Woody 02

-- Author: KROM
--
-- --------------------------------
local bUseModem = false
local bBoneMeal = true
local nRuns = 0
local bNoError = true
local bRedNet = false
local nMasterComputerID = nil
-- 30
local vX, vY = 0,-1
local posX, posY, posZ = 0,0,0

local stopCause = 0
-- --------------------------------
local function scanForSaplings()
    return turtle.getItemCount(2)
end
-- --------------------------------
local function scanForBoneMeal()
    return turtle.getItemCount(3)
end
-- --------------------------------
local function say(message)
    if bRedNet == true then
        rednet.send(nMasterComputerID, message)
    end
    print(message)
end
-- --------------------------------
local function turnRight()
    turtle.turnRight()
    vX, vY = vY, -vX
end
-- --------------------------------
local function turnLeft()
    turtle.turnLeft()
    vX, vY = -vY, vX
end
-- ----------------------------------------------------------
local function tryDown()
    stopCause = 0
    if posZ == 0 then
        say("tryDown: already at max depth")
        return false
    end

    if not turtle.down() then
        if turtle.digDown() then
        end
        if not turtle.down() then
            stopCause = 1
            return false
        end
    end
    posZ = posZ - 1
    return true
end
-- ----------------------------------------------------------
local function tryForwards()
    stopCause = 0
    while not turtle.forward() do
        if turtle.dig() then
            -- all cool
        else
            sleep(0.8)
            if turtle.dig() then
                -- all cool
            else
                stopCause = 1
                return false
            end
        end
    end

    return true
end
-- --------------------------------
local function work(nHowDeep, nSize)
    local depth,x,y
    local startZ = posZ
    local bFirstLoop = false

    for depth=0,nHowDeep do
        for x=0,(nSize-1) do

            -- first row has no turn move
            -- which needs to be offset
            local startY = 1

            if x == 0 and startZ == 0 and depth == 0 then
                startY = 0
            elseif bFirstLoop == true then
                startY = 0
            end

            if x == 0 then
                say("SY: "..startY)
            end

            for y=startY,(nSize-1) do

                local start = posX..","..posY..","..posZ

                v = math.fmod(x,2)
                -- v == 0 = facing away. like start
                -- v == 1 = facing to start
                -- say("V: "..v.." LD: "..layerdirection.." SY: "..startY.." xyz: "..x..","..y..","..depth)


                if not tryForwards() then
                    if stopCause == 2 then
                        -- inventory full?!
                        say("Failed to move forward. Inv. full?!")
                        return false
                    else
                        say("Failed to move forward.")
                        return false
                    end
                end

                if layerdirection == 1 then
                    if v == 0 then
                        posY = posY + 1
                    else
                        posY = posY - 1
                    end
                else
                    if v == 0 then
                        posY = posY - 1
                    else
                        posY = posY + 1
                    end
                end

                -- say("P: "..start.." -> "..posX..","..posY..","..posZ)
                -- say("Dir: "..xDir..","..yDir)
            -- end y loop
            end

            bFirstLoop = false;

            say("completed one line")

            -- if not on last line
            if  x < nSize-1 then
                -- move to next line (turn, move, turn)
                if v == 0 then

                    say("Moving to next row (1)")
                    turnRight()

                    if not tryForwards() then
                        if stopCause == 2 then
                            -- inventory full?!
                            say("Failed to move forward. Inv. full?!")
                            return false
                        else
                            return false
                        end
                    end
                    turnRight()
                else
                    say("Moving to next row (2)")
                    turnLeft()

                    if not tryForwards() then
                        if stopCause == 2 then
                            -- inventory full?!
                            say("Failed to move forward. Inv. full?!")
                            return false
                        else
                            return false
                        end
                    end
                    turnLeft()
                end

                if layerdirection == 1 then
                    posX = posX + 1
                else
                    posX = posX - 1
                end
            end

        -- end x loop
        end

        say("completed one layer")

        -- checks if depth reached
        if depth < nHowDeep then

            if not tryDown() then
                -- unable to move down?
                -- assume we hit bedrock
                say("! we failed to move down")
                return false
            end

            if layerdirection == 1 then
                layerdirection = 0
            else
                layerdirection = 1
            end

            turnLeft()
            turnLeft()
        else
            say("finished all layer")
            -- finished
            return true
        end
        -- end z loop
    end
    say("should not hit this code line")
end
-- --------------------------------
local function giantTreeMode(nCurrentHeight)

    local startX, startY, startZ = 0,0,nCurrentHeight
    posX, posY, posZ = 0,0,nCurrentHeight
    vX, vY = 0,-1
    local nRadius = 4
    local nMinHeight = 3
    local nMaxHeight = 9

