Added the pathfinding module

extensions/cobor_vm_extension/cobor_vm/include/cobor_virtual_machine.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
+#include <godot_cpp/classes/ref_counted.hpp>
 #include "constants.hpp"
-#include "godot_cpp/classes/ref_counted.hpp"
 
 namespace CoborVM
 {

extensions/cobor_vm_extension/cobor_vm/include/constants.hpp

@@ -10,7 +10,7 @@ namespace CoborVM
 
         SET,
         CLR,
-        CPY,
+        MOV,
         SWP,
 
         ADD,
@@ -42,7 +42,7 @@ namespace CoborVM
     const std::unordered_map<std::string, Instruction> stringToInstructionMap = {
         {"SET", SET},
         {"CLR", CLR},
-        {"CPY", CPY},
+        {"MOV", MOV},
         {"SWP", SWP},
         {"ADD", ADD},
         {"SUB", SUB},
@@ -60,7 +60,7 @@ namespace CoborVM
     const std::unordered_map<Instruction, std::string> InstructionToStringMap = {
         {SET, "SET"},
         {CLR, "CLR"},
-        {CPY, "CPY"},
+        {MOV, "MOV"},
         {SWP, "SWP"},
         {ADD, "ADD"},
         {SUB, "SUB"},
@@ -83,7 +83,7 @@ namespace CoborVM
         {Instruction::CLR, {true}}, // One pointer argument
         {Instruction::ZERO, {true}},
         {Instruction::SET, {false, true}}, // One literal and one pointer argument
-        {Instruction::CPY, {true, true}},  // Two pointer arguments
+        {Instruction::MOV, {true, true}},  // Two pointer arguments
         {Instruction::SWP, {true, true}},
         {Instruction::EQL, {true, true}},
         {Instruction::BIGR, {true, true}},

extensions/cobor_vm_extension/cobor_vm/src/cobor_virtual_machine.cpp

@@ -1,3 +1,5 @@
+// #include <godot_cpp/variant/utility_functions.hpp>
+
 #include "cobor_virtual_machine.hpp"
 
 using namespace CoborVM;
@@ -61,9 +63,11 @@ godot::String CoborVM::CoborVirtualMachine::set_registers(int size, godot::Packe
         return godot::String("Size must be one or higher");
     register_memory = std::vector<int32_t>(size);
     preloaded_values.resize(size);
+    int i = 0;
     for (int value : preloaded_values)
     {
         register_memory[i] = value;
+        i++;
     }
     return godot::String();
 }
@@ -163,7 +167,7 @@ godot::String CoborVM::CoborVirtualMachine::run_executable_step(ExecutableStep s
         break;
     }
 
-    case CPY:
+    case MOV:
     {
         if (!check_register(step.arg1) || !check_register(step.arg2))
             return error_message;

nodes/robots/coding/cpu.gd

@@ -5,17 +5,25 @@ signal cpu_tick
 
 var cobor_vm := CoborVirtualMachine.new()
 var running := false
-var register_size := 8
+var register_size := 16
 var modules : Array[Module]
 
-func _ready() -> void:
+func _init() -> void:
 	cobor_vm.set_registers(register_size,[])
+
+func _ready() -> void:
 	var register_index := 1 
 	for child in get_children():
 		if child is Module:
 			var module := child as Module
 			modules.push_back(module)
-			register_size += module.set_registers(register_index)
+			module.set_reserved_registers(register_index)
+			register_index += module.get_register_reservation_size()
+	if $ProgrammingUI != null:
+		$ProgrammingUI.memory_setup()
+
+func show_ui(show:bool)->void:
+	$ProgrammingUI.visible = show
 
 func run_step() -> void:
 	if not running:

nodes/robots/coding/cpu.tscn

@@ -1,10 +1,13 @@
-[gd_scene load_steps=2 format=3 uid="uid://crtis0eyywl61"]
+[gd_scene load_steps=3 format=3 uid="uid://crtis0eyywl61"]
 
 [ext_resource type="Script" uid="uid://b87ksbp5mjn2a" path="res://nodes/robots/coding/cpu.gd" id="1_mh3k1"]
+[ext_resource type="PackedScene" uid="uid://c2es6v8lb8tug" path="res://nodes/robots/coding/programming_ui.tscn" id="2_pm1m8"]
 
 [node name="CPU" type="Node"]
 script = ExtResource("1_mh3k1")
 
 [node name="CPUClock" type="Timer" parent="."]
 
