Smart Turtle

This script provide high level APIs for turtle robot in ComputerCraft mod for Minecraft.

You can access the raw turtle API document here.

Features

• provide functional style monadic api to use
  • absolute coordinate system based api
  • obstacle avoidance support (move.to() and move.go())
  • auto refuel
  • auto tidy backpack slots
  • provide high level combinators to construct complex logic in a very easy way
• provide a deeply customized REPL
  • you can use smart-turtle's variables in this REPL directly
  • you can input an IO monad to execute it directly, e.g. move instead of move()
  • support Ctrl+C to abort running process
  • support Ctrl+P to print call stack
  • support Ctrl+U to clean current line
  • support Ctrl+L to clean screen
  • persistent command history
  • you can customize your own repl style by modifing _replStyle variable
• provide a stack trace mechanism to help debugging
  • you can manually mark functions which you want it to appear in the stack trace

Document

Single Turtle APIs

• absolute coord based api
  • implementation ideas
    • get init pos & facing & aiming via gps
    • maintains current pos & facing & aiming locally
  • basic concepts
    • turtle's workMode:
      • workMode.destroy: whether auto dig when move blocked
      • workMode.violence: whether auto attack when move blocked
      • workMode.retrySeconds: time to retry when move blocked by other turtles
    • turtle's workState:
      • workState.pos: turtle's current gps position
      • workState.facing: turtle's current facing direction: E/S/W/N
      • workState.aiming: turtle's current aiming height: 1/0/-1
    • about the "tank model" of turtle's state
      • the turtle's state description method is inspired by tank
      • a tank can rotate it's body and it's gun, same as the turtle
      • a turtle's body can face to one of the four horizontal dir
      • a turtle's gun (just image it) can aim to up/front/down
      • so a turtle have 4 * 3 = 12 different state at each position
      • the st apis will reference the facing and aiming state to work
    • pos:
      • short for "position"
      • means a vector with three integer coord value
    • dir:
      • short for "direction"
      • means a unit vector parallel to one of the three axis
      • there are 4 horizontal directions: E/S/W/N and 2 vertical: U/D
      • all directions can be found in const.dir, e.g. const.dir.U
  • usage description
    • turn.to(d): turn to face/aim direction d
    • move: move toward the aiming direction
    • dig: dig toward the aiming direction
• provide high level combinators to construct complex logic
  • usage description
    • io1 * io2: if io1 succeed then execute io2
    • io1 + io2: if io1 failed then execute io2
    • io ^ n: replicate io for n times
    • rep(io): repeat io until it fail
    • retry(io): retry io until it success, with sleep interval increased
    • retry(t)(io): retry io for t seconds
    • try(io): execute io and always return true
    • -io: execute io and reverse the success/fail result
    • scan(area, mainDir)(io): scan an area, and execute a specific action at each pos
• advanced move apis which support obstacle avoidance
  • implementation idea
    • inspired by the wall-following algorithm for 2-dimensional maze
    • first, we attempt to approach the destPos until blocked
    • second, we choose a detourPlane to detour following wall until closer
    • we repeat the above two steps until we arrive the destPos
  • usage description
    • move.to(destPos): go to destPos
    • move.go(destVec): go to workState.pos + destVec

Get the code

git clone https://github.com/luochen1990/smart-turtle
cd smart-turtle
cat src/* > st.lua

The st.lua file is a standalone file which you can run on turtle directly.

Todo

Single Turtle:

• digAll(): dig all connected blocks which satisfy a specific condition in front of the turtle
• search(): a generalized version of digAll, search all connected blocks which satisfy a specific condition and execute a specific action facing such a position
• copy(): scan around a building and generate a blueprint, which can later be used to paste to somewhere else
• paste(): paste a blueprint here, note that the turtle's current pos and dir will affect the pos and dir of the building

Turtle Swarm:

• control center: a specific server which maintain swarm state and send control instructions to turtle workers
• task: a task is failable and retryable, it cannot be split anymore, and can only have one turtle working on it at a specific time
• job: a job is just like a function when given number of workers returns a list of task
• logistic station: a container, such as chest, which allows turtles suck or drop facing it