moveAPI - devBranch

--[[
    MoveAPI is meant to be a replacement for the general
    movement commands you use for turtles.

    Feature List
    ------------
    Keeps track of coordinates
    Auto-handles sand/gravel
    Variable forward()/up()/down()
    Has moveTo() certain coordinates
    Can travel() with a chunkloader
        to ignore chunk load boundaries
]]

version = 1.3

xPos = 0
yPos = 0
zPos = 0
dir = "north"
chunkSlot = 2
dirMoving = "forward"
local isDebug = true
local shouldPathFind = true

--[[
    Here is your digging functions overwriting
]]

dig = turtle.dig
digUp = turtle.digUp
digDown = turtle.digDown

local function digDetect(detectFun, digFun)
    while detectFun() do
        if not digFun() and detectFun() then
            return false
        end
        digFun()
        sleep(.3)
    end
    return true
end

turtle.dig = function() return digDetect(turtle.detect, dig) end
turtle.digUp = function() return digDetect(turtle.detectUp, digUp) end
turtle.digDown = function() return digDetect(turtle.detectDown, digDown) end

--[[
    This is non-forceful movement in x distance
    Returns false if something in the way.
]]--

forward = turtle.forward
up = turtle.up
down = turtle.down

turtle.forward = function(...)
   --Returns true if successful, false if not
   local arg = {...}
    local distance = 0

    if arg[1] == nil then
        distance = 1
    else
        if type(arg[1]) ~= "number" then error("Invalid type passed into down()!") end
        distance = arg[1]
    end
   local x=0
   while x<distance do

        dirMoving = "forward"
        saveData()
        if not forward() then
            return false
        end

        if dir == "north" then
            zPos = zPos-1
        elseif dir == "east" then
            xPos = xPos+1
        elseif dir == "west" then
            xPos = xPos-1
        elseif dir == "south" then
            zPos=zPos+1
        end
        x=x+1
   end
   saveData()
   return true
end

local function movement(moveFunct, changeY, Moving, ...)
    local arg = {...}
    local distance = 0

    if arg[1] == nil then
        distance = 1
    else
        if type(arg[1]) ~= "number" then error("Invalid type passed into down()!") end
        distance = arg[1]
    end
   local x=0
   while x<distance do
        dirMoving = Moving
        saveData()
        if not moveFunct() then
            return false
        end
        yPos=yPos+changeY
        x=x+1
   end
   saveData()
   return true
end

turtle.up = function(...) return movement(up, 1, "up", ...) end
turtle.down = function(...) return movement(down, -1, "down", ...) end

--[[
    Here is a more forceful movements. If something is in the way,
    the turtle WILL mine it out. Sand and gravel are also handled
    properly.
]]

function fMovement(detectFunc, digFunc, moveFunc, attackFunc,...)
    local args = {...}
    local distance = 1
    if type(args[1]) == "number" then
       distance = args[1]
    end

    for i=1, distance do
        debug("Moving: "..i.."/"..distance)
        while not moveFunc() do
            if not digFunc() and detectFunc() then return false
            else attackFunc() end
        end
    end

    return true
end

turtle.fForward = function(...)  return fMovement(turtle.detect, turtle.dig, turtle.forward, turtle.attack,...) end
turtle.fUp = function(...)  return fMovement(turtle.detectUp, turtle.digUp, turtle.up, turtle.attackUp,...) end
turtle.fDown = function(...)  return fMovement(turtle.detectDown, turtle.digDown, turtle.down, turtle.attackDown,...) end

--[[
    Here is all your turning code.
]]
turnLeft = turtle.turnLeft
turnRight = turtle.turnRight

turtle.turnLeft = function()
    --Turns turtle left once and changes dir
    turnLeft()
    if dir == "north" then dir = "west"
    elseif dir == "south" then dir = "east"
    elseif dir == "west" then dir = "south"
    elseif dir == "east" then dir = "north"
    end
    saveData()
end

turtle.turnRight = function()
    --Turns turtle right once and changes dir
    turnRight()
    if dir == "north" then dir = "east"
    elseif dir == "south" then dir = "west"
    elseif dir == "west" then dir = "north"
    elseif dir == "east" then dir = "south"
    end
    saveData()
end

turtle.turnAround = function()
    turtle.turnRight()
    turtle.turnRight()
    saveData()
end

turtle.turnToDir = function(directionName)
    if directionName == "north" or directionName == "east" or directionName == "west" or directionName == "south" then
        while dir ~= directionName do
            turtle.turnLeft()
            saveData()
        end
    else
        error("setDir() had improper parameter passed into it. north/south/east/west required. You entered: "..directionName)
        return "Improper Parameter used."
    end
end

