Minecraft Dig

--pastebin get Bct0mdbv Dig
--pastebin get SpEd82Jp StripLayer
local tArgs = { ... }
local filename = shell.getRunningProgram()

if #tArgs < 2 then
    print( "Usage: " .. filename .. " <type> <length> <width> <height> <ender chest (0:1)>" )
    print( "Type: Room, Quarry, Branch, or Tunnel" )
    print( "Slot 1 should be a non-wood floor block" )
    print( "Slot 2 should be a fuel" )
    print( "Slot 3 should be a stack of chests" )
    print( "Slot 4 should be a stack of torches" )
    return
end

-- Mine in a quarry pattern until we hit something we can't dig
local digType = tArgs[1]
local inLength = tonumber( tArgs[2] )
local inWidth = tonumber( tArgs[3] )
local tall = tonumber( tArgs[4] )
local useEnderChest = tonumber( tArgs[5] )
local relCurFacing = 0
local movedCnt = 0
local collectMode = 0

if tall == nil then
    tall = 3
end

if useEnderChest == nil then
    useEnderChest = 0
end

if inLength < 1 then
    print( "Room length must be positive" )
    return
end

local length = inLength

if tall < 1 then
    print( "Tunnel height must be positive" )
    return
end

local depth = 0
local collected = 0
local unloaded = 0

local faceForward = 0
local faceBack = -2
local faceLeft = -1
local faceRight = 1

local relX, relY, relZ = 0, 0, 0
local absX, absY, absZ = 0, 0, 0

local North = 2
local South = 0
local East = 3
local West = 1
local realFace = South

local activity = ""

local planX, planY, planZ = 0, 0, 0

local planFace = South

local route = {}
local routeLen = 0
local routePos = 1

local alreadyUnloading = false
local haveRealGPS = false
local dontSave = false

local sOpenedSide = nil
local function openModem()
    local bOpen, sFreeSide = false, nil
    for n,sSide in pairs(rs.getSides()) do
        if peripheral.getType( sSide ) == "modem" then
            sFreeSide = sSide
            if rednet.isOpen( sSide ) then
                bOpen = true
                break
            end
        end
    end

    if not bOpen then
        if sFreeSide then
            print( "No modem active. Opening "..sFreeSide.." modem" )
            rednet.open( sFreeSide )
            sOpenedSide = sFreeSide
            return true
        else
            print( "No modem attached" )
            return false
        end
    end
    return true
end

function closeModem()
    if sOpenedSide then
        rednet.close( sOpenedSide )
    end
end

local function saveState()
    --print("Saving State")
    if dontSave then
        return true
    end
    local sf = fs.open(filename .. ".state", "w")
    sf.writeLine('' .. digType)
    sf.writeLine('' .. collected)
    sf.writeLine('' .. unloaded)
    sf.writeLine('' .. relX)
    sf.writeLine('' .. relY)
    sf.writeLine('' .. relZ)
    sf.writeLine('' .. relCurFacing)
    sf.writeLine('' .. absX)
    sf.writeLine('' .. absY)
    sf.writeLine('' .. absZ)
    sf.writeLine('' .. realFace)
    sf.writeLine('' .. routePos)
    if alreadyUnloading then
        sf.writeLine("unloading")
    else
        sf.writeLine("")
    end
    sf.writeLine('' .. movedCnt)

    print("Saving State Values: ")
    print("rel: ", relX, ", ", relY, ", ", relZ)


    sf.close()
    sleep(0)
end


local function isFull()
        local bFull = true
        local nTotalItems = 0
        for n=1,15 do
            local nCount = turtle.getItemCount(n)
            if nCount == 0 then
                bFull = false
            end
            nTotalItems = nTotalItems + nCount
        end

        if bFull then
            print( "No empty slots left." )
            return true
        end
        return false
end

--local function relTurnFacing(dir)
--  print("used wrong relTurnFacing")
--  return nil
--end

local function relTurnLeft()
    turtle.turnLeft()
    relCurFacing = relCurFacing - 1
    while relCurFacing <= -3 do
        relCurFacing = relCurFacing + 4
    end

    realFace = realFace - 1

    while realFace < South do
        realFace = realFace + 4
    end

    saveState()

end

local function relTurnRight()
    turtle.turnRight()
    relCurFacing = relCurFacing + 1
    while relCurFacing >= 2 do
        relCurFacing = relCurFacing - 4
    end

    realFace = realFace + 1
    while realFace > East do
        realFace = realFace - 4
    end

    saveState()

end

local function relTurnFacing(wantDir)
    while wantDir <= -3 do
        wantDir = wantDir + 4
    end
    while wantDir >= 2 do
        wantDir = wantDir - 4
    end

