inf = basics.inf
str_xyz = basics.str_xyz

--lua_print = print
--log_file = fs.open('log.txt', 'w')
--function print(thing)
--    lua_print(thing)
--    log_file.writeLine(thing)
--end


bumps = {
    north = { 0,  0, -1},
    south = { 0,  0,  1},
    east  = { 1,  0,  0},
    west  = {-1,  0,  0},
}


left_shift = {
    north = 'west',
    south = 'east',
    east  = 'north',
    west  = 'south',
}


right_shift = {
    north = 'east',
    south = 'west',
    east  = 'south',
    west  = 'north',
}


reverse_shift = {
    north = 'south',
    south = 'north',
    east  = 'west',
    west  = 'east',
}


move = {
    forward = turtle.forward,
    up      = turtle.up,
    down    = turtle.down,
    back    = turtle.back,
    left    = turtle.turnLeft,
    right   = turtle.turnRight
}


detect = {
    forward = turtle.detect,
    up      = turtle.detectUp,
    down    = turtle.detectDown
}


inspect = {
    forward = turtle.inspect,
    up      = turtle.inspectUp,
    down    = turtle.inspectDown
}


dig = {
    forward = turtle.dig,
    up      = turtle.digUp,
    down    = turtle.digDown
}

attack = {
    forward = turtle.attack,
    up      = turtle.attackUp,
    down    = turtle.attackDown
}


getblock = {

    up = function(pos, fac)
        if not pos then pos = state.location end
        if not fac then fac = state.orientation end
        return {x = pos.x, y = pos.y + 1, z = pos.z}
    end,

    down = function(pos, fac)
        if not pos then pos = state.location end
        if not fac then fac = state.orientation end
        return {x = pos.x, y = pos.y - 1, z = pos.z}
    end,

    forward = function(pos, fac)
        if not pos then pos = state.location end
        if not fac then fac = state.orientation end
        local bump = bumps[fac]
        return {x = pos.x + bump[1], y = pos.y + bump[2], z = pos.z + bump[3]}
    end,

    back = function(pos, fac)
        if not pos then pos = state.location end
        if not fac then fac = state.orientation end
        local bump = bumps[fac]
        return {x = pos.x - bump[1], y = pos.y - bump[2], z = pos.z - bump[3]}
    end,

    left = function(pos, fac)
        if not pos then pos = state.location end
        if not fac then fac = state.orientation end
        local bump = bumps[left_shift[fac]]
        return {x = pos.x + bump[1], y = pos.y + bump[2], z = pos.z + bump[3]}
    end,

    right = function(pos, fac)
        if not pos then pos = state.location end
        if not fac then fac = state.orientation end
        local bump = bumps[right_shift[fac]]
        return {x = pos.x + bump[1], y = pos.y + bump[2], z = pos.z + bump[3]}
    end,
}


function up()
    return go('up')
end


function forward()
    return go('forward')
end


function down()
    return go('down')
end


function back()
    return go('back')
end


function left()
    return go('left')
end


function right()
    return go('right')
end


function follow_route(route)
    for step in route:gmatch'.' do
        if step == 'u' then
            if not go('up')      then return false end
        elseif step == 'f' then
            if not go('forward') then return false end
        elseif step == 'd' then
            if not go('down')    then return false end
        elseif step == 'b' then
            if not go('back')    then return false end
        elseif step == 'l' then
            if not go('left')    then return false end
        elseif step == 'r' then
            if not go('right')   then return false end
        end
    end
    return true
end


function face(orientation)
    if state.orientation == orientation then
        return true
    elseif right_shift[state.orientation] == orientation then
        if not go('right') then return false end
    elseif left_shift[state.orientation] == orientation then
        if not go('left') then return false end
    elseif right_shift[right_shift[state.orientation]] == orientation then
        if not go('right') then return false end
        if not go('right') then return false end
    else
        return false
    end
    return true
end


function log_movement(direction)
    if direction == 'up' then
        state.location.y = state.location.y +1
    elseif direction == 'down' then
        state.location.y = state.location.y -1
    elseif direction == 'forward' then
        bump = bumps[state.orientation]
        state.location = {x = state.location.x + bump[1], y = state.location.y + bump[2], z = state.location.z + bump[3]}
    elseif direction == 'back' then
        bump = bumps[state.orientation]
        state.location = {x = state.location.x - bump[1], y = state.location.y - bump[2], z = state.location.z - bump[3]}
    elseif direction == 'left' then
        state.orientation = left_shift[state.orientation]
    elseif direction == 'right' then
        state.orientation = right_shift[state.orientation]
    end
    return true
end


