gantry_control

--endstop positions
xEndstop, yEndstop = ...


local w,h term.getSize()
local fineBool = false
local xInv = false
local yInv = false

--how big the platform is
platformSize = 8

--side definitions
IO = "front"
reverse = "left"
toggleY = "back"
toggleH = "right"
rsIn = "bottom"

--time required to move 1 block horozontally
stepTime = 0.45


--*************Functions*************

--initializes mining platform connection
function initPlatform()
    rsRoute(toggleY, "on")
    rsRoute(toggleH, "on")
    rsRoute(IO, "on")
    sleep(2)
    rsRoute(reverse, "on")
    sleep(4)
    clearRS()
end

--finds endstops
function findExtent()
    back()
    right()
    fine()
    --find x endstop
    while rs.getAnalogInput(rsIn) ~= 3 do
        left()
        xEndstop = xEndstop + 1
        sleep(0.15)
    end

    for x=0,(xEndstop) do
        right()
        sleep(0.15)
    end

    --find y endstop
    while rs.getAnalogInput(rsIn) ~= 4 do
        forward()
        yEndstop = yEndstop + 1
        sleep(0.15)
    end

    for x=0,(yEndstop) do
        back()
        sleep(0.15)
    end

    fine()
    --debug
    --print(xEndstop)
    --print(yEndstop)
end

--sets colors for text and BG
function setTheme(FG, BG)
    term.setBackgroundColor(BG)
    term.setTextColor(FG)
end

--sets redstone off
function clearRS()
    rs.setAnalogOutput(IO,0)
    rs.setAnalogOutput(toggleH,0)
    rs.setAnalogOutput(toggleY,0)
    rs.setAnalogOutput(reverse,0)
    rs.setAnalogOutput(rsIn,0)
end


--draw functions
function drawBtn(text, width, height, xpos, ypos)
    --positions are for the top left of the btn

    local linesAbove = math.floor((height-1)/2)
    local linesBelow = math.ceil((height-1)/2)
    local spaceLeft = math.floor((width-#text)/2)
    local spaceRight = math.ceil((width-#text)/2)

    --draw lines above text
    for line=0,linesAbove do
        term.setCursorPos(xpos,ypos+line)
        for character=1,width do
            write(" ")
        end
    end

    --draw lines below text
    for line=0,linesBelow do
        term.setCursorPos(xpos, ypos+linesAbove+line)
        for character=1,width do
            write(" ")
        end
    end

    --draw text line
    term.setCursorPos(xpos, ypos+linesAbove)
    for spaces=1,spaceLeft do
        write(" " )
    end
    write(text)
    for spaces=1,spaceRight do
        write(" ")
    end
end


--outputs the redstone signals
function rsRoute(freq, command)
    if command=="on" then
        rs.setAnalogOutput(freq, 15)
    end

    if command=="off" then
        rs.setAnalogOutput(freq, 0)
    end

    if command=="pulse" then
        rs.setAnalogOutput(freq,15)
        sleep(0.1)
        rs.setAnalogOutput(freq, 0)
    end
end


--functions to translate commands into redstone
function moveX(distance)
    rsRoute(toggleY, "off")
    rsRoute(toggleH, "off")

    if xInv then distance = -1*distance end

    if distance>0 then
        rsRoute(reverse, "off")
    elseif distance<0 then
        rsRoute(reverse, "on")
        distance = -1 * distance
    else
        sleep(0.1)
    end

    sleep(0.1)
    rsRoute(IO, "on")
    sleep(stepTime*distance)
    rsRoute(IO, "off")
end

function moveY(distance)
    rsRoute(toggleY, "on")
    rsRoute(toggleH, "off")

    if yInv then distance = -1*distance end

    if distance>0 then
        rsRoute(reverse, "off")
    elseif distance<0 then
        rsRoute(reverse, "on")
        distance = -1 * distance
    else
        sleep(0.1)
    end

    sleep(0.1)
    rsRoute(IO, "on")
    sleep(stepTime*distance)
    rsRoute(IO, "off")
end

function digToBR()
 clearRS()
    rsRoute(toggleY, "on")
    rsRoute(toggleH, "on")

    local atBottom = false
    local atTop = false

    rsRoute(IO,"on")
 sleep(2)

    while not atBottom do
        os.pullEvent("redstone")
        if rs.getAnalogInput(rsIn) == 1 then
            rsRoute(reverse, "on")
            atBottom = true
        elseif rs.getAnalogInput(rsIn) > 1 then
            --whatever else we need to do later
        else
            sleep(0.1)
        end
    end

    while not atTop do
        os.pullEvent("redstone")
        if rs.getAnalogInput(rsIn) == 2 then
            rsRoute(IO, "off")
            atTop = true
        elseif rs.getAnalogInput(rsIn) ~= 2 then
            --other stuff later maybe
        else
            sleep(0.1)
        end
    end
end


