mine.lua

robot = require("robot")
c=require("component")
m=c.modem
computer = require("computer")
event = require("event")
me = c.upgrade_me
dronaddress  =  ""
dron = false
dronOffset = {}
rdMat = {}
port = 3685
_G.x=_G.x or 0
_G.y=_G.y or 0
_G.z=_G.z or 0
args = {...}

function inputNum()
  while true do
    local input = io.read()
    if not tonumber(input) == nil then
      print("Nezadali jste číslo.")
      else
        return tonumber(input)
    end
  end
end

function sendToMe()
  for i = 1, robot.inventorySize() do
    robot.select(i)
    me.sendItems()
  end
  robot.select(1)
end

function checkInv()
    for i=1, robot.inventorySize() do
      if robot.count(i) == 0 then
        return true
      end
    end
  print("V inventáři není již místo.")
  if me~=nill then
    return empty()
    else
      goBack()
      return false
  end

--  callDron()
--  for i=1,robot.inventorySize() do
--    if robot.count(i) == 0 then
--      return true
--    end
--  end
  return false
end

function checkTool()
  if not (robot.durability() == nil) then
    local dur = robot.durability() >=0.1
    if not dur then
      print("Odolnost nástroje není dostatečná.")
      return repair()
    end
    return dur
    else
      print("Chybí pracovní nástroj.")
      repair()
      return true
  end
end

function checkEnergy()
  local ener = computer.energy()/computer.maxEnergy() >= 0.1
  if not ener then
    print("Nabití baterie je nedostatečné.")
    recharge()
    return checkEnergy()
  end
  return ener
end

function recharge()
  lx = x
  ly = y
  lz = z
  goBack()
  cFac(0)
  while(computer.energy()/computer.maxEnergy() < 0.98) do
    os.sleep(10)
  end
  goPos(minx,miny,minz)
  goPos(lx,ly,lz)
end

function repair()
  lx = x
  ly = y
  lz = z
  goBack()
  cFac(0)
  io.write("Chcete-li pokračovat, vyměňte nástroj a zadejte C, jinak zadejte cokoliv.")
  c = io.read()
  if(c == "C") then
    goPos(minx,miny,minz)
    goPos(lx,ly,lz)
  else return false
  end
end

function empty()
  lx = x
  ly = y
  lz = z
  goBack()
  cFac(0)
  sendToMe()
  goPos(minx,miny,minz)
  goPos(lz,ly,lz)
end

function check()
  return checkInv() and checkTool() and checkEnergy()
end

function go(len)
  for i = 1, len do
    while robot.detect() do
      if not robot.swing() then
        break
      end
    end
    robot.forward()
  end
end

function cFac(face)
  local f = face - facing
  if f<0 then
    f = f + 4
  end
  if f == 1 then
    robot.turnLeft()
    elseif f==2 then
      robot.turnAround()
      elseif f == 3 then
        robot.turnRight()
  end
  facing = face
end

function goPos(tx,ty,tz)
  if tx ~= x then
    if tx>x then
      cFac(0)
      go(tx-x)
      elseif tx<x then
        cFac(2)
        go(x-tx)
    end
    x=tx
  end
  if tz~=z then
    if tz>z then
      cFac(3)
      go(tz-z)
      elseif tz<z then
        cFac(1)
        go(z-tz)
    end
    z=tz
  end
  if y~=ty then
    if ty<y then
      for i=1,(y-ty) do
        robot.swingUp()
        robot.up()
      end
      elseif ty>y then
        for i=1,(ty-y) do
          robot.swingDown()
          robot.down()
        end
    end
    y=ty
  end
end

function checkVal()
  print("Jsou vámi zadané hodnoty správné? (Y/n)")
  if io.read() == "n" then
    print("Chcete zadat nové hodnoty? (Y/n)")
      if io.read() == "n" then
        return false
        else
          mineCuboid()
          return false
      end
    else
      return true
  end
end

function mineCuboid()
  print("Hodnoty zadávejte relativně k současné poloze.")
  print("Zadejte vzdálenost začátku těžby.")
  minx = inputNum()
  print("Zadejte strop těžené oblasti.")
  miny = -inputNum()
  print("Zadejte levou stěnu těžené oblasti.")
  minz = -inputNum()
  print("Zadejte vzdálenost konce těžby.")
  maxx = inputNum()
  print("Zadejte hloubku těžby.")
  maxy = inputNum()
  print("Zadejte pravou stěnu těžené oblasti.")
  maxz  = inputNum()
--  return Cuboid(minx,miny,minz,maxx,maxy,maxz)
--end

