re_supplier

-- api used for 2d pathfinding


-- defining variables of coordinates and direction
-- Initialize parameters for the location and direction
x_live_coord = 0
y_live_coord = 0
z_live_coord = 1
live_facing_direction = 0
item_name_g = nil


-- Basic moveset functions turning and forward

function up_rec()
	repeat
		turtle.digUp()
	until turtle.up()
	z_live_coord = z_live_coord + 1
end

function down_rec()
	repeat
		turtle.digDown()
	until turtle.down()
	z_live_coord = z_live_coord - 1
end

function goto_z(z_dest)
	if z_dest > z_live_coord then
		repeat
			up_rec()
		until z_live_coord == z_dest
	elseif z_dest < z_live_coord then
		repeat
			down_rec()
		until z_live_coord == z_dest
	end
end

function rec_turn_right()
    -- action
    turtle.turnRight()

    -- recording
    live_facing_direction = live_facing_direction + 1
    if (live_facing_direction == 4) then
        live_facing_direction = 0
    end
end

function rec_turn_left()
    -- action
    turtle.turnLeft()

    -- recording
    live_facing_direction = live_facing_direction - 1
    if (live_facing_direction == -1) then
        live_facing_direction = 3
    end

end

function rec_forward_firm()
    -- action
    repeat
        turtle.dig()
    until turtle.forward()

    --recording
    if (live_facing_direction == 0) then
        y_live_coord = y_live_coord + 1
    elseif (live_facing_direction == 1) then
        x_live_coord = x_live_coord + 1
    elseif (live_facing_direction == 2) then
        y_live_coord = y_live_coord - 1
    elseif (live_facing_direction == 3) then
        x_live_coord = x_live_coord - 1
    end
    print(x_live_coord, y_live_coord)
    while turtle.getFuelLevel() < 80 do
	print("going out of fuel")
	refuel_with("minecraft:coal")
    end
end


function up_firm()
    repeat
        turtle.digUp()
    until turtle.up()
end

function down_firm()
    repeat
        turtle.digDown()
    until turtle.down()
end

function turtle_face_turn(face)
    if (face - live_facing_direction == 1 or face - live_facing_direction == -3) then
        rec_turn_right()
    elseif(face - live_facing_direction == -1 or face - live_facing_direction == 3) then
        rec_turn_left()
	elseif(face == live_facing_direction) then
		print("not turning")
	else
        rec_turn_left()
        rec_turn_left()
    end
end


-- the GOTO function, give one coordinate and move to the function
-- first align the facing direction to 0
-- get to the coordinate and return facing direction to 0
function turtle_goto(a,b)
    -- calculation
    delta_x = a - x_live_coord
    delta_y = b - y_live_coord

    -- action section below
    -- facing the correct direction for x movement
    if (delta_x > 0) then
        turtle_face_turn(1)
    elseif (delta_x < 0) then
        turtle_face_turn(3)
        delta_x = - delta_x
    end


    -- x movement
    for x_movement = 0,delta_x - 1,1
    do
        rec_forward_firm()
    end


    -- facing the correct direction for y movement
    if (delta_y > 0) then
        turtle_face_turn(0)
    elseif (delta_y < 0) then
        turtle_face_turn(2)
        delta_y = - delta_y
    end
    -- y movement
    for y_movement = 0,delta_y - 1,1
    do
        rec_forward_firm()
    end


    -- returning to the 0 facing direction

end

-- the pathfinding function, will try to visit all points in an array

-- some utilities

function pathfind_and_action()
    for loop_num=1, array_length, 1
    do
        print("NEXT!!")
        near_init_term_num = 1
        while visited[near_init_term_num] == 1 do
            near_init_term_num = near_init_term_num + 1
        end

        nearest_x = x_destinations[near_init_term_num]
        nearest_y = y_destinations[near_init_term_num]
        min_distance = math.abs(nearest_x - x_live_coord) +  math.abs(nearest_y - y_live_coord)

        last_item_num = near_init_term_num
        for item_num = 1, array_length, 1
        do
            if visited[item_num] == 0 then
                if (math.abs(x_destinations[item_num] - x_live_coord) +  math.abs(y_destinations[item_num] - y_live_coord)) < min_distance then
                    nearest_x = x_destinations[item_num]
                    nearest_y = y_destinations[item_num]
                    min_distance = math.abs(nearest_x - x_live_coord) +  math.abs(nearest_y - y_live_coord)
                    last_item_num = item_num
                end
            end
        end
        visited[last_item_num] = 1
        print("going to ", nearest_x, nearest_y)
        turtle_goto(nearest_x,nearest_y)

        turtle_action()
    end

end



-- action loop section

function place_item(item_name)
    item_tot = 0
    for cell_num = 1,16 do
       	turtle.select(cell_num)
       	if turtle.getItemDetail() then
           	item_detail = turtle.getItemDetail()
           	if (item_detail.name == item_name) then
               	turtle.placeDown()
               	item_tot = item_tot + item_detail.count
           	end
        end
	end
	if item_tot < 1 then
		distress_item_request(item_name,4)
	end
	print("item_left: %d", item_tot)
end

function refuel_with(item_name)
	item_tot = 0
    for cell_num = 1,16 do
        turtle.select(cell_num)
        if turtle.getItemDetail() then
            item_detail = turtle.getItemDetail()
            if (item_detail.name == item_name) then
                turtle.refuel(1)
				item_tot = item_tot + item_detail.count
            end
        end
    end
	if item_tot < 1 then
		distress_item_request(item_name,1)
	end
end