function go(direction, nodig)
    if not nodig then
        if detect[direction] then
            if detect[direction]() then
                safedig(direction)
            end
        end
    end
    if not move[direction] then
        return false
    end
    if not move[direction]() then
        if attack[direction] then
            attack[direction]()
        end
        return false
    end
    log_movement(direction)
    return true
end


function go_to_axis(axis, coordinate, nodig)
    local delta = coordinate - state.location[axis]
    if delta == 0 then
        return true
    end

    if axis == 'x' then
        if delta > 0 then
            if not face('east') then return false end
        else
            if not face('west') then return false end
        end
    elseif axis == 'z' then
        if delta > 0 then
            if not face('south') then return false end
        else
            if not face('north') then return false end
        end
    end

    for i = 1, math.abs(delta) do
        if axis == 'y' then
            if delta > 0 then
                if not go('up', nodig) then return false end
            else
                if not go('down', nodig) then return false end
            end
        else
            if not go('forward', nodig) then return false end
        end
    end
    return true
end


function go_to(end_location, end_orientation, path, nodig)
    if path then
        for axis in path:gmatch'.' do
            if not go_to_axis(axis, end_location[axis], nodig) then return false end
        end
    elseif end_location.path then
        for axis in end_location.path:gmatch'.' do
            if not go_to_axis(axis, end_location[axis], nodig) then return false end
        end
    else
        return false
    end
    if end_orientation then
        if not face(end_orientation) then return false end
    elseif end_location.orientation then
        if not face(end_location.orientation) then return false end
    end
    return true
end


function go_route(route, xyzo)
    local xyz_string
    if xyzo then
        xyz_string = str_xyz(xyzo)
    end
    local location_str = basics.str_xyz(state.location)
    while route[location_str] and location_str ~= xyz_string do
        if not go_to(route[location_str], nil, 'xyz') then return false end
        location_str = basics.str_xyz(state.location)
    end
    if xyzo then
        if location_str ~= xyz_string then
            return false
        end
        if xyzo.orientation then
            if not face(xyzo.orientation) then return false end
        end
    end
    return true
end


function go_to_home()
    state.updated_not_home = nil
    if basics.in_area(state.location, config.locations.home_area) then
        return true
    elseif basics.in_area(state.location, config.locations.greater_home_area) then
        if not go_to_home_exit() then return false end
    elseif basics.in_area(state.location, config.locations.waiting_room_area) then
        if not go_to(config.locations.mine_exit, nil, config.paths.waiting_room_to_mine_exit, true) then return false end
    elseif state.location.y < config.locations.mine_enter.y then
        return false
    end
    if config.locations.main_loop_route[basics.str_xyz(state.location)] then
        if not go_route(config.locations.main_loop_route, config.locations.home_enter) then return false end
    elseif basics.in_area(state.location, config.locations.control_room_area) then
        if not go_to(config.locations.home_enter, nil, config.paths.control_room_to_home_enter, true) then return false end
    else
        return false
    end
    if not forward() then return false end
    while detect.down() do
        if not forward() then return false end
    end
    if not down() then return false end
    if not right() then return false end
    if not right() then return false end
    return true
end


function go_to_home_exit()
    if basics.in_area(state.location, config.locations.greater_home_area) then
        if not go_to(config.locations.home_exit, nil, config.paths.home_to_home_exit) then return false end
    elseif config.locations.main_loop_route[basics.str_xyz(state.location)] then
        if not go_route(config.locations.main_loop_route, config.locations.home_exit) then return false end
    else
        return false
    end
    return true
end


function go_to_item_drop()
    if not config.locations.main_loop_route[basics.str_xyz(state.location)] then
        if not go_to_home() then return false end
        if not go_to_home_exit() then return false end
    end
    if not go_route(config.locations.main_loop_route, config.locations.item_drop) then return false end
    return true
end


function go_to_refuel()
    if not config.locations.main_loop_route[basics.str_xyz(state.location)] then
        if not go_to_home() then return false end
        if not go_to_home_exit() then return false end
    end
    if not go_route(config.locations.main_loop_route, config.locations.refuel) then return false end
    return true
end


function go_to_waiting_room()
    if not basics.in_area(state.location, config.locations.waiting_room_line_area) then
        if not go_to_home() then return false end
    end
    if not go_to(config.locations.waiting_room, nil, config.paths.home_to_waiting_room) then return false end
    return true
end


function go_to_mine_enter()
    if not go_route(config.locations.waiting_room_to_mine_enter_route) then return false end
    return true
end


function go_to_strip(strip)
    if state.location.y < config.locations.mine_enter.y or basics.in_location(state.location, config.locations.mine_enter) then
        if state.type == 'mining' then
            local bump = bumps[strip.orientation]
            strip = {
                x = strip.x + bump[1],
                y = strip.y + bump[2],
                z = strip.z + bump[3],
                orientation = strip.orientation
            }
        end
        if not go_to(strip, nil, config.paths.mine_enter_to_strip) then return false end
        return true
    end
end


