tArgs = {...}
if tArgs[3] == nil then print("petal num inner_rad outer_rad") return end
np = tonumber(tArgs[1])
irad = tonumber(tArgs[2])
orad = tonumber(tArgs[3])
mode = "build"
if tArgs[4] ~= nil then mode = tArgs[4] end

function place()
  if turtle.getItemCount(1) > 0 then turtle.placeDown() return end
  i = 1
  while i < 16 do
    if turtle.getItemCount(i) > 0 then break end
    i = i + 1
  end
  if i < 16 then
    turtle.select(i)
    turtle.transferTo(1,turtle.getItemCount(i))
    turtle.select(1)
    turtle.placeDown()
    return
  end
  print("Out of blocks!  Getting more...")
  turtle.select(16)
  while not turtle.placeUp() do sleep(1) end
  turtle.select(1)
  while not turtle.suckUp() do sleep(1) end
  i = 1
  while i < 15 do
    turtle.suckUp()
    i = i + 1
  end
  turtle.select(16)
  while not turtle.digUp() do sleep(1) end
  turtle.select(1)
  turtle.placeDown()
end

function getpos()
  sleep(0)
  x, y, z = gps.locate()
  while not x do
    print("Whoa, I'm lost!")
    print("Couldn't find GPS position")
    shell.run("lua")
         x, y, z = gps.locate()
  end
  print("("..x..","..y..","..z..")")
end

function tr(n)
  while n > 0 do
    turtle.turnRight()
    n = n - 1
  end
end

function tl(n)
  while n > 0 do
    turtle.turnLeft()
    n = n - 1
  end
end

tf = turtle.forward
tb = turtle.back
tu = turtle.up
td = turtle.down

dir = nil
function getface()
  print("Trying to get current direction")
  getpos()
  lx = x
  lz = z
  while not tf() do sleep(1) end
  getpos()
  if x > lx then dir = "+x" end
  if x < lx then dir = "-x" end
  if z > lz then dir = "+z" end
  if z < lz then dir = "-z" end
  while not tb() do sleep(1) end
  print("I am facing "..dir)
end

function setstart()
        getpos()
        startx = x
        starty = y
        startz = z
        startface = getface()
end
setstart()

function face(ndir)
  while face == nil do getface() end
  if (dir == ndir) then return end
  if (ndir == "+x") then
    if (dir == "-x") then tr(2) end
    if (dir == "-z") then tr(1) end
    if (dir == "+z") then tl(1) end
  end
  if (ndir == "-x") then
    if (dir == "+x") then tr(2) end
    if (dir == "-z") then tl(1) end
    if (dir == "+z") then tr(1) end
  end
  if (ndir == "+z") then
    if (dir == "-z") then tr(2) end
    if (dir == "+x") then tr(1) end
    if (dir == "-x") then tl(1) end
  end
  if (ndir == "-z") then
    if (dir == "+z") then tr(2) end
    if (dir == "+x") then tl(1) end
    if (dir == "-x") then tr(1) end
  end
  dir = ndir
end

function old_goto(tx, ty, tz)
  while y < ty do turtle.up() getpos() end
  while y > ty do turtle.down() getpos() end
  while x > tx do face("-x") tf() getpos() end
  while x < tx do face("+x") tf() getpos() end
  while z > tz do face("-z") tf() getpos() end
  while z < tz do face("+z") tf() getpos() end
end

function goto(tx, ty, tz)
  sx = false
  syu = false
  syd = false
  sz = false
  while ((tx ~= x)or(ty ~= y)or(tz ~= z)) do
    if x < tx then
      face("+x")
      while (x < tx) do
        sx = not tf()
        getpos()
        if sx then break end
        sx = false
        sz = false
        syu = false
        syd = false
      end
    end
    if x > tx then
      face("-x")
      while (x > tx) do
        sx = not tf()
        getpos()
        if sx then break end
        sz = false
        sz = false
        syu = false
        syd = false
      end
    end
    if z < tz then
      face("+z")
      while z < tz do
        sz = not tf()
        getpos()
        if sz then break end
        sx = false
        sz = false
        syu = false
        syd = false
      end
    end
    if z > tz then
      face("-z")
      while z > tz do
        sz = not tf()
        getpos()
        if sz then break end
        sx = false
        sz = false
        syu = false
        syd = false
      end
    end
    if (sx or sz) then
      if not syu then
        syu = not tu()
        getpos()
        if not syu then
          sx = false
          sz = false
        end
      end
      if syu and not syd then
        syd = not td()
        getpos()
        if not syd then
          sx = false
          sz = false
        end
      end
      if syu and syd then
        print("Whoa, I'm stuck!")
        getpos()
        print("I'm at ("..x..", "..y..", "..z..")")
        print("Going to ("..x..", "..y..", "..z..")")
        shell.run("lua")
        getpos()
      end
    end
    if (x == tx)and(z == tz) then
      while y < ty do tu() getpos() end
      while y > ty do td() getpos() end
    end
  end
end