--function Cuboid(minx,miny,minz,maxx,many,maxz)
  if checkVal() then
    if not check() then
      return false
    end
    for i=miny,maxy do
      goPos(minx,i,minz)
      for j=minz+1,maxz do
        if not check() then
          return false
        end
        if x==minx then
          goPos(maxx,i,j)
          elseif x==maxx then
            goPos(minx,i,j)
            else goBack()
        end
      end
      if x==minx and check() then
        goPos(maxx,y,z)
      end
    end
    goBack()
    sendToMe()
    return true
    else
      return false
  end
end


function goBack()
  if x==maxx then
    goPos(x-1,y,z)
  end
  goPos(minx,0,0)
  goPos(0,0,0)
  cFac(0)
end

function sendDron(cmd)
  m.send(dronaddress,port,cmd)
end

function dronInit()
  m.open(port)
  print("Spusťte drona.")
  local _, _, address = event.pull(60,"modem.message")
  dronaddress = address
  if dronnaddress=="" or dronaddress == nil then
    print("Dron nebyl detekován a nebude s ním tedy komunikováno.")
    return false
  end
  print(dronaddress)
  sendDron("drone = component.proxy(component.list('drone')())")
  print("Kolik bloků je dron vpravo (je-li vlevo použijte znaménko '-')?")
  dronOffset[2] = tonumber(io.read())
  print("Kolik bloků je dron za robotem (le-li před ním použijte znaménko '-')?.")
  dronOffset[0] = tonumber(io.read())
  print("Kolim bloků je dron nad robotem (je-li pod ním použijte znaménko '-')?")
  dronOffset[1] = tonumber(io.read())
  print("Zadejte otočení robota číslem: S=0; J=2; V=1; Z=3.")
  local f = tonumber(io.read())
  for i=0,2 do
    rdMat[i] = {}
    for j=0,2 do
      rdMat[i][j] = 0
    end
  end
  if f == 0 then
    rdMat[0][2] = -1
    rdMat[1][1] = -1
    rdMat[2][0] = -1
  end
  if f == 1 then
    rdMat[0][0] = -1
    rdMat[1][1] = -1
    rdMat[2][2] = 1
  end
  if f == 2 then
    rdMat[0][2] = 1
    rdMat[1][1] = -1
    rdMat[2][0] = 1
  end
  if f == 3 then
    rdMat[0][0] = 1
    rdMat[1][1] = -1
    rdMat[2][2] = -1
  end
  return true
end

function transform(rx,ry,rz)
  dx = rx*rdMat[0][0]+ry*rdMat[0][1]+rz*rdMat[0][2]
  dy = rx*rdMat[1][0]+ry*rdMat[1][1]+rz*rdMat[1][2]
  dz = rx*rdMat[2][0]+ry*rdMat[2][1]+rz*rdMat[2][2]
  return dx, dy, dz
end

function callDron()
  sendDron("drone.move("..transform(-dronOffset[0],-dronOffset[1]-1,dronOffset[2])..") while drone.getVelocity()>0 do end drone.move("..transform(x,y,z)..") while drone.getVelocity()>0 do end for i=1,drone.inventorySize() do drone.suck(0) end os.sleep(10) drone.move("..transform(-x,-y,-z)..") while drone.getVelocity()>0 do end for i=1,drone.inventorySize() do drone.select(i) drone.drop(0) end")
  os.sleep(60)
end

function testDron()
  if dron then
    sendDron("drone.move(0,1,0)")
  end
end

function main(args)
  x=0
  y=0
  z=0
  facing = 0
--  dron = dronInit()
--  for num,i in ipairs(args) do
--    if tonumber(i) then
--      args[num] = tonumber(i)
--    end
--  end
--  if table.getn(args) == 6 then
--    Cuboid(args[1],args[2],args[3],args[4],args[5],args[6])
--  if args ~=nil then
--    Cuboid(args)
--  else
  mineCuboid()
--  end
--  testDron()
--  recharge()
end

main(args)