OpenComputers Quarry

-- quarry for Opencomputers !!!in CFG must limitFlightHeight=256
-- version 1.0.0


local component = require("component")
local computer = require("computer")
local robot = require("robot")
local shell = require("shell")
local sides = require("sides")
local term = require("term")
local fs = require("filesystem")
local process = require("process")
local io = require("io")




if not component.isAvailable("robot") then
  io.stderr:write("can only run on robots")
  return
end



local direction = {
    ["forw"]  = 1,
    ["right"] = 2,
    ["back"]  = 3,
    ["left"]  = 4,
}
local dir = direction.forw
local pos = {
    ["x"]   = 0,
    ["y"]   = 0,
    ["z"]   = 0,
}

local name = "quarry"
local done = false

globalState = 0
aState = 0 --состояние автомата
tmpState = 0
local lenght,width,height = 0,0,0
local xt,yt,zt,dt = 0,0,0,direction.forw
mode = 1




local function savestate()

    name = process.running(1)..".save"

    file = io.open(name,"w")
    file:write(mode.."\n"..globalState.."\n"..pos.x.."\n"..pos.y.."\n"..pos.z.."\n"..dir.."\n"..tmpState.."\n"..aState.."\n"..xt.."\n"..yt.."\n"..zt.."\n")
    file:write(dt.."\n"..lenght.."\n"..width.."\n"..height.."\n"..tostring(done).."\n")
    file:close()

end

local function readState()

        name = process.running(1)..".save"

    if not fs.exists(name) then
        return false
    end


    file = io.open(name,"r")

    mode=file:read()+0
    globalState=file:read()+0
    pos.x=file:read()+0
    pos.y=file:read()+0
    pos.z=file:read()+0
    dir=file:read()+0
    tmpState=file:read()+0
    aState=file:read()+0
    xt=file:read()+0
    yt=file:read()+0
    zt=file:read()+0
    dt=file:read()+0
    lenght=file:read()+0
    width=file:read()+0
    height=file:read()+0
    done=file:read()


    file:close()


    if done == "true" then
        done = true
    else
        done = false
    end

    return true
end

local function setStartup()
    if fs.exists("startup") then
--      if fs.exists("startup.old") then
            fs.remove("startup")
--      else
--          shell.run("move","startup","startup.old")
--      end
    end
    name = process.running(1)
    file = io.open("startup","w")
    file:write("shell.run(\""..name.."\")")
    file:close()
end

local function delStartup()
    if fs.exists("startup") then
        fs.remove("startup")
    end
--  if fs.exists("startup.old") then
--      shell.run("move","startup.old","startup")
--  end
    name = process.running(1)..".save"
    if fs.exists(name) then
        fs.remove(name)
    end
end


local function inventoryFull()
    local bFull = true
--  for n=1,16 do
    for n=1,8 do
        if robot.count(n) == 0 then
            bFull = false
        end
    end
    if bFull then
        print( "No empty slots left." )
        return true
    end
    return false
end

local function unload()
    print( "Unloading items..." )
    local n = 1
    if mode == 1 then
        if not robot.detect() then
            print("no detect chest")
            while not robot.detect() do
                os.sleep(1)
            end
        end
        while n <= 16 do
            robot.select(n)
            if robot.count(n) > 0 and not robot.drop() then
                print("Don't unload to chest")
                os.sleep(5)
            else
                n = n + 1
            end
        end
    else
        if not robot.detectUp() then
            print("no detect chest")
            while not robot.detectUp() do
                os.sleep(1)
            end
        end
        n = 2
        while n <= 16 do
            robot.select(n)
            if robot.count(n) > 0 and not robot.dropUp() then
                print("Don't unload to chest")
                os.sleep(5)
            else
                n = n + 1
            end
        end
    end
    robot.select(1)
end

