lua turtle 3D optiprint scan

-- pastebin get jB8bm6Hw startup
-- -------------------------------------------
-- 3D Printer Scaner -Sinkir-
-- Version 0.2 (2014/10/21)

-- SCANER FUNCTION :
-- slot 16 ender chest Fuel               +-+-+-+-+
-- slot 15 ender chest dump Resources     | | | | |
-- slot 8 to 14 resources to Compare      | | | |c|
-- slot 1 to 7 slots for mining           |c|c|c|c|
--                                        |c|c|R|F|
--                                        +-+-+-+-+
-- -------------------------------------------

-- 3D PRINTER FUNCTION :
-- slot 16 ender chest Fuel               +-+-+-+-+
-- slot 15 ender chest dump Resources     | | | | |
-- slot 8 to 14 ender Chest of resources  | | | |c|
-- slot 1 to 7 slots for store resources  |c|c|c|c|
--                                        |c|c|R|F|
--                                        +-+-+-+-+
-- -------------------------------------------

-- --------------------
-- format : x,y,z,facing
--               (n e s w)

--
--
-- `.+x       |-z     +y.'
--   `.       |       .'
--     `.     |up   .'
--  north`.   |   .' east
--         `. | .'
--           :+:
--         .' | `.
--   west.'   |   `. south
--     .'     |     `.
--   .'       |down   `.
-- .'-y     +z|       -x`.
--
-- yes +z is for down

-- --------------------
-- Exemple of data file:
-- --------------------
-- SizeX,SizeY,SizeZ,ProjectName,Function,posX,posY,posZ,Facing
-- ex:
-- "7,3,3,UglyCone,scan,4,2,0,s"
--
-- --------------------
-- Exemple of data of project file:
-- --------------------
--
-- ex: for 7x3x3 (x,y,z)
-- 1=stone 2=glass
--
-- "       "
-- "   1   "
-- "       "
--
-- "   2   "
-- "   1   "
-- "   2   "
--
-- "   2   "
-- "  212  "
-- "   2   "

dataFilePath = "mydata"
urlPhp = "http://sinkir.free.fr/turtle3d/"


--   _____
--  |  ___|   _ _ __   ___
--  | |_ | | | | '_ \ / __|
--  |  _|| |_| | | | | (__
--  |_|   \__,_|_| |_|\___|
--



function checkLabel()
    if(os.getComputerLabel() == nil)then
        os.setComputerLabel(httpget("turtlegetlabel"))
    end
end

function checkStop()
    if(os.getComputerLabel() == nil)then
        if(httpget("turtlegetstop") == "1")then
            sleep(30)
            os.reboot()
        end
    else
        if(httpget("turtlegetstop&label="..os.getComputerLabel()) == "1")then
            sleep(30)
            os.reboot()
        end
    end


end

function httpget(param)
    local sExample = http.get(urlPhp.."?a="..param) --Get contents of page
    --sleep(2)
    --print(param)
    if(sExample == nil)then
        print("sE nil sleep and retry")
        sleep(2)
        return httpget(param)
    end
    local txt = sExample.readAll()
    sExample.close()

     --Just in case
    sleep(0.2)
    --print(txt)
    return txt
end


function testFuel()
    if(fuel() < 10)then
        if(count(16) == 0)then
            print("slot 16 empty")
            sleep(20)
            os.reboot()
        end
        print('Plus de coco, test de refuel')
        while(turtle.detectUp())do
            turtle.digUp()
            sleep(1)
        end
        select(16)
        turtle.placeUp()
        sleep(1)
        --print('Placed, sucking..')
        if(turtle.suckUp() == false)then
            turtle.digUp()
            print("Suck fuel false")
            sleep(20)
            os.reboot()
        end
        turtle.refuel()
        turtle.digUp()
    end
    return true
end