    -- go to start position
    while posZ < nCurrentHeight do
        if turtle.detectUp() then
            turtle.digUp()
        end
        turtle.up()
        posZ = posZ + 1
    end

    for i=0,nRadius do
        if turtle.detect() then
            turtle.dig()
        end
        turtle.forward()
        posY = posY + 1
    end

    turnLeft()

    for i=0,nRadius do
        if turtle.detect() then
            turtle.dig()
        end
        turtle.forward()
        posX = posX - 1
    end

    turnRight()
    turnRight()

    work(nMaxHeight - nMinHeight, nRadius)

end
-- --------------------------------
local function harvestTree()
    local nHeight = 0
    say("Harvesting Tree")
    turtle.dig()
    turtle.forward()
    while turtle.detectUp() do
        turtle.digUp()
        turtle.up()
        nHeight = nHeight + 1
    end

    -- check if giant tree.
    -- check by height...
    if nHeight > 6 then
        say("*** GIANT TREE MODE ***")
        return giantTreeMode(nHeight)
    else
        -- normal tree. go back down
        while not turtle.detectDown() do
            turtle.down()
        end
        turtle.back()
    end

    say("Finished harvesting tree")
end
-- --------------------------------
local function detectTree()
    if turtle.detect() == false then
        say("No tree detected(1)")
        return false
    end

    if turtle.up() == false then
        say("Cannot move up, must be a tree")
        return true
    end

    if turtle.detect() == true then
        turtle.down()
        say("Tree detected")
        return true
    else
        turtle.down()
        say("Possible sapling detected")
        return false
    end

    return false
end
-- --------------------------------
local function applyBoneMeal()
    say("Trying to apply BoneMeal")

    -- place while there is no tree
    local isatree
    local abort = false
    local nBoneMeal = 0
    local nMax = 5

    while abort == false do

        say("Looping for BoneMeal")

        isatree = detectTree()
        nBoneMeal = scanForBoneMeal()

        if isatree == false and nBoneMeal > 0 and turtle.detect() == true then
            turtle.select(3)
            turtle.place()
            say("Applied BoneMeal")
        end

        if isatree == true or nBoneMeal == 0 then
            abort = true
        end

        nMax = nMax - 1

        if nMax <= 0 then
            abort = true
            say("BoneMeal: Max tries")
        end
    end
end
-- --------------------------------
local function plantTree(harvested)
    say("Planting new Tree")
    turtle.select(2)
    turtle.place()
    if bBoneMeal == true and harvested == false then
        applyBoneMeal()
    end
    say("Finished planting new Tree")
end
-- --------------------------------
local function spaceLeft()
    local nSpace = 0
    for n=1,16 do
        local x = turtle.getItemCount(n)
        if x == 0 then
            nSpace = nSpace + 1
        end
    end
    return nSpace
end

-- --------------------------------
local function moveForward(nSteps, pickupStuff)
    if nSteps == 0 then
        return true
    end
    while nSteps > 0 do
        if pickupStuff == true then
            turtle.suck()
        end

        if turtle.forward() == false then
            return false
        end
        nSteps = nSteps - 1
    end
end

-- --------------------------------
local function dump(keepBattery)
    local x = 1
    if keepBattery == true then
        x = 2
    end
    for n=x,16 do
        turtle.select(n)
        turtle.drop()
    end
end
-- --------------------------------
local function restock()
    -- move to first box (energy)
    say("move to first box (energy)");
    turnLeft()
    moveForward(2,true)
    turnRight()
    -- pick up energy cells
    turtle.select(1)
    turtle.suck()

    -- move to second box (saplings)
    say("move to second box (saplings)");
    turnLeft()
    moveForward(2,true)
    turnRight()
    -- pick up saplings
    turtle.select(2)
    turtle.suck()

    if bBoneMeal then
        -- move to third box (bone meal)
        say("move to third box (bone meal)");
        turnLeft()
        moveForward(2,true)
        turnRight()
        -- pick up bone meal
        turtle.select(3)
        turtle.suck()
    end

    turnRight()

    -- return to start
    say("return to start");
    if bBoneMeal then
        moveForward(6,true)
    else
        moveForward(4,true)
    end
end
-- --------------------------------


-- ----------------------------------------
-- Main -----------------------------------
-- ----------------------------------------

local function mainRun()

    -- go to restock position
    say("go to restock position")
    turnRight()

    -- dump any contents
    say("dump any contents")
    dump(false)
    -- wait?
    -- restock
    say("restock")
    restock()

    -- face in original position
    say("face in original position")
    turnRight()


    -- check fuel
    nFuel = turtle.getFuelLevel()
    bHasFuel = true

    while nFuel < 100 and bHasFuel == true do
        turtle.select(1)
        bHasFuel = turtle.refuel(1)
        nFuel = turtle.getFuelLevel()
    end

    if bHasFuel == false then
        say("Fuel level below minimum treshold of 100")
        return false
    end

    -- inital checks if everything is on board

    -- check for saplings
    if scanForSaplings() == false then
        say("We have no saplings")
        return false
    end

    -- check for BoneMeal
    if bBoneMeal == true and scanForBoneMeal() == 0 then
        say("We have no bonemeal. Continue, but disable feature.")
        bBoneMeal = false
    end

    -- check if space in inventory
    if spaceLeft() == 0 then
        say("Inventory is full. Need attention.")
        return false
    end



