t12

--ORIENTACIONS: 1 = N, 2 = E, 3 = s, 4 = W
Turtle = {
    IDTurtle = nil,
    IDServer = nil,
    PosInici = nil,
    PosActual = nil,
    Orientacio = 1,
    moventse = false,
    Inicialitzat = false,
    maxCombustible = 100000,
    nivelCombustible = 0,
    percentCombustible = 0,
    modoPanico = false
}

Config = {
    timeout = 25,
    serverName = "ServidorTurtlesVic"

}



function main()
    rednet.open("right")
    Turtle:inicialitzar()
    while true do
    sleep(0)
    if not Turtle.moventse then
        Turtle:checkCombu()
    end

    Turtle:print()
    local testVec = vector.new(753, 76, -3);
    Turtle:MoverseA(testVec)
    Turtle:getGPS()
    end

end


function Turtle:print()

        if self.Inicialitzat then
            term.clear()
            if self.modoPanico then
                print("/!\\ Atencio Mode Panic Actiat /!\\ \n")
                print("La Turtle tornarå83¥A1 a la seva posiciå83¥B3 d'inici. \n")
                print("El sistema quedarå83¥A1 aturat fins que no es completi la accio de respostatge.\n")
            end
            print(
                "Turtle Activa, posicio: " .. self.PosActual.x .. " x, ".. self.PosActual.y .. " y, " .. self.PosActual.z .. " z. Nivell de combustible: " .. self.percentCombustible .. "%\n"
            )
            print()
            print("Orientaciå83¥B3n de la Turtle: "..self.Orientacio)
        end


end

function Turtle:inicialitzar()


    self:getID()
    print("ID de turtle: ".. self.IDTurtle .. " asignada por el servidor: " .. self.IDServer)

    print("Obtenint senyal GPS.....")
    self:getGPS()
    if self.PosActual == "ERROR" then
        return false
    end

    print("Senyal GPS trobada, la posiciå83¥B3 actual å83¥A9s: " .. self.PosActual.x .. " x, ".. self.PosActual.y .. " y, " .. self.PosActual.z .. " z")




    self.Inicialitzat = true




    return true
end

function Turtle:getGPS()
    local timeout = tonumber(Config.timeout)
    local vectorA = vector.new(gps.locate(timeout))
    if not vectorA.x then
        print(" /!\\ Error al intentar aconseguir la posiciå83¥B3 GPS /!\\ ")
        self.PosActual = "ERROR"
    else
        self.PosActual = vectorA
    end
    return true
end

--Consigue la id de cliente y la del servidor para la turtle
function Turtle:getID()
    while ( not(self.IDServer)) do
        rednet.broadcast("GetIDTurtleVic")
        local senderId, message = rednet.receive(Config.timeout)
        if message and string.find(message, "IDNEW") then
            args = {}
            for argument in message:gmatch("%w+") do table.insert(args, argument) end
            self.IDServer = senderId
            self.IDTurtle = args[2]
        end
    end
    return true

end




--Comprovador de combustible y gestor de llenado
function Turtle:checkCombu()
    --Obtenim la capacitat de combustible de la turtle per al comprovador
    local llenando = false
    local slotCombu = self.getSlotCombustible(self)


       --!NOMå83?0°S DISPONIBLE A COMPUTER 1.6 self.maxCombustible = turtle.getFuelLimit()
        self.nivelCombustible = turtle.getFuelLevel()
        self.percentCombustible = (self.nivelCombustible / self.maxCombustible)*100


        if llenando and self.percentCombustible >= 95 then
            llenando = false
            slotCombu = self.getSlotCombustible(self)
        end

        if llenando or self.percentCombustible <= 60 then
            llenando = true
            turtle.select(slotCombu)
            turtle.refuel(1)
        end


end

--Comprueba en que slot tiene combustible y si no tiene se pone en modo på83¥A1nico
function Turtle:getSlotCombustible()
    for i = 1, 16 do
        turtle.select(i)
        if turtle.refuel(0) then
            self.modoPanico = false
            return i
        end
    end

    if Turtle.percentCombustible <= 10 then
      self.modoPanico = true
    else
      self.modoPanico = false
    end
    return 1
end


--Zona Movimiento

function Turtle:MoverseA(posicion)
    if self.modoPanico then
--        posicion = self.PosInici
    end

    local vectorDesp = self.PosActual - posicion

    while not(vectorDesp.x == 0) or not(vectorDesp.z == 0) or not(vectorDesp.y == 0) do
        sleep(0)
        self.moventse = true
       vectorDesp = self.PosActual - posicion
        if not(vectorDesp.x == 0) then
            if vectorDesp.x > 0 then
                Turtle:girar(2)
            else
                Turtle:girar(4)
            end
           -- while not  Turtle.PosActual.x == vectorDesp.x do

            turtle.forward()
            self:getGPS()
            --end

        elseif not(vectorDesp.z == 0) then
            if vectorDesp.z > 0 then
                Turtle:girar(3)
            else
                Turtle:girar(1)
            end
            turtle.forward()
            self:getGPS()
        elseif not(vectorDesp.y == 0) then
            if vectorDesp.y <= 0 then
                turtle.up()
            else
                turtle.down()
            end
            self:getGPS()
        end


    end--End while
    self.moventse= false
    return true
end


function Turtle:girar ( orientacio )
    if orientacio == self.Orientacio then
        return true
    end

    local girs = orientacio - self.Orientacio

   if(girs < 0) then
  girs = 4 + girs
    for i = 1, girs, 1 do
      turtle.turnRight()
     end
   else
      for i=1, girs, 1 do
          turtle.turnLeft()
      end
     end
    self.Orientacio = orientacio
    return true
end

main()