master_init.lua

local component = require("component")
local modem = component.modem
local event = require("event")
local robot = require("robot")
local sides = require("sides")
local ms = require("movescript")
local serialization = require("serialization")
local ic = component.inventory_controller

local PORT = 10002

modem.open(PORT)

local function selectItemByName(item_name, item_data)
    for i=1,16 do
        local stack = ic.getStackInInternalSlot(i)
        if (stack ~= nil and stack.name == item_name and (item_data == nil or stack.damage == item_data)) then
            robot.select(i)
            return true
        end
    end
    return false
end

local function selectSafely(item_name, item_data)
    local success = selectItemByName(item_name, item_data)
    while not success do
        print("Cannot find "..item_name.." in inventory. Please add some, and press enter.")
        io.read()
        success = selectItemByName(item_name, item_data)
    end
end

local function selectEmptySlot()
    for i = 1, 16 do
        local stack = ic.getStackInInternalSlot(i)
        if (stack == nil) then
            robot.select(i)
            return true
        end
    end
    return false
end

local function fetchItemFromChest(item_name, item_damage)
    local size = ic.getInventorySize(sides.front)
    for i = 1, size do
        local stack = ic.getStackInSlot(sides.front, i)
        if (stack ~= nil and stack.name == item_name and (item_damage == nil or stack.damage == item_damage)) then
            selectEmptySlot()
            ic.suckFromSlot(sides.front, i)
            return true
        end
    end
    return false
end

local function getFunctionalRobotCount()
    local size = ic.getInventorySize(sides.front)
    local robot_count = 0
    local pickaxe_count = 0
    for i = 1, size do
        local stack = ic.getStackInSlot(sides.front, i)
        if (stack ~= nil) then
            if (stack.name == "opencomputers:robot") then
                robot_count = robot_count + 1
            elseif (stack.name == "tconstruct:pickaxe") then
                pickaxe_count = pickaxe_count + 1
            end
        end
    end
    return math.min(robot_count, pickaxe_count)
end

local function fetchRobotAndTool()
    fetchItemFromChest("opencomputers:robot", nil)
    fetchItemFromChest("tconstruct:pickaxe", nil)
end

local function initializeRobot(index, length)
    print("Waiting for slave to send ready message...")
    local _, _, sender, port, dist, msg = event.pull("modem_message")
    print("Robot " .. sender .. " is ready. Sending movescript instructions.")
    if (msg == "READY") then
        local script = index .. "FR"
        local data = {
            length = length,
            index = index
        }
        modem.send(sender, port, script, serialization.serialize(data))
    end
end

local function deployRobot(index, length)
    fetchRobotAndTool()

    print("Placing robot.")
    selectSafely("opencomputers:robot", nil)
    ms.execute("2RP")

    print("Activating robot.")
    selectEmptySlot()
    ic.equip()
    local success = robot.use(sides.front, true)
    while not success do
        success = robot.use(sides.front, true)
    end
    ic.equip()

    print("Giving robot pickaxe.")
    selectSafely("tconstruct:pickaxe", nil)
    ic.dropIntoSlot(sides.front, 1)
    ms.execute("2R")

    initializeRobot(index, length)
end

local function depositRobot()
    ms.execute("2R")
    robot.swing()
    ms.execute("2R")
    for i = 1, 16 do
        robot.select(i)
        robot.drop()
    end
    robot.select(1)
end

local function doRow(index, robot_count, length)
    print("Doing row " .. index)
    for i = 1, robot_count do
        print("Deploying robot " .. i)
        deployRobot(((index - 1) * robot_count) + i, length)
    end

    print("All robots deployed, waiting for job completion.")

    for i = 1, robot_count do
        local _, _, sender, port, dist, msg = event.pull("modem_message")
        if (msg == "DONE") then
            print("Depositing robot.")
            depositRobot()
        else
            print("Error: Got msg from robot: " .. msg)
        end
    end
end

local robot_count = getFunctionalRobotCount()
print("Deploying " .. robot_count .. " robots.")

print("How far to dig?")
local length = tonumber(io.read())

print("How many rows to dig? Total width will be a multiple of " .. robot_count)
local swaths = tonumber(io.read())

for i = 1, swaths do
    doRow(i, robot_count, length)
end