--[[
    These are here to provide information to the user.
    Lots of figuring out coordinates of or in front
    of turtle. I also placed setCoords() because...seemed appropriate.
]]

turtle.setCoords = function(...)
    --Just a quick way to forceSet coordinates :)
    --If you want non-relative coordinates, dir 0 = East, North: 3, South: 1, West: 2
    local stuff = {...}
    if #stuff <4 or #stuff > 4 then
        error("Improper amount of variables passed into setCoords(). Requires 4, you entered "..#stuff)
    elseif type(stuff[1]) ~= "number" or  type(stuff[2]) ~= "number" or type(stuff[3]) ~= "number" then
        error("Numbers required to be entered into first three parameters. You entered: "..stuff[1].." "..stuff[2].." "..stuff[3])
    elseif type(stuff[4]) ~= "string" then
        error("Last parameter must be a string. You entered: "..stuff[4])
    elseif stuff[4] ~= "north" and stuff[4] ~= "south" and stuff[4] ~= "east" and stuff[4] ~= "west" then
        error("Last parameter requires a direction. north/south/east/west. You entered: "..stuff[4])
    end

    xPos = stuff[1]
    yPos = stuff[2]
    zPos = stuff[3]
    dir = stuff[4]
    saveData()
end

turtle.getCoords = function()
    --Use this if you want the current coordinates of the turtle.
    return xPos, yPos, zPos, dir
end

turtle.getCoordsTbl = function()
    --Returns a table of the current coordinates (good for quickly setting locations)
    local table = {turtle.getX(), turtle.getY(), turtle.getZ(), turtle.getDir()}
    return table
end

turtle.getX = function()
    return xPos
end

turtle.getY = function()
    return yPos
end

turtle.getZ = function()
    return zPos
end

turtle.getDir = function()
    return dir
end

turtle.getFront = function()
    --Returns coordinates right in front of turtle
    if dir == "north" then
        return xPos, yPos, zPos-1
    elseif dir == "south" then
        return xPos, yPos, zPos+1
    elseif dir == "east" then
        return xPos+1, yPos, zPos
    elseif dir == "west" then
        return xPos-1, yPos, zPos
    else
        print("Error, dir is improper value.")
    end
end

turtle.getFrontTbl = function()
    --Returns coordinate table right in front of turtle
    local table = {}

    if dir == "north" then
        table = {xPos, yPos, zPos-1}
    elseif dir == "south" then
        table = {xPos, yPos, zPos+1}
    elseif dir == "east" then
        table = {xPos+1, yPos, zPos}
    elseif dir == "west" then
        table = {xPos-1, yPos, zPos}
    else
        print("Error, dir is improper value.")
    end

    return table
end

--[[
    Here are some of the more advanced functions such as
    move(), moveTo(), fMoveTo(), and travel().

    These are the intelligent functions for really going from
    place to place. Pathfinding of the functions is very much a work in
    progress. Do not rely on it too heavily. If you need to seriously
    find around obstacles, I suggest writing your own.
]]

turtle.move = function(direction, distance)
    --This loop is setup so that it can be used regurally to save lines of code and to
    --further modularize. Moves a certain distance in a specific direction.

    --Sets to proper direction before looping
    if direction == "north" or direction == "south" or direction == "east" or direction == "west" then
        turtle.turnToDir(direction)
    end

    --This is the main loop.
    local i = 0

    while i < distance do
        if direction == "up" then
            turtle.fUp()
        elseif direction == "down" then
            turtle.fDown()
        else
            turtle.fForward()
        end

        i=i+1
    end
end

local function smartMove(moveFunc, shouldBreak,aiType,...)
    --Base for intelligent navigation commands.
    local args = {...}
    local coords = {}
    local axisOdr = {}
    local isTrav = false
    debug(aiType.." executing...")

