Move2.0

drieD = false

function getRoute(x1,y1,z1,x2,y2,z2,dir,world,ox,oy,oz)
  post = "x1="..x1.."&y1="..y1.."&z1="..z1.."&x2="..x2.."&y2="..y2.."&z2="..z2.."&dir="..dir.."&world="..world
  if(ox ~= nil and oy ~= nil and oz ~= nil) then
    post = post.."&ox="..ox.."&oy="..oy.."&oz="..oz
  end
  if not drieD then
    post = post.."&drieD=false"
  end
  succeed = false
  route = ""
  http.request("http://80.61.60.110/Pathfinding/getRoute.do",post)
  while not succeed do
    event = { os.pullEvent() }
    if event[1] == "http_failure" then
      --http.request("http://80.61.60.110/Pathfinding/getRoute.do",post)
      return "e_The http request failed"
    elseif event[1] == "http_success" then
      response = event[3]
      route = response.readAll()
      response.close()
      succeed = true
    end
  end
  return route
end

function save()
  f = fs.open("pos","w")
  f.writeLine(x)
  f.writeLine(y)
  f.writeLine(z)
  f.writeLine(facing)
  f.close()
end

function move(dir)
  obstacle = false
  if dir == "u" then
    while not turtle.up() and not obstacle do
      if turtle.detectUp() then
        obstacle = true
      else
        os.sleep(0.5)
      end
    end
    if not obstacle then
      y = y + 1
      save()
    end
    return not obstacle
  elseif dir == "d" then
    while not turtle.down() and not obstacle do
      if turtle.detectDown() then
        obstacle = true
      else
        os.sleep(0.5)
      end
    end
    if not obstacle then
      y = y - 1
      save()
    end
    return not obstacle
  else
    dir = tonumber(dir)
    if facing - dir == -3 or facing - dir == 1 then
      turtle.turnLeft()
    elseif facing - dir == -2 or facing - dir == 2 then
      back = true
      if not turtle.back() then
        turtle.turnLeft()
        turtle.turnLeft()
        back = false
      end
    elseif facing - dir == -1 or facing - dir == 3 then
      turtle.turnRight()
    end
    if not back then
      facing = dir
      save()
      while not turtle.forward() and not obstacle do
        if turtle.detect() then
          obstacle = true
        else
          os.sleep(0.5)
        end
      end
    else
      back = false
    end
    if not obstacle then
      x, y, z = getCoords(x,y,z,tostring(dir))
      save()
    end
    return not obstacle
  end
end

function getCoords(x,y,z,dir)
  if dir == "0" then
    return x, y, (z+1)
  elseif dir == "1" then
    return (x-1), y, z
  elseif dir == "2" then
    return x, y, (z-1)
  elseif dir == "3" then
    return (x+1), y, z
  elseif dir == "u" then
    return x, (y+1), z
  else
    return x, (y-1), z
  end
end

-- initialize main
modem = peripheral.wrap("right")
f = fs.open("pos","r")
x = tonumber(f.readLine())
y = tonumber(f.readLine())
z = tonumber(f.readLine())
facing = tonumber(f.readLine())
back = false
pos = false
eindx = 331
eindy = 63
eindz = 107
id = 1234
modem.open(7001)
os.loadAPI("RouteApi")

while true do
  event = { os.pullEvent("modem_message") }
  data = textutils.unserialize(event[5])
  if data.type == "moveAction" then
    print("Move command received")
    position = data.position
    eindx = position.x
    eindy = position.y
    eindz = position.z
    pos = false
    obstacle = false
    ox = 0
    oy = 0
    oz = 0
    while not pos do
      if obstacle then
        route = getRoute(x,y,z,eindx,eindy,eindz,facing,"temp",ox,oy,oz)
        obstacle = false
      else
        route = getRoute(x,y,z,eindx,eindy,eindz,facing,"temp")
      end
      print("Route received")
      if route:sub(1,1) == "e" then
        print(route:sub(3,#route))
        pos = true
      else
        i = 0
        for i = 1, #route do
          write(route:sub(i,i))
        end
        while i < #route and not obstacle do
          i = i + 1
          v = route:sub(i,i)
          if not move(v) then
            ox, oy, oz= getCoords(x,y,z,tostring(v))
            obstacle = true
            print("obstacle")
          end
        end
        if not obstacle then
          pos = true
        end
      end
    end
  end
end