TAMS WPI by Big SHiny Toys

--[[
        TAMS Turtle Advanced Movment Script
        writen in Lua by Big Shiny Toys
        I realease this Open source and public domain
notes:
this is a turtle mining and legistics system
designed to allow simpe controll of mutiple turtles

-- stuff to add / repair / ect..
1 ) send function to net ALPHA
1.1 ) add phone book of addresseses update
    when reciving new messsage from user.
2 ) goto GPS in movment system
3 ) check multi tasking
4 ) Controller side system / authentication
5 ) turtle task controll for ^
6 ) request for refuel
7 ) call for help
8 ) allow access to files remotle
9 ) automatic update distrobution
10 ) checking system in turtle tracking system
11 ) mining script with send on complet -- ask for fuel and ask for item reteval
12 ) parth finding using pipes and roads
13 ) turtle taks build road send on completion
14 ) turtle task mine 1,1 12,12 will take from Z 70 down to bead rock
15 ) save position
]]--
-- test         --
term.clear()
term.setCursorPos(1,1)
if not turtle then
    print("Not a turtle")
    return
end
-- Indexes      --

local tFacesRAW = {"+Y","+X","-Y","-X"}
local tFaces = {"north","south","west","east"}

-- varibles     --

local bRunning = true
local machineID = os.getComputerID()
local modemOn
local turX,turY,turZ,turF = nil,nil,nil,1
local task = {} -- so task function can be called from all programs

local home = nil

local tThreads = {}

-- Functions    --
local netWork = {}
netWork.open = function()
    local listOfSides = rs.getSides()
    for i = 1,6 do
        if peripheral.isPresent(listOfSides[i]) and peripheral.getType(listOfSides[i]) == "modem" then
            rednet.open(listOfSides[i])
            return listOfSides[i]
        end
    end
    return false
end