function go()
    select(1)
    if(turtle.detect()==true)then
        if(turtle.dig()==false)then
            return false
        else
            sleep(1)
            if(turtle.detect()==true)then
                while(i<50)do
                    i=i+1
                    if(turtle.dig()==true)then
                        sleep(1)
                        if(turtle.forward()==true)then
                            return true
                        else
                            return false
                        end
                    end
                    sleep(0.2)
                end
            else
                if(turtle.forward()==true)then
                    return true
                else
                    return false
                end
            end
        end
    else
        if(turtle.forward()==true)then
            return true
        else
            while(i<50)do
                i=i+1
                turtle.attack()
                sleep(0.2)

            end
            if(turtle.forward()==true)then
                return true
            else
                return false
            end

        end
    end

    return false
end


function down()
    select(1)
    if(turtle.detectDown()==true)then
        if(turtle.digDown()==false)then
            return false
        else
            sleep(1)
            if(turtle.detectDown()==true)then
                while(i<50)do
                    i=i+1
                    if(turtle.digDown()==true)then
                        sleep(1)
                        if(turtle.down()==true)then
                            return true
                        else
                            return false
                        end
                    end
                    sleep(0.2)
                end
            else
                if(turtle.down()==true)then
                    return true
                else
                    return false
                end
            end
        end
    else
        if(turtle.down()==true)then
            return true
        else
            while(i<50)do
                i=i+1
                turtle.attackDown()
                sleep(0.2)

            end
            return false
        end
    end

    return false
end

function up()
    select(1)
    if(turtle.detectUp()==true)then
        if(turtle.digUp()==false)then
            return false
        else
            sleep(1)
            if(turtle.detectUp()==true)then
                while(i<50)do
                    i=i+1
                    if(turtle.digUp()==true)then
                        sleep(1)
                        if(turtle.up()==true)then
                            return true
                        else
                            return false
                        end
                    end
                    sleep(0.2)
                end
            else
                if(turtle.up()==true)then
                    return true
                else
                    return false
                end
            end
        end
    else
        if(turtle.up()==true)then
            return true
        else
            while(i<50)do
                i=i+1
                turtle.attackUp()
                sleep(0.2)

            end
            return false
        end
    end

    return false
end





function downScaner()
    checkInvScaner()
    local flag = false
    local i = 0
    if(turtle.detectDown()==true)then
        for i=8,14 do
            if(count(i)>0)then
                select(i)
                if(turtle.compareDown()==true)then
                    addChar(i-7)
                    flag = true
                    i =15
                end
            end
        end
        if(flag == false)then
            print("Unknow block")
            addChar("0")
        end
        select(1)
        turtle.digDown()
    else
        addChar("0")
    end

    return true
end


function addChar(c)
    c = tostring(c)
    local tmp = ""
    if(fs.exists(dataProjectFilePath))then
        tmp = fileGet(dataProjectFilePath)
        fileSet(dataProjectFilePath, tmp..c)
    else

        fileSet(dataProjectFilePath, c)
    end
end
function addNames(slot, name)
    slot = tostring(slot - 7)
    if(fs.exists(dataProjectFilePath.."names"))then
        tmp = fileGet(dataProjectFilePath.."names")
        fileSet(dataProjectFilePath.."names", tmp..slot..","..name.."-")
    else
        fileSet(dataProjectFilePath.."names", slot..","..name.."-")
    end
end



function suck(dir)
    local flag = false
    if(dir == "go")then
        flag = turtle.suck(64)
    elseif(dir == "up")then
        flag = turtle.suckUp(64)
    elseif(dir == "down")then
        flag = turtle.suckDown(64)
    end

    if(flag == false)then
        return false
    end
    return true
end


--
--
left = function()
    if(turtle.turnLeft()==false)then
        sleep(1)
        left()
    else
        return true
    end
end
right = function()
    if(turtle.turnRight()==false)then
        sleep(1)
        right()
    else
        return true
    end
end
count = function(id)
    return turtle.getItemCount(id)
end
back = function()
    return turtle.back()
end
select = function(id)
    return turtle.select(id)
end
fuel = function()
    return turtle.getFuelLevel()
end
move = function(id, nb)
    return turtle.transferTo(id, nb)
end
--
--

