Drones

--[[

===================================
    DRONES v4.1
===================================

Originally created by Pooslice <[email protected]> (replace underscore with dot)

Changes to previous version:
* (v4.1) Fixed a wrong loop-condition that prevented initial startup
* Fixed a bug where drones could get confused if two controller turtles were used directly next to each other.
* Finished turtles now get picked up by the main turtle at the end and are placed in their respective chest.
* Introduced the 'force' parameter to start immediately without further user interaction.
* Improved some of the pathfinding for handling unexpected blocks in the turtle's way during maintenance.
* Improved fuel management during vertical digging (after hitting bedrock).
* Reduced some waiting times.

For more information read the forum post: http://www.computercraft.info/forums2/index.php?/topic/5241-14-the-lazy-mans-way-to-clear-a-chunk/
]]--

STARTUPTIME = os.clock()

-- get call parameters
local tArgs = { ... }

-- get the script name and path. a bit hacky, but it works ...
SCRIPTPATH = shell.getRunningProgram()
if string.find(SCRIPTPATH, "/") then
    SCRIPTNAME = string.reverse(SCRIPTPATH)
    SCRIPTNAME = string.reverse(string.sub(SCRIPTNAME, 0, string.find(SCRIPTNAME, "/")-1))
else
    SCRIPTNAME = SCRIPTPATH
end

-- constants
-- values below 100 make no sense as the distance to the refuel station will be that high already
-- 4 coal per turtle -> one stack of coal initially plus one coal for the floppy setup
REFUELTHRESHOLD = 96 * 4
DEBUGMODE = false
LOGFILENAME = nil
-- untested and therefore not yet accessible
DILIGENTMODE = false

function debug(message)
    if DEBUGMODE then print(message) end
    if LOGFILENAME then
        local fp = fs.open(LOGFILENAME, "a")
        if fp then
            fp.writeLine(message)
            fp.close()
        end
    end
end

debug("Startup-Time: " .. STARTUPTIME)

-- compensate for fuelless mode
FUELLESS = false
if turtle.getFuelLevel() == "unlimited" then
    FUELLESS = true
    turtle.getFuelLevel = function()
        return 2 + REFUELTHRESHOLD
    end
end

-- don't care where
rednet.open("right")
-- rednet.open("left")
-- rednet.open("top")
-- rednet.open("bottom")
-- rednet.open("front")
-- rednet.open("back")

-- try to clear the space above the turtle
function clearUp()
    debug("clearUp()")
    if not turtle.detectUp() then
        while turtle.attackUp() do end
    end
    turtle.digUp()
    return not turtle.detectUp()
end

-- see clearUp()
function clearDown()
    debug("clearDown()")
    if not turtle.detectDown() then
        while turtle.attackDown() do end
    end
    turtle.digDown()
    return not turtle.detectDown()
end

-- see clearUp()
function clearForward()
    debug("clearForward()")
    if not turtle.detect() then
        while turtle.attack() do end
    end
    turtle.dig()
    return not turtle.detect()
end

-- as clearUp(), but also tries to move in that direction
function tryUp()
    debug("tryUp()")
    if turtle.up() then
        return true
    end
    clearUp()
    return turtle.up()
end

-- see tryUp()
function tryDown()
    debug("tryDown()")
    if turtle.down() then
        return true
    end
    clearDown()
    return turtle.down()
end

-- see tryUp()
-- with our digging strategy a maximum of 2 blocks must be digged out (one normal and one if it is falling sand or gravel)
-- we add one try in case something went wrong or there was some lag
function tryForward()
    debug("tryForward()")
    for i = 1, 3 do
        if turtle.forward() then
            return true
        end
        if not turtle.detect() then
            while turtle.attack() do end
        end
        turtle.dig()
    end
    return turtle.forward()
end

-- try to use one item from the inventory as fuel
function refuelOneFromInventory()
    for i = 1, 16 do
        local fl = turtle.getFuelLevel()
        turtle.select(i)
        turtle.refuel(1)
        if turtle.getFuelLevel() > fl then
            return true
        end
    end
    return false
end

