Turtle_Base

home = {x = nil, y = nil, z = nil, direction = nil, globalRotation = nil}

location = {x = nil, y = nil, z = nil, direction = nil}

work = {x = nil, y = nil, z = nil, direction = nil}

listeners = {}

validTools = {crafting = "Crafting", pickaxe = "Pickaxe", axe = "Axe", shovel = "Shovel", hoe = "Hoe", modem = "Modem", none = "None"}
tools = {left = validTools.none, right = validTools.none}

fuel = { "minecraft:coal", "minecraft:charcoal" }

function init(requiresTools, equippedTools)
  -- open network links
  initRednet()
  -- find out where we are by knowing where we aren't
  local x, y, z, dir, startDir = getInitialPosition()
  initHome(x, y, z, dir)
  location.x = x
  location.y = y
  location.z = z
  location.direction = dir
  rotateTo(startDir)
  if requiresTools and not equippedTools then
    getTools()
  elseif requiresTools and equippedTools then
    tools = equippedTools
  end
  sendStatus("Init Complete")
end

function canDig()
  return tools.left == validTools.pickaxe or tools.right == validTools.pickaxe
end

-- global rotations
-- 0 = north
-- 1 = east
-- 2 = south
-- 3 = west

function convertToLocal(newX, newZ)
  if not newX or not newZ then
    newX = location.x
    newZ = location.z
  end
  if home.globalRotation == 0 then
    return {x = newX, z = newZ}
  elseif home.globalRotation == 1 then
    return {x = -newZ, z = newX}
  elseif home.globalRotation == 2 then
    return {x = -newX, z = -newZ}
  else
    return {x = newZ, z = -newX}
  end
end

-- (literal global direction)
-- global rotations:
-- north = 0
-- east = 1
-- south = 2
-- west = 3

-- (relative to the rotation of the start position)
-- local rotations
-- forwards = 0
-- right = 1
-- backwards = 2
-- left = 3

-- home.globalRotation = 0 local rotation
-- location.direction = relative rotation
-- this function needs to convert local (relative to home) rotation to world rotation
function getGlobalRotation()
  return (location.direction + home.globalRotation) % 4
end

function getInitialPosition()
  -- find current global rotation
  local x1, y1, z1 = gps.locate()
  local globalRotation = nil
  foundRotation = false
  attempts = 0
  -- find global rotation by moving and comparing gps position
  while not foundRotation and attempts < 4 do
    move = turtle.forward()
    local x2, y2, z2 = gps.locate()
    if move then
      if (x1 < x2) then globalRotation = 3
      elseif(z1 > z2) then globalRotation = 2
      elseif(x1 > x2) then globalRotation = 1
      elseif(z1 < z2) then globalRotation = 0 end
      foundRotation = true
      turtle.turnLeft()
      turtle.turnLeft()
      turtle.forward()
    else
      turtle.turnLeft()
      attempts = attempts + 1
    end
  end

  -- error out if rotation could not be found
  if not foundRotation then
    sendStatus("Could not find rotation")
    error()
  end

  local startGlobalRotation = (globalRotation - attempts - 2) % 4
  -- get offset from global Rotation
  home.globalRotation = settings.get("HomeGlobalRotation", startGlobalRotation)
  local direction = globalToLocalRotation(globalRotation)
  -- find initial direction
  local startDirection = globalToLocalRotation(startGlobalRotation)
  return x1, y1, z1, direction, startDirection
end

-- get rotation relative to global home rotation
function globalToLocalRotation(globalRotation)
  local direction
  if globalRotation == home.globalRotation then direction = 0
  elseif (globalRotation + 1) % 4 == home.globalRotation then direction = 1
  elseif (globalRotation - 1) % 4 == home.globalRotation then direction = 3
  else direction = 2 end
  return direction
end

function initHome(x, y, z, dir)
  settings.load("settings")
  home.x = settings.get("HomeXPos", x)
  home.y = settings.get("HomeYPos", y)
  home.z = settings.get("HomeZPos", z)
  home.direction = settings.get("HomeRotation", dir)
  saveHome()
end

