Query bot

local Length
local Width
local Depth

local home_x
local home_y
local home_z

local start_direction

local home_direction_y
local home_direction_x
local dig_direction
local total_forward

local x, y, z = gps.locate(5)
while not x do --If gps.locate didn't work, it won't return anything. So check to see if it did.
    error('No GPS!')
    sleep(5)
    local x, y, z = gps.locate(5)
end
if x then
    x = math.floor(x)
    y = math.floor(y)
    z = math.floor(z)
end


function checkCompas()
    print("function: checkCompas")
    local x, y, z = gps.locate(5)
    if turtle.back() then
        local new_x, new_y, new_z = gps.locate(5)
        new_x = math.floor(new_x)
        new_y = math.floor(new_y)


        if math.floor(new_y) ~= math.floor(y) then
            print("Y| " .. new_y .. " - " .. y)
            if math.floor(y) > math.floor(new_y) then
                dig_direction = "S"
            else
                dig_direction = "N"
            end
        elseif math.floor(new_x) ~= math.floor(x) then
            print("X| " .. math.floor(new_x) .. " - " .. math.floor(x))
            if math.floor(x) < math.floor(new_x) then
                dig_direction = "W"
            else
                dig_direction = "E"
            end
        end
        turtle.forward()
    else
        turtle.dig()
        turtle.dig()
        turtle.forward()

        local new_x, new_y, new_z = gps.locate(5)
        new_x = math.floor(new_x)
        new_y = math.floor(new_y)


        if math.floor(new_y) ~= math.floor(y) then
            print("Y| " .. new_y .. " - " .. y)
            if math.floor(y) < math.floor(new_y) then
                dig_direction = "S"
            else
                dig_direction = "N"
            end
        elseif math.floor(new_x) ~= math.floor(x) then
            print("X| " .. new_x .. " - " .. x)
            if math.floor(x) > math.floor(new_x) then
                dig_direction = "W"
            else
                dig_direction = "E"
            end
        end
        turtle.back()
    end
    print("direction = ")
    print(dig_direction)
end
function changeDir()
    -- print("Function: ChangeDir")
    if dig_direction == nil then
        checkCompas()
    end
    turtle.turnLeft()
    if dig_direction == "S" then
        dig_direction = "E"
        -- print("Facing east")
    elseif dig_direction == "E" then
        dig_direction = "N"
        -- print("Facing north")
    elseif dig_direction == "N" then
        dig_direction = "W"
        -- print("Facing west")
    elseif dig_direction == "W" then
        dig_direction = "S"
        -- print("Facing south")
    end
end
function changeDirRight()
    turtle.turnRight()
    if dig_direction == "S" then
        dig_direction = "W"
        -- print("Facing west")
    elseif dig_direction == "W" then
        dig_direction = "N"
        -- print("Facing north")
    elseif dig_direction == "N" then
        dig_direction = "E"
        -- print("Facing east")
    elseif dig_direction == "E" then
        dig_direction = "S"
        -- print("Facing south")
    end
end
function searchChest()
    print("Function: searchChest")
    local success, t = turtle.inspect()
    if success then
        print("found something")
        if string.find(t.name, "chest") == nil then
            changeDir()
            searchChest()
        end
    else
        changeDir()
        searchChest()
    end
end
function deleteOrNot()
    term.write("Delete all? y/n  ")
    Delete = read()
    if Delete == "y" then
        print("Deleting query folder and startup file")
        fs.delete("startup")
        if fs.exists("startup") then
            print("startup was not deleted")
        end
        fs.delete("query")
        if fs.exists("query") then
            print("query folder not deleted")
        end
    elseif Delete == "n" then
        print("Ok.")
    else
        print("not a valid input")
        deleteOrNot()
    end
end
function goUp(amount)
    print("Function: goUp")
    if amount == 0 then
        print("nothing to go up")
    else
        if amount > 0 then
            local _up = 0
            repeat
                if turtle.up() then
                    _up = _up + 1
                else
                    turtle.digUp()
                end
            until _up == amount
        elseif amount < 0 then
            local _up = 0
            repeat
                if turtle.down() then
                    _up = _up - 1
                else
                    turtle.digDown()
                end
            until _up == amount
        end
    end
end
function crashOccured()
    print("Function: crashOccured")
    if fs.exists("query/crash_report") then
        print("deleting old crash report")
        fs.delete("query/crash_report")
        if fs.exists("query/crash_report") then
            print("crash_report not deleted")
        end
    end

