improved makefile

Makefile

@@ -5,6 +5,7 @@ BUILD_DIR = build
 HAXE_FLAGS =
 POLYFILLED_NAME = bundle.polyfill.lua
 POLYFILL_SRC = src/polyfill.lua
+CREAFTOS_PATH = craftos
 
 HAXE_PATH := $(BUILD_DIR)/$(HAXE_NAME)
 MIN_PATH := $(BUILD_DIR)/$(MINIFYD_NAME)
@@ -12,31 +13,38 @@ POLYFILL_PATH := $(BUILD_DIR)/$(POLYFILLED_NAME)
 
 all: clean build
 
+build: HAXE_FLAGS += --main kernel.Entrypoint -D analyzer-optimize
 build: $(MIN_PATH)
 
-debug: HAXE_FLAGS += -D webconsole -D error_stack --debug
+debug: HAXE_FLAGS += -D webconsole -D error_stack --debug 
 debug: build
 
 $(HAXE_PATH): $(shell find src -name '*.hx')
-	haxe build.hxml $(HAXE_FLAGS) --cmd "mv build/_haxe.lua $(HAXE_PATH)"
-
-$(MIN_PATH): $(POLYFILL_PATH)
-	node minify.js $(POLYFILL_PATH) $@
+	haxe build.hxml $(HAXE_FLAGS)
 
 $(POLYFILL_PATH): $(POLYFILL_SRC) $(HAXE_PATH)
 	cat $(POLYFILL_SRC) $(HAXE_PATH) > $@
 
-deps: package.json build.hxml
+$(MIN_PATH): $(POLYFILL_PATH)
+	node minify.js $(POLYFILL_PATH) $@
+
+.PHONY: deps
+deps:
 	haxelib install all --always && yarn install
 
+.PHONY: clean
 clean:
 	rm -rf $(BUILD_DIR)
+	mkdir $(BUILD_DIR)
 
+.PHONY: watch
 watch:
 	find src -name "*.hx" | entr make debug
 
+.PHONY: emulator
 emulator:
-	craftos --mount-ro /=build 
+	$(CREAFTOS_PATH) --mount-ro /=$(shell pwd)/$(BUILD_DIR) 
 
+.PHONY: webconsole
 webconsole:
 	node console.js

README.md

@@ -21,7 +21,7 @@ run `make deps && make`. The `bundle.min.lua` inside the `build` dir is the fina
 
 # Useful links
 
-[CC lua code](https://github.com/cc-tweaked/CC-Tweaked/tree/mc-1.16.x/src/main/resources/data/computercraft/lua)
+[CC lua code](https://github.com/cc-tweaked/CC-Tweaked/tree/mc-1.19.x/projects/core/src/main/resources/data/computercraft/lua)
 
 [CC wiki](https://tweaked.cc/)
 
@@ -38,6 +38,7 @@ Run `make watch` to recompile when a file changed.
 ## Emulator
 
 You could use Minecraft to run the program or you could use [craftos pc](https://www.craftos-pc.cc/) as an emulator. Just install it and run `make emulator`. 
+There is an AppImage available [here](https://github.com/MCJack123/craftos2/releases).
 
 ## Websconsole
 

build.hxml

@@ -1,5 +1,4 @@
 -p src
---main kernel.Entrypoint
 
 --library cctweaked:git:https://git.kapelle.org/niklas/cctweaked-haxelib.git
 --library tink_core
@@ -9,4 +8,4 @@
 -D lua-vanilla
 -D lua-ver 5.1
 
---lua build/_haxe.lua 
+--lua build/haxe.lua 

src/kernel/Entrypoint.hx

@@ -4,7 +4,13 @@ import kernel.log.Log;
 
 class Entrypoint {
 	public static function main() {
-		Init.initKernel();
+		try {
+			Init.initKernel();
+		}catch(e){
+			Log.error('Error in init: ${e.toString()}');
+			return;
+		}
+
 		try {
 			Startup.main();
 		}catch(e){

src/kernel/Init.hx

@@ -13,6 +13,10 @@ import kernel.peripherals.Peripherals.Peripheral;
 import kernel.net.Net;
 
 class Init {
+
+	@:allow(kernel.KernelEvents)
+	private static var mainEvent:MainEvent;
+
 	public static function initKernel() {
 		// Init singeltons here because haxe is confused about the order to create them.
 		Log.instance = new Log();
@@ -44,9 +48,8 @@ class Init {
 			FS.makeDir("/var/ns");
 		}
 
-		MainLoop.add(()->{
+		Init.mainEvent = MainLoop.add(()->{
 			KernelEvents.instance.startEventLoop();
 		});
-
 	}
 }

src/kernel/KernelEvents.hx

@@ -1,11 +1,12 @@
 package kernel;
 