function saveHome()
  settings.load("settings")
  settings.set("HomeXPos", home.x)
  settings.set("HomeYPos", home.y)
  settings.set("HomeZPos", home.z)
  settings.set("HomeRotation", home.direction)
  settings.set("HomeGlobalRotation", home.globalRotation)
  settings.save("settings")
end

function updateWorklocation()
  work.x = location.x
  work.y = location.y
  work.z = location.z
  work.direction = location.direction
end

function moveToPosition(newX, newY, newZ, newDir, name)
  if not newDir then newDir = 0 end
  if not name then name = "Somewhere" end

  local blockages = 0
  local newLocation = {x = newX, y = newY, z = newZ, direction = newDir}
  local moved = false

  while not compareLocations(location, newLocation, false) and blockages < 10 do
    sendStatus("Moving to "..name.. ":\n["..newX..", "..newY..", "..newZ..", "..newDir.."]")
    -- move to new Y location
    while location.y ~= newY do
      if location.y > newY then
        moved = moveDown()
      elseif location.y < newY then
        moved = moveUp()
      end
      if not moved then
        blockages = blockages +1
        break
      end
    end
    -- move to new X location
    while location.x ~= newX do
      if location.x > newX then
        if getGlobalRotation() ~= 3 then rotateToGlobal(3) end
        moved = moveForward()
      elseif location.x < newX then
        if getGlobalRotation() ~= 1 then rotateToGlobal(1) end
        moved = moveForward()
      end
      if not moved then
        blockages = blockages + 1
        break
      end
    end
    -- move to new Z location
    while location.z ~= newZ do
      if location.z > newZ then
        if getGlobalRotation() ~= 2 then rotateToGlobal(2) end
        moved = moveForward()
      elseif location.z < newZ then
        if getGlobalRotation() ~= 0 then rotateToGlobal(0) end
        moved = moveForward()
      end
      if not moved then
        blockages = blockages + 1
        break
      end
    end
  end
  rotateTo(newDir)
  return compareLocations(location, newLocation)
end

function compareLocations(tab1, tab2, includeRotation)
  if includeRotation then
    return tab1.x == tab2.x and tab1.y == tab2.y and tab1.z == tab2.z and tab1.direction == tab2.direction
  else
    return tab1.x == tab2.x and tab1.y == tab2.y and tab1.z == tab2.z
  end
end

function locationNil(tab)
  return not tab.x or not tab.y or not tab.z or not tab.direction
end

function rotateLeft()
  location.direction = location.direction-1
  if (location.direction == -1) then
    location.direction = 3
  end
  turtle.turnLeft()
end

function rotateRight()
  location.direction = location.direction+1
  if (location.direction == 4) then
    location.direction = 0
  end
  turtle.turnRight()
end

function rotateTo(newDir)
  if location.direction == newDir then
    return
  elseif (location.direction + 1) % 4 == newDir then
    rotateRight()
  elseif (location.direction - 1) % 4 == newDir then
    rotateLeft()
  else
    while location.direction ~= newDir do
      rotateLeft()
    end
  end
end

function rotateToGlobal(newDir)
  local globalRotation = getGlobalRotation()
  print("Rotating to ".. newDir)
  if globalRotation == newDir then
    return
  elseif (globalRotation + 1) % 4 == newDir then
    rotateRight()
  elseif (globalRotation - 1) % 4 == newDir then
    rotateLeft()
  else
    while getGlobalRotation() ~= newDir do
      rotateLeft()
    end
  end
end

function moveForward()
  -- if able to dig clear out blocks in front
  if canDig() then
    while turtle.detect() do
      turtle.dig()
    end
  end
  moved = turtle.forward()
  if moved then
    rotation = getGlobalRotation()
    if rotation == 0 then
      location.z = location.z+1
    elseif rotation == 1 then
      location.x = location.x+1
    elseif rotation == 2 then
      location.z = location.z-1
    elseif rotation == 3 then
      location.x = location.x-1
    end
    return true
  else
    return false
  end
end