    --Turn right once more to face behind the general dirction of travel.
    if relCurFacing == faceRight and wantDir == faceBack then
        relTurnRight()
    end

    if relCurFacing == faceBack and wantDir == faceRight then
        relTurnLeft()
    end

    --Turn left until we are facing our desired direction
    while relCurFacing > wantDir do
        --print("Left: " .. relCurFacing .. " Want: " .. wantDir)
        relTurnLeft()
    end

    --Turn right until we are facing our desired direction
    while relCurFacing < wantDir do
        --print("Right: " .. relCurFacing .. " Want: " .. wantDir)
        relTurnRight()
    end

end

local function absTurnFacing(wantDir)
    print("Absolute Turning: Want: ", wantDir, " At: ", realFace )
    while wantDir < South do
        wantDir = wantDir + 4
    end
    while wantDir > East do
        wantDir = wantDir - 4
    end

    --Turn right once more to face behind the general dirction of travel.
    if realFace == East and wantDir == South then
        relTurnRight()
    end

    if realFace == South and wantDir == East then
        relTurnLeft()
    end

    --Turn left until we are facing our desired direction
    while realFace > wantDir do
        print("Left: " .. realFace .. " Want: " .. wantDir)
        relTurnLeft()
    end

    --Turn right until we are facing our desired direction
    while realFace < wantDir do
        print("Right: " .. realFace .. " Want: " .. wantDir)
        relTurnRight()
    end

end


local function simpleDig()
    while turtle.detect() do
        if turtle.dig() then
            sleep(1)
        else
            return false
        end
    end
    return true
end

local function simpleDigUp()
    while turtle.detectUp() do
        if turtle.digUp() then
            sleep(1)
        else
            return false
        end
    end
    return true
end

local function unload()
    if alreadyUnloading then
        return false
    end
    print( "Unloading items..." )
    alreadyUnloading = true
    local wasFacing = relCurFacing
    relTurnFacing(faceBack)
    turtle.select(3)
    existingChest = false
    if turtle.detect() then
        --There is something in front of us.
        if turtle.suck() then
            --It is a chest!
            existingChest = true
        end
        --Or it was an empty chest and we'll just swap it out with ours.
    end

    if not existingChest then
        while not turtle.place() do
            if turtle.detect() then
                if not simpleDig() then
                    return false
                end
            elseif turtle.attack() then
                sleep( 0.5 )
            else
                sleep( 0.5 )
            end
        end
    end
    --1: Flooring
    --2: Fuel
    --3: Chests
    --4: Torches
    for n=5,16 do
        unloaded = unloaded + turtle.getItemCount(n)
        turtle.select(n)
        if turtle.getItemCount(n) > 0 then
            while not turtle.drop() do
                print("The target chest is full")
                sleep(30)
            end
        end
    end
    if useEnderChest ~= 0 then
        turtle.select(3)
        turtle.dig()
    end

    if turtle.getItemCount(3) == 0 then
        print("Please load more chests")
        while turtle.getItemCount(3) == 0 do
            sleep(10)
        end
    end
    --collected = 0
    turtle.select(1)
    relTurnFacing(wasFacing)
    alreadyUnloading = false
end

local function findCompress()
    for n=1,16 do
        --print("Slot " .. n .. " has " .. turtle.getItemCount(n))
        if turtle.getItemCount(n) > 8 then
            --print("Slot " .. n .. " will be compressed.")
            --sleep(0.01)
            return n
        end
    end
    --print("No slot has enough to compress")
    --sleep(0.01)
    return 0
end

local function tryCompress()
    local cmpr

    print("Restacking")
    turtle.select(1)
    while turtle.suck() do
        --sleep(0)
        cmpr = 0
    end

    cmpr = findCompress()

    while cmpr > 0 do
        --get rid of what we don't need
        for n=1,16 do
            if n ~= cmpr and turtle.getItemCount(n) > 0 then
                turtle.select(n)
                while not turtle.drop() do
                    print("The target chest is full")
                    sleep(30)
                end
            end
        end
        print("Should have only the item to compress.")
        turtle.select(cmpr)
        turtle.transferTo(1)
        print("Moved it to the top left")
        while turtle.getItemCount(1) > 8 do
            turtle.select(1)
            turtle.transferTo(2, 1)
            turtle.transferTo(3, 1)

            turtle.transferTo(5, 1)
            turtle.transferTo(6, 1)
            turtle.transferTo(7, 1)

            turtle.transferTo(9, 1)
            turtle.transferTo(10, 1)
            turtle.transferTo(11, 1)

            turtle.select(4)
            if not turtle.craft(1) then
                print("Failed to craft.")
                --It does not compress, get it out of the system.
                turtle.select(1)
                turtle.dropUp()
            else
                print("Made one!")
                --put the result into the chest
                turtle.drop()
            end
        end
        --put the leftovers into the chest  (dupe bug work-around, I hope)
        turtle.select(1)
        turtle.drop()

