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 --Automated Train Control v1 by Gazer29
 --Uses Automation mod version: Beta 1
 
 local component = require("component")
 local term = require ("term")
 local entity = component.entity_link.getAPI("immersiverailroading:locomotivediesel")
 local thread = require("thread")
 require("PIDController")
 local serial = require("serialization")
 local fs = require("filesystem")
 
 local RUNNING = true
 local MODE = 0 -- 0 SET, 1 RAMP,
 local sleep = 1 -- seconds
 local display = false
 local iteration = 1
 local timer = nil
 
 local CONFIG_FILE = "/home/Waypoints.cfg"
 local CONFIG = nil
 local DEFAULT_CONFIG = {
   array = {
 	{
 	waypoint = "Station 1",
 	speed = 0,
 	radius = 10,
 	x = 1180,
 	z = -333,
 	mode = "wait",
 	data = 20
 	},
 	{
 	waypoint = "Waypoint 2",
 	speed = 10,
 	radius = 10,
 	x = 1180,
 	z = -333,
 	mode = nil,
 	data = nil
 	},
 	{
 	waypoint = "Waypoint 3",
 	speed = 5,
 	radius = 10,
 	x = 1136,
 	z = -333,
 	mode = nil,
 	data = nil
 	}
   }
 }
 
 local function saveConfig(file, cfg) -- Adapted from HandieAndy's code
   local f = io.open(file, "w")
   if f == nil then error("Couldn't open " .. file .. " to write config.") end
   f:write(serial.serialize(cfg, 100000))
   f:close()
   print("Saved to file: ", CONFIG_FILE)
 end
 
 local function loadConfig() -- Adapted from HandieAndy's code
   local f = io.open(CONFIG_FILE, "r")
   if f == nil then
 	print("Could not open " .. CONFIG_FILE .. ".")
 	print("Loading default config")
 	saveConfig(CONFIG_FILE, DEFAULT_CONFIG)
 	return DEFAULT_CONFIG
 	else
 	local config = serial.unserialize(f:read("*a"))
 	f:close()
 	return config
 	end
 end
 
 function helpdisplay()
 	print("AutomaticTrainControl v1")
 	print("Commands:")
 	print("'Any number'    - Changes set speed")
 	print("'+' 		- Displays additional information")
 	print("'-' 		- Hides additional information")
 	print("'ramp'		- Changes to ramp mode, requires further input")
 	print("'idle'		- Pauses train control")
 	print("'save'		- Saves config file")
 	print("'stop' 		- Ends program")
 end
 
 function GetTrainPos()
 	positions = entity.getLocation()
 	xpos = positions.getX()
 	ypos = positions.getY()
 	zpos = positions.getZ()
 	print("X: 	", xpos)
 	print("Z: 	", zpos)
 end
 
 function GetTrainSpeed()
 	speed = entity.getCurrentSpeed()
 	return speed
 end
 
 function setThrottle(x)
 	if 0 >= x then x = 0 end
 	if 1 <= x then x = 1 end
 	entity.setThrottleLevel(x)
 	if display then
 		print("Throttle: ", x)
 		end
 end
 
 function setBrake(x)
 	if 0 >= x then x = 0 end
 	if 1 <= x then x = 1 end
 	entity.setAirBrakeLevel(x)
 	if display then
 		print("Brake:   ", x)
 		end
 end
 
 local function reads()
   while RUNNING do
     user = nil
     user = io.read()
 	if user == "stop" then
 		print("STOPPING...")
 		os.sleep(1)
 		stop()
 		end
 	if user == "." then
 		term.clear()
 		end
 	if user == "idle" then
 		MODE = 2
 		end
 	if user == "ramp" then
 		print("Start Speed (type 'x' for current setpoint):")
 		c = io.read()
 		if c == "x" then
 			c = setpoint
 			end
 		print("End Speed:")
 		rampStart = c
 		c = io.read()
 		print("Ramp Time (seconds):")
 		rampEnd = c
 		c = io.read()
 		rampTime = c
 		rampDiff = rampEnd - rampStart
 		rampCount = math.floor(rampTime/sleep)
 		rampInc = rampDiff / rampCount
 		PID:SetPoint(rampStart)
 		setpoint = rampStart
 		MODE = 1
 		end
 	if user == "+" then
 		display = true
 		term.clear()
 		end
 	if user == "save" then
 		saveConfig(CONFIG_FILE, CONFIG)
 		end
 	if user == "-" then
 		display = false
 		term.clear()
 		os.sleep(1)
 		helpdisplay()
 		end
 	if nil ~= tonumber(user) then
 		MODE = 0
 		PID:SetPoint(user)
 		setpoint = user
 		print("Setting Speed: ", user)
 		end
     os.sleep(1)
   end
 end
 
 -- run through array
 function getDistance()
 	--active = CONFIG.array[iteration]
 	x1 = active.x
 	z1 = active.z
 	positions = entity.getLocation()
 	y1 = positions.getY()
 	x = positions.getDistanceToCoordinates(x1,y1,z1)
 	return x
 	end
 
 
 local function main()
 	while RUNNING do
 		array = CONFIG.array
 		active = CONFIG.array[iteration]
 		distance = getDistance()
 		if distance < active.radius or timer ~= nil then
 			setpoint = active.speed
 			PID:SetPoint(setpoint)
 			if active.mode == "wait" then
 				if timer == nil then
 					timer = active.data
 					end
 				if timer > 0 then
 					timer = timer - 1
 					else
 					timer = nil
 					if iteration >= #array then
 						iteration = 1
 						else
 						iteration = iteration + 1
 						end
 					end
 				else
 				if iteration >= #array then
 					iteration = 1
 					else
 					iteration = iteration + 1
 					end
 				end
 			end
 
 		input = GetTrainSpeed()
 		if MODE ~= 2 then
 			if MODE == 1 then
 				if rampCount > 0 then
 				  rampCount = rampCount - 1
 				  setpoint = setpoint + rampInc
 				  PID:SetPoint(setpoint)
 				  if rampCount == 0 then
 					setpoint = rampEnd
 					PID:SetPoint(rampEnd)
 					end
 				  else
 				  Mode = 0
 				  end
 				end
 			PID:SetInput(input)
 			PID:Compute()
 			output = PID:GetOutput()
 			BrakeOut = output * -1
 			setThrottle(output)
 			setBrake(BrakeOut)
 			end
 		if display then
 			print("CurrentSpeed: ", input)
 			if MODE ~= 2 then
 				print("SetPoint: ", setpoint)
 				end
 			print("Waypoint: ",active.waypoint)
 			print("Distance: ",distance)
 			print("Timer: 	",timer)
 			GetTrainPos()
 			print("----")
 			os.sleep(sleep)
 			term.clear()
 			else
 			os.sleep(sleep)
 			end
 
 		end
   end
 
 function stop()
   RUNNING = false
 end
 
 ----------- Main loop ------------
 
 term.clear()
 CONFIG = loadConfig()
 setpoint = 0
 PID:new(0.01, 0.5, 0.0001, 0)
 PID:SetInput((GetTrainSpeed()))
 PID:SetOutput(0)
 PID:SetPoint(setpoint)
 PID:SetOutputLimits(-1, 1)
 PID:SetMode(1)
 
 helpdisplay()
 
 local tb = thread.create(main)
 local ta = thread.create(reads)
 tb:join()
 ta:join()
 term.clear()