move

function save()
  f = fs.open("pos","w")
  f.writeLine(x)
  f.writeLine(y)
  f.writeLine(z)
  f.writeLine(facing)
  f.close()
end

function move(dir)
  obstacle = false
  if dir == "u" then
    while not turtle.up() and not obstacle do
      if turtle.detectUp() then
        obstacle = true
      else
        os.sleep(0.5)
      end
    end
    if not obstacle then
      y = y + 1
      save()
    end
    return not obstacle
  elseif dir == "d" then
    while not turtle.down() and not obstacle do
      if turtle.detectDown() then
        obstacle = true
      else
        os.sleep(0.5)
      end
    end
    if not obstacle then
      y = y - 1
      save()
    end
    return not obstacle
  else
    dir = tonumber(dir)
    if facing - dir == -3 or facing - dir == 1 then
      turtle.turnLeft()
    elseif facing - dir == -2 or facing - dir == 2 then
      back = true
      if not turtle.back() then
        turtle.turnLeft()
        turtle.turnLeft()
        back = false
      end
    elseif facing - dir == -1 or facing - dir == 3 then
      turtle.turnRight()
    end
    if not back then
      facing = dir
      save()
      while not turtle.forward() and not obstacle do
        if turtle.detect() then
          obstacle = true
        else
          os.sleep(0.5)
        end
      end
    else
      back = false
    end
    if not obstacle then
      x, y, z = getCoords(x,y,z,tostring(dir))
      save()
    end
    return not obstacle
  end
end

function getCoords(x,y,z,dir)
  if dir == "0" then
    return x, y, (z+1)
  elseif dir == "1" then
    return (x-1), y, z
  elseif dir == "2" then
    return x, y, (z-1)
  elseif dir == "3" then
    return (x+1), y, z
  elseif dir == "u" then
    return x, (y+1), z
  else
    return x, (y-1), z
  end
end

-- initialize main
modem = peripheral.wrap("right")
f = fs.open("pos","r")
x = tonumber(f.readLine())
y = tonumber(f.readLine())
z = tonumber(f.readLine())
facing = tonumber(f.readLine())
back = false
pos = false
eindx = 331
eindy = 63
eindz = 107
id = 1234
modem.open(7001)

while true do
  event = { os.pullEvent("modem_message") }
  data = textutils.unserialize(event[5])
  if data.type == "moveAction" then
    position = data.position
    eindx = position.x
    eindy = position.y
    eindz = position.z
    pos = false
    while not pos do
      request = textutils.serialize({ beginx = x, eindx = eindx, beginy = y, eindy = eindy, beginz = z, eindz = eindz, facing =  facing })
      tabel = { type = "routeRequest", id = id, request = request }
      table.insert(tabel,request)
      modem.transmit(7000,7001,textutils.serialize(tabel))
      event = { os.pullEvent("modem_message") }
      print("received")
      data = textutils.unserialize(event[5])
      route = data.route
      print(#route)
      obstacle = false
      i = 0
      for k, v in pairs(route) do
        write(v)
      end
      --io.read()
      while i < #route and not obstacle do
        i = i + 1
        v = route[i]
        if not move(v) then
          tempx, tempy, tempz = getCoords(x,y,z,tostring(v))
          info = { x = tempx, y = tempy, z = tempz }
          tabel = { type = "addObstacle", id = id, info = info }
          modem.transmit(7000,7001,textutils.serialize(tabel))
          obstacle = true
          print("obstacle")
        end
      end
      if not obstacle then
        pos = true
      end
    end
  end
end