    --This handles the travel special case

    coords, axisOdr, isTrav = _parseInput(args)

    if isTrav then
        debug("Writing persist...")
        writeTravPerst(coords,axisOdr)
    end

    --Here, the turtle will actually follow the specific axis

    debug("Beginning movement with x: "..turtle.getX()..", y: "..turtle.getY()..", z: "..turtle.getZ())
    debug("\nGoing to x: "..coords[1]..", y: "..coords[2]..", z: "..coords[3])
    debug("Axis order is: "..axisOdr[1]..", "..axisOdr[2]..", "..axisOdr[3])
    local shouldCont = true
    for i=1, #axisOdr do
        if axisOdr[i] == "x" and shouldCont then
            if not moveFunc(coords[1], "x", shouldBreak) then shouldCont = false end
        end

        if axisOdr[i] == "y" and shouldCont then
            if not moveFunc(coords[2], "y", shouldBreak) then shouldCont = false end
        end

        if axisOdr[i] == "z" and shouldCont then
            if not moveFunc(coords[3], "z", shouldBreak) then shouldCont = false end
        end
    end

    --Some expiramental code which tries to find a way around
    if not shouldCont then
        if not collisionHandler(aiType, axisOdr, coords) then return false end
    end
    turtle.turnToDir(coords[4])
    return true
end

turtle.moveTo = function(...) if smartMove(goAxis, false, "moveTo",...) then return true else return false end end
turtle.fMoveTo = function(...) if smartMove(goAxis, true, "fMoveTo", ...) then return true else return false end end
turtle.travel = function(...)
    if smartMove(loadLoop, false, "travel", "trav", ...) then return true else return false end
    delTravPerst()
end

--[[
    HELPER COMMANDS
]]

function loadLoop(toCoord, axis, ...)
    --This loop is setup so that it can be used regurally to save lines of code and to
    --further modularize.

    --Random idiot-proofing.
    if axis ~= "x" and axis ~= "y" and axis ~= "z" then
        delTravPerst()
        error("Improper parameter entered for axis. Need x, y, or z. Entered: "..axis)
    end

    if type(toCoord) ~= "number" then
        delTravPerst()
        error("Improper parameter entered for coordinate. Please enter number. Entered: "..toCoord)
    end

    if turtle.getItemCount(chunkSlot) == 0 then
        delTravPerst()
        error("Please provide a chunkloader in slot: "..chunkSlot.." or setChunkSlot() to where one is.")
    end
    --Alright, let's find the direction.
    local direction
    local distance
    --Sets direction based on axis and currnet coordinates
    if axis == "x" then
        if toCoord>turtle.getX() then
            direction = "east"
            distance = toCoord - turtle.getX()
        else
            direction = "west"
            distance =  turtle.getX() - toCoord
        end
    elseif axis == "y" then
        if toCoord>turtle.getY() then
            direction = "up"
            distance = toCoord - turtle.getY()
        else
            direction = "down"
            distance =  turtle.getY() - toCoord
        end
    else
        if toCoord>turtle.getZ() then
            direction = "south"
            distance = toCoord - turtle.getZ()
        else
            direction = "north"
            distance =  turtle.getZ() - toCoord
        end
    end

    --For them silly negatives. ex. -439 - -16 = -423
    if distance < 0 then
        distance = distance*-1
    end

    --Sets to proper direction before looping
    if direction == "north" or direction == "south" or direction == "east" or direction == "west" then
        turtle.select(chunkSlot)
        turtle.digUp()
        turtle.placeUp()
        turtle.digUp()
        turtle.turnToDir(direction)
    end

    --This is the main loop.
    local i = 0
    local increment = 3
    local counter = 2

    while i < distance do
        if direction == "up" then
            if not turtle.fUp() then return false end
        elseif direction == "down" then
            if not turtle.fDown() then return false end
        else
            if not turtle.fForward() then return false end
        end