+import haxe.MainLoop;
+import cc.OS;
 import kernel.log.Log;
 import lib.Pos;
 import cc.HTTP.HTTPResponse;
 import lua.TableTools;
 import lua.Coroutine;
-import lib.Vec.Vec2;
 import haxe.Exception;
 
 using tink.CoreApi;
@@ -95,6 +96,8 @@ class KernelEvents {
 	private final onWebsocketMessageTrigger:SignalTrigger<{url:String, message:String, isBinary:Bool}> = Signal.trigger();
 	private final onWebsocketSuccessTrigger:SignalTrigger<{url:String, handle:Any}> = Signal.trigger();
 
+	private var stopLoop:Bool = false;
+
 	@:allow(kernel.Init)
 	private function new() {
 		this.onAlarm = onAlarmTrigger.asSignal();
@@ -132,16 +135,27 @@ class KernelEvents {
 	/**
 		Start pulling events. Blocking.
 	**/
-	public function startEventLoop() {
-		while (true) {
+	@:allow(kernel.Init)
+	private function startEventLoop() {
+		while (!stopLoop) {
 			var event:Table<Int, Dynamic> = pullEvents();
 
 			var eventName:String = event[1];
-
-			fireSignal(eventName,event);
+			try {
+				fireSignal(eventName,event);
+			}catch(e:Dynamic) {
+				Log.error('Error while handling event: $eventName: ${e}');
+			}
 		}
 	}
 
+	public function shutdown() {
+		Log.info('Shutting down event loop');
+		this.stopLoop = true;
+		MainTerm.instance.reset();
+		Init.mainEvent.stop();
+	}
+
 	private function pullEvents():Table<Int, Dynamic> {
 		return cast TableTools.pack(Coroutine.yield(null));
 	}

src/kernel/gps/GPS.hx

@@ -1,11 +1,14 @@
 package kernel.gps;
 
+import kernel.log.Log;
 import lib.KVStore;
 import kernel.net.Net;
 import kernel.net.INetworkInterface;
 import kernel.net.Package;
 import lib.Pos3;
 
+using tink.CoreApi;
+
 /**
 	Determines the position of the computer based on the distance to other computers.
 	When receiving a message from another computer via wireless, the distance is also received.
@@ -15,6 +18,7 @@ class GPS {
 	public static var instance:GPS;
 
 	private var shouldRespond = true;
+	private var shouldDoWholeNumberCheck = true;
 	private var posAccuracy = 0; // 0 = unkown, 1 = (ins,best guess), 2 = (stored/manual,should be right), 3 = (gps,confirmed)
 	private var cachedPosition:Pos3;
 	private var lastPositionResponse: Array<{pos:Pos3,dist:Float}> = [];
@@ -112,12 +116,18 @@ class GPS {
 				var response = new Package(Net.instance.networkID,pack.fromID, pack.msgID, GPSResponse(cachedPosition),null,0);
 				iface.send(pack.fromID,Net.instance.networkID,response);
 			case GPSResponse(pos):
-				if (lastPositionResponse.contains({pos:pos,dist:dist})) return;
-				lastPositionResponse.push({pos:pos,dist:dist});
-				if (lastPositionResponse.length > 5) lastPositionResponse.shift();
-				if (lastPositionResponse.length < 3) return;
+				if (lastPositionResponse.contains({pos:pos,dist:dist})) return; // Ignore duplicate responses
+
+				lastPositionResponse.push({pos:pos,dist:dist});
+
+				// TODO: wait for a few seconds before calculating the position, so we can get more responses
+
+				if (lastPositionResponse.length < 4) return; // We need at least 3 responses to calculate the position
+
+				var calculatedPosition = calculatePosition().round();
+
+				lastPositionResponse = []; // Reset the response array
 
-				var calculatedPosition = calculatePosition();
 				if (calculatedPosition == null) return;
 				cachedPosition = calculatedPosition;
 				posAccuracy = 3;
@@ -137,62 +147,46 @@ class GPS {
 		var r2 = lastPositionResponse[1].dist;
 		var r3 = lastPositionResponse[2].dist;
 
-		return trilateration(p1,p2,p3,r1,r2,r3);
+		var result = trilateration(p1,p2,p3,r1,r2,r3);
 
-		// var calculatedPositions: Array<Pos3> = [];
+		if (result.a.close(result.b)) return result.a;
 
-		// // Loop through all possible permutations of the last 3 responses
-		// for (i in 0...lastPositionResponse.length) {
-		// 	for (j in 0...lastPositionResponse.length) {
-		// 		if (i == j) continue;
-		// 		for (k in 0...lastPositionResponse.length) {
-		// 			if (i == k || j == k) continue;
+		// If we have more than 3 responses, we can use the 4th response to determine which of the two positions is correct
+		// TODO: if this is a pocket computer we cant use this since it can move freely
+		if (lastPositionResponse.length > 3){
+			var err1 = Math.abs(result.a.distance(lastPositionResponse[3].pos) - lastPositionResponse[3].dist);
+			var err2 = Math.abs(result.b.distance(lastPositionResponse[3].pos) - lastPositionResponse[3].dist);
 
