Kino Script optimized

-- Kino Drone Script for OpenComputers (Optimized for Memory)
local component = component
local computer = computer

local modem = component.list("modem")()
local drone = component.list("drone")()
local geolyzer = component.list("geolyzer")()
local radar = component.list("radar")()

modem = modem and component.proxy(modem)
drone = drone and component.proxy(drone)
geolyzer = geolyzer and component.proxy(geolyzer)
radar = radar and component.proxy(radar)

local base_address = "a676e3d0-282e-401b-8848-bd6ee3b3fa98"
local tablet_address = "3998d9fd-c974-4254-8237-bcbb434d7e64"
local scan_mode = "normal"

-- Define the scan range (adjust these to match your actual scan parameters)
local scan_x = -2 -- Start X offset relative to Kino
local scan_y = -2-- Start Y offset relative to Kino
local scan_z = -2 -- Start Z offset relative to Kino


local scan_width = 4-- Width of the scan area
local scan_height = 4-- Height of the scan area
local scan_depth = 4-- Depth of the scan area
local scan_radius = 16 -- ✅ **Total scanning area**
local scan_step = scan_width  -- ✅ **Step size for moving between scans**

local fine_motor_control = false

local kino_x, kino_y, kino_z = 0, 0, 0

local SCAN_RADIUS = 30  -- 30 blocks in all directions
local SCAN_STEP = 4      -- How many blocks per step
local MIN_Y = 1          -- Minimum Y level to prevent falling too low

local function debug(msg)
    modem.send(base_address, 123, "debug", msg)
end

modem.open(123)
drone.setStatusText("Ready")

if not modem or not drone then
    debug("Missing modem or drone component!")
end

local function sleep(time)
    local start = computer.uptime()
    while computer.uptime() - start < time do
		computer.pullSignal(0)  -- ✅ Allows OpenComputers to process events
	end
end
local function can_move(direction)
    local blocked, blockType = drone.detect(direction)

    if not blocked then
        return true  -- ✅ Path is clear, movement allowed
    elseif blockType == "passable" or blockType == "air" or blockType == "replaceable" then
        return true  -- ✅ Movement allowed through these block types
    else
        return false -- ❌ Movement blocked
    end
end
-- **Optimized Movement Function with Position Tracking**
local function move(dx, dy, dz)
	drone.move(dx, dy, dz)
	sleep(0.5)  -- ✅ **Wait for movement to complete**
	kino_x = kino_x + dx
	kino_y = kino_y + dy
	kino_z = kino_z + dz
	debug("📍 Normal Move: X=" .. kino_x .. " Y=" .. kino_y .. " Z=" .. kino_z)
end
-- **Function to Move with Pathfinding & Skip Blocked Chunks**
local function smart_move(dx, dy, dz)
    local direction = nil

    -- **Determine Movement Direction**
    if dx > 0 then direction = 5  -- Right
    elseif dx < 0 then direction = 4  -- Left
    elseif dz > 0 then direction = 3  -- Forward
    elseif dz < 0 then direction = 2  -- Backward
    elseif dy > 0 then direction = 1  -- Up
    elseif dy < 0 then direction = 0  -- Down
    end
	debug("🚀 Attempting move: DX=" .. dx .. " DY=" .. dy .. " DZ=" .. dz)
    -- **Step 1: Check if Path is Clear**
    if direction and can_move(direction) then
        move(dx, dy, dz)  -- ✅ Move normally if the path is clear
		debug("✅ Move successful!")
        return true
		else
		debug("❌ Move blocked! Cannot reach target.")
		return false
    end

    -- **Step 2: Try Moving Up if Blocked**
    if can_move(1) then
        move(0, 1, 0)
        return smart_move(dx, dy, dz)  -- Retry after moving up
    end

    -- **Step 3: Try Moving Sideways if Blocked**
    if can_move(5) then
        move(1, 0, 0)  -- Try Right
        return smart_move(dx, dy, dz)
    elseif can_move(4) then
        move(-1, 0, 0)  -- Try Left
        return smart_move(dx, dy, dz)
    end

    -- **Step 4: Try Moving Down (if not already low)**
    if kino_y > 1 and can_move(0) then
        move(0, -1, 0)
        return smart_move(dx, dy, dz)
    end

