Branch turtleSchem4

--INPUT = reference, slots, blocks, data
--OUTPUT = ObjectivesList

--[[function saveVarsToConsole(name)
    local h = fs.open(name,'w')
    local env = getfenv()
    for i,v in pairs(env) do
        if i then
            h.write(i)
            if v then
                --h.write("("..tostring(type(v))..")")
                h.write(': ')
                h.writeLine(v)
            end
        end
    end
    h.close()
end]]

--update
local h = fs.open("update","w")
h.write([[
fs.delete("schemAPI")
shell.run("pastebin get 13QunP89 schemAPI")
]])
h.close()

--restart
local k = fs.open("restart","w")
k.write([[
for i,v in pairs(fs.list("")) do
    if v~="rom" and v~="chicken" then
        fs.delete(v)
    end
end
]])
k.close()

function openRednet()
    for _,v in ipairs(peripheral.getNames()) do
            if peripheral.getType(v)=="modem" then
                    rednet.open(v)
            end
    end
end

function checkIfRefill()
    local _,inFront = turtle.inspect()
    local _,below = turtle.inspectDown()
    local mem = turtle.getSelectedSlot()
    turtle.select(16)
    local check = turtle.getItemDetail()
    if check and check.name ~= "EnderStorage:enderChest" then
        if not turtle.dropDown() then
            if not turtle.drop() then
                turtle.dropUp()
            end
        end
    end
    if inFront or below then
        if inFront.name == "EnderStorage:enderChest" then
            turtle.select(enderchest1)
            turtle.dig()
        end
        if below.name == "EnderStorage:enderChest" then
            turtle.select(enderchest2)
            turtle.digDown()
        end
    end
    turtle.select(mem)
end

function calibrateDir()
    --if gpsi then
        local dir
        local h,k,l = gps.locate()
        h = math.floor(h)
        k = math.floor(k)
        l = math.floor(l)
        while not turtle.forward() do
            turtle.dig()
        end
        local h2,k2,l2 = gps.locate()
        turtle.back()
        if h2>h then
            dir = "east"
        elseif h2<h then
            dir = "west"
        elseif l2>l then
            dir = "south"
        elseif l2<l then
            dir = "north"
        end
        return dir
    --end
end

function recalibratePos()
    local h,k,l = gps.locate()
    local xtemp,ytemp,ztemp  = h - Hoff, k - Koff, l - Loff

    if origDir == "south" then
        widthPos = 0 + xtemp
        heightPos = ytemp
        lengthPos = 0 + ztemp
    elseif origDir == "north" then
        widthPos = 0 - xtemp
        heightPos = ytemp
        lengthPos = 0 - ztemp
    elseif origDir == "east" then
        widthPos = 0  - ztemp
        heightPos = ytemp
        lengthPos = 0  + xtemp
    elseif origDir == "west" then
        widthPos = 0 + ztemp
        heightPos = ytemp
        lengthPos = 0 - xtemp
    end

end

function recalibrateFace()
    if origDir ~= "south" then
        if origDir == "north" then
            update("right")
            update("right")
        elseif origDir == "east" then
            update("right")
        elseif origDir == "west" then
            update("left")
        end
    end
end

function resynchronize()
    if gpsi then
        recalibratePos()
        face = calibrateDir()
        recalibrateFace()
        recordPos(heightPos,widthPos,lengthPos,face)
    end
end

function saveVarsToFile()
    local h = fs.open("currentVars",'w')
    local env = getfenv()
    for i,v in pairs(env) do
        if type(v) == "string" then
            h.write(tostring(i))
            h.write(" = ")
            h.write([["]]..tostring(v)..[["]])
        elseif type(v) == "table" then
            h.write(i)
            h.write(" = ")
            h.write(textutils.serialize(v))
        end
    end
    h.close()
end

function loadVars()
    local h = fs.open("currentVars",'r')
end

function recordPos(heightPos,widthPos,lengthPos,face)
    local h = fs.open("position","w")
    h.writeLine("heightPos = "..tostring(heightPos))
    h.writeLine("widthPos = "..tostring(widthPos))
    h.writeLine("lengthPos = "..tostring(lengthPos))
    h.writeLine("face = ".."\""..tostring(face).."\"")
    h.close()
end

