Working on armbot program updating

src/main/java/com/builtbroken/assemblyline/api/coding/ProgramHelper.java

@@ -47,13 +47,13 @@ public class ProgramHelper
             }
             if (this.currentTask != null)
             {
+                System.out.println("[ProgramHelper]Updating task:" + this.currentTask.toString());
                 if (!this.hasTaskBeenCalled)
                 {
                     this.hasTaskBeenCalled = true;
                     if (this.currentTask instanceof IProcessTask)
                     {
                         re = ((IProcessTask) this.currentTask).onMethodCalled();
-                        System.out.println("[ProgramHelper]OnCall:" + re.toString());
                         if (re == ProcessReturn.DONE)
                         {
                             this.nextTask = true;

src/main/java/com/builtbroken/assemblyline/armbot/Program.java

@@ -9,6 +9,7 @@ import net.minecraft.nbt.NBTTagCompound;
 import net.minecraft.nbt.NBTTagList;
 import universalelectricity.api.vector.Vector2;
 
+import com.builtbroken.assemblyline.api.coding.ILogicTask;
 import com.builtbroken.assemblyline.api.coding.IProgram;
 import com.builtbroken.assemblyline.api.coding.IProgrammableMachine;
 import com.builtbroken.assemblyline.api.coding.ITask;
@@ -85,6 +86,14 @@ public class Program implements IProgram
         {
             this.currentTask.refresh();
         }
+        if (this.currentTask instanceof ILogicTask)
+        {
+            if (((ILogicTask) this.currentTask).getExitPoint() != null)
+            {
+                this.currentTask = ((ILogicTask) this.currentTask).getExitPoint();
+                this.currentPos = new Vector2(this.currentTask.getCol(), this.currentTask.getRow() + 1);
+            }
+        }
         return this.currentTask;
     }
 

src/main/java/com/builtbroken/assemblyline/armbot/TaskBase.java

@@ -183,7 +183,7 @@ public abstract class TaskBase implements ITask
     @Override
     public String toString()
     {
-        return "COMMAND[" + super.toString() + "]:" + this.methodName;
+        return "Task[" + this.methodName + "]:";
     }
 
     @Override

src/main/java/com/builtbroken/assemblyline/armbot/TileEntityArmbot.java

@@ -24,6 +24,7 @@ import com.builtbroken.assemblyline.api.coding.ProgramHelper;
 import com.builtbroken.assemblyline.armbot.command.TaskGOTO;
 import com.builtbroken.assemblyline.armbot.command.TaskReturn;
 import com.builtbroken.assemblyline.armbot.command.TaskRotateBy;
+import com.builtbroken.assemblyline.armbot.command.TaskRotateTo;
 import com.builtbroken.assemblyline.machine.TileEntityAssembly;
 import com.builtbroken.assemblyline.machine.encoder.ItemDisk;
 import com.builtbroken.common.Pair;
@@ -68,9 +69,9 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
         super(20);
         programHelper = new ProgramHelper(this).setMemoryLimit(20);
         Program program = new Program();
-        program.setTaskAt(0, 0, new TaskRotateBy(90, 0));
+        program.setTaskAt(0, 0, new TaskRotateTo(90, 0));
         program.setTaskAt(0, 1, new TaskReturn());
-        program.setTaskAt(0, 1, new TaskGOTO(0, 0));
+        program.setTaskAt(0, 2, new TaskGOTO(0, 0));
         programHelper.setProgram(program);
     }
 
@@ -106,10 +107,10 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
 
         if (this.isFunctioning())
         {
-            if (!this.worldObj.isRemote)
+            float preYaw = this.rotationYaw, prePitch = this.rotationPitch;
+            if (!this.worldObj.isRemote && this.ticks % 3 == 0)
             {
                 this.programHelper.onUpdate(this.worldObj, new Vector3(this));
-                float preYaw = this.rotationYaw, prePitch = this.rotationPitch;
                 if (this.rotationYaw != preYaw || this.rotationPitch != prePitch)
                 {
                     this.sendRotationPacket();
@@ -313,7 +314,7 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
 
     public void sendRotationPacket()
     {
-        PacketHandler.instance().sendPacketToClients(PacketHandler.instance().getPacket(this.getChannel(), "arbotRotation", this.rotationYaw, this.rotationPitch), worldObj, new Vector3(this).translate(new Vector3(.5f, 1f, .5f)), 40);
+        PacketHandler.instance().sendPacketToClients(PacketHandler.instance().getPacket(this.getChannel(), "arbotRotation", this.rotationYaw, this.rotationPitch, this.actualYaw, this.actualPitch), worldObj, new Vector3(this).translate(new Vector3(.5f, 1f, .5f)), 40);
     }
 