local move = {}
move.up = function()
    if turtle.up() then
        turZ = turZ + 1
        return true
    else
        return false
    end
end
move.down = function()
    if turtle.down() then
        turZ = turZ - 1
        return true
    else
        return false
    end
end
move.forward = function()
    if turtle.forward() then
        if turF == 1 then
            turY = turY + 1
        elseif turF == 2 then
            turX = turX + 1
        elseif turF == 3 then
            turY = turY - 1
        elseif turF == 4 then
            turX = turX - 1
        end
        return true
    else
        return false
    end
end
move.back = function()
    if turtle.back() then
        if turF == 1 then
            turY = turY - 1
        elseif turF == 2 then
            turX = turX - 1
        elseif turF == 3 then
            turY = turY + 1
        elseif turF == 4 then
            turX = turX + 1
        end
        return true
    else
        return false
    end
end
move.currentPos = function()
    return turX,turY,turZ,turF
end
local turn = {}
turn.left = function()
    if turtle.turnLeft() then
        turF = turF - 1
        if turF < 1 then
            turF = 4
        end
        return true
    else
        return false
    end
end
turn.right = function()
    if turtle.turnRight() then
        turF = turF + 1
        if turF > 4 then
            turF = 1
        end
        return true
    else
        return false
    end
end
turn.face = function(direction)
    if direction > 4 or direction < 1 then return false end
    if direction == turF then return true end
    if direction == turF - 2 or direction == turF + 2 then
        turn.right()
        turn.right()
    else
        local temp = direction-1
        for p = 1,4 do
            temp = temp+1
            if temp > 4 then
                temp = 1
            end
            if turF == temp then
                if p == 1 or p == 4 then
                    turn.right()
                elseif p == 2 or p == 3 then
                    turn.left()
                end
            end
        end
    end
end
move.gotoPos = function(gotoX,gotoY,gotoZ,gotoF) -- turX,turY,turZ,turF
    local rep = 0
    local happy
    if gotoF == nil then
        local happy = true
    else
        happy = function()
            return turF ~= gotoF
        end
    end
    while turX ~= gotoX or turY ~= gotoY or turZ ~= gotoZ or happy do
        if turX > gotoX then
            local dif = turX - gotoX
            turn.face(4)
            for i = 1,dif do
                move.forward()
            end
        end
        if turX < gotoX then
            local dif = gotoX - turX
            turn.face(2)
            for i = 1,dif do
                move.forward()
            end
        end
        if turY > gotoY then
            local dif = turY - gotoY
            turn.face(3)
            for i = 1,dif do
                move.forward()
            end
        end
        if turY < gotoY then
            local dif = gotoY - turY
            turn.face(1)
            for i = 1,dif do
                move.forward()
            end
        end
        if turZ > gotoZ then
            local dif = turZ - gotoZ
            for i = 1,dif do
                move.down()
            end
        end
        if turZ < gotoZ then
            local dif = gotoZ - turZ
            for i = 1,dif do
                move.up()
            end
        end
        if gotoF then
            turn.face(gotoF)
        end
        if rep > 5 then
            return false
        end
        rep = rep + 1
    end
end
local function CommandDecoder(Input)
    local tWords = {}
    for match in string.gmatch(Input, "[^ \t]+") do
        table.insert( tWords, match )
    end
    if tWords[1] == "run" then
        local program = tostring(tWords[2])
        table.remove(tWords,1)
        table.remove(tWords,1)
        if task.run(program,unpack(tWords)) then
            print("Running "..tostring(program))
        else
            print("program not started")
        end
    elseif tWords[1] == "kill" then
        if task.kill(tostring(tWords[2])) then
            print("Killed "..tostring(tWords[2]))
        else
            print("program not killed")
        end
    elseif tWords[1] == "pause" then
        if task.pause(tostring(tWords[2])) then
            print("Paused "..tostring(tWords[2]))
        else
            print("program not paused")
        end
    elseif tWords[1] == "resume" then
        if task.resume(tostring(tWords[2])) then
            print("Resuming "..tostring(tWords[2]))
        else
            print("program not Resumed")
        end
    elseif tWords[1] == "tasks" then
            for i = 1,#tThreads do
            --term.setCursorPos(1,sizY)
            print(tThreads[i]["name"].." req "..tostring(tThreads[i]["req"]).." "..tostring(tThreads[i]["status"]))
        end
    elseif tWords[1] == "goto" then
        if tWords[2] and tWords[2] == "home" then
            if home then
                print("going home")
                move.gotoPos(home.x,home.y,home.z,home.f)
            else
                print("home not set")
            end
        else
            if #tWords == 4 then
                --term.setCursorPos(1,sizY)
                print("going to X-"..tWords[2].." Y-"..tWords[3].." Z-"..tWords[4])
                move.gotoPos(tonumber(tWords[2]),tonumber(tWords[3]),tonumber(tWords[4]))
            elseif #tWords == 5 then
                --term.setCursorPos(1,sizY)
                print("going to X-"..tWords[2].." Y-"..tWords[3].." Z-"..tWords[4].." F-"..tWords[5])
                move.gotoPos(tonumber(tWords[2]),tonumber(tWords[3]),tonumber(tWords[4]),tonumber(tWords[5]))
            end
        end
    elseif tWords[1] == "exit" then
        --term.setCursorPos(1,sizY)
        print("exiting")
        os.pullEvent("exit")
    --[[elseif tWords[1] == "help" then
        print("Alavible Function's")
        for i,v in ipairs(tPrograms) do
            print(tostring(i).." "..tostring(v))
        end]]--
    elseif tWords[1] == "setHome" then -- needs work
        home = {}
        home.x = tonumber(tWords[2])
        home.y = tonumber(tWords[3])
        home.z = tonumber(tWords[4])
        home.f = tonumber(tWords[5])
        print("home set")
        print("Home is X : "..home.x.." Y : "..home.y.." Z : "..home.z.." F : "..home.f)
    elseif tWords[1] == "clearHome" then
        if home then
        home = nil
            print("Home cleared")
        else
            print("home is already nil")
        end
    elseif tWords[1] == "home" then
        if home then
            print("Home is X : "..home.x.." Y : "..home.y.." Z : "..home.z.." F : "..home.f)
        else
            print("Home not set")
        end
    elseif tWords[1] == "fuel" then
        print(turtle.getFuelLevel())
    end
end