function recordObj(x,y,z)
    local h = fs.open("objective",'w')
    h.writeLine("x = "..tostring(x))
    h.writeLine("y = "..tostring(y))
    h.writeLine("z = "..tostring(z))
    h.close()
end

function recordObjNum(num)
    local h = fs.open("objective2",'w')
    h.writeLine("num = "..tostring(num))
    h.close()
end

block_id = {}
block_id[0] = "Air"
block_id[1] = "Stone"
block_id[2] = "Grass"
block_id[3] = "Dirt"
block_id[4] = "Cobblestone"
block_id[5] = "Wooden Plank"
block_id[6] = "Sapling"
block_id[7] = "Bedrock"
block_id[8] = "Water"
block_id[9] = "Stationary water"
block_id[10] = "Lava"
block_id[11] = "Stationary lava"
block_id[12] = "Sand"
block_id[13] = "Gravel"
block_id[14] = "Gold Ore"
block_id[15] = "Iron (Ore)"
block_id[16] = "Coal Ore"
block_id[17] = "Log"
block_id[18] = "Leaves"
block_id[19] = "Sponge"
block_id[20] = "Glass"
block_id[21] = "Lapis Lazuli (Ore)"
block_id[22] = "Lapis Lazuli (Block)"
block_id[23] = "Dispenser"
block_id[24] = "Sandstone"
block_id[25] = "Note Block Tile entity"
block_id[26] = "Bed"
block_id[27] = "Powered Rail "
block_id[28] = "Detector Rail "
block_id[29] = "Sticky Piston"
block_id[30] = "Cobweb"
block_id[31] = "Tall Grass"
block_id[32] = "Dead Bush"
block_id[33] = "Piston"
block_id[34] = "Piston Extension"
block_id[35] = "Wool"
block_id[36] = "Block moved by Piston"
block_id[37] = "Dandelionandelion"
block_id[38] = "Rose"
block_id[39] = "Brown Mushroom"
block_id[40] = "Red Mushroom"
block_id[41] = "Block of Gold"
block_id[42] = "Block of Iron"
block_id[43] = "Double Slabs"
block_id[44] = "Slabs"
block_id[45] = "Brick Block"
block_id[46] = "TNT"
block_id[47] = "Bookshelf"
block_id[48] = "Moss Stone"
block_id[49] = "Obsidian"
block_id[50] = "Torch"
block_id[51] = "Fire"
block_id[52] = "Monster Spawner"
block_id[53] = "Wooden Stairs"
block_id[54] = "Chest"
block_id[55] = "Redstone (Wire)"
block_id[56] = "Diamond (Ore)"
block_id[57] = "Block of Diamond"
block_id[58] = "Crafting Table"
block_id[59] = "Seeds"
block_id[60] = "Farland"
block_id[61] = "Furnace"
block_id[62] = "Burning Furnace"
block_id[63] = "Sign Post"
block_id[64] = "Wooden Door"
block_id[65] = "Ladders"
block_id[66] = "Rails"
block_id[67] = "Cobblestone Stairs"
block_id[68] = "Wall Sign"
block_id[69] = "Lever"
block_id[70] = "Stone Pressure Plate"
block_id[71] = "Iron Door"
block_id[72] = "Wooden Pressure Plates"
block_id[73] = "Redstone Ore"
block_id[74] = "Glowing Redstone Ore"
block_id[75] = "Redstone Torch"
block_id[76] = "Redstone Torch"
block_id[77] = "Stone Button "
block_id[78] = "Snow"
block_id[79] = "Ice"
block_id[80] = "Snow Block"
block_id[81] = "Cactus"
block_id[82] = "Clay (Block)"
block_id[83] = "Sugar Cane"
block_id[84] = "Jukebox"
block_id[85] = "Fence"
block_id[86] = "Pumpkin"
block_id[87] = "Netherrack"
block_id[88] = "Soul Sand"
block_id[89] = "Glowstone"
block_id[90] = "Portal"
block_id[91] = "Jack-O-Lantern"
block_id[92] = "Cake Block"
block_id[93] = "Redstone Repeater"
block_id[94] = "Redstone Repeater"
block_id[95] = "Locked Chest"
block_id[96] = "Trapdoors"
block_id[97] = "Hidden Silverfish"
block_id[98] = "Stone Brick"
block_id[99] = "Huge brown and red mushroom"
block_id[100] = "Huge brown and red mushroom"
block_id[101] = "Iron Bars"
block_id[102] = "Glass Pane"
block_id[103] = "Melon"
block_id[104] = "Pumpkin Stem"
block_id[105] = "Melon Stem"
block_id[106] = "Vines"
block_id[107] = "Fence Gate"
block_id[108] = "Brick Stairs"
block_id[109] = "Stone Brick Stairs"
block_id[110] = "Mycelium"
block_id[111] = "Lily Pad"
block_id[112] = "Nether Brick"
block_id[113] = "Nether Brick Fence"
block_id[114] = "Nether Brick Stairs"
block_id[115] = "Nether Wart"
block_id[116] = "Enchantment Table"
block_id[117] = "Brewing Stand"
block_id[118] = "Cauldron"
block_id[119] = "End Portal"
block_id[120] = "End Portal Frame"
block_id[121] = "End Stone "
block_id[256] = "Iron Ingotron Shovel"
block_id[257] = "Iron Pickaxe"
block_id[258] = "Iron Axe"
block_id[259] = "Flint and Steel"
block_id[260] = "Red Apple"
block_id[261] = "Bow"
block_id[262] = "Arrow"
block_id[263] = "Coal"

