CC Turtle: miner/excgps

if not turtle then
    printError("Requires a Turtle")
    return
end

if 0 ~= tonumber(settings.get("miner.done",0)) then
    printError("Current area marked as done! Change settings or run 'miner/sethome.lua' to allow another excavation.")
    error()
end

-- Mine in a quarry pattern until we hit something we can't dig
local size = tonumber(settings.get("miner.exc_rad",20))
if size < 1 then
    printError("Excavate diameter must be positive")
    error()
end

-- Some forward-declarations
local goTo, refuel
local _await, _awaitRefuel

local xPos, zPos, depth, lowDepth
local xDir, zDir
local tohomeFuel

-- gps.locate() that does not return until it succeeds
local function locate()
    local printed = false
    local x,y,z
    repeat
        x,y,z = gps.locate()
        if x == nil then
            if not printed then
                print("GPS Error! Please fix!")
                rednet.broadcast({"gpserr"},"excgps")
                printed = true
            end
            _await(5, true)
        end
    until x ~= nil
    return x,y,z
end

-- Save settings to disk
local function save()
    settings.save(".settings")
end

-- Setup network
local sides = {"up","down","left","right","forward","back"}
local function openNet()
    if rednet.isOpen() then
        return true
    else
        for i = 1,#sides do
            if peripheral.getType(sides[i]) == "modem" then
                if rednet.open(sides[i]) then
                    return true
                end
            end
        end
    end
    return false
end
local function sendPos()
    if not rednet.isOpen() then return end
    local x,y,z = locate()
    rednet.broadcast({"coord",x,y,z},"excgps")
end
if not openNet() then
    printError("Failed to open rednet connection; modem required")
    error()
end

-- Mine straight down this far first
local startDepth = tonumber(settings.get("miner.sdepth",10))
-- Max distance to mine down before stopping, even if no bedrock reached
local maxDepth = tonumber(settings.get("miner.mdepth",999))
-- Extra distance to travel forwards before starting mining
local wanderDist = tonumber(settings.get("miner.wander",0))

--The home location to return supplies to, absolute coordinates
local homex = tonumber(settings.get("miner.homex",nil))
local homey = tonumber(settings.get("miner.homey",nil))
local homez = tonumber(settings.get("miner.homez",nil))
local hxDir = tonumber(settings.get("miner.homexd",nil))
local hzDir = tonumber(settings.get("miner.homezd",nil))

local function refuel(ammount)
    local fuelLevel = turtle.getFuelLevel()
    if fuelLevel == "unlimited" then
        return true
    end

    local needed = ammount or xPos + zPos + depth + tohomeFuel + 64
    if turtle.getFuelLevel() < needed then
        for n = 1, 16 do
            if turtle.getItemCount(n) > 0 then
                turtle.select(n)
                if turtle.refuel(1) then
                    while turtle.getItemCount(n) > 0 and turtle.getFuelLevel() < needed do
                        turtle.refuel(1)
                    end
                    if turtle.getFuelLevel() >= needed then
                        turtle.select(1)
                        return true
                    end
                end
            end
        end
        turtle.select(1)
        return false
    end

    return true
end
local function fuelCheck()
    refuel(16)
    _await(0)
end
function _await(s, nopos)
    if not nopos then sendPos() end
    sleep(s or 0.05)
end
function _awaitRefuel(fuelNeeded)
    repeat
        turtle.suckUp(64)
    until refuel(fuelNeeded)
end

-- Use two separate locates to determine facing direction
local function getDirs(bMine)
    local invert = false
    local x1,_1,z1 = locate()
    fuelCheck()
    if not turtle.forward() then
        if turtle.back() then
            invert = true
        end
        if not invert then
            while not turtle.forward() do
                if bMine then turtle.dig() end
                fuelCheck()
                _await()
            end
        end
    end
    local x2,_2,z2 = locate()
    local xd,zd = x2-x1,z2-z1
    if invert then
        xd,zd = -xd,-zd
        while not turtle.forward() do
            fuelCheck()
            _await()
        end
    else
        while not turtle.back() do
            fuelCheck()
            _await()
        end
    end
    if xd > 1 then xd = 1 end
    if xd < -1 then xd = -1 end
    if zd > 1 then zd = 1 end
    if zd < -1 then zd = -1 end
    return xd,zd
end

-- Save current position as the home position if none saved
if homex == nil or homey == nil or homez == nil then
    homex, homey, homez = locate()
    settings.set("miner.homex",homex)
    settings.set("miner.homey",homey)
    settings.set("miner.homez",homez)
    save()
end
xDir, zDir = getDirs(hxDir ~= nil and hzDir ~= nil)
if hxDir == nil or hzDir == nil then
    hxDir,hzDir = xDir,zDir
    settings.set("miner.homexd",hxDir)
    settings.set("miner.homezd",hzDir)
    save()
end

local function turnLeft()
    turtle.turnLeft()
    xDir, zDir = zDir, -xDir
end

local function turnRight()
    turtle.turnRight()
    xDir, zDir = -zDir, xDir
end