        --Re stack everything to cascade the compression and start a new search.
        print("Restacking")
        turtle.select(1)
        while turtle.suck() do
            cmpr = findCompress()
            if cmpr > 0 then
                break
            end
            sleep(0)
        end
        cmpr = findCompress()
    end

    print("Dumping.")
    --Put everything into the chest
    for n=1,16,1 do
        if turtle.getItemCount(n) > 0 then
            turtle.select(n)
            while not turtle.drop() do
                print("The target chest is full")
                sleep(30)
            end
        end
    end
    print("Done Compressing")
    return true
end

local function compress()
    if useEnderChest ~= 0 then
        return unload()
    end

    print( "Compressing items..." )
    local wasFacing = relCurFacing
    relTurnFacing(faceBack)
    turtle.select(3)
    existingChest = false
    if turtle.detect() then
        --There is something in front of us.
        if turtle.suck() then
            --It is a chest!
            existingChest = true
        end
        --Or it was an empty chest and we'll just swap it out with ours.
    end

    if not existingChest then
        while not turtle.place() do
            if turtle.detect() then
                if not simpleDig() then
                    return false
                end
            elseif turtle.attack() then
                sleep( 0.5 )
            else
                sleep( 0.5 )
            end
        end
    end

    --again with a chest above.
    existingChest = false
    if turtle.detectUp() then
        --There is something in front of us.
        if turtle.suckUp() then
            --It is a chest!
            existingChest = true
        end
        --Or it was an empty chest and we'll just swap it out with ours.
    end

    if not existingChest then
        while not turtle.placeUp() do
            if turtle.detectUp() then
                if not simpleDigUp() then
                    return false
                end
            elseif turtle.attackUp() then
                sleep( 0.5 )
            else
                sleep( 0.5 )
            end
        end
    end


    --1: Flooring
    --2: Fuel
    --3: Chests
    --4: Torches

    --Unload the stuff we need to keep in proper place.
    for n=1,4 do
        --unloaded = unloaded + turtle.getItemCount(n)
        turtle.select(n)
        if turtle.getItemCount(n) > 0 then
            while not turtle.dropUp() do
                print("The target chest is full")
                sleep(30)
            end
        end
    end
    --

    for n=5,16 do
        unloaded = unloaded + turtle.getItemCount(n)
        turtle.select(n)
        if turtle.getItemCount(n) > 0 then
            while not turtle.drop() do
                print("The target chest is full")
                sleep(30)
            end
        end
    end

    tryCompress()

    --Reload the stuff we need to keep in proper place.
    for n=1,16 do
        turtle.select(n)
        turtle.suckUp()
    end

    for n=16,5,-1 do
        turtle.select(n)
        turtle.suck()
    end

    --collect the chests
    turtle.select(3)
    simpleDigUp()
    simpleDig()

    if turtle.getItemCount(3) == 0 then
        print("Please load more chests")
        while turtle.getItemCount(3) == 0 do
            sleep(10)
        end
    end
    --collected = 0
    turtle.select(1)
    relTurnFacing(wasFacing)
end


local function collect()
    collected = collected + 1
    if math.fmod(collected, 25) == 0 then
        print( "Mined "..collected.." items." )
    end

    if isFull() then
        if collectMode == 0 then
            unload()
        else
            compress()
        end
    end
end

local function tryDig()
    --Collect stuff from chests.
    local cnt = false
    while turtle.suck() do
        collect()
    end

    while turtle.detect() do
        if turtle.dig() then
            collect()
            cnt = true
            --sleep(0.5)
        else
            return false, cnt
        end
    end

    return true, cnt
end

local function tryDigUp()
    while turtle.suckUp() do
        collect()
    end
    while turtle.detectUp() do
        if turtle.digUp() then
            collect()
            --sleep(0.5)
        else
                return false
        end
    end
    return true
end

local function tryDigDown()
    while turtle.suckDown() do
        collect()
    end
    while turtle.detectDown() do
        if turtle.digDown() then
            collect()
            --sleep(0.5)
        else
            return false
        end
    end
    return true
end


