feat: first version of inferium harvester

inferium-harvester.lua

@@ -0,0 +1,174 @@
+local config = {
+  length = 8
+  firstCropZ = 2
+}
+
+local MIN_FUEL_NEEDED = (10 + config.firstCropZ + config.length) * 2
+
+local VERSION = "0.1.0"
+local IDLE_TIME = 2
+
+local turtleUtils = require('libs/turtle-utils')
+
+-- UTILS
+local function waitForMatureCrop()
+  return turtleUtils.waitFor(function()
+    return turtleUtils.isMatureCrop(turtle.inspectDown)
+  end, IDLE_TIME)
+end
+
+local function assertEnoughFuel()
+  if turtle.getFuelLevel() < MIN_FUEL_NEEDED then
+    error('Not enough fuel')
+  end
+end
+
+local function retrieveChestFuelOrientation()
+  local inventoryFound = false
+
+  for i=1, 4, 1 do
+    if turtleUtils.getInventory('front') then
+      inventoryFound = true
+      break
+    end
+
+    turtle.turnRight()
+  end
+
+  if not inventoryFound then
+    error('chest fuel not found')
+  end
+end
+
+-- Implementations
+local function retrieveHomePositionProcedure()
+  if turtleUtils.getInventory('bottom') then
+    retrieveChestFuelOrientation()
+    turtle.turnLeft()
+  end
+
+  turtle.turnRight()
+
+  if turtle.inspect() then
+    turtle.turnRight()
+  end
+
+  while true do
+    if turtleUtils.getInventory('bottom') then
+      return
+    end
+
+    if turtle.inspect() then
+      break
+    else
+      turtle.forward()
+    end
+  end
+
+  turtle.turnLeft()
+  turtle.turnLeft()
+
+  while true do
+    if turtleUtils.getInventory('bottom') then
+      return
+    end
+
+    if turtle.inspect() then
+      error('Cannot retrieve home position')
+    else
+      turtle.forward()
+    end
+  end
+end
+
+local function dropAllProcedure()
+  for i=1, 16, 1 do
+    local count = turtle.getItemCount(i)
+
+    if count > 0 then
+      while not turtleUtils.dropSlot(i, turtle.dropDown) do
+        os.sleep(IDLE_TIME)
+      end
+    end
+  end
+end
+
+local function refuelProcedure()
+  turtle.turnLeft()
+  turtleUtils.waitForInventory('front')
+  turtleUtils.refuel(MIN_FUEL_NEEDED, turtle.suck)
+  turtle.turnLeft()
+end
+
+local function goToHarvestPoint()
+  for i=1, config.firstCropZ, 1 do
+    turtle.forward()
+  end
+end
+
+local function goBackToHome()
+  for i=1, config.firstCropZ - 1, 1 do
+    turtle.forward()
+  end
+end
+
+local function harvestDown()
+  local cropName = waitForMatureCrop()
+
+  if not turtle.digDown() then
+    error('turtle cannot harvest crop')
+  end
+
+  if not turtleUtils.selectItemByName(cropName) then
+    error('turtle cannot find any crop to place')
+  end
+
+  if not turtleUtils.placeDown() then
+    error('turtle cannot place crop')
+  end
+end
+
+local function forward()
+  if not turtle.forward() then
+    error('turtle is blocked')
+  end
+end
+
+local function harvestProcedure()
+  for i=1, config.length, 1 do
+    harvestDown()
+    forward()
+  end
+
+  turtle.turnLeft()
+  turtle.turnLeft()
+
+  for i=1, config.length, 1 do
+    harvestDown()
+    forward()
+  end
+end
+
+-- Main procedure
+local function main()
+  print("Starting Trap's inferium harvester v" .. VERSION)
+
+  turtleUtils.refuelAllFromInventory()
+  assertEnoughFuel()
+
+  print("> retrieving home position")
+  retrieveHomePositionProcedure()
+
+  print("> start the harvesting process")
+
+  while true do
+    dropAllProcedure()
+    refuelProcedure()
+
+    goToHarvestPoint()
+    harvestProcedure()
+    goBackToHome()
+  end
+end
+
+main()

install.lua

@@ -1,7 +1,8 @@
 local LIST_FILES = {
   'miner.lua',
   'old/simple-harvester.lua',
-  'inferium-upgrader.lua'
+  'inferium-upgrader.lua',
+  'inferium-harvester.lua'
 };
 
 local LIST_LIBS_FILES = {

libs/turtle-utils.lua

@@ -1,45 +1,102 @@
 local turtleUtils = {}
 
-local IDLE_TIME = 2
+local DEFAULT_IDLE_TIME = 2
 
-turtleUtils.waitForInventory = function(side)
+turtleUtils.getInventory = function(side)
-  local inv = nil
+  side = side or 'front'
+  local inv = peripheral.wrap(side)
 