+[node name="ProgrammingUI" parent="." instance=ExtResource("2_pm1m8")]
+
 [connection signal="timeout" from="CPUClock" to="." method="_tick"]

nodes/robots/coding/memory_entry.tscn

@@ -15,6 +15,6 @@ allow_lesser = true
 alignment = 1
 editable = false
 
-[node name="name" type="Label" parent="."]
+[node name="type" type="Label" parent="."]
 layout_mode = 2
 text = "[X] Click"

nodes/robots/coding/programming_ui.gd

@@ -4,20 +4,26 @@ extends PanelContainer
 @onready var memory := $%Memory as VBoxContainer
 @onready var memory_entry := load("uid://dqwi5rekytyds") as PackedScene
 
-@export var cpu : CPU
+@onready var cpu := get_parent() as CPU
 
-func _ready() -> void:
+func memory_setup() -> void:
+	var register_types : Dictionary[int, String]
+	for module in cpu.modules:
+		register_types.assign(module.get_register_types())
+	
 	for i in range(cpu.register_size):
 		var entry := memory_entry.instantiate() as Control
-		(entry.get_node("address") as Label).text = "[/" + str(i) + "]"
+		(entry.get_node("address") as Label).text = "[ /" + str(i).pad_zeros(2) + " ]"
 		(entry.get_node("value") as SpinBox).value = 0
+		(entry.get_node("type") as Label).text = register_types[i] if register_types.has(i) else "Free"
 		memory.add_child(entry)
 
 func _process(_delta: float) -> void:
 	# Set execution indicator
 	for line in code_editor.get_executing_lines():
 		code_editor.set_line_as_executing(line, false)
-	code_editor.set_line_as_executing(cpu.cobor_vm.get_program_counter(), true)
+	if cpu.cobor_vm.get_program_size() < cpu.cobor_vm.get_program_counter():
+		code_editor.set_line_as_executing(cpu.cobor_vm.get_program_counter(), true)
 	# Show register values
 	var registers := cpu.cobor_vm.get_registers()
 	for i in range(registers.size()):

nodes/robots/coding/programming_ui.tscn

@@ -41,7 +41,12 @@ gutters_draw_line_numbers = true
 gutters_zero_pad_line_numbers = true
 indent_automatic = true
 
-[node name="Memory" type="VBoxContainer" parent="VBoxContainer/HBoxContainer"]
+[node name="ScrollContainer" type="ScrollContainer" parent="VBoxContainer/HBoxContainer"]
+layout_mode = 2
+size_flags_horizontal = 3
+horizontal_scroll_mode = 0
+
+[node name="Memory" type="VBoxContainer" parent="VBoxContainer/HBoxContainer/ScrollContainer"]
 unique_name_in_owner = true
 layout_mode = 2
 

nodes/robots/modules/module.gd

@@ -2,11 +2,14 @@ class_name Module extends Node
 
 @onready var cpu := get_parent() as CPU
 
-func set_registers(index:int)->int:
+func get_register_reservation_size()->int:
 	return 0
 
-func early_tick()->void:
+func set_reserved_registers(index:int)->void:
 	pass
 
+func get_register_types()->Dictionary[int, String]:
+	return {}
+
 func late_tick()->void:
 	pass

nodes/robots/modules/path_finder_module.gd

@@ -0,0 +1,75 @@
+extends Module
+
+var enabled := true
+
+var pos_x_register_index:int
+var pos_y_register_index:int
+var pos_z_register_index:int
+var index_register_index:int
+
+var prev_index := 0
+var target := Vector3i.ZERO
+var path : Array[Vector3i]
+
+func _ready() -> void:
+	if Terrain.instance == null:
+		print("No terrain to plan path on")
+	if cpu.get_parent() is not Robot:
+		print("Module not part of Robot")
+
+func get_register_reservation_size()->int:
+	return 4
+
+func set_reserved_registers(index:int)->void:
+	pos_x_register_index = index
+	pos_y_register_index = index+1
+	pos_z_register_index = index+2
+	index_register_index = index+3
+
+func get_register_types()->Dictionary[int, String]:
+	return { 
+		pos_x_register_index: "[X] Path", 
+		pos_y_register_index: "[Y] Path",
+		pos_z_register_index: "[Z] Path",
+		index_register_index: "Idx Path"
+		}
+
+func early_tick()->void:
+	var registers := cpu.cobor_vm.get_registers()
+	prev_index = registers[index_register_index]
+
+func late_tick()->void:
+	var registers := cpu.cobor_vm.get_registers()
+	var index := registers[index_register_index]
+	if index < 0:
+		target = Vector3i(
+			registers[pos_x_register_index],
+			registers[pos_y_register_index],
+			registers[pos_z_register_index]
+		)
+		print("Target set: ", target)
+	else:
+		if index == prev_index:
+			print("index stays same")
+			return
+		if prev_index < 0:
+			var path_finder := VoxelAStarGrid3D.new()
+			path_finder.set_terrain(Terrain.instance)
+			path_finder.set_region(AABB(cpu.get_parent().global_position + Vector3.ONE * -100, Vector3.ONE * 200))
+			path = path_finder.find_path(cpu.get_parent().global_position, target)
+			if not path.is_empty():
+				path.append(target)
+			print("Recalculating path of size:", path.size(), " towards: ", target)
+		if index >= path.size():
+			index = path.size()-1
+		var step:Vector3i
+		if path.size() == 0: 
+			step = Vector3i.ZERO
+		else:
+			step = path[index]
+		print("next step: ", step)
+		registers[pos_x_register_index] = step.x
+		registers[pos_y_register_index] = step.y
+		registers[pos_z_register_index] = step.z
+		registers[index_register_index] = index
+		cpu.cobor_vm.set_registers(cpu.register_size, registers)