-- sub programs --

-- netALPHA     --
local tPrograms = {}
tPrograms["netALPHA"] = function()
    netALPHA = true --  so programs can test for NetALPHA
    --local
    local ver = 0.2
    local Status = "unstable"
    local off = true -- debug Mode is false no print is true
    local MachineID = os.getComputerID()
    local bSendMode = false
    local tNodes = {} -- stores all avalible routes
    local adressBook = {}
    local maxHop = 5
    -- functions
    local function sPrint(Input)
        if off then
            return
        end
        if type(Input) == "table" then
            print(tostring(Input).." "..#Input)
        elseif type(Input) == "string" then
            print(tostring(Input))
        elseif Input == nil then
            print("Nil Value fucked up here lol XD")
        elseif type(Input) == "number" then
            print(tostring(Input))
        elseif type(Input) == "function" then
            print(tostring(Input))
        elseif type(Input) == "thread" then
            print(tostring(Input))
        else
            print("Unknown Print request")
        end
    end

    local function DistanceMesure(set1X,set1Y,set1Z,set2X,set2Y,set2Z)
        local iMeters = math.sqrt((math.sqrt(((set1X - set2X)^2) + ((set1Y - set2Y)^2)))^2 + (set1Z - set2Z)^2)
        return iMeters
    end

    local function findRoute(DesID,DesX,DesY,DesZ) -- find clostest router to destination.
        local shortestM = nil
        local shortestID = nil
        for i = 1,#tNodes do
            local Distance = math.sqrt((math.sqrt(((DesX - tNodes[i][2])^2) + ((DesY - tNodes[i][3])^2)))^2 + (DesZ - tNodes[i][4])^2)
            if tNodes[i][1] == DesID then
                shortestM = Distance
                shortestID = tNodes[i][1]
                return  shortestID , shortestM
            elseif shortestM == nil then
                shortestM = Distance
                shortestID = tNodes[i][1]
            elseif Distance < shortestM then
                shortestM = Distance
                shortestID = tNodes[i][1]
            end
        end
        if shortestM then
            return shortestID , shortestM
        else
            return false
        end
    end

    local function PacketDecode(sPacket)
        if string.sub(sPacket,1,8) == "netALPHA" then
            local sTemp = string.find(sPacket,"{")
            --sPrint(sTemp)
            local sTemp3 = string.sub(sPacket,9,sTemp-1)
            --sPrint(sTemp3)
            local sTemp2 = tonumber(sTemp3)
            --sPrint(sTemp2)
            local tOutput = textutils.unserialize(string.sub(sPacket,sTemp,sTemp2+8+#sTemp3))
            --sPrint(tOutput)
            local sOutput = string.sub(sPacket,sTemp2+9+#sTemp3,#sPacket)
            --sPrint(sOutput)
            if type(tOutput) == "table" and type(sOutput) == "string" then
                if sOutput == "" then
                    return tOutput
                else
                    return tOutput,sOutput
                end
            end
        end
        error()
    end
    local function printD(...)
        if off then
            return
        else
        print(...)
        end
    end
    local function addRoutBook(tAddress)
        for i = 1,#tNodes do
            if tNodes[i][1] == tAddress[1] then
                tNodes[i] = tAddress
                return
            end
        end
        table.insert(tNodes,tAddress)
        printD(type(tAddress))
    end

    local function PacketBuilder(tInput,sInput)
        if sInput == nil then
            sInput = ""
        end
        if type(tInput) == "table" and type(sInput) == "string" then
            local temp = textutils.serialize(tInput)
            printD(temp)
            local sOut = "netALPHA"..tostring(#temp)..temp..sInput
            return sOut
        else
            return false
        end
    end

    local function sendPing()
        rednet.broadcast(PacketBuilder({"INS","PING",MachineID,turX,turY,turZ}))
    end

    os.startTimer(120+math.random(1,30)) -- 2 mins +- 15 secs
    sendPing()