local goTo



local function returnToChest(drop)
    if globalState == 1 or globalState == 2 then
        xt = pos.x
        yt = pos.y
        zt = pos.z
        dt = dir
        globalState = 3
        savestate()
    end
    if globalState == 3 then
        print( "Returning to surface..." )
        goTo( 0,0,0,direction.back)
        if drop then
            unload()
        end
        globalState = 4
        savestate()
    end
    if globalState == 4 then
        local fuelNeeded = (math.abs(xt) + math.abs(yt) + math.abs(zt) + 3)*2
        --if not refuel( fuelNeeded ) then
        --  print( "Waiting for fuel" )
        --  while not refuel( fuelNeeded ) do
        --      sleep(1)
        --  end
        --end
        print( "Resuming mining..." )
        goTo( xt,yt,zt,dt )
        globalState = 2
        xt = 0
        yt = 0
        zt = 0
        dt = direction.forw
            savestate()
    end
end

local function returnSupplies()
    --if mode == 1 then
        returnToChest(true)
    --else
    --  returnToEnderChest()
    --end
end

local function turnRight()
    dir=dir+1
    if dir==5 then dir = direction.forw end
    savestate()
    robot.turnRight()
end

local function turnLeft()
    dir=dir-1
    if dir==0 then dir = direction.left end
    savestate()
    robot.turnLeft()
end

local function checkBorder()
    if (math.abs(pos.x) >=  width) or (math.abs(pos.z) >= lenght) then
        print("going beyond a border")
        delStartup()
        error()
    end
end

local function down()
    while true do
        if robot.detectDown() then
            if robot.swingDown() then
--              print("detect block")
            else
                print("detect bedrock or unbreaking block")
                return false
            end
        elseif robot.swingDown() then
            print("detect monster or player")
        else
            local ty = pos.y
            pos.y = pos.y - 1
            savestate()
            if robot.down() then
--              print("it's ok!")
                checkBorder()
                return true
            else
                print("detect unknowing object DOWN or limitFlightHeight=256")
                pos.y = ty
                savestate()
                os.sleep(0.5)
            end
        end
    end
end

local function up()
    while true do
        if robot.detectUp() then    --обнаружен блок, сломать
            if robot.swingUp()  then
--              print("detect block")
            else
                print("detect bedrock or unbreaking block")
                return false
            end
        elseif robot.swingUp() then -- Сверху нет блока, проверяем есть ли там существо
            print("detect monster or player")
        else    -- Передвигаемся вверх
            local ty = pos.y
            pos.y = pos.y + 1
            savestate()
            if robot.up() then
                --it's ok!
--              print("it's ok!")
                checkBorder()
                return true
            else
                -- backup
                print("detect unknowing object UP or limitFlightHeight=256")
                pos.y = ty
                savestate()
                os.sleep(0.5)
            end
        end
    end
end

local function forward(mined)
    if mined then
        if robot.detectUp() then
            robot.swingUp()
            if inventoryFull() then
                returnSupplies()
            end
        end
        if robot.detectDown() then
            robot.swingDown()
            if inventoryFull() then
                returnSupplies()
            end
        end
    end

    while true do
        if robot.detect() then  --обнаружен блок, сломать
            if robot.swing() then
--              print("detect block")
                 if mined and inventoryFull() then
                     returnSupplies()
                 end
            else
                print("detect bedrock or unbreaking block")
                return false
            end
        elseif robot.swing() then -- Впереди нет блока, проверяем есть ли там существо
            print("detect monster or player")
             if mined and inventoryFull() then
                 returnSupplies()
             end
        else    -- Передвигаемся вперед
            if mined then -- Уберем гравий
                while robot.detectUp() do
                    robot.swingUp()
                    os.sleep(0.5)
                end
            end
            local tz,tx = pos.z,pos.x
            if dir == direction.forw then
                pos.z=pos.z+1
            elseif dir == direction.right then
                pos.x=pos.x+1
            elseif dir == direction.back then
                pos.z=pos.z-1
            elseif dir == direction.left then
                pos.x=pos.x-1
            end
                savestate()

            if robot.forward() then
--              print("it's ok!")
                checkBorder()
                return true
            else
                -- backup
                print("detect unknowing object FORWARD limitFlightHeight=256")
                pos.z = tz
                pos.x = tx
                savestate()
                os.sleep(0.5)
            end
        end
    end
end

local function detectBedrock() --объехать бедрок
    turnLeft()
    turnLeft()
    while not up() do
        if not forward() then
            print("don't going to bedrock!")
            delStartup()
            error()
            return false
            -- не получилось объехать бедрок
        end
    end
    return true
end

function goTo( x, y, z, d)


