GPS Deploy 1.2

-- GPS Deploy 1.2 - update by Dog aka HydrantHunter
-- http://www.computercraft.info/forums2/index.php?/topic/18830-dogs-progs-for-stargates-biolocks-and-more/
-- pastebin: VXAyXqBv
--
-- This script is originally from BigSHinyToys from ComputerCraft.info
-- Original link can be found here:
-- http://www.computercraft.info/forums2/index.php?/topic/3088-how-to-guide-gps-global-position-system/page__p__28333#entry28333
--
-- Modifications included (line numbers no longer valid):
--
-- GPS Deploy by neonerZ v1.1
-- http://youtube.com/neonerz
-- http://www.computercraft.info/forums2/index.php?/topic/9528-gps-deploy-11-updated-04012014/
--
-- happydude11209: Line 209 - added logic to check if the server is set to no fuel mode
-- http://www.computercraft.info/forums2/index.php?/topic/9528-gps-deploy-10/page__view__findpost__p__123411
--
-- kittykiller: Line 110 - Bug in the locate code if you were using an existing GPS system to deploy a new one
-- http://www.computercraft.info/forums2/index.php?/topic/9528-gps-deploy-10/page__view__findpost__p__80323
--
-- Mad_Professor: Line 296 - Bug calling computers, monitors. Making people think they needed to load 4 monitors
-- http://www.computercraft.info/forums2/index.php?/topic/9528-gps-deploy-10/page__view__findpost__p__150291
--
-- Dog: Too many fixes and changes to list - based on v1.1:
--   Localized variables, reformatted table construction, eliminated duplicate
--   and unnecessary sanity checks, reduced use of tonumber() and turtle calls,
--   added automatic modem finding and an error for non-wireless turtles when
--   using 'locate', automatic GPS host computer labeling (respects currently
--   labeled computers), custom host support re-enabled, emergency
--   return-to-start when unable to complete the job, re-ordered the program to
--   make it more linear, converted many variables to camelCase, and more.
--   Reasonably well tested with 100% accuracy in all tests.
--
-- In order to use this script you need to setup
-- either a mining turtle, or a standard turtle
-- Mining Turtle:
--          Slot 1 - Fuel
--          Slot 2 - 1 floppy disk
--          Slot 3 - 1 disk drive
--          Slot 4 - 4 wireless modems
--          Slot 5 - 4 computers (labeled, unlabeled, or mixed) across
--                      slots 5, 6, 7, 8 (unlabeled computers may be stacked)
-- Non-Mining Turtle:
--          Slot 1 - Fuel
--          Slot 2 - 1 floppy disk
--          Slot 3 - 4 disk drives
--          Slot 4 - 4 wireless modems
--          Slot 5 - 4 computers (labeled, unlabeled, or mixed) across
--                      slots 5, 6, 7, 8 (unlabeled computers may be stacked)
--
-- (mining turtles will be able to reuse the same
--  disk drive, where-as a standard turtle will leave
--  them and deploy a separate disk drive for each
--  GPS host)
--
-- Default Usage: Place the turtle where you want it
--    deployed facing the SOUTH or 0 direction.
--    Fill the turtle with the required materials
--    above. Then use the command
--
--    gps-deploy x y z
--
--    Where x, y, z is the *absolute* position of the deployment
--    turtle. By default the turtle will deploy the
--    the GPS array at around y = 254. Add a fourth
--    value to specify the height offset.
--    IMPORTANT: It's crucial you use your absolute coordinates,
--     (the ones inside the parentheses next to your relative coordinates)
--     For Example: If F3 shows X = -6.43534 (-7) or Z = -15.542 (-16)
--     you'd use -7 and -16 respectively. If you use -6 and -15 all coordinates
--     that go past 0 in the opposite direction will be off by 1.)
--
--    Example: gps-deploy 1 1 1 20
--
--    Would assume the turtle's start position is
--    x = 1, y = 1, z = 1 and will deploy the satellite
--    array at y = 21
--
-- neonerZ added features
--  Smart Refilling: Fuel should go in slot 1.
--    If not enough fuel is available script
--    will prompt user for more fuel and wait 30.
--    Script will estimate how much fuel is needed
--    and try to take only that much (in coal)
--  Item Detection: Script will check slots 2-5
--    for the correct quantity of items. It does
--    *not* check if items are valid
--  GPS Host Coordinates: The script now requires
--    you to enter in the coordinates of the
--    turtle before launching. This will set
--    the GPS host computers to the correct
--    coordinates.
--  Satelite Array Location: The script allows
--    the user to set an offset for the placement
--    of the four satellites

