Added harvest script.

scripts/harvest/README.md

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+# harvest.lua
+Script for smart harvesting of rectangular farms of multiple crops.
+
+## Pastebin
+[ytYCVGsc](https://pastebin.com/ytYCVGsc)
+
+## Module Requirements
+* geolyzer
+* inventory_controller
+* *equipped hoe*
+
+## Instructions
+To operate the program, you simply need to run the program. If no `harvest.conf` config file exists, the program will guide you through the creation of it. For it, you'll need the following information:
+
+* On what side does the robot start harvesting (left or right)?
+* How many rows are in the field?
+* How many columns are in the field?
+* What crops will be grown?
+
+For each crop that will be grown, you will need the following pieces of information:
+
+1. The crop's block name (can be found using the `geolyzer` component.
+2. The floating point value at which the crop is ready to be harvested. Can also be found with the `geolyzer`.
+3. The name of the item used to replant the crop. This can be found in the minecraft inventory after pressing `F3 + H` to enable more detailed information for displayed items.
+
+Once all this information is entered, running the program will harvest the defined area, and drop all gathered items into a chest below the robot's resting point.
+
+### Diagram of setup
+The below diagram shows how farms should be set up: the robot faces into the first row, and has a charger behind it to replenish energy after each harvest. A chest or hopper can be placed below the robot for item collection.
+
+```
+CR---------
+  ---------
+  ---------
+  ---------
+  ---------
+  ---------
+  ---------
+  ---------
+  ---------
+```

