Minecraft Agricraft AutoBreeder (Turtles)

-- Note: This is basically finished. I may tweak it here or there, which is why I recommend using my program
-- That I wrote to automatically update this. (See the bottom of this verbose description)
-- This is an algorithm to automatically breed seeds in Minecraft's Agricraft Modpack,
-- which have 3 integer values (x, y, z) as a tuple.
-- I want to write a turtle AI to be "efficient enough" in breeding my Agricraft seeds so I can give it a 1/1/1 seed,
-- and come back later and eventually, have 1 or more 10/10/10 seeds of that type.
-- It will NOT actually breed new seed types; that's up to the players to create and provide for the turtle bot, but
-- Eventually, once it's complete, this turtlebot AI should eventually be able to, given 2 seeds of any value,
-- Breed them into a 10/10/10 seed.
-- I started this algorithm on November 15, 2016, and pretty much finished it by November 20th, with a few tweaks since then.
-- 04.28.2017 - Now saves settings into a file MatthewC/Agricraft/Data/SeedBreederSettings; you can now override the default settings by changing values within this file. This way, if emerald or lapis are too expensive, you can replace with cheaper (but unique!) materials.
-- This algorithm was downloaded from: http://pastebin.com/V1MQRVQv
-- A more visual example of the setup expected for the turtle is located: http://imgur.com/gallery/gPpK4
-- The program to automatically download and run this file is located: http://pastebin.com/Vuxsn2mX
-- A youtube video explaining this and demonstrating it in action is located: https://www.youtube.com/watch?v=-dN5wSv5SsY
--
--
--
--  Note: THANKS to AndyWilliams757 (Minecraft tag), I was able to test a few cases for the turtle, and improve it a bit.
--      Now, the turtle will query the player to give it fuel if it starts running without any fuel.
--      Additionally, seeds can now be retrieved case - insensitive, so if a seed is called "Seed" instead of "seed",
--      or "SeEd", or other mixed-cases, the turtle will handle that crap.
--
-- ********************************WARNING*******************************************
-- PLANTS WHICH PRODUCE ITEMS WITH THE NAME "SEED" IN THEM CAN BREAK THE TURTLE. I PLAN ON EVENTUALLY CORRECTING THIS,
-- BUT HAVEN'T GOTTEN AROUND TO IT YET>
-- ITEMS KNOWN TO CAUSE PROBLEMS: "Mustard Seed",

--------------------------------------------------------------------------------------------------
-- Settings
-- Note: These are the default settings, but can actually be overridden.
-- Additionally, I reccomend checking (after this program first runs) MatthewC/Agricraft/Data/SeedBreederData.
-- These settings are saved to that file in JSON, and are also loaded from that JSON file, so if the program
-- Runs and saves the file before changes are made to these "Default" settings, then it'll ignore the different
-- settings defined here and override them with the contents of the JSON file.
--------------------------------------------------------------------------------------------------
local numberOfPerfectSeedsToBreed = 30 -- Stores the total number of perfect seeds to breed.
local blockNameBorderRight = "minecraft:lapis_block" -- The name of the block on the right side of the setup.
local blockNameBorderLeft = "minecraft:emerald_block" -- The name of the block on the left side of the setup.
local blockNameBorderFront = "minecraft:wool" -- The name of the block on the forward side of the setup.
local blockNameBorderBack = "minecraft:stone" -- the name of the block on the back side of the setup.
local blockNameSeedAnalyzer = "AgriCraft:peripheral" -- The name of the Seed Analyzer
local itemNameCropSticks = "AgriCraft:cropsItem" -- The name of the crop sticks
local itemNameFuel = { "minecraft:coal", "Mekanism:OtherDust" } -- The name of the fuel the turtle will be using (Can only accept 1 type of fuel.)
local itemNameBoneMeal = "minecraft:dye" -- The name of bonemeal. (really, the fertilizer, if the turtle can use it... I'm just only familiar with bonemeal...) Note: This is odd, because the turtle detect's the name as "minecraft:dye:"...
local itemMetaDataBoneMeal = 15 -- This is the metadata value associated with bonemeal. This is necessary because bone meal registers as dye, so I use metadata to differentiate between bonemeal and other dyes.
local frontCompassDirection = "SOUTH" -- The direction of the front of the workspace. Valid Values are: "SOUTH", "NORTH", "EAST", "WEST".
local useBoneMealOnCenter = false -- Whether to use bone meal on center cross crop.

--------------------------------------------------------------------------------------------------
-- Variables
--------------------------------------------------------------------------------------------------
local seed1 = {X = 1, Y = 1, Z = 1, Fitness = nil} -- Stores the Left seed or "parent"
local seed2 = {X = 1, Y = 1, Z = 1, Fitness = nil} -- Stores the Right seed or "parent"
local generation = 1 -- Stores the number of generations it took to get to our current set of parents.
local leftSeedName = "" -- Stores the name of the seed type we are currently breeding.
local rightSeedName = "" -- Stores the name of the right seed type we are currently breeding.
local childSeedName = "" -- Stores the name of the child seed type we are currently breeding.
local perfectFitnessValue = nil -- Stores perfect Fitness value that is attainable. calulated in post-initialization.
local currentNumberOfPerfectSeedsBred = 0 -- Stores the number of seeds we have bred so far in our current work.
local xPosition = 1 -- 1 = far left, 2 = 2 in, 3 = 3 middle, 4 = 4 in, 5 = far right
local zPosition = 1 -- 1 = far back, 2 = 2 in, 3 = 2 in, 4 = far front
local cropStickPosition = nil -- Stores the position of crop sticks in the inventory. If nil, we need to scan for them.
local boneMealPosition = nil -- Stores the position of bonemeal in inventory. If nil, we need to scan for them.
local loadedData = false -- True if we have loaded data and are resuming our old state, false if not.
local hasFailedOnRetrievingBoneMealLastTime = false -- If this is true, we won't bother trying to go stock up on boneMeal unless we're forced to.