    checkCompas()
    print(start_direction)
    if start_direction == "E" or start_direction == "W" then
        if dig_direction == "N" or dig_direction == "S" then
            print("Wrong direction")
            print(start_direction .. " - " .. dig_direction)
            changeDir()
            if turtle.detect() == false then
                changeDirRight()
                changeDirRight()
            end
        end
    elseif start_direction == "N" or start_direction == "S" then
        if dig_direction == "W" or dig_direction == "E" then
            print("Wrong direction")
            print(start_direction .. " - " .. dig_direction)
            changeDir()
            if turtle.detect() == false then
                changeDirRight()
                changeDirRight()
            end
        end
    end

    print("making a crash report file")
    local h = fs.open("query/crash_report", "w")
    h.writeLine(x)
    h.writeLine(y)
    h.writeLine(z)
    h.writeLine(dig_direction)
    h.close()
    sleep(1)

    if turtle.getItemCount(16) > 0 then
        goHome()
        searchChest()

        for q=1,16 do
            turtle.select(q)
            turtle.drop()
        end
        turtle.select(1)
        turtle.turnLeft()
        turtle.turnLeft()
        checkCompas()
        comeHome()
    end
    --mine further
    digQuery()
end
function goHome()

    print("function: goHome")
    local x, y, z = gps.locate(5)
    -- print(math.floor(x))
    if math.floor(home_x) == math.floor(x) and math.floor(home_y) == math.floor(y) and math.floor(home_z) == math.floor(z) then
        print("we already home")
    else
        checkCompas()
        local x_amount = math.floor(home_x) - math.floor(x)
        local y_amount = math.floor(home_y) - math.floor(y)
        local z_amount = math.floor(home_z) - math.floor(z)

        if y_amount < 0 then
            home_direction_y = "N"
        else
            home_direction_y = "S"
        end

        if x_amount < 0 then
            home_direction_x = "W"
        else
            home_direction_x = "E"
        end



        if z_amount ~= 0 then
            goUp(z_amount)
        end

        if dig_direction ~= home_direction_x then
            repeat
                changeDir()
            until dig_direction == home_direction_x
        end
        if x_amount ~= 0 then
            x_amount = math.floor(x_amount)
            forward(x_amount)
        end

        if dig_direction ~= home_direction_y then
            repeat
                changeDir()
            until dig_direction == home_direction_y
        end
        if y_amount ~= 0 then
            y_amount = math.floor(y_amount)
            forward(y_amount)
        end
        sleep(1)

    end
end
function comeHome()

    print("function: ComeHome")
    if fs.exists("query/crash_report") then
        print("yes")
    end
    local h = fs.open("query/crash_report", "r")
    local new_given_x = h.readLine()
    local new_given_y = h.readLine()
    local new_given_z = h.readLine()
    local end_direction = h.readLine()
    h.close()

    print(given_z)
    local x, y, z = gps.locate(5)
    -- print(math.floor(x))
    local x_amount = math.floor(new_given_x) - math.floor(x)
    local y_amount = math.floor(new_given_y) - math.floor(y)
    local z_amount = math.floor(new_given_z) - math.floor(z)
    -- print("XXX")
    -- print(new_given_x)
    -- print(new_given_y)
    -- print(new_given_z)
    -- print("YYYY")
    -- print(x_amount)
    -- print(y_amount)
    -- print(z_amount)
    -- print("XXX")
    sleep(1)

    if y_amount ~= 0 then
        if y_amount < 0 then
            home_direction_y = "N"
        else
            home_direction_y = "S"
        end
    end

    if x_amount ~= 0 then
        if x_amount < 0 then
            home_direction_x = "W"
        else
            home_direction_x = "E"
        end
    end
    print(home_direction_x)
    print(home_direction_y)