-- check if turtle's inventory is completely full
function isInventoryFull()
    debug("isInventoryFull()")
    for i = 1, 16 do
        if turtle.getItemCount(i) == 0 then
            return false
        end
    end
    return true
end

-- return to our chest, drop everything there and refuel if necessary
-- returns new x, y, z and face which should be the same as when calling the function
function maintenance(refuelId, x, y, z, face)
    debug("maintenance(" .. refuelId .. ", " .. x .. ", " .. y .. ", " .. z .. ", ??)")
    local dx, dy, dz, dface = x, y, z, face
    -- move below our chest
    while y > 4 do
        if tryUp() then
            y = y - 1
        end
    end
    -- could come across other turtles -> no digging
    while y > 0 do
        while not turtle.up() do sleep(1) end
        y = y - 1
    end
    if face then
        turtle.turnRight()
        turtle.turnRight()
    end
    while x > 0 do
        while not turtle.forward() do sleep(1) end
        x = x - 1
    end
    turtle.turnRight()
    turtle.turnRight()
    -- Try to refuel from inventory if necessary
    while turtle.getFuelLevel() < REFUELTHRESHOLD and refuelOneFromInventory() do
        debug("Refuelled one from inventory. New level: " .. turtle.getFuelLevel())
    end
    -- drop all into the chest - overflow is ignored
    for i = 1, 16 do
        turtle.select(i)
        turtle.dropUp()
    end
    -- refuel from station if still necessary
    if turtle.getFuelLevel() < REFUELTHRESHOLD then
        debug("Refuel needed: " .. turtle.getFuelLevel() .. " < " .. REFUELTHRESHOLD)
        debug("Going to refuel at the station")
        -- go to fuel station
        -- from now on we could cross other turtles' lanes and will therefore only move, not dig
        while not turtle.forward() do sleep(1) end
        turtle.turnRight()
        while z > 0 do
            while not turtle.forward() do sleep(1) end
            z = z - 1
        end
        turtle.turnRight()
        turtle.turnRight()
        while not turtle.up() do sleep(1) end
        while not turtle.up() do sleep(1) end
        -- refuel
        while true do
            -- refuel all and send fuel level until >  REFUELTHRESHOLD
            for i = 1, 16 do
                turtle.select(i)
                turtle.refuel()
            end
            local message = {}
            message["message"] = "fuelLevel"
            message["fuelLevel"] = turtle.getFuelLevel()
            rednet.send(refuelId, textutils.serialize(message))
            if message["fuelLevel"] > REFUELTHRESHOLD then
                break
            end
        end
        debug("Refuelling at station successful. Returning to lane.")
        -- go back to lane
        if dz == 0 then
            turtle.turnRight()
            while not turtle.forward() do sleep(1) end
            while not turtle.down() do sleep(1) end
            while not turtle.down() do sleep(1) end
            while not turtle.down() do sleep(1) end
            while not turtle.back() do sleep(1) end
            while not turtle.back() do sleep(1) end
            x = 0
            y = 1
            z = 0
        else
            while z < dz do
                while not turtle.forward() do sleep(1) end
                z = z + 1
            end
            turtle.turnRight()
            while not turtle.down() do sleep(1) end
            while not turtle.down() do sleep(1) end
            y = 0
            while not turtle.back() do sleep(1) end
            x = 0
        end
    end
    face = true
    -- go back to old position
    debug("Returning to old position before maintenance-call.")
    while x < dx do
        while not turtle.forward() do sleep(1) end
        x = x + 1
    end
    if face ~= dface then
        turtle.turnRight()
        turtle.turnRight()
        face = dface
    end
    while y < dy and y < 4 do
        while not turtle.down() do sleep(1) end
        y = y + 1
    end
    while y < dy do
        while not tryDown() do sleep(1) end
        y = y + 1
    end
    return x, y, z, face
end