-- check if the script is running on a turtle
-- (original code - modified by Dog)
if not turtle then error("Error: Not a turtle.\n", 0) end

-- How high up should the satellite be deployed?
-- This is not absolute height, but relative height.
-- This is the default value if you don't pass a
-- value to the script. There is a check down below
-- to make sure the absolute height isn't > 254
local height, currentHeight, MAXHEIGHT = 254, 0, 254
local tArgs, xCoord, yCoord, zCoord, modemSide = { ... }

term.setBackgroundColor(colors.black)
term.clear()

-- determine if the turtle has a wireless modem (for 'locate' and coord verification at the end)
for _, side in pairs({ "left", "right" }) do
  if peripheral.isPresent(side) and peripheral.getType(side) == "modem" and peripheral.call(side, "isWireless") then
    modemSide = side
    break
  end
end

-- Check to see if the necessary values were
-- passed to the script
-- confirm absolute height isn't set above 254
if tArgs[1] == "locate" then
  if not modemSide then error("Error: Wireless turtle required for auto-location.\n", 0) end
  print("Locating GPS signal...\n")
  rednet.open(modemSide)
  xCoord, yCoord, zCoord = gps.locate(3)
  rednet.close(modemSide)
  if not xCoord then error("No GPS signal detected, please re-run manually.\n", 0) end
  if tArgs[2] and tonumber(tArgs[2]) then
    height = math.min(MAXHEIGHT - yCoord, tonumber(tArgs[2]))
  else
    height = MAXHEIGHT - yCoord
  end
else
  if (#tArgs < 3 or #tArgs > 4) or (not tonumber(tArgs[1]) or not tonumber(tArgs[2]) or not tonumber(tArgs[3])) then
    local prog = shell.getRunningProgram()
    print("Usage:\n")
    print(prog .. " <x> <y> <z> [height]")
    print(" - or -")
    print(prog .. " locate [height]\n")
    print("Height is relative to your position.")
    print("Example: " .. prog .. " 1 1 1 20")
    print("would deploy the satellite to y = 21.\n")
    print("If you have working GPS use 'locate'")
    print("to automatically set the start coords.")
    return
  else
    xCoord = tonumber(tArgs[1])
    yCoord = tonumber(tArgs[2])
    zCoord = tonumber(tArgs[3])
    if tArgs[4] and tonumber(tArgs[4]) then
      height = math.min(MAXHEIGHT - yCoord, tonumber(tArgs[4]))
    else
      height = MAXHEIGHT - yCoord
    end
  end
end