local function refuel()
    local fuelLevel = turtle.getFuelLevel()
    if fuelLevel == "unlimited" or fuelLevel > 0 then
        return
    end

    local function tryRefuel()
        for n=2,16 do
            if n ~= 3 and n ~= 4 then
                if turtle.getItemCount(n) > 0 then
                    turtle.select(n)
                    if turtle.refuel(1) then
                        turtle.select(1)
                        return true
                    end
                end
            end
        end
        turtle.select(1)
        return false
    end

    if not tryRefuel() then
        print( "Add more fuel to continue." )
        while not tryRefuel() do
            sleep(1)
        end
        print( "Resuming Tunnel." )
    end
end

local function tryUp()
    refuel()
    while not turtle.up() do
        if turtle.detectUp() then
            if not tryDigUp() then
                return false
            end
        elseif turtle.attackUp() then
            collect()
        else
            sleep( 0.5 )
        end
    end
    relY = relY + 1
    absY = absY + 1
    saveState()
    print("rel: ", relX, ", ", relY, ", ", relZ)
    print("abs: ", absX, ", ", absY, ", ", absZ)
    print("route pos: ", routePos)
    if routePos ~= nil and route[routePos] ~= nil then
        print("route: ", route[routePos].x, ", ", route[routePos].y, ", ", route[routePos].z)
    end
    return true
end

local function tryDown()
    refuel()
    while not turtle.down() do
        if turtle.detectDown() then
            if not tryDigDown() then
                return false
            end
        elseif turtle.attackDown() then
            collect()
        else
            sleep( 0.5 )
        end
    end
    relY = relY - 1
    absY = absY - 1
    saveState()
    print("rel: ", relX, ", ", relY, ", ", relZ)
    print("abs: ", absX, ", ", absY, ", ", absZ)
    print("route pos: ", routePos)
    if routePos ~= nil and route[routePos] ~= nil then
        print("route: ", route[routePos].x, ", ", route[routePos].y, ", ", route[routePos].z)
    end
    return true
end

local function absVector(inDir)

    if inDir == North then
        return 0, -1
    elseif inDir == South then
        return 0, 1
    elseif inDir == East then
        return 1, 0
    elseif inDir == West then
        return -1, 0
    end

    return nil, nil

end

local function trySimpleForwardNoTorch()
    refuel()
    while not turtle.forward() do
        if turtle.detect() then
            return false
        elseif turtle.attack() then
            collect()
        else
            sleep( 0.5 )
        end
    end

    movedCnt = movedCnt + 1
    local dx, dz = absVector(realFace)
    relX = relX + dx
    absX = absX + dx
    relZ = relZ + dz
    absZ = absZ + dz
    saveState()

    print("rel: ", relX, ", ", relY, ", ", relZ)
    print("abs: ", absX, ", ", absY, ", ", absZ)
    print("route pos: ", routePos)
    if routePos ~= nil and route[routePos] ~= nil then
        print("route: ", route[routePos].x, ", ", route[routePos].y, ", ", route[routePos].z)
    end

    return true

end

local function tryForwardNoTorch()
    refuel()
    while not turtle.forward() do
        if turtle.detect() then
            if not tryDig() then
                return false
            end
        elseif turtle.attack() then
            collect()
        else
            sleep( 0.5 )
        end
    end

    movedCnt = movedCnt + 1
    local dx, dz = absVector(realFace)
    relX = relX + dx
    absX = absX + dx
    relZ = relZ + dz
    absZ = absZ + dz
    saveState()

    print("rel: ", relX, ", ", relY, ", ", relZ)
    print("abs: ", absX, ", ", absY, ", ", absZ)
    print("route pos: ", routePos)
    if routePos ~= nil and route[routePos] ~= nil then
        print("route: ", route[routePos].x, ", ", route[routePos].y, ", ", route[routePos].z)
    end

    return true

end

local function tryForward()
    local result
    result = tryForwardNoTorch()

    if result == false then
        return false
    end

    if math.fmod(movedCnt, 6) == 0 and turtle.getItemCount(4) then

        if turtle.getItemCount(4) == 1 then
            print("Please load more torches")
            while turtle.getItemCount(4) <= 1 do
                sleep(10)
            end
        end
        relTurnLeft()
        relTurnLeft()
        turtle.select(4)
        turtle.place()
        turtle.select(1)
        relTurnLeft()
        relTurnLeft()
    end
    return true
end

local function planAdd(a, px, py, pz)
    routeLen = routeLen + 1
    point = {}
    point.action = a
    point.x = px
    point.y = py
    point.z = pz
    route[routeLen] = point
end

local function planForward(planDist)
    if planDist == nil then
        planDist = 1
    end
    if planFace == North then
        planZ = planZ - planDist
    elseif planFace == South then
        planZ = planZ + planDist
    elseif planFace == West then
        planX = planX - planDist
    elseif planFace == East then
        planX = planX + planDist
    end