--------------------------------------------------------------------------------------------------
-- Function Definitions
--------------------------------------------------------------------------------------------------

-- Provided a number array, returns the minimum value in the array.
--      Inputs:
--          int[] numArray : The number array / table to retrieve the minimum value of.
--      Outputs:
--          int minVal     : The value of the minimum value within the provided array.
local GetMinValueFromNumberArray = nil

-- Calculates the fitness of a provided seed.
-- Note: I tested this fitness value with an algorithm that predicts a potential offspring of the parent-seeds,
-- And determined it to be the best of 5 other algorithms, with an average Total Generation count of 72.29.
-- This calculation was based on a breeding algorithm which averages the X,Y, and Z scores of two parent seeds to produce
--   An offspring, with a 40% chance to increment each individual stat of the seed.
--   (10/10/10 + 1/1/1 = 5/5/5 with a 40% chance of Any individual stat being a 6 instead.)
--      Inputs:
--          Table { int X, int Y, int Z, int Fitness } : The table representing a singular seed.
--      Outputs:
--          int fitness : The fitness for the seed; 4 is the worst possible, 40 is the best possible.
local GetSeedFitness = nil

-- Returns the index of the item in the inventory by the name provided. Returns nil if it can't be found.
-- Note: If you are searching for a nil name, will return the first nil position.
--      Inputs:
--          string name : The name of the seed to search for. Performs a string.match, so partial names are counted.
--          bool caseInsensitive : Whether to perform the search with a case-sensitive or case-insensitive search.
--      Outputs:
--          int inventoryLocation : The inventory location of the item, or nil if it doesn't exist in the inventory.
local ScanForItemInInventoryByName = nil

-- Robustly moves the turtle foward, retrying until success.
--      Inputs:
--          int spaces : the # of spaces to robustly move forward.
local RobustForward = nil

-- Robustly moves the turtle backward, retrying until success.
--      Inputs:
--          int spaces : the # of spaces to robustly move forward.
local RobustBackward = nil

-- Robustly moves the turtle foward, retrying until success. Stops once there's non-air in front of the turtle.
--      Inputs:
--          int spaces : the # of spaces to robustly move forward.
local RobustForwardUntilWall = nil

-- Digs down, and presents error message if failure.
local RobustDigDown = nil

-- Purges the inventory of items deemed unecessary (seeds and such)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local PurgeInventoryOfExtraneousItems = nil

-- Tries to reset the Turtle Bot to the center (top level, middle horizontally) position.
-- Attempts this based off of various Blocks (bottom / top blocks)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local ResetLocationToCenter = nil

-- Send the turtle to the specified location.
--      xPos : 1 = far left, 2 = 1 in, 3 = middle, 4 = 3 in, 5 = far right
--      zPos : 1 = far back, 2 = 1 forward, 3 = 2 forward, 4 = far front
--      Inputs:
--          int xPos : The X-position to travel to.
--          int yPos : The Y-position to travel to.
--      Outputs:
--          N/A
local TravelToPosition = nil

-- Throws an item away at the index provided (1 - 16 inclusive)
--      Inputs:
--          int index : The index of the stack to throw away.
--      Outputs:
--          N/A
local ThrowStackAway = nil

-- Equips Crop Sticks in the inventory.
-- If we are out, we will pick them up from the crop stick input station, and then return to our original location.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local EquipCropSticks = nil

-- Equips bonemeal
--      Inputs:
--          bool allowRefill : True if you want to allow the turtle to refill if it's out, false if you don't.
--      Outputs:
--          N/A
local EquipBoneMeal = nil

-- If the turtle is below 10% fuel, it needs to go to the chest to refuel.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local HandleFuel = nil

-- Stores the item in the noted index at the storage location.
--      Inputs:
--          int index : The index of the stack to save.
--      Outputs:
--          N/A
local SaveStack = nil

-- Create a redstone impulse at .9 seconds on the bottom of the turtle.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local redstoneImpulseOnBottom = nil

-- Sucks up a new seed.
--      Inputs:
--          int numOfSeedsToSuckUp : The number of seeds to suck up.
--      Outputs:
--          boolean true if it sucked up 2 seeds, 1 if it sucked up 1 seed.
local SuckUpNewSeed = nil

-- Plant seed on the left side.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local PlantSeedOnLeft = nil

-- Plant seed on right side.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local PlantSeedOnRight = nil

-- Employs the Computer Controlled Seed Analyzer at the current location to
-- Analyze the current seed, and return a table for the seed's properties.
--      Inputs:
--          N/A
--      Outputs:
--          Table { int X, int Y, int Z, int Fitness }
local AnalyzeSeedAtCurrentLocation = nil

-- If it is determined that the state of the board no longer matches what we expect,
-- let's reset our save data.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local ResetSaveData = nil

-- Prepares for planting, if this station isn't already prepared.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local PrepareForPlanting = nil

-- Has the turtle wait until it can detect that an offspring has been produced.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local WaitForOffspring = nil

-- Function to eliminate parent 1, and replace with the current offspring.
--      Inputs:
--          Table offspring { int X, int Y, int Z, int Fitness }
--      Outputs:
--          N/A
local PlantOffSpringOnSeed1 = nil

-- Function to eliminate parent 2, and replace with the current offspring.
--      Inputs:
--          Table offspring { int X, int Y, int Z, int Fitness }
--      Outputs:
--          N/A
local PlantOffSpringOnSeed2 = nil

-- Function to reject our current offspring (Probably throw it away in a trash can or something...)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local RejectOffspring = nil

-- Function to save our offspring (Probably put into a chest or something...)
-- Call this if the offspring, as well as both parents, are 10/10/10 seeds.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local SaveOffspring = nil

-- Function to analyze the offspring seed, and determine if it should replace either parent or be rejected.
-- At this point, the seed has already been harvested/analyzed,
-- and we just need to determine whether we reject it, or replace one of our parents with it.
--      Inputs:
--          Table offspring { int X, int Y, int Z, int Fitness }
--      Outputs:
--          N/A
local HarvestedOffspring = nil

-- Function to harvest the current offspring.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local HarvestOffspring = nil

-- Function to clean up after the turtle has finished.
-- (Basically just reinitializes the data.)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local CleanUp = nil

