From 68ef3b92b6656105580a8b8391d835b452921a4e Mon Sep 17 00:00:00 2001
From: D4VID <d4vid@d4vid.xyz>
Date: Tue, 26 Nov 2024 22:54:54 +0100
Subject: [PATCH] Proper lumberjack

Requires tractor beam upgrade
---
 lumberjack.lua | 148 +++++++++++++++++++++++++++++++++++++++----------
 nav.lua        |  38 +++++++++++++
 2 files changed, 158 insertions(+), 28 deletions(-)
 create mode 100644 nav.lua

diff --git a/lumberjack.lua b/lumberjack.lua
index 33d2203..f77ded5 100644
--- a/lumberjack.lua
+++ b/lumberjack.lua
@@ -1,47 +1,139 @@
-local robot = require("robot")
-local os = require("os")
+local os        = require("os")
+local robot     = require("robot")
+local component = require("component")
+local event     = require("event")
+local nav       = require("nav")
 
-local length = ...
 
-if not length then
-    print('Usage: lumberjack <length>')
+local magnet = component.tractor_beam
+
+local depth, width = ...
+
+if not depth or not width then
+    print('Usage: lumberjack <depth> <width>')
+    print('Operates in a depth x width grid of trees with 4 blocks between them')
+    print('Depth is forward, width is right')
+    print('Place stone as the 8th block above ground where a tree would grow')
+    print('Starting location of the robot is directly facing the first tree')
     return
 end
 
+depth = tonumber(depth)
+width = tonumber(width)
+
+local dir_forward = true
+local dir_right = true
+
+local pos_forward = 1
+local pos_right = 1
+
+local running = true
+
 local function mine_tree()
-    local n = 0
     robot.swing()
-    robot.forward()
+    nav.forward()
     robot.swingDown()
-    while robot.detectUp() do
+    for _ = 1, 5 do
         robot.swingUp()
-        robot.up()
-        n = n + 1
-    end
-    for _ = 1, n do
-        while not robot.down() do end
+        nav.up()
     end
+    nav.down(5)
     robot.placeDown()
+    nav.back()
 end
 
-while true do
-    for _ = 1, length do
-        if robot.detect() then
-            mine_tree()
-        else
-            while not robot.forward() do end
+local function move_depth()
+    if dir_forward then
+        if pos_forward == depth then
+            dir_forward = false
+        end
+    else
+        if pos_forward == 1 then
+            dir_forward = true
         end
-        robot.suckDown()
     end
-    robot.turnAround()
-    for _ = 1, length do
-        if robot.detect() then
-            mine_tree()
+
+    if dir_forward then
+        robot.turnRight()
+        nav.forward()
+        robot.turnLeft()
+        nav.forward(5)
+        robot.turnLeft()
+        nav.forward()
+        robot.turnRight()
+        pos_forward = pos_forward + 1
+    else
+        robot.turnRight()
+        nav.forward()
+        robot.turnRight()
+        nav.forward(5)
+        robot.turnRight()
+        nav.forward()
+        robot.turnRight()
+        pos_forward = pos_forward - 1
+    end
+end
+
+local function collect_items()
+    while magnet.suck() do end
+end
+
+local function move_width()
+    if dir_right then
+        if pos_right == width then
+            dir_right = false
+            move_depth()
+        else
+            robot.turnRight()
+            nav.forward(5)
+            robot.turnLeft()
+            pos_right = pos_right + 1
+        end
+    else
+        if pos_right == 1 then
+            dir_right = true
+            move_depth()
         else
-            while not robot.forward() do end
+            robot.turnLeft()
+            nav.forward(5)
+            robot.turnRight()
+            pos_right = pos_right - 1
+        end
+    end
+end
+
+local function handle_interrupt()
+    if event.pull(0.5, "interrupted") then
+        print("Interrupted. Returning to original location...")
+        robot.setLightColor(0xff0000)
+
+        -- return to original location
+        robot.turnLeft()
+        while pos_right > 1 do
+            nav.forward(5)
+            pos_right = pos_right - 1
+        end
+        nav.back()
+        robot.turnRight()
+        while pos_forward > 1 do
+            nav.back(5)
+            pos_forward = pos_forward - 1
         end
-        robot.suckDown()
+        robot.turnLeft()
+        nav.forward()
+        robot.turnRight()
+
+        running = false
+    end
+end
+
+robot.setLightColor(0x00ff00)
+
+while running do
+    if robot.detect() then
+        mine_tree()
     end
-    robot.turnAround()
-    os.execute("sleep 5")
+    move_width()
+    collect_items()
+    handle_interrupt()
 end
diff --git a/nav.lua b/nav.lua
new file mode 100644
index 0000000..ccfdc77
--- /dev/null
+++ b/nav.lua
@@ -0,0 +1,38 @@
+local robot = require("robot")
+
+return {
+    forward = function(n)
+        if not n then n = 1 end
+        for _ = 1, n do
+            while not robot.forward() do
+                local result, desc = robot.detect()
+                if result and desc == "solid" then
+                    robot.swing()
+                end
+            end
+        end
+    end,
+    back = function(n)
+        if not n then n = 1 end
+        for _ = 1, n do
+            while not robot.back() do end
+        end
+    end,
+    up = function(n)
+        if not n then n = 1 end
+        for _ = 1, n do
+            while not robot.up() do
+                local result, desc = robot.detectUp()
+                if result and desc == "solid" then
+                    robot.swingUp()
+                end
+            end
+        end
+    end,
+    down = function(n)
+        if not n then n = 1 end
+        for _ = 1, n do
+            while not robot.down() do end
+        end
+    end,
+}