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 values

commands.lua

@@ -825,6 +825,84 @@ basic_robot.commands.craft = function(item, mode, idx,amount, name)
 	return true
 end
 
+
+--pathfinding: find_path, walk_path
+basic_robot.commands.find_path = function(name,pos2)
+	local obj = basic_robot.data[name].obj;
+	local pos1 = obj:getpos();
+	
+	if (pos1.x-pos2.x)^2+(pos1.y-pos2.y)^2+(pos1.z-pos2.z)^2> 50^2 then 
+		return nil,"2: distance too large" 
+	end
+	check_operations(name,6,true)
+	local data = basic_robot.data[name]
+	energy = data.menergy or 0; -- machine energy
+	if energy<1 then 
+		return nil,"1: not enough energy" 
+	end
+	data.menergy = energy - 1
+	--{current pathnode, path}
+	
+	--start position is very sensitive, noninteger coordinates do not seem to work
+	local round = math.floor 
+	pos1.x = pos1.x>0 and round(pos1.x+0.5) or -round(-pos1.x+0.5)
+	pos1.y = pos1.y>0 and round(pos1.y+0.5) or -round(-pos1.y+0.5)
+	pos1.z = pos1.z>0 and round(pos1.z+0.5) or -round(-pos1.z+0.5)
+	
+	--TODO: tweak parameters, minetest find_path seems sometimes buggy
+	local path = minetest.find_path(pos1,pos2,10,1,1,"Dijkstra"); -- pos1,pos2, search_distance, max_jump, max_drop
+	basic_robot.data[name].pathdata = {1,path}
+
+	if path then return #path else return nil end -- return length of found path or nil
+end
+
+basic_robot.commands.walk_path = function(name)
+	check_operations(name,2,true)
+	
+	local pathdata = basic_robot.data[name].pathdata;
+	if not pathdata then return nil end
+	local path = pathdata[2];
+	if not path then return 0 end
+	
+	local idx = pathdata[1];
+	if idx > #path then return 0 end -- reached end of path
+	
+	local pos2 = path[idx]
+	local obj = basic_robot.data[name].obj;
+	local pos1 = obj:getpos();
+	
+	local ndist = (pos1.x-pos2.x)^2+(pos1.y-pos2.y)^2+(pos1.z-pos2.z)^2
+	if ndist> 4 then return -ndist end -- too far away from next node
+	
+	--turn in correct direction according to movement
+	pos1.x = pos2.x-pos1.x; pos1.z = pos2.z-pos1.z
+	local yaw = 0
+	if math.abs(pos1.x)> math.abs(pos1.z) then
+		if pos1.x>0 then
+			yaw = 0;
+			-- {1,0}
+		else
+			yaw = math.pi;
+			-- {-1,0}
+		end
+	else
+		if pos1.z>0 then
+			-- {0,1}
+			yaw = math.pi/2
+		else
+			-- {0,-1}
+			yaw = -math.pi/2
+		end
+	end
+	yaw = yaw - math.pi/2
+	obj:setyaw(yaw);
+	
+	pathdata[1] = idx + 1 -- target next node
+	obj:moveto(pos2, true)
+	
+	return #path-idx+1 -- return remaining length of path
+end
+
 --FORMS
 basic_robot.commands.show_form = function(name, playername, form)
 	minetest.show_formspec(playername, "robot_form".. name, form)
@@ -1473,14 +1551,4 @@ end
  function Vplayer:get_eye_offset() end
  
   
- -- code for act borrowed from: https://github.com/minetest-mods/pipeworks/blob/fa4817136c8d1e62dafd6ab694821cba255b5206/wielder.lua, line 372
+ -- code for act borrowed from: https://github.com/minetest-mods/pipeworks/blob/fa4817136c8d1e62dafd6ab694821cba255b5206/wielder.lua, line 372
- 
- 
- 
- 
- 
- 
- 
- 
- 
-

init.lua

@@ -217,6 +217,13 @@ function getSandboxEnv (name)
 				return commands.display_text(obj,text,linesize,size)
 			end,
 			
+			find_path = function(pos) -- compute path
+				return commands.find_path(name,pos)
+			end,
+
+			walk_path = function() -- walk to next node of path
+				return commands.walk_path(name)
+			end,
 		},
 
 		machine = {-- adds technic like functionality to robots: power generation, smelting, grinding, compressing
@@ -635,8 +642,6 @@ end
 