-- Check if we have enough fuel
-- we estimate the fuel usage ((height * 2) + 70) needed to
-- complete the deployment and then see if we have enough
-- fuel loaded. If we don't, it checks the first slot for
-- available fuel and tries to fill up on it. If it doesn't
-- have enough fuel in there, it prompts the user for more
-- fuel. It allows 30 seconds for the user to add  fuel
-- (trying to refuel and verify fuel level every second)
-- and if it doesn't get it's fill within 30 seconds
-- it exits with a message to the user
-- neonerZ (updated by Dog)
local fuelHave = turtle.getFuelLevel()
if type(fuelHave) == "string" then
  print("\n-= No-fuel mode =-\n")
else
  local fuelRequired, fuel, coal, totalCoal = (height * 2) + 70
  if fuelHave < fuelRequired then
    turtle.select(1)
    repeat
      totalCoal = (fuelRequired - fuelHave) / 80
      coal = math.min(64, math.ceil(totalCoal))
      if not turtle.refuel(coal) then
        fuelHave = turtle.getFuelLevel()
        fuel = fuelRequired - fuelHave
        totalCoal = fuel / 80
        coal = math.min(64, math.ceil(totalCoal))
        term.clear()
        term.setCursorPos(1, 1)
        print("Insufficient fuel in slot 1.")
        for i = 30, 1, -1 do
          term.setCursorPos(1, 3)
          print("Please insert " .. tostring(fuel) .. " fuel or " .. tostring(totalCoal) .. " coal to continue.          ")
          term.setCursorPos(1, 5)
          print("Waiting " .. tostring(i) .. " seconds for fuel or exiting. ")
          sleep(1)
          turtle.refuel(coal)
          fuelHave = turtle.getFuelLevel()
          if fuelHave >= fuelRequired then break end
          totalCoal = (fuelRequired - fuelHave) / 80
          coal = math.min(64, math.ceil(totalCoal))
          fuel = fuelRequired - fuelHave
          if i == 1 then
            print("\nNot enough fuel provided.\n")
            print("Please provide " .. tostring(fuel) .. " fuel or " .. tostring(totalCoal) .. " coal and try again.\n")
            return
          end
        end
      else
        fuelHave = turtle.getFuelLevel()
      end
    until fuelHave >= fuelRequired
  end
  print("\n-= Turtle Fueled =-\n")
end

-- check if the required quantity of items
-- are in the appropriate spots. I'm sure
-- there's a more elegant way of doing this.
-- I don't believe there's a way to check if
-- the items are correct without using compare
-- inventory checking re-written and slotNum selection adjusted by Dog
local err = false
local itemTable = {
  [2] = { 1, "Please place 1 floppy disk in slot two." };
  [3] = { 1, "Please place 1 disk drive in slot three (mining turtle), or place 4 disk drives in slot three (standard turtle)." };
  [4] = { 4, "Please place 4 modems in slot four." };
  [5] = { 4, "Please place 4 computers across slots 5, 6, 7, 8. They may be labled, unlabled, or a mix of both.  Unlabeled computers may be stacked." };
}

for i = 2, 5 do
  if turtle.getItemCount(i) < itemTable[i][1] then
    if i == 5 then
      if (turtle.getItemCount(5) + turtle.getItemCount(6) + turtle.getItemCount(7) + turtle.getItemCount(8)) < 4 then
        print(itemTable[5][2] .. "\n")
        error("Please fix the above issue(s) and restart.\n", 0)
      end
    else
      print(itemTable[i][2] .. "\n")
      error("Please fix the above issue(s) and restart.\n", 0)
    end
  end
end

--# Custom host program support - re-enabled by Dog
local base
if fs.exists("custom") then
  term.clear()
  term.setCursorPos(1, 1)
  print("Custom program detected!")
  print("Please enter base station number.\n")
  repeat
    write(" > ")
    base = tonumber(read())
    if not base then
      print("Error: Not a number.")
      print("Try again...\n")
    end
  until base
end

-- move functions
local facing, currentX, currentZ = 1, xCoord, zCoord
local cardinals, xOffset, zOffset = { "South", "West", "North", "East" }, { 0, -1, 0, 1 }, { 1, 0, -1, 0 }

