add robot prototype

bricks/special/robot-init.lua

@@ -0,0 +1,12 @@
+
+return function(gate)
+	gate.brickcolor = 0
+	gate.brickcolorfx = 0
+	gate.brickshapefx = 0
+	gate.brickray = 0
+	gate.brickcol = 0
+	gate.brickren = 0
+	gate.waiting = true
+	gate.robotpos = {0, 0, 0}
+	gate.robotdir = 0
+end

bricks/special/robot-input.lua

@@ -0,0 +1,31 @@
+
+local function intToPort(gate, port, len, v)
+	for i = 1, len do
+		local p = math.pow(2, i-1)
+		Gate.setportstate(gate, port+i-1, math.floor(v/p)%2)
+	end
+end
+
+return function(gate, argv)
+	for word in argv[1]:gmatch("[^\t]+") do
+		local first, rest = word:sub(1, 1), word:sub(2, #word)
+		local vec = {}
+		for a in rest:gmatch("[^ ]+") do table.insert(vec, tonumber(a) or error("invalid number "..a)) end
+		if first=="P" then -- set position
+			assert(#vec==3, "invalid position given to robot: "..word)
+			brick.robotpos = vec
+		elseif first=="B" then -- detected brick info
+			assert(#vec==7, "invalid brick info given to robot: "..word)
+			gate.brickexists  = vec[1]
+			gate.brickcolor   = vec[2]
+			gate.brickcolorfx = vec[3]
+			gate.brickshapefx = vec[4]
+			gate.brickray     = vec[5]
+			gate.brickcol     = vec[6]
+			gate.brickren     = vec[7]
+			intToPort(gate, 15, 6, gate.brickcolor)
+			Gate.setportstate(gate, 21, gate.brickexists)
+		else error("invalid control word given to robot: "..word) end
+	end
+	gate.waiting = false
+end

bricks/special/robot-update.lua

@@ -0,0 +1,63 @@
+
+local function intFromPort(gate, port, len)
+	local v = 0
+	for i = 1, len do
+		v = v + Gate.getportstate(gate, port+i-1)*math.pow(2, i-1)
+	end
+	return v
+end
+
+local function rotateVector(vec, rot)
+	if     rot==0 then return { vec[1],  vec[2], vec[3]}
+	elseif rot==1 then return { vec[2], -vec[1], vec[3]}
+	elseif rot==2 then return {-vec[1], -vec[2], vec[3]}
+	elseif rot==3 then return {-vec[2],  vec[1], vec[3]}
+	else error("invalid rot "..rot) end
+end
+
+return function(gate)
+	if not gate.waiting then
+		local action = ""
+		if Gate.getportstate(gate, 7)~=0 then -- remove brick
+			action = action.."R\t"
+		end
+		if Gate.getportstate(gate, 8)~=0 then -- plant brick
+			local color = intFromPort(gate, 1, 6)
+			local colorfx = 0
+			local shapefx = 0
+			local ray = 1
+			local col = 1
+			local ren = 1
+			action = action.."P "..color.." "..colorfx.." "..shapefx.." "..ray.." "..col.." "..ren.."\t"
+		end
+		if Gate.getportstate(gate, 22)~=0 then -- detect brick
+			action = action.."D\t"
+		end
+		
+		local movePos = {0, 0, 0}
+		if Gate.getportstate(gate,  9)~=0 then movePos[3] = movePos[3]-1 end -- down
+		if Gate.getportstate(gate, 10)~=0 then movePos[3] = movePos[3]+1 end -- up
+		if Gate.getportstate(gate, 11)~=0 then movePos[3] = movePos[1]+1 end -- right
+		if Gate.getportstate(gate, 12)~=0 then movePos[3] = movePos[1]-1 end -- left
+		if Gate.getportstate(gate, 13)~=0 then movePos[3] = movePos[2]-1 end -- back
+		if Gate.getportstate(gate, 14)~=0 then movePos[3] = movePos[2]+1 end -- fore
+		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
+			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"
+		end
+		if moveRotation~=0 then
+			action = action.."A "..gate.robotdir.."\t"
+		end
+		
+		if action~="" then
+			Gate.cb(gate, action:sub(1, #action-1))
+			gate.waiting = true
+		end
+	end
+end

bricks/special/robot.cs

@@ -28,7 +28,7 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
 	
 	logicInit   = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-init.lua"  );
 	logicUpdate = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-update.lua");
-	logicGlobal = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-global.lua");
+	logicInput  = lualogic_readfile($LuaLogic::Path @ "bricks/special/robot-input.lua" );
 	
 	logicUIName = "Robot Controller";
 	logicUIDesc = "Creates and controls a mobile robot that can detect and place bricks";
@@ -146,124 +146,107 @@ datablock fxDTSBrickData(LogicGate_RobotController_Data) {
 	logicPortUIName[21] = "Detect Brick";
 };
 