function diglane(lane, refuelId)
    debug("digLane(" .. lane .. ", " .. refuelId .. ")")
    -- x is forward (lane direction), y is depth below start (positive int), z is lane, true means facing in positive x direction
    local x, y, z, face = 1, 0, lane, true
    -- near bedrock we switch the digging strategy to vertical shafts instead of horizontal tunnels
    local digVertical = false
    -- big loop with many if-statements that magically does the right next step
    while true do
        -- check if we have enough fuel for returning to the station
        local distToRefuelStation = y + x + 1 + z + 2
        -- check if we have enough fuel for clearing the next row and returning to the refuel station (if not mining vertically)
        -- 15 forward, 3 down, 15 backward, 3 up
        local distToRefuelStationAfterNextLane = 15 + 3 + 15 + 3 + distToRefuelStation
        debug("Digging ... distToRefuelStation: " .. distToRefuelStation .. ", Fuel: " .. turtle.getFuelLevel())
        if turtle.getFuelLevel() - distToRefuelStation < 5 then -- some safety margin that was chosen arbitrarily
            debug("Trying to refuel from inventory.")
            -- try to refuel from inventory
            if not refuelOneFromInventory() then
                debug("Inventory was not enough. Starting maintenance routine.")
                -- did not work or was not enough -> start maintenance routine
                x, y, z, face = maintenance(refuelId, x, y, z, face)
            end
        elseif (x == 0) and (not digVertical) and (turtle.getFuelLevel() - distToRefuelStationAfterNextLane < 3) then
            debug("Trying to refuel from inventory.")
            -- try to refuel from inventory
            if not refuelOneFromInventory() then
                debug("Inventory was not enough. Starting maintenance routine.")
                -- did not work or was not enough -> start maintenance routine
                x, y, z, face = maintenance(refuelId, x, y, z, face)
            end
        elseif isInventoryFull() then
            debug("Inventory is full. Starting maintenance routine.")
            x, y, z, face = maintenance(refuelId, x, y, z, face)
        else
            -- dig
            if not digVertical then
                if y % 3 > 0 then
                    if tryDown() then
                        y = y + 1
                    else
                        debug("Hit the ground. Will go to vertical mode.")
                        digVertical = "start"
                    end
                else
                    if not clearUp() then
                        debug("Seems, we moved one too far. Going back.")
                        -- can only be the case if we accidently moved into a bedrock "gap"
                        turtle.turnRight()
                        turtle.turnRight()
                        tryForward()
                        turtle.turnRight()
                        turtle.turnRight()
                        if face then
                            x = x - 1
                        else
                            x = x + 1
                        end
                        if tryUp() then
                            y = y - 1
                        end
                        debug("And starting vertical mode.")
                        digVertical = "start"
                    else
                        if (not clearDown()) or (not tryForward()) then
                            debug("Could not clear down or go forward. Starting vertical mode.")
                            digVertical = "start"
                        else
                            if face then
                                x = x + 1
                            else
                                x = x - 1
                            end
                            clearUp()
                            if x == 0 or x == 15 then
                                turtle.turnRight()
                                turtle.turnRight()
                                face = not face
                                if not tryDown() then
                                    debug("At a border and could not go down. Starting vertical mode.")
                                    digVertical = "start"
                                else
                                    y = y + 1
                                end
                            end
                        end
                    end
                end
            else
                if digVertical == "start" then
                    -- make next step towards x15 with face towards x0
                    if not face then
                        turtle.turnRight()
                        turtle.turnRight()
                        face = not face
                    end
                    if x < 15 then
                        debug("Moving towards the end of the lane.")
                        if not tryForward() then
                            if tryUp() then
                                y = y - 1
                            else
                                -- need to backtrack
                                debug("Moved into a gap. Backtracking ...")
                                turtle.turnRight()
                                turtle.turnRight()
                                if tryForward() then
                                    x = x - 1
                                end
                                if tryUp() then
                                    y = y - 1
                                end
                                turtle.turnRight()
                                turtle.turnRight()
                            end
                        else
                            x = x + 1
                        end
                    else
                        debug("In position for vertical digging")
                        digVertical = "digVertical"
                        turtle.turnRight()
                        turtle.turnRight()
                        face = not face
                    end
                elseif digVertical == "digVertical" then
                    -- because we are in the last stages and hit bedrock, we have a clearer estimate (upper bound) of how much fuel we need for the rest
                    if (z == 0) then
                        -- as below, but the cost for returning to the lane is 6 (see maintenance routine)
                        REFUELTHRESHOLD = 10 * x + 2 * y + 14
                    else
                        -- back to lane, 2 down, 1 back, x forward, y down, at most 4 down and 4 up, 4 up plus 4 down plus 1 forward per unfinished field, then y to our chest
                        -- REFUELTHRESHOLD = z + 2 + 1 + x + y + 4 + 4 + x * (1 + 4 + 4) + y
                        REFUELTHRESHOLD = 10 * x + 2 * y + z + 11
                    end
                    if tryDown() then
                        y = y + 1
                    else
                        if x > 0 then
                            debug("At the bottom. Going to next field.")
                            -- bedrock has 5 layers at most
                            -- also clear any 'gaps' we might encounter when diligent mode is enabled
                            if DILIGENTMODE then
                                for i = 1, 3 do
                                    clearForward()
                                    turtle.turnRight()
                                    turtle.turnRight()
                                    clearForward()
                                    while not tryUp() do sleep(1) end
                                end
                                turtle.turnRight()
                                turtle.turnRight()
                                while not tryUp() do sleep(1) end
                            else
                                while not tryUp() do sleep(1) end
                                while not tryUp() do sleep(1) end
                                while not tryUp() do sleep(1) end
                                while not tryUp() do sleep(1) end
                            end
                            y = y - 4
                            while not tryForward() do sleep(1) end
                            x = x - 1
                        else
                            debug("Cleared the last block. Returning now.")
                            break
                        end
                    end
                end
            end
        end
    end
    -- TODO: DILIGENTMODE ...

