turtle.lua

local P = require "SimplifyPathfinding"
local pathfinder = P.New("Test")
require "SimplifyPathfinding.Util.Turtle" (pathfinder, true)

local TRANSMISSION_CHANNEL = 4589
local modem = peripheral.find("modem")
modem.open(TRANSMISSION_CHANNEL)

local ok, err = turtle.locate()
if not ok then
  printError(err)
  error("Failed to locate turtle position.", 0)
end

local function sendReply(data)
  modem.transmit(
    TRANSMISSION_CHANNEL,
    TRANSMISSION_CHANNEL,
    data
  )
end

local actions = {
  GOTO = function(msg)
    if type(msg.Position) == "table" and msg.Position[1] and msg.Position[2] and msg.Position[3] then
      sendReply{Ok = true}
      local ok, err = pcall(
        turtle.simpleGoTo,
        msg.Position[1],
        msg.Position[2],
        msg.Position[3],
        false,
        false,
        true
      )
      sendReply{Ok = ok, Action = "ARRIVED", Error = "Goto failed: " .. tostring(err)}
    else
      if type(msg) ~= "table" then
        sendReply{Ok = false, Error = "Expected table message."}
      elseif not msg.Position.X then
        sendReply{Ok = false, Error = "Message missing X position."}
      elseif not msg.Position.Y then
        sendReply{Ok = false, Error = "Message missing Y position."}
      elseif not msg.Position.Z then
        sendReply{Ok = false, Error = "Message missing Z position."}
      else
        sendReply{Ok = false, Error = "Malformed message."}
      end
    end
  end,
  FOLLOW_PATH = function(msg)
    if type(msg.Path) == "table" then
      sendReply{Ok = true}
      local ok, err = pcall(
        turtle.followPath,
        msg.Path,
        false,
        false,
        true
      )
      sendReply{Ok = ok, Error = err, Action = "ARRIVED"}
    else
      sendReply{Ok = false, Error = "Malformed message."}
    end
  end
}

while true do
  local _, _, _, _, msg = os.pullEvent("modem_message")
  if type(msg) == "table" then
    if actions[msg.Action] then
      print("Action:", msg.Action)
      actions[msg.Action](msg)
    else
      printError("Action", msg.Action, "does not exist!")
    end
  else
    printError("Received non-table message:")
    printError(msg)
  end
end