Megaddd - robot quarry client - OpenComputers

local FILENAME = "qData.dat" --savefile name

local floorHeight = 0
local homePos = {0,floorHeight,0} --robot initial placement offset in regards to everything else
local dumpPos = {0,floorHeight,-5}
local refuelPos = {0,floorHeight,5}

comp = require 'component'
event = require 'event'
term = require 'term'
robot = require 'robot'
computer = require 'computer'
net = comp.proxy(comp.modem.address)
port = 1337 --the port on your server
str = 500 --500's generally enough to reach anything within player chunk loading radius
home_address = nil --leave nil

patience = 11 --for how long to not bash the head of someone/something standing in fronth of the robot, in seconds.

_x = 0
_y = floorHeight
_z = 0

_facing = 3
dir = {["west"] = 1, ["north"] = 2, ["east"] = 3, ["south"] = 4, ["up"] = 5, ["down"] = 6}

--[[
function pw()
    return math.floor(32768*2 - math.sin(math.ceil((os.time())*10))*32768)
end
--]]

function listen(timeout)
    term.write("lsn call: ")
    if timeout == nil then
        local arg = {}
        _, arg["address"], _, arg["port"], arg["distance"], _,
        arg[1], arg[2], arg[3], arg[4] = event.pull("modem_message")
        local a = arg[1] local b = arg[2] local c = arg[3] local d = arg[4]
        if a == nil then a = "nil" end
        if b == nil then b = "nil" end
        if c == nil then c = "nil" end
        if d == nil then d = "nil" end
        term.write("returned_a "..a.." "..b.." "..c.." "..d.."\n")
        return arg
    else
        local arg = {}
        _, arg["address"], _, arg["port"], arg["distance"], _,
        arg[1], arg[2], arg[3], arg[4] = event.pull(timeout,"modem_message")
        local a = arg[1] local b = arg[2] local c = arg[3] local d = arg[4]
        if a == nil then a = "nil" end
        if b == nil then b = "nil" end
        if c == nil then c = "nil" end
        if d == nil then d = "nil" end
        term.write("returned_a "..a.." "..b.." "..c.." "..d.."\n")
        return arg
    end
end

function init()
    net.open(port)
    net.setStrength(str)
    net.broadcast(port,"init")
    local dissatisfied = true
    while dissatisfied do
        local lsn = listen()
        print("init: lsn-1 = "..lsn[1])
        if lsn[1] == "shake" then
            term.write("shake received. \n")
            home_address = lsn["address"]
            dissatisfied = false
        end
    end
end

function forward()
    if robot.forward() then
        if _facing == 1 then _x = _x - 1 end
        if _facing == 2 then _z = _z - 1 end
        if _facing == 3 then _x = _x + 1 end
        if _facing == 4 then _z = _z + 1 end
        --send(sr.serialize({_x,_y,_z,_facing}))
        return true
    else
        return false
    end
end

function back()
    if robot.back() then
        if _facing == 1 then _x = _x + 1 end
        if _facing == 2 then _z = _z + 1 end
        if _facing == 3 then _x = _x - 1 end
        if _facing == 4 then _z = _z - 1 end
        --send(sr.serialize({_x,_y,_z,_facing}))
        return true
    else
        return false
    end
end

function up()
    if robot.up() then
        _y = _y + 1
        --send(sr.serialize({_x,_y,_z,_facing}))
        return true
    else
        return false
    end
end

function down()
    if robot.down() then
        _y = _y - 1
        --send(sr.serialize({_x,_y,_z,_facing}))
        return true
    else
        return false
    end
end

function turnLeft()
    _facing = _facing - 1
    if _facing == 0 then _facing = 4 end
    robot.turnLeft()
    --send(sr.serialize({_x,_y,_z,_facing}))
end

function turnRight()
    _facing = _facing + 1
    if _facing == 5 then _facing = 1 end
    robot.turnRight()
    --send(sr.serialize({_x,_y,_z,_facing}))
end

function send(p1, p2, p3, p4, p5, p6, p7, p8, p9)
    net.broadcast(port,p1, p2, p3, p4, p5, p6, p7, p8, p9)
end

function faceWest()
    if _facing == 1 then return true end
    if _facing == 2 then turnLeft() return true end
    if _facing == 3 then turnLeft() turnLeft() return true end
    if _facing == 4 then turnRight() return true end
end

function faceNorth()
    if _facing == 1 then turnRight() return true end
    if _facing == 2 then return true end
    if _facing == 3 then turnLeft() return true end
    if _facing == 4 then turnLeft() turnLeft() return true end
end

function faceEast()
    if _facing == 1 then turnRight() turnRight() return true end
    if _facing == 2 then turnRight() return true end
    if _facing == 3 then return true end
    if _facing == 4 then turnLeft() end
end