-- example code of coordinates given



function turtle_action()
    print('nothing')
	place_item(item_name_g)
end


function plane_execution(x_destinations_input, y_destinations_input, visited_input, array_length_input, item_name)
    x_destinations = x_destinations_input
    y_destinations = y_destinations_input
	visited = visited_input
	array_length = array_length_input
	item_name_g = item_name
    pathfind_and_action()
	turtle_goto(1,1)
	turtle_face_turn(0)
end

function squarefill(a,b,s)
    array_length = a*b
    current_length=1
    for xfill=1,a,s
    do
        for yfill=1,b,s
        do
            x_destinations[current_length]=xfill
            y_destinations[current_length]=yfill
            visited[current_length]=0
            current_length=current_length + 1
        end
    end
end

function if_inlist(item_list)
    inlist = 0
    for num, item_name_l in pairs(item_list) do
		item_data = turtle.getItemDetail()
		if turtle.getItemDetail() then
			if string.match(item_data.name, item_name_l) then
	    		inlist = 1
			end
		end
    end
    return inlist
end

function clear_backpack(white_list)
    for i=1,16,1 do
    	turtle.select(i)
		if if_inlist(white_list) == 0 then
			turtle.drop()
		end
    end
end

-- functions in charge of encoding and decoding
function plane_encode(x_dests, y_dests, visited, array_l, item_name, protocol)
    task_name = 'plane'
    x_dests_str = '/'
    y_dests_str = '/'
    visited_str = '/'
    for i=1,array_l do
	x_dests_str = x_dests_str .. tostring(x_dests[i]) .. '/'
	y_dests_str = y_dests_str .. tostring(y_dests[i]) .. '/'
	visited_str = visited_str .. tostring(visited[i]) .. '/'
    end
    xyv_dests_str = (x_dests_str .. 'x' .. y_dests_str .. 'x' .. visited_str)
    out_message = (task_name .. 'x' .. xyv_dests_str .. 'x' .. item_name)
    -- broadcasting now
    rednet.broadcast(out_message, protocol)
end

function vertical_encode(z_dest, protocol)
    task_name = 'vert'
    out_message = (task_name .. 'x' .. z_dest)
    rednet.broadcast(out_message, protocol)
end


function worker_decode_and_action(msg)
    matched_func = string.gmatch(msg,'([^x]+)')
    task_name = matched_func()
    if task_name == 'vert' then
    	goto_z(tonumber(matched_func()))
    elseif task_name == 'plane' then
	x_dests_str = matched_func()
	y_dests_str = matched_func()
	visited_str = matched_func()
	item_name = matched_func()
	-- start filling in
	array_length = 0
	x_destinations = {}
	y_destinations = {}
	visited = {}

	for x_i in string.gmatch(x_dests_str,'([^/]+)')
	do
	    array_length = array_length + 1
	    x_destinations[array_length] = tonumber(x_i)
	end

	for y_i in string.gmatch(y_dests_str,'([^/]+)')
	do
	    y_destinations[#y_destinations + 1] = tonumber(y_i)
	end

	for v_i in string.gmatch(visited_str,'([^/]+)')
	do
	    visited[#visited + 1] = tonumber(v_i)
	end
	plane_execution(x_destinations, y_destinations, visited, array_length, item_name)
    end
end

function distress_item_request(item_name,s_number,out_protocol,in_protocol)
    -- message format looking like 1x2x3xminecraft:coal
    out_message = (x_live_coord .. 'x' .. y_live_coord .. 'x' .. z_live_coord .. 'x' .. item_name .. 'x' .. s_number)
    rednet.broadcast(out_message, out_protocol)
    -- check if item is received
    id, msg = rednet.receive(in_protocol)
end

function count_item(item_name)
    item_count = 0
    for cell_num = 1,16 do
	turtle.select(cell_num)
	if turtle.getItemDetail() then
            item_detail = turtle.getItemDetail()
            if (item_detail.name == item_name) then
		item_count = item_count + 1
            end
        end
    end
    return item_count
end

function drop_item(item_name,num_of_stack)
    dropped_count = 0
    for i=1,num_of_stack,1 do
	turtle.select(i)
	turtle.dropDown()
    end
end

function distress_item_decode_action(msg,return_protocol)
    matched_func = string.gmatch(msg,'([^x]+)')
    x_dest = matched_func()
    y_dest = matched_func()
    z_dest = matched_func()
    item_name = matched_func()
    stack_num_r = matched_func()

	print(x_dest)
    -- check if there is enough fuel
    -- go to fuel chest
    if turtle.getFuelLevel()<4000 then
    	turtle_goto(0,findIndex(chest_item,'minecraft:coal'))
	turtle.suckDown()
	turtle.select(1)
	turtle.refuel()
    end

    -- go to item chest
	turtle.select(1)
    turtle_goto(0,findIndex(chest_item,item_name))
    for i = 1,stack_num_r do
	turtle.suckDown()
    end

    -- go deliver item
    goto_z(z_dest+1)
    turtle_goto(x_dest,y_dest)
    drop_item(item_name, stack_num_r)

    -- return and resume
    turtle_goto(0,0)
    goto_z(1)
    turtle_face_turn(0)
    -- return underlivered items
    turtle_goto(0,findIndex(chest_item,item_name))
    drop_item(item_name,16)
    -- send message of completion
    rednet.broadcast('yay',return_protocol)
	turtle_goto(0,0)
    goto_z(1)
	turtle_face_turn(0)
	turtle.select(1)
	rednet.broadcast('yay',return_protocol)
end

function findIndex(array, value)
    for i, v in ipairs(array) do
	if v == value then
	    return i
	end
    end
    return nil
end



chest_item = {}
chest_item[1] = 'minecraft:coal'
chest_item[2] = 'chisel:planks/oak/braced_planks'
chest_item[3] = 'minecraft:glass'

rednet.open('left')
while true do
    id, message = rednet.receive('worker_to_supply')
	print(message)
    distress_item_decode_action(message,'supply_to_worker')
end