        --Counter is here so the turtle can put up the chunkloader ever increment amount of blocks
        counter = counter+1
        if counter == increment then
            --This ensures that too moves are not made before
            --chunk unloads and ensures to refresh chunkload loop
            turtle.select(chunkSlot)
            if not turtle.detectUp() then
                turtle.placeUp()
                turtle.digUp()
            else
                turtle.digUp()
                turtle.placeUp()
                turtle.digUp()
            end

            counter = 0
        end

        i=i+1
    end
    turtle.select(1)
    return true
end

function goAxis(toCoord, axis, shouldBreak)
    --Checks the axis (x, y, or z) and moves along it. Will break blocks/eat things if shouldBreak true

    --If x is the axis, then go east or west
    if axis == "x" then
        if toCoord>turtle.getX() then
            local distance = toCoord - turtle.getX()
            for i = 1, distance do
                --East should be here, turn to right direction and go!
                turtle.turnToDir("east")
                if shouldBreak then
                    if not turtle.fForward() then return false, "east" end
                else
                    if not turtle.forward() then return false, "east" end
                end
            end
        elseif toCoord<turtle.getX() then
            local distance = turtle.getX() - toCoord
            for i = 1, distance do
                turtle.turnToDir("west")
                if shouldBreak then
                    if not turtle.fForward() then return false, "west" end
                else
                    if not turtle.forward() then return false, "west" end
                end
            end
        end
    end
    --If y is axis, go up or down
    if axis == "y" then
        if toCoord>turtle.getY() then
            local distance = toCoord - turtle.getY()
            for i = 1, distance do
                --Gotta go up, here
                if shouldBreak then
                    if not turtle.fUp() then return false, "up" end
                else
                    if not turtle.up() then return false, "up" end
                end
            end
        elseif toCoord<turtle.getY() then
            local distance = turtle.getY() - toCoord
            for i = 1, distance do
                if shouldBreak then
                    if not turtle.fDown() then return false, "down" end
                else
                    if not turtle.down() then return false, "down" end
                end
            end
        end
    end

    --If z is the axis, handle it this way
    if axis == "z" then
        if toCoord>turtle.getZ() then
            local distance = toCoord - turtle.getZ()
            for i = 1, distance do
                --East should be here, turn to right direction and go!
                turtle.turnToDir("south")
                if shouldBreak then
                    if not turtle.fForward() then return false, "south" end
                else
                    if not turtle.forward() then return false, "south" end
                end
            end
        elseif toCoord<turtle.getZ() then
            local distance = turtle.getZ() - toCoord
            for i = 1, distance do
                turtle.turnToDir("north")
                if shouldBreak then
                    if not turtle.fForward() then return false, "north" end
                else
                    if not turtle.forward() then return false, "north" end
                end
            end
        end
    end
    return true
end

--Various helper functions from handling input, to pathfinding
turtle.setChunkSlot = function(slot)
  if slot>0 and slot<17 then
    chunkSlot = slot
    return true
  else
    return false
  end
end

turtle.setPathFinding = function(setting)
    --Sets if pathfinding will happen when obstacles are hit in moveTo or travel
    if type(setting) ~= "boolean" then return false end

    shouldPathFind = setting
end

function collisionHandler(moveType, axisOdr, coords)
    --This will allow at least a basic attempt at collisionhandling. It will not solve mazes.
    if not shouldPathFind then return false end
    if fs.exists("moveCol") then return false end

    local f = fs.open("moveCol", "w")
    f.write("m")
    f.close()
    local totCollisions = 0
    local step = 1
    local colX, colY, colZ, colDir = turtle.getCoords()
    local keepTrying = true
    --This is not meant to be a maze-solver, just help a little.
    while totCollisions < 10 and keepTrying do
        colX, colY, colZ, colDir = turtle.getCoords()
        totCollisions = totCollisions+1
        --This is if the same spot is a problem
        debug(turtle.getCoords())
        debug("Coll Coords: "..colX.." "..colY.." "..colZ)
        if turtle.getX() == colX and turtle.getY() == colY and turtle.getZ() == colZ then
            --Still stuck in same spot..better try something else.
            step = step+1
        else
            --New spot, alright, let's start from scratch.
            step = 1
            colX, colY, colZ = turtle.getCoords()
        end

        debug("\nCollision! Total: "..totCollisions.."\nStep: "..step)
        --Let's try a couple things.
        if step == 1 then
            turtle.turnAround()
            turtle.forward(1)
            axisOdr[1], axisOdr[2] = axisOdr[2], axisOdr[1]
        elseif step == 2 then
            turtle.turnLeft()
            turtle.forward(2)
            turtle.up()
        elseif step == 3 then
            turtle.turnRight()
            turtle.forward(2)
            turtle.down()
            axisOdr[2], axisOdr[3] = axisOdr[3], axisOdr[2]
        end

