From 1ea1bb7c9ea5a3452ac00ce61ea60719bcac6d4d Mon Sep 17 00:00:00 2001
From: hkc <hatkidchan@gmail.com>
Date: Fri, 12 Jan 2024 21:15:52 +0300
Subject: [PATCH] RC turtle when

---
 turtos/ctrl.lua    | 66 ++++++++++++++++++++++++++++++++++++++++++++++
 turtos/main.lua    | 62 +++++++++++++++++++++++++++++++++++++++++--
 turtos/update.json |  4 +--
 3 files changed, 128 insertions(+), 4 deletions(-)
 create mode 100644 turtos/ctrl.lua

diff --git a/turtos/ctrl.lua b/turtos/ctrl.lua
new file mode 100644
index 0000000..1ca65e2
--- /dev/null
+++ b/turtos/ctrl.lua
@@ -0,0 +1,66 @@
+local wlan = peripheral.find("modem", function(addr, modem)
+    return modem.isWireless()
+end)
+
+if not wlan then error("no wireless interface") end
+
+wlan.open(9999)
+
+local respondedTurtles = {}
+local keyStates = {}
+
+parallel.waitForAny(
+function()
+    while true do
+        local ev, keycode, repeating = os.pullEvent()
+        if ev == "key" then keyStates[keycode] = true
+        elseif ev == "key_up" then keyStates[keycode] = false
+        end
+
+        if keycode == keys.up then
+            wlan.transmit(9999, 9999, { _ = "move", dir = "fwd", dig = keyStates[keys.leftShift] })
+        elseif keycode == keys.down then
+            wlan.transmit(9999, 9999, { _ = "move", dir = "bck" })
+        elseif keycode == keys.left then
+            wlan.transmit(9999, 9999, { _ = "move", dir = "rotl" })
+        elseif keycode == keys.right then
+            wlan.transmit(9999, 9999, { _ = "move", dir = "rotr" })
+        elseif keycode == keys.pageUp then
+            wlan.transmit(9999, 9999, { _ = "move", dir = "up", dig = keyStates[keys.leftShift] })
+        elseif keycode == keys.pageDown then
+            wlan.transmit(9999, 9999, { _ = "move", dir = "down", dig = keyStates[keys.leftShift] })
+        end
+    end
+end,
+
+function()
+    while true do
+        local _, side, chan, rchan, data, dist = os.pullEvent("modem_message")
+        if chan == 9999 and rchan == chan then
+            if data._ == "WakeUp" then
+                respondedTurtles[data.from] = { true, "Hello!" }
+            elseif data._ == "Ack" then
+                respondedTurtles[data.from] = { true, "Got it" }
+            elseif data._ == "Error" then
+                respondedTurtles[data.from] = { false, data.error }
+            elseif data._ == "Result" then
+                respondedTurtles[data.from] = { true, data.out}
+            end
+        end
+    end
+end,
+
+function()
+    while true do
+        os.pullEvent()
+        term.setCursorPos(1, 1)
+        for id, res in pairs(respondedTurtles) do
+            term.write(string.format("%5d => ", id))
+            term.setTextColor(res[1] and colors.green or colors.red)
+            term.write(res[1] and "[ OK ] " or "[FAIL] ")
+            term.write(tostring(res[2]))
+            term.setTextColor(colors.white)
+        end
+    end
+end
+)
diff --git a/turtos/main.lua b/turtos/main.lua
index 8ea1b07..a92cd05 100644
--- a/turtos/main.lua
+++ b/turtos/main.lua
@@ -1,2 +1,60 @@
-turtle.up()
-turtle.down()
+local wlan = peripheral.find("modem", function(addr, modem)
+    return modem.isWireless()
+end)
+
+if not wlan then error("no wireless interface") end
+
+wlan.open(9999)
+
+local ID = os.getComputerID()
+
+wlan.transmit(9999, 9999, {
+    ["_"] = "WakeUp",
+    ["from"] = ID
+})
+
+parallel.waitForAll(function()
+    while true do
+        local _, side, chan, rchan, data, dist = os.pullEvent("modem_message")
+        if chan == 9999 and chan == rchan then
+            if data._ == "move" then
+                wlan.transmit(rchan, chan, { ["_"] = "Ack", ["from"] = ID })
+                if data.tgt == nil or data.tgt == ID then
+                    local out = { false, "Invalid direction: " .. data.dir }
+                    if data.dig then
+                        if data.dir == "fwd" and turtle.detect() then turtle.dig()
+                        elseif data.dir == "down" and turtle.detectDown() then turtle.digDown()
+                        elseif data.dir == "up" and turtle.detectUp() then turtle.digUp()
+                        end
+                    end
+                    if     data.dir == "fwd"  then out = { turtle.forward() }
+                    elseif data.dir == "bck"  then out = { turtle.back() }
+                    elseif data.dir == "up"   then out = { turtle.up() }
+                    elseif data.dir == "down" then out = { turtle.down() }
+                    elseif data.dir == "rotl" then out = { turtle.turnLeft() }
+                    elseif data.dir == "rotr" then out = { turtle.turnRight() }
+                    end
+                    if not out[1] then
+                        wlan.transmit(rchan, chan, {
+                            ["_"] = "Error",
+                            ["from"] = ID,
+                            ["error"] = out[2]
+                        })
+                    else
+                        wlan.transmit(rchan, chan, {
+                            ["_"] = "Result",
+                            ["from"] = ID,
+                            ["out"] = out
+                        })
+                    end
+                end
+            elseif data._ == "shutdown" then
+                wlan.transmit(rchan, chan, { ["_"] = "Ack", ["from"] = ID })
+                os.shutdown()
+            elseif data._ == "reboot" then
+                wlan.transmit(rchan, chan, { ["_"] = "Ack", ["from"] = ID })
+                os.reboot()
+            end
+        end
+    end
+end)
diff --git a/turtos/update.json b/turtos/update.json
index cab6a97..4e8cde5 100644
--- a/turtos/update.json
+++ b/turtos/update.json
@@ -1,7 +1,7 @@
 {
   "ver": "0.0.1",
   "files": [
-    { "src": "startup.lua", "dst": "/startup.lua" },
-    { "src": "main.lua", "dst": "/main.lua" }
+    { "src": "/startup.lua", "dst": "/startup.lua" },
+    { "src": "/main.lua", "dst": "/main.lua" }
   ]
 }