Quary_3_beta

--[[ Ce programme [créé par Bimgo]

Susceptible d'être modifié à tout moment pour amélioration et/ou réparation.
Dernière édition : 04.02.2013  -  17:00

Next step :
* gps localisation
* check consommable
* suck fuel from chest **********************
* put item in chest **************************

]]--

-- Position et orientation initales
xCoord = 999
zCoord = 999
yCoord = 150

xQuary = 999
zQuary = 999
yQuary = 150

xProgress = 999
zProgress = 999
yProgress = 150
oProgress = 1

--xHome = xCoord
--zHome = zCoord
--yHome = yCoord

yTravel = 68

gpsnavigator = 1

startorientation = 1
orientation = 2
orientations = {"Nord", "Est", "Sud", "Ouest"}

zDif = {-1, 0, 1, 0}
xDif = {0, 1, 0, -1}

longeurLigne = 10
lignes = 10

yMin = 999
yMinEnd = 7

JobDispo = true

-- continuer = 2 -------------------------------------------------------------------

manager = 7

fuelLevel = 0

--[[ FONCTIONS DEFINIES :
getPos : gps localisation
gauche : tourne a gauche en modifiant l orientation
droite : tourne a droite en modifiant l orientation
avance : avance en minant avec gestion des genes en cas d'obstacle mobile (personne, mob, npc, ...)
haut : monte en minant avec gestion des genes en cas d obstacle mobile
bas : descente en minant avec gestion des genes en cas d obstacle mobile
look : pointage dans la bonne direction par une rotation a droite
digLine : minage d une ligne
digLayer : minage de la couche
digQuary : minage complet
nbDepl : calcul du nombre de déplacement pour arriver sur zone
goto : fonction goto destination
InventairePlein : verifie si le dernier slot a un item ou pas si oui -> vidage
returnItems : retours des items une fois la turtle full et reprise du job ou il a ete laisse
getJob : requete d'un job à la station
nbDeplQuary : calcul du nombre de deplacement pour faire le quary + complément à nbDepl pour aller monter du fond du quary
ndDeplacement : nombre de deplacement lors du retours des items (car le calcul inital ne le prévois pas)
** move : introduction destination + calcul nb deplacement
fuelCheckStart : verification carbu necessaire au départ
fuelCheck : verification carbu necessaire

** function non utilisée dans le programme

FUNCTION                       DONNEES DEFINIES                        DONNES UTILISEES
getPos                      >> iCoord et iHome                  >>
getJob                      >> iQuary                           >>
  nbDeplQuary               >> DeplQuary                        >> longeurLigne, lignes, yQuary, yMinEnd
  digQuary                  >>                                  >> iQuary, iHome, yTravel, yMin, yMinEnd
    nbDepl                  >> Depl                             >> iCoord
    fuelCheckStart          >> TotalDepl, FuelActuel, FuelNeed  >> Depl, DeplQuary
    goto                    >> iTarget                          >> iCoord
    digLayer                >>                                  >>
      digLine               >>                                  >>
        InventairePlein     >>                                  >>
        returnItems         >> iProgress, oProgress             >> iCoord
          fuelCheck         >>                                  >>
            nbDeplacement   >>                                  >> iProgress, iCoord, yTravel

-------------------------------------------------------------------------------------------
shell.run('clear')

turtle.suckUp(quantity)

_REDSTONE IMPULSE
redstone.setOutput("back", true)
sleep(1)
redstone.setOutput("back", false)
]]--

function getPos(posX,posY,posZ)
  print("TURTLE DE MINAGE")
  print("Voulez-vous utilisez la station de commande pour les job? [1=Oui, 0=Non]")
  read()
--  gpsnavigator = tonumber(read())

  sleep(2)
  shell.run('clear')

