Dig Code

--the codes for the ports
local SERVER_PORT = 568
local CLIENT_PORT = 342

local INVENTORY_SLOT = 1
local FUEL_SLOT = 2

--The number of slots in the turtle
local SLOT_COUNT = 16

--To help with turning while mining
local RIGHT = 0
local LEFT = 1
--we always turn right first while digging
local turnDirection = 0

--split a string message into a table of strings
--inputstr is the sting to be separated
--sep is the string that will be found between sections
function split (inputstr, sep)
    if sep == nil then
            sep = "%s"
    end
    local t={}
    for str in string.gmatch(inputstr, "([^"..sep.."]+)") do
            table.insert(t, str)
    end
    return t
end

--the data is the
--put the string data into the coords array
function parseParams(data)
    coords = {}
    params = split(data, " ")

    coords[1] = vector.new(params[1], params[2], params[3])
    coords[2] = vector.new(params[4], params[5], params[6])

    return (coords)
end

function checkFuel()
    while(turtle.getFuelLevel() < 100) do
        --selectchest
        turtle.select(FUEL_SLOT)
        --make space for chest
        turtle.digUp()
        --place chest
        turtle.placeUp()
        --get lava bucket
        turtle.suckUp()
        --refuel
        turtle.refuel()
        --put bucket back
        turtle.dropUp()
        --get chest back
        turtle.digUp()
    end
end

function checkInventory()
    --we deposit our inventory if we have extra chests or if the inventory is almost full

    if ((turtle.getItemCount(SLOT_COUNT - 1) > 0) or (turtle.getItemCount(FUEL_SLOT) > 1) or (turtle.getItemCount(INVENTORY_SLOT) > 1)) then
        --select the chest
        turtle.select(INVENTORY_SLOT)
        --make space for the chest
        turtle.digUp()
        --place chest
        turtle.placeUp()
        --place everything except chests in the chest
        for i = 1, SLOT_COUNT, 1 do
            --we want to deposit everything except the inventory and fuel chest
            --We know that one inventory chest is above the turtle so we can deposit any extras
            --We need to make sure we keep at least on fuel chest
            if i == FUEL_SLOT then
                --drop evertyihing in the slot except one
                turtle.dropUp(turtle.getItemCount(FUEL_SLOT) - 1)
            else
                --for every slot except FUEL_SLOT we want to deposit everything
                turtle.dropUp()
            end
        end
        --get the chest back
        turtle.digUp()
    end
end

-------------------- Movement Functions -------------------------

--turn the turtle around
function turnAround(heading)
    turtle.turnRight()
    turtle.turnRight()
    return ((heading + 1) % 4) + 1
end

--Dig the forward block and move forward
function forward()
    checkFuel()
    while(turtle.detect()) do
        turtle.dig()
    end
    turtle.forward()
    checkInventory()
end

--Dig the forward block, move forward,
--dig up if digSize is 2 or more
--dig down if digSize is 3 or more
function dig(digSize)
    forward()

    if digSize >= 2 then
        while(turtle.detectUp()) do
            turtle.digUp()
        end
    end

    if digSize >= 3 then
        while(turtle.detectDown()) do
            turtle.digDown()
        end
    end
    checkInventory()
end

-- do a digging u turn to the left
function turnLeft(digSize, heading)
    turtle.turnLeft()
    dig(digSize)
    turtle.turnLeft()
    return ((heading + 1) % 4) + 1
end

--do a digging u turn to the right
function turnRight(digSize, heading)
    turtle.turnRight()
    dig(digSize)
    turtle.turnRight()
    return ((heading + 1) % 4) + 1
end

--turn the correct direction while digging
function digTurn(digSize, heading)
    if turnDirection == RIGHT then
        heading = turnRight(digSize, heading)
    else
        heading = turnLeft(digSize, heading)
    end
    turnDirection = (turnDirection + 1) % 2
    return heading
end

--turn to a heading to go a specific direction
function turnToFaceHeading(heading, destinationHeading)
    if heading > destinationHeading then
        for t = 1, math.abs(destinationHeading - heading), 1 do
            turtle.turnLeft()
        end
    elseif heading < destinationHeading then
        for t = 1, math.abs(destinationHeading - heading), 1 do
            turtle.turnRight()
        end
    end
end

--find the orientation of the turtle
--then move into position to start dig
--returns the Heading
function getOrientation()
    loc1 = vector.new(gps.locate(2, false))
    forward()
    loc2 = vector.new(gps.locate(2, false))
    heading = loc2 - loc1
    turtle.down()
    turtle.down()
    return (heading.x + math.abs(heading.x) * 2) + (heading.z + math.abs(heading.z) * 3)
end