    sleep(1)

    if dig_direction ~= home_direction_y then
        repeat
            changeDir()
        until dig_direction == home_direction_y
    end
    if y_amount ~= 0 then
        y_amount = math.floor(y_amount)
        forward(y_amount)
    end
    if dig_direction ~= home_direction_x then
        repeat
            changeDir()
        until dig_direction == home_direction_x
    end
    if x_amount ~= 0 then
        x_amount = math.floor(x_amount)
        forward(x_amount)
    end

    if z_amount ~= 0 then
        print(z_amount)
        goUp(z_amount)
    end

    if dig_direction ~= end_direction then
        repeat
            changeDir()
        until dig_direction == end_direction
    end
end
function forward(amount)
    local _forward = 0
    local counter = 0
    if amount > 0 then
        repeat
            if turtle.forward() then
                _forward = _forward + 1
            else
                turtle.dig()
            end
        until _forward >= amount
    else
        repeat
            if turtle.forward() then
                _forward = _forward - 1
            else
                turtle.dig()
            end
        until _forward <= amount
    end
end
function dig(amount)
    local _dig_forward = 0
    if amount ~= 0 then
        if amount > 0 then
        repeat
            turtle.digDown()
            while turtle.forward() == false do
                turtle.dig()
            end
            turtle.digDown()
            _dig_forward = _dig_forward + 1
            checkEmpty()
        until _dig_forward == amount
        elseif amount < 0 then
            repeat
                turtle.digDown()
                while turtle.forward() == false do
                    turtle.dig()
                end
                turtle.digDown()
                _dig_forward = _dig_forward - 1
                checkEmpty()
            until _dig_forward == amount
        end
    end
end
function checkEmpty()
    if turtle.getItemCount(16) > 0 then
        local x, y, z = gps.locate(5)
        print("making a crash report file")
        fs.delete("query/crash_report")
        if fs.exists("query/crash_report") then
            print("crash_report not deleted")
        end
        local h = fs.open("query/crash_report", "w")
        h.writeLine(x)
        h.writeLine(y)
        h.writeLine(z)
        h.writeLine(dig_direction)
        h.close()

        sleep(1)
        print("Gonna empty")
        goHome()
        searchChest()
        empty_all()

        turtle.turnLeft()
        turtle.turnLeft()
        turtle.select(1)
        checkCompas()
        comeHome()
    end
end
function digQuery()
    turtle.select(1)
    print("Function: digQuery")
    local rows
    if math.floor(Depth) == 0 then
        print("Going to bedrock")
        repeat
            local x, y, z = gps.locate(5)
                repeat
                    local x, y, z = gps.locate(5)
                    local height_row = math.floor(home_z) - math.floor(z)
                    -- print("height_row = " .. height_row)
                    if start_direction == "W" or start_direction == "E" then
                        if start_direction == "W" then
                            if height_row % 4 == 2 then
                                rows = (math.floor(y) - math.floor(home_y))
                            else
                                rows = (math.floor(home_y) - (math.floor(y - Width))-1)
                            end
                        else
                            if height_row % 4 == 2 then
                                rows = (math.floor(home_y) - math.floor(y))
                            else
                                rows = (math.floor(y) - (math.floor(home_y - Width))-1)
                            end
                        end

                        print("rows: " .. rows)

                        if dig_direction == start_direction then
                            local x_amount = math.floor(x) - (math.floor(home_x - Length )+1)
                            print(x_amount)
                            dig(x_amount)
                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                else
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                end
                            end
                        else
                            local x_amount = math.floor(home_x) - math.floor(x)
                            print(x_amount)
                            dig(x_amount)
                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                else
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                end
                            end
                        end
                    elseif start_direction == "N" or start_direction == "S" then
                        if start_direction == "N" then
                            if height_row % 4 == 2 then
                                rows = (math.floor(home_x) - math.floor(x))
                            else
                                rows = (math.floor(x) - (math.floor(home_x - Width))-1)
                            end
                        else
                            if height_row % 4 == 2 then
                                rows = (math.floor(x) - math.floor(home_x))
                            else
                                rows = (math.floor(home_x) - (math.floor(x - Width))-1)
                            end
                        end