     @Override
@@ -334,6 +335,8 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
                 {
                     this.rotationYaw = dis.readFloat();
                     this.rotationPitch = dis.readFloat();
+                    this.actualYaw = dis.readFloat();
+                    this.actualPitch = dis.readFloat();
                     return true;
                 }
             }

src/main/java/com/builtbroken/assemblyline/armbot/command/TaskReturn.java

@@ -21,6 +21,7 @@ public class TaskReturn extends TaskBaseArmbot
         if (this.rotateToCommand == null)
         {
             this.rotateToCommand = new TaskRotateTo(0, 0);
+            this.rotateToCommand.setProgram(this.program);
             this.rotateToCommand.onMethodCalled();
         }
         return this.rotateToCommand.onUpdate();
@@ -32,12 +33,6 @@ public class TaskReturn extends TaskBaseArmbot
         this.rotateToCommand.terminated();
     }
 
-    @Override
-    public String toString()
-    {
-        return "RETURN";
-    }
-
     @Override
     public TaskBaseProcess clone()
     {

src/main/java/com/builtbroken/assemblyline/armbot/command/TaskRotateBy.java

@@ -81,7 +81,7 @@ public class TaskRotateBy extends TaskBaseArmbot
     @Override
     public String toString()
     {
-        return super.toString() + " " + Float.toString(this.deltaYaw) + " " + Float.toString(this.deltaPitch);
+        return super.toString() + " Yaw:" + Integer.toString(this.targetRotationYaw) + " Pitch:" + Integer.toString(this.targetRotationPitch);
     }
 
     @Override

src/main/java/com/builtbroken/assemblyline/armbot/command/TaskRotateTo.java

@@ -17,23 +17,19 @@ import com.builtbroken.minecraft.helpers.MathHelper;
  * @author DarkGuardsman */
 public class TaskRotateTo extends TaskBaseArmbot
 {
-    int targetRotationYaw = 0, targetRotationPitch = 0, currentRotationYaw, currentRotationPitch;
+    int targetRotationYaw = 0, targetRotationPitch = 0;
 
     public TaskRotateTo()
     {
-        super("RotateTo");
+        this(0, 0);
-        this.args.add(new ArgumentIntData("yaw", 0, 360, 0));
-        this.args.add(new ArgumentIntData("pitch", 0, 360, 0));
-        this.UV = new Vector2(100, 80);
     }
 
     public TaskRotateTo(int yaw, int pitch)
     {
-        this();
+        super("RotateTo");
-        this.targetRotationYaw = yaw;
+        this.args.add(new ArgumentIntData("yaw", yaw, 360, 0));
-        this.targetRotationPitch = pitch;
+        this.args.add(new ArgumentIntData("pitch", pitch, 360, 0));
-        this.setArg("yaw", yaw);
+        this.UV = new Vector2(100, 80);
-        this.setArg("pitch", pitch);
     }
 
     @Override
@@ -54,8 +50,9 @@ public class TaskRotateTo extends TaskBaseArmbot
         if (super.onUpdate() == ProcessReturn.CONTINUE)
         {
             ((IArmbot) this.program.getMachine()).moveArmTo(this.targetRotationYaw, this.targetRotationPitch);
-
+            int deltaYaw = Math.abs(((IArmbot) this.program.getMachine()).getRotation().intY() - this.targetRotationPitch);
-            return Math.abs(((IArmbot) this.program.getMachine()).getRotation().y - this.targetRotationPitch) > 0 && Math.abs(((IArmbot) this.program.getMachine()).getRotation().x - this.targetRotationYaw) > 0 ? ProcessReturn.CONTINUE : ProcessReturn.DONE;
+            int deltaPitch = Math.abs(((IArmbot) this.program.getMachine()).getRotation().intX() - this.targetRotationYaw);
+            return deltaYaw > 0 && deltaPitch > 0 ? ProcessReturn.CONTINUE : ProcessReturn.DONE;
         }
         return ProcessReturn.GENERAL_ERROR;
     }
@@ -63,7 +60,7 @@ public class TaskRotateTo extends TaskBaseArmbot
     @Override
     public String toString()
     {
-        return super.toString() + " " + Float.toString(this.targetRotationYaw) + " " + Float.toString(this.targetRotationPitch);
+        return super.toString() + " Yaw:" + Integer.toString(this.targetRotationYaw) + " Pitch:" + Integer.toString(this.targetRotationPitch);
     }
 
     @Override