 -- COMPILATION
 
---todo: 2018/12 this suddenly stopped working, wtf??
-
 preprocess_code = function(script, call_limit)  -- version 07/24/2018
 
 	--[[ idea: in each local a = function (args) ... end insert counter like:
@@ -882,7 +887,7 @@ end
 
 
 
-local function init_robot(obj)
+local function init_robot(obj, resetSandbox)
 	
 	local self = obj:get_luaentity();
 	local name = self.name; -- robot name
@@ -899,7 +904,7 @@ local function init_robot(obj)
 	obj:set_properties({nametag = "[" .. name.."]",nametag_color = "LawnGreen"});
 	obj:set_armor_groups({fleshy=0})
 	
-	initSandbox ( name )
+	if resetSandbox then initSandbox ( name ) end
 end
 
 minetest.register_entity("basic_robot:robot",{
@@ -943,7 +948,7 @@ minetest.register_entity("basic_robot:robot",{
 			self.authlevel = data.authlevel;
 			
 			self.spawnpos = {x=data.spawnpos.x,y=data.spawnpos.y,z=data.spawnpos.z};
-			init_robot(self.object);
+			init_robot(self.object, false); --  do not reset sandbox to keep all variables, just wake up
 			self.running = 1;
 			
 			
@@ -1065,7 +1070,7 @@ local spawn_robot = function(pos,node,ttl)
 	local name = owner..id;
 	
 
-	if id <= 0 then -- just compile code and run it, no robot spawn
+	if id <= 0 then -- just compile code and run it, no robot entity spawn
 		local codechange = false;
 		if meta:get_int("codechange") == 1 then
 			meta:set_int("codechange",0);
@@ -1074,7 +1079,7 @@ local spawn_robot = function(pos,node,ttl)
 		-- compile code & run it
 		local err;
 		local data = basic_robot.data[name];
-		if codechange or (not data) then 
+		if codechange or (not data) then -- reset all, sandbox will change too
 			basic_robot.data[name] = {}; data = basic_robot.data[name];
 			meta:set_string("infotext",minetest.get_gametime().. " code changed ")
 			data.owner = owner;
@@ -1138,10 +1143,10 @@ local spawn_robot = function(pos,node,ttl)
 			return
 		end
 	return
-	end
+	end -- end of entityless robot code
 
 	
-	-- if robot already exists do nothing
+	-- if robot entity already exists refresh it
 	if basic_robot.data[name] and basic_robot.data[name].obj then
 		minetest.chat_send_player(owner,"#ROBOT: ".. name .. " already active, removing ")
 		basic_robot.data[name].obj:remove();
@@ -1178,7 +1183,7 @@ local spawn_robot = function(pos,node,ttl)
 	data.spawnpos  = {x=pos.x,y=pos.y-1,z=pos.z};
 	
 	
-	init_robot(obj); -- set properties, init sandbox
+	init_robot(obj,true); -- set properties, resetSandbox = true
 	
 	local self = obj:get_luaentity();
 	local err = setCode( self.name, self.code ); -- compile code
@@ -1624,7 +1629,7 @@ minetest.register_on_chat_message(
 function(name, message)
 	local hidden = false;
 	if string.sub(message,1,1) == "\\" then hidden = true; message = string.sub(message,2) end
-	local listeners = basic_robot.data.listening;
+	local listeners = basic_robot.data.listening; -- which robots are listening?
 	for pname,_ in pairs(listeners) do
 		local data = basic_robot.data[pname];
 		data.listen_msg = message;

robogui.lua

@@ -232,6 +232,10 @@ local help_pages = {
 		"  self.label(text) changes robot label",
 		"  self.display_text(text,linesize,size) displays text instead of robot face,",
 		"    if no size just return texture string",
+		"  self.find_path(pos) attempts to find path to pos (coordinates must be",
+		"    integer). On success return length of path, otherwise nil",
+		"  self.walk_path() attempts to walk path it previously found. On success ",
+		"    returns number of remaining nodes, on fail it returns -next node distance or 0",
 		"  self.sound(sample,volume, opt. pos) plays sound named 'sample' at",
 		"    robot, location (optional pos)",
 		"  rom is aditional table that can store persistent data, like rom.x=1",