function fileGet(path)
    local tabFile
    if(fs.exists(path))then
        tabFile = fs.open(path, "r")
        if tabFile then
            text = tabFile.readAll()
            tabFile.close()
        end
        return text
    else
        print("fileGet() File not found.")
        print(path)
        return false
    end
end
function fileSet(path, text)
    local tabFile
    if(fs.isReadOnly(path))then
        print("fileSet() File is read only.")
        print(path)
        return false
    else
        tabFile = fs.open(path, "w")
        if tabFile then
            tabFile.write(text)
            tabFile.close()
        end
        return true
    end
end
function split(str, pat)
    -- source of the function :
    -- http://lua-users.org/wiki/SplitJoin
    -- Compatibility: Lua-5.1
    local t = {}  -- NOTE: use {n = 0} in Lua-5.0
    local fpat = "(.-)" .. pat
    local last_end = 1
    local s, e, cap = str:find(fpat, 1)
    while s do
        if s ~= 1 or cap ~= "" then
            table.insert(t,cap)
        end
        last_end = e+1
        s, e, cap = str:find(fpat, last_end)
    end
    if last_end <= #str then
        cap = str:sub(last_end)
        table.insert(t, cap)
    end
    return t
end
function printTab(tab)
    for key, value in pairs(tab) do
        print("[".. key .."]"..value.."")
    end
end

--
--



function checkSlotVideScaner()
    if(count(6) == 0 and count(7) == 0)then
        return true
    end
    return false
end

function checkInvScaner()
    -- check si il reste un slot de vide
    if(checkSlotVideScaner() == false) then
        if(videInvScaner()==false)then
            return false
        end
    end
    return true
end


function videInvScaner()
    local i = 0

    while(turtle.detectUp())do
        turtle.digUp()
        sleep(1)
    end
    select(15)
    if(turtle.placeUp() == false)then
        print("turtle.placeUp false")
        sleep(20)
        os.reboot()
    end
    sleep(0.2)
    for i=1,7 do
        if(count(i)>0)then
            select(i)
            turtle.dropUp(count(i))
        end
    end
    select(15)
    turtle.digUp()
    return true
end



function initScan()
    local input = ""
    if(count(16) == 0)then
        print("No ender chest for fuel in slot 16.., exit")
        return false
    end
    if(count(15) == 0)then
        print("No ender chest for dump resources in slot 15, exit")
        return false
    end
    print("plz only 'A to z' no space")
    for i=8,14 do
        if(count(i)>0)then
            select(i)
            print("Add a name for the slot "..i.."")
            input = read()
            addNames(i, input)
        end
    end
    shaundy("newproject")

    return true
end

function getNames()
    local tab = split(fileGet(dataProjectFilePath.."names"), "-")
    return tab
end

function initPrint()
    local r = {}
    local t = {}
    local slotId = ""
    local slotName = ""
    if(count(16) == 0)then
        print("No ender chest for fuel in slot 16.., exit")
        return false
    end
    if(count(15) == 0)then
        print("No ender chest for dump resources in slot 15, exit")
        return false
    end

    print("getting data from project "..projectName)
    if(shaundy("getproject") == false)then
        return false
    end
    getGlobals()
    --posZ = sizeZ-1
    setGlobals()
    if(shaundy("getdata") == false)then
        return false
    end


    r = getNames()
    for k,v in pairs(r) do
        t = split((v), ",")
        print("EndChest slot"..(tonumber(t[1]) + 7).." of "..t[2])
    end
    print("Write 'ok' when ready")
    input = read()
    if(input == "ok")then
        return true
    else
        shell.exit()
    end

    return true
end


function init()
    local input = ""
    print("Hi ! 3D printer and scaner on duty\n")
    print("scan or print ?")
    input = read()
    if(input == "print")then
        scanOrPrint = "print"
    else
        scanOrPrint = "scan"

        print("X size ?")
        input = read()
        sizeX = tonumber(input)

        print("Y size ?")
        input = read()
        sizeY = tonumber(input)

        print("Z size ?")
        input = read()
        sizeZ = tonumber(input)
    end

    print("Project name ? (no special char plz)")
    input = read()
    projectName = tostring(input)
    dataProjectFilePath = "p"..projectName




