2dapi_3

-- api used for 2d pathfinding


-- defining variables of coordinates and direction
-- Initialize parameters for the location and direction
x_live_coord = 1
y_live_coord = 1
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
    print("item_left: %d", item_tot)
end

function refuel_with(item_name)
    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)
            end
        end
    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
        print('vertnow')
        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

rednet.open('left')
while true do
    id, message = rednet.receive('command_to_worker')
    worker_decode_and_action(message)
    rednet.broadcast(1,'worker_to_command')
end