    -- **Step 5: Completely Blocked - Return False**
    debug("⚠ Movement blocked! Unable to reach scan position.")
    return false  -- **Returns false so `scan_full_area()` skips this chunk**
end
-- **Chunk-Based Scanning with Absolute Position Adjustments**
local function scan_chunk(x_offset, z_offset)
    if not geolyzer then
        debug("No Geolyzer found, skipping scan.")
        return
    end

    debug("🔍 Scanning chunk at offset X=" .. x_offset .. " Z=" .. z_offset)

    local scan_data = {}

    local success, result = pcall(geolyzer.scan, -2, -2, -2, scan_width, scan_height, scan_depth)

    if success and type(result) == "table" then
        for i, density in ipairs(result) do
            local x = ((i - 1) % scan_width) + kino_x + x_offset
            local z = (((i - 1) // scan_width) % scan_depth) + kino_z + z_offset
            local y = (((i - 1) // (scan_width * scan_depth)) % scan_height) + kino_y - 2

            if density > 0 then
                table.insert(scan_data, x)
                table.insert(scan_data, y)
                table.insert(scan_data, z)
                table.insert(scan_data, density)
            end
        end
        debug("✅ Chunk scan complete at X=" .. kino_x + x_offset .. " Z=" .. kino_z + z_offset)
    else
        debug("❌ Scan failed at X=" .. kino_x + x_offset .. " Z=" .. kino_z + z_offset)
    end

    -- **Send scan data immediately**
    for i = 1, #scan_data, 20 do
        modem.send(base_address, 123, "scan_data", table.concat(scan_data, ",", i, math.min(i + 19, #scan_data)))
        sleep(0.1)  -- ✅ **Prevent overloading the network**
    end
end

-- **Full Area Scan: Kino Moves & Scans Each Chunk**
local function scan_full_area()
    debug("🔄 Starting full area scan..(" .. SCAN_STEP .. ")")

    -- **Verify SCAN_RADIUS is set correctly**
    if SCAN_RADIUS <= 0 then
        debug("❌ ERROR: SCAN_RADIUS is invalid (" .. SCAN_RADIUS .. ")! Aborting scan.")
        return
    end

    -- **Loop through Y, X, and Z to cover the scan area**
    for y_offset = 0, -SCAN_RADIUS, -SCAN_STEP do
        if kino_y + y_offset < MIN_Y then break end  -- Prevent going too low

        for x_offset = -SCAN_RADIUS, SCAN_RADIUS, SCAN_STEP do
            for z_offset = -SCAN_RADIUS, SCAN_RADIUS, SCAN_STEP do

                -- ✅ Debug: Confirm Loop Execution
                debug("📍 Loop Iteration: X=" .. x_offset .. " Y=" .. y_offset .. " Z=" .. z_offset)

                -- ✅ Step 1: Verify Position Is Within Bounds
                local target_x = kino_x + x_offset
                local target_y = kino_y + y_offset
                local target_z = kino_z + z_offset

                if math.abs(target_x) <= SCAN_RADIUS and math.abs(target_z) <= SCAN_RADIUS then
                    -- ✅ Step 2: Try Moving Before Scanning
                    local moved = smart_move(x_offset, y_offset, z_offset)

                    if moved then
                        debug("✅ Move successful! Scanning chunk at X=" .. target_x .. " Y=" .. target_y .. " Z=" .. target_z)
                        scan_chunk(x_offset, y_offset, z_offset)  -- ✅ Scan the chunk only if movement succeeded
                    else
                        debug("⚠ Skipping blocked chunk at X=" .. target_x .. " Y=" .. target_y .. " Z=" .. target_z)
                    end
                end
            end
        end
    end

    debug("✅ Full area scan completed.")
	drone.setStatusText("Ready")
end

-- Confirm script upload to sender
modem.broadcast(123, "kino_update_success")

-- **Main Loop: Handles movement + scan mode**
while true do
    local _, _, sender, _, _, cmd, value = computer.pullSignal(5)

    if sender == tablet_address then
        if cmd == "move" then
			if value == "forward" then move(scan_step, 0, 0)
            elseif value == "backward" then move(-scan_step, 0, 0)
            elseif value == "left" then move(0, 0, -scan_step)
            elseif value == "right" then move(0, 0, scan_step)
            elseif value == "up" then move(0, scan_step, 0)
            elseif value == "down" then move(0, -scan_step, 0)
			end
        elseif cmd == "set_scan_mode" then scan_mode = value
        elseif cmd == "scan" then
			scan_full_area()
			drone.setStatusText("Scanning")
		elseif cmd == "fine_control" then
				if value == "on" then
					fine_motor_control = true
					scan_step = 1
					debug("🔧 Fine Motor Control ENABLED")
				elseif value == "off" then
					fine_motor_control = false
					scan_step = 4
					debug("🔧 Fine Motor Control DISABLED")
				end
        end
    end
end