    if(scanOrPrint == "print")then
        -- 3D PRINTER FUNCTION :
        print("s16 endchest Fuel       +-+-+-+-+")
        print("s15 endchest dump Resou | | | | |")
        print("s8-14 ender Chest resou | | | |c|")
        print("s1-7  store resources   |c|c|c|c|")
        print("                        |c|c|R|F|")
        print("                        +-+-+-+-+")
    else
        -- 3D SCANER FUNCTION :
        print("Set up inventory like this :")
        print("s16 endchest Fuel       +-+-+-+-+")
        print("s15 endchest dump Resou | | | | |")
        print("s8-14 resources Compare | | | |c|")
        print("s1-7 slots for mining   |c|c|c|c|")
        print("                        |c|c|R|F|")
        print("                        +-+-+-+-+")


        print("Write 'ok' when ready")
        input = read()
        if(input == "ok")then
            print("saving data in "..dataFilePath)
            fileSet(dataFilePath, tostring(sizeX)..","..tostring(sizeY)..","..tostring(sizeZ)..","..projectName..","..scanOrPrint..",0,0,0,n")
        else
            shell.exit()
        end


    end

end

function getGlobals()
    local r = {}
    local tab = split(fileGet(dataFilePath), ",")

    sizeX = tonumber(tab[1])
    sizeY = tonumber(tab[2])
    sizeZ = tonumber(tab[3])
    projectName = tab[4]
    scanOrPrint = tab[5]
    posX = tonumber(tab[6])
    posY = tonumber(tab[7])
    posZ = tonumber(tab[8])
    facing = tab[9]


end

function getmygoto()
    if(fs.exists("mygoto") == false)then
        return false
    end
    local tx = fileGet("mygoto")
    if(tx == "")then
        fs.delete("mygoto")
        sleep(0.2)
        if(fs.exists("mygoto"))then
            print("Fukin fs.delete de merde")
            print("Write 'fuck' plz")
            input = read()
            if(input == "fuck")then
                print("ty :'(")
                sleep(2)
                shell.exit()
            else
                sleep(20)
                shell.exit()
            end
        end
        return false
    end
    local tab = split(tx , ",")
    fakeX = tonumber(tab[1])
    fakeY = tonumber(tab[2])
    fakeZ = tonumber(tab[3])
    fakeFacing = tab[4]
    fakeC = tab[5]
end



function setGlobals()
    --print("setGlobals")
    fileSet(dataFilePath, tostring(sizeX)..","..tostring(sizeY)..","..tostring(sizeZ)..","..projectName..","..scanOrPrint..","..tostring(posX)..","..tostring(posY)..","..tostring(posZ)..","..facing)
end

function isPair(n)
    if(n == 0)then
        return true
    end
    if(n % 2 == 0)then
        return true
    else
        return false
    end
end

function finis()
    if(scanOrPrint == "scan")then
        shaundy("sendLine")
        shaundy("sendEnd")
    end

    sleep(0.2)
    fileSet(dataFilePath, "")
    sleep(0.2)
    fs.delete(dataFilePath)


    sleep(0.2)
    fileSet(dataProjectFilePath, "")
    sleep(0.2)
    fs.delete(dataProjectFilePath)


    sleep(0.2)
    fileSet(dataProjectFilePath.."names", "")
    sleep(0.2)
    fs.delete(dataProjectFilePath.."names")
    sleep(0.2)
    fs.delete("mygoto")

    sleep(0.2)
    fs.delete("names")

    sleep(0.2)
    fs.delete(dataFilePath)
    fs.delete(dataFilePath)
    fs.delete(dataFilePath)
    fs.delete(dataFilePath)

