot(x, z) then
+            if i <= 1 then
+                return x, z
+            else
+                i = i - 1
+            end
+        end
+        j = j + 1
+    end
+end
+
+function adjustToQuadrant(i, x, z)
+    if i % 4 == 0 then
+        return x, z
+    elseif i % 4 == 1 then
+        return -z-1, x
+    elseif i % 4 == 2 then
+        return z, -x-1
+    elseif i % 4 == 3 then
+        return -z-1, -x-1
+    end
+end
+
+function iTo2Dcoords(j)
+    i = math.floor(j / 4)
+    quadrantI = j % 4 -- 0-3 quadrant
+    counter = 0 -- number of digging spots found
+    j = 0 -- enumerate 2D plane
+    while true do
+        x, z = unpairX(j), unpairZ(j) -- coords in first quadrant
+        x, z = adjustToQuadrant(quadrantI, x, z) -- map coords correctly into other quadrants
+        if isDiggingSpot(x, z) then
+            if counter == i then
+                return x, z
+            end
+            counter = counter + 1
+        end
+        j = j + 1
+    end
+end
+
+function digSafe(inspectAction, digAction)
+    while true do
+        local status, block = inspectAction()
+        if status then
+            if block["name"]:lower():find("turtle") then
+                -- turtle in front of me. its free space
+                break
+            else
+                digAction()
+                -- gravel may take time to fall.
+                sleep(1)
+            end
+        else
+            -- No block in front of me. good
+            break
+        end
+    end
+end
+
+-- move safely into the direction, not hurting other turtles, but freeing the path if needed.
+function moveSafe(moveAction, inspectAction, digAction)
+    while true do
+        local status, block = inspectAction()
+        if status then
+            if block["name"]:lower():find("turtle") then
+                -- turtle in front of me. lets wait for it to move
+                sleep(0.6)
+            elseif block["name"]:lower():find("water") or block["name"]:lower():find("lava") then
+                if moveAction() then
+                    break
+                else
+                    digAction()
+                    updateState({ state = "I am stuck trying to walk into a liquid." })
+                end
+            else
+                digAction()
+            end
+        else
+            -- nothing in the way, try to move
+            if moveAction() then
+                break
+            end
+        end
+    end
+end
+
+-- If the block in front of the turtle is desired, take it.
+function grabOres()
+    local status, block = turtle.inspect()
+    if status and block["name"]:lower():find("ore") then
+        ore = block["name"]:lower()
+        if turtlestate["ores"][ore] then
+            turtlestate["ores"][ore] = turtlestate["ores"][ore] + 1
+        else
+            turtlestate["ores"][ore] = 1
+        end
+        turtle.dig()
+    end
+end
+
+-- dig all the way down to bedrock, collect ores
+-- Parameters:
+--      * moveAction: the **vertical** move action, eg turtle.down
+--      * digAction: the **vertical** dig action, eg turtle.digDown
+--      * inpectAction: the **vertical** inspect action, eg turtle.inspectDown
+--      * limit: if >= 0    * the number of blocks to dig
+--                          * dig until bedrock is hit
+--
+--
+-- Returns: the depth dug
+function digDeep(moveAction, digAction, inspectAction, limit)
+    local depth = 0
+    grabOres()
+    while true do
+        -- termination condition: 
+        --  * if limit != -1: limit > 0
+        --  * otherwise     : bedrock beneath
+        if limit < 0 then
+            local status, nextblock = inspectAction()
+            if status and nextblock["name"] == "minecraft:bedrock" then
+                return depth
+            end
+        else
+            if limit == 0 then
+                return depth
+            end
+        end
+        -- Limit not reached: keep digging
+        depth = depth + 1
+        limit = limit - 1
+        digAction()
+        moveAction()
+        grabOres() -- inspect block in front of turtle, take if neccessary
+    end
+end
+
+function selectCobble()
+    for i = 1,16 do
+        turtle.select(i)
+        item = turtle.getItemDetail()
+        if item and item["name"] == "minecraft:cobblestone" then
+            break
+        end
+    end
+end
+
+function selectFuel()
+    for i = 1,16 do
+        turtle.select(i)
+        item = turtle.getItemDetail()
+        if item and (item["name"] == "minecraft:coal" or item["name"] == "minecraft:charcoal") then
+            break
+        end
+    end
+end
+
+function digShaft()
+    --turtle.digDown()
+    --selectCobble()
+    --turtle.placeUp()
+    moveSafe(turtle.down, turtle.inspectDown, turtle.digDown)
+    --turtle.down()
+    depth = digDeep(turtle.down, turtle.digDown, turtle.inspectDown, -1)
+    turtle.turnLeft()
+    digDeep(turtle.up, noop, noop, depth)
+    turtle.turnLeft()
+    digDeep(turtle.down, noop, noop, depth)
+    turtle.turnLeft()
+    digDeep(turtle.up, noop, noop, depth)
+    turtle.turnLeft()
+    selectCobble()
+    turtle.up()
+    turtle.placeDown()
+    --turtle.digUp()
+    --turtle.up()
+    --faceDir(0)
+end
+
+function digTo(x, z)
+    --print("Digging to rel. coord ("..tostring(x)..", "..tostring(z)..")")
