Mining Program 3

--Global Variables--
min_x = 1
max_x = 1
mem_x = 1
home_x = 1
ret_x = 1
x = 1

min_y = 1
max_y = 1
mem_y = 1
home_y = 1
ret_y = 1
y = 1

min_z = 1
max_z = 1
mem_z = 1
home_z = 1
ret_z = 1
z = 1

f = 1
mem_f = 1
home_f = 1
ret_f = 1

continue = false
x_forward = true
y_forward = true
new_floor = true
turtle_objective = "mine"

writeSchedulerCounter = 0

function crash()
	print("turtle has gone wrong, r to reboot")
	while true do
		local event, character = os.pullEvent()
		if event == "char" and character == "r" then
			os.restart()
		end
	end
end

function debugStop()
	print("in debug stop")
	while true do
		local event, character = os.pullEvent()
		if event == "char" and character == "e" then os.restart() end
	end
end

function forward()
	local i = 0
	local operation_output = true
	turtle.dig()
	while turtle.forward() == false do
		turtle.dig()
		turtle.attack()
		i = i + 1
		if i == 10 then
			operation_output = false
			break
		end
		sleep(1)
	end
	if operation_output == true then
		if f == 1 then
			y = y + 1
		elseif f == 2 then
			x = x + 1
		elseif f == 3 then
			y = y - 1
		elseif f == 4 then
			x = x - 1
		else
			print("ERROR: turtle has no direction?!?!?")
			crash()
		end
	end
	writeScheduler()
	return operation_output
end

function forwardMine()
	local i = 0
	local operation_output = true
	turtle.dig()
	while turtle.forward() == false do
		turtle.dig()
		turtle.attack()
		i = i + 1
		if i == 10 then
			operation_output = false
			break
		end
		sleep(1)
	end

	if operation_output == true then
	turtle.digDown()
		if f == 1 then
			y = y + 1
		elseif f == 2 then
			x = x + 1
		elseif f == 3 then
			y = y - 1
		elseif f == 4 then
			x = x - 1
		else
			print("ERROR: turtle has no direction?!?!?")
			crash()
		end
	end
	writeScheduler()
	return operation_output
end

function up()
	local i = 0
	local operation_output = true
	turtle.digUp()
	while turtle.up() == false do
		turtle.digUp()
		turtle.attackUp()
		i = i + 1
		if i == 10 then
			operation_output = false
			break
		end
		sleep(1)
	end
	if operation_output == true then
		z = z + 1
	end
	writeScheduler()
	return operation_output
end

function down()
	local i = 0
	local operation_output = true
	turtle.digDown()
	while turtle.down() == false do
		turtle.digDown()
		turtle.attackDown()
		i = i + 1
		if i == 10 then
			operation_output = false
			break
		end
		sleep(1)
	end
	if operation_output == true then
		z = z - 1
	end
	writeScheduler()
	return operation_output
end

function turnLeft(i_end)
	for i = 1, i_end do
		turtle.turnLeft()
		f = f - 1
		if f == 0 then
			f = 4
		end
	end
	writeScheduler()
end

function turnRight(i_end)
	for i = 1, i_end do
		turtle.turnRight()
		f = f + 1
		if f == 5 then
			f = 1
		end
	end
	writeScheduler()
end

function turnRel(direction)
	local forward_f = home_f
	local right_f = home_f
	local backwards_f = home_f
	local left_f = home_f

	for i = 1,1 do
		right_f = right_f + 1
		if right_f == 5 then right_f = 1 end
	end
	for i = 1,2 do
		backwards_f = backwards_f + 1
		if backwards_f == 5 then backwards_f = 1 end
	end
	for i = 1,3 do
		left_f = left_f + 1
		if left_f == 5 then left_f = 1 end
	end