--  if gpsnavigator = 1 then
--GPS localisator
--    rednet.close("right")
--    rednet.open("right")
--      posX, posY, posZ = gps.locate(3) -- posX, posY, posZ = gps.locate(2, false)
--  print("Position : X="..posX.." Y="..posY.." Z="..posZ)
--    xCoord = posX
--    yCoord = posY
--    zCoord = posZ
--  else
-- Alternative sans gps

    print("Saisir les coordonnées du lieu d'ou part la turtle:")
    print("X =")
    xCoord = tonumber(read())
    print("Y =")
    yCoord = tonumber(read())
    print("Z =")
    zCoord = tonumber(read())
    print("Orientation [1=Nord, 2=Est, 3=Sud, 4=Ouest]:")
    startorientation = tonumber(read())
    orientation = startorientation
    print(" ")
    print("Coordonnees : X="..xCoord.." Y="..yCoord.." Z="..zCoord.." Orientation="..orientations[orientation])
    sleep(2)
    shell.run('clear')
--  end
-- Definition Home
  xHome = xCoord
  zHome = zCoord
  yHome = yCoord
end

function gauche()
  orientation = orientation - 1
  orientation = (orientation - 1) % 4
  orientation = orientation + 1

  turtle.turnLeft()
end

function droite()
  orientation = orientation - 1
  orientation = (orientation + 1) % 4
  orientation = orientation + 1

  turtle.turnRight()
end

function avance()
  xCoord = xCoord + xDif[orientation]
  zCoord = zCoord + zDif[orientation]

  while turtle.detect() do
    turtle.dig()
  end

  moved = false
  while not(moved) do
    moved = turtle.forward()
  end
end

function haut()
  yCoord = yCoord + 1

  turtle.digUp()

  moved = false
  while not(moved) do
    moved = turtle.up()
  end
end

function bas()
  yCoord = yCoord - 1

  turtle.digDown()

  moved = false
  while not(moved) do
    moved = turtle.down()
  end

  if yMin > yCoord then
    yMin = yCoord
  end
end

function look(direction)
  while direction ~= orientations[orientation] do
    droite()
  end
end

function digLine()
  LL = longeurLigne - 1
  for i = 1,LL do
    if InventairePlein() then
      returnItems()
    end
    avance()
  end
end

function digLayer()
-- il a été admis que la turtle mine sur la droite et en avant par rapport à la position initiale
  for i = 1, lignes do
    digLine()
    if (i%2) == 1 and i < lignes then
      droite()
      avance()
      droite()
    elseif i < lignes then
      gauche()
      avance()
      gauche()
    end
  end
  goto(xQuary, zQuary, yCoord)
  look(orientations[startorientation])
  bas()
--  print("Coord : X="..xCoord.." Y="..yCoord.." Z="..zCoord.." Orientation="..orientations[orientation])
--  read()
end

function digQuary(xTarget, zTarget, yTarget)
  xQuary = xTarget
  zQuary = zTarget
  yQuary = yTarget

  nbDepl()
  fuelCheckStart()

  goto(xQuary, zQuary, yTravel)
  goto(xQuary, zQuary, yQuary)
  look(orientations[startorientation])
  while yMin > yMinEnd do
    digLayer()
  end
  goto(xQuary, zQuary, yQuary)
  goto(xHome, zHome, yTravel)
  goto(xHome, zHome, yHome)
  yMin = 999
end

function nbDepl()
  if yQuary < yCoord then
    yDepl = yTravel - yQuary
  else
    yDepl = yQuary - yCoord
  end
  if xQuary < xCoord then
    xDepl = xCoord - xQuary
  else
    xDepl = xQuary - xCoord
  end
  if zQuary < zCoord then
    zDepl = zCoord - zQuary
  else
    zDepl = zQuary - zCoord
  end
  Depl = 2 * (yDepl + xDepl + zDepl)
--  print("nombre de deplacement = "..Depl)
end

function goto(xTarget, zTarget, yTarget)
-- déplacement
  while yTarget < yCoord do
    bas()
  end
  while yTarget > yCoord do
    haut()
  end

  if xTarget < xCoord then
    look("Ouest")
    while xTarget < xCoord do
      avance()
    end
  end
  if xTarget > xCoord then
    look("Est")
    while xTarget > xCoord do
      avance()
    end
  end

  if zTarget < zCoord then
    look("Nord")
    while zTarget < zCoord do
      avance()
    end
  end
  if zTarget > zCoord then
    look("Sud")
    while zTarget > zCoord do
      avance()
    end
  end
end

