--- Invariants:
---- Keep seeds in first slot
--- Jobs:
---- 1: Plant
---- 2: Harvest and plant

local drone = component.proxy(component.list("drone")())
local sides = require('sides')

local FARM_DIRECTION_NS = 0
local FARM_DIRECTION_EW = -1

local function sleep(timeout)
    checkArg(1, timeout, "number", "nil")
    local deadline = computer.uptime() + (timeout or 0)
    repeat
        computer.pullSignal(deadline - computer.uptime())
    until computer.uptime() >= deadline
end

local function checkE()
  local en = computer.energy()
  return en
end

local function drop()
  drone.drop(2)
end

local function dropAll()
  for i=4,2,-1
  do
    drone.select(i)
    drop()
  end
  drone.select(1)
end

local function move(x,y,z)
  drone.move(x,y,z)
  travelx = travelx + x
  travely = travely + y
  travelz = travelz + z
end

local function beep()
  computer.beep(261, 0.6)
  computer.beep(329, 0.5)
  computer.beep(392, 0.3)
  computer.beep(523, 0.7)
end

local function swing()
  for i=5,0,-1 do
    drone.swing(i)
  end
  sleep(0.2)
end

local function swingHor()
  for i=1,5,1 do
    drone.swing(i)
  end
  sleep(0.2)
end

local function suck(x)
  drone.suck(x)
end

local function suckAll()
  for i=0,5,1 do
    suck(i)
  end
end

local function layer(n)
  for i=n,1,-1  do

    for i=3,1,-1 do
      suckAll()
      swingHor()
      move(-1,0,0)
    end

    for i=3,1,-1 do
      suckAll()
      swingHor()
      move(0,0,-1)
    end

    for i=3,1,-1 do
      suckAll()
      swingHor()
      move(1,0,0)
    end

    for i=3,1,-1 do
      suckAll()
      swing()
      move(0,0,1)
    end

    swing()
    sleep(1)
    move(0,-1,0)
    sleep(0.3)
    suckAll()
  end

  for i=3,1,-1 do
    suckAll()
    swingHor()
    move(-1,0,0)
  end

  for i=3,1,-1 do
    suckAll()
    swingHor()
    move(0,0,-1)
  end

  for i=3,1,-1 do
    suckAll()
    swingHor()
    move(1,0,0)
  end

  for i=3,1,-1 do
    suckAll()
    swingHor()
    move(0,0,1)
  end
end

local function placeD()
  drone.place(0)
end

local function plant()
  drone.setStatusText("PLANTING")
  drone.select(1)
  move(-8,1,0)
  sleep(2)
  placeD()

  move(-1,0,0)
  sleep(0.3)
  placeD()

  move(0,0,-1)
  sleep(0.3)
  placeD()

  move(1,0,0)
  sleep(0.3)
  placeD()
  returnHome()
end

local function harvest()
  drone.setStatusText("CUTTING")
  move(0,30,0)
  sleep(3)
  move(-7,0,1)
  sleep(2)

  layer(30)

  swingHor()

  move(0,0,-1)
  for i=1,4,1 do
    move(1,0,0)
    swingHor()
    suckAll()
  end
  returnHome()
  dropAll()
  sleep(2)
end

local function resetP()
  travelx, travely, travelz = 0,0,0
end

function returnHome()
  travelx = travelx * -1
  travely = travely * -1
  travelz = travelz * -1
  sleep(1)
  move(travelx,travely,travelz)
  sleep(2)
  resetP()
end

local function getToPosition()
  for i=1,20,1 do
    local somethingInFront = drone.detect(sides.front)
    if somethingInFront then
        drone.setStatusText("Found the fence!")
        -- Move on top of the fence
        move(0, 0, 1)
        move(FARM_DIRECTION_EW, FARM_DIRECTION_NS, 1)

        -- Move to the left corner of the farm
        for i=1,20,1 do
            local somethingBelow = drone.detect(sides.bottom)
            -- Then we went past the fence, go back in
            if not somethingBelow then
                drone.setStatusText("Hit the end")
                sleep(0.5)
                if FARM_DIRECTION_EW != 0 then
                    move(0, -2, 0)
                else
                    move(-2, 0, 0)
                end
                move(FARM_DIRECTION_EW, FARM_DIRECTION_NS, 1)
                sleep(0.5)
            end

            -- Go left until we find the end
            sleep(0.5)
            if FARM_DIRECTION_EW != 0 then
                move(0, 1, 0)
            else
                move(1, 0, 0)
            end
            sleep(0.5)
        end
    end

    sleep(0.5)
    move(FARM_DIRECTION_EW, FARM_DIRECTION_NS, 0)
    sleep(0.5)
  end
  returnHome()
end

local function checkPlants()
  resetP()
  job = 0
  drone.setStatusText("CHECKING")

  --
  --  drone.select(1)
  --  local result = drone.compare(sides.bottom)
  --
  for i=1,20,1 do
    local somethingInFront = drone.detect(4)
    if result then
      job = 2
      break
    end
    sleep(0.5)
    move(FARM_DIRECTION_EW, FARM_DIRECTION_NS, 0)
    sleep(0.5)
  end

  local resultA = drone.detect(4)
  move(0,1,0)
  sleep(0.5)
  local resultB = drone.detect(4)

  if not resultA then
    job = 1
  end

  if resultA == true and resultB == true then
    job = 2
  end
  returnHome()
  sleep(1)
end

--start
computer.beep(80, 2)
sleep(0.5)
resetP()
job = 0
beep()
drone.setStatusText("ROM\nOK.v4.14.")
sleep(1)

-- Main loop
while true do
  while true do
    local energy = checkE()
    if energy < 1000 then
      drone.setLightColor(0xFF9969)
      drone.setStatusText("LOW\nENERGY")
      computer.beep(878, 1)
      sleep(22)
    end
    if energy >= 1000 then
      --pass
      break
    end
  end
  drone.setLightColor(0xD0DE58)
  sleep(1)

  checkPlants()
  drone.setStatusText(tostring(job))
  sleep(0.3)
  if job == 1 then
    plant()
  end
  if job == 2 then
    harvest()
    plant()
  end
  drone.setStatusText("zZzZzZz")
  sleep(30)
end