LUA - ComputerCraft Turtle Controller (Debugging Model)

local fuelMatchSlot=16  -- Slot holding Fuel
local fuelMin = 10      -- Fuel leverl to trigger refuel
local fuelRefill = 50   -- Refuel to this amount
local seedMatchSlot=15  -- Slot holding Seed to plant



function main(cmds)

  local routines = {}
  local eventdata = {}
  local filter = {}
  local status
  local param
  local n

  if #cmds == 1 and fs.exists(cmds[1]) then
    local fileHandler = fs.open(cmds[1],"r")
    if fileHandler then
      local data = fileHandler.readAll()
      cmds = { }
      for k, v in string.gmatch(data,"%a%d+") do
        table.insert(cmds,k)
      end
    end
    fileHandler.close()
  end

  routines[1] = coroutine.create(go)
  routines[2] = coroutine.create(fuelManager)
  routines[3] = coroutine.create(refuel)

  os.queueEvent("fuelCheck")
  os.queueEvent("docmds", unpack(cmds))
  while true do
    for i,r in ipairs(routines) do
      assert(r,"Routine #" .. i .. " does not exist")
      if filter[r] == nil or filter[r] == eventdata[1] or eventdata[1] == "terminate" then
        status, param = coroutine.resume(r, unpack(eventdata))
        assert(status,"Main(): #" .. i .. ", " .. tostring(param))
        filter[r] = param
        if coroutine.status(r) == "dead" then
          print("")
          print("#" .. i .. ": Dead. status=" .. tostring(status) .. ", param=" .. tostring(param))
          if i == 1 then
            return i
          end
        end
      end
    end

    for i,r in ipairs(routines) do
      if coroutine.status(r) == "dead" then
        if i == 1 then
          return i
        end
      end
    end

    eventdata = { coroutine.yield() }
  end

end

function go()

  -- Set up our Turtle Handlers
  local TurtleHandlers = {
    -- Forward, Back, Up, Down
    ["F"] = { condition=function() return true end, action=turtle.forward },
    ["B"] = { condition=function() return true end, action=turtle.back },
    ["U"] = { condition=function() return true end, action=turtle.up },
    ["D"] = { condition=function() return true end, action=turtle.down },
    -- Left, Right
    ["L"] = { condition=function() return true end, action=turtle.turnLeft },
    ["R"] = { condition=function() return true end, action=turtle.turnRight },
    -- Dig Over, Dig UNder
    ["O"] = { condition=turtle.detect, action=turtle.digUp },
    ["N"] = { condition=turtle.detect, action=turtle.digDown }
    -- Plant, Eject
--    ["P"] = { condition=function() return not(turtle.detectDown()) end, action=plantSeed },
--    ["E"] = { condition=function() return true end, action=dropExtras }
  }

  -- Set up Event Variables
  local EventParams = { }
  repeat
    EventParams = { coroutine.yield("docmds") }
    if EventParams[1] == "terminate" then
      error("Terminated.during.go()", 0)
    end
  until EventParams[1] == "docmds"
  local eventID = EventParams[1]
  table.remove(EventParams,1)


  -- Ensure this is the proper event starting us
  if eventID == "docmds" then
    write("(G)")
    -- For each command, separate it into a command and a distance
    for CommandNumber,CommandFull in ipairs(EventParams) do
      --- Reset our Distance
      local CommandDistanceRemaining = 1

      --- If the command is 2 or more letters long, lets separate the command from the distance
      if #CommandFull > 1 then
        -- Extract from position 2 onwards and convert text to a number
        local tmpNum = tonumber(string.sub(CommandFull,2))
        if tmpNum then
          -- Set our distance value for this command
          CommandDistanceRemaining = tmpNum
        else
          -- there was no distance value, so lets repeat only once
          CommandDistanceRemaining = 1
        end

        --- Extract our Command
        CommandOperation = string.sub(CommandFull,1,1)

        --- Execute our Command
        local FunctionHandler = TurtleHandlers[string.upper(CommandOperation)]
        if FunctionHandler then
          -- Set our condition and action functions
          local condition = FunctionHandler["condition"]
          local action    = FunctionHandler["action"]
          -- Repeat based on distance
          while CommandDistanceRemaining > 0 do
            local cResult = condition()
            if cResult and action() and (write(string.upper(CommandOperation))) then
              CommandDistanceRemaining = CommandDistanceRemaining - 1
            else
              if cResult then
                return false
              end
            end
          end -- Distance Countdown
        else
          -- No such Function Handler
          error("No such Turtle Function Handler exists: " .. string.upper(CommandOperation))
        end -- If FunctionHandler
      end -- If 2-char command text
    end -- For every command
  end -- If the event is docmds
  return true
end


function fuelManager()