    print("Over exit")
    shell.exit()
end



function shaundy(order)
    print("shaundy "..order)
    --sleep(2)
    local input = ""
    if(order == "newproject")then
        if(httpget("turtle&do=newproject&projectname="..projectName.."&sizeX="..sizeX.."&sizeY="..sizeY.."&sizeZ="..sizeZ.."&names="..fileGet(dataProjectFilePath.."names")) == "ok")then
            return true
        else
            print("http newproject false sleep(30)")
            sleep(30)
            return shaundy("newproject")
        end
    end
    if(order == "sendLine")then
        if(scanOrPrint == "scan")then
            if(httpget("turtle&do=line&projectname="..projectName.."&posY="..posY.."&data="..fileGet(dataProjectFilePath)) == "ok")then
                --print("fileSet shaundy(sendLine)")
                fileSet(dataProjectFilePath, "")
                return true
            else
                print("http sendLine false sleep(30)")
                sleep(30)
                return shaundy("sendLine")
            end

        end
    end
    if(order == "sendNewLine")then
        if(scanOrPrint == "scan")then
            if(httpget("turtle&do=newline&projectname="..projectName.."&posZ="..posZ) == "ok")then
                return true
            else
                print("http sendNewLine false sleep(30)")
                sleep(30)
                return shaundy("sendNewLine")
            end
        else
            return shaundy("getdata")
        end
    end
    if(order == "sendEnd")then
        if(httpget("turtle&do=end&projectname="..projectName) == "ok")then
            return true
        else
            print("http sendEnd false sleep(30)")
            sleep(30)
            return shaundy("sendEnd")
        end
    end

    if(order == "getproject")then
        input = httpget("turtle&do=getproject&projectname="..projectName)
        --print("fileSet shaundy(getproject)")
        fileSet(dataFilePath, input)
        input = httpget("turtle&do=getprojectnames&projectname="..projectName)
        --print("fileSet shaundy(getprojectnames)")
        fileSet(dataProjectFilePath.."names", input)

    end
    if(order == "getdata")then
        --getGlobals()
        if(fakeZ >= sizeZ-1) then
            finis()
        end

        input = httpget("turtle&do=getdata&projectname="..projectName.."&z="..((sizeZ-1) - fakeZ))
        --input = httpget("turtle&do=getdata&projectname="..projectName.."&z="..(fakeZ))
        --print("getdata : "..input)

        fileSet(dataProjectFilePath, input)
    end
end

function testInvPrint()
    local i=0
    local counter = 0
    for i=1, 14 do
        if(count(i) == 0)then
            counter = counter + 1
        end
    end
    if(counter < 2)then
        --videInvPrint
        while(turtle.detectUp())do
            turtle.digUp()
            sleep(1)
        end
        select(15)
        turtle.placeUp()
        sleep(1)
        for i=8, 14 do
            if(count(i) > 1)then
                select(i)
                turtle.dropUp()
            end
        end
        select(15)
        sleep(1)

        turtle.digUp()
    end
end





function printTest()
    local c = ""
    local i = 0
    testInvPrint()

    if(turtle.detectDown()==true)then
        turtle.digDown()
    end




    c = tonumber(fakeC)
    if(c ~= nil and c > 0 and c < 8)then
        if(count(c) < 2)then
            select(c+7)
            if(turtle.compareTo(c)==true)then
                turtle.transferTo(c, count(c+7)-1)
            else
                while(turtle.detectDown())do
                    turtle.digDown()
                    sleep(1)
                end
                turtle.placeDown()
                select(c)
                sleep(1)
                if(turtle.suckDown(turtle.getItemSpace(c)) == false)then
                    print("suckDown false sleep 30s")
                    select(c+7)
                    turtle.digDown()
                    sleep(30)
                    os.reboot()
                end
                select(c+7)
                turtle.digDown()
            end

        end
        select(c)
        turtle.placeDown()
    end


    return true

end

function savemygoto()
    print("savemygoto :"..fakeX..","..fakeY..","..fakeZ..","..fakeFacing..","..fakeC)
    --sleep(3)
    local tab = split(fileGet(dataProjectFilePath), "\n")
    local out = ""
    for i=1, table.getn(tab) do
        if((fakeY+1) == i)then
            if(fakeX == 0)then
                out = out.."0"..string.sub(tab[i],2).."\n"
            elseif(fakeX == string.len(tab[i])-1)then
                out = out..string.sub(tab[i],1, string.len(tab[i])-1).."0".."\n"
            else
                out = out..string.sub(tab[i],1, fakeX).."0"..string.sub(tab[i], fakeX+2).."\n"
            end
        else
            out = out..tab[i].."\n"
        end
    end