    --planAdd(planX, planY, planZ)
end

local function planBack(planDist)
    if planDist == nil then
        planDist = 1
    end
    planForward(-planDist)
end

local function planUp(planDist)
    if planDist == nil then
        planDist = 1
    end
    planY = planY + planDist
    --planAdd(planX, planY, planZ)
end

local function planDown(planDist)
    if planDist == nil then
        planDist = 1
    end
    planUp(-planDist)
end

local function planTurnLeft()
    planFace = planFace - 1
    while planFace < South do
        planFace = planFace + 4
    end
end

local function planTurnRight()
    planFace = planFace + 1
    while planFace > East do
        planFace = planFace - 4
    end
end


local function tryBack()
    refuel()
    while not turtle.back() do
        relTurnRight()
        relTurnRight()
        if turtle.detect() then
            if not tryDig() then
                return false
            end
        elseif turtle.attack() then
            collect()
        else
            sleep( 0.5 )
        end
        relTurnRight()
        relTurnRight()
    end

    movedCnt = movedCnt - 1
    local dx, dz = absVector(realFace)
    relX = relX - dx
    absX = absX - dx
    relZ = relZ - dz
    absZ = absZ - dz
    saveState()

    return true
end

local function getRealFacing()
    print("Real Facing.")
    openModem()
    dontSave = true
    local startX, startY, startZ = gps.locate(5, true)
    print(startX)
    if startX == nil then
        dontSave = false
        return false
    end

    if not tryForward() then
        print("could not go forward during facing test")
        dontSave = false
        return false
    end

    absX, absY, absZ = gps.locate(5)
    if absX == nil then
        absX, absY, absZ = 0, 0, 0
        dontSave = false
        return false
    end
    dx = startX - absX
    dz = startZ - absZ
    if dx == -1 then
        realFace = East
    elseif dx == 1 then
        realFace = West
    elseif dz == -1 then
        realFace = South
    elseif dz == 1 then
        realFace = North
    end

    print("Real facing: ", realFace)

    tryBack()
    relX, relY, relZ = 0, 0, 0
    absX, absY, absZ = startX, startY, startZ
    --sleep(10)
    dontSave = false
    return true
end

local function planHallway(hallLength, ltall)
    planForward(hallLength - 1)
    planAdd("t", planX, planY, planZ)
end

local function planTube(hallLength, ltall)
    planForward(hallLength - 1)
    planAdd("t1", planX, planY, planZ)
end


local function hallway(hallLength, ltall)
    relCurFacing = 0
    local leftDig, rightDig, resCollect, resDig
    for n=1,hallLength do
        leftDig, rightDig, preCol = 0, 0, collected
        turtle.placeDown()
        relTurnFacing(faceLeft)
        ResDig, resCollect = tryDig()
        if resCollect then
            leftDig = leftDig + 1
        end
        for m=2, ltall do
            tryDigUp()
            tryUp()
            ResDig, resCollect = tryDig()
            if resCollect then
                leftDig = leftDig + 1
            end
        end
        relTurnFacing(faceRight)
        ResDig, resCollect = tryDig()
        if resCollect then
            rightDig = rightDig + 1
        end
        for m=2, ltall do
            tryDown()
            ResDig, resCollect = tryDig()
            if resCollect then
                rightDig = rightDig + 1
            end
        end

        --Clean up the damn gravel/sand
        if rightDig > 0 then
            sleep(0.5)
            while turtle.detect() do
                tryDig()
                sleep(2)
            end
        end

        if leftDig > 0 then
            relTurnFacing(faceLeft)
            while turtle.detect() do
                tryDig()
                sleep(2)
            end
        end

        relTurnFacing(faceForward)
        while ltall > 1 and turtle.detectUp() do
            tryDigUp()
            sleep(2)
        end

        if n<hallLength then
                tryDig()
                if not tryForward() then
                        return false
                end
        else
                return true
        end
    end
end


local function tube(hallLength, ltall)
    relCurFacing = 0
    local leftDig, rightDig, resCollect, resDig
    for n=1,hallLength do
        leftDig, rightDig, preCol = 0, 0, collected
        turtle.placeDown()
        if ltall == 2 then
            tryDigUp()
        elseif ltall > 2 then
            for m=2, ltall do
                tryDigUp()
                tryUp()
                ResDig, resCollect = tryDig()
                if resCollect then
                    leftDig = leftDig + 1
                end
            end
        end
        if ltall > 2 then
            for m=2, ltall do
                tryDown()
                ResDig, resCollect = tryDig()
                if resCollect then
                    rightDig = rightDig + 1
                end
            end
        end