nodes/robots/modules/path_finder_module.gd.uid

@@ -0,0 +1 @@
+uid://wsrudejqfo5e

nodes/robots/modules/player_click_module.gd

@@ -1,21 +1,31 @@
 extends Module
 
-
 var enabled := true
 
 var pos_x_register_index:int
 var pos_y_register_index:int
 var pos_z_register_index:int
 
+var pos := Vector3i.ZERO
+
 func _ready() -> void:
 	if Terrain.instance == null:
 		print("No terrain to get clicks from")
 
-func set_registers(index:int)->int:
+func get_register_reservation_size()->int:
+	return 3
+
+func set_reserved_registers(index:int)->void:
 	pos_x_register_index = index
 	pos_y_register_index = index+1
 	pos_z_register_index = index+2
-	return 3
+
+func get_register_types()->Dictionary[int, String]:
+	return { 
+		pos_x_register_index: "[X] Click", 
+		pos_y_register_index: "[Y] Click",
+		pos_z_register_index: "[Z] Click" 
+		}
 
 func _unhandled_input(event: InputEvent) -> void:
 	if not enabled: return
@@ -32,8 +42,11 @@ func set_click_registers()->void:
 	var origin := current_camera.project_ray_origin(mouse_pos_2d)
 	var dir := current_camera.project_ray_normal(mouse_pos_2d)
 	var res := Terrain.instance.get_voxel_tool().raycast(origin, dir, 100)
+	pos = res.previous_position
+
+func early_tick()->void:
 	var registers := cpu.cobor_vm.get_registers()
-	registers[pos_x_register_index] = res.previous_position.x
+	registers[pos_x_register_index] = pos.x
-	registers[pos_y_register_index] = res.previous_position.y
+	registers[pos_y_register_index] = pos.y
-	registers[pos_z_register_index] = res.previous_position.z
+	registers[pos_z_register_index] = pos.z
 	cpu.cobor_vm.set_registers(cpu.register_size, registers)

nodes/robots/modules/player_click_module.tscn

@@ -1,6 +0,0 @@
-[gd_scene load_steps=2 format=3 uid="uid://d22umiybuk0xf"]
-
-[ext_resource type="Script" uid="uid://dii2n2xcatyuh" path="res://nodes/robots/modules/player_click_module.gd" id="1_few5k"]
-
-[node name="PlayerClickModule" type="Node"]
-script = ExtResource("1_few5k")

nodes/robots/robot.gd

@@ -1,4 +1,4 @@
-extends CharacterBody3D
+class_name Robot extends CharacterBody3D
 
 @onready var terrain := get_node("../VoxelTerrain") as VoxelTerrain
 
@@ -9,20 +9,20 @@ func _on_input_event(camera: Node, event: InputEvent, event_position: Vector3, n
 	if event is InputEventMouseButton and event.is_pressed():
 		var button_event = event as InputEventMouseButton
 		if button_event.button_index == MOUSE_BUTTON_LEFT:
-			$ProgrammingUI.visible = true
+			$CPU.show_ui(true)
 			selected = true
 		elif button_event.button_index == MOUSE_BUTTON_RIGHT:
-			$ProgrammingUI.visible = false
+			$CPU.show_ui(false)
 			selected = false
 
-func _unhandled_input(event: InputEvent) -> void:
+#func _unhandled_input(event: InputEvent) -> void:
-	if selected:
+	#if selected:
-		if event is InputEventMouseButton and event.is_pressed():
+		#if event is InputEventMouseButton and event.is_pressed():
-			var button_event = event as InputEventMouseButton
+			#var button_event = event as InputEventMouseButton
-			if button_event.button_index == MOUSE_BUTTON_LEFT:
+			#if button_event.button_index == MOUSE_BUTTON_LEFT:
-				move_to_mouse_click()
+				#move_to_mouse_click()
-			elif button_event.button_index == MOUSE_BUTTON_RIGHT:
+			#elif button_event.button_index == MOUSE_BUTTON_RIGHT:
-				pass
+				#pass
 
 func move_to_mouse_click():
 	var mouse_pos_2d := get_viewport().get_mouse_position()

nodes/robots/robot.tscn

@@ -1,8 +1,8 @@
 [gd_scene load_steps=10 format=3 uid="uid://chem70rrdwjpg"]
 