    while pos.y < y do  -- идем вверх
        if not up() then
            detectBedrock()
        end
    end
    if pos.x > x then
        while dir ~= direction.left do
            turnLeft()
        end
        while pos.x > x do
            forward(false)
        end
    end
    if pos.x < x then
        while dir ~= direction.right do
            turnRight()
        end
        while pos.x < x do
            forward(false)
        end
    end
    if pos.z > z then
        while dir ~= direction.back do
            turnRight()
        end
        while pos.z > z do
            forward(false)
        end
    end
    if pos.z < z then
        while dir ~= direction.forw do
            turnLeft()
        end
        while pos.z < z do
            forward(false)
        end
    end
    while pos.y > y do  -- идем вниз
        down()
    end
    while d ~= dir do
        turnLeft()
    end
end

local function nextState()
    if aState == 0 then
        aState = 1
    elseif aState == 1 then
        if pos.z == lenght-1 and pos.x ~= width-1 then
            aState = 2
        elseif pos.z == lenght-1 and pos.x == width-1 then
            aState = 9
        end
    elseif aState == 2 then
        aState = 3
    elseif aState == 3 then
        if pos.z == 0 and pos.x ~= width-1 then
            aState = 4
        elseif pos.z == 0 and pos.x == width-1 then
            aState = 10
        end
    elseif aState == 4 then
        aState = 1
    elseif aState == 5 then
        if pos.z == lenght-1 and pos.x ~= 0 then
            aState = 6
        elseif pos.z == lenght-1 and pos.x == 0 then
            aState = 11
        end
    elseif aState == 6 then
        aState = 7
    elseif aState == 7 then
        if pos.z == 0 and pos.x ~= 0 then
            aState = 8
        elseif pos.z == 0 and pos.x == 0 then
            aState = 12
        end
    elseif aState == 8 then
        aState = 5
    elseif aState == 9 then
        aState = 7
    elseif aState == 10 then
        aState = 5
    elseif aState == 11 then
        aState = 3
    elseif aState == 12 then
        aState = 1
    end
    tmpState = 0
    savestate()
    return
end



local function lower()
    if robot.detectUp() then
        robot.swingUp()
    end
    while tmpState ~= 3 do
        -- ref()
        tmpState = tmpState + 1
        if not down() then
            done = true
            break
        end
    end
end

local function main()
    while not done do
        if globalState == 2 then
            if aState == 1 then
                -- ref()
                if not forward(true) then
                    done = true
                    break
                end
            elseif aState == 2 then
                while tmpState ~= 3 do
                    if tmpState == 0 then
                        tmpState = tmpState + 1
                        turnRight()
                    elseif tmpState == 1 then
                        -- ref()
                        tmpState = tmpState + 1
                        if not forward(true) then
                            done = true
                            break
                        end
                    elseif tmpState == 2 then
                        tmpState = tmpState + 1
                        turnRight()
                    end
                end
            elseif aState == 3 then
                -- ref()
                if not forward(true) then
                    done = true
                    break
                end
            elseif aState == 4 then
                while tmpState ~= 3 do
                    if tmpState == 0 then
                        tmpState = tmpState + 1
                        turnLeft()
                    elseif tmpState == 1 then
                        -- ref()
                        tmpState = tmpState + 1
                        if not forward(true) then
                            done = true
                            break
                        end
                    elseif tmpState == 2 then
                        tmpState = tmpState + 1
                        turnLeft()
                    end
                end
            elseif aState == 5 then
                -- ref()
                if not forward(true) then
                    done = true
                    break
                end
            elseif aState == 6 then
                while tmpState ~= 3 do
                    if tmpState == 0 then
                        tmpState = tmpState + 1
                        turnLeft()
                    elseif tmpState == 1 then
                        -- ref()
                        tmpState = tmpState + 1
                        if not forward(true) then
                            done = true
                            break
                        end
                    elseif tmpState == 2 then
                        tmpState = tmpState + 1
                        turnLeft()
                    end
                end
            elseif aState == 7 then
                -- ref()
                if not forward(true) then
                    done = true
                    break
                end
            elseif aState == 8 then
                while tmpState ~= 3 do
                    if tmpState == 0 then
                        tmpState = tmpState + 1
                        turnRight()
                    elseif tmpState == 1 then
                        -- -- ref()
                        tmpState = tmpState + 1
                        if not forward(true) then
                            done = true
                            break
                        end
                    elseif tmpState == 2 then
                        tmpState = tmpState + 1
                        turnRight()
                    end
                end
            elseif height+pos.y<3 then
                done = true
                break
            elseif aState == 9 then
                while dir ~= direction.back do
                    turnLeft()
                end
                lower()
            elseif aState == 10 then
                while dir ~= direction.forw do
                    turnLeft()
                end
                lower()
            elseif aState == 11 then
                while dir ~= direction.back do
                    turnLeft()
                end
                lower()
            elseif aState == 12 then
                while dir ~= direction.forw do
                    turnLeft()
                end
                lower()
            end
            nextState()
        elseif globalState == 3 or globalState == 4 or globalState == 5 or globalState == 6 then
            returnSupplies()
        end
    end
    savestate()
    print( "Returning to surface..." )