        --Clean up the damn gravel/sand

        relTurnFacing(faceForward)
        while ltall > 1 and turtle.detectUp() do
            tryDigUp()
            sleep(2)
        end

        if n<hallLength then
                tryDig()
                if not tryForward() then
                        return false
                end
        else
                return true
        end
    end
end


local function PlanRoom()
    print( "Planning Room..." )

    planTurnRight()
    planTurnRight()
    planForward(1)
    planAdd("d1", planX, planY, planZ)
    planHallway(1, tall)
    planTurnRight()
    planTurnRight()
    planForward(1)
    planAdd("d1", planX, planY, planZ)

    local lmod = 0
    for s=1,4 do
        print( "Side: "..s )
        planHallway(length - lmod, tall)
        planBack()
        if s == 4 then
            planBack()
        end
        planAdd("d1", planX, planY, planZ)
        planTurnLeft()
        --if s < 4 then
        planForward(2)
        planAdd("d1", planX, planY, planZ)
        lmod = 2
        --end
        if s == 3 then
            lmod = 4
        end
    end

    --planTurnRight()
    --planBack(1)
    --planAdd("d1", planX, planY, planZ)
    --planTurnLeft()
    --planForward()
    --planAdd("d1", planX, planY, planZ)
    --                cut + hall error + length mod.
    length = length - 6 + 1 + 1
    reduceRun = true
    while length > 1 do
        print( "Length: "..length )
        planHallway(length - 1, tall)
        if reduceRun then
            length = length - 3
            reduceRun = false
        else
            length = length - 0
            reduceRun = true
        end
        planBack()
        planAdd("d1", planX, planY, planZ)
        planTurnLeft()
        planForward(2)
        planAdd("d1", planX, planY, planZ)
    end
    print( "Room planning complete." )
end

local function planBranchMining()
    print( "Planning Mine..." )
    planTube(inLength, 2)
    planTurnLeft()
    local turnLeft = true

    local cnt = inLength / 3

    for tn = 1, cnt do
        planTube(inWidth, 2)
        if turnLeft then
            planTurnLeft()
        else
            planTurnRight()
        end
        planTube(4, 2)
        if turnLeft then
            planTurnLeft()
            turnLeft = false
        else
            planTurnRight()
            turnLeft = true
        end
    end
    print( "Mine planning complete." )

end

local function savePlan()
    print("Save Plan")
    local sf = fs.open(filename .. ".plan", "w")
    sf.writeLine(routeLen)
    for rp = 1, routeLen do
        sf.writeLine(route[rp].action)
        sf.writeLine(route[rp].x)
        sf.writeLine(route[rp].y)
        sf.writeLine(route[rp].z)
    end
    sf.close()
end

local function readNumber(sf)
    print("Read Number")
    local x = tonumber(sf.readLine()) + 0
    print("Read ", x)
    return x
end

local function loadState()
    print("Load State")
    local sf = fs.open(filename .. ".state", "r")
    digType = sf.readLine()
    collected = readNumber(sf)
    unloaded = readNumber(sf)
    relX = readNumber(sf)
    relY = readNumber(sf)
    relZ = readNumber(sf)
    relCurFacing = readNumber(sf)
    absX = readNumber(sf)
    absY = readNumber(sf)
    absZ = readNumber(sf)
    realFace = readNumber(sf)
    routePos = readNumber(sf)
    alreadyUnloading = (sf.readLine() == "unloading")
    movedCnt = readNumber(sf)

    sf.close()