-- Loads pertinent Data.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local Load = nil

-- Saves the pertinent Data.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local Save = nil

-- Main program entry point.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
local MainExecutionLoop = nil

--------------------------------------------------------------------------------------------------
-- Functions
--------------------------------------------------------------------------------------------------

-- Provided a number array, returns the minimum value in the array.
--      Inputs:
--          int[] numArray : The number array / table to retrieve the minimum value of.
--      Outputs:
--          int minVal     : The value of the minimum value within the provided array.
GetMinValueFromNumberArray =
function(array)
    local min = 999999

    for i = 1, #array, 1 do
        if array[i] < min then
            min = array[i]
        end
    end

    return min
end

-- Calculates the fitness of a provided seed.
-- Note: I tested this fitness value with an algorithm that predicts a potential offspring of the parent-seeds,
-- And determined it to be the best of 5 other algorithms, with an average Total Generation count of 72.29.
-- This calculation was based on a breeding algorithm which averages the X,Y, and Z scores of two parent seeds to produce
--   An offspring, with a 40% chance to increment each individual stat of the seed.
--   (10/10/10 + 1/1/1 = 5/5/5 with a 40% chance of Any individual stat being a 6 instead.)
--      Inputs:
--          Table{ int X, int Y, int Z, int Fitness } : The table representing a singular seed.
--      Outputs:
--          int fitness : The fitness for the seed; 4 is the worst possible, 40 is the best possible.
GetSeedFitness =
function(inputSeed)
    local fitness = inputSeed["X"] + inputSeed["Y"] + inputSeed["Z"]
        + GetMinValueFromNumberArray({inputSeed["X"], inputSeed["Y"], inputSeed["Z"]})

    inputSeed["Fitness"] = fitness
    return fitness
end

-- Returns the index of the item in the inventory by the name provided. Returns nil if it can't be found.
-- Note: If you are searching for a nil name, will return the first nil position.
--      Inputs:
--          string name : The name of the seed to search for. Performs a string.match, so partial names are counted.
--          bool caseInsensitive : Whether to perform the search with a case-sensitive or case-insensitive search.
--      Outputs:
--          int inventoryLocation : The inventory location of the item, or nil if it doesn't exist in the inventory.
ScanForItemInInventoryByName =
function(name, caseInsensitive)
    for i = 1, 16, 1 do
        local item = turtle.getItemDetail(i)

        if item then
            local itemName = item.name

            if caseInsensitive then
                itemName = string.lower(itemName)
                name = string.lower(name)
            end

            if name and string.match(itemName, name) and (name ~= itemNameBoneMeal or (name == itemNameBoneMeal and item.damage == itemMetaDataBoneMeal)) then
                return i
            end
        end

        if item == nil and name == nil then
            return i
        end
    end

    return nil
end

-- Robustly moves the turtle foward, retrying until success.
--      Inputs:
--          int spaces : the # of spaces to robustly move forward.
RobustForward =
function(spots)
  for i = 1, spots do
    local success = false
    while not success do
      success = turtle.forward()
    end
  end
end

-- Robustly moves the turtle backward, retrying until success.
--      Inputs:
--          int spaces : the # of spaces to robustly move forward.
RobustBackward =
function(spots)
  for i = 1, spots do
    local success = false
    while not success do
      success = turtle.back()
    end
  end
end

-- Robustly moves the turtle foward, retrying until success. Stops once there's non-air in front of the turtle.
--      Inputs:
--          int spaces : the # of spaces to robustly move forward.
RobustForwardUntilWall =
function(spots)
  for i = 1, spots do
    local success = false
    while not success and not turtle.detect() do
      success = turtle.forward()
    end
  end
end

RobustDigDown =
function()
  local dugSuccessfully = turtle.digDown()
  if dugSuccessfully == false then
    local oldColor = term.getTextColor()
    term.setTextColor(colors.red)
    print("Error - Failed to dig downwards on harvesting offspring! Sleeping 10 seconds to help indicate error. Did you not equip a pickaxe?")
    term.setTextColor(oldColor)
    os.sleep(10)
  end
end


-- Purges the inventory of items deemed unecessary (seeds and such)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
PurgeInventoryOfExtraneousItems =
function()
    local archivedXPos = xPosition
    local archivedZPos = zPosition

    for i = 1, 16 do
        local item = turtle.getItemDetail(i)

        if item then
            if item.name == itemNameCropSticks then
            elseif item.name == itemNameBoneMeal and item.damage == itemMetaDataBoneMeal then
            else
                TravelToPosition(5, 2)
                ThrowStackAway(i)
            end
        end
    end

    TravelToPosition(archivedXPos, archivedZPos)
end

-- Tries to reset the Turtle Bot to the center (top level, middle horizontally) position.
-- Attempts this based off of various Blocks (bottom / top blocks)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
ResetLocationToCenter =
function()
    print("Resetting Location To Center")

    -- Move forward 4 times to guarantee we are facing a wall of the border.
    RobustForwardUntilWall(4)

    local success, item = turtle.inspect()
    if item.name == blockNameBorderRight then -- We are on the far right side facing the border.
        -- Turn right, head all the way to the back, and then turn right, recenter, turn right.
        print("Resetting location - At Right Border!")
        turtle.turnRight()
        RobustForwardUntilWall(3)
        turtle.turnRight()
        RobustForwardUntilWall(2)
        turtle.turnRight()
        xPosition = 3
        zPosition = 1
    elseif item.name == blockNameBorderFront then -- We are at far front side facing the border
        -- Turn right, head all the way to the right, and then go back, back, left, back, back, back, back
        print("Resetting location - At Front Border!")
        turtle.turnRight()
        RobustForwardUntilWall(4)
        RobustBackward(2)
        turtle.turnLeft()
        RobustBackward(3)
        xPosition = 3
        yPosition = 1
    elseif item.name == blockNameBorderLeft then -- We are at far left side facing the border
        -- Turn Left, go all the way forward (towards the back), turn right, go back 2
        print("Resetting location - At Left Border!")
        turtle.turnLeft()
        RobustForwardUntilWall(3)
        turtle.turnRight()
        RobustBackward(2)
        turtle.turnRight()
        xPosition = 3
        yPosition = 1
    elseif item.name == blockNameBorderBack then -- We are that the far back facing the border
        -- Turn Left, goo all the way to the end, go back twice, turn right
        print("Resetting location - At Back Border!")
        turtle.turnRight()
        RobustForwardUntilWall(4)
        RobustBackward(2)
        turtle.turnRight()
        xPosition = 3
        yPosition = 1
    else
        print("\r\n\r\nUnable to find position based off of block in front by name of: "..item.name.."\r\n\r\n")
    end
end

