Turtle

local sendChannel=666

if fs.exists("events")==false then shell.run("pastebin get L7KYC10V events") end
if os.loadAPI("events")==false then error("Failed to load events API") end

if fs.exists("data")==false then shell.run("pastebin get 5FpayqrQ data") end
if os.loadAPI("data")==false then error("Failed to load data API") end

if fs.exists("utils")==false then shell.run("pastebin get c4CBkgKV utils") end
if os.loadAPI("utils")==false then error("Failed to load utils API") end

local self={
    facing="north",
    pos={x=0,y=0,z=0},
}

local localChannel
local task={}

function self.updatePos()
    data.set("x",self.pos.x,"db/position")
    data.set("y",self.pos.y,"db/position")
    data.set("z",self.pos.z,"db/position")
end

function self.move(direction,ammount,digging)
    if ammount==nil then ammount=1 end
    local moveFunction=nil
    local digFunction=nil
    local directionalAxis=""
    if direction=="up" then
        moveFunction=turtle.up
        digFunction=turtle.digUp
        directionalAxis="y|+1"
    elseif direction=="down" then
        moveFunction=turtle.down
        digFunction=turtle.digDown
        directionalAxis="y|-1"
    else
        if direction=="back" then
            self.turn("right",2)
        elseif direction=="right" then
            self.turn("right")
        elseif direction=="left" then
            self.turn("left")
        end
        moveFunction=turtle.forward
        digFunction=turtle.dig
        if self.facing=="north" then
            directionalAxis="z|-1"
        elseif self.facing=="east" then
            directionalAxis="x|1"
        elseif self.facing=="south" then
            directionalAxis="z|1"
        elseif self.facing=="west" then
            directionalAxis="x|-1"
        end
    end
    for i=1,ammount do
        if digging==true then
            digFunction()
        end
        local axis=utils.split(directionalAxis,"|",1)
        local delta=tonumber(utils.split(directionalAxis,"|",2))
        local returned=moveFunction()
        if returned==true then
            self.pos[axis]=self.pos[axis]+delta
            self.updatePos()
        end
        if returned==false then return returned end
    end
end

local facing={
    [0]="west","north","east","south","west","north",
    north=1,east=2,south=3,west=4,
}

function self.turn(direction,ammount)
    for i=1,ammount do
        if direction=="right" then
            turtle.turnRight()
            self.facing=facing[ facing[self.facing]+1 ]
        else
            turtle.turnLeft()
            self.facing=facing[ facing[self.facing]-1 ]
        end
    end
    data.set("facing",facing,"db/position")
end

function self.setFacing(targetFacing)
    local targetFacing=string.lower(targetFacing)
    local currentFacing=string.lower(self.facing)
    if targetFacing==currentFacing then
        return
    else
        local currentFacingIndex=facing[currentFacing]
        local facingIndex=facing[facing]
        local turns=facingIndex-currentFacingIndex
        if turns<0 then
            turns=turns+4
        end
        if turns==3 then
            self.turn("left",1)
        else
            for i=1,turns do
                self.turn("right",1)
            end
        end
    end
end

function self.goto(x,y,z)
    print("going from "..tostring(self.pos.x)..","..tostring(self.pos.y)..","..tostring(self.pos.z).."\n to "..tostring(x)..","..tostring(y)..","..tostring(z))
    local yDistance=(self.pos.y-y)*-1
    print("Y axis travel distance : "..yDistance)
    local yTravel=true
    if yDistance>0 then
        local yTravel=self.move("up",yDistance)
    elseif yDistance<0 then
        local yTravel=self.move("down",yDistance*-1)
    end
    local xDistance=(self.pos.x-x)*-1
    print("X axis travel distance : "..xDistance)
    local xTravel=true
    if xDistance>0 then
        self.setFacing("east")
    elseif xDistance<0 then
        self.setFacing("west")
        xDistance=xDistance*-1
    end
    xTravel=self.move("forward",xDistance)
    local zDistance=(self.pos.z-z)*-1
    print("Z axis travel distance : "..zDistance)
    local zTravel=true
    if zDistance>0 then
        self.setFacing("south")
    elseif zDistance<0 then
        self.setFacing("north")
        zDistance=zDistance*-1
    end
    zTravel=move("forward",zDistance)
    if xTravel==false or zTravel==false or yTravel==false then
        pathFind(x,y,z)
    end
end

function initPos()
    local x=data.get("x","db/position")
    local y=data.get("y","db/position")
    local z=data.get("z","db/position")
    if x==nil or y==nil or z==nil then
        print("Please input coordinates:")
        io.write("x: ")
        x=tonumber(read())
        data.set("x",x,"db/position")
        io.write("y: ")
        y=tonumber(read())
        data.set("y",y,"db/position")
        io.write("z: ")
        z=tonumber(read())
        data.set("z",z,"db/position")
    end
    self.pos.x,self.pos.y,self.pos.z=x,y,z
    local facing=data.get("facing","db/position")
    if facing==nil then
        print("Please input facing:")
        io.write("facing: ")
        facing=read()
        data.set("facing",facing,"db/position")
    end
    self.facing=facing
end

function initConnection()
    wireless=peripheral.wrap("left")
    localChannel=math.random(5000)
    wireless.open(localChannel)
    repeat
        wireless.transmit(sendChannel,localChannel,"assign")
        local timer=os.startTimer(5)
        repeat
            event,var,sender,receiver,message=os.pullEvent()
            print(localChannel.." | "..event.." : "..tostring(message))
        until event=="modem_message" or event=="timer"
        if message=="denied" then
            wireless.close(localChannel)
            localChannel=math.random(5000)
            wireless.open(localChannel)
        end
    until message=="confirmed"
end

function init()
    initPos()
    initConnection()
end
init()


local messageHandles={
    ["ping"]=function(replyChannel,message)
        return "pong"
    end,
    ["get"]=function(replyChannel,message)
        wireless.transmit(replyChannel,localChannel,"status|working")
        local item=utils.split(message,"|",1)
        local count=tonumber(utils.split(message,"|",2))
        local pos=utils.split(message,"|",3)
        if pos==nil then return end
        local x=utils.split(pos,",",1)
        local y=utils.split(pos,",",2)
        local z=utils.split(pos,",",3)
        self.goto(x,y,z)
        self.pickup(item,count)
        return("status|idle")
    end,
    ["goto"]=function(replyChannel,message)
        wireless.transmit(replyChannel,localChannel,"status|working")
        local pos=utils.split(message,"|",2)
        local x=tonumber(utils.split(pos,",",1))
        local y=tonumber(utils.split(pos,",",2))
        local z=tonumber(utils.split(pos,",",3))
        self.goto(x,y,z)
        return("status|idle")
    end,

}

function handleMessages(side,channel,replyChannel,message)
    print(replyChannel.." : "..message)
    local messageType=utils.split(message,"|",1)
    if messageHandles[messageType]==nil then return end
    local returnMessage=messageHandles[messageType](replyChannel,message)
    wireless.transmit(replyChannel,localChannel,returnMessage)
end
events.addHandler("modem_message",handleMessages)


while true do
    events.handleCCEvents()
end