    -- move to first position ------------------------
    if moveForward(2,true) == false then
        say("Move(1): Failed to move forward")
        return false
    end

    turnRight()

    if moveForward(3,true) == false then
        say("Move(1,2): Failed to move forward")
        return false
    end

    turnLeft()

    -- check for tree
    if detectTree() == true then
        harvestTree()
        plantTree(true)
    elseif turtle.detect() == false then
        say("No Tree found. Planting")
        plantTree(false)
    elseif bBoneMeal == true then
        applyBoneMeal()
    end

    turnRight()

    -- move to second position ------------------------

    if moveForward(4,true) == false then
        say("Move(2,1): Failed to move forward")
        return false
    end

    turnLeft()

    -- check for tree
    if detectTree() == true then
        harvestTree()
        plantTree(true)
    elseif turtle.detect() == false then
        say("No Tree found. Planting")
        plantTree(false)
    elseif bBoneMeal == true then
        applyBoneMeal()
    end

    turnRight()

    -- move to second position ------------------------

    if moveForward(4,true) == false then
        say("Move(3,1): Failed to move forward")
        return false
    end

    turnLeft()

    -- check for tree
    if detectTree() == true then
        harvestTree()
        plantTree(true)
    elseif turtle.detect() == false then
        say("No Tree found. Planting")
        plantTree(false)
    elseif bBoneMeal == true then
        applyBoneMeal()
    end

    turnRight()

    -- move to 4th position ------------------------


    if moveForward(1,true) == false then
        say("Move(4,1): Failed to move forward")
        return false
    end

    turnLeft()

    if moveForward(6,true) == false then
        say("Move(3,2): Failed to move forward")
        return false
    end

    turnLeft()

    if moveForward(1,true) == false then
        say("Move(3,1): Failed to move forward")
        return false
    end

    turnLeft()

    -- check for tree
    if detectTree() == true then
        harvestTree()
        plantTree(true)
    elseif turtle.detect() == false then
        say("No Tree found. Planting")
        plantTree(false)
    elseif bBoneMeal == true then
        applyBoneMeal()
    end

    turnRight()

    -- move to fourth position ------------------------

    if moveForward(4,true) == false then
        say("Move(2,1): Failed to move forward")
        return false
    end

    turnLeft()

    -- check for tree
    if detectTree() == true then
        harvestTree()
        plantTree(true)
    elseif turtle.detect() == false then
        say("No Tree found. Planting")
        plantTree(false)
    elseif bBoneMeal == true then
        applyBoneMeal()
    end

    turnRight()

    -- move to fourth position ------------------------

    if moveForward(4,true) == false then
        say("Move(2,1): Failed to move forward")
        return false
    end

    turnLeft()

    -- check for tree
    if detectTree() == true then
        harvestTree()
        plantTree(true)
    elseif turtle.detect() == false then
        say("No Tree found. Planting")
        plantTree(false)
    elseif bBoneMeal == true then
        applyBoneMeal()
    end

    turnRight()

    -- return ------------------------

    if moveForward(3,true) == false then
        say("Move(4,1): Failed to move forward")
        return false
    end

    turnLeft()

    if moveForward(8,true) == false then
        say("Move(4,2): Failed to move forward")
        return false
    end

--  say("Should be in home position, facing chest. Dumping stuff.")

    say("Dumping stuff.")
    dump(false)
    say("Face start position")
    turnLeft()
    local c = turtle.getFuelLevel()
    c = nFuel - c
    say("==== Run "..nRuns.." complete. "..c.." E consumed ====")
    nRuns = nRuns + 1
    return true
end


-- -------------------------
-- init wireless
----------------------------
if bUserModem == true then
  bRedNet = rednet.open("right")
  if not bRedNet == true then
    bRedNet = rednet.open("left")
  end
  bRedNet = true
end



if bRedNet == true then
    say("Rednet enabled")
    rednet.send(nMasterComputerID, "HarvestBot 01 reporting in.")
else
    say("no rednet available")
end

-- check fuel
nFuel = turtle.getFuelLevel()
bHasFuel = true

while nFuel < 100 and bHasFuel == true do
    turtle.select(1)
    bHasFuel = turtle.refuel(1)
    nFuel = turtle.getFuelLevel()
end

if bHasFuel == false then
    say("Fuel level below minimum treshold of 100")
    return false
end

while bNoError == true do
    print ("Starting Run "..(nRuns+1))
    bNoError = mainRun()
    nFuel = turtle.getFuelLevel()
    print ("Fuel level: "..nFuel)
    if bNoError == true then
        say("Sleeping for 60 seconds")
        sleep(10)
        say("Sleeping for 50 seconds")
        sleep(10)
        say("Sleeping for 40 seconds")
        sleep(10)
        say("Sleeping for 30 seconds")
        sleep(10)
        say("Sleeping for 20 seconds")
        sleep(10)
        say("Sleeping for 10 seconds")
        sleep(10)
    else
        say("Aborting after "..nRuns.." runs")
    end
end