-- The position to start this tunnel from
local tx,ty,tz = homex + hxDir*wanderDist, homey-startDepth, homez + hzDir*wanderDist
-- The home position, relative to the tunnel start, y is inverted
local hx,hy,hz = homex-tx,ty-homey,homez-tz
-- The launch position
local sx,sy,sz = locate()

local athome = sx==homex and sy==homey and sz==homez
local exc = tonumber(settings.get("miner.is_exc",0))
local resume = 0 ~= exc
local resume_deposit = 2 == exc

-- Relative coordinates to the tunnel start position
depth = ty-sy --inverted!
xPos, zPos = sx-tx, sz-tz

-- The fuel required from tx,ty,tz to homex,homey,homez and a little extra
tohomeFuel = math.abs(tx-homex) + math.abs(ty-homey) + math.abs(tz-homez) + 16

local function unload(bKeepFuel)
    print("Unloading items...")
    --Never hold fuel stack if fuel is infinite
    if turtle.getFuelLevel() == "unlimited" then
        bKeepFuel = false
    end
    for n = 1, 16 do
        local nCount = turtle.getItemCount(n)
        if nCount > 0 then
            turtle.select(n)
            local bDrop = true
            if bKeepFuel and turtle.refuel(0) then
                bDrop = false
                bKeepFuel = false
            end
            if bDrop then
                --First drop into any container above
                if turtle.detectUp() then
                    turtle.dropUp()
                end
                if turtle.getItemCount(n) > 0 then
                    --Then to each side, if there's any left
                    for _ = 1,4 do
                        if turtle.detect() and turtle.getItemCount(n) > 0 then
                            turtle.drop()

                        end
                        turnLeft()
                    end
                end
                --finally, if anything remains, just drop it on the ground
                if turtle.getItemCount(n) > 0 then
                    turtle.drop()
                end
            end
        end
    end
    turtle.select(1)
end

local function returnSupplies()
    local x, y, z, xd, zd = xPos, depth, zPos, xDir, zDir
    print("Returning to surface...")
    goTo(0, 0, 0) --returns to the relative start
    goTo(hx, hy, hz, hxDir, -hzDir) --returns to home

    local fuelNeeded = 3 * (x + y + z) + 128 + tohomeFuel
    if not refuel(fuelNeeded) then
        unload(true)
        print("Waiting for fuel")
        --redstone.setOutput("top", true)
        _awaitRefuel(fuelNeeded)
        --redstone.setOutput("top", false)
        unload(true) --prevent >1 stack of fuel from being stored
    else
        unload(true)
    end

    print("Resuming mining...")
    goTo(0, 0, 0)
    goTo(x, y, z, xd, zd)
end

local function collect()
    local bFull = true
    local nTotalItems = 0
    for n = 1, 16 do
        local nCount = turtle.getItemCount(n)
        if nCount == 0 then
            bFull = false
        end
        nTotalItems = nTotalItems + nCount
    end

    if bFull then
        print("No empty slots left.")
        return false
    end
    return true
end

local function countSlots()
    local slotcount = 0
    for n = 1, 16 do
        if turtle.getItemCount(n) == 0 then
            slotcount = slotcount + 1
        end
    end
    return slotcount
end

local function tryForwards()
    if not refuel() then
        print("Not enough Fuel")
        returnSupplies()
    end

    while not turtle.forward() do
        if turtle.detect() then
            if turtle.dig() then
                if not collect() then
                    returnSupplies()
                end
            else
                return false
            end
        elseif turtle.attack() then
            if not collect() then
                returnSupplies()
            end
        else
            _await()
        end
        fuelCheck()
    end

    xPos = xPos + xDir
    zPos = zPos + zDir
    return true
end

local function tryDown()
    if not refuel() then
        print("Not enough Fuel")
        returnSupplies()
    end

    if depth + 1 > maxDepth then
        return false
    end

    while not turtle.down() do
        if turtle.detectDown() then
            if turtle.digDown() then
                if not collect() then
                    returnSupplies()
                end
            else
                return false
            end
        elseif turtle.attackDown() then
            if not collect() then
                returnSupplies()
            end
        else
            _await()
        end
        fuelCheck()
    end

    depth = depth + 1
    if math.fmod(depth, 10) == 0 then
        print("Descended " .. depth .. " metres.")
    end
    if lowDepth < depth then
        lowDepth = depth
        settings.set("miner.lastDepth",lowDepth)
        save()
    end
    return true
end

local function goY(y)
    if y == nil then return end
    while depth > y do
        if turtle.up() then
            depth = depth - 1
        elseif turtle.digUp() or turtle.attackUp() then
            collect()
        else
            _await()
        end
        fuelCheck()
    end