 [ext_resource type="Script" uid="uid://bnw0h8cuyf3g5" path="res://nodes/robots/robot.gd" id="1_suikl"]
-[ext_resource type="PackedScene" uid="uid://c2es6v8lb8tug" path="res://nodes/robots/coding/programming_ui.tscn" id="3_tmdoi"]
+[ext_resource type="Script" uid="uid://dii2n2xcatyuh" path="res://nodes/robots/modules/player_click_module.gd" id="3_tmdoi"]
-[ext_resource type="PackedScene" uid="uid://d22umiybuk0xf" path="res://nodes/robots/modules/player_click_module.tscn" id="4_hm8dm"]
+[ext_resource type="Script" uid="uid://wsrudejqfo5e" path="res://nodes/robots/modules/path_finder_module.gd" id="4_hm8dm"]
 [ext_resource type="PackedScene" uid="uid://crtis0eyywl61" path="res://nodes/robots/coding/cpu.tscn" id="5_r4wpy"]
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_hm8dm"]
@@ -26,23 +26,23 @@ height = 0.8
 [node name="Robot" type="CharacterBody3D"]
 script = ExtResource("1_suikl")
 
+[node name="CPU" parent="." instance=ExtResource("5_r4wpy")]
+
+[node name="PlayerClickModule" type="Node" parent="CPU"]
+script = ExtResource("3_tmdoi")
+
+[node name="PathFinderModule" type="Node" parent="CPU"]
+script = ExtResource("4_hm8dm")
+
 [node name="MeshInstance3D" type="MeshInstance3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.1, 0)
 mesh = SubResource("BoxMesh_hm8dm")
 
 [node name="MeshInstance3D2" type="MeshInstance3D" parent="MeshInstance3D"]
-transform = Transform3D(1.91069e-15, -1, -4.37114e-08, -4.37114e-08, -4.37114e-08, 1, -1, 0, -4.37114e-08, 0, 0.5, 0)
+transform = Transform3D(1, -1.31134e-07, 4.37114e-08, -4.37114e-08, -4.37114e-08, 1, -1.31134e-07, -1, -4.37114e-08, 0, 0.5, 0)
 mesh = SubResource("PrismMesh_hm8dm")
 
 [node name="CollisionShape3D" type="CollisionShape3D" parent="."]
 shape = SubResource("CapsuleShape3D_llm6e")
 
-[node name="ProgrammingUI" parent="." node_paths=PackedStringArray("cpu") instance=ExtResource("3_tmdoi")]
-cpu = NodePath("../CPU")
-
-[node name="CPU" parent="." instance=ExtResource("5_r4wpy")]
-
-[node name="PlayerClickModule" parent="CPU" instance=ExtResource("4_hm8dm")]
-
 [connection signal="input_event" from="." to="." method="_on_input_event"]
-[connection signal="cpu_tick" from="CPU" to="ProgrammingUI" method="_on_cpu_tick"]

nodes/world/terrain_editor.tscn

@@ -5,18 +5,14 @@
 [node name="TerrainEditor" type="Node"]
 script = ExtResource("1_6evft")
 
-[node name="Control" type="HBoxContainer" parent="."]
+[node name="Button" type="Button" parent="."]
-anchors_preset = 12
+anchors_preset = 1
-anchor_top = 1.0
+anchor_left = 1.0
 anchor_right = 1.0
-anchor_bottom = 1.0
+offset_left = -84.0
-grow_horizontal = 2
+offset_bottom = 31.0
-grow_vertical = 0
+grow_horizontal = 0
-alignment = 1
-
-[node name="Button" type="Button" parent="Control"]
-layout_mode = 2
 toggle_mode = true
 text = "Block Edit"
 
-[connection signal="toggled" from="Control/Button" to="." method="_on_button_toggled"]
+[connection signal="toggled" from="Button" to="." method="_on_button_toggled"]

project.godot

@@ -15,6 +15,10 @@ run/main_scene="uid://d0b7m4vykcfy2"
 config/features=PackedStringArray("4.4")
 config/icon="res://icon.svg"
 
+[filesystem]
+
+import/blender/enabled=false
+
 [importer_defaults]
 
 scene={

resources/cobor_script/prog1.txt

@@ -0,0 +1,8 @@
+set -1 /7
+mov /1 /4
+mov /2 /5
+mov /3 /6
+set 0 /7
+set 1 /7
+set 2 /7
+set 3 /7