+    while z > 0 do
+        moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+        z = z - 1
+        repeat sleep(0.6)
+        until (not turtle.digUp())
+    end
+    turtle.turnRight()
+    while x > 0 do
+        moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+        x = x - 1
+        repeat sleep(0.6)
+        until (not turtle.digUp())
+    end
+end
+
+function goToSpawn(x, z)
+    moveSafe(turtle.up, turtle.inspectUp, turtle.digUp)
+    while z > 0 do
+        moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+        z = z - 1
+    end
+    turtle.turnRight()
+    while x > 0 do
+        moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+        x = x - 1
+    end
+end
+
+function moveSafeForward()
+    moveSafe(turtle.forward, turtle.inspect, noop)
+end
+
+function goToBarrel(path)
+    if path == 0 then
+        turtle.turnLeft()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.down, turtle.inspectDown, noop)
+    else
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnLeft()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.down, turtle.inspectDown, noop)
+        turtle.turnRight()
+    end
+end
+
+function leaveBarrel(path)
+    if path == 0 then
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+    else
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+        moveSafe(turtle.forward, turtle.inspect, noop)
+        turtle.turnRight()
+    end
+end
+
+function reportDuty(id, fuelconsumed)
+    moveSafe(turtle.down, turtle.inspectDown, noop)
+    moveSafe(turtle.down, turtle.inspectDown, noop)
+    moveSafe(turtle.down, turtle.inspectDown, noop)
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    rednet.open("bottom")
+    --print("Proto: Sending completed Job id")
+    rednet.broadcast(tostring(id), "jobs")
+    sleep(0.6)
+    --print("Proto: Sending fuel status")
+    rednet.broadcast(tostring(fuelconsumed), "fuel")
+    while true do
+        --print("Proto: Awaiting thanks")
+        sender, message, proto = rednet.receive("jobcomplete")
+        if message == "thanks" then
+            break
+        else
+            sleep(1)
+        end
+    end
+    --print("Proto: Received thanks")
+end
+
+function enqueueTurtle()
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    turtle.turnLeft()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+    turtle.turnRight()
+    while true do
+        local status, block = turtle.inspectDown()
+        if not status then
+            if turtle.down() then
+                break -- we moved in line
+            end
+        else
+            if turtle.forward() then
+                -- pass, thats ok
+            else
+                local status, block = turtle.inspect()
+                if status and not block["name"]:lower():find("turtle") then
+                    turtle.dig()
+                    turtle.forward()
+                    turtle.digUp()
+                    turtle.digDown()
+                end
+            end
+        end
+    end
+    -- we moved into line
+    turtle.turnLeft()
+    turtle.turnLeft()
+end
+
+function doRefuel()
+    moveSafeForward()
+    turtle.turnRight()
+    while turtle.getFuelLevel() < 1500 do
+        turtle.suck(4)
+        selectFuel()
+        turtle.refuel()
+    end
+    turtle.turnLeft()
+end
+
+function goToJob()
+    moveSafeForward()
+    moveSafeForward()
+    moveSafeForward()
+end
+
+function waitForJob()
+    --print("Waiting for job...")
