Aware 1.1

local cposition={0,0,0,0}
local home={0,0,0,0}
local shaftmode=false

function modposition(axis, value)
  if (axis == 4) then
    cposition[axis] = ((cposition[axis] + value) % 4)
  else
    cposition[axis] = (cposition[axis] + value)
  end
  reportpositions()
  setfilepos("aware/position")
end

function setshaftmode(toggle)
  shaftmode=toggle
end

function moveforward()
  if turtle.forward() then
    if     (cposition[4] == 0) then modposition(2,1)
    elseif (cposition[4] == 1) then modposition(1,-1)
    elseif (cposition[4] == 2) then modposition(2,-1)
    elseif (cposition[4] == 3) then modposition(1,1)
    end
    return true
  else
    return false
  end
end

function moveback()
  if turtle.back() then
    if     (cposition[4] == 0) then modposition(2,-1)
    elseif (cposition[4] == 1) then modposition(1,1)
    elseif (cposition[4] == 2) then modposition(2,1)
    elseif (cposition[4] == 3) then modposition(1,-1)
    end
    return true
  else
    return false
  end
end

function moveup()
  if turtle.up() then
    modposition(3,1)
    return true
  else
    return false
  end
end

function movedown()
  if turtle.down() then
    modposition(3,-1)
    return true
  else
    return false
  end
end

function turnright()
  modposition(4,1)
  turtle.turnRight()
end

function turnleft()
  modposition(4,-1)
  turtle.turnLeft()
end

function turnto(direction)
  while cposition[4] ~= direction do
    diff = cposition[4] - direction
    if ((diff == 1) or (diff == -3)) then
      turnleft()
    else
      turnright()
    end
  end
end

function digmoveforward()
  if turtle.detect() then
    turtle.dig()
  end
  if shaftmode then
    if turtle.detectUp() then
      turtle.digUp()
    end
  end
  if moveforward() then
    return true
  else
    return false
  end
end

function digmoveup()
  if turtle.detectUp() then
    turtle.digUp()
  end
  if shaftmode then
    if turtle.detect() then
      turtle.dig()
    end
  end
  if moveup() then
    return true
  else
    return false
  end
end

function digmovedown()
  if turtle.detectDown() then
    turtle.digDown()
  end
  if shaftmode then
    if turtle.detect() then
      turtle.dig()
    end
  end
  if movedown() then
    return true
  else
    return false
  end
end

function movetoz(tarz)
  while(cposition[3] ~= tarz) do
    if cposition[3] < tarz then
      digmoveup()
    else
      digmovedown()
    end
  end
end

function movetox(tarx)
  while(cposition[1] ~= tarx) do
    if cposition[1] < tarx then
      turnto(3)
    else
      turnto(1)
    end
    digmoveforward()
  end
end

function movetoy(tary)
  while(cposition[2] ~= tary) do
    if cposition[2] < tary then
      turnto(0)
    else
      turnto(2)
    end
    digmoveforward()
  end
end

function moveto(tarx, tary, tarz, taro)
  if(cposition[3] > tarz) then
    movetoz(tarz)
    movetoy(tary)
    movetox(tarx)
  else
    movetox(tarx)
    movetoy(tary)
    movetoz(tarz)
  end
  turnto(taro)
end

function goto(destination)
  termwrite("going to"..textutils.serialize(destination))
  moveto(destination[1], destination[2], destination[3], destination[4])
end

function gohome()
  goto(home)
end

function isfull()
  for i=1, 9 do
    if turtle.getItemCount(i) == 0 then
      return false
    end
  end
  return true
end

function isempty()
  for i=1, 9 do
    if turtle.getItemCount(i) > 0 then
      return false
    end
  end
  return true
end

function dump()
  while (turtle.drop()) do
    sleep(.12)
  end
end

function setfilepos(filename, coords)
  file = fs.open(filename, "w")
    if (coords == null) then
      file.write(textutils.serialize(cposition))
    else
      file.write(textutils.serialize(coords))
    end
  file:close()
end

function getfilepos(filename)
  file = fs.open(filename, "r")
  pos = textutils.unserialize(file.readLine())
  file:close()
  return pos
end

function termwrite(message)
  cx, cy = term.getCursorPos()
  mx, my = term.getSize()
  term.write(message)
  if(cy == my) then
    term.scroll(1)
    term.setCursorPos(1, cy)
  else
    term.setCursorPos(1, cy + 1)
  end
end

function reportpositions()
  pushpos((os.getComputerID()+10000),"T",cposition)
  pushpos((os.getComputerID()+100),"H",home)
end

function pushpos(id, class, position)
  fposition=textutils.serialize(position)
  formatted={id,class,fposition}
  rednet.broadcast(textutils.serialize(formatted))
end

function sethome(coords)
  if (coords == null) then
    home = cposition
  else
    home = coords
  end
  setfilepos("aware/home", home)
end

function setposition(coords)
    cposition = coords
    setfilepos("aware/position", coords)
end

function getposition(axis)
  if (axis == null) then
    return copytable(cposition)
  else
    return cposition[axis]
  end
end

function gethome()
  return copytable(home)
end

function gpslocate()
  x,y,z = gps.locate(5)
  if (x ~= null) and (y ~= null) and (z ~= null) then
    setposition(x,y,z,0)
    return true
  else
    return false
  end
end

function loadposition()
  if(fs.exists("aware/position")) then
    cposition = getfilepos("aware/position")
    termwrite("aware: loaded position")
  else
    if gpslocate() then
      termwrite("aware: loaded position from gps")
    else
      setfilepos("aware/position")
      termwrite("aware: created position")
    end
  end
end

function loadhome()
  if(fs.exists("aware/home")) then
    home = getfilepos("aware/home")
    termwrite("aware: loaded home")
  else
    sethome()
    termwrite("aware: created home")
  end
end

function copytable(t)
  local t2 = {}
  for k,v in pairs(t) do
    t2[k] = v
  end
  return t2
end

function init()
  if(fs.isDir("aware") == false) then
    fs.makeDir("aware")
  end
  rednet.open("right")
  loadposition()
  loadhome()
end

init()