woolColors = {}
woolColors[0] = "White"
woolColors[1] = "Orange"
woolColors[2] = "Magenta"
woolColors[3] = "Light Blue"
woolColors[4] = "Yellow"
woolColors[5] = "Lime"
woolColors[6] = "Pink"
woolColors[7] = "Gray"
woolColors[8] = "Light Gray"
woolColors[9] = "Cyan"
woolColors[10] = "Purple"
woolColors[11] = "Blue"
woolColors[12] = "Brown"
woolColors[13] = "Green"
woolColors[14] = "Red"
woolColors[15] = "Black"

--[[Navigation Functions]]--

function goto(heightGoal,widthGoal,lengthGoal)
    shell.run("position")
    if turtle.getFuelLevel() < 200 then
        refill()
    end
    if heightGoal > heightPos then
        while heightGoal > heightPos do
            up()
        end
    elseif heightGoal < heightPos then
        while heightGoal < heightPos do
            down()
        end
    end
    if widthGoal > widthPos then
        turn("east")
        while widthGoal > widthPos do
            forward()
        end
    elseif widthGoal < widthPos then
        turn("west")
        while widthGoal < widthPos do
            forward()
        end
    end
    if lengthGoal > lengthPos then
        turn("south")
        while lengthGoal > lengthPos do
            forward()
        end
    elseif lengthGoal < lengthPos then
        turn("north")
        while lengthGoal < lengthPos do
            forward()
        end
    end
end

function update(dir)
        if dir == "forward" then
            if face == "north" then
                lengthPos = lengthPos - 1
            elseif face == "south" then
                lengthPos = lengthPos + 1
            elseif face == "west" then
                widthPos = widthPos - 1
            elseif face == "east" then
                widthPos = widthPos + 1
            end
        elseif dir == "backward" then
                if face == "north" then
                        lengthPos = lengthPos + 1
                elseif face == "south" then
                        lengthPos = lengthPos - 1
                elseif face == "west" then
                        widthPos = widthPos + 1
                elseif face == "east" then
                        widthPos = widthPos - 1
                end
        elseif dir == "up" then
                heightPos = heightPos + 1
        elseif dir == "down" then
                heightPos = heightPos - 1
        elseif dir == "right" then
                if face == "north" then
                        face = "east"
                elseif face == "east" then
                        face = "south"
                elseif face == "south" then
                        face = "west"
                elseif face == "west" then
                        face = "north"
                end
        elseif dir == "left" then
                if face == "north" then
                        face = "west"
                elseif face == "west" then
                        face = "south"
                elseif face == "south" then
                        face = "east"
                elseif face == "east" then
                        face = "north"
                end
        end
        recordPos(heightPos,widthPos,lengthPos,face)
end

