mirror of
https://github.com/IgorTimofeev/MineOS.git
synced 2026-01-06 11:12:40 +01:00
aefaefaef
This commit is contained in:
Igor Timofeev
parent
acb3f860e5
commit
08dfb6e30a
@ -12,12 +12,21 @@ local modem = component.modem
|
||||
local port = 512
|
||||
|
||||
config = {
|
||||
offsetX = 0,
|
||||
offsetY = 0,
|
||||
offsetZ = 0,
|
||||
glassesX = 0,
|
||||
glassesY = 0,
|
||||
glassesZ = 0,
|
||||
robotX = 0,
|
||||
robotY = 0,
|
||||
robotZ = 0,
|
||||
width = 3,
|
||||
height = 1,
|
||||
length = 3,
|
||||
radius = 16,
|
||||
minDensity = 0.2,
|
||||
maxDensity = 10,
|
||||
}
|
||||
|
||||
local configPath = MineOSPaths.applicationData .. "VRScan.cfg"
|
||||
local configPath = MineOSPaths.applicationData .. "VRScan4.cfg"
|
||||
if filesystem.exists(configPath) then
|
||||
config = table.fromFile(configPath)
|
||||
end
|
||||
@ -33,57 +42,100 @@ mainContainer:addChild(GUI.panel(1, 1, mainContainer.width, mainContainer.height
|
||||
|
||||
local layout = mainContainer:addChild(GUI.layout(1, 1, mainContainer.width, mainContainer.height, 1, 1))
|
||||
|
||||
local offsetXInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetX), "Robot offset by X"))
|
||||
local width = 39
|
||||
|
||||
local offsetYInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetY), "Robot offset by Y"))
|
||||
local function addCoords(v1, v2, v3, t1, t2, t3)
|
||||
local subLayout = layout:addChild(GUI.layout(1, 1, width, 3, 1, 1))
|
||||
subLayout:setDirection(1, 1, GUI.DIRECTION_HORIZONTAL)
|
||||
subLayout:setAlignment(1, 1, GUI.ALIGNMENT_HORIZONTAL_LEFT, GUI.ALIGNMENT_VERTICAL_TOP)
|
||||
|
||||
local offsetZInput = layout:addChild(GUI.input(1, 1, 36, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, tostring(config.offsetZ), "Robot offset by Z"))
|
||||
local width = math.floor((width - 2) / 3)
|
||||
return
|
||||
subLayout:addChild(GUI.input(1, 1, width, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, v1, t1)),
|
||||
subLayout:addChild(GUI.input(1, 1, width, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, v2, t2)),
|
||||
subLayout:addChild(GUI.input(1, 1, width, 3, 0xE1E1E1, 0x787878, 0xB4B4B4, 0xE1E1E1, 0x2D2D2D, v3, t3))
|
||||
end
|
||||
|
||||
local widthSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Width: ", ""))
|
||||
local glassesXInput, glassesYInput, glassesZInput = addCoords(tostring(config.glassesX), tostring(config.glassesY), tostring(config.glassesZ), "Glasses X", "Glasses Y", "Glasses Z")
|
||||
|
||||
local robotXInput, robotYInput, robotZInput = addCoords(tostring(config.robotX), tostring(config.robotY), tostring(config.robotZ), "Robot X", "Robot Y", "Robot Z")
|
||||
|
||||
local widthSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, config.width, false, "Width: ", ""))
|
||||
widthSlider.height = 2
|
||||
widthSlider.roundValues = true
|
||||
|
||||
local heightSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Height: ", ""))
|
||||
local heightSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, config.height, false, "Height: ", ""))
|
||||
heightSlider.height = 2
|
||||
heightSlider.roundValues = true
|
||||
|
||||
local lengthSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Length: ", ""))
|
||||
local lengthSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, config.length, false, "Length: ", ""))
|
||||
lengthSlider.height = 2
|
||||
heightSlider.roundValues = true
|
||||
lengthSlider.roundValues = true
|
||||
|
||||
local radiusSlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 10, 3, false, "Radius: ", ""))
|
||||
local radiusSlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 1, 24, config.radius, false, "Radius: ", ""))
|
||||
radiusSlider.height = 2
|
||||
radiusSlider.roundValues = true
|
||||
|
||||
local minDensitySlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, 0.5, false, "Min density: ", ""))
|
||||
local minDensitySlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, config.minDensity, false, "Min density: ", ""))