local function emergencyStop()
  local failCount = 0
  print("ABORT! Unable to complete action.")
  print("Attempting to return to origin point.")
  if currentX > xCoord then     --# If east of the target then...
    if facing ~= 2 then         --# if not facing west then...
      repeat                    --# turn until facing west
        turtle.turnRight()
        facing = (facing % 4) + 1
      until facing == 2
    end
  elseif currentX < xCoord then --# If west of the target then...
    if facing ~= 4 then         --# if not facing east then...
      repeat                    --# turn until facing east
        turtle.turnRight()
        facing = (facing % 4) + 1
      until facing == 4
    end
  end
  if currentX ~= xCoord then
    repeat                      --# Move forward until currentX == xCoord
      while not turtle.forward() do
        turtle.dig()
        failCount = failCount + 1
        if failCount == 10 then error("Aborting return trip - too many obstacles.", 0) end
      end
      currentX = currentX + xOffset[facing]
    until currentX == xCoord
  end
  if currentZ > zCoord then     --# If south of the target then...
    if facing ~= 3 then         --# if not facing north then...
      repeat                    --# turn until facing north
        turtle.turnRight()
        facing = (facing % 4) + 1
      until facing == 3
    end
  elseif currentZ < zCoord then --# If north of the target then...
    if facing ~= 1 then         --# if not facing south then...
      repeat                    --# turn until facing south
        turtle.turnRight()
        facing = (facing % 4) + 1
      until facing == 1
    end
  end
  if currentZ ~= zCoord then
    failCount = 0
    repeat                      --# Move forward until currentZ == zCoord
      while not turtle.forward() do
        turtle.dig()
        failCount = failCount + 1
        if failCount == 10 then error("Aborting return trip - too many obstacles.", 0) end
      end
      currentZ = currentZ + zOffset[facing]
    until currentZ == zCoord
  end
  if facing ~= 1 then           --# If not facing south then...
    repeat                      --# turn until facing south
      turtle.turnRight()
      facing = (facing % 4) + 1
    until facing == 1
  end
  failCount = 0
  for i = 1, currentHeight do   --# Now above origin point, go down until reaching the origin point
    while not turtle.down() do
      turtle.digDown()
      failCount = failCount + 1
      if failCount == 10 then error("Aborting return trip - too many obstacles.", 0) end
    end
  end
  if modemSide then
    rednet.open(modemSide)
    local gpsX, gpsY, gpsZ = gps.locate(3)
    rednet.close(modemSide)
    if gpsX then
      print((gpsX == xCoord and gpsY == yCoord and gpsZ == zCoord) and "Coordinates verified." or "Coordinates don't match.")
    else
      print("GPS array unreachable.")
    end
  end
  error("Return trip complete.\n", 0)
end

-- (original code - reformatted and modified by Dog)
local failCount --# use a forward declaration so the variable doesn't have to be initialized every time a mov function is called
local mov = {
  forward = function()
    failCount = 0
    while not turtle.forward() do
      sleep(1)
      failCount = failCount + 1
      if failCount == 5 then emergencyStop() end
    end
    currentX = currentX + xOffset[facing]
    currentZ = currentZ + zOffset[facing]
  end;
  back = function()
    failCount = 0
    while not turtle.back() do
      sleep(1)
      failCount = failCount + 1
      if failCount == 5 then emergencyStop() end
    end
    currentX = currentX - xOffset[facing]
    currentZ = currentZ - zOffset[facing]
  end;
  up = function()
    failCount = 0
    while not turtle.up() do
      sleep(1)
      failCount = failCount + 1
      if failCount == 5 then emergencyStop() end
    end
    currentHeight = currentHeight + 1
  end;
  down = function()
    failCount = 0
    while not turtle.down() do
      sleep(1)
      failCount = failCount + 1
      if failCount == 5 then emergencyStop() end
    end
    currentHeight = currentHeight - 1
  end;
  left = function()
    turtle.turnLeft()
    facing = ((facing - 2) % 4) + 1
  end;
  right = function()
    turtle.turnRight()
    facing = (facing % 4) + 1
  end;
  place = function()
    failCount = 0
    while not turtle.place() do
      sleep(1)
      failCount = failCount + 1
      if failCount == 5 then emergencyStop() end
    end
  end;
}

print("\nX: " .. tostring(xCoord) .. " Y: " .. tostring(yCoord) .. " Z: " .. tostring(zCoord) .. " Height: " .. tostring(height + yCoord) .. " (+" .. tostring(height) ..")\n")
print("-= Launching =-\n")
-- start the climb up to the correct yCoord
for i = 1, height do
  mov.up()
end