                        print("rows: " .. rows)

                        if dig_direction == start_direction then
                            local y_amount = math.floor(y) - (math.floor(home_y - Length)+1)
                            print(y_amount)
                            dig(y_amount)

                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                else
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                end
                            end
                        else
                            local y_amount = math.floor(home_y) - math.floor(y)
                            print(y_amount)
                            dig(y_amount)
                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                else
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                end
                            end
                        end
                    end
                until rows == 0
                local x, y, z = gps.locate(5)
            if (math.floor(z) - 2) > 5 then
                print(math.floor(z) + 2)
                turtle.digDown()
                turtle.down()
                turtle.digDown()
                turtle.down()
                changeDir()
                changeDir()
            end
        until (math.floor(z) - 2) <= 5
    else
        if math.floor(z) > (math.floor(home_z) - math.floor(Depth)) then
            repeat
                local x, y, z = gps.locate(5)
                repeat
                    local x, y, z = gps.locate(5)
                    local height_row = math.floor(home_z) - math.floor(z)
                    -- print("height_row = " .. height_row)
                    if start_direction == "W" or start_direction == "E" then
                        if start_direction == "W" then
                            if height_row % 4 == 2 then
                                rows = (math.floor(y) - math.floor(home_y))
                            else
                                rows = (math.floor(home_y) - (math.floor(y - Width))-1)
                            end
                        else
                            if height_row % 4 == 2 then
                                rows = (math.floor(home_y) - math.floor(y))
                            else
                                rows = (math.floor(y) - (math.floor(home_y - Width))-1)
                            end
                        end

                        print("rows: " .. rows)

                        if dig_direction == start_direction then
                            local x_amount = math.floor(x) - (math.floor(home_x - Length )+1)
                            print(x_amount)
                            dig(x_amount)
                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                else
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                end
                            end
                        else
                            local x_amount = math.floor(home_x) - math.floor(x)
                            print(x_amount)
                            dig(x_amount)
                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                else
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                end
                            end
                        end
                    elseif start_direction == "N" or start_direction == "S" then
                        if start_direction == "N" then
                            if height_row % 4 == 2 then
                                rows = (math.floor(home_x) - math.floor(x))
                            else
                                rows = (math.floor(x) - (math.floor(home_x - Width))-1)
                            end
                        else
                            if height_row % 4 == 2 then
                                rows = (math.floor(x) - math.floor(home_x))
                            else
                                rows = (math.floor(home_x) - (math.floor(x - Width))-1)
                            end
                        end

                        print("rows: " .. rows)

                        if dig_direction == start_direction then
                            local y_amount = math.floor(y) - (math.floor(home_y - Length)+1)
                            print(y_amount)
                            dig(y_amount)

                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                else
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                end
                            end
                        else
                            local y_amount = math.floor(home_y) - math.floor(y)
                            print(y_amount)
                            dig(y_amount)
                            if rows > 0 then
                                if height_row % 4 == 2 then
                                    changeDir()
                                    dig(1)
                                    changeDir()
                                else
                                    changeDirRight()
                                    dig(1)
                                    changeDirRight()
                                end
                            end
                        end
                    end
                until rows == 0
                local x, y, z = gps.locate(5)

                print(z)
                print((home_z - Depth) + 2)

                if math.floor(z) > ((home_z - Depth) + 2) then

                    turtle.digDown()
                    turtle.down()
                    turtle.digDown()
                    turtle.down()
                    changeDir()
                    changeDir()
                end
            until math.floor(z) <= ((math.floor(home_z) - math.floor(Depth)) + 2)
        end
    end
    goHome()
    --end
    searchChest()
    for q=1,16 do
        turtle.select(q)
        turtle.drop()
    end
    turtle.select(1)
    turtle.turnLeft()
    turtle.turnLeft()

    local h = fs.open("query/firstInput", "r")
    local readline_1 = h.readLine()
    local readline_2 = h.readLine()
    local doneOrNot = tostring(h.readLine())
    local readline_4 = h.readLine()
    local readline_5 = h.readLine()
    h.close()

