add robot prototype

bricks/special/robot-init.lua

@@ -1,6 +1,5 @@
 
 return function(gate)
-	print("robot init")
 	gate.brickcolor = 0
 	gate.brickcolorfx = 0
 	gate.brickshapefx = 0

bricks/special/robot-input.lua

@@ -7,10 +7,7 @@ local function intToPort(gate, port, len, v)
 end
 
 return function(gate, argv)
-	print(table.concat(argv, "|\n"))
-	print("robot input")
 	local arg = argv[1]:gsub("^ +", ""):gsub(" +$", "")
-	print("\""..arg.."\"")
 	for word in arg:gmatch("[^\t]+") do
 		local first, rest = word:sub(1, 1), word:sub(2, #word)
 		local vec = {}

bricks/special/robot-update.lua

@@ -16,9 +16,7 @@ local function rotateVector(vec, rot)
 end
 
 return function(gate)
-	print("robot update")
 	if not gate.waiting then
-		print("not waiting")
 		local action = ""
 		if Gate.getportstate(gate, 7)~=0 then -- remove brick
 			action = action.."R\t"
@@ -37,33 +35,26 @@ return function(gate)
 		end
 		
 		local movePos = {0, 0, 0}
-		if Gate.getportstate(gate,  9)~=0 then movePos[3] = movePos[3]-1 end -- down
+		if Gate.getportstate(gate,  9)~=0 then movePos[3] = movePos[3]-0.2 end -- down
-		if Gate.getportstate(gate, 10)~=0 then movePos[3] = movePos[3]+1 end -- up
+		if Gate.getportstate(gate, 10)~=0 then movePos[3] = movePos[3]+0.2 end -- up
-		if Gate.getportstate(gate, 11)~=0 then movePos[3] = movePos[1]+1 end -- right
+		if Gate.getportstate(gate, 11)~=0 then movePos[1] = movePos[1]+0.5 end -- right
-		if Gate.getportstate(gate, 12)~=0 then movePos[3] = movePos[1]-1 end -- left
+		if Gate.getportstate(gate, 12)~=0 then movePos[1] = movePos[1]-0.5 end -- left
-		if Gate.getportstate(gate, 13)~=0 then movePos[3] = movePos[2]-1 end -- back
+		if Gate.getportstate(gate, 13)~=0 then movePos[2] = movePos[2]-0.5 end -- back
-		if Gate.getportstate(gate, 14)~=0 then movePos[3] = movePos[2]+1 end -- fore
+		if Gate.getportstate(gate, 14)~=0 then movePos[2] = movePos[2]+0.5 end -- forward
 		local moveRotation = 0
 		--if Gate.getportstate(gate, 13)~=0 then moveRotation = moveRotation+1 end -- right
 		--if Gate.getportstate(gate, 14)~=0 then moveRotation = moveRotation-1 end -- left
 		gate.robotdir = (gate.robotdir + moveRotation)%4
 		
-		if movePos[1]~=0 or movePos[2]~=0 or movePos[3]~=0 then
+		if movePos[1]~=0 or movePos[2]~=0 or movePos[3]~=0 or moveRotation~=0 then
 			movePos = rotateVector(movePos, gate.robotdir)
 			gate.robotpos = { gate.robotpos[1]+movePos[1], gate.robotpos[2]+movePos[2], gate.robotpos[3]+movePos[3] }
-			action = action.."M "..gate.robotpos[1].." "..gate.robotpos[2].." "..gate.robotpos[3].."\t"
+			action = action.."M "..gate.robotpos[1].." "..gate.robotpos[2].." "..gate.robotpos[3].." "..gate.robotdir.."\t"
-		end
-		if moveRotation~=0 then
-			action = action.."A "..gate.robotdir.."\t"
 		end
 		
 		if action~="" then
-			print("robot action")
-			print(action)
 			Gate.cb(gate, action:sub(1, #action-1))
 			gate.waiting = true
 		end
-	else
-		print("waiting")
 	end
 end

bricks/special/robot.cs

@@ -1,12 +1,3 @@
-if(!isObject(LuaLogic_RobotBrickGroup)) {
-	new SimGroup(LuaLogic_RobotBrickGroup)
-	{
-		bl_id = 12345678;
-		name = "\c1Robot";
-		QuotaObject = GlobalQuota;
-	};
-	mainBrickGroup.add(LuaLogic_RobotBrickGroup);
-}
 
 datablock StaticShapeData(LuaLogic_RobotShapeData) {
 	shapeFile = $LuaLogic::Path @ "bricks/special/cube.dts";
@@ -156,8 +147,6 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
 };
 
 function LogicGate_RobotController_Data::LuaLogic_Callback(%this, %brick, %data) {
-	talk("robot cb " @ %brick SPC %data);
-	
 	%robot = %brick.luaLogicRobot;
 	if(!isObject(%robot)) { talk("brick " @ %brick @ " has no robot!"); return; }
 	%pos = %robot.getPosition();
@@ -209,6 +198,12 @@ function LogicGate_RobotController_Data::LuaLogic_Callback(%this, %brick, %data)
 				LuaLogic_RobotBrickGroup.add(%nbrick);
 				%nbrick.setTrusted(1);
 			}
+		} else if(%first $= "M") { // move
+			%pos = getWords(%field, 1, 3);
+			%rot = getWord(%field, 4);
+			%robot.setTransform(%pos SPC "0 0 1" SPC (%rot*$pi/2));
+		} else {
+			talk("invalid robot callback " @ %field);
 		}
 	}
 	
@@ -227,7 +222,20 @@ function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec) {
 	return %x SPC %y SPC %z;
 }
 
+function LogicRobot_CreateBrickGroup() {
+	if(!isObject(LuaLogic_RobotBrickGroup)) {
+		new SimGroup(LuaLogic_RobotBrickGroup) {
+			bl_id = 12345678;
+			name = "\c1Robot";
+			QuotaObject = GlobalQuota;
+		};
+		mainBrickGroup.add(LuaLogic_RobotBrickGroup);
+	}
+}
+
 function LogicGate_RobotController_Data::createRobot(%this, %obj) {
+	LogicRobot_CreateBrickGroup();
+	
 	if(isObject(%obj.luaLogicRobot))
 		%obj.luaLogicRobot.delete();
 	
@@ -246,13 +254,11 @@ function LogicGate_RobotController_Data::createRobot(%this, %obj) {
 }
 
 function LogicGate_RobotController_Data::Logic_onRemove(%this, %obj) {
-	talk("robot remove");
 	if(isObject(%obj.luaLogicRobot))
 		%obj.luaLogicRobot.delete();
 }
 
 function LogicGate_RobotController_Data::Logic_onPlant(%this, %obj) {
-	talk("robot plant");
 	if(!isObject(%obj.luaLogicRobot))
 		%this.createRobot(%obj);
 }