-- Send the turtle to the specified location.
--      xPos : 1 = far left, 2 = 1 in, 3 = middle, 4 = 3 in, 5 = far right
--      zPos : 1 = far back, 2 = 1 forward, 3 = 2 forward, 4 = far front
--      Inputs:
--          int xPos : The X-position to travel to.
--          int yPos : The Y-position to travel to.
--      Outputs:
--          N/A
TravelToPosition =
function(xPos, zPos)
    -- Manipulate xPos and zPos to guarantee we end up somewhere in the field (even if not where expected)
    if xPos < 0 then xPos = -xPos end
    if zPos < 0 then zPos = -zPos end
    xPos = xPos % 6
    zPos = zPos % 5

    if xPos ~= xPosition then
        if xPos < xPosition then -- We need to move to the left.
            local difference = xPosition - xPos
            turtle.turnLeft()

            RobustForward(difference)
            --for i = 1, difference, 1 do
            --    turtle.forward()
            --end

            turtle.turnRight()
        else -- We need to move to the right
            local difference = xPos - xPosition
            turtle.turnRight()

            RobustForward(difference)
            --for i = 1, difference, 1 do
            --    turtle.forward()
            --end

            turtle.turnLeft()
        end

        xPosition = xPos
    end

    if zPos ~= zPosition then
        if zPos < zPosition then -- We need to move backward
            local difference = zPosition - zPos

            RobustBackward(difference)
            --for i = 1, difference, 1 do
            --    turtle.back()
            --end
        else
            local difference = zPos - zPosition

            RobustForward(difference)
            --for i = 1, difference, 1 do
            --    turtle.forward()
            --end
        end

        zPosition = zPos
    end
end

-- Throws an item away at the index provided (1 - 16 inclusive)
--      Inputs:
--          int index : The index of the stack to throw away.
--      Outputs:
--          N/A
ThrowStackAway =
function(index)
    if index ~= nil and turtle.getItemDetail(index) ~= nil then
        local archivedX = xPosition
        local archivedZ = zPosition
        TravelToPosition(5, 2)
        turtle.select(index)
        turtle.dropDown()
        TravelToPosition(archivedX, archivedZ)
    end
end

-- Equips Crop Sticks in the inventory.
-- If we are out, we will pick them up from the crop stick input station, and then return to our original location.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
EquipCropSticks =
function()
    if cropStickPosition == nil then
        cropStickPosition = ScanForItemInInventoryByName(itemNameCropSticks)
    end

    local cropSticks

    if cropStickPosition ~= nil then
        cropSticks = turtle.getItemDetail(cropStickPosition)
        turtle.select(cropStickPosition)
    end

    if cropSticks == nil then
        -- We need to refill on cropSticks. Archive our current location.
        local archivedX = xPosition
        local archivedZ = zPosition

        TravelToPosition(2, 1) -- Travel to position in order to pick up crop sticks.
        turtle.suckDown()
        TravelToPosition(archivedX, archivedZ)
        cropStickPosition = ScanForItemInInventoryByName(itemNameCropSticks)

        if cropStickPosition ~= nil then
            turtle.select(cropStickPosition)
        end
    end
end

-- Equips bonemeal
--      Inputs:
--          bool allowRefill : True if you want to allow the turtle to refill if it's out, false if you don't.
--      Outputs:
--          N/A
EquipBoneMeal =
function(allowRefill)
    if allowRefill == nil then allowRefill = false end

     if boneMealPosition == nil then
        boneMealPosition = ScanForItemInInventoryByName(itemNameBoneMeal)
    end

    local boneMeal

    if boneMealPosition ~= nil then
        boneMeal = turtle.getItemDetail(boneMealPosition)
        turtle.select(boneMealPosition)

        if not boneMeal then
            boneMealPosition = nil
        end
    end

    if boneMeal == nil and (hasFailedOnRetrievingBoneMealLastTime == true and allowRefill == true or hasFailedOnRetrievingBoneMealLastTime == false) then
        -- We need to refill on boneMeal. Archive our current location.
        local archivedX = xPosition
        local archivedZ = zPosition

        TravelToPosition(1, 1) -- Travel to position in order to pick up boneMeal.
        turtle.suckUp()
        TravelToPosition(archivedX, archivedZ)
        boneMealPosition = ScanForItemInInventoryByName(itemNameBoneMeal)

        if boneMealPosition ~= nil then
            turtle.select(boneMealPosition)
            hasFailedOnRetrievingBoneMealLastTime = false
        else
            hasFailedOnRetrievingBoneMealLastTime = true
        end
    end
end

-- If the turtle is below 10% fuel, it needs to go to the chest to refuel.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
HandleFuel =
function()
  print("Handling Fueling")

  if turtle.getFuelLevel() / turtle.getFuelLimit() < .1 then
    if turtle.getFuelLevel() > 0 then
      print("Turtle is low on fuel - Refueling...")
      print(""..turtle.getFuelLevel().." / "..turtle.getFuelLimit().."   ("..100 * (turtle.getFuelLevel()/turtle.getFuelLimit()).."%")
      local archivedX = xPosition
      local archivedZ = zPosition
      TravelToPosition(1, 2) -- Travel to position in order to pick up fuel.
      turtle.suckDown() -- Suck up 3 times
      turtle.suckDown()
      turtle.suckDown()
      TravelToPosition(archivedX, archivedZ) -- Return to original location.
    end

    for i,currentItemName in pairs(itemNameFuel) do
      print("Attempting to fuel off of index "..i)
      print("Attempting to fuel off of "..currentItemName)
      local fuelPosition = ScanForItemInInventoryByName(currentItemName)
      while fuelPosition ~= nil do
        print("Selecting item at index: "..fuelPosition)
        turtle.select(fuelPosition)
        turtle.refuel()
        fuelPosition = ScanForItemInInventoryByName(currentItemName)
      end
    end
  else
    print("No need to fuel")
  end

    print("Fueling Handled")
end

-- Stores the item in the noted index at the storage location.
--      Inputs:
--          int index : The index of the stack to save.
--      Outputs:
--          N/A
SaveStack =
function(index)
    if index ~= nil and turtle.getItemDetail(index) ~= nil then
        local archivedX = xPosition
        local archivedZ = zPosition
        TravelToPosition(4, 1)
        turtle.select(index)
        turtle.dropDown()
        TravelToPosition(archivedX, archivedZ)
    end
end