-		// 			var p1 = lastPositionResponse[i].pos;
-		// 			var p2 = lastPositionResponse[j].pos;
-		// 			var p3 = lastPositionResponse[k].pos;
+			if (Math.abs(err1 - err2) < 0.0001) {
+				Log.warn("Failed to determine GPS position via 4th fix");
+				return null; // The two positions are essentially the same, so we cant determine which one is correct
+			}
 
-		// 			var r1 = lastPositionResponse[i].dist;
-		// 			var r2 = lastPositionResponse[j].dist;
-		// 			var r3 = lastPositionResponse[k].dist;
+			if (err1 < err2) return result.a;
+			if (err2 < err1) return result.b;
+		}
 
-		// 			calculatedPositions.push(trilateration(p1,p2,p3,r1,r2,r3));
-		// 		}
-		// 	}
-		// }
+		// last resort, just use the position that is closest to a whole number (whithin a resonable margin of error)
+		if (!shouldDoWholeNumberCheck) return null;
 
-		// var tainted = false;
-		// // Check if all calculated positions are the same
-		// for (i in 0...calculatedPositions.length) {
-		// 	for (j in 0...calculatedPositions.length) {
-		// 		if (i == j) continue;
-		// 		if (calculatedPositions[i] != calculatedPositions[j]){
-		// 			Log.warn("GPS not all calculated positions are the same");
-		// 			tainted = true;
-		// 		}
-		// 	}
-		// }
+		// TODO: mark the position as not so accurate if we use this method
 
-		// if (!tainted) return calculatedPositions[0];
+		var err1 = (result.a - result.a.round()).length();
+		var err2 = (result.b - result.b.round()).length();
 
-		// // Get the most common position
-		// var mostCommon:Pos3 = null;
-		// var mostCommonCount = 0;
-		// for (i in 0...calculatedPositions.length) {
-		// 	var count = 0;
-		// 	for (j in 0...calculatedPositions.length) {
-		// 		if (calculatedPositions[i] == calculatedPositions[j]) count++;
-		// 	}
-		// 	if (count > mostCommonCount) {
-		// 		mostCommon = calculatedPositions[i];
-		// 		mostCommonCount = count;
-		// 	}
-		// }
+		if (err1 < err2 && err1 < 0.0001) {
+			return result.a;
+		} else if (err2 < 0.0001) {
+			return result.b;
+		}
 
-		// return mostCommon;
+		return null;
 	}
 
-	private function trilateration(p1:Pos3,p2:Pos3,p3: Pos3,r1:Float,r2:Float,r3:Float):Pos3 {
+	/**
+		Determines the position(s) of a point given 3 other points and the distance to each of them.
+	**/
+	private function trilateration(p1:Pos3,p2:Pos3,p3: Pos3,r1:Float,r2:Float,r3:Float):Pair<Pos3,Pos3> {
 		var a2b = p2 - p1;
 		var a2c = p3 - p1;
 
@@ -211,9 +205,9 @@ class GPS {
 		var zSquared = r1 * r1 - x * x - y * y;
 		if (zSquared > 0) {
 			var z = Math.sqrt(zSquared);
-			result += ez * z;
+			return new Pair(result + (ez * z),result - (ez * z));
 		}
 
-		return result;
+		return new Pair(result,result);
 	}
 }

src/kernel/log/Log.hx

@@ -53,12 +53,11 @@ class Log {
 		if (logLines.length > MAX_LINES) {
 			logLines.shift();
 		}
+		onLogTrigger.trigger(line);
 
 		#if webconsole
 		Debug.printWeb('[${Std.string(line.level)}][${line.origin}] ${line.message}');
 		#end
-
-		onLogTrigger.trigger(line);
 	}
 
 	public function getLines():ReadOnlyArray<LogLine> {

src/lib/HomeContext.hx

@@ -130,6 +130,7 @@ class HomeContext {
 
 		children.push(new TextElement('Add Terminal', {onClick: this.addTerminal}));
 		children.push(new TextElement('Add Log', {onClick: this.addLog}));
+		children.push(new TextElement('Exit', {onClick: KernelEvents.instance.shutdown}));
 
 		renderer.setChildren(children);
 

src/lib/Pos3.hx

@@ -96,4 +96,16 @@ abstract Pos3(Vec3<Float>) from Vec3<Float> to Vec3<Float>{
 	public function toString():String {
 		return 'Pos3(${this.x}, ${this.y}, ${this.z})';
 	}
+
+	public function round():Pos3 {
+		return new Pos3({
+			x: Math.fround(this.x),
+			y: Math.fround(this.y),
+			z: Math.fround(this.z)
+		});
+	}
+
+	public function distance(rhs:Pos3):Float {
+		return Math.sqrt(Math.pow(this.x - rhs.x, 2) + Math.pow(this.y - rhs.y, 2) + Math.pow(this.z - rhs.z, 2));
+	}
 }