    fileSet(dataProjectFilePath, out)
    fileSet("mygoto", fakeX..","..fakeY..","..fakeZ..","..fakeFacing..","..fakeC)
end


function mygoto()
    --print("mygoto"..fakeX..","..fakeY..","..fakeZ..","..fakeFacing)
    --print("mygoto"..posX..","..posY..","..posZ..","..facing)
    --sleep(5)
    testFuel()
    testInvPrint()

    if(posZ < fakeZ)then
        while(up()==false)do
            sleep(5)
        end
        posZ = posZ + 1
        setGlobals()
        return true
    end

    if(facing == "n")then
        if(posX < fakeX)then
            while(go()==false)do
                sleep(5)
            end
            posX = posX + 1
            setGlobals()
            return true
        end
    end
    if(facing == "s")then
        if(posX > fakeX)then
            while(go()==false)do
                sleep(5)
            end
            posX = posX - 1
            setGlobals()
            return true
        end
    end
    if(facing == "e")then
        if(posY < fakeY)then
            while(go()==false)do
                sleep(5)
            end
            posY = posY + 1
            setGlobals()
            return true
        end
    end
    if(facing == "w")then
        if(posY > fakeY)then
            while(go()==false)do
                sleep(5)
            end
            posY = posY - 1
            setGlobals()
            return true
        end
    end



    if(facing == "n")then
        if(posY < fakeY)then
            right()
            facing = "e"
            setGlobals()
            return true
        elseif(posY > fakeY)then
            left()
            facing = "w"
            setGlobals()
            return true
        end
    end
    if(facing == "s")then
        if(posY < fakeY)then
            left()
            facing = "e"
            setGlobals()
            return true
        elseif(posY > fakeY)then
            right()
            facing = "w"
            setGlobals()
            return true
        end
    end
    if(facing == "e")then
        if(posX < fakeX)then
            left()
            facing = "n"
            setGlobals()
            return true
        elseif(posX > fakeX)then
            right()
            facing = "s"
            setGlobals()
            return true
        end
    end
    if(facing == "w")then
        if(posX < fakeX)then
            right()
            facing = "n"
            setGlobals()
            return true
        elseif(posX > fakeX)then
            left()
            facing = "s"
            setGlobals()
            return true
        end
    end
    if(fakeX == posX and fakeY == posY and fakeZ == posZ)then
        print("fs.delete(mygoto)")

        fs.delete("mygoto")
        sleep(0.2)
        if(fs.exists("mygoto"))then
            print("Fukin fs.delete de merde")
            print("Write 'fuck' plz")
            input = read()
            if(input == "fuck")then
                print("ty :'(")
                sleep(2)
                shell.exit()
            else
                sleep(20)
                shell.exit()
            end
        end
        return true
    end


    if(facing == "n")then
        right()
        facing = "e"
        setGlobals()
        return false

    end
    if(facing == "s")then
        left()
        facing = "e"
        setGlobals()
        return false
    end
    if(facing == "e")then
        left()
        facing = "n"
        setGlobals()
        return false
    end
    if(facing == "w")then
        right()
        facing = "n"
        setGlobals()
        return false
    end



    return false
end



function gpsScan()
    if(isPair(posZ))then -- si Z est pair (on s'ecarte de Y)
        if(isPair(posY))then -- si Y est pair (on s'ecarte de X)
            if(facing == "n" and posX == sizeX - 1 and posY == sizeY - 1)then -- time to get down
                print("get down ")
                if(posZ == sizeZ - 1)then
                    finis()
                end
                left()
                facing = "w"
                setGlobals()
                shaundy("sendLine") ---------------------
                if(down())then
                    posZ = posZ + 1
                    setGlobals()
                    shaundy("sendNewLine") ---------------------
                else
                    return false
                end