function InventairePlein()
  turtle.select(16)
  full = turtle.getItemCount(16) > 0
  turtle.select(1)
  return full
end

function returnItems()
  xProgress = xCoord
  zProgress = zCoord
  yProgress = yCoord
  oProgress = orientation
  print("Progress: X="..xProgress.." Y="..yProgress.." Z="..zProgress.." o="..oProgress)
  print("@ Home: "..xHome.." "..zHome)

  goto(xHome, zHome, yTravel)
  goto(xHome, zHome, yHome)
  look(orientations[startorientation])
  sleep(2)
  shell.run('clear')
  purge()
  turtle.select(1)

  fuelCheck()

  goto(xProgress,zProgress,yTravel)
  goto(xProgress,zProgress,yProgress)
  look(orientations[oProgress])
end


function getJob()
-- Verification utilisation avec station (gpsnavigator)

--  if gpsnavigator = 1 then
--  si option gpsnavigator = 1 = GPS on
--    while JobDispo do
--       print("Requete d'un job...")
--      rednet.send(manager, "getJob")
--      id, message, dis = rednet.receive()

--      if message == "Oui" then
--        id, xRec, dis = rednet.receive()
--        id, zRec, dis = rednet.receive()
--        id, yRec, dis = rednet.receive()

--      xQuary = tonumber(xRec)
--      zQuary = tonumber(zRec)
--      yQuary = tonumber(yRec)

--      print("Job dispo : "..xQuary.." "..zQuary)
--      sleep(2)
--      shell.run('clear')

--      nbDeplQuary()
--      digQuary(xQuary, zQuary, yQuary)

  --        look(orientations[startorientation)
--      print("Job termine")
--    elseif message == "Non" then
--        print("Pas de job dispo... en attente nouvelle mission.")
--       JobDispo = false
--      end
--    end
--  else
-- si option gpsnavigator = 0 = GPS off
--  if continuer = 1 then----------------------------------------------
--    xQuary = xCoord
--    yQuary = yCoord
--    zQuary = zCoord
--  else
      print("Saisir les coordonnées du lieu du quary:")
      print("Quary X =")
      xQuary = tonumber(read())
      print("Quary Y =")
      yQuary = tonumber(read())
      print("Quary Z =")
      zQuary = tonumber(read())
--  end
    print("Profondeur finale (yMinEnd = 7) =")
    yMinEnd = tonumber(read())

    print("yTravel =")
    yTravel = tonumber(read())

    print("Job dispo : "..xQuary.." "..zQuary)
    sleep(2)
    shell.run('clear')

    nbDeplQuary()
    digQuary(xQuary, zQuary, yQuary)

    look(orientations[startorientation])
    print("Job termine")
    print("")
    print("Voulez-vous continuer ? [1=oui; 2=non]")
    local continuer = tonumber(read())

--  if continuer = 1 then
--    getJob() --------------------------------------------------------------------------------definir : getJob(xCoord, yCoord, zCoord) ?
--  else
--    print("Au revoir!")
 --     shell.run('clear')
--  end
  --end
end

function nbDeplQuary()
  DeplQuary = tonumber(longeurLigne) * tonumber(lignes) * (tonumber(yQuary) - tonumber(yMinEnd)) + (tonumber(yQuary) - tonumber(yMinEnd))
  -- y compris ajouts déplacement du yQuary au yMinEnd
end

function nbDeplacement()
--FONCTION A RACCOURCIR... nbDeplacement (xDest yDest zDest xStart yStart zStart)
--  if yDest < yStart then
--    yDepl = yTravel - yDest
--  else
--    yDepl = yDest - yStart
--  end
  if yProgress < yCoord then
    yDeplacement = yTravel - yProgress
  else
    yDeplacement = yProgress - yCoord
  end
  if xProgress < xCoord then
    xDeplacement = xCoord - xProgress
  else
    xDeplacement = xProgress - xCoord
  end
  if zProgress < zCoord then
    zDeplacement = zCoord - zProgress
  else
    zDeplacement = zProgress - zCoord
  end
  Deplacement = 2 * (yDeplacement + xDeplacement + zDeplacement) -- 2x car aller et retour
--  print("nombre de deplacement = "..Deplacement)
end

