TRCVC - Turtle/Receiver B:7

-- Turtle RC Voice Command [OP Edition] - Turtle/Receiver
-- Author: theonlycozzy
-- Nov 25 2013

local BUILD = 7
local running = true
local dir = {1,-1,-1,1}
local Args, meta = {...}, {}
----------------------------------------------------
-- Functions
local logBug = function(TEXT,ERROR)
  local timeStamp = "["..os.day().."] "..os.time().."| "

  if meta.deBug then
    local f = fs.open('debug.txt','a')
    f.writeLine(timeStamp..TEXT)
    f.close()
  end
  if ERROR then error(TEXT,0) end
end
local open = function(FILE)
  local f = fs.open(tostring(FILE),"r")
  if not f then return false end
  local data = f.readAll()
  f.close()
  if data then return data end
end
local openT = function(FILE)
  local data = open(FILE)

  if data then
    data = textutils.unserialize(data)
    return data
  end
end
local save = function(PATH,DATA,APPEND)
  local f
  if APPEND then
    f = fs.open(tostring(PATH),"a")
    f.writeLine(DATA)
  else
    f = fs.open(tostring(PATH),"w")
    f.write(DATA)
  end
  f.close()
end
local saveT = function(PATH,TABLE)
  save(PATH,textutils.serialize(TABLE))
end
local tLeft = function()
  if turtle.turnLeft() then meta.pos[4] = (meta.pos[4] - 1)%4 end
end
local tRight = function()
  if turtle.turnRight() then meta.pos[4] = (meta.pos[4] + 1)%4 end
end
local tForward = function()
  if turtle.forward() then
    if meta.pos[4] == 0 or meta.pos[4] == 2 then -- NORTH or SOUTH along Z AXIS
      meta.pos[2] = meta.pos[2] + dir[meta.pos[4]+1]
    elseif meta.pos[4] == 1 or meta.pos[4] == 3 then -- EAST or WEST along X AXIS
      meta.pos[1] = meta.pos[1] + dir[meta.pos[4]+1]
    end
    meta.fuelLevel = turtle.getFuelLevel()
    saveT("turtle.properties",meta)
    return true
  else
    return false
  end
end
local tBack = function()
  if turtle.back() then
    if meta.pos[4] == 0 or meta.pos[4] == 2 then -- NORTH or SOUTH along Z AXIS
      meta.pos[2] = meta.pos[2] - dir[meta.pos[4]+1]
    elseif meta.pos[4] == 1 or meta.pos[4] == 3 then -- EAST or WEST along X AXIS
      meta.pos[1] = meta.pos[1] - dir[meta.pos[4]+1]
    end
    return true
  else
    return false
  end
end
local tAround = function()
  local rand = math.random()
  if rand > 0.5 then tRight() tRight() else tLeft() tLeft() end
end
local tUp = function()
  if turtle.up() then
    meta.pos[3] = meta.pos[3] + 1
    return true
  else
    return false
  end
end
local tDown = function()
  if turtle.down() then
    meta.pos[3] = meta.pos[3] - 1
    return true
  else
    return false
  end
end
local walk = function(DIR,ITERATION)
  if ITERATION == nil then ITERATION = 1 end

  if DIR == "left" then tLeft() end
  if DIR == "right" then tRight() end
  for i=1,ITERATION do
    local isMoving = false
    while not(isMoving) do
      if DIR == "forward" or DIR == "left" or DIR == "right" then isMoving = tForward() end
      if DIR == "back" then isMoving = tBack() end
      if DIR == "up" then isMoving = tUp() elseif DIR == "down" then isMoving = tDown() end
    end
  end
end
local orientate = function(tF)
  local cF = meta.pos[4]
  if tF == nil then return false end
  if tF == ((cF-2)%4) then tAround() end
  if tF == ((cF+1)%4) then tRight() end
  if tF == ((cF+3)%4) then tLeft() end
end
local goTo = function(X,Z,Y,F,MODE)
  local targX = tonumber(X)
  local targZ = tonumber(Z)
  local targY = tonumber(Y)
  local targF = tonumber(F)

