added GeoScanner peripheral

src/bin/TurtleCtl.hx

@@ -1,5 +1,6 @@
 package bin;
 
+import kernel.turtle.Types.ToolSide;
 import lib.turtle.Helper;
 import kernel.turtle.TurtleMutex;
 import kernel.turtle.Turtle;
@@ -116,6 +117,28 @@ class TurtleCtl extends CLIAppBase {
 			var len = args.getInt("length");
 			return asynPerform(Helper.combine.bind([Turtle.digEmpty.bind(Front), Turtle.forward, Turtle.digEmpty.bind(Up)]), len);
 		}, [Int("length")]);
+
+		registerSyncSubcommand("inspect", (args) -> {
+			var res = Turtle.inspect(Front);
+
+			switch res {
+				case Failure(err):
+					handle.writeLine("Failed: " + err);
+					return false;
+				case Success(data):
+					handle.writeLine('Name: ${data.name}');
+					handle.writeLine("Tags:");
+
+					for (tag in data.tags.sortByName()) {
+						handle.writeLine('	${tag}');
+					}
+
+					handle.writeLine("State:");
+					handle.writeLine(data.state);
+			}
+
+			return true;
+		}, []);
 	}
 
 	private function asynPerform(op:Void->Outcome<Noise, String>, times:Int):Future<Bool> {

src/kernel/peripherals/GeoScanner.hx

@@ -0,0 +1,76 @@
+package kernel.peripherals;
+
+import lib.BlockPos;
+import lib.Tags;
+import cc.Peripheral;
+
+using tink.CoreApi;
+using lua.Table;
+
+@:structInit typedef ScanBlock = {
+	name:String,
+	tags:Tags,
+	pos:BlockPos
+}
+
+class GeoScanner implements IPeripheral {
+	public static inline final TYPE_NAME:String = "geoScanner";
+
+	private final addr:String;
+
+	public function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getAddr():String {
+		return this.addr;
+	}
+
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
+	/**
+		Returns the current time remaining until then next scan() can be ran.
+	**/
+	public function getScanCooldown():Int {
+		return Peripheral.call(this.addr, "getScanCooldown");
+	}
+
+	/**
+		Returns the cost in FE for a scan with the given radius.
+		Returns null of scan of this radius is not posible.
+	**/
+	public function cost(radius:Int):Null<Int> {
+		return Peripheral.call(this.addr, "cost", radius);
+	}
+
+	/**
+		Returns a list of data about all blocks in the radius.
+		X,Y,Z are relative to the geoscanner block.
+		Air blocks are not included.
+		List is unsorted.
+	**/
+	public function scan(radius:Int):Outcome<Array<ScanBlock>, String> {
+		// TODO: Handel fail state
+		var result:lua.Table<Int, {
+			x:Int,
+			y:Int,
+			z:Int,
+			name:String,
+			tags:lua.Table<Int, String>
+		}> = Peripheral.call(this.addr, "scan", radius);
+
+		return Success(result.toArray().map((e) -> {
+			name: e.name,
+			tags: Tags.fromIntTable(e.tags),
+			pos: new BlockPos(e.x, e.y, e.z)
+		}));
+	}
+
+	public function chunkAnalyze():Outcome<Map<String, Int>, String> {
+		var result:lua.Table<String, Int> = Peripheral.call(this.addr, "chunkAnalyze");
+
+		return Success(result.toMap());
+	}
+}

src/kernel/peripherals/Peripherals.hx

@@ -1,6 +1,5 @@
 package kernel.peripherals;
 
-import kernel.log.Log;
 import kernel.peripherals.Modem;
 import kernel.peripherals.Screen;
 
@@ -83,6 +82,8 @@ class Peripheral {
 				return getRedstone(addr);
 			case Inventory.TYPE_NAME:
 				return getInventory(addr);
+			case GeoScanner.TYPE_NAME:
+				return getGeoScanner(addr);
 		}
 
 		return null;
@@ -180,4 +181,15 @@ class Peripheral {
 	public static function getAllInventorys():Array<Inventory> {
 		return [for (addr in findAddrByType(Inventory.TYPE_NAME)) new Inventory(addr)];
 	}
+
+	public static function getGeoScanner(addr:String):Null<GeoScanner> {
+		var addr = safeGetAddr(addr, GeoScanner.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new GeoScanner(addr);
+	}
+
+	public static function getAllGeoScanners():Array<GeoScanner> {
+		return [for (addr in findAddrByType(GeoScanner.TYPE_NAME)) new GeoScanner(addr)];
+	}
 }

src/lib/Block.hx

@@ -0,0 +1,12 @@
+package lib;
+
+@:structInit
+class Block {
+	public final name:PaN;
+	public final tags:Tags;
+
+	public function new(name:String, tags:Tags) {
+		this.name = name;
+		this.tags = tags;
+	}
+}