	if direction == "forwards" then
		while f ~= forward_f do
			if f < forward_f then
				if f == 1 and forward_f == 4 then
					turtle.turnLeft()
					f = 4
				else
					turtle.turnRight()
					f = f + 1
				end
			else
				if f == 4 and forward_f == 1 then
					turtle.turnRight()
					f = 1
				else
					turtle.turnLeft()
					f = f - 1
				end
			end
		end
	elseif direction == "right" then
		while f ~= right_f do
			if f < right_f then
				if f == 1 and right_f == 4 then
					turtle.turnLeft()
					f = 4
				else
					turtle.turnRight()
					f = f + 1
				end
			else
				if f == 4 and right_f == 1 then
					turtle.turnRight()
					f = 1
				else
					turtle.turnLeft()
					f = f - 1
				end
			end
		end
	elseif direction == "backwards" then
		while f ~= backwards_f do
			if f < backwards_f then
				if f == 1 and backwards_f == 4 then
					turtle.turnLeft()
					f = 4
				else
					turtle.turnRight()
					f = f + 1
				end
			else
				if f == 4 and backwards_f == 1 then
					turtle.turnRight()
					f = 1
				else
					turtle.turnLeft()
					f = f - 1
				end
			end
		end
	elseif direction == "left" then
		while f ~= left_f do
			if f < left_f then
				if f == 1 and left_f == 4 then
					turtle.turnLeft()
					f = 4
				else
					turtle.turnRight()
					f = f + 1
				end
			else
				if f == 4 and left_f == 1 then
					turtle.turnRight()
					f = 1
				else
					turtle.turnLeft()
					f = f - 1
				end
			end
		end
	else
		print("ERROR: incorrect reletive direction call")
		crash()
	end
	pcall(writeState)
	--print("forward_f:",forward_f," right_f:",right_f," backwards_f:",backwards_f," left_f:",left_f)
	--print("current_f:",f)
end

function turn(goto_f)
    while f ~= goto_f do
        if f < goto_f then
			if f == 1 and goto_f == 4 then
				turtle.turnLeft()
				f = 4
			else
				turtle.turnRight()
				f = f + 1
			end
        else
			if f == 4 and goto_f == 1 then
				turtle.turnRight()
				f = 1
			else
				turtle.turnLeft()
				f = f - 1
			end
        end
    end
end

function getLocation()

	rednet.open("right")
	local x1, y1, z1 = gps.locate(5,false)
	if x == nil then
		print("out of GPS range")
		crash()
	end
	if forward() == false then
		crash()
	end
	local x2, y2, z2 = gps.locate(5,false)
	turnRight(2)
	if forward() == false then
		crash()
	end
	turnRight(2)
	rednet.close("right")

	if y1 - y2 == -1 then
		f = 1
	elseif x1 - x2 == -1 then
		f = 2
	elseif y1 - y2 == 1 then
		f = 3
	elseif x1 - x2 == 1 then
		f = 4
	else
		print("ERROR: GPS wonkyness")
		crash()
	end

	x = x1
	y = y1
	z = z1
end

function readState()   -- need to pcall this function so it doesn't break if it won't yield
	if fs.exists("MinerSavedData") == true then
		local file = fs.open("MinerSavedData","r")
		local data = file.readAll()
		file.close()
		local tablevar = {}
		tablevar = textutils.unserialize(data)
		min_x = tablevar["min_x"]
		max_x = tablevar["max_x"]
		mem_x = tablevar["mem_x"]
		home_x = tablevar["home_x"]
		ret_x = tablevar["ret_x"]
		min_y = tablevar["min_y"]
		max_y = tablevar["max_y"]
		mem_y = tablevar["mem_y"]
		home_y = tablevar["home_y"]
		ret_y = tablevar["ret_y"]
		min_z = tablevar["min_z"]
		max_z = tablevar["max_z"]
		mem_z = tablevar["mem_z"]
		home_z = tablevar["home_z"]
		ret_z = tablevar["ret_z"]
		mem_f = tablevar["mem_f"]
		home_f = tablevar["home_f"]
		ret_f = tablevar["ret_f"]
		continue = tablevar["continue"]
		x_forward = tablevar["x_forward"]
		y_forward = tablevar["y_forward"]
		turtle_objective = tablevar["turtle_objective"]
		new_floor = tablevar["new_floor"]
	end
end

function updateMemory()
	mem_x = x
	mem_y = y
	mem_z = z
	mem_f = f
end

function updateReturn()
	ret_x = x
	ret_y = y
	ret_z = z
	ret_f = f
end

function writeState()  -- need to pcall this function so it doesn't break if it won't yield
	local tablevar = {}
	tablevar["min_x"] = min_x
	tablevar["max_x"] = max_x
	tablevar["mem_x"] = mem_x
	tablevar["home_x"] = home_x
	tablevar["ret_x"] = ret_x
	tablevar["min_y"] = min_y
	tablevar["max_y"] = max_y
	tablevar["mem_y"] = mem_y
	tablevar["home_y"] = home_y
	tablevar["ret_y"] = ret_y
	tablevar["min_z"] = min_z
	tablevar["max_z"] = max_z
	tablevar["mem_z"] = mem_z
	tablevar["home_z"] = home_z
	tablevar["ret_z"] = ret_z
	tablevar["mem_f"] = mem_f
	tablevar["home_f"] = home_f
	tablevar["ret_f"] = ret_f
	tablevar["continue"] = continue
	tablevar["x_forward"] = x_forward
	tablevar["y_forward"] = y_forward
	tablevar["turtle_objective"] = turtle_objective
	tablevar["new_floor"] = new_floor

	local file = fs.open("MinerSavedData","w")
	file.write(textutils.serialize(tablevar))
	file.close()
end

function writeScheduler()
writeSchedulerCounter = writeSchedulerCounter + 1

if writeSchedulerCounter == 10 then
	pcall(writeState)
	writeSchedulerCounter = 0
end

end

function startup()