-- once at the correct height, deploy GPS array
-- this is a mixture of my own code and the
-- original code
-- calculate the coordinates of the 4 satellite computers
local toYcordNS = math.min(MAXHEIGHT, yCoord + height)
local toYcordWE = toYcordNS - 3
local file, direction
local coords = {
  { x = xCoord, z = zCoord + 3, y = toYcordNS };
  { x = xCoord - 3, z = zCoord, y = toYcordWE };
  { x = xCoord, z = zCoord - 3, y = toYcordNS };
  { x = xCoord + 3, z = zCoord, y = toYcordWE };
}

for a = 1, 4 do
  direction = cardinals[a]
  mov.forward()
  mov.forward()
  if turtle.getItemCount(5) > 0 then --# Select & place computer
    turtle.select(5)
  elseif turtle.getItemCount(6) > 0 then
    turtle.select(6)
  elseif turtle.getItemCount(7) > 0 then
    turtle.select(7)
  else
    turtle.select(8)
  end
  print("Placing " .. direction .. ".")
  mov.place()
  mov.back()
  turtle.select(4) --# Select & place modem
  mov.place()
  mov.down()
  mov.forward()
  turtle.select(3) --# Select & place disk drive
  mov.place()
  turtle.select(2) --# Select & insert floppy disk
  turtle.drop()
  -- make a custom disk that starts up the gps host application
  -- with the correct coordinates and copy it over. also
  -- makes it a startup script so the program will
  -- start back up properly after chunk reloading
  print("Configuring " .. direction .. ".")
  if fs.exists("custom") then
    fs.copy("custom","disk/custom")
  end
  file = fs.open("disk/startup", "w")
  file.write([[
if not os.getComputerLabel() then os.setComputerLabel("GPS Host ]] .. direction .. [[ (" .. tostring(os.getComputerID()) .. ")") end
if fs.exists("startup") and fs.exists("startup-old") then fs.delete("startup-old") end
if fs.exists("startup") then fs.move("startup", "startup-old") end
fs.copy("disk/install", "startup")
fs.delete("disk/startup")
if fs.exists("disk/custom") then
  fs.copy("disk/custom", "custom")
  fs.delete("disk/custom")
end
print("Sleeping for 5 seconds.")
sleep(5)
os.reboot()
]])
  file.close()
  file = fs.open("disk/install","w")
  file.write([[
if fs.exists("custom") then
  shell.run("custom", "host", ]] .. coords[a]["x"] .. ", " .. coords[a]["y"] .. ", " .. coords[a]["z"] .. ", " .. (base or "nil") .. [[)
else
  shell.run("gps", "host", ]] .. coords[a]["x"] .. ", " .. coords[a]["y"] .. ", " .. coords[a]["z"] .. [[)
end
]])
  file.close()
  mov.left()
  mov.forward()
  mov.up()
  mov.right()
  mov.forward()
  mov.right()
  print("Activating " .. direction .. ".")
  peripheral.call("front", "turnOn")
  mov.down()
  print("Retrieving floppy & drive from " .. direction .. ".")
  turtle.select(2) --# Select slot & retreive floppy disk
  turtle.suck()
  turtle.select(3) --# Select slot & retreive floppy drive
  turtle.dig()
  mov.up()
  mov.right()
  mov.forward()
  mov.forward()
  mov.forward()
  mov.left()
  mov.forward()
  if a == 2 then
    mov.up()
    mov.up()
    mov.up()
  elseif a % 2 ~= 0 then
    mov.down()
    mov.down()
    mov.down()
  end
end

-- Return to starting point
print("Returning home.\n")
for i = 1, currentHeight do
  mov.down()
end
if modemSide then
  rednet.open(modemSide)
  local gpsX, gpsY, gpsZ = gps.locate(3)
  rednet.close(modemSide)
  if gpsX then
    print((gpsX == xCoord and gpsY == yCoord and gpsZ == zCoord) and "Success! Coordinates verified.\n" or "Failure. Coordinates don't match.\n")
  else
    print("GPS array unreachable.  Unable to verify installation.\n")
  end
else
  print("Finished.\n")
end