swarmbotMainPC

--[[
    This will be the main computer program.
    It wil listen to user inputs to make new swarm robots and
    also listen for the swarm robot positions.
    -- todo
        Create something so we can recall turtle's
]]
if not fs.exists("digMonitor") then
    shell.run("pastebin", "get", "2RMg3kFa", "digMonitor")
end
os.loadAPI("digMonitor")
if not fs.exists("rnApi") then
    shell.run("pastebin", "get", "HQVEqt0C", "rnApi")
end
os.loadAPI("rnApi")

local rn = rnApi.BetterRN:new()
rn:open()

local monitor = digMonitor.Mon:new()

local swarmBots = {}
local config = {}
local skips = {}

function removeDoubles(list)
    local list = list
    local hash = {}
    local res = {}

    for _, v in ipairs(list) do
        if (not hash[v]) then
            res[#res + 1] = v -- you could print here instead of saving to result table if you wanted
            hash[v] = true
        end
    end

    return res
end

if fs.exists("data/config") then
    local file = fs.open("data/config", "r")
    local data = file.readAll()
    file.close()
    config = textutils.unserialize(data)
else
    if not fs.exists("configProgram") then
        shell.run("pastebin", "get", "izEfQHMQ", "configProgram")
    end
    shell.run("configProgram")
    local file = fs.open("data/config", "r")
    local data = file.readAll()
    file.close()
    config = textutils.unserialize(data)
end

if fs.exists("data/swarmBots") then
    local file = fs.open("data/swarmBots", "r")
    local data = file.readAll()
    file.close()
    swarmBots = textutils.unserialize(data)
    swarmBots = removeDoubles(swarmBots)
    monitor:setData(swarmBots)
    monitor:showData()
end

if fs.exists("data/skips") then
    local file = fs.open("data/skips", "r")
    local data = file.readAll()
    file.close()
    skips = textutils.unserialize(data)
end


-- Listen for the register command of a bot
function registerBot()
    local response
    -- Fake data
    local newTurtle = {
        [1] = {1, 1},
        [2] = 85,
        [3] = 85,
        [4] = 85,
        [4] = vector.new(1, 1, 1),
        [5] = "s",
        [6] = 128,
        [7] = skips
    }
    response = rn:listen("swarmbotRegisterRequest")
    if next(response) ~= nil then
        newTurtle[1] = calculateNextChunk(calculateStartDir())
        newTurtle[2] = config.startHeight
        newTurtle[3] = config.parkHeight
        newTurtle[4] = config.flyHeight
        newTurtle[5] = calculateHomePos()
        newTurtle[6] = calculateStartDir()
        newTurtle[7] = config.maxLength
        newTurtle[8] = skips
        rn:send(response[1], newTurtle, "swarmbotRegister")
        swarmBots[#swarmBots + 1] = {response[1], "Starting", os.clock()}
        swarmBots = removeDoubles(swarmBots)
        monitor:setData(swarmBots)
        monitor:showData()
        saveSwarmBots()
    end
end
-- Calculate functions needed for registration
function calculateStartDir()
    local number = #swarmBots % #config.directions
    if number == 0 then
        number = #config.directions
    end
    return config.directions[number]
end
function calculateNextChunk(dir)
    local dir = dir:lower()
    if dir ~= "e" and dir ~= "s" and dir ~= "w" and dir ~= "n" then
        error("calculateHomePos direction is not e,s,w or n, currently is " .. dir)
    end
    local number = math.ceil((#swarmBots + 1) / #config.directions)
    if dir == "e" then
        return {config.chunk[1] + number, config.chunk[2]}
    elseif dir == "s" then
        return {config.chunk[1], config.chunk[2] + number}
    elseif dir == "w" then
        return {config.chunk[1] - number, config.chunk[2]}
    elseif dir == "n" then
        return {config.chunk[1], config.chunk[2] - number}
    end
end
function calculateHomePos()
    local pos = vector.new(0, 0, 0)
    pos.x = (config.chunk[1] * 16) + math.floor(#swarmBots % 16)
    pos.y = (config.chunk[2] * 16) + math.floor(#swarmBots / 16)
    pos.z = math.ceil((#swarmBots + 1) / 256) + config.parkHeight
    return pos
end