-- returns true on valid movement
function moveUp()
  if canDig() then
    while turtle.detectUp() do
      turtle.digUp()
    end
  end
  local moved = turtle.up()
  if not moved then return false end
  location.y = location.y + 1
  return true
end

function moveDown()
  if canDig() then
    while turtle.detectDown() do
      turtle.digDown()
    end
  end
  local moved = turtle.down()
  if not moved then return false end
  location.y = location.y - 1
  return true
end

function currentPosition()
  local direction = location.direction or -1
  local x, y, z
  if not x or not y or not z then
    x, y, z = gps.locate()
  else
    x = location.x
    y = location.y
    z = location.z
  end
  return "[".. x..", ".. y..", ".. z..", ".. direction .."]"
end

function returnHome()
  local returnedHome = moveToPosition(home.x, home.y, home.z, home.direction, "Home")
  if not returnedHome then
    sendStatus("I'm stuck ;-;")
    error()
  end
end

function returnToWork()
  if locationNil(work) then
    sendStatus("attempted to return to work when I have no work location")
    error()
  end
  local returnedToWork = moveToPosition(work.x, work.x, work.z, work.direction, "Work")
  if not returnedToWork then
    sendStatus("I'm stuck ;-;")
    error()
  end
end

function getValidToolText()
  local text = ""
  for k, v in pairs(validTools) do
    if text ~= "" then text = text.. ", " end
    text = text .. v
  end
  return text
end

function getTools()
  local complete = false
  local toolText = "Valid Tools: ".. getValidToolText()
  local sides = peripheral.getNames()
  if tableContains("left", sides) then
    complete = true
    tools.left = validTools.modem
  end
  while not complete do
    term.clear()
    term.setCursorPos(1,1)
    print(toolText)
    io.write("Enter Left Tool: ")
    local leftTool = io.read()
    local valid, leftTool = validTool(leftTool)
    if valid then
      complete = true
      tools.left = leftTool
    end
  end
  complete = false
  if tableContains("right", sides) then
    complete = true
    tools.right = validTools.modem
  end
  while not complete do
    term.clear()
    term.setCursorPos(1,1)
    print(toolText)
    io.write("Enter Right Tool: ")
    local rightTool = io.read()
    local valid, rightTool = validTool(rightTool)
    if valid then
      complete = true
      tools.right = rightTool
    end
  end
end

function validTool(tool)
  for k,v in pairs(validTools) do
    if string.lower(v) == string.lower(tool) then
      return true, v
    end
  end
  return false, validTools.none
end

function tableContains(str, table)
  for k, v in pairs(table) do
    if v == str then return true end
  end
  return false
end

function resetSettings()
  settings.load("settings")
  settings.clear()
  settings.save("settings")
end

function findItem(id)
  local itemTable = {}
  for i = 1, 16, 1 do
    local slotData = turtle.getItemDetail(i)
    if (slotData and slotData.name == id) then
      table.insert(itemTable, i)
    end
  end
  if table.getn(itemTable) > 0 then
    return itemTable
  end
  return nil
end

-- returns true if empty slot was found ant item was moved
function moveItemToEmpty(slot)
  turtle.select(slot)
  for i = 1, 16, 1 do
    if i ~= slot then
      if turtle.transferTo(i) then
        return true
      end
    end
  end
  return false
end

-- returns true if space remains
function checkSpace()
  for i = 1, 16, 1 do
    if not turtle.getItemDetail(i) then
      return true
    end
  end
  return false
end

function minifyStacks()
  for i = 16, 1, -1 do
    local slotData = turtle.getItemDetail(i)
    if slotData then
      slotsTable = findItem(slotData.name)
      if slotsTable and table.getn(slotsTable) > 1 then
        for k,v in pairs(slotsTable or {}) do
          turtle.select(v)
          turtle.transferTo(i, turtle.getItemSpace(i))
        end
      end
    end
  end
end

-- returns home and requests more fuel
function giveMeFuel()
  while not hasFuel() do
    sleep(2)
  end
  returnToWork()
end