    -- main function
    local function netALPHACore()
        while true do
            local sEvent,isendID,sMessage,iDistance = coroutine.yield()
            if sEvent == "rednet_message" then
                local bStatus,tPacket,sPacket = pcall(PacketDecode,sMessage)
                if bStatus then
                    if tPacket[1] == "PKT" and #tPacket == 10 then
                        if tPacket[7] == MachineID then
                            printD("Packet form me")
                            printD("From ID: "..tPacket[3].." loc X: "..tPacket[4].." Y: "..tPacket[5].." Z: "..tPacket[6])
                            printD("sent To: "..tPacket[7].." loc X: "..tPacket[8].." Y: "..tPacket[9].." Z: "..tPacket[10])
                            os.queueEvent("netALPHA",tPacket[3],sPacket,DistanceMesure(tPacket[4],tPacket[5],tPacket[6],turX,turY,turZ))
                        else
                            printD("packet to forward")
                            printD("From ID: "..tPacket[3].." loc X: "..tPacket[4].." Y: "..tPacket[5].." Z: "..tPacket[6])
                            printD("sent To: "..tPacket[7].." loc X: "..tPacket[8].." Y: "..tPacket[9].." Z: "..tPacket[10])
                            if tPacket[2] <= maxHop then
                                local forwardID,forwardM = findRoute(tPacket[7],tPacket[8],tPacket[9],tPacket[10])
                                sPrint("forwded to")
                                sPrint(forwardID)
                                sPrint(forwardM)
                                tPacket[2] = tPacket[2]+1 -- incrementing hop
                                rednet.send(forwardID,PacketBuilder(tPacket,sPacket))
                            else
                                printD("MaxHop Ignore Packet")
                            end
                        end
                    elseif tPacket[1] == "INS" then
                        printD("instruction "..tPacket[2])
                        if tPacket[2] == "PING" and #tPacket == 6 then
                            addRoutBook({tPacket[3],tPacket[4],tPacket[5],tPacket[6]})
                            rednet.send(isendID,PacketBuilder({"INS","PONG",MachineID,turX,turY,turZ}))
                        elseif tPacket[2] == "PONG" and #tPacket == 6 then
                            addRoutBook({tPacket[3],tPacket[4],tPacket[5],tPacket[6]})
                        elseif tPacket[2] == "CHK-" and #tPacket == 10 then
                        elseif tPacket[2] == "RPL-" and #tPacket == 10 then
                        end
                    end
                end
            elseif sEvent == "timer" then
                os.startTimer(120+math.random(1,30))
                tNodes = {}
                sendPing()
            end
            if #tNodes >= 1 then
                for i = 1,#tNodes do
                    printD("T "..i.." of "..#tNodes.." ID "..tNodes[i][1].." X"..tNodes[i][2].." Y"..tNodes[i][3].." Z"..tNodes[i][4])
                end
            end
        end
    end
    netALPHACore()
end

tPrograms["manual"] = function()
    while true do
        local e,e1,e2,e3 = os.pullEvent()
        if e == "netALPHA" then
            print(tostring(e1).." "..tostring(e2).." "..tostring(e3))
        elseif e == "char" then
            if e1 == "w" then
                move.forward()
            elseif e1 == "s" then
                move.back()
            elseif e1 == "a" then
                turn.left()
            elseif e1 == "d" then
                turn.right()
            elseif e1 == "q" then
                move.up()
            elseif e1 == "e" then
                move.down()
            end
        end
    end
end