    -- we should be at x0. so we go up and drop everything to our chest
    while y > 4 do
        while not tryUp() do sleep(1) end
        y = y - 1
    end
    -- could cross other turtles' paths -> no digging
    while y > 0 do
        while not turtle.up() do sleep(1) end
        y = y - 1
    end
    debug("Dropping everything into the chest.")
    for i = 1, 16 do
        if turtle.getItemCount(i) > 0 then
            turtle.select(i)
            turtle.dropUp()
        end
    end
    turtle.turnRight()
    turtle.turnRight()
    face = not face
    -- send finished to control
    local m = {}
    m["message"] = "laneFinished"
    rednet.send(refuelId, textutils.serialize(m))
end

function setuplane()
    -- copy program from disk to local dir
    fs.copy(SCRIPTPATH, SCRIPTNAME)

    turtle.turnLeft()

    local lane, refuelId
    while true do
        -- say hello
        local broadcast = {}
        broadcast["message"] = "hello"
        rednet.broadcast(textutils.serialize(broadcast))
        -- get welcome with our lane number
        local id, message, distance = rednet.receive(5)
        if message and distance < 1.4 then
            local m = {}
            m = textutils.unserialize(message)
            if m["message"] == "welcome" and m["lane"] > -1 then
                lane = m["lane"] + 0
                refuelId = id
                break
            end
        end
    end