  -- Set up Fuel Variables
  local CFL = 0
  local AFCPS = 1
  local EFL = 0

  --- Set up Event Variables
  local EventParams = { }

  repeat
    EventParams = { coroutine.yield("fuelCheck") }
    if EventParams[1] == "terminate" then
      error("Terminated during fuelManager()",0)
    end
  until EventParams[1] == "fuelCheck"

  local eventID = EventParams[1]
  table.remove(EventParams,1)

  if eventID == "fuelCheck" then
    write("(F)")
    CFL = turtle.getFuelLevel()

    ---   Keep going until fuel is near the Min level
    ---   then we need to refuel up to refuel level
    while CFL >= fuelMin do
      --- Calculate approximate time until earliest fuel low warning
      local EFL = CFL * AFCPS
      --- Calculate half that time
      EFL = math.floor(EFL / 2)
      -- If our sleep time is less than 5 seconds, lets just exit for a refuel
      if EFL < 5 then
        os.queueEvent("refuel")
        repeat
          eventParams = { coroutine.yield("refueled") }
          if eventParams[1] == "terminate" then
            error("Terminated in WaitForRefuel()")
          end
        until eventParams[1] == "refueled"
        eventID = eventParams[1]
        table.remove(eventParams,1)
      else
        --- Sleep until next scheduled fuel check (coroutine should yield here)
        os.sleep(EFL)
      end
    end
  end

end

function refuel()

  -- Set up Local Variables
  local slotNumber = 0
  local fuelItem = false
  local itemCount = 0
  local attempt = 0

  -- Set up Event Variables
  local EventParams = { }
  repeat
    EventParams = os.pullEvent("refuel")
    if EventParams[1] == "terminate" then
      error("Terminated in refuel()")
    end
  until EventParams[1] == "refuel"
  local eventID = EventParams[1]
  table.remove(EventParams,1)

  if eventID == "refuel" then
    write("(R)")
    for slotNumber=1,16 do
      -- Remove these two lines when LUA gets a goto statement
      local skipIt = false
      while skipIt == false do
        skipIt = true
        if not (slotNumber == fuelMatchSlot) then

          -- See if there is any items in the slot
          itemCount = turtle.getItemCount(slotNumber)
          if itemCount == 0 then
            -- goto skipIt
            break
          end

          -- Select the Slot
          while turtle.select(slotNumber) == false do
            attempt = attempt + 1
            if attempt == 3 then
              print("Unable to Select Slot#" .. slotNumber)
              return false
            end
            sleep(5)
          end

          -- Compare it to our fuel slot
          fuelItem = turtle.compareTo(fuelMatchSlot)
          if not fuelItem then
            break
          end

          -- We found a fuel item - lets refuel to the refuel limit
          while turtle.getFuelLevel() < fuelRefill do
            -- Attempt to Refuel with one unit
            attempt = 0
            while turtle.refuel(1) == false do
              attempt = attempt + 1
              if attempt == 1 then
                print("Unable to refuel from slot #" .. slotNumber)
              end
              if attempt == 3 then
                break   -- give up on this slot
              end
              os.sleep(1)
            end

            -- If this slot does not appear to refilling then skip the slot
            if attempt == 3 then
              break
            end

            -- Keep refueling until we reach our refill level
          end  -- While Refueling
        end  -- slot <> fuelslot condition
        -- if we have refueled sufficiently, lets stop checking slots
        if turtle.getFuelLevel() >= fuelRefill then
          break
        end
      end  -- end while loop
    end  -- next slot number

    -- Return Refuel success
    print("Exiting Refuel")
    if turtle.getFuelLevel() < fuelRefill then
      return false
    else
      os.queueEvent("refueled")
      return true
    end

  end  -- If its our Event
end



local targs = { ... }
local func = ""
local i = 0
local func = main(targs)

if func == 1 then
  print("Commands Completed")
elseif func == 2 then
  print("Out of Gas")
elseif func == 3 then
  print("Unable to Refuel")
else
  print("Not sure what happened ... " .. tostring(func))
end