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  1.  
  2. local util = require("util")
  3. local robot = require("robot")
  5. local config_file = "state.cfg"
  7. local libnav = {
  8. str = "",
  9. _navlog = "",
  10. retry = true,
  11. breaking = false,
  12. }
  14. function libnav.get_location()
  15. return util.config_get(config_file, "location", "")..libnav.str
  16. end
  18. local function log_flush()
  19. local state = util.config(config_file)
  20. local place = state:get("location", "")
  21. place = place .. libnav._navlog
  22. libnav._navlog = ""
  23. state:set("location", place)
  24. state:close()
  25. end
  27. local function log_assert(cond)
  28. if not cond then log_flush() end
  29. assert(cond)
  30. end
  32. local function record(str)
  33. libnav._navlog = libnav._navlog .. str
  34. end
  36. function retry_loop(fn, swingfn, msg)
  37. while true do
  38. if fn() then break end
  39. if libnav.breaking and swingfn then
  40. swingfn()
  41. end
  42. if fn() then break end
  43. if libnav.retry then
  44. os.sleep(1)
  45. else
  46. log_assert(false, msg)
  47. end
  48. end
  49. end
  51. local function _up()
  52. retry_loop(robot.up, robot.swingUp, "can't move up")
  53. record("u")
  54. end
  55. local function _down()
  56. retry_loop(robot.down, robot.swingDown, "can't move down")
  57. record("d")
  58. end
  59. local function _turnLeft()
  60. retry_loop(robot.turnLeft, nil, "can't turn left")
  61. record("l")
  62. end
  63. local function _turnRight()
  64. retry_loop(robot.turnRight, nil, "can't turn right")
  65. record("r")
  66. end
  67. local function _forward()
  68. retry_loop(robot.forward, robot.swing, "can't move forward")
  69. record("f")
  70. end
  71. local function _back()
  72. retry_loop(robot.back, nil, "can't move back")
  73. record("b")
  74. end
  75. local function _brk()
  76. libnav.breaking = true
  77. record("X")
  78. end
  79. local function _unbrk()
  80. libnav.breaking = false
  81. record("x")
  82. end
  84. function libnav.add(str)
  85. libnav.str = libnav.str .. str
  86. end
  88. function libnav.up() libnav.add("u")
  89. end
  90. function libnav.down() libnav.add("d")
  91. end
  92. function libnav.left() libnav.add("l")
  93. end
  94. function libnav.right() libnav.add("r")
  95. end
  96. function libnav.fwd() libnav.add("f")
  97. end
  98. function libnav.back() libnav.add("b")
  99. end
  100. function libnav.brk() libnav.add("X")
  101. end
  102. function libnav.unbrk() libnav.add("x")
  103. end
  105. function libnav.opt(str)
  106. -- todo optimize
  107. local bak = str
  108. while true do
  109. local prev = str
  110. str = str
  111. :gsub("ud", ""):gsub("du", "")
  112. :gsub("fb", ""):gsub("bf", "")
  113. :gsub("rl", ""):gsub("lr", "")
  114. :gsub("llll", ""):gsub("rrrr", "")
  115. :gsub("fllf", "ll"):gsub("frrf", "rr")
  116. :gsub("bllb", "ll"):gsub("brrb", "rr")
  117. :gsub("dllu", "ll"):gsub("drru", "rr")
  118. :gsub("ulld", "ll"):gsub("urrd", "rr")
  119. :gsub("dlu", "l"):gsub("dru", "r")
  120. :gsub("uld", "l"):gsub("urd", "r")
  121. :gsub("dfu", "f"):gsub("dbu", "b")
  122. :gsub("ufd", "f"):gsub("ubd", "b")
  123. :gsub("lll", "r"):gsub("rrr", "l")
  124. -- move all rotations down so they can cancel
  125. :gsub("ul", "lu"):gsub("ur", "ru")
  126. :gsub("ld", "dl"):gsub("rd", "dr")
  127. :gsub("frfrf", "rfr"):gsub("flflf", "lfl")
  128. :gsub("frflb", "rfl"):gsub("flfrb", "lfr")
  129. if prev == str then break end
  130. end
  131. -- print("opt "..bak.." => "..str)
  132. return str;
  133. end
  135. function libnav.flush()
  136. local actions = {
  137. u = _up,
  138. d = _down,
  139. l = _turnLeft,
  140. r = _turnRight,
  141. f = _forward,
  142. b = _back,
  143. X = _brk,
  144. x = _unbrk,
  145. }
  146. local str = libnav.opt(libnav.str)
  147. libnav.str = ""
  148. for i = 1, str:len() do
  149. local ch = str:sub(i, i)
  150. local action = actions[ch]
  151. assert(action)
  152. action()
  153. end
  154. log_flush()
  155. -- optimize location
  156. local state = util.config(config_file)
  157. local location = state:get("location", "")
  158. location = libnav.opt(location)
  159. state:set("location", location)
  160. state:close()
  161. end
  163. function libnav.estimate_and_discard()
  164. local str = libnav.opt(libnav.str)
  165. libnav.str = ""
  166. return str:len()
  167. end
  169. function libnav.invert(movestr)
  170. local res = ""
  171. local flips = {
  172. u = "d",
  173. d = "u",
  174. l = "r",
  175. r = "l",
  176. f = "f",
  177. b = "b",
  178. x = "X",
  179. X = "x",
  180. }
  181. for i = movestr:len(), 1, -1 do
  182. local ch = movestr:sub(i, i)
  183. local flip = flips[ch]
  184. assert(flip)
  185. res = res .. flip
  186. end
  187. return "rr" .. res .. "rr"
  188. end
  190. -- go to where 'libnav.get_location()' was 'loc'
  191. function libnav.go_to(loc)
  192. libnav.add(libnav.invert(libnav.get_location()))
  193. libnav.add(loc)
  194. end
  196. return libnav
  197.  
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