Amazon

local drone = component.proxy(component.list("drone")())
local nav = component.proxy(component.list("navigation")())
local modem = component.proxy(component.list("modem")())

local waypointLookRadius = 64
local flightAltitude = 80
local commsPort = 1337
local colors = {["travelling"] = 0xFFFFFF, ["charging"] = 0xE6E600, ["charged"] = 0x00FF00, ["waiting"] = 0xFF9900, ["error"] = 0xFF0000, ["active"] = 0x0000FF }
local cx, cy, cz
local BASE
function callibrate()
  cx, cy, cz = nav:getPosition()
end
function getWaypoints()
  BASE = {}
  callibrate()
  local waypoints = nav.findWaypoints(waypointLookRadius)
  for i=1, waypoints.n do
    if waypoints[i].label == "Charger" then
      BASE.x = cx+waypoints[i].position[1]
      BASE.y = cy+waypoints[i].position[2]
      BASE.z = cz+waypoints[i].position[3]
    end
  end
  if BASE == nil then
    error("Missing waypoints")
  end
end

function getCharge()
  return computer.energy()/computer.maxEnergy()
end

function color(state)
  drone.setLightColor(colors[state] or 0x000000)
end

function move(tx, ty, tz)
  local dx = tx - cx
  local dy = ty - cy
  local dz = tz - cz
  drone.move(dx, dy, dz)
  while drone.getOffset() > 0.5 and drone.getVelocity() > 0.2 do
    computer.pullSignal(0.2)
  end
  cx, cy, cz = tx, ty, tz
end

function fly(tx, ty, tz)
  move(cx, flightAltitude, cz)
  move(tx, flightAltitude, tz)
  move(tx, ty, tz)
  callibrate()
  if cx ~= tx or cy ~= ty or cz ~= tz then
    computer.pullSignal(1)
    callibrate()
    move(tx,ty,tz)
  end
end

function goHome()
    color("travelling")
    fly(BASE.x, BASE.y+1, BASE.z)
    color("charging")
    while getCharge() <= .95 do computer.pullSignal(.1) end
    color("charged")
    computer.beep(1000, 1)
end

function runDelivery(ds)
  color("travelling")
  fly(ds.gx,ds.gy+1,ds.gz)
  color("active")
  for i = 1, ds.sx do
    drone.suck(0)
  end
  color("travelling")
  fly(ds.dx, ds.dy+1, ds.dz)
  color("active")
  for i = 1, drone.inventorySize() do
    drone.select(i)
    drone.drop(0)
  end
end

function waitForCommand()
    color("waiting")
    while true do
      evt, self, requester, _, _, request = computer.pullSignal()
      if evt == "modem_message" then
        if request == "getDrone" then
          modem.send(requester, commsPort, "confirmed", drone.inventorySize())
          local confirmed = false
          local start = computer.uptime()
          while computer.uptime() - start < 3 do
            evt, _, check, _, _, msg = computer.pullSignal(1)
            if evt == "modem_message" and check == requester then
              if msg == self then
                confirmed = true
              end
              break
            end
          end
          if confirmed then
            color("active")
            modem.send(requester, commsPort, "sendData")
            local ds = {}
            local start = computer.uptime()
            while computer.uptime() - start < 10 do
              evt, _, check, _, _, entry, data = computer.pullSignal(1)
              if evt == "modem_message" and check == requester then
                if entry == "end" then
                  break
                else
                  ds[entry] = data
                end
              end
            end
            if ds.sx and ds.gx and ds.gy and ds.gz and ds.dx and ds.dy and ds.dz then
              modem.close(commsPort)
              runDelivery(ds)
              modem.open(commsPort)
            else
              color("error")
              computer.beep(1000, 2)
            end
            break
          end
        end
      end
    end
end

function init()
  modem.open(commsPort)
  getWaypoints()
  while true do
    goHome()
    getWaypoints()
    waitForCommand()
  end
end

init()