激光自动驾驶811

local failping = 0 -- format: Will ping on Failed node execution 0 = Dont Ping, 1 = Ping
local ship = peripheral.find("warpdriveShipCore")
local initialx, initialy, initialz = ship.getLocalPosition()
local navdatafile = ".navdata"
local navbackup = ".navbackup"
local navdata = {} -- format: {{dx,dy,dz},{dx,dy,dz},...} -- these are ship coords (forward, up, right)

local lasers = peripheral.getNames()
for i = #lasers, 1, -1 do
    if peripheral.getType(lasers[i]) ~= "warpdriveLaserCamera" then
        table.remove(lasers, i)
    end
end

if not (ship.isInHyperspace() or ship.isInSpace()) then
    error("Ship needs to be in space or hyperspace!")
end

while true do
        print("We are currently in " .. (ship.isInHyperspace() and "HYPERSPACE" or "SPACE") .. " at " .. initialx .. " " .. initialy .. " " .. initialz)

        if fs.exists(navdatafile) then
            local h = fs.open(navdatafile, "r")
            local text = h.readAll()
            navdata = textutils.unserialize(text)
            h.close()
            print("Waiting for ship core cooldown to be done before starting node execution...")
            os.pullEvent("shipCoreCooldownDone")
        end

        if #navdata <= 0 then -- if navdata wasn't loaded
           --print("Enter target pos: x y z")
    local _, currentY, _ = ship.getLocalPosition()

    local tx, ty, tz
    print("Waiting for laser scan to determine target coordinates...")
    while true do
        local event, _, lx, _, lz = os.pullEvent("laserScanning")
        if event == "laserScanning" then
            tx, ty, tz = tonumber(lx), currentY, tonumber(lz)
            break
        end
    end

    if tx == nil or ty == nil or tz == nil then
        error("Failed to get coordinates from laser scan.")
    else
        print("Target coordinates acquired: x=" .. tostring(tx) .. ", y=" .. tostring(ty) .. ", z=" .. tostring(tz))
    end

local ship_len_back, ship_len_left, ship_len_down = ship.dim_negative()
local ship_len_front, ship_len_right, ship_len_up = ship.dim_positive()

function dst(x1, y1, z1, x2, y2, z2)
    local dx = x2 - x1
    local dy = y2 - y1
    local dz = z2 - z1
    return math.sqrt(dx * dx + dy * dy + dz * dz)
end --dst

if ty - ship_len_down <= 0 or ty + ship_len_up >= 256 then
    error("Target y position needs to be inside " .. ship_len_down .. " and " .. 256 - ship_len_up .. ".")
end

local stayInHyper = true -- Assuming you always want to stay in hyperspace
print("----------------------------------")
print("Is this information correct?")
print("Target coords: ", tx, ty, tz)
print("Target dimension: " .. (stayInHyper and "HYPERSPACE" or "SPACE"))
print("Total distance: " .. math.floor(dst(initialx, initialy, initialz, tx, ty, tz)) .. " blocks")
print("----------------------------------")

print("Computing navigation steps...")

    local shipdeltafront, shipdeltaright
    local shipdeltaup = ty-initialy
    local orix,_,oriz = ship.getOrientation()

    if orix == 1 then
        shipdeltafront = tx-initialx
        shipdeltaright = tz-initialz
    elseif orix == -1 then
        shipdeltafront = -tx+initialx
        shipdeltaright = -tz+initialz
    elseif oriz == 1 then
        shipdeltafront = tz-initialz
        shipdeltaright = -tx+initialx
    elseif oriz == -1 then
        shipdeltafront = -tz+initialz
        shipdeltaright = tx-initialx
    else
        error("Unexpected ship orientation!")
    end

    print("We need to move "..shipdeltafront.." block(s) forward, "..shipdeltaup.." block(s) upward and "..shipdeltaright.." block(s) to the right.")
    local minforward = ship_len_front+ship_len_back
    local minup = ship_len_up+ship_len_down
    local minright = ship_len_right+ship_len_left
    ship.command("MANUAL",false)
    local success, maxdist = ship.getMaxJumpDistance()
    if not success then error("unable to get the ships max jump distance: "..maxdist) end
    if maxdist <= 0 then error("max jump distance is zero") end
    print("Max jump length = "..maxdist)
    function computeMove(mindist,remaining,ignoreconstraint) -- returns a move to make along that axis
        if remaining == 0 then return 0 end

        local remsign = (remaining < 0) and -1 or 1

        if math.abs(remaining) < mindist and not ignoreconstraint then -- if the move would be impossible because it is too short, move further away
            return -remsign * mindist
        end
        return remsign * math.min(math.abs(remaining),maxdist)
    end

    repeat
        local move = {}
        move[2] = computeMove(minup+1,shipdeltaup,true) --y
        shipdeltaup = shipdeltaup - move[2]

        move[1] = computeMove(minforward+1,shipdeltafront,math.abs(move[2]) > minup) --x

        if not (math.abs(move[2]) > minup) and  shipdeltafront == 0 and shipdeltaright == 0 and shipdeltaup ~= 0 and move[1] == 0 then
            move[1] = minforward+1
        end

        shipdeltafront = shipdeltafront - move[1]
        move[3] = computeMove(minright+1,shipdeltaright, math.abs(move[2]) > minup or math.abs(move[1]) > minforward) --z
        shipdeltaright = shipdeltaright - move[3]
        navdata[#navdata+1] = move
        print("Computed move: #"..#navdata..": "..move[1].." block(s) forward, "..move[2].." block(s) upward and "..move[3].." block(s) to the right.")
        print("Remaining: "..shipdeltafront..":"..shipdeltaup..":"..shipdeltaright)

    until shipdeltafront == 0 and shipdeltaup == 0 and shipdeltaright == 0
    print("Navigational path plotted using "..#navdata.." jump(s).")
end
for i=1,#navdata do
    local move = navdata[i]

    print("Executing next node... There are "..#navdata.." node(s) left to execute.")
    table.remove(navdata,1)
    if fs.exists(navbackup) then
    fs.delete(navbackup)
end
 if #navdata > 0 then
  local text = textutils.serialize(navdata)
        local h = fs.open(navdatafile, "w")
        h.write(text)
        h.close()
        fs.copy(navdatafile, navbackup)
    else
        fs.delete(navdatafile)
    end
    ship.command("MANUAL", false)
    ship.movement(move[1],move[2],move[3])
    ship.rotationSteps(0)
    ship.command("MANUAL", true)

    for i=60,0,-1 do
        term.setCursorPos(1,select(2,term.getCursorPos()))
        term.write("Waiting for the ship to jump..."..i.."   ")
        sleep(1)
    end
number = #navdata + 1
fs.delete(navdatafile)
fs.copy(navbackup, navdatafile)
print("The ship did not jump.")
if failping >= 0 then
end

sleep(3)
os.reboot()
end
end