-  while true do
+  if peripheral.hasType(inv, 'inventory') then
-    inv = peripheral.wrap(side)
+    return inv
-
-    if inv and peripheral.hasType(inv, 'inventory') then
-      break
-    end
-
-    os.sleep(IDLE_TIME)
   end
 
-  return inv
+  return nil
+end
+
+function waitFor(predicate, sleepTime)
+  sleepTime = sleepTime or DEFAULT_IDLE_TIME
+
+  while true do
+    local result = predicate()
+
+    if result ~= nil and result ~= false then
+      return result
+    end
+
+    os.sleep(sleepTime)
+  end
+end
+
+turtleUtils.waitForInventory = function(side, sleepTime)
+  return waitFor(function()
+    return turtleUtils.getInventory(side)
+  end, sleepTime)
+end
+
+turtleUtils.trySuck = function(suckFn, sleepTime)
+  suckFn = suckFn or turtle.suck
+  sleepTime = sleepTime or DEFAULT_IDLE_TIME
+
+  while not suckFn() do
+    os.sleep(sleepTime)
+  end
 end
 
 turtleUtils.trySuckUp = function()
-  while not turtle.suckUp() do
+  return turtleUtils.trySuck(turtle.suckUp)
-    os.sleep(IDLE_TIME)
-  end
 end
 
-turtleUtils.tryDrop = function()
+turtleUtils.trySuckDown = function()
+  return turtleUtils.trySuck(turtle.suckDown)
+end
+
+turtleUtils.tryDrop = function(dropFn, sleepTime)
+  dropFn = dropFn or turtle.drop
+  sleepTime = sleepTime or DEFAULT_IDLE_TIME
+
   while true do
     if turtle.getItemCount() == 0 then
       return false
     end
 
-    local dropOk = turtle.drop();
+    local dropOk = dropFn();
 
     if (dropOk) then
       return true
     end
 
-    os.sleep(IDLE_TIME)
+    os.sleep(sleepTime)
   end
 end
 
+turtleUtils.tryDropUp = function()
+  return turtleUtils.tryDrop(turtle.dropUp)
+end
+
+turtleUtils.tryDropDown = function()
+  return turtleUtils.tryDrop(turtle.dropDown)
+end
+
+turtleUtils.dropSlot = function(slotIndex, dropFn)
+  dropFn = dropFn or turtle.drop
+
+  if turtle.getItemCount(slotIndex) == 0 then
+    return false
+  end
+
+  if turtle.getSelectedSlot() ~= slotIndex then
+    turtle.select(slotIndex)
+  end
+
+  local ok, err = dropFn()
+
+  if not ok then
+    return false
+  end
+
+  return true
+end
+
 turtleUtils.digAll = function()
   while turtle.dig() do end
 end
@@ -60,4 +117,73 @@ turtleUtils.getFuelPercentage = function()
   return (turtle.getFuelLevel() / turtle.getFuelLimit()) * 100
 end
 
+turtleUtils.isMatureCrop = function(inspectFn)
+  inspectFn = inspectFn or turtle.inspect
+
+  return function()
+    local isBlock, block = inspectFn()
+    local blockStateAge = block and block.state and block.state.age
+    return blockStateAge == 7
+  end
+end
+
+turtleUtils.selectFirstEmptySlot = function()
+  for i = 1, 16, 1 do
+    if turtle.getItemCount(i) == 0 then
+      turtle.select(i)
+      return true
+    end
+  end
+
+  return false
+end
+
+turtleUtils.selectItemByName = function(itemName)
+  for i = 1, 16, 1 do
+    local item = turtle.getItemDetail(i)
+
+    if item and item.name == itemName then
+      turtle.select(i)
+      return true
+    end
+  end
+
+  return false
+end
+
+turtleUtils.refuel = function(minFuel, suckFn)
+  suckFn = suckFn or turtle.suck
+
+  if not turtleUtils.selectFirstEmptySlot() then
+    return false
+  end
+
+  while turtle.getFuelLevel() < minFuel do
+    suckFn()
+
+    local ok = turtle.refuel()
+
+    if not ok then
+      return false
+    end
+  end
+
+  return true
+end
+
+turtleUtils.refuelAllFromInventory = function()
+  local initialSelectedSlot = turtle.getSelectedSlot()
+
+  for i=1, 16, 1 do
+    if turtle.getItemCount(i) > 0 then
+      turtle.select(i)
+      turtle.refuel()
+    end
+  end
+
+  if turtle.getSelectedSlot() ~= initialSelectedSlot then
+    turtle.select(initialSelectedSlot)
+  end
+end
+
 return turtleUtils