-- Create a redstone impulse at .9 seconds on the bottom of the turtle.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
redstoneImpulseOnBottom =
function()
    redstone.setOutput("bottom", true)
    os.sleep(.9)
    redstone.setOutput("bottom", false)
end

-- Sucks up a new seed.
--      Inputs:
--          int numOfSeedsToSuckUp : The number of seeds to suck up.
--      Outputs:
--          boolean true if it sucked up 2 seeds, 1 if it sucked up 1 seed.
SuckUpNewSeed =
function(numOfSeedsToSuckUp)
    TravelToPosition(5, 1) -- Travel to the seed input chest
    turtle.select(ScanForItemInInventoryByName(nil)) -- Select the first empty position.
    local suckSuccess = turtle.suckUp(numOfSeedsToSuckUp) -- suck at most numOfSeedsToSuckUp items from the chest.

    while suckSuccess == false do
        print("Waiting for "..textutils.serialize(numOfSeedsToSuckUp).." input seeds. Place a seed in the chest above the turtle.")
        os.sleep(3)
        suckSuccess = turtle.suckUp(numOfSeedsToSuckUp)
    end

    return turtle.getItemCount() > 1 -- Evaluate whether we sucked up 1 or more seeds, and return true/false accordingly.
end

-- Plant seed on the left side.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
PlantSeedOnLeft =
function()
    TravelToPosition(1, 3)
    turtle.dropDown(1)
    redstoneImpulseOnBottom()
    EquipBoneMeal()
    -- Have turtle place bone meal below itself 5 times.
    if boneMealPosition ~= nil then
        TravelToPosition(2, 3)
        for i = 0, 5 do
            if boneMealPosition ~= nil then turtle.placeDown() end
            EquipBoneMeal()
        end
    end
end

-- Plant seed on right side.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
PlantSeedOnRight =
function()
    TravelToPosition(5, 3)
    turtle.dropDown(1)
    redstoneImpulseOnBottom()
    EquipBoneMeal()
    -- Have turtle place bone meal below itself 5 times.
    if boneMealPosition ~= nil then
        TravelToPosition(4, 3)
        for i = 0, 5 do
            if boneMealPosition ~= nil then turtle.placeDown() end
            EquipBoneMeal()
        end
    end
 end

-- Employs the Computer Controlled Seed Analyzer at the current location to
-- Analyze the current seed, and return a table for the seed's properties.
--      Inputs:
--          N/A
--      Outputs:
--          Table { int X, int Y, int Z, int Fitness }
AnalyzeSeedAtCurrentLocation =
function()
    local analyzer = peripheral.wrap("bottom")
    turtle.dropDown(1)
    analyzer.analyze()
    while not analyzer.isAnalyzed() do
        os.sleep(.5)
    end

    local x, y, z = analyzer.getSpecimenStats()
    local retData = {X = x, Y = y, Z = z, Fitness = nil }
    retData["Fitness"] = GetSeedFitness(retData)

    turtle.suckDown() -- Pick the seed back up

    return retData
end

-- If it is determined that the state of the board no longer matches what we expect,
-- let's reset our save data.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
ResetSaveData =
function()
    if loadedData == true then
        generation = 2
        currentNumberOfPerfectSeedsBred = 0
        seed1 = {X = 1, Y = 1, Z = 1, Fitness = nil}
        seed2 = {X = 1, Y = 1, Z = 1, Fitness = nil}
        leftSeedName = ""
        rightSeedName = ""
        childSeedName = ""
        loadedData = false
    end
end

-- Prepares for planting, if this station isn't already prepared.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
PrepareForPlanting =
function()
    redstone.setOutput("bottom", false) -- deactivate redstone output in case it's been left on...
    HandleFuel()
    EquipCropSticks()
    TravelToPosition(2, 3)

    local success, item = turtle.inspectDown()
    if not success then
        turtle.placeDown()
    end

    TravelToPosition(3, 3)

    local success, item = turtle.inspectDown()
    if not success then
        EquipCropSticks()
        turtle.placeDown()
        EquipCropSticks() -- Call equipCropSticks a 2nd time just in case we run out before.
        -- Since turtles cannot actually place the double-crop sticks,
        -- I need to have this turtle take advantage of the autonomous activator I placed a while ago.
        RobustForward(1)
        turtle.dropDown(1)
        redstoneImpulseOnBottom()
        RobustBackward(1)
    end

    TravelToPosition(4, 3)

    local success, item = turtle.inspectDown()
    if not success then
        EquipCropSticks()
        turtle.placeDown()
    end

    -- At this point, we will have crop sticks properly placed on the ground. Let's check for the existance of seeds on the left/middle/right
    TravelToPosition(2, 2)
    local analyzer = peripheral.wrap("bottom")
    local leftHasPlant = analyzer.hasPlant(frontCompassDirection)

    TravelToPosition(3, 2)
    local analyzer = peripheral.wrap("bottom")
    local middleHasPlant = analyzer.hasPlant(frontCompassDirection)

