nav module for turtle in computercraft

nav.lua

local SlotManager = {}
SlotManager.__index = SlotManager

function SlotManager.new()
  local self = setmetatable({}, SlotManager)
  self.selectedSlot = 1
  return self
end

function SlotManager:select(s)
  if s == nil or s <= 0 or s > 16 then
    s = 1
  end
  turtle.select(s)
  self.selectedSlot = s
  print("selected slot "..s)
end

function SlotManager:getSelected()
  if self.selectedSlot == nil or self.selectedSlot < 1 or self.selectedSlot >= 16 then
    self.selectedSlot = 1
  end
  return self.selectedSlot
end

function SlotManager:reloadSlot(slot)
  local origin = self:getSelected()
  print("reload slot original selected slot "..origin)
  if slot == nil or slot <= 0 or slot > 16 then
    slot = origin
  end
  local result = false
  for from=1,16 do
    if from ~= slot then
        turtle.select(from)
      if (turtle.getItemCount(slot) == 0 or turtle.compareTo(slot)) and
         turtle.getItemCount(from) > 0 then
        print("transfer from slot "..from.." to "..slot)
        turtle.transferTo(slot)
        turtle.select(slot)
        result = true
        break
      end
    end
  end
  turtle.select(origin)
  return result
end

local slotmgr = SlotManager.new()

local Walker = {}
Walker.__index = Walker

function Walker.new()
  local self = setmetatable({}, Walker)
  return self
end

function Walker:beforeMove()
end

function Walker:afterMove()
end

walker = Walker.new()

local Placer = {}
Placer.__index = Placer

function Placer.new()
  local self = setmetatable({}, Placer)
  self.slotmgr = slotmgr
  return self
end

function Placer:placeDown()
  local success = turtle.placeDown(1)
  if success then
    print("placed a block below")
  end
  return success
end

function Placer:beforeMove()
end

function Placer:afterMove()
  if not turtle.detectDown() then
    if not self:placeDown() then
      if self.slotmgr:reloadSlot() then
        self:placeDown()
      end
    end
  end
end

placer = Placer.new()

local FRONT = vector.new( 0,  1,  0)
local RIGHT = vector.new( 1,  0,  0)
local BACK  = vector.new( 0, -1,  0)
local LEFT  = vector.new(-1,  0,  0)
local UP    = vector.new( 0,  0,  1)
local DOWN  = vector.new( 0,  0, -1)

Navigator = {}
Navigator.__index = Navigator

function Navigator.new()
  local self = setmetatable({}, Navigator)
  self.startPos = self:locate()
  print("I'm at: ("..self.pos:tostring().."), remain fuel: "..self:checkfuel())

  self.dir = FRONT
  self.startDir = FRONT
  self.actor = walker
  return self
end

function Navigator:with(actor)
  self.actor = actor
  return self
end

function Navigator:checkfuel()
  fuel = turtle.getFuelLevel()
  if fuel == 0 then
    print("I'm EXHAUSTED! Feed me!")
    return 0
  else
    print("remain fuel "..fuel)
    return fuel
  end
end

function Navigator:locate(coordinate)
  --local x, y, z = gps.locate(5)
  if x ~= nil then
    self.pos = vector.new(x, y, z)
  elseif coordinate ~= nil and coordinate.x ~= nil then
    self.pos = coordinate
    print("Manually input coordinate: ("..self.pos:tostring()..")")
  elseif self.pos == nil or self.pos.x == nil then
    self.pos = vector.new()
    print("Totally lost, assume at: ("..self.pos:tostring()..")")
  end
  return self.pos
end

function Navigator:relative(coordinate)
  if coordinate == nil or coordinate.x == nil then
    coordinate = self.startPos
  end
  return self:locate() - coordinate
end

function Navigator:beforeMove()
  self.actor:beforeMove()
end

function Navigator:afterMove(dir, moveSuccess)
  if moveSuccess then
    self.pos = self.pos + dir
    self.actor:afterMove()
    return dir
  else
    return vector.new()
  end
end

function Navigator:forward1()
  self:beforeMove()
  local result = turtle.forward()
  return self:afterMove(self.dir, result)
end

function Navigator:back1()
  self:beforeMove()
  local result = turtle.back()
  return self:afterMove(-self.dir, result)
end

function Navigator:up1()
  self:beforeMove()
  local result = turtle.up()
  return self:afterMove(UP, result)
end

function Navigator:down1()
  self:beforeMove()
  local result = turtle.down()
  return self:afterMove(DOWN, result)
end

function Navigator:move(distance, vert)
  local moved = vector.new()
  for i=1, math.abs(distance) do
    local result = nil
    if vert~=nil and (vert==true or vert==1) then
      if distance >= 0 then
        result = self:up1()
      else
        result = self:down1()
      end
    else
      if distance >= 0 then
        result = self:forward1()
      else
        result = self:back1()
      end
    end
    if result:length() == 0 then break end
    moved = moved + result
  end
  if moved:length() ~= 0 then
    print("move "..moved:length().." blocks")
  end
  return moved
end

function Navigator:forward(distance)
  return self:move(distance)
end

function Navigator:back(distance)
  return self:move(-distance)
end

function Navigator:up(distance)
  return self:move(distance, true)
end

function Navigator:down(distance)
  return self:move(-distance, true)
end

function Navigator:right(step)
  if self.dir == LEFT then
    self.dir = FRONT
    print("original front")
  elseif self.dir == FRONT then
    self.dir = RIGHT
    print("original right")
  elseif self.dir == RIGHT then
    self.dir = BACK
    print("original back")
  elseif self.dir == BACK then
    self.dir = LEFT
    print("original left")
  end
  turtle.turnRight()

  if step == nil or step == 0 then
    return vector.new()
  end
  return self:move(step)
end

function Navigator:left(step)
  if self.dir == LEFT then
    self.dir = BACK
    print("original back")
  elseif self.dir == BACK then
    self.dir = RIGHT
    print("original right")
  elseif self.dir == RIGHT then
    self.dir = FRONT
    print("original front")
  elseif self.dir == FRONT then
    self.dir = LEFT
    print("original left")
  end
  turtle.turnLeft()

  if step == nil or step == 0 then
    return vector.new()
  end
  return self:move(step)
end

function Navigator:cover(x, y, z)
  pos = vector.new()
  print("covering "..x.." X "..y)
  for row=0,x,2 do
    pos = pos + self:forward(y)
    self:right()
    if x - row >= 1 then
      pos = pos + self:forward1()
    end
    self:right()

    pos = pos + self:forward(y)
    self:left()
    if x - row >= 2 then
      pos = pos + self:forward1()
    end
    self:left()
  end
  pos = pos + self:to(-x,0,0)
  return pos
end

function Navigator:wall(x, y, z)
  pos = vector.new()
  for height=1, z do
    pos = pos + self:up1() + self:to(x, y, 0) + self:to(-x, -y, 0)
  end
  return pos
  --self:to(vector.new(0, 0, 0))
end

function Navigator:to(x, y, z)
  pos = vector.new()
  if x ~= 0 then
    pos = pos + self:right(x)
    self:left()
  end
  pos = pos + self:move(y) + self:move(z, true)
  return pos
end

function Navigator:callby(name, ...)
  pos = Navigator[name](self, ...)
  print("I'm at: ("..pos:tostring()..") dir: ("..self.dir:tostring()..")")
  print("I'm at: ("..self:locate():tostring()..")")
end

agent = Navigator.new(actor.walker)