poz2a

--theinsektAPIs/poz2a
--this is an api for more advanced movements
--while keeping track of the position relative to a start position
--it uses poz2
os.loadAPI("theinsektAPIs/poz2")

function digCube2(dir1,len1,dir2,len2,dir3,len3,posT,refuel,returnToOrigin)
 --posT should not be nil
 if posT==nil then error("Error: posT is nil") end
 --dir1 should not be nil
 if dir1==nil then error("Error: dir1 is nil") end

 dir1=poz2.getAbsoluteDirection(dir1,posT)

 if dir2 ~= nil then
  dir2=poz2.getAbsoluteDirection(dir2,posT)
 end
 if dir3 ~= nil then
  --dir3 should be nil if dir2 is nil
  if(dir2==nil) then error("Error: dir2 can't be nil when dir3 isn't nil") end
  dir3=poz2.getAbsoluteDirection(dir3,posT)
 end
 if not checkNormal(dir1,dir2,dir3) then
  Error("Error: Two direction are on the same line")
 end

  --if a dir is nil then the length should be nil
 if dir2==nil and len2~=nil then error("Error: if dir2 is nil then len2 must be nil") end
 if dir3==nil and len3~=nil then error("Error: if dir3 is nil then len2 must be nil") end

 --nil means default value, and default is 1
 if len1==nil then len1=1 end
 if len2==nil then len2=1 end
 if len3==nil then len3=1 end


 --check that lengths aren't 0 or negative
 if len1<1 then error("Error: all lengths must be larger than 0, len1 isn't") end
 if len2<1 then error("Error: all lengths must be larger than 0, len2 isn't") end
 if len3<1 then error("Error: all lengths must be larger than 0, len3 isn't") end

 --the turtle is inside the cube so need to remove 1 distance
 len1=len1-1
 len2=len2-1
 len3=len3-1

 --save the origin
 local origin=poz2.copyPos(posT)

 --do the digging
 local i=1
 while(true) do
   local j=1
   while(true) do
    if digLoop(len1,dir1,posT,refuel)~=len1 then
     if returnToOrigin then digToCoords2(origin,posT,refuel) end
     return false
    end
    dir1=poz2.getReverse(dir1)
    if(j>len2) then break end
    if digLoop(1,dir2,posT,refuel)~=1 then
     if returnToOrigin then digToCoords2(origin,posT,refuel) end
     return false
    end
    j=j+1
  end
  dir2=poz2.getReverse(dir2)
  if(i>len3) then break end
  if digLoop(1,dir3,posT,refuel)~=1 then
   if returnToOrigin then digToCoords2(origin,posT,refuel) end
   return false
  end
  i=i+1
 end

 --try to return to origin
 if returnToOrigin then
  if not digToCoords2(origin,posT,refuel) then
   return false
  end
 end

 return true
end

function digCube(dir1,len1,dir2,len2,dir3,len3,posT)
 dir1=poz2.getAbsoluteDirection(dir1,posT)
 dir2=poz2.getAbsoluteDirection(dir2,posT)
 dir3=poz2.getAbsoluteDirection(dir3,posT)
 if not checkNormal(dir1,dir2,dir3) then
  Error("Error: Two direction are on the same line")
 end
 local i=1
 while(true) do
  local succes, d1,d1=digPlane(dir1,len1,dir2,len2,posT,refuel)
  dir1=d1
  dir2=d2
  if not succes then print("plane fail") return false end
  if(i>len3-1) then break end
  if digLoop(1,dir3,posT,refuel)~=1 then print("digloop fail") return false end
  i=i+1
 end
 return true
end