-- Save swarmbot function
function saveSwarmBots()
    local file = fs.open("data/swarmBots", "w")
    -- Make a hard copy..
    local hardCopy = copy(swarmBots)
    file.writeLine(textutils.serialize(hardCopy))
    file.close()
end
function saveSkips()
    local file = fs.open("data/skips", "w")
    -- Make a hard copy..
    print(textutils.serialise(skips))
    file.writeLine(textutils.serialize(skips))
    file.close()
end
-- hardcopy a obj.
function copy(obj)
    if type(obj) ~= "table" then
        return obj
    end
    local res = {}
    for k, v in pairs(obj) do
        res[copy(k)] = copy(v)
    end
    return res
end

-- Listen for user inputs
function listenUserInput()
    while true do
        term.clear()
        term.setCursorPos(1, 1)
        print("<Spawn {number}> to start swarmBots")
        print("Put enough mining turtles and enderchests")
        print("<Skip {x,y}> to skip a certain chunk")
        print("<Broadcast {message}> to send message to all swarmBots")
        print("'home' to home all bots")
        print("'mine' to start all bots")
        print("'pause' to pause all bots")
        print("'ping' to ping all bots")
        print("'update' to update all bots")
        readInput()

        sleep(1)
    end
end
function readInput()
    input = read()
    if input ~= nil or input ~= "" then
        if string.match(input:lower(), "spawn") and string.match(input, "%d+") then
            local amount = string.match(input, "%d+")
            print("Spawning " .. amount .. " swarmBots")
            placeBots(amount)
        elseif string.match(input:lower(), "skip") and string.match(input, "%d+") then
            local chunk = string.gsub(input:lower(), "skip", "")
            chunk = string.gsub(chunk, " ", "")
            local results = {}
            for match in string.gmatch(chunk, "[^,]+") do
                results[#results + 1] = tonumber(match)
            end
            local dontSave = false
            for k, v in pairs(skips) do
                if v[1] == results[1] and v[2] == results[2] then
                    dontSave = true
                    break
                end
            end
            if not dontSave then
                skips[#skips + 1] = results
                saveSkips()
                local sendTimes = 4
                if math.ceil(#swarmBots / 3) > sendTimes then
                    sendTimes = math.ceil(#swarmBots / 3)
                end
                for i = 1, sendTimes do
                    print("sending " .. sendTimes - i .. " times")
                    rn:broadcast("skip " .. chunk, "swarmbot")
                end
                print("Send 'skip " .. chunk .. "' on the 'swarmbot' channel")
                sleep(2)
            else
                print("Already skipping " .. chunk)
                sleep(2)
            end
        elseif
            (string.match(input:lower(), "broadcast") or string.match(input:lower(), "br ")) and
                (string.match(input:lower(), "home") or string.match(input:lower(), "mine") or
                    string.match(input:lower(), "pause") or
                    string.match(input:lower(), "ping") or string.match(input:lower(), "update"))
         then
            local sendTimes = 5
            -- if math.ceil(#swarmBots / 3) > sendTimes then
            --     sendTimes = math.ceil(#swarmBots / 3)
            -- end
            if string.match(input:lower(), "home") then
                for i = 1, sendTimes do
                    print("sending " .. sendTimes - i .. " times")
                    rn:broadcast("home", "swarmbot")
                end
                print("Send 'home' on the 'swarmbot' channel")
                sleep(2)
            elseif string.match(input:lower(), "mine") then
                for i = 1, sendTimes do
                    print("sending " .. sendTimes - i .. " times")
                    rn:broadcast("mine", "swarmbot")
                end
                print("Send 'mine' on the 'swarmbot' channel")
                sleep(2)
            elseif string.match(input:lower(), "pause") then
                for i = 1, sendTimes do
                    print("sending " .. sendTimes - i .. " times")
                    rn:broadcast("pause", "swarmbot")
                end
                print("Send 'pause' on the 'swarmbot' channel")
                sleep(2)
            elseif string.match(input:lower(), "ping") then
                for i = 1, sendTimes do
                    print("sending " .. sendTimes - i .. " times")
                    rn:broadcast("ping", "swarmbot")
                end
                print("Send 'ping' on the 'swarmbot' channel")
                sleep(2)
            elseif string.match(input:lower(), "update") then
                for i = 1, 3 do
                    print("sending " .. 3 - i .. " times")
                    rn:broadcast("update", "swarmbot")
                end
                print("Send 'update' on the 'swarmbot' channel")
                sleep(2)
            end
        else
            print("I didn't understand that..")
        end
    end
    sleep(0.2)
end
function placeBots(amount)
    local amount = tonumber(amount)
    if amount < 1 or amount > 120000 or type(amount) ~= "number" then
        print("Amount is wrong, it is a" .. type(amount) .. "with a value of " .. amount)
        print("(min = 1, max = 120000")
    else
        for i = 1, amount do
            -- Do some checks
            -- Create a bot and place it
            local turtleSlot = 0
            local enderSlot = 0
            while turtleSlot == 0 do
                for i = 1, 16 do
                    if
                        turtle.getItemDetail(i) and
                            (turtle.getItemDetail(i).name == "ComputerCraft:CC-Turtle" or
                                turtle.getItemDetail(i).name == "ComputerCraft:CC-TurtleExpanded")
                     then
                        turtleSlot = i
                        break
                    else
                        turtle.suckUp()
                    end
                end
                sleep(1)
            end
            while enderSlot == 0 do
                for i = 1, 16 do
                    if turtle.getItemDetail(i) and turtle.getItemDetail(i).name == "EnderStorage:enderChest" then
                        enderSlot = i
                        break
                    end
                end
                sleep(1)
            end
            turtle.select(turtleSlot)
            turtle.place(1)
            turtle.select(enderSlot)
            turtle.drop(1)
            peripheral.call("front", "turnOn")
            registerBot()
            if amount > 1 then
                print("Placed bot " .. i .. ". " .. amount - i .. " to go.")
                sleep(2)
            end
        end
    end
end