    fs.delete("query/firstInput")
    if fs.exists("query/firstInput") then
        print("file not deleted or edited")
    else
        local h = fs.open("query/firstInput", "w")
        h.writeLine(readline_1)
        h.writeLine(readline_2)
        h.writeLine("done")
        h.writeLine(readline_4)
        h.writeLine(readline_5)
        h.close()
    end
    print("Done!")
    deleteOrNot()
end
function empty_all()
    if turtle.drop() then
        for q=1,16 do
            turtle.select(q)
            turtle.drop()
        end
    else
        local one_up = 0
        local cannot_drop = 0
        local could_drop = 0
        print("chest is full!")
        repeat
            repeat
                turtle.up()
                sleep(1)
                if turtle.drop() then
                    could_drop = 1
                    print("Could drop?")
                end
                one_up = one_up + 1
                print(one_up)
            until could_drop == 1 or one_up == 10
        until could_drop == 1 or one_up == 10
        if one_up ~= 10 then
            for q=1,16 do
                turtle.select(q)
                turtle.drop()
            end
        else
            cannot_drop = 1
        end
        repeat
            turtle.down()
            one_up = one_up - 1
        until one_up == 0
        if cannot_drop == 1 then
            print("no storage!")
            term.write("Enter something if it's fixed")
            read()
            print("gonna try again")
            empty_all()
        end
    end
end

--start
if fs.exists("query/firstInput") then
    --we zijn gecrasht...
    local h = fs.open("query/firstInput", "r")
    local given_length = h.readLine()
    local given_width = h.readLine()
    local doneOrNot = tostring(h.readLine())
    start_direction = h.readLine()
    local given_depth = h.readLine()
    h.close()
    sleep(1)
    local h = fs.open("query/home_pos", "r")
    local given_x = h.readLine()
    local given_y = h.readLine()
    local given_z = h.readLine()
    h.close()
    sleep(1)

    if tostring(doneOrNot) == "notDone" then
        Length = given_length
        Width = given_width
        Depth = given_depth
        home_x = given_x
        home_y = given_y
        home_z = given_z
        crashOccured()
    elseif tostring(doneOrNot) == 'done' then
        home_x = given_x
        home_y = given_y
        home_z = given_z
        print("Okey")
        if math.floor(home_x) == math.floor(x) and math.floor(home_y) == math.floor(y) and math.floor(home_z) == math.floor(z) then
            deleteOrNot()
        else
            goHome()
            deleteOrNot()
        end
    end
else
    --eerste input
    term.write("Insert Length: ")
    Length = tonumber(read())
    print(" ")

    term.write("Insert Width: ")
    Width = tonumber(read())
    print(" ")

    term.write("Insert Depth (0 = to bedrock): ")
    Depth = tonumber(read())
    print(" ")

    --make it so we know first input was true
    print("making folder")
    fs.makeDir("query")

    checkCompas()

    start_direction = dig_direction

    print("making a first input file")
    local h = fs.open("query/firstInput", "w")
    h.writeLine(Length)
    h.writeLine(Width)
    h.writeLine("notDone")
    h.writeLine(start_direction)
    h.writeLine(Depth)
    h.close()

    local x, y, z = gps.locate(5)
    x = math.floor(x)
    y = math.floor(y)
    z = math.floor(z)

    print("Making home pos file")
    local h = fs.open("query/home_pos", "w")
    h.writeLine(x)
    h.writeLine(y)
    h.writeLine(z)
    h.close()

    print("Making startup file")
    if fs.exists("startup") then
        fs.delete("startup")
        local h = fs.open("startup", "w")
        h.writeLine("sleep(5)")
        h.writeLine("shell.run('" .. shell.getRunningProgram() .. "')")
        h.close()
    else
        h.writeLine("sleep(5)")
        local h = fs.open("startup", "w")
        h.writeLine("shell.run('" .. shell.getRunningProgram() .. "')")
        h.close()
    end

    Length = Length
    Width = Width
    home_x = x
    home_y = y
    home_z = z

    digQuery()
end