opencomputers robotControll_II --robot side

local term = require("term")
local event = require("event")
local component = require("component")
local os = require("os")

local robot = require("robot")
local serialization = require("serialization")

local modem = component.modem
local geo = component.geolyzer

local computerAddress = "07bdaacd-57ba-467b-8522-3f40cb93e491"

inv = component.inventory_controller
 pos = {}
  pos.x = 0
   pos.y = 0
    pos.z = 0

local vector = "north"
local message = " "
function setCursorPos (posX, posY)
  term.setCursor(posX, posY)
end

function renderText(text)
  term.write(text)
end

function getInventoryInfo()
    info =  getInventory()
    sendMsgToComputer(info)


     executed = true

end

function executeTurnLeft()
  print("message from computer received=LFT")
  print("executing command robot.turnLeft()")
  if vector == "north" then
    vector = "west"
  elseif vector == "west" then
    vector = "south"
  elseif vector == "south" then
    vector = "east"
  elseif vector == "east" then
    vector = "north"
  end
  robot.turnLeft()
  print(vector)
  sendMsgToComputer("robot.turnLeft()")
  executed = true
end

function executeTurnRight()
  print("message from computer received=RHT")
  print("executing command robot.turnRight()")
  if vector == "north" then
    vector = "east"
  elseif vector == "east" then
    vector = "south"
  elseif vector == "south" then
    vector = "west"
  elseif vector == "west" then
    vector = "north"
  end
  robot.turnRight()
  print(vector)
  sendMsgToComputer("robot.turnRight()")
  executed = true
end

function executeForward()
  print("message from computer received=FWD")
  print("executing command robot.forward()")
  if vector == "north" then
    pos.y = pos.y + 1
  elseif vector == "east" then
    pos.x = pos.x + 1
  elseif vector == "south" then
    pos.y = pos.y - 1
  elseif vector == "west" then
    pos.x = pos.x - 1
  end
  robot.forward()
  print(vector)
  sendMsgToComputer("robot.forward()")
  executed = true
end

function executeBack()
  print("message from computer received=BWD")
  print("executing command robot.back()")
  if vector == "north" then
    pos.y = pos.y - 1
  elseif vector == "east" then
    pos.x = pos.x - 1
  elseif vector == "south" then
    pos.y = pos.y + 1
  elseif vector == "west" then
    pos.x = pos.x + 1
  end
  robot.back()
  print(vector)
  sendMsgToComputer("robot.back()")
  executed = true
end

function executeUp()
  print("message from computer received=UP")
  print("executing command robot.up()")
  pos.z = pos.z + 1
  robot.up()
  print(vector)
  sendMsgToComputer("robot.up()")
  executed = true
end

function executeDown()
  print("message from computer received=DWN")
  print("executing command robot.down()")
  pos.z = pos.z - 1
  robot.down()
  print(vector)
  sendMsgToComputer("robot.down()")
  executed = true
end

function executeDetctUpward()
  print("message from computer recieved="..message)
   print("executing command geo.analyze(1)")
    detctionResult = geo.analyze(1)
    sendMsgToComputer("geo.analyze(1)")
    os.sleep(0.2)
    sendMsgToComputer(detctionResult.name)
  executed = true
end

function executeDetctDownward()
  print("message from computer recieved="..message)
   print("executing command robot.detectDown()")
   detctionResult = geo.analyze(0)
   sendMsgToComputer("geo.analyze(0)")
   os.sleep(0.2)
   sendMsgToComputer(detctionResult.name)
  executed = true
end

function executeDetctForward()
  print("message from computer recieved="..message)
   print("executing command geo.analyze(3)")
   detctionResult = geo.analyze(3)
   print("detctionResult = "..detctionResult.name)
   sendMsgToComputer("geo.analyze(3)")
   os.sleep(0.2)
   sendMsgToComputer(detctionResult.name)


  executed = true
end

function executeUseForward()
    print("message from computer recieved="..message)
     print("executing command robot.use(3)")
     robot.use(3)
     sendMsgToComputer("robot.use(3)")


    executed = true
end

function getInventory()
    local inv = component.inventory_controller
    local inventory = {}
    for i = 1, 16 do
        a = inv.getStackInInternalSlot(i)
        if  a ~= nil then
          table.insert(inventory, i, a)
        else
            table.insert(inventory, i, "empty")
        end
    end
    return inventory
end


local messageHandlers = {
    LFT = executeTurnLeft,
    RHT = executeTurnRight,
    FWD = executeForward,
    BWD = executeBack,
    UP = executeUp,
    DWN = executeDown,
    DCT_UPW = executeDetctUpward,
    DCT_DWD = executeDetctDownward,
    DCT_FWD = executeDetctForward,
    USE_FWD = executeUseForward,
    GET_INV = getInventoryInfo,
}

-- Open modem on port 5
modem.open(5)

-- Function to listen for incoming modem messages
function modemListen()
    -- Wait for a modem message event
    local _, _, from, port, _, msg = event.pull("modem_message")

    -- If a message was received
    if msg then
        -- Call the function associated with the message
        local handler = messageHandlers[msg]
        if handler then
            handler()
          os.sleep(0.1)
        end
    end
end


function sendMsgToComputer (msg)
    msg2 = serialization.serialize(msg)
    modem.open(5)
    modem.setStrength(255)
    sendMessageSuccess = modem.send(computerAddress, 5, msg2)
    print("message "..tostring(msg2).." sent="..tostring(sendMessageSuccess))
end

while true do
 modemListen()
end