tPrograms["console"] = function()
    local tCommandHistory = {}
    while true do
        local sizX,sizY = term.getSize()
        term.setCursorPos(1,sizY)
        term.clearLine()
        write("> ")
        local sLine = read( nil, tCommandHistory )
        CommandDecoder(sLine)
        table.insert( tCommandHistory, sLine )
    end
end
tPrograms["mine"] = function(...)
    local tArgs = {...}
    for i = 1,#tArgs do
        tArgs[i] = tonumber(tArgs[i])
    end
    local startX,startY,startZ,face,lenX,lenY,depZ = unpack(tArgs)
    -- local startX,startY,startZ,face,lenX,lenY,depZ = 15,-65,72,3,10,6,18
    move.gotoPos(startX,startY,startZ,face)

    local neg = false
    if math.fmod(lenY,2) ~= 0 then
        neg = true
    end
    for p = 1,depZ do
        for a = 1,lenY do
            for i = 1,lenX-1 do
                turtle.dig()
                move.forward()
            end
            if a ~= lenY then
                if math.fmod(p,2) == 0 or neg then
                    if math.fmod(a,2) == 0 then
                        turn.left()
                        turtle.dig()
                        move.forward()
                        turn.left()
                    else
                        turn.right()
                        turtle.dig()
                        move.forward()
                        turn.right()
                    end
                else
                    if math.fmod(a,2) ~= 0 then
                        turn.left()
                        turtle.dig()
                        move.forward()
                        turn.left()
                    else
                        turn.right()
                        turtle.dig()
                        move.forward()
                        turn.right()
                    end
                end
            else
                if math.fmod(a,2) == 0 then
                    turn.left()
                    turn.left()
                else
                    turn.right()
                    turn.right()
                end
            end
        end
        if p ~= depZ then
            turtle.digDown()
            move.down()
        end
    end
    if home then
        move.gotoPos(home.x,home.y,home.z,home.f)
    end
end
tPrograms["netCON"] = function()
    while true do
        local event,e1,e2,e3,e4,e5 = os.pullEvent("netALPHA")
        print("RMT ins "..tostring(e1).." dst "..tostring(e3))
        print(tostring(e2))
        CommandDecoder(e2)
    end
end

-- task mangment-- local task = {}
-- needs work
task.run = function(program,...)
    local tArgs = {...}
    if tPrograms[program] then
        local nNunber = #tThreads+1
        tThreads[nNunber] = {}
        tThreads[nNunber]["name"] = program
        tThreads[nNunber]["thread"] = coroutine.create(tPrograms[program])
        tThreads[nNunber]["req"] = nil
        tThreads[nNunber]["status"] = "run"
        if #tArgs == 0 then
            tThreads[nNunber]["next"] = nil
        else
            tThreads[nNunber]["next"] = tArgs
        end
        return true
    end
    return false
end
task.pause = function(program)
    for i = 1,#tThreads do
        if tThreads[i]["name"] == program then
            tThreads[i]["status"] = "pause"
            return true
        end
    end
    return false
end
task.resume = function(program)
    for i = 1,#tThreads do
        if tThreads[i]["name"] == program then
            tThreads[i]["status"] = "run"
            return true
        end
    end
    return false
end
task.kill = function(program)
    for i = 1,#tThreads do
        if tThreads[i]["name"] == program then
            table.remove(tThreads,i)
            return true
        end
    end
    return false
end

-- boot process --
print("Booting turtle NO: "..machineID)
modemOn = netWork.open()
if not modemOn then
    print("No WIFI Modem\nPress any key to exit")
    os.pullEvent("key")
    return
else
    print("Opened wifi on "..modemOn.." side")
end
turX,turY,turZ = gps.locate(2,true) -- EDIT this line to > turX,turY,turZ = 0,0,0
if not turX then
    print("GPS locate failed\nPress any key to exit")
    os.pullEvent("key")
    return
end
print("Starting Networking")
task.run("console")
task.run("netALPHA")
print("netPLPHA ID :".." "..machineID.." "..turX.." "..turY..""..turZ)
print("boot compleet")

term.clear()
term.setCursorPos(1,1)