            elseif(facing == "n")then
-- 1
                if(posX < sizeX - 1)then
                    if(go())then
                        posX = posX + 1
                        setGlobals()
                    else
                        return false
                    end
                else
                    right()
                    facing = "e"
                    setGlobals()
                    shaundy("sendLine") ---------------------
                    if(go())then
                        posY = posY + 1
                        setGlobals()
                    else
                        return false
                    end
                end

            elseif(facing == "e")then
-- 2
                if(posX == 0)then
                    left()
                    facing = "n"
                    setGlobals()
                    if(go())then
                        posX = posX + 1
                        setGlobals()
                    else
                        return false
                    end
                end
            end
        else -- si Y est impaire (on s'approhe X)
            if(facing == "s" and posX == 0 and posY == sizeY - 1)then -- time to get down
                print("get down ")
                if(posZ == sizeZ - 1)then
                    finis()
                end
                right()
                facing = "w"
                setGlobals()
                shaundy("sendLine") ---------------------
                if(down())then
                    posZ = posZ + 1
                    setGlobals()
                    shaundy("sendNewLine") ---------------------
                else
                    return false
                end
            elseif(facing == "s")then
-- 3
                if(posX > 0)then
                    if(go())then
                        posX = posX - 1
                        setGlobals()
                    else
                        return false
                    end
                else
                    left()
                    facing = "e"
                    setGlobals()
                    shaundy("sendLine") ---------------------
                    if(go())then
                        posY = posY + 1
                        setGlobals()
                    else
                        return false
                    end
                end
            elseif(facing == "e")then
-- 4
                if(posX == sizeX - 1)then
                    right()
                    facing = "s"
                    setGlobals()
                    if(go())then
                        posX = posX - 1
                        setGlobals()
                    else
                        return false
                    end
                end
            end

        end
    else -- si Z est impaire (on s'approhe Y)
        if(isPair(posY))then -- si Y est pair (on s'approche de X)
            if(facing == "s" and posX == 0 and posY == 0)then -- time to get down
                print("get down ")
                if(posZ == sizeZ - 1)then
                    finis()
                end
                left()
                facing = "e"
                setGlobals()
                shaundy("sendLine") ---------------------
                if(down())then
                    posZ = posZ + 1
                    setGlobals()
                    shaundy("sendNewLine") ---------------------
                else
                    return false
                end
            elseif(facing == "s")then
-- 5
                if(posX > 0)then
                    if(go())then
                        posX = posX - 1
                        setGlobals()
                    else
                        return false
                    end
                else
                    right()
                    facing = "w"
                    setGlobals()
                    shaundy("sendLine") ---------------------
                    if(go())then
                        posY = posY - 1
                        setGlobals()
                    else
                        return false
                    end
                end

            elseif(facing == "w")then
-- 6
                if(posX == sizeX - 1)then
                    left()
                    facing = "s"
                    setGlobals()
                    if(go())then
                        posX = posX - 1
                        setGlobals()
                    else
                        return false
                    end
                end
            end
        else -- si Y est impaire (on s'ecarte X)
            if(facing == "s" and posX == 0 and posY == 0)then -- time to get down
                print("get down ")
                if(posZ == sizeZ - 1)then
                    finis()
                end
                left()
                facing = "e"
                setGlobals()
                shaundy("sendLine") ---------------------
                if(down())then
                    posZ = posZ + 1
                    setGlobals()
                    shaundy("sendNewLine") ---------------------
                else
                    return false
                end
            elseif(facing == "n")then
-- 7
                if(posX < sizeX - 1)then
                    if(go())then
                        posX = posX + 1
                        setGlobals()
                    else
                        return false
                    end
                else
                    left()
                    facing = "w"
                    setGlobals()
                    shaundy("sendLine") ---------------------
                    if(go())then
                        posY = posY - 1
                        setGlobals()
                    else
                        return false
                    end
                end

            elseif(facing == "w")then
-- 8
                if(posX == 0)then
                    right()
                    facing = "n"
                    setGlobals()
                    if(go())then
                        posX = posX + 1
                        setGlobals()
                    else
                        return false
                    end
                end
            end