  if meta.pos[1] > targX then -- if Target is West
    orientate(1)
    while meta.pos[1] > targX do tForward() end
  else -- if Target is East
    orientate(3)
    while meta.pos[1] < targX do tForward() end
  end
  if meta.pos[2] > targZ then -- if Target is South
    orientate(2)
    while meta.pos[2] > targZ do tForward() end
  else -- if Target is North
    orientate(0)
    while meta.pos[2] < targZ do tForward() end
  end
  if meta.pos[3] < targY then
    while meta.pos[3] < targY do
      tUp()
    end
  else
    while meta.pos[3] > targY do
      tDown()
    end
  end
  if targF ~= nil then orientate(targF) end
end
----------------------------------------------------
-- INIT
if Args[1] == "-u" or Args[1] == "-uninstall" then
  if fs.exists('debug.txt') then
    fs.delete('debug.txt')
  end
  if fs.exists('turtle.properties') then
    fs.delete('turtle.properties')
  end
  return false
end
term.clear() term.setCursorPos(1,1)
if fs.exists("turtle.properties") then
  meta = openT("turtle.properties")
  print("Turtle Properties File Loaded")
else                                  --X Z Y F
  meta = {deBug=false, machineID = os.getComputerID(),pos={0,0,0,0},fuelLevel=turtle.getFuelLevel(),}
  print("Turtle Properties File Created")
  saveT("turtle.properties",meta)
end
if Args[1] == "-d" or Args[1] == "-debug" then
  meta.deBug = true
end
----------------------------------------------------
-- START
if peripheral.getType("right") == "modem" then
  local MOD = peripheral.wrap("right") MOD.open(meta.machineID)
  if meta.hostChannel then
    print("Host is: "..meta.hostChannel)
  else
    term.setCursorPos(1,2) write("Host Channel:")
    local ans = tonumber(read())
    if type(ans) == "number" then
      meta["hostChannel"] = ans
      saveT("turtle.properties",meta)
      local pakg = {ptl="connect", cType="new", data={fuelLevel=turtle.getFuelLevel()}}
      MOD.transmit(meta.hostChannel,meta.machineID,textutils.serialize(pakg))
      logBug("Establishing new Connection: "..textutils.serialize(meta))
    end
  end
  logBug("-------------------------- RC Turtle Build ["..BUILD.."] INITIATED --------------------------")
  while running do
    local EV = {os.pullEvent()}
    if EV[1] == "modem_message" then
      local pakg = textutils.unserialize(EV[5])
      if type(pakg) == "table" then
        logBug("Received : "..textutils.serialize(pakg))
        if pakg.ptl then
          if pakg.ptl == "movement" then
            if pakg.cType == "walk" then -- Movement Commands

              for num,cmd in pairs(pakg.data) do
                local N = tonumber(cmd)
                if type(N) == "number" then
                  walk(pakg.data[num-1],N-1)
                elseif cmd == "turn" then
                  walk(pakg.data[num+1])
                  table.remove(pakg.data,num+1)
                else
                  walk(cmd)
                end
              end
              logBug("Walk command successfully returned")

            elseif pakg.cType == "goto" then
              goTo(pakg.data[1],pakg.data[2],pakg.data[3],pakg.data[4])
              logBug("goto Command successfully returned")

            elseif pakg.cType == "turn" then
              if pakg.data[1] == "right" then tRight() elseif pakg.data[1] == "left" then tLeft() elseif pakg.data[1] == "around" then tAround() end
            end
          -- END protocol movement
          elseif pakg.ptl == "connect" then
            logBug("Connection Protocol Received")
            if pakg.cType == "renew" then
              logBug("Renewing Connection via Server-side")
              sleep(0)
              MOD.transmit(meta.hostChannel,meta.machineID,"pong")
            end
          -- END protocol connect
          elseif pakg.ptl == "terminate" then
            MOD.closeAll()
            running = false
          -- END protocol kill
          else
            -- OTHER Protocol handling
            logBug("Turtle Received unknown Protocol")
          end
        else
          -- Error Handling for invalid protocol
          logBug("Turtle Received invalid protocol")
        end -- END of if pakg.ptl
      else
        -- Error Handling to send back to server for incorrect package
        logBug("Turtle Received incorrect package data type")
      end -- END OF type(pakg) == TABLE
    end
    sleep(0)
  end
else error("Wireless Modem Required") end
-------- TERMINATION CODE --------
saveT("turtle.properties",meta)
term.clear()
term.setCursorPos(1,1)