function faceSouth()
    if _facing == 1 then turnLeft() return true end
    if _facing == 2 then turnLeft() turnLeft() return true end
    if _facing == 3 then turnRight() return true end
    if _facing == 4 then return true end
end

function faceSet(n)
    if n == 1 then faceWest() end
    if n == 2 then faceNorth() end
    if n == 3 then faceEast() end
    if n == 4 then faceSouth() end
    if n == 5 or n == 6 then return true end
    return true
end

function getPos()
    return _x, _y, _z
end

function dodge(obstacleDir,maxtries)
    print("dodging "..obstacleDir.."!\n")
    local dpm = {0,0,0} --Total displacement after dodge {+East/-West, +Up/-Down, +South/-North}
    local initFacing = _facing
    if tonumber(maxtries) == nil then maxtries = 64 end
    if obstacleDir == "up" then
        local tries = 0
        while robot.detectUp() do
            local rand = math.random(4)
            if rand % 2 == 1 then
                faceEast()
                if rand < 3 then
                    if forward(1) then dpm[1] = dpm[1] + 1 end
                else
                    if back(1) then dpm[1] = dpm[1] - 1 end
                end
                faceSet(initFacing)
            else
                faceSouth()
                if rand < 3 then
                    if forward(1) then dpm[3] = dpm[3] + 1 end
                else
                    if back(1) then dpm[3] = dpm[3] - 1 end
                end
                faceSet(initFacing)
            end
            tries = tries + 1
            if tries >= maxtries then return false end
        end
    end
    if obstacleDir == "down" then
        local tries = 0
        while robot.detectDown() do
            local rand = math.random(4)
            if rand % 2 == 1 then
                faceEast()
                if rand < 3 then
                    if forward(1) then dpm[1] = dpm[1] + 1 end
                else
                    if back(1) then dpm[1] = dpm[1] - 1 end
                end
                faceSet(initFacing)
            else
                faceSouth()
                if rand < 3 then
                    if forward(1) then dpm[3] = dpm[3] + 1 end
                else
                    if back(1) then dpm[3] = dpm[3] - 1 end
                end
                faceSet(initFacing)
            end
            tries = tries + 1
            if tries >= maxtries then return false end
        end
    end
    if obstacleDir == "south" or obstacleDir == "north" then
        local tries = 0
        while robot.detect() do
            local rand = math.random(4)
            if rand % 2 == 1 then
                faceEast()
                if rand < 3 then
                    if forward(1) then dpm[1] = dpm[1] + 1 end
                else
                    if back(1) then dpm[1] = dpm[1] - 1 end
                end
                faceSet(initFacing)
            else
                if rand < 3 then
                    if up(1) then dpm[2] = dpm[2] + 1 end
                else
                    if down(1) then dpm[2] = dpm[2] - 1 end
                end
            end
            tries = tries + 1
            if tries >= maxtries then return false end
        end
    end
    if obstacleDir == "east" or obstacleDir == "west" then
        local tries = 0
        while robot.detect() do
            local rand = math.random(4)
            if rand % 2 == 1 then
                faceSouth()
                if rand < 3 then
                    if forward(1) then dpm[3] = dpm[3] + 1 end
                else
                    if back(1) then dpm[3] = dpm[3] - 1 end
                end
                faceSet(initFacing)
            else
                if rand < 3 then
                    if up(1) then dpm[2] = dpm[2] + 1 end
                else
                    if down(1) then dpm[2] = dpm[2] - 1 end
                end
            end
            tries = tries + 1
            if tries >= maxtries then return false end
        end
    end
    --{+East/-West, +Up/-Down, +South/-North}
    if obstacleDir == "up" then
        if up() then dpm[2] = dpm[2] + 1 end
        if up() then dpm[2] = dpm[2] + 1 end
    end
    if obstacleDir == "down" then
        if down() then dpm[2] = dpm[2] - 1 end
        if down() then dpm[2] = dpm[2] - 1 end
    end
    if obstacleDir == "south" then
        faceSouth()
        if forward() then dpm[3] = dpm[3] + 1 end
        if forward() then dpm[3] = dpm[3] + 1 end
    end
    if obstacleDir == "north" then
        faceNorth()
        if forward() then dpm[3] = dpm[3] - 1 end
        if forward() then dpm[3] = dpm[3] - 1 end
    end
    if obstacleDir == "east" then
        faceEast()
        if forward() then dpm[1] = dpm[1] + 1 end
        if forward() then dpm[1] = dpm[1] + 1 end
    end
    if obstacleDir == "west" then
        faceWest()
        if forward() then dpm[1] = dpm[1] - 1 end
        if forward() then dpm[1] = dpm[1] - 1 end
    end
    return dpm[1],dpm[2],dpm[3]
end

