added: find_path, walk_path
modified: sandbox only reinitializes on manual robot start, no longer when robot wakes up - so in this case it no longer forgets variable valuesmaster
rnd
parent
c20d096c35
commit
ffebdb6013
90
commands.lua
90
commands.lua
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@ -825,6 +825,84 @@ basic_robot.commands.craft = function(item, mode, idx,amount, name)
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return true
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end
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--pathfinding: find_path, walk_path
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basic_robot.commands.find_path = function(name,pos2)
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local obj = basic_robot.data[name].obj;
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local pos1 = obj:getpos();
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if (pos1.x-pos2.x)^2+(pos1.y-pos2.y)^2+(pos1.z-pos2.z)^2> 50^2 then
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return nil,"2: distance too large"
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end
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check_operations(name,6,true)
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local data = basic_robot.data[name]
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energy = data.menergy or 0; -- machine energy
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if energy<1 then
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return nil,"1: not enough energy"
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end
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data.menergy = energy - 1
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--{current pathnode, path}
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--start position is very sensitive, noninteger coordinates do not seem to work
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local round = math.floor
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pos1.x = pos1.x>0 and round(pos1.x+0.5) or -round(-pos1.x+0.5)
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pos1.y = pos1.y>0 and round(pos1.y+0.5) or -round(-pos1.y+0.5)
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pos1.z = pos1.z>0 and round(pos1.z+0.5) or -round(-pos1.z+0.5)
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--TODO: tweak parameters, minetest find_path seems sometimes buggy
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local path = minetest.find_path(pos1,pos2,10,1,1,"Dijkstra"); -- pos1,pos2, search_distance, max_jump, max_drop
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basic_robot.data[name].pathdata = {1,path}
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if path then return #path else return nil end -- return length of found path or nil
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end
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basic_robot.commands.walk_path = function(name)
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check_operations(name,2,true)
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local pathdata = basic_robot.data[name].pathdata;
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if not pathdata then return nil end
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local path = pathdata[2];
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if not path then return 0 end
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local idx = pathdata[1];
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if idx > #path then return 0 end -- reached end of path
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local pos2 = path[idx]
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local obj = basic_robot.data[name].obj;
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local pos1 = obj:getpos();
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local ndist = (pos1.x-pos2.x)^2+(pos1.y-pos2.y)^2+(pos1.z-pos2.z)^2
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if ndist> 4 then return -ndist end -- too far away from next node
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--turn in correct direction according to movement
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pos1.x = pos2.x-pos1.x; pos1.z = pos2.z-pos1.z
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local yaw = 0
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if math.abs(pos1.x)> math.abs(pos1.z) then
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if pos1.x>0 then
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yaw = 0;
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-- {1,0}
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else
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yaw = math.pi;
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-- {-1,0}
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end
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else
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if pos1.z>0 then
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-- {0,1}
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yaw = math.pi/2
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else
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-- {0,-1}
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yaw = -math.pi/2
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end
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end
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yaw = yaw - math.pi/2
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obj:setyaw(yaw);
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pathdata[1] = idx + 1 -- target next node
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obj:moveto(pos2, true)
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return #path-idx+1 -- return remaining length of path
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end
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--FORMS
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basic_robot.commands.show_form = function(name, playername, form)
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minetest.show_formspec(playername, "robot_form".. name, form)
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@ -1473,14 +1551,4 @@ end
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function Vplayer:get_eye_offset() end
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-- code for act borrowed from: https://github.com/minetest-mods/pipeworks/blob/fa4817136c8d1e62dafd6ab694821cba255b5206/wielder.lua, line 372
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-- code for act borrowed from: https://github.com/minetest-mods/pipeworks/blob/fa4817136c8d1e62dafd6ab694821cba255b5206/wielder.lua, line 372
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27
init.lua
27
init.lua
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@ -217,6 +217,13 @@ function getSandboxEnv (name)
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return commands.display_text(obj,text,linesize,size)
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end,
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find_path = function(pos) -- compute path
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return commands.find_path(name,pos)
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end,
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walk_path = function() -- walk to next node of path
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return commands.walk_path(name)
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end,
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},
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machine = {-- adds technic like functionality to robots: power generation, smelting, grinding, compressing
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@ -635,8 +642,6 @@ end
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-- COMPILATION
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--todo: 2018/12 this suddenly stopped working, wtf??