        end
    end
    return true
end

function cutDataProj()
    input = fileGet(dataProjectFilePath)

    if(isPair(fakeZ))then
        fileSet(dataProjectFilePath, string.sub(input, 2))
    else
        fileSet(dataProjectFilePath, string.sub(input, 0, string.len(input)-1))
    end
end

function getNoZero(str)
    local c = "0"
    for i=1, string.len(str) do
        c = string.sub(str, i,i)
        if(c ~= "0")then
            fakeX = i-1
            fakeC = c
            return true
        end
    end
    return false
end
function getNoZeroRev(str)
    local c = "0"
    for i=string.len(str), 1 , -1 do
        c = string.sub(str, i,i)
        if(c ~= "0")then
            fakeX = i-1
            fakeC = c
            return true
        end
    end
    return false
end

function gpsPrint()
    fakeX = 0
    fakeY = 0
    local tab = split(fileGet(dataProjectFilePath), "\n")

    if(isPair(fakeZ))then
        for i=1, table.getn(tab) do
            fakeY = i-1
            if(isPair(fakeY))then
                if(getNoZero(tab[i]) == true)then
                    return savemygoto()
                end
            else
                if(getNoZeroRev(tab[i]) == true)then
                    return savemygoto()
                end
            end
        end
    else
        for i=table.getn(tab), 1, -1 do
            fakeY = i-1
            if(isPair(fakeY))then
                if(getNoZero(tab[i]) == true)then
                    return savemygoto()
                end
            else
                if(getNoZeroRev(tab[i]) == true)then
                    return savemygoto()
                end
            end
        end
    end
     fakeZ = fakeZ+1
     shaundy("getdata")
     return gpsPrint()

end


--  __  __       _        ____
-- |  \/  | __ _(_)_ __  / /\ \
-- | |\/| |/ _` | | '_ \| |  | |
-- | |  | | (_| | | | | | |  | |
-- |_|  |_|\__,_|_|_| |_| |  | |
--                       \_\/_/


stop=false

args = { ... }
if( args[1]~= null)then
    sleep(0.2)
    fileSet(dataFilePath, "")
    sleep(0.2)
    fs.delete(dataFilePath)
    sleep(0.2)
    fileSet("p"..args[1], "")
    sleep(0.2)
    fs.delete("p"..args[1])
    sleep(0.2)
    fileSet("p"..args[1].."names", "")
    sleep(0.2)
    fs.delete("p"..args[1].."names")
    sleep(0.2)
    fs.delete("names")
    sleep(0.2)
    fs.delete("mygoto")
    sleep(0.2)

else





sizeX = 0
sizeY = 0
sizeZ = 0
projectName = ""
scanOrPrint = "scan"
posX = 0
posY = 0
posZ = 0
facing = "n"

dataProjectFilePath = ""


if(fs.exists(dataFilePath))then
    getGlobals()
else
    init()
end


fakeX = posX
fakeY = posY
fakeZ = posZ
fakeFacing = facing
fakeC = "0"

testFuel()

if(scanOrPrint == "print")then
    initPrint()
else
    initScan()
end

checkLabel()
i = 0
stopCounter = 1
gpsFalseCounter = 0
if(fs.exists("mygoto"))then
    if(fakeX == posX and fakeY == posY and fakeZ == posZ and fakeFacing == facing)then
        getmygoto()
    end
end


while(stop==false)do
    if(stopCounter < 2)then
        stopCounter = 25
        checkStop()
    end
    stopCounter = stopCounter - 1


    if(fs.exists("mygoto"))then
        mygoto()
    else
        if(gpsFalseCounter == 0) then
            --print("scan/print test")
            if(scanOrPrint == "scan")then
                downScaner()
                testFuel()
            else
                testFuel()
                printTest()
            end
        end



        if(scanOrPrint == "print")then
            gpsPrint()
        else
            if(gpsScan()==false)then
                gpsFalseCounter = gpsFalseCounter + 1
                print("gps false "..gpsFalseCounter)
                sleep(2)
            else
                gpsFalseCounter = 0
            end
        end
    end
    sleep(0.2)
end

end