+    while true do
+        status, block = turtle.inspectDown()
+        if status and block["name"] == "computercraft:wired_modem_full" then
+            break
+        else
+            moveSafeForward()
+        end
+    end
+    rednet.open("bottom")
+    local retrying = false
+    while true do
+        rednet.broadcast("gibjob", "jobs")
+        sender, message, proto = rednet.receive("newjob", 2)
+        if message then
+            job = tonumber(message)
+            --print("Received job "..tostring(job))
+            return job
+        else
+            if not retrying then
+                retrying = true
+                --print("No job received. I will keep retrying.")
+                turtlestate["state"] = "Waiting for job... (retrying)"
+            end
+        end
+    end
+end
+
+function emptyToBarrel()
+    sleep(0.4)
+    for i = 1,16 do
+        turtle.select(i)
+        sleep(0.1)
+        turtle.dropDown()
+    end
+end
+
+function drawStatus()
+    print("Turtle ("..tostring(turtlestate["id"])..")")
+    print()
+    print("  \""..turtlestate["name"].."\"")
+    print()
+    if turtlestate["job"] then
+        print("Current job: "..tostring(turtlestate["job"]))
+    else
+        print("Current job: ")
+    end
+    print()
+    if turtlestate["startfuel"] then
+        print("Starting Fuel: "..tostring(turtlestate["startfuel"]))
+    else
+        print("Starting Fuel: ")
+    end
+    if turtlestate["job"] then
+        print("Recent fuel usage: "..tostring(turtlestate["fuel"]))
+    else
+        print("Recent fuel usage: ")
+    end
+    print()
+    print("Status:")
+    print("  "..turtlestate["state"])
+    if turtlestate["morestate"] then
+        print("  "..turtlestate["morestate"])
+    else
+        print()
+    end
+    --print("  "..turtlestate["state"])
+    turtlestate["morestate"] = nil
+end
+
+function turtleAI()
+    while true do
+        turtlestate["state"] = "Waiting for job..."
+        drawStatus()
+        thejob = waitForJob()
+        turtlestate["job"] = thejob
+        turtlestate["state"] = "Refueling..."
+        drawStatus()
+        doRefuel()
+        fuel = turtle.getFuelLevel()
+        turtlestate["state"] = "Headed to the jobsite..."
+        drawStatus()
+        goToJob()
+        x, z = ithSpot(thejob)
+        digTo(x,z)
+        turtlestate["state"] = "Digging the Shaft..."
+        drawStatus()
+        digShaft()
+        turtlestate["state"] = "Returning to the station..."
+        drawStatus()
+        goToSpawn(x, z)
+        path = math.floor(math.random() + 0.5)
+        turtlestate["state"] = "Unloading Inventory..."
+        drawStatus()
+        goToBarrel(path)
+        emptyToBarrel()
+        leaveBarrel(path)
+        fuelconsumed = fuel - turtle.getFuelLevel()
+        --print("I consumed "..tostring(fuelconsumed).." fuel")
+        --print("Reporting Duty")
+        turtlestate["fuel"] = fuelconsumed
+        turtlestate["state"] = "Reporting duty..."
+        drawStatus()
+        reportDuty(thejob, fuelconsumed)
+        turtlestate["job"] = nil
+        turtlestate["state"] = "Going back in line..."
