turtlectrl

local m = peripheral.find("modem")
local senderID = os.getComputerLabel() == nil and "ID:" .. os.getComputerID() or os.getComputerLabel()
local channels = {
      ["stdout"] = 1000,
      ["stdin"] = 1001,
      ["witherout"] = 1010,
      ["witherin"] = 1011
    }
m.open(channels.stdin)

local xTime = os.clock()

local function checkStop()
  os.startTimer(0.15)
  local a, b, c, d, e
  repeat
    evt, face, sendCh, replyCh, msg, dist = os.pullEvent()
    if evt == "modem_message" and msg.type == "cmd" and msg.cmd == "sigterm" and (msg.receiver == nil or (type(msg.receiver) == "string" and string.match(senderID, msg.receiver))) then
      return true
    end
  until evt == "timer"
  return false
end

local function log(...)
  m.transmit(channels.stdout, channels.stdin,
      {
          ["program"] = "control",
          ["type"] = "info",
          ["text"] = {...},
          ["sender"] = senderID
      })
end

local function error(...)
  m.transmit(channels.stdout, channels.stdin,
      {
          ["program"] = "control",
          ["type"] = "error",
          ["text"] = {...},
          ["sender"] = senderID
      })
end

local dig = false
local digup = false
local digdown = false
local persist = false

local function tryRefuel(amount)
  amount = type(amount) == "number" and amount or 1
  if turtle.getFuelLevel() < amount then
    for i = 1, 16 do
      turtle.select(i)
      turtle.refuel(1)
      if turtle.getFuelLevel() >= amount then
        break
      end
    end
    turtle.select(1)
    if turtle.getFuelLevel() < amount then
      error("Out of fuel.")
      return false
    end
  end
  return true
end

local function up()
  while not turtle.up() do
    if dig then
      turtle.digUp()
    elseif not persist or checkStop() then
      return false
    end
  end
  return true
end

local function down()
  while not turtle.down() do
    if digdown then
      turtle.digDown()
    elseif not persist or checkStop() then
      return false
    end
  end
  return true
end

local function forward()
  while not turtle.forward() do
    if dig then
      turtle.dig()
    elseif not persist or checkStop() then
      return false
    end
  end
  if digup then
    turtle.digUp()
  end
  if digdown then
    turtle.digDown()
  end
  return true
end

local function back()
  while not turtle.back() do
    if not persist or checkStop() then
      return false
    end
  end
  return true
end

while true do
  evt, face, sendCh, replyCh, msg, dist = os.pullEvent("modem_message")
  if type(msg) == "table" and msg.program == "control" and (msg.receiver == nil or (type(msg.receiver) == "string" and string.match(senderID, msg.receiver))) then
    if msg.type == "cmd" then
      if msg.cmd == "run" then
        shell.run(unpack(msg.text))
      elseif msg.cmd == "set" then
        if msg.text[1] == "dig" then
          dig = msg.text[2] == "on"
        elseif msg.text[1] == "digup" then
          digup = msg.text[2] == "on"
        elseif msg.text[1] == "digdown" then
          digdown = msg.text[2] == "on"
        elseif msg.text[1] == "persist" then
          persist = msg.text[2] == "on"
        end
      elseif msg.cmd == "move" then
        if msg.text[1] == "up" and tryRefuel(msg.text[2]) then
          for i = 1, msg.text[2] do
            if not up() then
              break
            end
          end
        elseif msg.text[1] == "down" and tryRefuel(msg.text[2]) then
          for i = 1, msg.text[2] do
            if not down() then
              break
            end
          end
        elseif msg.text[1] == "frwd" and tryRefuel(msg.text[2]) then
          for i = 1, msg.text[2] do
            if not forward() then
              break
            end
          end
        elseif msg.text[1] == "back" and tryRefuel(msg.text[2]) then
          for i = 1, msg.text[2] do
            if not back() then
              break
            end
          end
        elseif msg.text[1] == "left" then
          turtle.turnLeft()
        elseif msg.text[1] == "right" then
          turtle.turnRight()
        end
      elseif msg.cmd == "get" then
        if msg.text[1] == "fuel" then
          log("Fuel:"..turtle.getFuelLevel().." "..turtle.getItemCount(1))
        end
      end
    end
  end
end