    --sleep(5)

    print("State Values: ")
    print("digType: ", digType)
    --print("collected: ", collected)
    --print("unloaded: ", unloaded)
    --print("absX: ", absX)
    --print("absY: ", absY)
    --print("absZ: ", absZ)
    print("routePos: ", routePos)
    --print("alreadyUnloading: ", alreadyUnloading)
    print("movedCnt: ", movedCnt)
    print("rel: ", relX, ", ", relY, ", ", relZ)
    --sleep(12)

end

local function loadPlan()
    print("Load Plan")
    local sf = fs.open(filename .. ".plan", "r")
    local rl = readNumber(sf)
    local rp, x, y, z
    for rp = 1, rl do
        action = sf.readLine()
        x = readNumber(sf)
        y = readNumber(sf)
        z = readNumber(sf)
        planAdd(action, x, y, z)
    end
    sf.close()
end

local function tryFace(targX, targZ)
    print("Try Face")
    local dx, dz = targX - relX, targZ - relZ
    print("X: ", relX, " to ", targX, "  Z: ", relZ, " to ", targZ)

    if math.abs(dx) > math.abs(dz) then
        if dx > 0 then
            absTurnFacing(East)
            print("Turnig to the East")
        elseif dx < 0 then
            absTurnFacing(West)
            print("Turnig to the West")
        end
    else
        if dz > 0 then
            absTurnFacing(South)
            print("Turnig to the South")
        elseif dz < 0 then
            absTurnFacing(North)
            print("Turnig to the North")
        end
    end
    --sleep(5)
    return true
end

local function DoGo(x, y, z)
    print("Do Go")
    local dx, dy, dz = x - relX, y - relY, z - relZ
    local adx, ady, adz, tryRes
    while dx ~= 0 or dy ~= 0 or dz ~= 0 do
        print(dx, dy, dz)
        adx = math.abs(dx)
        ady = math.abs(dy)
        adz = math.abs(dz)
        tryRes = true
        if dy ~= 0 and (ady <= adx or dx == 0) and (ady <= adz or dz ==0) then
            if dy > 0 then
                tryRes = tryUp()
            else
                tryRes = tryDown()
            end
        elseif dx ~= 0 and (adx <= ady or dy == 0) and (adx <= adz or dz ==0) then
            if dx > 0 then
                absTurnFacing(East)
            else
                absTurnFacing(West)
            end
            relCurFacing = faceForward
            tryRes = tryForward()
        elseif dz ~= 0 and (adz <= ady or dy == 0) and (adz <= adx or dx ==0) then
            if dz > 0 then
                absTurnFacing(South)
            else
                absTurnFacing(North)
            end
            relCurFacing = faceForward
            tryRes = tryForward()
        end
        if tryRes == false then
            print("Unable to go to desired location!")
            return false
        end
        dx, dy, dz = x - relX, y - relY, z - relZ
    end
    return true
end

local function DoGoAbs(x, y, z)
    print("Do Go")
    local dx, dy, dz = x - absX, y - absY, z - absZ
    local adx, ady, adz, tryRes
    while dx ~= 0 or dy ~= 0 or dz ~= 0 do
        print(dx, dy, dz)
        adx = math.abs(dx)
        ady = math.abs(dy)
        adz = math.abs(dz)
        tryRes = true
        if dy ~= 0 and ady < adx and ady < adz then
            if dy > 0 then
                tryRes = tryUp()
            else
                tryRes = tryDown()
            end
        elseif dx ~= 0 and adx < ady and adx < adz then
            if dx > 0 then
                absTurnFacing(East)
            else
                absTurnFacing(West)
            end
            tryRes = tryForward()
        elseif dz ~= 0 and adz < ady and adz < adx then
            if dz > 0 then
                absTurnFacing(South)
            else
                absTurnFacing(North)
            end
            tryRes = tryForward()
        end
        if tryRes == false then
            print("Unable to go to desired location!")
            return false
        end
        dx, dy, dz = x - absX, y - absY, z - absZ
    end
    return true
end


local function DoPlan(startPos)
    print("Do Plan")
    local p
    for p=startPos,routeLen do
        routePos = p
        if route[p].action == "t" then
            tryFace(route[p].x, route[p].z)
            local dist = math.abs(route[p].x - relX) + math.abs(route[p].z - relZ)
            hallway(dist + 1, tall)
        elseif route[p].action == "t1" then
            tryFace(route[p].x, route[p].z)
            local dist = math.abs(route[p].x - relX) + math.abs(route[p].z - relZ)
            tube(dist + 1, tall)
        elseif route[p].action == "d1" then
            DoGo(route[p].x, route[p].y, route[p].z)
        end
    end
end

local function resume()
    print("Resume")
    local curX, curY, curZ, curFace = absX, absY, absZ, realFace

    loadState()

    if haveRealGPS then
        print("Real GPS said ", curX, ", ", curY, ", ", curZ, ", ", curFace)
        print("State GPS said ", absX, ", ", absY, " , ", absZ, ", ", realFace)
        print("State Rel said ", relX, ", ", relY, " , ", relZ, ", ", realFace)
        realFace = curFace
        --sleep(5)
    end


    loadPlan()

    if alreadyUnloading then
        alreadyUnloading = false
        if useEnderChest ~= 0 then
            turtle.select(3)
            turtle.dig()
            unload()
        elseif turtle.getItemCount(3) == 0 then
            print("Please load more chests")
            while turtle.getItemCount(3) == 0 do
                sleep(10)
            end
        else
            unload()
        end
    end

    if routePos > routeLen then
        return false
    end

    if route[routePos].action == "t" and route[routePos].y < relY then
        while route[routePos].y < relY do
            if tryDown() == false then
                print("could not get back into position")
                return false
            end
        end
    end