|
||||
minDensitySlider.height = 2
|
||||
|
||||
local maxDensitySlider = layout:addChild(GUI.slider(1, 1, 36, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, 0.5, false, "Max density: ", ""))
|
||||
local maxDensitySlider = layout:addChild(GUI.slider(1, 1, width, 0x66DB80, 0xE1E1E1, 0xFFFFFF, 0xB4B4B4, 0, 10, config.maxDensity, false, "Max density: ", ""))
|
||||
maxDensitySlider.height = 2
|
||||
|
||||
layout:addChild(GUI.button(1, 1, 36, 3, 0xC3C3C3, 0xFFFFFF, 0x969696, 0xFFFFFF, "Scan")).onTouch = function()
|
||||
config.offsetX, config.offsetY, config.offsetZ = tonumber(offsetXInput.text), tonumber(offsetYInput.text), tonumber(offsetZInput.text)
|
||||
local function saveConfig()
|
||||
config.glassesX = tonumber(glassesXInput.text)
|
||||
config.glassesY = tonumber(glassesYInput.text)
|
||||
config.glassesZ = tonumber(glassesZInput.text)
|
||||
config.robotX = tonumber(robotXInput.text)
|
||||
config.robotY = tonumber(robotYInput.text)
|
||||
config.robotZ = tonumber(robotZInput.text)
|
||||
config.width = math.floor(widthSlider.value)
|
||||
config.height = math.floor(heightSlider.value)
|
||||
config.length = math.floor(lengthSlider.value)
|
||||
config.radius = math.floor(radiusSlider.value)
|
||||
config.minDensity = minDensitySlider.value
|
||||
config.maxDensity = maxDensitySlider.value
|
||||
|
||||
table.toFile(configPath, config)
|
||||
end
|
||||
|
||||
layout:addChild(GUI.button(1, 1, width, 3, 0xC3C3C3, 0xFFFFFF, 0x969696, 0xFFFFFF, "Scan")).onTouch = function()
|
||||
saveConfig()
|
||||
|
||||
broadcast(
|
||||
"scan",
|
||||
config.offsetX,
|
||||
config.offsetY,
|
||||
config.offsetZ,
|
||||
math.floor(widthSlider.value),
|
||||
math.floor(heightSlider.value),
|
||||
math.floor(lengthSlider.value),
|
||||
math.floor(radiusSlider.value),
|
||||
minDensitySlider.value,
|
||||
maxDensitySlider.value
|
||||
)
|
||||
broadcast("scan", table.toString({
|
||||
width = config.width,
|
||||
height = config.height,
|
||||
length = config.length,
|
||||
radius = config.radius,
|
||||
minDensity = config.minDensity,
|
||||
maxDensity = config.maxDensity
|
||||
}))
|
||||
|
||||
glasses.removeAll()
|
||||
end
|
||||
|
||||
layout.eventHandler = function(mainContainer, layout, e1, e2, e3, e4, e5, e6, e7, e8, e9, e10, e11, e12)
|
||||
if e1 == "modem_message" and e6 == "VRScan" then
|
||||
if e7 == "result" then
|
||||
local robotX, robotY, robotZ, result = e[8], e[9], e[10], serialization.unserialize(e[11])
|
||||
GUI.alert("Got result from " .. robotX .. "x" .. robotY .. robotZ .. " with size " .. #result)
|
||||
local result = table.fromString(e8)
|
||||
|
||||
for x in pairs(result.blocks) do
|
||||
for y in pairs(result.blocks[x]) do
|
||||
for z in pairs(result.blocks[x][y]) do
|
||||
for i = 1, #result.blocks[x][y][z] do
|
||||
local cube = glasses.addCube3D()
|
||||
cube.setVisibleThroughObjects(true)
|
||||
cube.setColor(0, 0.6, 1)
|
||||
cube.setAlpha(0.5)
|
||||
cube.set3DPos(
|
||||
config.robotX - config.glassesX + result.x + x,
|
||||
config.robotY - config.glassesY + result.y + y,
|
||||
config.robotZ - config.glassesZ + result.z + z
|
||||
)
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
@ -9,52 +9,86 @@ AR.proxies.modem.open(port)
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
local function broadcast(...)
|
||||
modem.broadcast(port, "VRScan", ...)
|
||||
AR.proxies.modem.broadcast(port, "VRScan", ...)
|
||||
end
|
||||
|
||||
local function round(num, decimalPlaces)
|
||||
local mult = 10 ^ (decimalPlaces or 0)
|
||||
return math.floor(num * mult + 0.5) / mult
|
||||
end
|
||||
|
||||
local function move(x, y, z)
|
||||
print("Moving to next chunk with offset " .. x .. "x" .. y .. "x" .. z)
|
||||
AR.moveToPosition(AR.robotPositionX + x, AR.robotPositionY + y, AR.robotPositionZ + z)
|
||||
AR.moveToPosition(AR.positionX + x, AR.positionY + y, AR.positionZ + z)
|
||||
end
|
||||
|
||||
print("Waiting for modem commands...")