src/lib/BlockBlockMap.hx

@@ -0,0 +1,114 @@
+package lib;
+
+import kernel.peripherals.GeoScanner.ScanBlock;
+import lib.BlockMap;
+
+@:forward
+abstract BlockBlockMap(BlockMap<Block>) {
+	public inline function new() {
+		this = new BlockMap<Block>();
+	}
+
+	public static function fromScan(scan:Array<ScanBlock>):BlockBlockMap {
+		var map:BlockBlockMap = new BlockBlockMap();
+
+		for (block in scan) {
+			map.set(block.pos, new Block(block.name, block.tags));
+		}
+
+		return map;
+	}
+
+	/**
+		Navigate from one point into another.
+		Returns the path to take. 
+		Based on A*
+	**/
+	public function nav(from:BlockPos, to:BlockPos):Array<BlockPos> {
+		if (!canPass(to)) {
+			trace("End is blocked");
+			return [];
+		}
+
+		var openSet = new PriorityQueue();
+		openSet.insert(from, 0);
+
+		var cameFrom:BlockMap<BlockPos> = new BlockMap();
+
+		var gCost:BlockMap<Int> = new BlockMap(); // G cost is the distance from start
+		gCost.set(from, 0);
+
+		var fCost:BlockMap<Float> = new BlockMap(); // F cost is the combines cost of moving to this pos (G cost) + the distnace to the end
+		fCost.set(from, from.distance(to));
+
+		while (!openSet.isEmpty()) {
+			var current = openSet.extractMin(); // Check the pos with the lowest F cost
+
+			if (current.equals(to)) {
+				var totalPath = [];
+				var currentPathPos = to;
+
+				while (cameFrom.exists(currentPathPos)) {
+					totalPath.unshift(currentPathPos);
+					currentPathPos = cameFrom.get(currentPathPos);
+				}
+				totalPath.unshift(from);
+
+				return totalPath;
+			}
+
+			for (neighbor in current.neighbors()) {
+				if (!canPass(neighbor)) {
+					continue;
+				}
+
+				var newGCost = gCost.get(current) + 1; // Movment cost to neighbor is always 1 as we can't move diagonally
+
+				if (newGCost < (gCost.get(neighbor) ?? 9999)) {
+					cameFrom.set(neighbor, current);
+					gCost.set(neighbor, newGCost);
+					fCost.set(neighbor, newGCost + neighbor.distance(to));
+
+					if (!openSet.containsElement(neighbor)) {
+						openSet.insert(neighbor, fCost.get(neighbor));
+					}
+				}
+			}
+		}
+
+		return [];
+	}
+
+	/**
+		Some block can be passed by the turtle.
+		Some blocks get destroyed by it.
+	**/
+	public function canPass(k:BlockPos):Bool {
+		var block = this.get(k);
+		if (block == null) {
+			return true;
+		}
+
+		switch block.name {
+			case "minecraft:water":
+				return true;
+			case "minecaft:lava":
+			case "mimecraft:grass":
+			case "minecraft:hanging_roots":
+			case "minecraft:warped_roots":
+			case "minecraft:dead_bush":
+			case "minecraft:fern":
+			case "minecraft:vine":
+			case "minecraft:glow_lichen":
+			case "minecraft:seagrass":
+			case "minecraft:crimson_roots":
+			case "minecraft:nether_sprouts":
+			case "minecraft:snow":
+			case "minecraft:rose_bush":
+			case "minecraft:fire":
+				return true;
+		}
+
+		return false;
+	}
+}

src/lib/BlockMap.hx

@@ -0,0 +1,48 @@
+package lib;
+
+import haxe.ds.IntMap;
+
+/**
+	Map values to positions in 3D space. For representing blocks from a scan see `BlockBlockMap`.
+
+	The only reason this exsists is that the abstract class for BlockPos does not
+	satisfy the constraint of HashMap. The hashCode function needs to be on a real class and not on 
+	an abstract class. Thanks Obama.
+**/
+@:forward(iterator, clear)
+abstract BlockMap<T>(IntMap<T>) {
+	/**
+		Creates a new HashMap.
+	**/
+	public inline function new() {
+		this = new IntMap();
+	}
+
+	/**
+		See `Map.set`
+	**/
+	@:arrayAccess public inline function set(k:BlockPos, v:T) {
+		this.set(k.hashCode(), v);
+	}
+
+	/**
+		See `Map.get`
+	**/
+	@:arrayAccess public inline function get(k:BlockPos) {
+		return this.get(k.hashCode());
+	}
+
+	/**
+		See `Map.exists`
+	**/
+	public inline function exists(k:BlockPos) {
+		return this.exists(k.hashCode());
+	}
+
+	/**
+		See `Map.remove`
+	**/
+	public inline function remove(k:BlockPos) {
+		return this.remove(k.hashCode());
+	}
+}