    while depth < y do
        if turtle.down() then
            depth = depth + 1
        elseif turtle.digDown() or turtle.attackDown() then
            collect()
        else
            _await()
        end
        fuelCheck()
    end
end

local function goX(x)
    if x == nil then return end
    if xPos > x then
        while xDir ~= -1 do
            turnLeft()
        end
        while xPos > x do
            if turtle.forward() then
                xPos = xPos - 1
            elseif turtle.dig() or turtle.attack() then
                collect()
            else
                _await()
            end
            fuelCheck()
        end
    elseif xPos < x then
        while xDir ~= 1 do
            turnLeft()
        end
        while xPos < x do
            if turtle.forward() then
                xPos = xPos + 1
            elseif turtle.dig() or turtle.attack() then
                collect()
            else
                _await()
            end
            fuelCheck()
        end
    end
end

local function goZ(z)
    if z == nil then return end
    if zPos > z then
        while zDir ~= -1 do
            turnLeft()
        end
        while zPos > z do
            if turtle.forward() then
                zPos = zPos - 1
            elseif turtle.dig() or turtle.attack() then
                collect()
            else
                _await()
            end
            fuelCheck()
        end
    elseif zPos < z then
        while zDir ~= 1 do
            turnLeft()
        end
        while zPos < z do
            if turtle.forward() then
                zPos = zPos + 1
            elseif turtle.dig() or turtle.attack() then
                collect()
            else
                _await()
            end
            fuelCheck()
        end
    end
end

local function goXZ(x,z)
    if hzDir ~= 0 then
        goZ(z)
        goX(x)
    else
        goX(x)
        goZ(z)
    end
end

function goTo(x, y, z, xd, zd)
    if depth < 0 and ((x ~= nil and x ~= xPos) or (z ~= nil and z ~= zPos)) then
        goY(0)
    end
    goXZ(x,z)
    goY(y)

    while (zd ~= nil and zDir ~= zd) or (xd ~= nil and xDir ~= xd) do
        turnLeft()
    end
end

if athome then
    if not refuel(256) then
        print("Waiting for fuel...")
        --redstone.setOutput("top", true)
        _awaitRefuel(256)
        --redstone.setOutput("top", false)
    end

    if countSlots() < 15 then
        print("Depositing down to 1 stack of fuel...")
        unload(true)
    end
    if not resume_deposit then
        print("Excavating...")
        goTo(0,0,0,hxDir,hzDir)
    end
end
if resume then
    if (depth < 0 and (sy > homey or sx ~= homex or sz ~= homez)) or math.abs(xPos) > size or math.abs(zPos) > size then
        printError("Cannot resume from current position; might mine through important things.")
        printError("Please reposition me back to my home, or underground near where I was mining!")
        error()
    end
    print("Resuming...")
end

turtle.select(1)

local alternate = 0
local done = false

--Store some values which will be used to resume from a terminated state
local rxp,rzp = xPos,zPos
lowDepth = tonumber(settings.get("miner.lastDepth",0))
if resume and not resume_deposit then
    goTo(0,lowDepth,0,hxDir,hzDir)
end
--

if not resume_deposit then
    exc = 1
    settings.set("miner.is_exc",exc)
    save()

    while not done do
        for n = 1, size do
            for _ = 1, size - 1 do
                if not tryForwards() then
                    done = true
                    break
                end
            end
            if done then
                break
            end
            if n < size then
                if math.fmod(n + alternate, 2) == 0 then
                    turnLeft()
                    if not tryForwards() then
                        done = true
                        break
                    end
                    turnLeft()
                else
                    turnRight()
                    if not tryForwards() then
                        done = true
                        break
                    end
                    turnRight()
                end
            end
        end
        if done then
            break
        end

        if size > 1 then
            if math.fmod(size, 2) == 0 then
                turnRight()
            else
                if alternate == 0 then
                    turnLeft()
                else
                    turnRight()
                end
                alternate = 1 - alternate
            end
        end
        if not tryDown() then
            done = true
            break
        end
    end

    exc = 2
    settings.set("miner.is_exc",exc)
    settings.set("miner.lastDepth",0)
    save()
end

print("Returning to surface...")

goY(0) --return to relative start y, important to avoid bedrock
goTo(0, 0, 0) --returns to the relative start
goTo(hx, hy, hz, hxDir, -hzDir) --returns to home
unload(false)
goTo(nil,nil,nil,hxDir,hzDir)

print("Excavate complete.")
settings.set("miner.is_exc",0)
if 0 ~= tonumber(settings.get("miner.autoinc",1)) then
    settings.set("miner.wander",wanderDist+size)
    save()
    print("Ready to excavate again!")
else
    settings.set("miner.done",1)
    save()
end