        --This just reexecutes a try.

        if moveType == "travel" then
            if turtle.travel(coords, axisOdr[1], axisOdr[2], axisOdr[3]) then
                fs.delete("moveCol")
                return true
            end
        elseif moveType == "moveTo" then
            if turtle.moveTo(coords, axisOdr[1], axisOdr[2], axisOdr[3]) then
                fs.delete("moveCol")
                return true
            end
        elseif moveType == "fMoveTo" then
            if turtle.fMoveTo(coords, axisOdr[1], axisOdr[2], axisOdr[3]) then
                fs.delete("moveCol")
                return true
            end
        end
    end

    fs.delete("moveCol")
    return false
end

function _parseInput(inputTable)
    --Parses through user input and returns an axis-table and coordinates.
    local args = inputTable
    local coords = {}
    local axisOdr = {}
    local isTrav = false

    --Let's loop through and get the coordinates if they exist.
    for i=1, #args do
        --Let's load up all their stuff.
        debug("Parsing Input #"..i..": ")
        debug(args[i])
        if type(args[i]) == "number" then
            coords[#coords+1] = args[i]
        elseif args[i] == "x" or args[i] == "y" or args[i] == "z" then
            axisOdr[#axisOdr+1] = args[i]
        elseif args[i] == "north" or args[i] == "south" or args[i] == "east" or args[i] == "west" then
            coords[4] = args[i]
        elseif type(args[i]) == "table" then
            --Making sure they don't pass in some random table.
            if #args[i] ~= 3 and #args[i] ~= 4 then
                error("Error passing in table as parameter. Not enough parameters present in table. Needs to hold 3 or 4 entries. Table length: "..#args[i])
            end

            --This lets the user pass in a table where it will get evaluated independantly.
            for k=1, #args[i] do
                if type(args[i][k]) == "number" then
                    coords[#coords+1] = args[i][k]
                elseif args[i][k] == "north" or args[i][k] == "south" or args[i][k] == "east" or args[i][k] == "west" then
                    coords[4] = args[i][k]
                end
            end
        elseif args[i] == "trav" then
            isTrav = true
        else
            error("Improper parameter passed into function. Passed in: "..args[i])
        end
    end

    --Ok, stuff has been placed, now, let's idiot-check

    --This makes sure they provided 3 coordinates.
    local nums = 0
    for i=1, #coords do
        if type(coords[i]) == "number" then
            nums = nums+1
        end
    end

    if nums ~= 3 then error("Improper number of coordinate parameters. Three required. You entered: "..nums) end
    if coords[4] == nil then coords[4] = "north" end
    --This will be the default path whe pathfinding.
    if #axisOdr ~= 3 then
        debug("Axis order either not entered or entered incorrectly, adjusting to default x -> z -> y...")
        axisOdr = {"x", "z", "y"}
    end

    --Now, let's just shoot everything back.
    return coords,axisOdr,isTrav
end

--[[
    Saving
    This is for redundancy of the API. You shouldn't need to
    call this...ever.
]]
function saveData()
    local saveData = {xPos, yPos, zPos, dir, turtle.getFuelLevel(), chunkSlot, dirMoving}
    local f = fs.open("api/moveLoc", "w")
    f.write(textutils.serialize(saveData))
    f.close()
end

function loadData()
    debug("Checking for previous config...")
    if fs.exists("api/moveLoc") then
        f = fs.open("api/moveLoc", "r")
        local data = textutils.unserialize(f.readAll())
        f.close()