--turn to the heading needed to move in z direction
function setHeadingZ(zDiff, heading)
    local destinationHeading = heading
    if zDiff < 0 then
        destinationHeading = 2
    elseif zDiff > 0 then
        destinationHeading = 4
    end
    turnToFaceHeading(heading, destinationHeading)

    return destinationHeading
end

--turn to the heading needed to move in x direction
function setHeadingX(xDiff, heading)
    local destinationHeading = heading
    if xDiff < 0 then
        destinationHeading = 1
    elseif xDiff > 0 then
        destinationHeading = 3
    end

    turnToFaceHeading(heading, destinationHeading)
    return destinationHeading
end

--move dig and move the specified amount
function digAndMove(n, digSize)
    for x = 1, n, 1 do
        dig(digSize)
    end
end

function move(n)
    for x = 1, n, 1 do
        forward()
    end
end

--move turle up
function MoveDown(n)
    for y = 1, n, 1 do
        while(turtle.detectDown()) do
            turtle.digDown()
        end
        turtle.down()
        checkFuel()
    end
end

--move turtledown
function MoveUp(n)
    for y = 1, n, 1 do
        while(turtle.detectUp()) do
            turtle.digUp()
        end
        turtle.up()
        checkFuel()
    end
end

--move to a specific coordinate
function moveTo(coords, heading)
    local currX, currY, currZ = gps.locate()
    local xDiff, yDiff, zDiff = coords.x - currX, coords.y - currY, coords.z - currZ
    print(string.format("Distances from start: %d %d %d", xDiff, yDiff, zDiff))

    --    -x = 1
    --    -z = 2
    --    +x = 3
    --    +z = 4

    -- Move to X start
    heading = setHeadingX(xDiff, heading)
    move(math.abs(xDiff))

    -- Move to Z start
    heading = setHeadingZ(zDiff, heading)
    move(math.abs(zDiff))

    -- Move to Y start
    if yDiff < 0  then
        MoveDown(math.abs(yDiff))
    elseif yDiff > 0 then
        MoveUp(math.abs(yDiff))
    end

    return heading
end

--------------------------------START BEGIN TRIP CODE-------------------------

--connect to the modem on the turtle
local modem = peripheral.wrap("left")
modem.open(CLIENT_PORT)

--tell the server we are placed
modem.transmit(SERVER_PORT, CLIENT_PORT, "CLIENT_DEPLOYED")

--we should receive the fuel and deposit chest right now

--get mining coords from server
event, side, senderChannel, replyChannel, msg, distance = os.pullEvent("modem_message")
data = parseParams(msg)

--get Fuel
checkFuel()

--Go to starting Postion
local startCoords = data[1]
local currentHeading = moveTo(startCoords, getOrientation())

 --Turn to face North
local NORTH_HEADING = 2
turnToFaceHeading(currentHeading, NORTH_HEADING)
currentHeading = NORTH_HEADING
--Now in Starting Position--
--------------------------------START MINING CODE------------------------------

--function for mining a quarry
function startQuary(width, height, length, heading)
    --define the dig size
    local digSize = 3

    --repeat for each tier in the dig
    for tier = 1, height, 3 do
        --define the dig size
        digSize = 3
        if((height - (tier - 1)) < digSize) then
            digSize = (height - (tier - 1))
        end

        --we need to move differently for the first tier
        if tier == 1 then
            --clear blocks in starting path
            if digSize == 3 then
                moveDown(2)
                moveUp(1)
            elseif digSize == 2 then
                moveDown(1)
            end
        else
            --move to next tier
            if digSize == 3 then
                moveDown(4)
                moveUp(1)
            elseif digSize == 2 then
                moveDown(3)
            else
                moveDown(2)
            end
        end

        --for each row j
        for j = 1, width, 1 do
            --dig the length of the dig not including the block we are already in
            digAndMove( (length-1) , digSize)

            --we don't want to turn if it is the last row
            if(j ~= width) then
                heading = digTurn(digSize, heading)
            end
        end

        --turn around
        heading = turnAround(heading)

    end

    return heading
end

--get the size of the quarry from the server message
local quary = data[2]

--start dig
currentHeading = startQuary(quary.x, quary.y, quary.z, currentHeading)


--------------------------------START RETURN TRIP CODE-------------------------

function returnTo(coords, heading)
    local currX, currY, currZ = gps.locate()
    local xDiff, yDiff, zDiff = coords.x - currX, coords.y - currY, coords.z - currZ
    print(string.format("Distances from end: %d %d %d", xDiff, yDiff, zDiff))

    -- Move to Y start
    if yDiff < 0 then
        MoveDown(math.abs(yDiff))
    elseif yDiff > 0 then
        MoveUp(math.abs(yDiff))
    end

    -- Move to X start
    heading = setHeadingX(xDiff, heading)
    move(math.abs(xDiff))

    -- Move to Z start
    heading = setHeadingZ(zDiff, heading)
    move(math.abs(zDiff))

    return heading
end

endCoords = data[3]
returnTo(endCoords, currentHeading)

local timoutWait = 60
for i = 1, timoutWait, 1 do
    os.sleep(1)
    print(string.format( "Waiting for brothers %d/%d", i, timoutWait))
end

modem.transmit(SERVER_PORT, CLIENT_PORT, "end")