function digPlane(dir1,len1,dir2,len2,posT,refuel)
 print("digging plane")
 if posT==nil then error("Error: posT is nil") end
 dir1=poz2.getAbsoluteDirection(dir1,posT)
 dir2=poz2.getAbsoluteDirection(dir2,posT)
 if dir1==nil then error("Error: dir1 is nil") end
 if dir2==nil then error("Error: dir2 is nil") end
 print(dir1," ",dir2)
 local i=1
 while(true) do
  if digLoop(len1-1,dir1,posT,refuel)~=len1-1 then print("1 fail") return false,nil,nil end
  dir1=poz2.getReverse(dir1)
  if(i>len2-1) then break end
  if digLoop(1,dir2,posT,refuel)~=1 then print("2 fail") return false,nil,nil end
  i=i+1
 end
 return true, dir1, poz2.getReverse(dir2)
end


function checkNormal(dir1,dir2,dir3)
 local tmp={}
 return checkNormalHelp(tmp,dir1) and
  checkNormalHelp(tmp,dir2) and
  checkNormalHelp(tmp,dir3)
end

function checkNormalHelp(tmp,adir)
 if adir==nil then return true end
 if tmp[adir] or tmp[poz2.getReverse(adir)] then
  return false
 end
 tmp[adir]=adir
 tmp[poz2.getReverse(adir)]=adir
 return true
end

function detectDigGo2(direction,posT,refuel)
 --loop so that it won't be stopped by gravel
 while(true) do
  if(poz2.detect(direction,posT)) then
   if(not poz2.dig(direction,posT)) then
    return false
   end
  end

  if poz2.go(direction,posT) then
   return true
  else
   if turtle.getFuelLevel() == 0 then
    if not doRefuel or not doRefuel() then
     return false
    end
   end
   os.sleep(1)
  end
 end --while
end

function digLoop(iters,direction,posT,refuel)
 if posT==nil then error("Error: posT is nil") end
 direction=poz2.getAbsoluteDirection(direction,posT)
 return poz2.doLoop(iters,detectDigGo2,direction,posT,refuel)
end

function digToCoordsHelp(fieldName,targetCoord,posT,refuel)
 local iters=targetCoord-posT[fieldName]
 if iters==0 then
  return true, 0
 end
 local direction=poz2.getFieldToDirection(fieldName,iters)
 if iters<0 then
  local length=-digLoop(-iters,direction,posT,refuel)
  return length==iters, length
 else
  local length=digLoop(iters,direction,posT,refuel)
  return length==iters, length
 end
end

function digToCoords(x,y,z,posT,refuel,f)
 digToCoordsHelp("x",x,posT,refuel)
 digToCoordsHelp("y",y,posT,refuel)
 digToCoordsHelp("z",z,posT,refuel)
 if f~=nil then
  poz2.turn(f,posT)
 end
 return posT["x"]==x and posT["y"]==y and posT["z"]==z
end

function digToCoords2(wantedT,posT,refuel)
 return digToCoords(wantedT["x"],wantedT["y"],wantedT["z"],posT,refuel,wantedT["f"])
end

function doRefuel(amount)
 if amount==nil then
  os.run({},"rom/programs/turtle/refuel")
  --shell.run("refuel")
 else
  --shell.run("refuel",tostring(amount))
  os.run({},"rom/programs/turtle/refuel",tostring(amount))
 end
 return turtle.getFuelLevel()>0
end

function refuelToLevel(level)
 local fuelLevel=turtle.getFuelLevel()
 while(fuelLevel<level) do
  doRefuel()
  if(fuelLevel==turtle.getFuelLevel()) then
   return false
  end
  fuelLevel=turtle.getFuelLevel()
 end
 return true
end

function digShape(holes,refuel,posT,backOnFail)
 for k,v in ipairs(holes) do
  local direction,distance=unpack(v)
  local distanceRes=digLoop(distance,direction,posT,refuel)

  --failed so try to undo the moves
  if distance ~= distanceRes then
   if not backOnFail then return false,false end
   distance=distanceRes
   distanceRes=digLoop(distance,poz2.getReverse(direction),posT,refuel)
   if distance ~= distanceRes then return false,false end
   k=k-1

   while k>0 do
    v=holes[k]
    local direction,distance=unpack(v)
    distanceRes=digLoop(distance,poz2.getReverse(direction),posT,refuel)
    if distance ~= distanceRes then return false,false end
    k=k-1
   end--while
   return false,true
  end--if
 end--for
 return true,false
end

function mineUHole(direction1, length1, direction2,length2,posT,refuel,backoffDistance)
 direction1=poz2.getAbsoluteDirection(direction1)
 direction2=poz2.getAbsoluteDirection(direction2)
 direction3=poz2.getReverse(direction1)
 --mine part 1 of u
 local length3=digLoop(length1,direction1,posT,refuel)