    TravelToPosition(4, 2)
    local analyzer = peripheral.wrap("bottom")
    local rightHasPlant = analyzer.hasPlant(frontCompassDirection)

    print("Left  Has Plant: "..textutils.serialise(leftHasPlant))
    print("Mid   Has Plant: "..textutils.serialise(middleHasPlant))
    print("Right Has Plant: "..textutils.serialise(rightHasPlant))

    if not leftHasPlant then
        SuckUpNewSeed(1)
        if leftSeedName ~= turtle.getItemDetail().name then
            ResetSaveData()
        end
        leftSeedName = turtle.getItemDetail().name
        print("Left Seed Name: "..textutils.serialise(leftSeedName))
        TravelToPosition(2, 2)
        seed1 = AnalyzeSeedAtCurrentLocation()
        PlantSeedOnLeft()
    end

    if not rightHasPlant then
        SuckUpNewSeed(1)
        if rightSeedName ~= turtle.getItemDetail().name then
            ResetSaveData()
        end
        rightSeedName = turtle.getItemDetail().name
        print("Right Seed Name: "..textutils.serialise(rightSeedName))
        TravelToPosition(4, 2)
        seed2 = AnalyzeSeedAtCurrentLocation()
        PlantSeedOnRight()
    end
end

-- Has the turtle wait until it can detect that an offspring has been produced.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
WaitForOffspring =
function()
    TravelToPosition(3, 2) -- Travel to analyzer that detects if a plant is there.
    local analyzer = peripheral.wrap("bottom")
    local offspringFound = analyzer.hasPlant(frontCompassDirection)

    while not offspringFound do
        os.sleep(5)
        offspringFound = analyzer.hasPlant(frontCompassDirection)

        if not offspringFound then -- If we can't find the offspring, let's confirm it's possible, by checking if it's a cross crop. If it isn't, we need to fix it.
            local isCrossCrop = analyzer.isCrossCrop(frontCompassDirection)
            if not isCrossCrop then
                print("Crop Sticks missing at offspring location. Correcting.")
                TravelToPosition(3, 4)
                EquipCropSticks()
                turtle.dropDown(1)
                redstoneImpulseOnBottom()
                TravelToPosition(3, 2)
            end

            if useBoneMealOnMiddlePosition then
                EquipBoneMeal()
                -- Have turtle place bone meal below itself 10 times.
                if boneMealPosition ~= nil then
                    TravelToPosition(3, 3)
                    for i = 1, 10, 1 do
                        if boneMealPosition ~= nil then turtle.placeDown() end
                        EquipBoneMeal()
                    end
                    TravelToPosition(3, 2)
                end
            end
        end
    end

    print("Found Offspring!")
end

-- Function to eliminate parent 1, and replace with the current offspring.
--      Inputs:
--          Table offspring { int X, int Y, int Z, int Fitness }
--      Outputs:
--          N/A
PlantOffSpringOnSeed1 =
function(offspring)
    local index = ScanForItemInInventoryByName("seed", true)
    seed1 = offspring

    TravelToPosition(2, 3)

    EquipCropSticks()
    if turtle.getItemCount() == 64 then turtle.drop(1) end -- We have 64 crop sticks, so drop 1 to avoid making 2 stacks.
    RobustDigDown()
    turtle.placeDown()
    turtle.select(index)
    PlantSeedOnLeft()
    PurgeInventoryOfExtraneousItems()
end

-- Function to eliminate parent 2, and replace with the current offspring.
--      Inputs:
--          Table offspring { int X, int Y, int Z, int Fitness }
--      Outputs:
--          N/A
PlantOffSpringOnSeed2 =
function(offspring)
    local index = ScanForItemInInventoryByName("seed", true)
    seed2 = offspring

    TravelToPosition(4, 3)

    EquipCropSticks()
    if turtle.getItemCount() == 64 then turtle.drop(1) end -- We have 64 crop sticks, so drop 1 to avoid making 2 stacks.
    RobustDigDown()
    turtle.placeDown()
    turtle.select(index)
    PlantSeedOnRight()
    PurgeInventoryOfExtraneousItems()
end

-- Function to reject our current offspring (Probably throw it away in a trash can or something...)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
RejectOffspring =
function()
    local index = ScanForItemInInventoryByName("seed", true)
    ThrowStackAway(index)
end

-- Function to save our offspring (Probably put into a chest or something...)
-- Call this if the offspring, as well as both parents, are 10/10/10 seeds.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
SaveOffspring =
function()
    currentNumberOfPerfectSeedsBred = currentNumberOfPerfectSeedsBred + 1
    local index = ScanForItemInInventoryByName("seed", true)
    SaveStack(index)
end

-- Function to analyze the offspring seed, and determine if it should replace either parent or be rejected.
-- At this point, the seed has already been harvested/analyzed,
-- and we just need to determine whether we reject it, or replace one of our parents with it.
--      Inputs:
--          Table offspring { int X, int Y, int Z, int Fitness }
--      Outputs:
--          N/A
HarvestedOffspring =
function(offspring)
    print("HarvestedOffspring -> Get Fitness on Seed 1.")
    GetSeedFitness(seed1)
    print("HarvestedOffspring -> Get Fitness on Seed 2.")
    GetSeedFitness(seed2)
    print("HarvestedOffspring -> Get Fitness on Seed 3.")
    GetSeedFitness(offspring)

    -- If we have perfect genetics in both parents and our offspring, save our offspring.
    if seed1["Fitness"] == perfectFitnessValue and seed2["Fitness"] == perfectFitnessValue and offspring["Fitness"] == perfectFitnessValue then
        print("We have seeds with perfect genetics! Saving Seed.")
        SaveOffspring()
        return
    end

    -- This means that we have found ourselves a seed which needs to replace either of it's parents.
    if offspring["Fitness"] > seed1["Fitness"] or offspring["Fitness"] > seed2["Fitness"] then
        if seed1["Fitness"] <= seed2["Fitness"] then
            -- Seed 1 is worse than or equal to Seed 2, so let's replace Seed 1.
            print("Replacing Seed 1. Fitness: "..seed1["Fitness"].." -> "..offspring["Fitness"])
            PlantOffSpringOnSeed1(offspring)
        else
            -- Seed 2 is worse than seed 1, so let's replace Seed 2.
            print("Replacing Seed 2. Fitness: "..seed2["Fitness"].." -> "..offspring["Fitness"])
            PlantOffSpringOnSeed2(offspring)
        end

        generation = generation + 1
        print("\tGeneration: "..generation)
        return
    end

    if offspring["Fitness"] <= seed1["Fitness"] or offspring["Fitness"] <= seed2["Fitness"] then
        -- This means we have a bad seed, so let's reject it.
        generation = generation + 1
        print("Rejected Seed.\r\n\tGeneration: "..generation)
        RejectOffspring()
    end
end

