feat!: persist miner state

miner.lua

@@ -4,8 +4,6 @@ local config = require('config-miner')
 
 local LOWER_SIZE_LIMIT = 2;
 local HIGHER_SIZE_LIMIT = 128;
-local FUEL_NEEDED_MULTIPLIER = 4
-local ADDITIONAL_FUEL_NEEDED = 1024
 
 local INITIAL_TARGET_Y = config.targetY - config.startY
 local TARGET_Z = config.size - 1
@@ -15,18 +13,60 @@ local MAX_X = TARGET_X
 local MAX_Y = INITIAL_TARGET_Y + (config.height - 1)
 local MAX_Z = TARGET_Z
 
-local robot = robotApi.create()
-
 local MIN_PERCENTAGE_NEEDED = 10
 
 local miner = {
-  robot = robot,
+  robot = robotApi.create(),
   mission = 'unload', -- "unload" | "refuel" | "mine" | "return-home" | "return-mine" | nil
   finished = false,
   lastPositionState = nil, -- { x, y, z, dir }
   targetY = INITIAL_TARGET_Y
 }
 
+local function saveMinerState()
+  local minerState = {
+    robotState = miner.robot.getState(),
+    mission = miner.mission,
+    finished = miner.finished,
+    lastPositionState = miner.lastPositionState,
+    targetY = miner.targetY
+  }
+
+  local file = fs.open('.minerstate', 'w')
+
+  if not file then
+    error('saveMinerState: cannot open .minerstate file!')
+  end
+
+  file.write(textutils.serialize(minerState))
+  file.close()
+end
+
+local function loadMinerState()
+  local file = fs.open('.minerstate', 'r')
+
+  if not file then
+    return
+  end
+
+  local serializedMinerState = file.readAll()
+  file.close()
+
+  local minerState = unserialize(serializedMinerState)
+
+  miner = {
+    robot = robotApi.create(minerState.robotState),
+    mission = minerState.mission,
+    finished = minerState.finished,
+    lastPositionState = minerState.lastPositionState,
+    targetY = minerState.targetY
+  }
+end
+
+local function cleanupMinerState()
+  fs.delete('.minerstate')
+end
+
 local function isOdd(x)
   return (x % 2) == 1
 end
@@ -43,6 +83,30 @@ local function robotForceForward()
   return miner.robot.forward()
 end
 
+local function robotForceDown()
+  local ok = miner.robot.down()
+
+  if ok then
+    return ok
+  end
+
+  turtle.digDown()
+
+  return miner.robot.down()
+end
+
+local function robotForceUp()
+  local ok = miner.robot.up()
+
+  if ok then
+    return ok
+  end
+
+  turtle.digUp()
+
+  return miner.robot.up()
+end
+
 local function checkConfig()
   if config.targetY >= config.startY then
     error('targetY should be lower than startY')
@@ -65,8 +129,16 @@ local function checkConfig()
   end
 end
 
-local function prepareTurtle()
+local function minerStarted()
+  checkConfig()
   turtle.select(1)
+  loadMinerState()
+  print("> Miner program started, minimum percentgae fuel needed: " .. MIN_PERCENTAGE_NEEDED)
+end
+
+local function minerFinished()
+  cleanupMinerState()
+  print("> Miner program finished!")
 end
 
 local function isProgramFinished()
@@ -119,11 +191,11 @@ local function returnMineProcedure()
     return
   end
 
-  if robot.lastPositionState then
+  if miner.robot.lastPositionState then
     local robotState = miner.robot.getState()
 
     if robotState.y > miner.lastPositionState.y then
-      miner.robot.down()
+      robotForceDown()
     elseif robotState.z < miner.lastPositionState.z then
       robotForceForward()
     else
@@ -131,10 +203,12 @@ local function returnMineProcedure()
 
       for i=1, miner.lastPositionState.x, 1 do
         robotForceForward()
+        saveMinerState()
       end
 
       while miner.robot.getState().dir ~= miner.lastPositionState.dir do
         miner.robot.turnRight()
+        saveMinerState()
       end
 
       miner.mission = 'mine'
@@ -144,6 +218,8 @@ local function returnMineProcedure()
     miner.mission = 'mine'
     print('> Starting mining procedure...')
   end
+
+  saveMinerState()
 end
 
 local function mineProcedure()
@@ -154,7 +230,7 @@ local function mineProcedure()
   -- 1. Move
   if robotState.y > targetY then
     turtle.digDown()
-    miner.robot.down()
+    robotForceDown()
   elseif robotState.dir == 'FORWARD' and robotState.z < targetZ then
     turtleUtils.digAll()
     robotForceForward()
@@ -185,11 +261,12 @@ local function mineProcedure()
 
     for i=1, config.size - 1, 1 do
       robotForceForward()
+      saveMinerState()
     end
 
     miner.robot.turnRight()
     -- mine the next stage
-    miner.robot.up()
+    robotForceUp()
     miner.targetY = miner.targetY + 1
   end
 
@@ -197,7 +274,13 @@ local function mineProcedure()
     print('> Starting return home procedure because inventory is almost full...')
     miner.mission = 'return-home'
     miner.lastPositionState = miner.robot.getState()
+  elseif turtleUtils.getFuelPercentage() <= 1 then
+    print('> Starting return home procedure because there is less than 1% of fuel...')
+    miner.mission = 'return-home'
+    miner.lastPositionState = miner.robot.getState()
   end
+
+  saveMinerState()
 end
 
 local function returnHomeProcedure()
@@ -210,7 +293,7 @@ local function returnHomeProcedure()
       miner.robot.turnRight()
     end
 
-    miner.robot.up()
+    robotForceUp()
   elseif robotState.x > 0 then
     if robotState.dir == 'FORWARD' then
       miner.robot.turnLeft()
@@ -220,6 +303,7 @@ local function returnHomeProcedure()
 
     for i=1, robotState.x, 1 do
       robotForceForward()
+      saveMinerState()
     end
 
     miner.robot.turnLeft()
@@ -231,13 +315,11 @@ local function returnHomeProcedure()
     miner.robot.turnLeft()
     miner.robot.turnLeft()
   end
+
+  saveMinerState()
 end
 
-
-checkConfig()
-prepareTurtle()
-
-print("> Miner program started, minimum percentgae fuel needed: " .. MIN_PERCENTAGE_NEEDED)
+minerStarted()
 
 while not isProgramFinished() do
   if miner.mission == 'unload' then
@@ -253,4 +335,4 @@ while not isProgramFinished() do
   end
 end
 
-print("> Miner program finished!")
+minerFinished()