--[[Refill Functions]]--

function scanInv()
        local invList = {}
        for i = 1,16 do
                turtle.select(i)
                local item = turtle.getItemDetail()
                if item then
                        invList[i] = {}
            invList[i][item.name] = item.damage
                end
        end
        return invList
end

function ParseInv()
        turtle.select(16)
        turtle.dropUp()
        while turtle.suck() do
                local item = turtle.getItemDetail()
                for i =1,16 do
                    if item then
                        if invList[i][item.name] then
                            if invList[i][item.name] == item.damage then
                                        turtle.transferTo(i)
                                        break
                            end
                        end
                        if item.name == "minecraft:lava_bucket" or item.name == "minecraft:coal" then
                            turtle.refuel(64)
                        end
                    end
                end
                turtle.dropUp()
        end
end

function refill()
    local mem = turtle.getSelectedSlot()
    chester("set")
        ParseInv()
        chester("gather")
    turtle.select(mem)
end

function chester(action)
        --action = 'set' or 'gather'
        if action == "set" then
                turtle.select(tonumber(enderchest1))
                turtle.place()
                turtle.select(tonumber(enderchest2))
                turtle.placeUp()
        elseif action == "gather" then
                if tonumber(chestOrder) == 1 then
                        turtle.digUp()
                        transferTo(enderchest1)
                        turtle.dig()
                        transferTo(enderchest1)
                        chestOrder = 2
                elseif tonumber(chestOrder) == 2 then
                        turtle.dig()
                        transferTo(enderchest1)
                        turtle.digUp()
                        transferTo(enderchest1)
                        chestOrder = 1
                end
        end
end

function transferTo(enderchestSlot)
    for i=16,1,-1 do
        turtle.select(i)
        local item = turtle.getItemDetail()
        if item then
            if item.name == "EnderStorage:enderChest" then
                turtle.transferTo(enderchestSlot)
                break
            end
        end
    end
end

function getBlockName(id, blockData)
  blockData = blockData or nil
  if(block_id[id] == nil) then
    return "ID: "..tostring(id)..", Data: "..tostring(blockData)
  else
    if(blockData) then
      if(id == 35) then
        str = woolColors[blockData] .. " " .. block_id[id]
        return str
      end
    end
    return block_id[id] .. " " .. id .. ", " .. blockData
  end
end

function getBlockId(x,y,z)
  return blocks[y + z*width + x*length*width + 1]
end

function getData(x,y,z)
  return data[y + z*width + x*length*width + 1]
end

function readbytes(handle, n)
  for i=1,n do
    handle.read()
  end
end

function readname(handle)
  n1 = handle.read()
  n2 = handle.read()

  if(n1 == nil or n2 == nil) then
    return ""
  end

  n = n1*256 + n2

  str = ""
  for i=1,n do
    c = handle.read()
    if c == nil then
      return
    end
    str = str .. string.char(c)
  end
  return str
end

function parse(a, handle, containsName)
  containsName = containsName or true
  if a==0 then
    return
  end
  if containsName then
    name = readname(handle)
  end

  if a==1 then
    readbytes(handle,1)
  elseif a==2 then
    i1 = handle.read()
    i2 = handle.read()
    i = i1*256 + i2
    if(name=="Height") then
      height = i
    elseif (name=="Length") then
      length = i
    elseif (name=="Width") then
      width = i
    end
  elseif a==3 then
    readbytes(handle,4)
  elseif a==4 then
    readbytes(handle,8)
  elseif a==5 then
    readbytes(handle,4)
  elseif a==6 then
    readbytes(handle,8)
  elseif a==7 then
    i1 = handle.read()
    i2 = handle.read()
    i3 = handle.read()
    i4 = handle.read()
    i = i1*256*256*256 + i2*256*256 + i3*256 + i4
    if name == "Blocks" then
      for i=1,i do
        table.insert(blocks, handle.read())
      end
    elseif name == "Data" then
      for i=1,i do
        table.insert(data, handle.read())
      end
    else
      readbytes(handle,i)
    end
  elseif a==8 then
    i1 = handle.read()
    i2 = handle.read()
    i = i1*256 + i2
    readbytes(handle,i)
  elseif a==9 then
        --readbytes(handle,5)
        type = handle.read()
        i1 = handle.read()
    i2 = handle.read()
    i3 = handle.read()
    i4 = handle.read()
    i = i1*256*256*256 + i2*256*256 + i3*256 + i4
    for j=1,i do
      parse(handle.read(), handle, false)
    end
  end
end