-function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec)
+function LogicGate_RobotController_Data::LuaLogic_Callback(%this, %brick, %data) {
-{
+	%robot = %brick.luaLogicRobot;
-	%rot = %obj.angleID;
+	if(!isObject(%robot)) { talk("brick " @ %brick @ " has no robot!"); return; }
-	%x = getWord(%vec, 0);
-	%y = getWord(%vec, 1);
-	%z = getWord(%vec, 2);
-	%ax = %x;
-	switch(%rot)
-	{
-		case 1:
-			%x = %y;
-			%y = -%ax;
-		case 2:
-			%x = -%x;
-			%y = -%y;
-		case 3:
-			%x = -%y;
-			%y = %ax;
-	}
-
-	return %x SPC %y SPC %z;
-}
-
-function LogicGate_RobotController_Data::onDeath(%this, %obj)
-{
-	if(isObject(%obj.illogicRobot))
-		%obj.illogicRobot.delete();
-}
-
-function LogicGate_RobotController_Data::onRemove(%this, %obj)
-{
-	if(isObject(%obj.illogicRobot))
-		%obj.illogicRobot.delete();
-}
-
-function LogicGate_RobotController_Data::doLogic(%this, %obj)
-{
-	%x = (!$LBC::Ports::LastBrickState[%obj, 10] && $LBC::Ports::BrickState[%obj, 10]) - (!$LBC::Ports::LastBrickState[%obj, 11] && $LBC::Ports::BrickState[%obj, 11]);
-	%y = (!$LBC::Ports::LastBrickState[%obj, 13] && $LBC::Ports::BrickState[%obj, 13]) - (!$LBC::Ports::LastBrickState[%obj, 12] && $LBC::Ports::BrickState[%obj, 12]);
-	%z = (!$LBC::Ports::LastBrickState[%obj, 9] && $LBC::Ports::BrickState[%obj, 9]) - (!$LBC::Ports::LastBrickState[%obj, 8] && $LBC::Ports::BrickState[%obj, 8]);
-	%vec = %this.getRelativeVector(%obj, %x*0.5 SPC %y*0.5 SPC %z*0.2);
-
-	%robot = %obj.illogicRobot;
-
-	if(%vec !$= "0 0 0")
-		%robot.setTransform(vectorAdd(%robot.getPosition(), %vec));
-
 	%pos = %robot.getPosition();
 	
-	if(!$LBC::Ports::LastBrickState[%obj, 21] && $LBC::Ports::BrickState[%obj, 21])
+	initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickAlwaysObjectType);
-	{
+	%tbrick = containerSearchNext();
-		initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickObjectType);
-		if(isObject(%sobj = containerSearchNext()))
-		{
-			%obj.Logic_SetOutput(20, true);
 	
-			%color = %sobj.getColorID();
+	%output = "";
-			for(%i = 0; %i < 6; %i++)
-				%obj.Logic_SetOutput(14+%i, (%color >> %i) & 1);
 	
-			%obj.illogicRobotBrick = %sobj;
+	for(%i=0; %i<getFieldCount(%data); %i++) {
-		}
+		%field = getField(%data, %i);
-		else
+		%first = getWord(%field, 0);
-		{
-			%obj.Logic_SetOutput(20, false);
 		
-			for(%i = 0; %i < 6; %i++)
+		if(%first $= "R" || %first $= "D") { // remove / detect brick
-				%obj.Logic_SetOutput(14+%i, false);
+			if(isObject(%tbrick)) {
-
+				if(%first $= "D") {
-			%obj.illogicRobotBrick = 0;
+					%field = "B" SPC
+						%tbrick.getColorId() SPC
+						%tbrick.getColorFxID() SPC
+						%tbrick.getShapeFxId() SPC
+						%tbrick.isRaycasting() SPC
+						%tbrick.isColliding() SPC
+						%tbrick.isRendering();
+					%output = %output @ %field @ "\t";
+				} else if(%first $= "R") {
+					%tbrick.schedule(0, delete);
 				}
 			}
-
+		} else if(%first $= "P") { // plant brick
-	if(!$LBC::Ports::LastBrickState[%obj, 6] && $LBC::Ports::BrickState[%obj, 6])
+			%nbrick = new fxDTSBrick() {
-	{
-		initContainerBoxSearch(%pos, "0.49 0.49 0.19", $TypeMasks::FxBrickObjectType);
-		if(isObject(%sobj = containerSearchNext()) && %sobj.getGroup() == nameToID(LuaLogic_RobotBrickGroup))
-			%sobj.delete();
-	}
-
-	if(!$LBC::Ports::LastBrickState[%obj, 7] && $LBC::Ports::BrickState[%obj, 7])
-	{
-		for(%i = 0; %i < 6; %i++)
-			%color += mPow(2, %i) * $LBC::Ports::BrickState[%obj, %i];
-
-		%brick = new fxDTSBrick()
-		{
 				datablock = brick1x1fData;
 				position = %pos;
-			colorID = %color;
+				colorId   = getWord(%field, 1);
+				colorFxId = getWord(%field, 2);
+				shapeFxId = getWord(%field, 3);
 				isPlanted = 1;
 			};
 			