+        drawStatus()
+        enqueueTurtle()
+    end
+end
+
+function updateState(update)
+    for k,v in pairs(update) do
+        turtlestate[k] = v
+    end
+    drawStatus()
+end
+
+function enqueueForJob2()
+    updateState({ state = "Waiting for job..." })
+    while true do
+        status, block = turtle.inspectDown()
+        if status and block["name"] == "computercraft:wired_modem_full" then
+            break
+        else
+            moveSafeForward()
+        end
+    end
+    turtle.turnLeft()
+    rednet.open("bottom")
+
+    local retrying = false
+    while true do
+        rednet.broadcast("syn")
+        server, message, proto = rednet.receive(2) -- ACK
+        if not message then
+            retrying = true
+        else
+            rednet.send(server, "gibjob")
+            _, job, _ = rednet.receive()
+            if job then
+                if job == "nojobs" then
+                    updateState({ state = "Waiting for job... (retrying)" })
+                    sleep(3)
+                else
+                    return tonumber(job)
+                end
+            end
+        end
+    end
+end
+
+function faceDir(dir)
+    if ((direction - dir) % 4 == 2) then
+        turtle.turnRight()
+        turtle.turnRight()
+        direction = (direction + 2) % 4
+    elseif ((direction - dir) % 4 == 1) then
+        turtle.turnLeft()
+        direction = (direction -1) % 4
+    elseif ((direction - dir) % 4 == 3) then
+        turtle.turnRight()
+        direction = (direction + 1) % 4
+    end
+end
+-- directions: 0, 1, 2, 3 -> x, z, -x, -z
+function goToCoordXZ2(targetX, targetZ, extraaction)
+    if targetX > x then
+        faceDir(0)
+        while (targetX > x) do
+            moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+            x = x + 1
+            extraaction()
+        end
+    end
+    if targetX < x then
+        faceDir(2)
+        while (targetX < x) do
+            moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+            x = x - 1
+            extraaction()
+        end
+    end
+    if targetZ > z then
+        faceDir(1)
+        while (targetZ > z) do
+            moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+            z = z + 1
+            extraaction()
+        end
+    end
+    if targetZ < z then
+        faceDir(3)
+        while (targetZ < z) do
+            moveSafe(turtle.forward, turtle.inspect, turtle.dig)
+            z = z - 1
+            extraaction()
+        end
+    end
+end
+
+function goToJob2(job)
+    jobX, jobZ = iTo2Dcoords(job) -- this does all the magic
+    updateState({ state = "Going on the job...", morestate = "Jobsite is at ("..tostring(jobX)..", "..tostring(jobZ)..")" })
+    -- move to hole
+    moveSafe(turtle.forward, turtle.inspect, noop)
+    moveSafe(turtle.forward, turtle.inspect, noop)
+    moveSafe(turtle.forward, turtle.inspect, noop)
+    -- reset coords, descend
+    x, z, direction = 0, 0, 0
+    moveSafe(turtle.down, turtle.inspectDown, noop)
+    moveSafe(turtle.down, turtle.inspectDown, noop)
+    moveSafe(turtle.down, turtle.inspectDown, noop)
+    -- go to job
+    function extraaction()
+        digSafe(turtle.inspectUp, turtle.digUp)
+    end
+    goToCoordXZ2(jobX, jobZ, extraaction)
+end
+
+function unloadStuffs()
+    updateState({ state = "Now unloading..." })
+    sleep(0.4)
+    for i = 1,16 do
+        turtle.select(i)
+        sleep(0.1)
+        turtle.drop()
+    end
+end
+
+function doRefuel2()
+    moveSafe(turtle.forward, turtle.inspect, noop)
+    moveSafe(turtle.forward, turtle.inspect, noop)
+    moveSafe(turtle.forward, turtle.inspect, noop)
+    curfuel = turtle.getFuelLevel()
+    targetfuel = 1500
+    if turtlestate["fuel"] ~= "" then
+        targetfuel = 4 * turtlestate["fuel"]
+    end
+    if curfuel > targetfuel then
