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Page: (Hardware) LiDAR
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(Hardware) LiDAR
simon987 edited this page 2019-11-03 09:21:19 -05:00
Table of Contents

Bexsh Optics's LiDAR device is used to accurately map the area around your Cubot. It is equipped with an on board path finding module and is able to detect underground resources such as iron or copper.

Specifications

Manufacturer: Bexsh Optics
Version: 1.0B
Default address: 0x0003
Hardware ID: 0x0003

Interrupt Behavior

Value of A Action Energy cost Result
1 LIDAR_GET_POS 0 kJ Copies the current (x,y) world coordinates of the Cubot into the X and Y registers.
2 LIDAR_GET_PATH 50 kJ Calculates the shortest path to the specified coordinates and copies it into memory (more info).
3 LIDAR_GET_MAP 10 kJ Generates a map of the world the Cubot is currently in and copies it into memory (more info).
4 LIDAR_GET_WORLD_POS 0 kJ Copies the current (x,y) universe coordinates of the Cubot into the X and Y registers.
5 LIDAR_GET_WORLD_SIZE 0 kJ Copies the current world dimensions into the X and Y registers.

LIDAR_GET_PATH

Generates a path as a sequence of words, each representing a direction. The generated path starts at the address specified in the C register but varies in length. It is terminated with the word 0xAAAA, which represents the end of the path. If a path could not be generated, then the memory at address specified in the C register is set to 0xFFFF (Note: The path terminator is not written for invalid paths).

The coordinates of the destination are indicated with the X and Y registers. The desired range (Manhattan distance from the destination) is specified with the B register. For example, if you want to get within 1 tile of a biomass blob, specify a distance of 1.

Directions
Direction Value
North 0x0000
East 0x0001
South 0x0002
West 0x0003
Example generated path

The memory of a 4 tile path consisting of moving the Cubot north twice, once west, and then once east would look like:

Address C C + 0x01 C + 0x02 C + 0x03 C + 0x04
Value 0x00 0x00 0x03 0x01 0xAAAA

LIDAR_GET_MAP

Generates a map of the current world as a sequence of words, each word representing a tile. The starting address of the generated map must be specified with the X register. The exact size depends on the world you are in. The LiDAR reads the tiles west to east, north to south: (0,0) (1,0) (2,0) ... (world-size-x -1,0) (0,1) (1,1) ... The first world-size-X words will be the north-most row from west to east, the next world-size-X words will be the next row down (south), etc. Ending with the south-east most tile.

Each tile is encoded as a bit field with the following format OOOOOOOO TTTTTTTB. Starting from the left, the first byte specifies the object ID on this tile, the next 7 bits specifies the tile ID. The rightmost bit indicates if the tile is blocked or not.

Object IDs:
Bit field Value Content
0000 0001 0000 0001 0x0101 Biomass blob
0000 0010 0000 0000 0x0201 Cubot
0000 0011 0000 0001 0x0301 Electric Box
0000 0100 0000 0001 0x0401 Factory
0000 0101 0000 0001 0x0501 NPC
0000 0110 0000 0001 0x0601 Reserved
0000 0111 0000 0001 0x0701 Reserved
0000 1000 0000 0001 0x0801 Portal
0000 1001 0000 0001 0x0901 Radio Tower
0000 1010 0000 0001 0x0A01 Reserved
0000 1011 0000 0000 0x0B00 Reserved
Tile IDs:
Bit field Value Content
0000 0000 1111 1111 0x00FF Void
0000 0000 0000 0000 0x0000 Plain
0000 0000 0000 0011 0x0003 Wall
0000 0000 0000 0100 0x0004 Iron tile
0000 0000 0000 0110 0x0006 Copper tile
0000 0000 0000 1000 0x0008 Vault floor
0000 0000 0000 1011 0x000B Vault wall
0000 0000 0000 1101 0x000D Fluid Tile