    -- send fuel level, then get and use one fuel
    for i = 1, 16 do
        if turtle.getItemCount(i) == 0 then
            turtle.select(i)
            break
        end
    end
    local message = {}
    message["message"] = "fuelLevel"
    message["fuelLevel"] = turtle.getFuelLevel()
    message["lane"] = lane
    rednet.send(refuelId, textutils.serialize(message))
    local chestSlot
    while true do
        -- refuel all and send fuel level until >  REFUELTHRESHOLD
        while (not FUELLESS) and (not refuelOneFromInventory()) do sleep(1) end
        -- select lowest empty slot (to detect chest placement later on)
        for i = 1, 16 do
            if turtle.getItemCount(i) == 0 then
                chestSlot = i
                break
            end
        end
        message["fuelLevel"] = turtle.getFuelLevel()
        rednet.send(refuelId, textutils.serialize(message))
        if message["fuelLevel"] > REFUELTHRESHOLD then
            break
        end
    end
    -- get chest
    while turtle.getItemCount(chestSlot) < 1 do sleep(1) end
    -- only the first turtle needs to clear a path
    if lane == 15 then
        while not tryDown() do sleep(1) end
    else
        while not turtle.down() do sleep(1) end
    end
    -- dig/go to our lane
    for i = 1, lane do
        if lane == 15 then
            while not tryForward() do sleep(1) end
        else
            while not turtle.forward() do sleep(1) end
        end
    end
    turtle.turnRight()
    -- place chest
    turtle.select(chestSlot)
    clearUp()
    clearDown()
    turtle.placeUp()
    while not tryForward() do sleep(1) end
    if lane == 0 then
        turtle.suckUp()
    end

    -- dig lane
    shell.run(SCRIPTNAME, "diglane", lane, refuelId)
end

function refuelStation(workers)
    debug("refuelStation: " .. textutils.serialize(workers))
    if not workers then
        workers = {}
        for i = 0, 15 do
            workers[i] = -1
        end
    end
    print("Waiting for refuel requests. Will automatically exit if all lanes are complete. Press SPACE to exit early.")
    print()
    while true do
        local allDone = true
        for i = 0, 15 do
            if workers[i] > -1 then
                allDone = false
                break
            end
        end
        if allDone then
            print("All lanes are done.")
            break
        end
        local event, id, message, distance = os.pullEvent()
        print(event)
        print(id)
        print(message)
        print(distance)
        if event == "rednet_message" and (distance == nil or distance < 1.4) and message then
            local m = {}
            m = textutils.unserialize(message)
            if m["message"] == "fuelLevel" and m["fuelLevel"] <= REFUELTHRESHOLD then
                for i = 5, 16 do
                    if turtle.getItemCount(i) > 0 then
                        turtle.select(i)
                        turtle.drop(1)
                        break
                    end
                end
            end
        elseif event == "rednet_message" and message then
            local m = {}
            m = textutils.unserialize(message)
            if m["message"] == "laneFinished" then
                for i = 0, 15 do
                    if workers[i] == id then
                        debug("Received laneFinished from " .. id .. " and cleared workers[" .. i .. "]")
                        workers[i] = -1
                        break
                    end
                end
            end
        elseif event == "key" and id == 57 then
            break
        end
    end

    -- clearup the drones (place them into their chest)
    tryForward()
    turtle.turnRight()
    turtle.turnRight()
    while not tryDown() do sleep(1) end
    while not tryDown() do sleep(1) end
    while not tryForward() do sleep(1) end
    turtle.turnRight()
    for i = 1, 16 do
        if turtle.getItemCount(i) > 0 then
            turtle.select(i)
            turtle.dropUp()
        end
    end
    turtle.select(1)
    for i = 1, 15 do
        while not tryForward() do sleep(1) end
        turtle.dropUp()
    end
end

function setup(force)
    local force = force or false

    print("Please put ...")
    print("... 16 wireless mining turtles in slot 1.")
    print("... 16 iron or better chests in slot 2.")
    print("... a floppy disk in slot 3.")
    print("... a disk drive in slot 4.")
    print("... fuel of any kind in slots 5-16.")
    print()
    print("Press RETURN to start or SPACE to exit.")
    print()

    while not force do
        local event, id, message = os.pullEvent()
        if event == "key" and id == 28 then
            break
        elseif event == "key" and id == 57 then
            return
        end
    end

