From 1a28f00c3e16e48bb79c6124dbe3207b05f3e1d2 Mon Sep 17 00:00:00 2001
From: Igor Timofeev <methodman1@mail.ru>
Date: Thu, 14 Jun 2018 22:42:06 +0300
Subject: [PATCH] aefae

---
 Applications/Robot/VRScanRobot.lua   | 128 +++++++++++++++++----------
 Applications/Robot/advancedRobot.lua |  12 ---
 2 files changed, 83 insertions(+), 57 deletions(-)

diff --git a/Applications/Robot/VRScanRobot.lua b/Applications/Robot/VRScanRobot.lua
index af0e3195..d5144f67 100644
--- a/Applications/Robot/VRScanRobot.lua
+++ b/Applications/Robot/VRScanRobot.lua
@@ -1,6 +1,7 @@
 
 local AR = require("advancedRobot")
 local event = require("event")
+local sides = require("sides")
 local serialization = require("serialization")
 
 local port = 512
@@ -29,67 +30,104 @@ while true do
 	if e[1] == "modem_message" and e[6] == "VRScan" then
 		if e[7] == "scan" then
 			local settings = serialization.unserialize(e[8])
-			
+			local w, h, l
+
+			AR.positionX = 0
+			AR.positionY = 0
+			AR.positionZ = 0
+			AR.rotation = 0
+
 			print("Scanning with paramerers: " .. e[8])
 
-			local h, w, l, startX, startY, startZ = 0, 0, 0, AR.positionX, AR.positionY, AR.positionZ
-
-			local function move()
-				local distance = settings.radius * 2 + 1
-				local moveX, moveZ = AR.getRotatedPosition(w * distance, l * distance)
-				
-				AR.moveToPosition(
-					startX + moveX,
-					startY + h * distance,
-					startZ + moveZ
-				)
+			local function moveChunk(side)
+				for i = 1, settings.radius * 2 + 1 do
+					AR.swingAndMove(side)
+				end
 			end
 
-			while h < settings.height do
-				while w < settings.width do
-					while l < settings.length do
-						print("Scanning chunk " .. w .. " x " .. h .. " x " .. l)
+			local function doChunk()
+				print("Scanning chunk " .. w .. " x " .. h .. " x " .. l)
+				
+				local result, column = {
+					x = AR.positionX,
+					y = AR.positionY,
+					z = AR.positionZ,
+					blocks = {}
+				}
+
+				local blockCount = 0
+				for z = -settings.radius, settings.radius do
+					for x = -settings.radius, settings.radius do
+						column = AR.proxies.geolyzer.scan(x, z)
 						
-						local result, column = {
-							x = AR.positionX,
-							y = AR.positionY,
-							z = AR.positionZ,
-							blocks = {}
-						}
+						for i = 32 - settings.radius, 32 + settings.radius do
+							if column[i] >= settings.minDensity and column[i] <= settings.maxDensity then
+								local y = i - 33
+								result.blocks[x] = result.blocks[x] or {}
+								result.blocks[x][y] = result.blocks[x][y] or {}
+								result.blocks[x][y][z] = result.blocks[x][y][z] or {}
+								table.insert(result.blocks[x][y][z], round(column[i], 2))
 
-						local blockCount = 0
-						for z = -settings.radius, settings.radius do
-							for x = -settings.radius, settings.radius do
-								column = AR.proxies.geolyzer.scan(x, z)
-								
-								for i = 32 - settings.radius, 32 + settings.radius do
-									if column[i] >= settings.minDensity and column[i] <= settings.maxDensity then
-										local y = i - 33
-										result.blocks[x] = result.blocks[x] or {}
-										result.blocks[x][y] = result.blocks[x][y] or {}
-										result.blocks[x][y][z] = result.blocks[x][y][z] or {}
-										table.insert(result.blocks[x][y][z], round(column[i], 2))
+								blockCount = blockCount + 1
+							end
+						end 
+					end
+				end
 
-										blockCount = blockCount + 1
-									end
-								end 
+				print("Scanning finished. Sending result with blocks size: " .. blockCount)
+				broadcast("result", serialization.serialize(result))
+			end
+
+			local function doLength()
+				l = 1
+				while l <= settings.length do
+					doChunk()
+					if l < settings.length then
+						moveChunk(sides.front)
+					end
+					l = l + 1
+				end
+			end
+
+			h = 1
+			while h <= settings.height do
+				w = 1
+				while w <= settings.width do
+					doLength()
+
+					AR.turnRight()
+					moveChunk(sides.front)
+					AR.turnRight()
+
+					doLength()
+
+					if w < settings.width then
+						AR.turnLeft()
+						moveChunk(sides.front)
+						AR.turnLeft()
+					else
+						AR.turnRight()
+						for i = 1, settings.width * 2 - 1 do
+							moveChunk(sides.front)
+						end
+						AR.turnRight()
+
+						if h < settings.height then
+							moveChunk(sides.up)
+						else
+							for i = 1, settings.height - 1 do
+								moveChunk(sides.down)
 							end
 						end
-
-						print("Scanning finished. Sending result with blocks size: " .. blockCount)
-						broadcast("result", serialization.serialize(result))
-
-						l = l + 1
-						move()
 					end
 
 					w = w + 1
-					move()
 				end
 
 				h = h + 1
-				move()
 			end
+			
+			print("Task finished")
 		end
 	end
 end
diff --git a/Applications/Robot/advancedRobot.lua b/Applications/Robot/advancedRobot.lua
index 34f3c15d..ec9c4570 100644
--- a/Applications/Robot/advancedRobot.lua
+++ b/Applications/Robot/advancedRobot.lua
@@ -58,18 +58,6 @@ AR.rotation = 0
 
 --------------------------------------------------------------------------------
 
-function AR.getRotatedPosition(x, z)
-	if AR.rotation == 0 then
-		return x, z
-	elseif AR.rotation == 1 then
-		return -z, x 
-	elseif AR.rotation == 2 then
-		return -x, -z
-	else
-		return z, -x
-	end
-end
-
 function AR.updateProxies()
 	local name
 	for name in pairs(AR.requiredProxies) do