        debug("Config found. Loading data...")
        --Checks to make sure turtle didn't move or do anything wonky after reboot
        if data[5] == turtle.getFuelLevel() then
            --Loading in the data since nothig bad happened
            local _d = ""
            xPos, yPos, zPos, dir, _d, chunkSlot, dirMoving = unpack(data)
        elseif data[5] == (turtle.getFuelLevel()+1) then
            --Here, we've gotta fix a few things since the turtle did in fact, move
            debug("Looks like the turtle moved and didn't save his position, altering...")
            if data[7] == "forward" then
                --Forward means he went somewhere on the x/z axis...gotta account for it
                if data[4] == "north" then
                    data[3] = data[3]-1
                elseif data[4] == "east" then
                    data[1] = data[1]+1
                elseif data[4] == "west" then
                    data[1] = data[1]-1
                elseif data[4] == "south" then
                    data[3]=data[3]+1
                end
            elseif data[7] == "up" then
                data[2] = data[2]+1
            elseif data[7] == "down" then
                data[2] = data[2]-1
            end

            --Now we can load in the fixed data.
            debug("Loading data in...")
            xPos, yPos, zPos, dir, _, chunkSlot, dirMoving = unpack(data)
            debug("Data loaded!")
            debug("X: "..xPos)
            debug("Y: "..yPos)
            debug("Z: "..zPos)
            debug("Direction: "..dir)
        elseif data[5] > (turtle.getFuelLevel()-1) or data[5] < turtle.getFuelLevel() then
            debug("Looks like the fuel level changed by more than one. Wiping location knowledge.")
            saveData()
        else
            debug("Something really weird is going on here. The recorded fuel is: "..data[5].." but current fuel is: "..turtle.getFuelLevel())
            debug("Get Signify/Noiro to look at this because this wasn't supposed to happen.")
            saveData()
        end
    end
end

function writeTravPerst(coords, axisOdr)
    --Travel persistence through restarts.
    if fs.exists("moveStartup-No-Delete") or fs.exists("no~startup") then
        debug("\n\nTrav is already going, ignoring...")
        return false
    elseif fs.exists("startup") then
        debug("\nStartup exists..moving..")
        fs.move("startup", "moveStartup-No-Delete")
    else
        debug("\n\nNo startup existed..writing my own temp one...")
        local f = fs.open("no~startup", "w")
        f.write("o")
        f.close()
    end

    local f = fs.open("startup", "w")
    if fs.exists("api/move") then
        f.writeLine("os.loadAPI(\"api/move\")")
    elseif fs.exists("move") then
        f.writeLine("os.loadAPI(\"move\")")
    else
        f.close()
        return false
    end
    --Explosive write to file
    f.writeLine("if turtle.detectUp() and turtle.getItemCount(turtle.getSelectedSlot()) == 0 then")
    f.writeLine("turtle.digUp()")
    f.writeLine("end")
    f.writeLine("turtle.travel("..coords[1]..", "..coords[2]..", "..coords[3]..", "..coords[4]..", "..axisOdr[1]..", "..axisOdr[2]..","..axisOdr[3]..")")
    f.writeLine("move.delTravPerst()")

    f.writeLine("if fs.exists(\"no~startup\") then fs.delete(\"no~startup\")")
    f.writeLine("elseif fs.exists(\"moveStartup-No-Delete\") then")
    f.writeLine("fs.delete(\"startup\")")
    f.writeLine("fs.move(\"moveStartup-No-Delete\", \"startup\")")
    f.writeLine("else")
    f.writeLine("fs.delete(\"startup\")")
    f.writeLine("end")
    f.writeLine("os.reboot()")
    f.close()
    return true
end

function delTravPerst()
    --Travel persistence through restarts.
    if fs.exists("startup") and fs.exists("no~startup") or fs.exists("moveStartup-No-Delete") then
        fs.delete("no~startup")
        fs.delete("startup")
        if fs.exists("moveStartup-No-Delete") then
            fs.move("moveStartup-No-Delete", "startup")
        end
    end
end
--[[
    Random internal testing stuff
]]
function debug(message)
    if isDebug then
        print(message)
        sleep(.5)
    end
end

--Execution Code
delTravPerst()
if fs.exists("moveCol") then
    fs.delete("moveCol")
end
loadData()