 --mine backoff distance up, to avoid bedrock
 if backoffDistance ~= nil then
  length3=length3-digLoop(backoffDistance,direction3,posT,refuel)
 end

 local succes, isBack = digShape({{direction2,length2},{direction3,length3}},refuel,posT,true)
 if succes then return true,false,length3 end
 if isBack then
  local backRes=digLoop(length3,poz2.getReverse(direction1),posT,refuel)
  if backRes~=length3 then
   return false,false,length3
  else
   return false,true,length3
  end
 end
 return false,false,length3

end

function mine4by4(holeDirection,depth,extendDirection1,extendDirection2,posT,refuel,backoffDistance)
 local succes, _, depth = mineUHole(holeDirection, depth, extendDirection1,1,posT,refuel,backoffDistance)
 if not succes then return false end
 if digLoop(1,extendDirection2,posT,refuel) ~= 1 then return false end
 local succes, _, _=mineUHole(holeDirection, depth, poz2.getReverse(extendDirection1),1,posT,refuel,backoffDistance)
 if not succes then return false  end
 if digLoop(1,poz2.getReverse(extendDirection2),posT,refuel) ~= 1 then return false end
 poz2.turn(extendDirection1,posT)
 return true
end

function emptyInventory(direction,posT)
 local isEmpty=true
 local i=1
 while(i<=16) do
  turtle.select(i)
  poz2.drop(direction,posT,64)
  isEmpty=isEmpty and turtle.getItemCount(i)==0
  i=i+1
 end
 return isEmpty
end


--uses a chest infront of it to empty it's inventory
--tries to refuel before emptiying if below 2000 fuel
--digs 4x4 holes one is hole 0 0
--left is how many holes to the left of first hole
--right is how many holes to the right of first hole
--back is the amount opposite side of chest from the first hole
--so 1,1,1 makes 6 holes
--example poz2a.miningProgram1(150,1,1,1,posT)
function miningProgram1(depth,left,right,back,posT)
 local chestPos=poz2.copyPos(posT)

 poz2.turn("r",posT)
 local rightDir=posT["f"]
 local leftDir=poz2.getReverse(rightDir)
 poz2.turn("r",posT)
 local backDir=posT["f"]

 print(rightDir," ",leftDir," ",backDir)

 local fuelLevel=2000
 refuelToLevel(fuelLevel)

 local i=-left
 local j=0
 while(i<=right) do
  j=0
  while(j<=back) do
   --refuel and fuel check
   refuelToLevel(fuelLevel)
   if turtle.getFuelLevel()<500 then
    print("low fuel level")
    return false
   end

   --calculate dig position
   local wantedPos=poz2.copyPos(chestPos)
   local coordName, change=poz2.getCoordinateChange(rightDir,i*2)
   wantedPos[coordName]=wantedPos[coordName]+change
   local coordName, change=poz2.getCoordinateChange(backDir,j*2)
   wantedPos[coordName]=wantedPos[coordName]+change

   --go to dig position
   digToCoords(wantedPos["x"],wantedPos["y"],wantedPos["z"],posT,refuel)

   --dig
   if not mine4by4("d",depth,rightDir,backDir,posT,refuel,7) then
     return false
   end
   --poz2.dig("d",posT)
   --back to chest
   digToCoords(chestPos["x"],chestPos["y"],chestPos["z"],posT,refuel)
   --refuel
   refuelToLevel(fuelLevel)
   --empty inventory
   if not emptyInventory(chestPos["f"],posT) then
    print("chest is full")
    return false
   end

   j=j+1
  end
  i=i+1
 end
 return true
end