function go_to_mine_exit(strip)
    if state.location.y < config.locations.mine_enter.y or (state.location.x == config.locations.mine_exit.x and state.location.z == config.locations.mine_exit.z) then
        if state.location.x == config.locations.mine_enter.x and state.location.z == config.locations.mine_enter.z then
            -- If directly under mine_enter, shift over to exit
            if not go_to_axis('z', config.locations.mine_exit.z) then return false end
        elseif state.location.x ~= config.locations.mine_exit.x or state.location.z ~= config.locations.mine_exit.z then
            -- If NOT directly under mine_exit go to proper y
            if not go_to_axis('y', strip.y + 1) then return false end
            if state.location.z ~= config.locations.mine_enter.z and strip.z ~= config.locations.mine_enter.z then
                -- If not in main_shaft, find your strip
                if not go_to_axis('x', strip.x) then return false end
            end
            if state.location.x ~= config.locations.mine_exit.x then
                -- If not in strip x = origin, go to main_shaft
                if not go_to_axis('z', config.locations.mine_enter.z) then return false end
            end
        end
        if not go_to(config.locations.mine_exit, nil, 'xzy') then return false end
        return true
    end
end


function safedig(direction)
    -- DIG IF BLOCK NOT ON BLACKLIST
    if not direction then
        direction = 'forward'
    end

    local block_name = ({inspect[direction]()})[2].name
    if block_name then
        for _, word in pairs(config.dig_blacklist) do
            if string.find(string.lower(block_name), word) then
                return false
            end
        end

        return dig[direction]()
    end
    return true
end


function dump_items(omit)
    for slot = 1, 16 do
        if turtle.getItemCount(slot) > 0 and ((not omit) or (not omit[turtle.getItemDetail(slot).name])) then
            turtle.select(slot)
            if not turtle.drop() then return false end
        end
    end
    return true
end



function prepare(min_fuel_amount)
    if state.item_count > 0 then
        if not go_to_item_drop() then return false end
        if not dump_items(config.fuelnames) then return false end
    end
    local min_fuel_amount = min_fuel_amount + config.fuel_padding
    if not go_to_refuel() then return false end
    if not dump_items() then return false end
    turtle.select(1)
    while turtle.getFuelLevel() < min_fuel_amount do
        if not turtle.suck(math.min(64, math.ceil(min_fuel_amount / config.fuel_per_unit))) then return false end
        turtle.refuel()
    end
    return true
end


function calibrate()
    -- GEOPOSITION BY MOVING TO ADJACENT BLOCK AND BACK
    local sx, sy, sz = gps.locate()
--    if sx == config.interface.x and sy == config.interface.y and sz == config.interface.z then
--        refuel()
--    end
    if not sx or not sy or not sz then
        return false
    end
    for i = 1, 4 do
        -- TRY TO FIND EMPTY ADJACENT BLOCK
        if not turtle.detect() then
            break
        end
        if not turtle.turnRight() then return false end
    end
    if turtle.detect() then
        -- TRY TO DIG ADJACENT BLOCK
        for i = 1, 4 do
            safedig('forward')
            if not turtle.detect() then
                break
            end
            if not turtle.turnRight() then return false end
        end
        if turtle.detect() then
            return false
        end
    end
    if not turtle.forward() then return false end
    local nx, ny, nz = gps.locate()
    if nx == sx + 1 then
        state.orientation = 'east'
    elseif nx == sx - 1 then
        state.orientation = 'west'
    elseif nz == sz + 1 then
        state.orientation = 'south'
    elseif nz == sz - 1 then
        state.orientation = 'north'
    else
        return false
    end
    state.location = {x = nx, y = ny, z = nz}
    print('Calibrated to ' .. str_xyz(state.location, state.orientation))

    back()

    if basics.in_area(state.location, config.locations.home_area) then
        face(left_shift[left_shift[config.locations.homes.increment]])
    end

    return true
end


function initialize(session_id, config_values)
    -- INITIALIZE TURTLE

    state.session_id = session_id

    -- COPY CONFIG DATA INTO MEMORY
    for k, v in pairs(config_values) do
        config[k] = v
    end