-- Listen for rednet updates
local messages = {}
function listenRednet()
    while true do
        local response = {}
        response = rn:listen("swarmbotPing")
        if next(response) ~= nil then
            rednet.send(response[1], "OK", "swarmbotReceived")
            messages[#messages + 1] = response
            response = nil
        else
            sleep(0.1)
        end
    end
end
function messageController()
    local counter = 0
    while true do
        if next(messages) ~= nil then
            local response = {next(messages)}
            local found = false
            response = response[2]
            for i = 1, #swarmBots do
                if tonumber(swarmBots[i][1]) == tonumber(response[1]) then
                    swarmBots[i][2] = response[2]
                    swarmBots[i][3] = os.clock()
                    saveSwarmBots()
                    if #messages < 2 or counter == 20 then
                        counter = 0
                        monitor:setData(swarmBots)
                        monitor:showData()
                    end
                    found = true
                    break
                end
            end
            if found == false then
                print("Unkown bot: " .. tonumber(response[1]))
            end
            local newMessages = {}

            counter = counter + 1
            messages[next(messages)] = nil
            for i = 1,#messages do
                if messages[i] ~= nil then
                    newMessages[#newMessages+1] = messages[i]
                end
            end
            messages = newMessages
            response = nil
        else
            sleep(1)
        end
    end
end

function listenMonitor()
    monitor:listen()
end
function updateMonitor()
    while 1 do
        monitor:showData()
        sleep(120)
    end
end

parallel.waitForAll(listenRednet, messageController, listenUserInput, listenMonitor, updateMonitor)