-- Function to harvest the current offspring.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
HarvestOffspring =
function()
    EquipCropSticks()
    if turtle.getItemCount() == 64 then turtle.drop(1) end -- Drop 1 crop stick since we need room for 1 when we harvest this seed. This is to avoid accidentally having 2 stacks of crop sticks.
    RobustForward(1)
    RobustDigDown()
    turtle.placeDown()
    RobustForward(1)
    turtle.dropDown(1)
    redstoneImpulseOnBottom()
    RobustBackward(2)
end

-- Function to clean up after the turtle has finished.
-- (Basically just reinitializes the data.)
--      Inputs:
--          N/A
--      Outputs:
--          N/A
CleanUp =
function()
    currentNumberOfPerfectSeedsBred = 0
    seed1 = {X = 1, Y = 1, Z = 1, Fitness = nil} -- Stores the Left seed or "parent"
    seed2 = {X = 1, Y = 1, Z = 1, Fitness = nil} -- Stores the Right seed or "parent"
    generation = 1 -- Stores the number of generations it took to get to our current set of parents.
    leftSeedName = "" -- Stores the name of the seed type we are currently breeding.
    rightSeedName = "" -- Stores the name of the right seed type we are currently breeding.
    childSeedName = "" -- Stores the name of the child seed type we are currently breeding.
    EquipCropSticks() -- Equip Crop Sticks before we clean up after ourselves, to try to prevent accidentally creating duplicate stacks. This is because digging items puts them into the turtle's inventory at the slot that's currently selected.
    TravelToPosition(2, 3)
    RobustDigDown()
    TravelToPosition(3, 3)
    RobustDigDown()
    TravelToPosition(4, 3)
    RobustDigDown()
    PurgeInventoryOfExtraneousItems()
end

-- Loads pertinent Data.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
Load =
function()
    if not fs.exists("MatthewC/Agricraft/Data/SeedBreederData") then
      Save()
      return
    end

    local h = fs.open("MatthewC/Agricraft/Data/SeedBreederData", "r") -- "r" is read only
    local data = h.readAll()

    if data ~= nil then
        local parsedData = textutils.unserialize(data)
        currentNumberOfPerfectSeedsBred = parsedData["CurrentNumberOfPerfectSeedsBred"]
        seed1 = parsedData["Seed1"]
        seed2 = parsedData["Seed2"]
        generation = parsedData["Generation"]
        leftSeedName = parsedData["LeftSeedName"]
        rightSeedName = parsedData["RightSeedName"]
        childSeedName = parsedData["ChildSeedName"]

        loadedData = true
    else
        print("Attempted to load --- Data was nil")
    end

    -- No need to call close on h if it's read mode.
    h = fs.open("MatthewC/Agricraft/Data/SeedBreederSettings", "r") -- "r" is read only
    data = h.readAll()

    if data ~= nil then
        print("Loaded:\r\n"..data)
        local parsedData = textutils.unserialize(data)

        if parsedData == nil then
          print("Detected parsedData was nil; was the settings file corrupted?")
        end

        for i,v in pairs(parsedData) do
          if i and v then
            if type(v) == "table" then
              print("Index: "..i.."; Value: "..textutils.serialize(v))
            else
              print("Index: "..i.."; Value: "..v)
            end
          end
        end

        if parsedData["NumberOfPerfectSeedsToBreed"] then
          numberOfPerfectSeedsToBreed = parsedData["NumberOfPerfectSeedsToBreed"]
        end

        if parsedData["BlockNameBorderRight"] then blockNameBorderRight = parsedData["BlockNameBorderRight"] end
        if parsedData["BlockNameBorderLeft"] then blockNameBorderLeft = parsedData["BlockNameBorderLeft"] end
        if parsedData["BlockNameBorderFront"] then blockNameBorderFront = parsedData["BlockNameBorderFront"] end
        if parsedData["BlockNameBorderBack"] then blockNameBorderBack = parsedData["BlockNameBorderBack"] end
        if parsedData["BlockNameSeedAnalyzer"] then blockNameSeedAnalyzer = parsedData["BlockNameSeedAnalyzer"] end
        if parsedData["ItemNameCropSticks"] then itemNameCropSticks = parsedData["ItemNameCropSticks"] end
        if parsedData["ItemNameFuel"] then itemNameFuel = parsedData["ItemNameFuel"] end
        if type(itemNameFuel) == "string" then itemNameFuel = { itemNameFuel } end -- Upgrade from singleton to table.
        if parsedData["ItemNameBoneMeal"] then itemNameBoneMeal = parsedData["ItemNameBoneMeal"] end
        if parsedData["ItemMetaDataBoneMeal"] then itemMetaDataBoneMeal = parsedData["ItemMetaDataBoneMeal"] end
        if parsedData["FrontCompassDirection"] then frontCompassDirection = parsedData["FrontCompassDirection"] end
        if parsedData["UseBoneMealOnCenter"] then useBoneMealOnCenter = parsedData["UseBoneMealOnCenter"] end
    end