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preprocess_code = function(script, call_limit) -- version 07/24/2018
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--[[ idea: in each local a = function (args) ... end insert counter like:
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@ -882,7 +887,7 @@ end
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local function init_robot(obj)
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local function init_robot(obj, resetSandbox)
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local self = obj:get_luaentity();
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local name = self.name; -- robot name
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@ -899,7 +904,7 @@ local function init_robot(obj)
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obj:set_properties({nametag = "[" .. name.."]",nametag_color = "LawnGreen"});
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obj:set_armor_groups({fleshy=0})
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initSandbox ( name )
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if resetSandbox then initSandbox ( name ) end
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end
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minetest.register_entity("basic_robot:robot",{
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@ -943,7 +948,7 @@ minetest.register_entity("basic_robot:robot",{
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self.authlevel = data.authlevel;
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self.spawnpos = {x=data.spawnpos.x,y=data.spawnpos.y,z=data.spawnpos.z};
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init_robot(self.object);
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init_robot(self.object, false); -- do not reset sandbox to keep all variables, just wake up
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self.running = 1;
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@ -1065,7 +1070,7 @@ local spawn_robot = function(pos,node,ttl)
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local name = owner..id;
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if id <= 0 then -- just compile code and run it, no robot spawn
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if id <= 0 then -- just compile code and run it, no robot entity spawn
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local codechange = false;
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if meta:get_int("codechange") == 1 then
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meta:set_int("codechange",0);
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@ -1074,7 +1079,7 @@ local spawn_robot = function(pos,node,ttl)
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-- compile code & run it
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local err;
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local data = basic_robot.data[name];
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if codechange or (not data) then
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if codechange or (not data) then -- reset all, sandbox will change too
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basic_robot.data[name] = {}; data = basic_robot.data[name];
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meta:set_string("infotext",minetest.get_gametime().. " code changed ")
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data.owner = owner;
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@ -1138,10 +1143,10 @@ local spawn_robot = function(pos,node,ttl)
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return
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end
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return
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end
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end -- end of entityless robot code
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-- if robot already exists do nothing
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-- if robot entity already exists refresh it
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if basic_robot.data[name] and basic_robot.data[name].obj then
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minetest.chat_send_player(owner,"#ROBOT: ".. name .. " already active, removing ")
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basic_robot.data[name].obj:remove();
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@ -1178,7 +1183,7 @@ local spawn_robot = function(pos,node,ttl)
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data.spawnpos = {x=pos.x,y=pos.y-1,z=pos.z};
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init_robot(obj); -- set properties, init sandbox
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init_robot(obj,true); -- set properties, resetSandbox = true
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local self = obj:get_luaentity();
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local err = setCode( self.name, self.code ); -- compile code
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@ -1624,7 +1629,7 @@ minetest.register_on_chat_message(
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function(name, message)
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local hidden = false;
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if string.sub(message,1,1) == "\\" then hidden = true; message = string.sub(message,2) end
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local listeners = basic_robot.data.listening;
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local listeners = basic_robot.data.listening; -- which robots are listening?
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for pname,_ in pairs(listeners) do
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local data = basic_robot.data[pname];
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data.listen_msg = message;
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@ -232,6 +232,10 @@ local help_pages = {
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" self.label(text) changes robot label",
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" self.display_text(text,linesize,size) displays text instead of robot face,",
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" if no size just return texture string",
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" self.find_path(pos) attempts to find path to pos (coordinates must be",
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" integer). On success return length of path, otherwise nil",
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" self.walk_path() attempts to walk path it previously found. On success ",
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" returns number of remaining nodes, on fail it returns -next node distance or 0",
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" self.sound(sample,volume, opt. pos) plays sound named 'sample' at",
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" robot, location (optional pos)",
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" rom is aditional table that can store persistent data, like rom.x=1",
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