-		%err = %brick.plant();
+			%err = %nbrick.plant();
-		if(%err != 0 && %err != 2)
+			if(%err != 0 && %err != 2) {
-			%brick.delete();
+				%nbrick.delete();
-		else
+			} else {
-		{
+				%nbrick.setRaycasting(getWord(%field, 4));
-			LuaLogic_RobotBrickGroup.add(%brick);
+				%nbrick.setColliding (getWord(%field, 5));
-			%brick.setTrusted(true);
+				%nbrick.setRendering (getWord(%field, 6));
+				
+				LuaLogic_RobotBrickGroup.add(%nbrick);
+				%nbrick.setTrusted(1);
 			}
 		}
+	}
+	
+	lualogic_sendinput(%brick, 1, trim(%output));
 }
 
-function LogicGate_RobotController_Data::Logic_onGateAdded(%this, %obj)
+function LogicGate_RobotController_Data::getRelativeVector(%this, %obj, %vec) {
-{
+	%rot = %obj.angleID;
-	if(isObject(%obj.illogicRobot))
+	%x = getWord(%vec, 0); %y = getWord(%vec, 1); %z = getWord(%vec, 2);
-		%obj.illogicRobot.delete();
+	%ax = %x;
+	switch(%rot) {
+		case 1: %x =  %y; %y = -%ax;
+		case 2: %x = -%x; %y = -%y ;
+		case 3: %x = -%y; %y =  %ax;
+	}
+	return %x SPC %y SPC %z;
+}
+
+function LogicGate_RobotController_Data::createRobot(%this, %obj) {
+	if(isObject(%obj.luaLogicRobot))
+		%obj.luaLogicRobot.delete();
 	
 	%pos = %obj.getPosition();
 	%rpos = vectorAdd(%pos, %this.getRelativeVector(%obj, "0.25 7.75 0"));
-	%robot = new StaticShape()
+	%robot = new StaticShape() {
-	{
+		datablock = LuaLogic_RobotShapeData;
-		datablock = LuaLogic_BrickData;
 		position = %rpos;
 	};
 	%robot.setNodeColor("ALL", "1 1 1 1");
 	missionCleanup.add(%robot);
 	
-	%obj.illogicRobot = %robot;
+	%obj.luaLogicRobot = %robot;
+	
+	lualogic_sendinput(%brick, 1, "P" @ %rpos);
+}
+
+function LogicGate_RobotController_Data::onDeath(%this, %obj) {
+	if(isObject(%obj.luaLogicRobot))
+		%obj.luaLogicRobot.delete();
+}
+
+function LogicGate_RobotController_Data::onRemove(%this, %obj) {
+	if(isObject(%obj.luaLogicRobot))
+		%obj.luaLogicRobot.delete();
+}
+
+function LogicGate_RobotController_Data::onPlant(%this, %obj) {
+	if(!isObject(%obj.luaLogicRobot))
+		%this.createRobot(%obj);
+}
+function LogicGate_RobotController_Data::onLoadPlant(%this, %obj) {
+	if(!isObject(%obj.luaLogicRobot))
+		%this.createRobot(%obj);
 }

bricks/special/rom.cs

@@ -30,17 +30,19 @@ package lualogic_rom_update {
 };
 schedule(0, 0, activatePackage, lualogic_rom_update);
 
-function lualogic_rom_updatebrick(%brick, %instant) {
+function lualogic_rom_updatebrick(%brick) {
 	cancel(%brick.lualogic_rom_updatebrick_schedule);
-	if(%instant) lualogic_rom_updatebrick_final(%brick);
+	%brick.lualogic_rom_updatebrick_schedule = schedule(100, 0, lualogic_rom_updatebrick_final, %brick, %brick.getWorldBox());
-	else         %brick.lualogic_rom_updatebrick_schedule = schedule(100, 0, lualogic_rom_updatebrick_final, %brick);
 }
-function lualogic_rom_updatebrick_final(%brick) {
+function lualogic_rom_updatebrick_final(%brick, %box) {
-	if(!isObject(%brick)) return;
+	if(isObject(%brick)) {
-	if(%brick.lualogic_rom_delete) { if(%brick.lualogic_rom_deletedone) return; %brick.lualogic_rom_deletedone = 1; }
+		if(%brick.lualogic_rom_delete) {
+			if(%brick.lualogic_rom_deletedone) return;
+			%brick.lualogic_rom_deletedone = 1;
+		}
+	}
 	
 	// update any roms below
-	%box = %brick.getWorldBox();
 	%boxl = getWords(%box, 0, 2); %boxlz = getWord(%boxl, 2);
 	%boxh = getWords(%box, 3, 5);
 	%boxs = vectorSub(%boxh, %boxl);
@@ -60,10 +62,12 @@ function lualogic_rom_updatebrick_final(%brick) {
 	}
 	
 	// if rom, update
+	if(isObject(%brick)) {
 		if(%brick.lualogic_rom_delete) return;
 		if(%brick.getDatablock().isLogicRom) {
 			lualogic_rom_updatedata(%brick);
 		}
+	}
 }
 
 function lualogic_rom_updatedata(%brick) {