--functinos for the buttons
function forward()
    --print("forward")
    if fineBool then moveY(-1) end
    if not fineBool then moveY(-4) end
end

function back()
    --print("back")
    if fineBool then moveY(1) end
    if not fineBool then moveY(4) end
end

function left()
    --print("left")
    if fineBool then moveX(1) end
    if not fineBool then moveX(4) end
end

function right()
    --print("right")
    if fineBool then moveX(-1) end
    if not fineBool then moveX(-4) end
end

function fine()
    fineBool = not fineBool

    if fineBool then
        setTheme(colors.black, colors.green)
    else
        setTheme(colors.black, colors.red)
    end
    drawBtn("FINE",6,3,21,4)
end

function invertX()
    xInv = not xInv

    if xInv then
        setTheme(colors.black, colors.green)
    else
        setTheme(colors.black, colors.red)
    end
    drawBtn("-X",3,3,4,14)
end

function invertY()
    yInv = not yInv

    if yInv then
        setTheme(colors.black, colors.green)
    else
        setTheme(colors.black, colors.red)
    end
    drawBtn("-Y",3,3,14,14)
end

function toBR()
    digToBR()
end

function mine()
    --init variables
    local xSteps = math.floor(xEndstop/platformSize)
    local ySteps = math.floor(yEndstop/platformSize)
    local backwards = false

    --turns off fine control
    if fineBool then fine() end

    --main loop
    for x=1,xSteps do
        for y=1,ySteps do
            digToBR()
            sleep(0.15)
            if backwards then
                for s=1,(platformSize/4) do back() sleep(0.15) end
            else
                for s=1,(platformSize/4) do forward() sleep(0.15) end
            end
        end
        sleep(0.15)
        digToBR()
        sleep(0.15)
        for s=1,(platformSize/4) do left() sleep(0.15) end
        backwards = not backwards
        sleep(10)
    end
end



--************MAIN*****************--
--clear Term and redstone
term.setBackgroundColor(colors.black)
term.clear()
clearRS()

--draw momentary buttons
setTheme(colors.black, colors.white)
drawBtn("^",3,3,9,4)
drawBtn("<",3,3,4,9)
drawBtn(">",3,3,14,9)
drawBtn("v",3,3,9,14)
setTheme(colors.white, colors.black)

--draw toggle buttons
setTheme(colors.black, colors.red)
drawBtn("FINE",6,3,21,4)
drawBtn("-X",3,3,4,14)
drawBtn("-Y",3,3,14,14)
setTheme(colors.black, colors.green)
drawBtn("2 BR",6,3,21,9)
drawBtn("AREA",6,3,21,14)
setTheme(colors.white, colors.black)

--sets cursor at 1,1 for debug
term.setCursorPos(1,1)

--initialize
initPlatform()
if (xEndstop==yEndstop) and (xEndstop==0) then
    findExtent()
end


while true do
    local _,_,mX,mY = os.pullEvent("mouse_click")

    local x = 0
    local y = 0

    if (4 <= mX) and  (mX <= 6) then
        x = 1
    elseif (9 <= mX) and  (mX <= 11) then
        x = 2
    elseif (14 <= mX) and  (mX <= 20) then
        x = 3
    elseif (21 <= mX) and  (mX <= 26) then
        x = 4
    else
        x = 0
    end

    if (4 <= mY) and  (mY <= 6) then
        y = 1
    elseif (9 <= mY) and  (mY <= 11) then
        y = 2
    elseif (14 <= mY) and  (mY <= 16) then
        y = 3
    else
        y = 0
    end

    if (x==1) and (y==2) then left() end
    if (x==1) and (y==3) then invertX() end
    if (x==3) and (y==3) then invertY() end
    if (x==2) and (y==1) then forward() end
    if (x==2) and (y==3) then back() end
    if (x==3) and (y==2) then right() end
    if (x==4) and (y==1) then fine() end
    if (x==4) and (y==2) then toBR() end
    if (x==4) and (y==3) then mine() end
end