function move() -- commande abandonnées
  print("Position actuelle : X="..xCoord.." Z="..zCoord.." Y="..yCoord.." Orientation="..orientations[orientation])
  xHome = xCoord
  zHome = zCoord
  yHome = yCoord

  print("Destination ?")
  print("X :")
  x = tonumber(read ())
  print("Y :")
  y = tonumber(read ())
  print("Z :")
  z = tonumber(read())

  print("@ "..x.." "..z.." "..y)
  goto(x,z,y)
--move()
end

function fuelCheckStart()
  TotalDepl = DeplQuary + Depl
  FuelActuel = turtle.getFuelLevel()
  FuelNeed = FuelActuel - TotalDepl

  while TotalDepl - turtle.getFuelLevel() >= 0 do
    manque = TotalDepl - turtle.getFuelLevel()
    manqueCoal = math.ceil(manque/80) + 5 -- 1 coal = 80??? 96 deplacements; 1 lava cell = 1200 déplacements; avec 5 coal de reserve = 400 déplacements
    -- print("Veuillez placer "..(manqueCoal).." et validez avec ENTER")
    print("TotalDepl="..TotalDepl.." FuelActuel="..FuelActuel)
    read()
    purge()
    if manqueCoal < 64 then
      refuel()
    else
      turtle.select(1)
      turtle.suckDown()
      if turtle.getItemCount(1) = 64 else
        turtle.refuel(64)
      else
        print("Stock épuisé... remplir le coffre et valider avec ENTER")
        read()
        fuelCheckStart()
      end
      turtle.suckDown()
      reste = manqueCoal - 64

      if turtle.getItemCount(1) > reste else
        turtle.refuel(reste)
        qt = 64 - reste
        turtle.dropDown(qt)
      else
        print("Stock épuisé... remplir le coffre et valider avec ENTER")
        read()
        fuelCheckStart()
      end
    end
    print("Plein effectué, au travail")
    fuelLevel = turtle.getFuelLevel()
    print("Information : fuel level="..fuelLevel)
    sleep(2)
    shell.run('clear')



    -- if turtle.getItemCount(1) > 0 then
      -- if manqueCoal > 64 then
      -- print("le fuel necessaire etant > 64 utiliser egalement le slot 2")
        -- turtle.select(1)
        -- turtle.suckDown(manqueCoal)
        -- turtle.refuel(64)
        -- turtle.select(2)
        -- reste = manqueCoal - 64
        -- turtle.refuel(reste)
      -- else
        -- turtle.select(1)
        -- turtle.suckDown(manqueCoal)
        -- turtle.refuel(manqueCoal)
      -- end
    -- end
    -- print("Plein effectué, au travail")
    -- fuelLevel = turtle.getFuelLevel()
    -- print("Information : fuel level="..fuelLevel)
    -- sleep(2)
    -- shell.run('clear')
  end
end

function fuelCheck()
  nbDeplacement ()
  manqueCoal = math.ceil(Deplacement/80) + 1 -- 1 coal = 80?? 96 deplacements; 1 lava cell = 1200 déplacements

  purge() -- purge de l'inventaire
  refuel()
end

function purge()
  for i = 1,16 do
    turtle.select(i)
    turtle.drop()
  end
end

function refuel() -- for fuel need < 64 items
  turtle.select(1)
  turtle.suckDown(manqueCoal)

  if turtle.getItemCount(1) >= manqueCoal then
    qty = turtle.getItemCount(1) - manqueCoal
    turtle.refuel(manqueCoal)
    print("Refuel de :"..manqueCoal)
    turtle.dropDown(qty)
    print("Rendu :"..qty)
    print("Plein effectué, au travail")
    fuelLevel = turtle.getFuelLevel()
    print("Information : fuel level="..fuelLevel)
    sleep(2)
    shell.run('clear')
  else
    print("Stock épuisé... remplir le coffre et valider avec ENTER")
    read()
    sleep(2)
    shell.run('clear')
    fuelCheck()
  end
end

--[[ PROGRAMME ]]--
getPos()
getJob()