scripts/harvest/harvest.lua

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+-- Harvest Program for robots. Uses a hoe and geolyzer for optimal harvesting.
+--[[
+Author: Andrew Lalis
+File: harvest.lua
+Version: 1.0
+Last Modified: 27-09-2018
+   
+Description:
+This script enables a robot to harvest fields of crops quickly and efficiently.
+The robot will traverse the field and only harvest crops considered 'done' by
+their crop definition.
+--]]
+
+local robot = require("robot")
+local component = require("component")
+local fs = component.filesystem
+local serial = require("serialization")
+local geolyzer = component.geolyzer
+local ic = component.inventory_controller
+local sides = require("sides")
+
+local CONFIG_FILE = "harvest.conf"
+
+local LEFT = 1
+local RIGHT = 0
+
+-- List of crops which will be harvested.
+local crop_definitions = {
+	["harvestcraft:pamsoybeancrop"] = {
+		growth_limit = 0.42,
+		item_name = "harvestcraft:soybeanitem"
+	},
+	["harvestcraft:pamspiceleafcrop"] = {
+		growth_limit = 0.42,
+		item_name = "harvestcraft:spiceleafitem"
+	}
+}
+
+-- Repeats the given function until it returns true.
+local function doUntilSuccess(func)
+	local success = func()
+	while (not success) do
+		success = func()
+	end
+end
+
+-- Pre-defined path from turtle docking bay to start of harvest area (first crop).
+local function goToStart(rows, columns)
+	doUntilSuccess(robot.forward)
+end
+
+-- Pre-defined path back to the turtle docking bay.
+local function goBack(rows, columns)
+	for i=1,(columns-1) do
+		doUntilSuccess(robot.back)
+	end
+	robot.turnRight()
+	for i=1,(rows-1) do
+		doUntilSuccess(robot.back)
+	end
+	robot.turnLeft()
+	doUntilSuccess(robot.back)
+end
+
+--[[
+Select an item, given its name and damage value.
+item_name - string: The id string for an item.
+item_data - number: The damage value, or variation of an item. Defaults to zero.
+return - boolean: True if at least one slot contains the item. That slot is now
+selected.
+--]]
+local function selectItemByName(item_name, item_data)
+	for i=1,16 do
+		local stack = ic.getStackInInternalSlot(i)
+		if (stack ~= nil and stack.name == item_name and stack.damage == item_data) then
+			robot.select(i)
+			return true
+		end
+	end
+	return false
+end
+
+--[[
+Checks if the hoe is equipped. Meant to be done before starting a harvest.
+return - boolean: True if a hoe is equipped, or false if not.
+--]]
+local function isHoeEquipped()
+	for i=1,16 do
+		local item_stack = ic.getStackInInternalSlot(i)
+		if (item_stack == nil) then
+			robot.select(i)
+			ic.equip()
+			new_item_stack = ic.getStackInInternalSlot(i)
+			if (new_item_stack ~= nil and string.match(new_item_stack.name, "_hoe")) then
+				return true
+			end
+			return false
+		end
+	end
+	return false
+end
+
+--[[
+Tries to harvest a plant, if it is one of the crops defined in the crop
+definitions table above.
+return - boolean: True if a plant was harvested, false otherwise.
+--]]
+local function harvestPlant()
+	local plant_data = geolyzer.analyze(sides.bottom)
+	local crop_definition = crop_definitions[plant_data.name]
+	if (crop_definition == nil) then
+		return false
+	end
+	if (plant_data.growth >= crop_definition.growth_limit) then
+		robot.swingDown()
+		selectItemByName(crop_definition.item_name, 0)
+		robot.placeDown()
+		return true
+	else
+		return false
+	end
+end
+
+--[[
+Harvests one row of crops.
+length - int: The number of plants in this row.
+return - int: The number of crops that were harvested.
+--]]
+local function harvestRow(length)
+	local harvests = 0
+	for i=1,length do
+		if (i > 1) then
+			doUntilSuccess(robot.forward)
+		end
+		if (harvestPlant()) then
+			harvests = harvests + 1
+		end
+	end
+	return harvests
+end
+
+--[[
+At the end of the row, the robot must rotate into the next row, and this is
+dependent on where the start location is.
+current_row_index - int: The row the robot is on prior to turning.
+start_location - int: Whether the robot starts at the left or right.
+--]]
+local function turnToNextRow(current_row_index, start_location)
+	if (current_row_index % 2 == start_location) then
+		robot.turnRight()
+	else
+		robot.turnLeft()
+	end
+	doUntilSuccess(robot.forward)
+	if (current_row_index % 2 == start_location) then
+		robot.turnRight()
+	else
+		robot.turnLeft()
+	end
+end
+
+--[[
+Harvests a two dimensional area defined by rows and columns. The robot starts
+by moving forward down the first row.
+rows - int: The number of rows to harvest.
+columns - int: The number of columns to harvest.
+start_location - int: 1 for LEFT, 0 for RIGHT.
+return - int: The total number of crops harvested.
+--]]
+local function harvestField(rows, columns, start_location)
+	goToStart(rows, columns)
+	-- Begin harvesting.
+	local harvests = 0
+	for i=1,rows do
+		harvests = harvests + harvestRow(columns)
+		-- Do not turn to the next row on the last row.
+		if (i < rows) then
+			turnToNextRow(i, start_location)
+		end
+	end
+	goBack(rows, columns)
+	return harvests
+end
+
+--[[
+Drops all carried items into an inventory below the robot.
+return - int: The number of items dropped.
+--]]
+local function dropItems()
+	local item_count = 0
+	for i=1,16 do
+		robot.select(i)
+		local stack = ic.getStackInInternalSlot(i)
+		if (stack ~= nil) then
+			doUntilSuccess(robot.dropDown)
+			item_count = item_count + stack.size
+		end
+	end
+	return item_count
+end
+
+--[[
+Reads config from a file.
+filename - string: The string path/filename.
+return - table|nil: The table defined in config, or nil if the file does not
+exist or another error occurs.
+--]]
+local function loadConfig(filename)
+	if (fs.exists(filename) and not fs.isDirectory(filename)) then
+		-- Config file exists.
+		file = io.open(filename, "r")
+		local t = serial.unserialize(file:read())
+		file:close()
+		return t
+	else
+		print("No config file " .. filename .. "exists. Please create it before continuing.")
+		return nil
+	end
+end
+
+--[[
+Guides the user in creating a new config.
+--]]
+local function createConfig(filename)
+	local config = {}
+	print("Does your robot start on the left or right of the field?")
+	local input = io.read()
+	if (input == "left") then
+		config.START_LOCATION_RELATIVE = LEFT
+	elseif (input == "right") then
+		config.START_LOCATION_RELATIVE = RIGHT
+	else
+		print("Invalid choice. Should be either left or right.")
+		return nil
+	end
+	print("Enter number of rows.")
+	config.ROWS = tonumber(io.read())
+	print("Enter number of columns.")
+	config.COLS = tonumber(io.read())
+
+	print("How many crops are being harvested?")
+	for i=1,tonumber(io.read()) do
+		print("Crop "..i..": What is the block name? (Use geolyzer to analyze it)")
+		local name = io.read()
+		config.crop_definitions[name] = {}
+		print("  What is the growth threshold for harvesting?")
+		config.crop_definitions[name].growth_limit = tonumber(io.read())
+		print("  What is the item name of this crop?")
+		config.crop_definitions[name].item_name = io.read()
+	end
+	file = io.open(filename, "w")
+	file:write(serial.serialize(config))
+	file:close()
+end
+
+local function main()
+	local config = loadConfig(CONFIG_FILE)
+	if (config == nil) then
+		config = createConfig(CONFIG_FILE)
+	end
+	crop_definitions = config.crop_definitions
+	local harvest_count = harvestField(config.ROWS, config.COLS, config.START_LOCATION_RELATIVE)
+	local drop_count = dropItems()
+	print(harvest_count..", "..drop_count)
+end