-- attempts to fill fuel slot, returns true if enough fuel is located in the fuel slot.
function hasFuel()
  local fuelSlots = {}

  local slotData = turtle.getItemDetail(1)
  -- search the first slot for a valid fuel item
  for k,v in pairs(fuel or {}) do
    -- find if any other slots contain any fuel
    local slotTable = findItem(v)
    table.insert(fuelSlots, slotTable)

    -- look in slot one, if contains fuel return
    if (slotData and slotData.name == v) then
      return turtle.getItemCount(1) > 1, slotTable
    end
  end

  -- move item out of fuel slot
  if slotData then
    moveItemToEmpty(1)
  end

  -- move valid fuel into slot
  for k,v in pairs(fuelSlots or {}) do
    if v then
      if table.getn(v) > 0 then
        turtle.select(v[1])
        turtle.transferTo(1)
      end
      return turtle.getItemCount(1) > 1, v
    end
  end
  return false, nil
end

function isFuel(slotData)
  for k,v in pairs(fuel or {}) do
    if slotData.name == v then return true end
  end
  return false
end

function getMinFuelLevel()
  if locationNil(work) or locationNil(home) then return 800 end
  return math.abs(work.x) + math.abs(work.z) + math.abs(home.y - work.y) + 50
end

-- checks fuel levels and attempts to refuel the turtle
function refuel()
  local hasFuelLeft, fuelSlots = hasFuel()
  if turtle.getFuelLevel() < getMinFuelLevel() then
    if not hasFuelLeft then
      giveMeFuel()
    end
  end

  if turtle.getFuelLevel() < 5120 then
    turtle.select(1)
    coalCount = turtle.getItemCount(1)
    if coalCount > 0 then turtle.refuel(coalCount-1) end
  end
end

function offsetFromHome()
  return {x = home.x - location.x, y = home.y - location.y, z = home.z - location.z}
end

function getListeners()
  listeners = {rednet.lookup("turtle_status")}
  if listeners then
    for k, v in pairs(listeners) do
      rednet.send(v, "request_connect")
    end
  end
end

function sendStatus(status)
  for k, v in pairs(listeners) do
    rednet.send(v, status.. "\n" .. currentPosition())
  end
end

function dumpExtraStacks(itemId)
  items = findItem(itemId)
  if items and #items > 1 then
    for i = 2, #items, 1 do
      turtle.select(items[i])
      turtle.drop()
    end
  end
end

function openRednet()
  side = getModemSide()
  if not side then error("could not find modem") end
  rednet.open(side, 255)
end

function getModemSide()
  sides = peripheral.getNames()
  for k, v in pairs(sides) do
    if peripheral.getType(v) == "modem" then return v end
  end
  return nil
end

function initRednet()
  term.clear()
  term.setCursorPos(1,1)
  print("Initialising Rednet System")
  openRednet()
  getListeners()
end

return {home = home, fuel = fuel, location = location, work = work, validTools = validTools, tools = tools, canDig = canDig, getInitialPosition = getInitialPosition, initHome = initHome, saveHome = saveHome, updateWorklocation = updateWorklocation, moveToPosition = moveToPosition, compareLocations = compareLocations, locationNil = locationNil, rotateLeft = rotateLeft, rotateRight = rotateRight, rotateTo = rotateTo, moveForward = moveForward, moveUp = moveUp, moveDown = moveDown, returnHome = returnHome, returnToWork = returnToWork, init = init, getValidToolText = getValidToolText, getTools = getTools, validTool = validTool, tableContains = tableContains, resetSettings = resetSettings, findItem = findItem, moveItemToEmpty = moveItemToEmpty, checkSpace = checkSpace, minifyStacks = minifyStacks, giveMeFuel = giveMeFuel, hasFuel = hasFuel, getMinFuelLevel = getMinFuelLevel, refuel = refuel, sendStatus = sendStatus, currentPosition = currentPosition, convertToLocal = convertToLocal, getGlobalRotation = getGlobalRotation, dumpExtraStacks = dumpExtraStacks, offsetFromHome = offsetFromHome, rotateToGlobal = rotateToGlobal}