function dist(x1, y1, z1, x2, y2, z2)
    return math.sqrt((x1-x2)^2 + (y1-y2)^2 + (z1-z2)^2)
end

function goToPos(a, b, c, mode, stopdist)
    if stopdist == nil then stopdist = 0 end
    print("goToPos("..a..","..b..","..c..")\n")
    if tonumber(stopdist) == nil then stopdist = 0 end
    local initFacing = _facing
    while a ~= _x or b ~= _y or c ~= _z do
        while a ~= _x do
            if a>=_x then
                if a ~= _x then
                    faceEast()
                    while mode and robot.detect() do robot.swing() os.sleep(0.2) end
                    if not forward(1) then
                        if dist(_x,_y,_z,a,b,c) > stopdist then
                            local a1, b1, c1 = dodge("east")
                            --a = a + a1
                            --b = b + b1
                            --c = c + c1
                        else
                            return "stopdist"
                        end
                    end
                end
            else
                faceWest()
                while mode and robot.detect() do robot.swing() os.sleep(0.2) end
                if not forward(1) then
                    if dist(_x,_y,_z,a,b,c) > stopdist then
                        local a1, b1, c1 = dodge("west")
                        --a = a + a1
                        --b = b + b1
                        --c = c + c1
                    else
                        return "stopdist"
                    end
                end
            end
        end
        while c ~= _z do
            if c>=_z then
                if c ~= _z then
                    faceSouth()
                    while mode and robot.detect() do robot.swing() os.sleep(0.2) end
                    if not forward(1) then
                        if dist(_x,_y,_z,a,b,c) > stopdist then
                            local a1, b1, c1 = dodge("south")
                            --a = a + a1
                            --b = b + b1
                            --c = c + c1
                        else
                            return "stopdist"
                        end
                    end
                end
            else
                faceNorth()
                while mode and robot.detect() do robot.swing() os.sleep(0.2) end
                if not forward(1) then
                    if dist(_x,_y,_z,a,b,c) > stopdist then
                        local a1, b1, c1 = dodge("north")
                        --a = a + a1
                        --b = b + b1
                        --c = c + c1
                    else
                        return "stopdist"
                    end
                end
            end
        end
        while b ~= _y do
            if b>=_y then
                if b ~= _y then
                    while mode and robot.detectUp() do turtle.swingUp() os.sleep(0.2) end
                    if not up() then
                        local a1, b1, c1 = dodge("up")
                        --a = a + a1
                        --b = b + b1
                        --c = c + c1
                    end
                end
            else
                while mode and robot.detectDown() do robot.swingDown() os.sleep(0.2) end
                if not down() then
                    local a1, b1, c1 = dodge("down")
                    --a = a + a1
                    --b = b + b1
                    --c = c + c1
                end
            end
        end
        faceSet(initFacing)
    end
    return true
end

local function printError(cIn)
    print("  Err: "..cIn)
end

local function mineForward(xLen)
    for i=1,xLen do
        while robot.detect() do
            robot.swing()
        end
        robot.swingUp()
        robot.swingDown()
        forward()
    end
    return true
end


function refuel(n)
    gen = comp.proxy(comp.generator.address)
    if gen ~= nil then
        local sel = robot.select()
        robot.select(16)
        gen.insert(n)
        robot.select(sel)
        return true
    else
        return false
    end
end

function getBlockDir(x,y,z) --Gets the major cardinal direction towards Pos. (West/North/Up..)
    if tonumber(x) and tonumber(y) and tonumber(z) then else return false end
    x = x - _x
    y = y - _y
    z = z - _z
    local m = math.max(math.abs(x),math.abs(y),math.abs(z))
    if m == math.abs(x) and m ~= 0 then
        if x>0 then return "east" else return "west" end
    else
        if m == math.abs(z) and m ~= 0 then
            if z>0 then return "south" else return "north" end
        else
            if m == math.abs(y) and m ~= 0 then
                if y>0 then return "up" else return "down" end
            end
        end
    end
    return false,"YouJustBrokeTheGame"
end

function facePos(x,y,z)
    faceSet(dir[getBlockDir(x,y,z)])
end

function dumpToPos(x,y,z)
    while goToPos(x,y,z,false,4) == "stopdist" do
        if dist(x,y,z,_x,_y,_z) == 1 then break end
        os.sleep(2)
    end
    local blockDir = getBlockDir(x,y,z)
    local sel = robot.select()
    if blockDir ~= "up" and blockDir ~= "down" then
        facePos(x,y,z)
        for i=1,15 do robot.select(i) robot.drop() end
    else
        if blockDir == "up" then
            for i=1,15 do robot.select(i) robot.dropUp() end
        end
        if blockDir == "down" then
            for i=1,15 do robot.select(i) robot.dropDown() end
        end
    end
    robot.select(sel)
end