    -- DETERMINE TURTLE TYPE
    state.peripheral_left = peripheral.getType('left')
    state.peripheral_right = peripheral.getType('right')
    if state.peripheral_right == 'modem' then
        state.type = 'mining'
        for k, v in pairs(config.mining_turtle_locations) do
            config.locations[k] = v
        end
        state.peripheral_left = 'pick'
        state.peripheral_right = 'modem'
        -- if state.peripheral_left == 'modem' then
        --     state.peripheral_right = 'pick'
        -- else
        --     state.peripheral_left = 'pick'
        -- end
    else
        state.type = 'chunky'
        for k, v in pairs(config.chunky_turtle_locations) do
            config.locations[k] = v
        end
    end

    state.request_id = 1
    state.initialized = true
    print(state.type)
    print(state.peripheral_left)
    return true
end


function getcwd()
    local running_program = shell.getRunningProgram()
    local program_name = fs.getName(running_program)
    return "/" .. running_program:sub(1, #running_program - #program_name)
end


function pass()
    return true
end


function dump(direction)
    if not face(direction) then return false end
    if ({inspect.forward()})[2].name ~= 'computercraft:turtle_advanced' then
        return false
    end
    for slot = 1, 16 do
        if turtle.getItemCount(slot) > 0 then
            turtle.select(slot)
            turtle.drop()
        end
    end
    return true
end


function detect_ore(direction)
    if config.orenames[({inspect[direction]()})[2].name] then
        return true
    end
    return false
end


function scan(valid, ores)
    local checked_left  = false
    local checked_right = false

    local f = str_xyz(getblock.forward())
    local u = str_xyz(getblock.up())
    local d = str_xyz(getblock.down())
    local l = str_xyz(getblock.left())
    local r = str_xyz(getblock.right())
    local b = str_xyz(getblock.back())

    if not valid[f] and valid[f] ~= false then
        valid[f] = detect_ore('forward')
        ores[f] = valid[f]
    end
    if not valid[u] and valid[u] ~= false then
        valid[u] = detect_ore('up')
        ores[u] = valid[u]
    end
    if not valid[d] and valid[d] ~= false then
        valid[d] = detect_ore('down')
        ores[d] = valid[d]
    end
    if not valid[l] and valid[l] ~= false then
        left()
        checked_left = true
        valid[l] = detect_ore('forward')
        ores[l] = valid[l]
    end
    if not valid[r] and valid[r] ~= false then
        right()
        if checked_left then
            right()
        end
        checked_right = true
        valid[r] = detect_ore('forward')
        ores[r] = valid[r]
    end
    if not valid[b] and valid[b] ~= false then
        if checked_right then
            right()
        elseif checked_left then
            left()
        else
            right(2)
        end
        valid[b] = detect_ore('forward')
        ores[b] = valid[b]
    end
end


function fastest_route(area, pos, fac, end_locations)
    local queue = {}
    local explored = {}
    table.insert(queue,
        {
            coords = {x = pos.x, y = pos.y, z = pos.z},
            facing = fac,
            path = '',
        }
    )
    explored[str_xyz(pos, fac)] = true

    while #queue > 0 do
        local node = table.remove(queue, 1)
        if end_locations[str_xyz(node.coords)] or end_locations[str_xyz(node.coords, node.facing)] then
            return node.path
        end
        for _, step in pairs({
                {coords = node.coords,                                facing = left_shift[node.facing],  path = node.path .. 'l'},
                {coords = node.coords,                                facing = right_shift[node.facing], path = node.path .. 'r'},
                {coords = getblock.forward(node.coords, node.facing), facing = node.facing,              path = node.path .. 'f'},
                {coords = getblock.up(node.coords, node.facing),      facing = node.facing,              path = node.path .. 'u'},
                {coords = getblock.down(node.coords, node.facing),    facing = node.facing,              path = node.path .. 'd'},
                }) do
            explore_string = str_xyz(step.coords, step.facing)
            if not explored[explore_string] and (not area or area[str_xyz(step.coords)]) then
                explored[explore_string] = true
                table.insert(queue, step)
            end
        end
    end
end


function mine_vein(direction)
    if not face(direction) then return false end

    -- Log starting location
    local start = str_xyz({x = state.location.x, y = state.location.y, z = state.location.z}, state.orientation)

    -- Begin block map
    local valid = {}
    local ores = {}
    valid[str_xyz(state.location)] = true
    valid[str_xyz(getblock.back(state.location, state.orientation))] = false
    for i = 1, config.vein_max do

        -- Scan adjacent
        scan(valid, ores)

        -- Search for nearest ore
        local route = fastest_route(valid, state.location, state.orientation, ores)

        -- Check if there is one
        if not route then
            break
        end

        -- Retrieve ore
        turtle.select(1)
        if not follow_route(route) then return false end
        ores[str_xyz(state.location)] = nil

    end

    if not follow_route(fastest_route(valid, state.location, state.orientation, {[start] = true})) then return false end

    if detect.up() then
        safedig('up')
    end

    return true
end


function clear_gravity_blocks()
    for _, direction in pairs({'forward', 'up'}) do
        while config.gravitynames[ ({inspect[direction]()})[2].name ] do
            safedig(direction)
            sleep(1)
        end
    end
    return true
end