|
||||
|
||||
while true do
|
||||
local e = {event.pull()}
|
||||
if e[1] == "modem_message" and e[6] == "VRScan" then
|
||||
if e[7] == "scan" then
|
||||
print("Scanning started")
|
||||
|
||||
local width, height, length, radius, minDensity, maxDensity = e[8], e[9], e[10], e[11], e[12], e[13]
|
||||
local settings = serialization.unserialize(e[8])
|
||||
|
||||
for h = 1, height do
|
||||
for w = 1, width do
|
||||
for l = 1, length do
|
||||
print("Scanning with paramerers: " .. e[8])
|
||||
|
||||
local h, w, l, startX, startY, startZ = 0, 0, 0, AR.positionX, AR.positionY, AR.positionZ
|
||||
|
||||
local function move()
|
||||
local distance = settings.radius * 2 + 1
|
||||
local moveX, moveZ = AR.getRotatedPosition(w * distance, l * distance)
|
||||
|
||||
AR.moveToPosition(
|
||||
startX + moveX,
|
||||
startY + h * distance,
|
||||
startZ + moveZ
|
||||
)
|
||||
end
|
||||
|
||||
while h < settings.height do
|
||||
while w < settings.width do
|
||||
while l < settings.length do
|
||||
print("Scanning chunk " .. w .. " x " .. h .. " x " .. l)
|
||||
|
||||
local result, column = {}
|
||||
for z = -radius, radius do
|
||||
for x = -radius, radius do
|
||||
local result, column = {
|
||||
x = AR.positionX,
|
||||
y = AR.positionY,
|
||||
z = AR.positionZ,
|
||||
blocks = {}
|
||||
}
|
||||
|
||||
local blockCount = 0
|
||||
for z = -settings.radius, settings.radius do
|
||||
for x = -settings.radius, settings.radius do
|
||||
column = AR.proxies.geolyzer.scan(x, z)
|
||||
for i = 1, #column do
|
||||
if column[i] >= minDensity and column[i] <= maxDensity then
|
||||
table.insert(result, AR.robotPositionX)
|
||||
table.insert(result, AR.robotPositionY)
|
||||
table.insert(result, AR.robotPositionZ)
|
||||
table.insert(result, column[i])
|
||||
|
||||
for i = 32 - settings.radius, 32 + settings.radius do
|
||||
if column[i] >= settings.minDensity and column[i] <= settings.maxDensity then
|
||||
local y = i - 33
|
||||
result.blocks[x] = result.blocks[x] or {}
|
||||
result.blocks[x][y] = result.blocks[x][y] or {}
|
||||
result.blocks[x][y][z] = result.blocks[x][y][z] or {}
|
||||
table.insert(result.blocks[x][y][z], round(column[i], 2))
|
||||
|
||||
blockCount = blockCount + 1
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
print("Scanning finished. Sending result with size: " .. #result)
|
||||
broadcast("result", AR.robotPositionX, AR.robotPositionY, AR.robotPositionZ, serialization.serialize(result))
|
||||
print("Scanning finished. Sending result with blocks size: " .. blockCount)
|
||||
broadcast("result", serialization.serialize(result))
|
||||
|
||||
move(0, 0, radius + 1)
|
||||
l = l + 1
|
||||
move()
|
||||
end
|
||||
|
||||
move(radius + 1, 0, 0)
|
||||
w = w + 1
|
||||
move()
|
||||
end
|
||||
|
||||
move(0, radius + 1, 0)
|
||||
h = h + 1
|
||||
move()
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
@ -58,6 +58,18 @@ AR.rotation = 0
|
||||
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
function AR.getRotatedPosition(x, z)
|
||||
if AR.rotation == 0 then
|
||||
return x, z
|
||||
elseif AR.rotation == 1 then
|
||||
return -z, x
|
||||
elseif AR.rotation == 2 then
|
||||
return -x, -z
|
||||
else
|
||||
return z, -x
|
||||
end
|
||||
end
|
||||
|
||||
function AR.updateProxies()
|
||||
local name
|
||||
for name in pairs(AR.requiredProxies) do
|
||||
@ -342,7 +354,7 @@ function AR.checkEnergyStatus()
|
||||
if computer.energy() / computer.maxEnergy() < AR.zeroPositionReturnEnergy then
|
||||
print("Low energy level detected")
|
||||
-- Запоминаем старую позицию, шобы суда вернуться
|
||||
local oldPosition = AR.getRobotPosition()
|
||||
local x, y, z = AR.positionX, AR.positionY, AR.positionZ
|
||||
-- Пиздуем на базу за зарядкой
|
||||
AR.moveToZeroPosition()
|
||||
-- Заряжаемся, пока энергия не достигнет более-менее максимума
|
||||
@ -351,7 +363,7 @@ function AR.checkEnergyStatus()
|
||||
os.sleep(1)
|
||||
end
|
||||
-- Пиздуем обратно
|
||||
AR.moveToPosition(oldPosition.x, oldPosition.y, oldPosition.z)
|
||||
AR.moveToPosition(x, y, z)
|
||||
AR.turnToRotation(oldPosition.rotation)
|
||||
end
|
||||
end
|
||||
|
||||
@ -28,6 +28,8 @@ local function execute(symbol)
|
||||
print("Swinging:", AR.swingForward())
|
||||
elseif symbol == "e" then
|
||||
print("Swinging:", AR.useForward())
|
||||
elseif symbol == "." then
|
||||
print("Returning to start:", AR.moveToZeroPosition())
|
||||
end
|
||||
end
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user