-- main loop    --
while bRunning do
    local tEvent = {os.pullEvent()}
    -- print(tEvent[1])
    local loop = 1
    while true do
        if loop == #tThreads + 1 then
            break
        end
        if coroutine.status(tThreads[loop]["thread"]) ~= "dead" then
            if tThreads[loop]["status"] == "run" and type(tThreads[loop]["next"]) == "table" then
                --print("MARKER two")
                test,tThreads[loop]["req"] = coroutine.resume(tThreads[loop]["thread"],unpack(tThreads[loop]["next"])) -- fix
                tThreads[loop]["next"] = nil
            end
            if tThreads[loop]["req"] == "exit" then
                bRunning = false
            end
            if ( tThreads[loop]["req"] == nil or tEvent[1] == tThreads[loop]["req"] ) and tThreads[loop]["status"] == "run" then
                test,tThreads[loop]["req"] = coroutine.resume(tThreads[loop]["thread"],unpack(tEvent)) -- fix
            elseif tThreads[loop]["status"] == "pause" and tEvent[1] == tThreads[loop]["req"] and tThreads[loop]["next"] == nil then
                --print("here marker")
                tThreads[loop]["next"] = tEvent
            end
            if tThreads[loop]["req"] == "exit" then
                bRunning = false
            end
            loop = loop + 1
        else
            print("Thread Crash")
            print(tostring(tThreads[loop]["name"]))
            print(tostring(tThreads[loop]["req"]))
            table.remove(tThreads,loop)
        end
    end
    local oldX,oldY = term.getCursorPos()
    term.setCursorPos(1,1)
    write(machineID.." threds: "..#tThreads.." "..tostring(tThreads[1]["req"]))
    term.setCursorPos(oldX,oldY)
end
term.clear()
term.setCursorPos(1,1)
print("TAMS ended")

-- test --
--[[
turn.face(1)
turn.face(2)
turn.face(3)
turn.face(4)
turn.face(1)
turn.face(2)
turn.face(3)
turn.face(4)
print("pasued")
os.pullEvent("key")

for i = 1,5 do
    move.gotoPos(0,0,74)
    move.gotoPos(-6,0,70)
    move.gotoPos(-6,-13,68)
    move.gotoPos(2,-4,80)
end
print("pasued")
os.pullEvent("key")
]]--


-- test script  --
--[[
local function positionPrint()
    print("X "..turX.." Y "..turY.." Z "..turZ.." heading "..tFaces[turF])
end
local function sPrint(input)
    print(type(input).." "..tostring(input))
end
positionPrint()
move.forward()
positionPrint()
turn.left()
positionPrint()
move.forward()
positionPrint()
move.back()
positionPrint()
turn.right()
positionPrint()
move.back()
positionPrint()
move.up()
positionPrint()
move.down()
positionPrint()
]]--
--[[
FAILED DIGGER script
    local startX,startY,startZ,face,lenX,lenY,depZ = 15,-29,72,3,10,6,20
    move.gotoPos(startX,startY,startZ,face)
    for p = 1,depZ do
        for a = 1,lenY do
            for i = 1,lenX do
                turtle.dig()
                move.forward()
            end
            if math.fmod(p,2) == 0 then
                if math.fmod(a,2) == 0 then
                    turn.left()
                    turtle.dig()
                    move.forward()
                    turn.left()
                else
                    turn.right()
                    turtle.dig()
                    move.forward()
                    turn.right()
                end
            else
                if math.fmod(a,2) ~= 0 then
                    turn.left()
                    turtle.dig()
                    move.forward()
                    turn.left()
                else
                    turn.right()
                    turtle.dig()
                    move.forward()
                    turn.right()
                end

            end
        end
        turtle.digDown()
        move.down()
    end
    move.gotoPos(0,0,70)
]]--