    -- need fuel to place the floppy and cleanup after finish
    while turtle.getFuelLevel() < 23 do
        for i = 1, 16 do
            turtle.select(i)
            if turtle.refuel(1) then
                break
            end
        end
        sleep(1)
    end

    -- need some space below me
    if not tryDown() then
        print("No space below me")
        return
    end

    -- clear the floppy block
    turtle.turnRight()
    if not tryForward() then
        print("Could not clear block in front for the floppy.")
        return
    end
    while not turtle.back() do sleep(1) end

    -- place the disk drive and insert floppy
    turtle.select(4)
    while not turtle.place() do sleep(1) end
    turtle.select(3)
    while not turtle.drop() do sleep(1) end

    -- write startup file to floppy
    fs.copy(SCRIPTPATH, "disk/" .. SCRIPTNAME)
    local fp = fs.open("disk/startup", "w")
    fp.writeLine("shell.run(\"disk/".. SCRIPTNAME .. "\", \"setuplane\")")
    fp.close()

    -- move back to our position
    while not tryUp() do sleep(1) end

    -- list of worker computerIDs
    local workers = {}

    -- place, refuel and send off 16 drones
    for i = 0, 15 do
        print("Placing drone " .. i + 1 .. " of 16.")
        print()
        -- place the drone
        turtle.select(1)
        while turtle.detectDown() do sleep(1) end
        turtle.placeDown()
        -- boot the drone, thanks to dustpuppy for reminding me about the peripheral API
        peripheral.call("bottom", "turnOn")
        -- wait for announce, send lane number, wait for confirmation
        -- the drone id is stored in the workers table
        while true do
            local id, message, distance = rednet.receive(5)
            local m = {}
            if message then
                m = textutils.unserialize(message)
            end
            if m["message"] == "hello" and distance < 1.4 then
                local answer = {}
                answer["message"] = "welcome"
                answer["lane"] = 15 - i
                rednet.send(id, textutils.serialize(answer))
            elseif m and m["message"] == "fuelLevel" and m["lane"] == 15 - i then
                workers[15 - i] = id
                break
            end
        end
        -- refuel drone to at least the threshold
        if not FUELLESS then
            while true do
                for j = 5, 16 do
                    if turtle.getItemCount(j) > 0 then
                        turtle.select(j)
                        turtle.dropDown(1)
                        break
                    end
                end
                local id, message, distance = rednet.receive(5)
                local m = {}
                if message then
                    m = textutils.unserialize(message)
                end
                if m["message"] == "fuelLevel" and m["fuelLevel"] > REFUELTHRESHOLD then
                    break
                end
            end
        end
        -- place chest in drone inventory
        turtle.select(2)
        turtle.dropDown(1)
    end

    -- All drones placed. We switch to refuelling mode
    shell.run(SCRIPTNAME, "refuelstation", textutils.serialize(workers))
end

function printUsage()
    print("Usage of " .. SCRIPTNAME .. " command:")
    print()
    print(SCRIPTNAME .. " setup|force|setuplane|diglane <laneNo> <refuelId>|refuelstation <serializedIdList>")
    print("If you are not sure, you probably want the setup.")
    print()
end

-- =========================================
--                  MAIN
-- =========================================

if tArgs[1] == "setup" then
    setup()
elseif tArgs[1] == "force" then
    setup(true)
elseif tArgs[1] == "setuplane" then
    setuplane()
elseif tArgs[1] == "diglane" and tArgs[2] and tArgs[3] and tArgs[2] + 0 > -1 and tArgs[3] + 0 > -1 then
    diglane(tArgs[2] + 0, tArgs[3] + 0)
elseif tArgs[1] == "refuelstation" and tArgs[2] then
    refuelStation(textutils.unserialize(tArgs[2]))
else
    printUsage()
end

rednet.close("right")
rednet.close("left")
rednet.close("top")
rednet.close("bottom")
rednet.close("front")
rednet.close("back")

ENDTIME = os.clock()
print("Starttime:" .. STARTUPTIME)
print("Endtime: " .. ENDTIME)