+        return
+    end
+    updateState({ state = "Refueling... "..tostring(curfuel).." -> "..tostring(targetfuel) })
+    coalneeded = math.ceil((targetfuel - curfuel) / 80)
+    turtle.select(1)
+    while turtle.getFuelLevel() < targetfuel do
+        grabnow = math.min(coalneeded, 64)
+        if turtle.suckDown(grabnow) then
+            -- turtle can grab
+            turtle.refuel()
+            coalneeded = coalneeded - grabnow
+        else
+            -- blabla error
+            updateState({ state = "Refueling... Error: Out of coal" })
+            sleep(5)
+        end
+    end
+    updateState({ startfuel = turtle.getFuelLevel() })
+end
+
+slots = { {7,-6}, {7, -7}, {7, -8}, {7,-5}, {7,-4} }
+function goToUnloading()
+    updateState({ state = "Going to unload resources..." })
+    moveSafe(turtle.up, turtle.inspectUp, turtle.digUp)
+    goToCoordXZ2(7, -6, noop)
+    moveSafe(turtle.up, turtle.inspectUp, turtle.digUp)
+    slot = math.ceil(math.random()*5)
+    storageX, storageZ = slots[slot][1], slots[slot][2]
+    goToCoordXZ2(storageX, storageZ, noop)
+    moveSafe(turtle.up, turtle.inspectUp, turtle.digUp)
+    faceDir(2)
+    moveSafe(turtle.forward, turtle.inspect, noop)
+end
+
+function reportDuty2()
+    updateState({ state = "Returning to report duty..." })
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    moveSafe(turtle.up, turtle.inspectUp, noop)
+    for i = 1,12 do
+        moveSafeForward()
+    end
+    rednet.open("top")
+    id = turtlestate["job"]
+    fuelconsumed = turtlestate["startfuel"] - turtle.getFuelLevel()
+    turtlestate["fuel"] = fuelconsumed
+
+    rednet.broadcast("syn")
+    server, _, _ = rednet.receive() -- ACK
+    rednet.send(server, "report")
+    rednet.send(server, tostring(id))
+    rednet.send(server, tostring(fuelconsumed))
+    for k, v in pairs(turtlestate["ores"]) do
+        rednet.send(server, k)
+        rednet.send(server, v)
+    end
+    turtlestate["ores"] = {}
+    rednet.broadcast("done", "ores")
+    server, _, _ = rednet.receive() -- thanks
+end
+
+function turtleAI2()
+    while true do
+        local job = enqueueForJob2()
+        turtlestate["job"] = job
+        doRefuel2()
+        --turtlestate["startfuel"] = turtle.getFuelLevel()
+        goToJob2(job)
+        digShaft()
+        goToUnloading()
+        unloadStuffs()
+        reportDuty2()
+        moveSafe(turtle.down, turtle.inspectDown, noop)
+        moveSafe(turtle.down, turtle.inspectDown, noop)
+        moveSafe(turtle.down, turtle.inspectDown, noop)
+        moveSafe(turtle.down, turtle.inspectDown, noop)
+        turtle.turnLeft()
+    end
+end
+-- turtleAI()
+ 
+for i = 1, 10 do
+    print(iTo2Dcoords(i))
+end

dominic/pairingtool.py

@@ -1,4 +1,5 @@
 import math
+import time
 
 def pair(x, y):
     return math.floor((x + y) * (x + y + 1)/2 + y)
@@ -12,6 +13,12 @@ def unpairZ(z):
     j = math.floor(math.sqrt(0.25 + 2*z) - 0.5)
     return z - j * (j+1)/2;
 
+def unpair2D(j):
+    quadrantI = j % 4 # 0-3 quadrant
+    x, z = int(unpairX(j)), int(unpairZ(j)) # coords in first quadrant
+    x, z = adjustToQuadrant(quadrantI, x, z) # map coords correctly into other quadrants
+    return x, z
+
 lookup = [-10, 4, 1, 3, 0, 2]
 def isDiggingSpot(x, y):
     x, y = int(x), int(y)
@@ -58,7 +65,22 @@ def iTo2Dcoords(j):
             counter += 1
         j += 1
 
-print(iTo2Dcoords(3))
+def findIfor(coords):
+    j = 0
+    counter = 0
+    while True:
+        x, z = unpair2D(j)
+        print(j, x, z)
+        if isDiggingSpot(x, z):
+            if (x, z) in coords:
+                print(f"{j} -> {x}, {z}")
+                coords.remove((x,z))
+            counter += 1
+        if not coords:
+            break
+        j += 1
+        time.sleep(0.6)
 
-# for i in range(10):
+findIfor([
-#     print(iTo2Dcoords(i))
+    (4, 0),
+    ])