    -- Return to where we started
    goTo( 0,0,0,direction.back )
    --if mode == 1 then
        unload()
    --else
    --  returnToEnderChest()
    --end
    goTo( 0,0,0,direction.forw )
    delStartup()
end

local function recover()
    if not readState() or globalState == 0 then
        print("Programm is not running")
        print( "Usage: quarry <lenght> <width> [<height>]" )
        return
    end
    if globalState == 1 then
        local done = false
        while tmpState ~= 1 do
            --ref()
            if not down() then
                done = true
                break
            end
            tmpState=tmpState+1
            saveState()
        end
        globalState = 2
        saveState()
    end
    if globalState >= 2 then
--      nextState()
        main()
    end
end

local function start()
    setStartup()
    globalState = 1 -- Поехали копать
    done = false

    while tmpState < 1 do
        -- ref()
        if not down() then
            done = true
            break
        end
        tmpState=tmpState+1
        savestate()
    end

    globalState = 2
    savestate()
    nextState()
    main()
end



local function GetFuel()
            print("press any key to run quarry")
            local input = io.read()
            waiting = false
            term.clear()
            term.setCursor( 1, 1 )
            robot.select(1)
            --if mode == 2 and robot.count(1) < 1 then
            --  print("Waiting for get chest to first slot")
            --  while robot.count(1) < 1 do
            --      os.sleep(1)
            --  end
            --end
            -- print( "Fuel level: "..robot.getFuelLevel())
            print( "Excavating...")
            start()
            return

end


local tArgs = { ... }
if #tArgs == 1 then
    print( "Recovering...")
    recover()
    return

elseif #tArgs == 2 or #tArgs == 3 or #tArgs == 4 then
    lenght = tonumber( tArgs[1] )
    width  = tonumber( tArgs[2] )
    height = 256
    local arg = ""
    if lenght < 1 or width < 1 or lenght > 255 or width > 255 then
        print( "Quarry size must be positive" )
        return
    end
    if #tArgs == 3 then
        arg = tonumber( tArgs[3] )
        if tArgs[3] == "-e" then
            mode = 2
        elseif tArgs[3] == "-f" then
            FuelInfo()
            return
        elseif arg ~= nill then
            height = arg
            if height < 1 or height > 255 then
                print( "Quarry size must be positive" )
                return
            end
        else
            print( "Usage: quarry <lenght> <width> [<height>] [<key>]; key: \"-e\", \"-f\"" )
            return
        end
    elseif #tArgs == 4 then
        arg = tonumber( tArgs[3] )
        if arg ~= nill then
            height = arg
            if height < 1 or height > 255 then
                print( "Quarry size must be positive" )
                return
            end
        else
            print( "Usage: quarry <lenght> <width> [<height>] [<key>]; key: \"-e\", \"-f\"" )
            return
        end
        if tArgs[4] == "-e" then
            mode = 2
        elseif tArgs[4] == "-f" then
            FuelInfo()
            return
        else
            print( "Usage: quarry <lenght> <width> [<height>] [<key>]; key: \"-e\", \"-f\"" )
            return
        end
    end
    --starting
    GetFuel()
    return
else
    print( "Usage: quarry <lenght> <width> [<height>] [<key>]; key: \"-e\", \"-f\"" )
    return
end