--[[Movement Functions]]--

function forward()
  update("forward")
  while not turtle.forward() do
    turtle.dig()
  end
end

function up()
  update("up")
  while not turtle.up() do
    turtle.digUp()
  end
end

function down()
  update("down")
  while not turtle.down() do
    turtle.digDown()
  end
end

function right()
  update("right")
  turtle.turnRight()
end

function left()
  update("left")
  turtle.turnLeft()
end

function turn(dir)
    if face == "north" then
        if dir == "east" then
            while face ~= dir do
                right()
            end
        else
            while face ~= dir do
                left()
            end
        end
   elseif face == "east" then
        if dir == "south" then
            while face ~= dir do
                right()
            end
        else
            while face ~= dir do
                left()
            end
        end
    elseif face == "south" then
        if dir == "west" then
            while face ~= dir do
                right()
            end
        else
            while face ~= dir do
                left()
            end
        end
    elseif face == "west" then
        if dir == "north" then
            while face ~= dir do
                right()
            end
        else
            while face ~= dir do
                left()
            end
        end
    end
end

function place()
  while not turtle.placeDown() do
    turtle.digDown()
  end
  return true
end

--[[Working Functions]]--

function setup()
    a = 0
    while (a ~= nil) do
        a = handle.read()
        parse(a, handle)
    end

    write("length: " .. length)
    write("   width: " .. width)
    write("   height: " .. height .. "\n")

    uniqueblocks={}
    for i,v in ipairs(blocks) do
        found = false
        for j,w in ipairs(uniqueblocks) do
            -- for now, data is only accounted for when the block is wool
                if (w.blockID==v and (w.data==data[i] or w.blockID ~= 35)) then
                    found = true
                    w.amount = w.amount + 1
                    break
            end
        end

        if found==false then
            uniqueblocks[#uniqueblocks+1] = {}
            uniqueblocks[#uniqueblocks].blockID = v
            uniqueblocks[#uniqueblocks].data = data[i]
            uniqueblocks[#uniqueblocks].amount = 1
        end
    end

    print("number of block types: " .. #uniqueblocks)
    for i,v in ipairs(uniqueblocks) do
        if (i%9)==0 then
            read()
        end
        print(" -" .. getBlockName(v.blockID, v.data) .. ": " .. v.amount)
    end

    read()

    print("Give the numbers of all slots containing the specified block type:")

    slots={}
    for i,block in ipairs(uniqueblocks) do
        blockData = block.data
        print(" -in which slots is " .. getBlockName(block.blockID, blockData) .. "?")
        if not slots[block.blockID] then
            slots[block.blockID] = {}
        end
        slots[block.blockID][blockData] = {}
        write("   ")
        str = read()
        for i = 1, #str do
                local c = str:sub(i,i)
                n = tonumber(c)
                if(n) then
                    if(n>0 and n<10) then
                        table.insert(slots[block.blockID][blockData], n)
                    end
            end
        end
    end
    invList = scanInv()
 end

function run()
    print("Press key to start building...")
    read()
    --invList = scanInv()

    up()
    n = 1
    turtle.select(n)

    for x=1,height do
        for y=1,width do
            for z=1,length do
                blockID = getBlockId(x-1,y-1,z-1)
                    blockData = getData(x-1,y-1,z-1)
                    forward()
                turtle.digDown()
                    slot_lst = slots[blockID][blockData]
                    if(slot_lst ~= nil) then
                        if(#slot_lst > 0) then
                            local found=false
                            for i,v in ipairs(slot_lst) do
                                if(turtle.getItemCount(v) > 0) then
                                    found=true
                                    turtle.select(v)
                                    break
                                end
                            end
                            if not found then
                                print("Not enough " .. getBlockName(blockID, blockData) .. ". Please refill...")
                            refill()
                            end
                            while turtle.getItemCount() == 0 do
                            refill()
                        end
                        if turtle.getFuelLevel() < 200 then
                            refill()
                        end
                        end
                    end
                end
                left()
                forward()
            left()
            for i=1,length do
                forward()
            end
            right()
            right()
        end
        right()
        for i=1,width do
            forward()
        end
        left()
        up()
    end