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

	if continue == true then
		print("existing instruction set found: (c)ontinue or (r)estart")
		while true do
			local event, character = os.pullEvent()
			if event == "char" and character == "r" then
				continue = false
				print("resetting instruction set")
				break
			end
			if event == "char" and character == "c" then
				print("Continuing...")
				break
			end
		end
	end

	print("Using GPS to calculate location, please make sure nothing important is in front of me and press c to continue")
	while true do
		local event, character = os.pullEvent()
		if event == "char" and character == "c" then break end
	end

	getLocation()

	if continue == false then

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

		print("Please set me up at the bottom left corner of the excavation with a chest for spoil behind me and a chest for fuel to my left")
		print("")
		print("am I ready to continue? Press c to begin")

		while true do
			local event, character = os.pullEvent()
			if event == "char" and character == "c" then break end
		end

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

		home_x = x
		home_y = y
		home_z = z
		home_f = f

		if home_f == 1 then
			print("Width to dig?")
			min_x = x
			max_x = min_x + (tonumber(read()) - 1) --because its already at the 1st block
			print("length to dig (how far back)?")
			min_y = y
			max_y = min_y + (tonumber(read()) - 1)
			print("hight to dig? Please use an even number")
			min_z = z
			max_z = min_z + (tonumber(read()) - 1)
			continue = true
			x_forward = true
			y_forward = true
			new_floor = true
			turtle_objective = "mine"
		elseif home_f == 2 then
			print("Width to dig?")
			max_y = y
			min_y = max_y - (tonumber(read()) - 1)
			print("length to dig (how far back)?")
			min_x = x
			max_x = min_x + (tonumber(read()) - 1)
			print("hight to dig? Please use an even number")
			min_z = z
			max_z = min_z + (tonumber(read()) - 1)
			continue = true
			x_forward = true
			y_forward = false
			new_floor = true
			turtle_objective = "mine"
		elseif home_f == 3 then
			print("Width to dig?")
			max_x = x
			min_x = max_x - (tonumber(read()) - 1)
			print("length to dig (how far back)?")
			max_y = y
			min_y = max_y - (tonumber(read()) - 1)
			print("hight to dig? Please use an even number")
			min_z = z
			max_z = min_z + (tonumber(read()) - 1)
			continue = true
			x_forward = false
			y_forward = false
			new_floor = true
			turtle_objective = "mine"
		elseif home_f == 4 then
			print("Width to dig?")
			min_y = y
			max_y = min_y + (tonumber(read()) - 1)
			print("length to dig (how far back)?")
			max_x = x
			min_x = max_x - (tonumber(read()) - 1)
			print("hight to dig? Please use an even number")
			min_z = z
			max_z = min_z + (tonumber(read()) - 1)
			continue = true
			x_forward = false
			y_forward = true
			new_floor = true
			turtle_objective = "mine"
		else
			print("ERROR: home_f produced an incorrect value")
			crash()
		end

		local skip_z = 0
		print("do you wish to skip to a certain hight?, even floors only and use 0 for no")
		skip_z = tonumber(read())
		if skip_z ~= 0 then
			local i = 0
			while i ~= skip_z do
				if up() == false then crash() end
				i = i + 1
			end
		end

		updateMemory()
		writeState()

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

		print("starting operation")
		textutils.slowPrint("************************************GO!")
		sleep(0.5)

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

		if up() == false then crash() end
		updateMemory()
	end
end

function checkFuel()
	local home_fuel = 20 -- bias added just to make sure
	if x > home_x then
		home_fuel = home_fuel + (x - home_x)
	else
		home_fuel = home_fuel + (home_x - x)
	end
	if y > home_y then
		home_fuel = home_fuel + (y - home_y)
	else
		home_fuel = home_fuel + (home_y - y)
	end
	if z > home_z then
		home_fuel = home_fuel + (z - home_z)
	else
		home_fuel = home_fuel + (home_z - z)
	end

	print("DEBUG  home_fuel:",home_fuel)

	if turtle.getFuelLevel() < home_fuel then
		print("Fuel check failed")
		return false
	else
		return true
	end
end