function getdpos()
  getpos()
  dx = startx - dx
  dy = starty - dy
  dz = startz - dz
end

function gotod(gx,gy,gz) goto(gx+startx,gy+starty,gz+startz) end
function round(rrn) return math.floor(rrn+0.5) end
function roundall(rrx, rry, rrz) return round(rrx),round(rry),round(rrz) end

function sign(sn)
        if sn < 0 then return -1 end
        return 1
end

function empty_map(minX,maxX,minY,maxY,minZ,maxZ)
  print("Allocating map space: ")
  print("  X: "..minX..", "..maxX)
  print("  Y: "..minY..", "..maxY)
  print("  Z: "..minZ..", "..maxZ)
  emap = {}
  for ix = minX, maxX do
    emap[ix] = {}
    for iy = minY, maxY do
      emap[ix][iy] = {}
      for iz = minZ, maxZ do
        emap[ix][iy][iz] = false
      end
    end
      print("Allocating map... "..((ix - minX)/(maxX-minX)*100).."%")
  end
  print("Done.")
  return emap
end

function define_build_area()
  tminx = - irad - orad - 2
  tmaxx = irad + orad + 2
  tminy = 0
  tmaxy = round(orad*math.sqrt(2) + 2)
  tminz = - irad - orad - 2
  tmaxz = irad + orad + 2
  bmap = empty_map(tminx,tmaxx,tminy,tmaxy,tminz,tmaxz)

  tmin = 0
  tmax = 2*math.pi
  tstep = math.pi/((irad+orad)*4*np)

  tvar = tmin
  lpct = -1
  while tvar <= tmax do
    varrad = orad*math.cos(tvar*np/2) + irad*sign(math.cos(tvar*np/2))
    varx = varrad*math.cos(tvar)
    vary = orad*(1-math.cos((math.abs(varrad) - irad)/orad))
    varz = varrad*math.sin(tvar)
--print("Going to build at "..round(varx)..", "..round(vary)..", "..round(varz))
--print("("..tvar..", "..varrad..")")
    bmap[round(varx)][round(vary)][round(varz)] = true
    pct = ((tvar-tmin)/(tmax-tmin)*100)
    if pct > (lpct + 1) then
      print("Building map... "..pct.."%")
        lpct = pct
    end
    tvar = tvar + tstep
  end
--go through x,z
  for varz = tminz, tmaxz do
    fill = false
    for varx = tminx, tmaxx do
      varrad = math.sqrt((varx*varx)+(varz*varz))
      for vary = tminy, tmaxy do
--do nothing if rad < (irad + np)
        if (varrad < (irad + np)) then break end
--when boundary encountered, start fill until boundary encountered
        if (bmap[varx][vary][varz]) then
          --change mode
          fill = not fill
          skip = true
          --skip to edge of boundary
          for vvx = (varx+1),tmaxx do
            if not skip then break end
            for vvy = tminy,tmaxy do
              if (bmap[vvx][vvy][varz]) then break end
              if (vvy == tmaxy) then skip = false end
            end
          end
          varx = (vvx - 1)
          break
        else
--if we scanned all y and don't need to mode switch, and it's fill mode, do the fill
          if (vary == tmaxy) and (fill) then
            bmap[varx][round(orad*(1-math.cos((math.abs(varrad) - irad)/orad)))][varz] = true
            break
          end
        end
      end
--fill progress
      pct = ((varz-tminz)/(tmaxz-tminz) + (varx-tminx)/((tmaxx-tminx)*(tmaxz-tminz)))
      if pct > (lpct + 1) then
        print("Filling map... "..pct.."%")
          lpct = pct
      end
    end
  end
  print("Done.")
  return bmap
end

function build_area(bamap)
  for iz = tminz, tmaxz do
    for ix = tminx, tmaxx do
      for iy = tminy, tmaxy do
        if bamap[ix][iy][iz] then
          gotod(ix,iy,iz)
          place()
        end
      end
    end
  end
  gotod(0,0,0)
end

if mode == "build" then
  build_area(define_build_area())
end
if mode == "test" then
  bmap = define_build_area()
end