    DoPlan(routePos)
    return true
end

local function createStartup()
    print("Create Startup")
    if fs.exists("startup") then
        if fs.exists("startup.original") then
            fs.delete("startup.original")
        end
        fs.copy("startup", "startup.original")
    end

    local sf = fs.open("startup", "w")
    sf.writeLine("shell.run('" .. filename .. "',  'resume', " .. inLength ..  ", " .. inWidth ..  ", " .. tall .. ", " .. useEnderChest .. ")")
    sf.close()

end

local function revertStartup()
    print("Revert Startup")
    fs.delete("startup")
    if fs.exists("startup.original") then
        fs.move("startup.original", "startup")
    end
end



local function  startPicky()

    local d, compressTime

    compressTime = 0
    collectMode = 1

    print("Planed Distance: " .. inLength)
    for d = 1,inLength do
        print("Distance: " .. d .. " of " .. inLength)
        turtle.select(1)
        if turtle.detect() then
            --Make sure we have a block to deal with.
            if turtle.compare() then
                turtle.dig()
                trySimpleForwardNoTorch()
            else
                relTurnRight()
                if turtle.detect() then
                    if turtle.compare() then
                        turtle.dig()
                        trySimpleForwardNoTorch()
                    else
                        relTurnLeft()
                        relTurnLeft()
                        if turtle.detect() then
                            if turtle.compare() then
                                turtle.dig()
                                trySimpleForwardNoTorch()
                            else
                                relTurnLeft()
                                tryForwardNoTorch()
                                relTurnLeft()
                            end
                        end
                    end
                end
            end
        else
            --Nothing in front of us, just go!
            trySimpleForwardNoTorch()
        end

        turtle.select(1)
        if turtle.compareUp() then
            turtle.digUp()
        end

        compressTime = compressTime + 1

        if isFull() and compressTime > 8 then
            compressTime = 0
            compress()
        end
    end

end


local function startPlan()
    print("Start Plan")
    saveState()
    savePlan()
    createStartup()
    return DoPlan(1)
end

function main()
    digType = string.lower(digType)

    haveRealGPS = false --getRealFacing()

    --if haveRealGPS then
        planFace = realFace
    --end

    if digType == "resume" then
        resume()
    elseif digType == "room" or digType == "r" then
        PlanRoom()
        startPlan()
    elseif digType =="quarry" or digType == "q" then
        planDown(tall)
        planAdd("d1", planX, planY, planZ)
        PlanRoom()
        startPlan()
    elseif digType =="branch" or digType == "bm" then
        planBranchMining()
        startPlan()
    elseif digType == "tunnel" or digType == "t" then
        planHallway(length, tall)
        startPlan()
    elseif digType == "down" or digType == "d" then
        planDown(length)
        planAdd("d1", planX, planY, planZ)
        startPlan()
    elseif digType == "up" or digType == "u" then
        planUp(length)
        planAdd("d1", planX, planY, planZ)
        startPlan()
    elseif digType == "forward" or digType == "f" then
        planForward(length)
        planAdd("d1", planX, planY, planZ)
        startPlan()
    elseif digType == "back" or digType == "b" then
        planBack(length)
        planAdd("d1", planX, planY, planZ)
        startPlan()
    elseif digType == "south" then
        absTurnFacing(South)
    elseif digType == "north" then
        absTurnFacing(North)
    elseif digType == "east" then
        absTurnFacing(East)
    elseif digType == "west" then
        absTurnFacing(West)
    elseif digType == "picky" or digType == "p" then
        startPicky()
    elseif digType == "crafttest" then
        compress()
    end

    if digType == "back" or digType == "b" then
        turtle.turnRight()
        turtle.turnRight()
    end

    if useEnderChest ~= 0 then
        unload()
    end

    print( "Digging complete." )
    print( "Mined "..collected.." items total." )

    revertStartup()

    closeModem()

end

main()