    Save()
end

-- Saves the pertinent Data.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
Save =
function()
    -- Create appropriate directories as necessary.
    if not fs.exists("MatthewC") then fs.makeDir("MatthewC") end
    if not fs.exists("MatthewC/Agricraft") then fs.makeDir("MatthewC/Agricraft") end
    if not fs.exists("MatthewC/Agricraft/Data") then fs.makeDir("MatthewC/Agricraft/Data") end

    local dataToSave =
    {
        CurrentNumberOfPerfectSeedsBred = currentNumberOfPerfectSeedsBred,
        Seed1 = seed1,
        Seed2 = seed2,
        Generation = generation,
        LeftSeedName = leftSeedName,
        RightSeedName = rightSeedName,
        ChildSeedName = childSeedName
    }

    local writer = fs.open("MatthewC/Agricraft/Data/SeedBreederData", "w") -- "w" is write Mode
    writer.write(textutils.serialise(dataToSave))
    writer.close()

    dataToSave =
    {
        NumberOfPerfectSeedsToBreed = numberOfPerfectSeedsToBreed,
        BlockNameBorderRight = blockNameBorderRight,
        BlockNameBorderLeft = blockNameBorderLeft,
        BlockNameBorderFront = blockNameBorderFront,
        BlockNameBorderBack = blockNameBorderBack,
        BlockNameSeedAnalyzer = blockNameSeedAnalyzer,
        ItemNameCropSticks = itemNameCropSticks,
        ItemNameFuel = itemNameFuel,
        ItemNameBoneMeal = itemNameBoneMeal,
        ItemMetaDataBoneMeal = itemMetaDataBoneMeal,
        FrontCompassDirection = frontCompassDirection,
        UseBoneMealOnCenter = useBoneMealOnCenter
    }

    writer = fs.open("MatthewC/Agricraft/Data/SeedBreederSettings", "w") -- "w" is write Mode
    writer.write(textutils.serialise(dataToSave))
    writer.close()
end

-- Main program entry point.
--      Inputs:
--          N/A
--      Outputs:
--          N/A
MainExecutionLoop =
function()
    Load()

    -- Special case to handle if the turtle was turned on the first time, search for coal in inventory and refuel off it.
    if turtle.getFuelLevel() == 0 then
        print("We are out of fuel. Attempting to refuel.")
        HandleFuel()

        if turtle.getFuelLevel() == 0 then
            print("\r\n\r\n***WARNING!!! NO FUEL DETECTED!!!***")
            print("\r\nPlease put coal or charcoal in my inventory, and restart the program.")
            return
        end
    end

    ResetLocationToCenter()
    while true do
        PurgeInventoryOfExtraneousItems()
        PrepareForPlanting()

        print("Current Number of bred Perfect Seeds: "..textutils.serialize(currentNumberOfPerfectSeedsBred))
        print("Number of perfect seeds to breed: "..textutils.serialize(numberOfPerfectSeedsToBreed))

        while currentNumberOfPerfectSeedsBred < numberOfPerfectSeedsToBreed do
            EquipBoneMeal(true) -- Call equip bonemeal, while allowing for refilling.
            print("Left Seed="..textutils.serialise(seed1))
            print("Right Seed="..textutils.serialise(seed2))
            print("Generation: "..textutils.serialise(generation))
            print("Number of perfect seeds bred: "..textutils.serialise(currentNumberOfPerfectSeedsBred))
            print("Waiting for Offspring")
            WaitForOffspring() -- Wait until we can harvest the offspring.
            print("Harvesting Offspring")
            HarvestOffspring()
            print("Detecting index in inventory that offspring was placed in")
            local offspringIndex = ScanForItemInInventoryByName("seed", true) -- Determine where in the turtle's inventory the seed is at. Note: performs a case-insensitive search.

            if offspringIndex ~= nil then
                TravelToPosition(3, 2) -- Travel above a Seed Analyzer
                turtle.select(offspringIndex) -- select the index that the seed is at.
                print("Analyzing Offspring")
                local offspringData = AnalyzeSeedAtCurrentLocation() -- analyze the seed at the current location.

                if offspringData ~= nil then
                    print("Evaluating offspring")
                    print("offspring="..textutils.serialize(offspringData))
                    HarvestedOffspring(offspringData)
                else
                    print("Anomaly detected: Offspring was nil. Purging Inventory and continuing.")
                    PurgeInventoryOfExtraneousItems()
                end
            end

            os.sleep(.1)
            loadedData = false -- Set our flag for loadedData to false here...
            Save()
        end

        CleanUp()
    end
end



--------------------------------------------------------------------------------------------------
-- Unit Tests
--      Collection of test functions to confirm that this software works properly.
--------------------------------------------------------------------------------------------------

-- Test function to tavel to all possible locations.
-- Pass in true to require user intervention.
function TestTravelToPosition(waitForUserIntevention)
    print("Running Traveling Diagnostics")

    for x = 1, 5, 1 do
        for z = 1, 4, 1 do
            print("Traveling to X="..x..", Z="..z)
            TravelToPosition(x, z)
            if waitForUserInvervention then
                print("Press Any Key to Continue")
                os.pullEvent("key")
            end
        end
    end
end

--ResetLocationToCenter() -- IF ANY TEST METHODS ARE CALLED, THIS MUST BE CALLED FIRST!!!
--TestTravelToPosition()
--ThrowStackAway(15)
--SaveStack(16)
--EquipCropSticks()
--PrepareForPlanting()
--HandleFuel()
--WaitForOffspring()

--local data = ScanForItemInInventoryByName("seed", true)
--print("Data: "..textutils.serialise(data))
--os.sleep(10)

--------------------------------------------------------------------------------------------------
-- Post-Initialization
--      Initializes the rest of the data after our functions have been defined
--------------------------------------------------------------------------------------------------

-- Call GetSeedFitness to initialize the property in seed1 and seed2.
GetSeedFitness(seed1)
GetSeedFitness(seed2)

-- Calculate the perfect Fitness Value attainable.
perfectFitnessValue  = GetSeedFitness({X = 10, Y = 10, Z = 10, Fitness = nil})

--------------------------------------------------------------------------------------------------
-- Execution
--      Kicks off the actual program which needs to be executed.
--------------------------------------------------------------------------------------------------
print("Seed Breeder Initialized ---")
print("Perfect Fitness Allowable: "..perfectFitnessValue)
print("Perfect Seeds to breed: "..numberOfPerfectSeedsToBreed)

print("\r\n\r\nBeginning Main execution Loop: -- Breeding seeds.")
MainExecutionLoop()

print("\r\nProgram Terminated.")
print("Press any key to continue")
os.pullEvent("key")