function recharge(x,y,z)
    while goToPos(x,y,z,false,4) == "stopdist" do
        if dist(x,y,z,_x,_y,_z) == 1 then break end
        os.sleep(2)
    end
    local uncharged = true
    while uncharged do
        local eLeft = computer.maxEnergy() - computer.energy()
        if eLeft < 10 then uncharged = false
        else os.sleep(1) end
    end
end

function resupply()
    local x, y, z = getPos()
    local cFacing = _facing
    goToPos(x,floorHeight+1,z,false,0)
    dumpToPos(dumpPos[1],dumpPos[2],dumpPos[3])
    recharge(refuelPos[1],refuelPos[2],refuelPos[3])
    goToPos(x,floorHeight+1,z,false,0)
    goToPos(x,y,z,false,0)
    faceSet(cFacing)
end

function override(minfuel)
    if computer.energy() < minfuel then
        refuel()
    end
    if robot.count(15) ~= 0 then
        resupply()
    end
end

local function turn(i,invert)
    local test
    if invert == true then test = "true" else test = "false" end
    print("turn("..i..","..test..")")
    if invert == nil then invert = false end
    if invert == false then
        print("turn: invert - false")
        if i % 2 == 1 then
            turnRight()
        else
            turnLeft()
        end
    else
        print("turn: invert - true")
        if i % 2 == 1 then
            turnLeft()
        else
            turnRight()
        end
    end
end

function minePlane(xLen, yLen, pinvert) --Brace yourself for lots of redundancy, re-using updated old code. "Dis gon' get ugly."
    robot.swingDown()
    for i=0,yLen-1 do
        local xInvert
        local notxInvert
        if pinvert == true then
            xInvert = true
            notxInvert = false
        else
            xInvert = false
            notxInvert = true
        end
        if xLen % 2 == 1 and yLen % 2 == 1 then
            xInvert = false
            notxInvert = true
        end
        turn(i,xInvert)
        mineForward(xLen-1)
        turn(i,notxInvert)
        if i ~= yLen - 1 then
            mineForward(1)
        end
    end
end

function mineQuarry(xLen, yLen, zLen, invert)
    local zrem = 0
    while robot.detectDown() == false do
        down()
        zrem = zrem + 1
    end
    zLen = zLen - zrem
    zLenTrunc = math.floor(zLen/3)
    robot.swingDown()
    down()
    robot.swingDown()
    down()
    local xMirror = invert
    local xInvert
    for i=0,zLenTrunc-1 do
        if xMirror then
            if i % 2 == 1 then
                xInvert = true
            else
                xInvert = false
            end
        else
            if i % 2 == 1 then
                xInvert = false
            else
                xInvert = true
            end
        end
        minePlane(xLen, yLen, xInvert)
        if i < zLenTrunc-1 then
            robot.swingDown()
            down()
            robot.swingDown()
            down()
            robot.swingDown()
            down()
            turnRight()
            turnRight()
        end
    end
end

function deploy(x,y,z,dir,xq,yq,zq) --Notice: (1,*,*) = forward, (*,*,-1) = right
    if tonumber(x) ~= nil and tonumber(y) ~= nil and tonumber(z) ~= nil and dir ~= nil and tonumber(xq) ~= nil and tonumber(yq) ~= nil and tonumber(zq) ~= nil
    then
        local xc, yc, zc = getPos()
        goToPos(x,y,z,false,0)
        if dir == "left" then faceWest() else faceEast() end
        mineQuarry(xq, yq, zq, false, minfuel)
        local xc2, yc2, zc2 = getPos()
        goToPos(xc2,floorHeight+1,zc2,false,0)
        dumpToPos(dumpPos[1],dumpPos[2],dumpPos[3])
        recharge(refuelPos[1],refuelPos[2],refuelPos[3])
        send("done")
    else
        printError("deploy: missing/incorrect vars.")
    end
end


sr = require 'serialization'
function main()
    init()
    while true do
        if net.isOpen(port) == false then net.open(port) end
        lsn = listen()
        print("from "..lsn["address"]..":")
        print("  "..lsn[1])
        if lsn["address"] == home_address then --deploy(x,y,z,dir,xq,yq,zq)
            if lsn[1] == "deploy" then
                send("deployed")
                local aTable = sr.unserialize(lsn[2])
                if lsn[6] == "true" then bool = true else bool = false end
                local x = tonumber(aTable[1])
                local y = tonumber(aTable[2])
                local z = tonumber(aTable[3])
                local xq = tonumber(aTable[5])
                local yq = tonumber(aTable[6])
                local zq = tonumber(aTable[7])
                print("Deploying to: ("..x..","..y..","..z..")")
                deploy(x,y,z,aTable[4],xq,yq,zq)
            end
            if lsn[1] == "park" then
                send("parking")
                goToPos(x,y,z,false,0)
                faceEast()
            end
        end
    end
end

main()