function checkInventory()
	local space = false
	local i = 1
	repeat
		if turtle.getItemCount(i) == 0 then
			space = true
		end
		i = i + 1
	until i == 17
	if space == false then
		print("Inventory check failed")
	end
	return space
end

function unload()
	turnRel("backwards")
	local i = 1
	repeat
		turtle.select(i)
		if turtle.drop() == false then
			turtle.dropDown()
		end
		i = i + 1
	until i == 17
	turtle.select(1)

	if turtle.getFuelLevel() < 500 then
		turnRel("left")
		turtle.select(1)
		if turtle.suck() == false then
			print("ERROR: no Fuel")
			crash()
		end
		turtle.refuel()

		turnRel("backwards")
		turtle.select(1)
		if turtle.drop() == false then
			turtle.dropDown()
		end
	end
end

function mineXStrip()
	if x_forward == true then
		turn(2)
		repeat
			if forwardMine() == false then crash() end
			updateMemory()
			if checkFuel() == false or checkInventory() == false then
				updateReturn()
				turtle_objective = "home"
				gotoHome()
				unload()
				gotoReturn()
				turtle_objective = "mine"
			end
		until x == max_x
		x_forward = false
		return
	elseif x_forward == false then
		turn(4)
		repeat
			if forwardMine() == false then crash() end
			updateMemory()
			if checkFuel() == false or checkInventory() == false then
				updateReturn()
				turtle_objective = "home"
				gotoHome()
				unload()
				gotoReturn()
				turtle_objective = "mine"
			end
		until x == min_x
		x_forward = true
		return
	else
		print("ERROR: incorrect x_forward value")
		crash()
	end
end

function gotoMemory()
	while x ~= mem_x do
		if x > mem_x then
			turn(4)
			if forward() == false then crash() end
		elseif x < mem_x then
			turn(2)
			if forward() == false then crash() end
		end
	end
	while y ~= mem_y do
		if y > mem_y then
			turn(3)
			if forward() == false then crash() end
		elseif y < mem_y then
			turn(1)
			if forward() == false then crash() end
		end
	end
	while z ~= mem_z do
		if z > mem_z then
			if down() == false then crash() end
		elseif z < mem_z then
			if up() == false then crash() end
		end
	end
	turn(mem_f)
end

function gotoHome()
	while z ~= home_z do
		if z > home_z then
			if down() == false then crash() end
		elseif z < home_z then
			if up() == false then crash() end
		end
	end
	while y ~= home_y do
		if y > home_y then
			turn(3)
			if forward() == false then crash() end
		elseif y < home_y then
			turn(1)
			if forward() == false then crash() end
		end
	end
	while x ~= home_x do
		if x > home_x then
			turn(4)
			if forward() == false then crash() end
		elseif x < home_x then
			turn(2)
			if forward() == false then crash() end
		end
	end
end

function gotoReturn()
	while x ~= ret_x do
		if x > ret_x then
			turn(4)
			if forward() == false then crash() end
		elseif x < ret_x then
			turn(2)
			if forward() == false then crash() end
		end
	end
	while y ~= ret_y do
		if y > ret_y then
			turn(3)
			if forward() == false then crash() end
		elseif y < ret_y then
			turn(1)
			if forward() == false then crash() end
		end
	end
	while z ~= ret_z do
		if z > ret_z then
			if down() == false then crash() end
		elseif z < ret_z then
			if up() == false then crash() end
		end
	end
	turn(ret_f)
end

------------------
-- Main Program --
------------------

local testmode = false
if testmode == false then

startup()

if turtle_objective == "home" then
	gotoHome()
	unload()
	gotoMemory()
	turtle_objective = "mine"
end

gotoMemory()
new_floor = true

repeat
	if new_floor == false then
		if up() == false then crash() end
		if up() == false then crash() end
		new_floor = true
		updateMemory()
	end

	if y_forward == true then
		repeat
			if new_floor == false then
				turn(1)
				if forwardMine() == false then crash() end
				updateMemory()
			end
			mineXStrip()
			new_floor = false
		until y == max_y
		y_forward = false
	elseif y_forward == false then
		repeat
			if new_floor == false then
				turn(3)
				if forwardMine() == false then crash() end
				updateMemory()
			end
			mineXStrip()
			new_floor = false
		until y == min_y
		y_forward = true
	else
		print("ERROR incorrect y_forward value")
		crash()
	end

until z == max_z

gotoHome()
continue = false
pcall(writeState)

term.clear()
term.setCursorPos(1, 1)
print("All Done")

end