    for i=1,height+1 do
        down()
    end
end

function findNextBlock(x,y,z)
    blockID = getBlockId(x,y,z)
    blockData = getData(x,y,z)
    if blockID then
        slot_lst = slots[blockID][blockData]
        if(slot_lst ~= nil) then
                if(#slot_lst > 0) then
                    local found=false
                    for i,v in ipairs(slot_lst) do
                        if(turtle.getItemCount(v) > 0) then
                            found=true
                            turtle.select(v)
                            break
                        end
                    end
                    if not found then
                        print("Not enough " .. getBlockName(blockID, blockData) .. ". Please refill...")
                    refill()
                    end
                                while turtle.getItemCount() == 0 do
                                    refill()
                                end
                local doubleCheck = turtle.getItemDetail()
                if doubleCheck.name ~= "EnderStorage:enderChest" then
                    place()
                else
                    findNextBlock(x,y,z)
                end
            end
            if turtle.getFuelLevel() < 200 then
                refill()
            end
        end
    end
end

function oldIterate()
    --x,y,z = height,width,length
    if z < length then
        z = z + 1
    elseif z == length then
        z = 0
        if y < width then
            y = y + 1
        elseif y == width then
            y = 0
            if x < height then
                x = x + 1
            elseif x == height then
                x = 'max'
                y = 'max'
                z = 'max'
            end
        end
    end
    recordObj(x,y,z)
end

function check(x,y,z)
    if x%2==0 then
        evenx = true
        if y%2==0 then
            eveny = true
        else
            eveny = false
        end
    else
        evenx = false
        if y%2==0 then
            eveny = false
        else
            eveny = true
        end
    end
    return evenx,eveny
end

function Yiterate(x,y,z,length,width,height)
    if evenx then
        if y < width then
            y = y + 1
        elseif y == width then
            if x < height then
                x = x + 1
            elseif x == height then
                x,y,z = "max","max","max"
            end
        end
    else
        if y == 0 then
            if x < height then
                x = x + 1
            elseif x == height then
                x = "max"
                y = "max"
                z = "max"
            end
        else
            y=y-1
        end
    end
    return x,y,z
end

function iterate(x,y,z,length,width,height)
    evenx,eveny = check(x,y,z)
    if z == length and eveny then
        x,y,z = Yiterate(x,y,z,length,width,height)
    elseif z==length and (not eveny) then
        z = z - 1
    elseif z == 0 and eveny then
        z = z + 1
    elseif z == 0 and (not eveny) then
        x,y,z = Yiterate(x,y,z,length,width,height)
    elseif z < length then
        if eveny then
            z = z + 1
        else
            z = z - 1
        end
    end
    return x,y,z
end

function checkIfAir()
    while true do
        iterate()
        blockID2 = getBlockId(x,y,z)
        blockData2 = getData(x,y,z)
        if slots[blockID2] then
            slot_2nd = slots[blockID2][blockData2]
            if slot_2nd then
                if #slot_2nd > 0 then
                    recordObj(x,y,z)
                    break
                end
            end
        end
    end
end

function checkIfAir2(slots,height,width,length)
    ObjectivesList = {}
    x,y,z = 0,0,0
    while true do
        if type(x) ~= "number" then
            break
        end
        local id = getBlockId(x,y,z)
        local data = getData(x,y,z)
        if slots[id] and #slots[id][data] > 0 then
            table.insert(ObjectivesList,{
                x = x,
                y = y,
                z = z,
                id = id,
                data = data,
                slotNums = slots[id][data],
            })
        end
        print(x,y,z)
        x,y,z = iterate(x,y,z,height,width,length)
    end
    return ObjectivesList
end

function autorun()
    --get the current coords
    --get the iterater/goal block location
    while true do
        shell.run("position")
        shell.run("objective")
        goto(x,y,z)
        findNextBlock(x,y,z)
        checkIfAir()
    end
    shell.run("clr")
    print("finished")
end

function autorun2()
    while true do
        shell.run("position")
        shell.run("objective2")
        goto(ObjectivesList[num].x,ObjectivesList[num].y,ObjectivesList[num].z)
        turtle.select(ObjectivesList[num].slotNums[1])
        place()
        recordObjNum(num+1)
    end
    shell.run("clr")
    print("finished")

end