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")()
local chunkloader = component.list("chunkloader")()

modem = modem and component.proxy(modem)
drone = drone and component.proxy(drone)
geolyzer = geolyzer and component.proxy(geolyzer)
radar = radar and component.proxy(radar)
chunkloader = chunkloader and component.proxy(chunkloader)
confirmed_move = false
got_address = false

local Version = "1.0.0"
local base_address = ""
local tablet_address = ""
local scan_mode = "normal"

local SCAN_HEIGHT = 10
local scan_step = 1
local scan_x, scan_y, scan_z = 0, -3, 0  -- Start at Kino's position
local step_size = 4  -- Scan size (4x4x4)
local max_radius = 10  -- Maximum scan range
local layer = 0  -- Current expansion layer
local direction = 1  -- 1 = right, 2 = down, 3 = left, 4 = up
local moves_per_layer = 1
local move_count = 0
local no_geo = false
local batch_scan_data = {}  -- Buffer to store multiple scan results
local batch_threshold = 5    -- Number of scans before sending
local low_energy = false
local fine_motor_control = false

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

local scanned_positions = {}

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

modem.open(123)

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
end
-- Function to send all accumulated data
function send_scan_data()
    if #batch_scan_data == 0 then return end

	    -- ✅ Check energy level
    local energy_level = computer.energy() / computer.maxEnergy()
    if energy_level < 0.07 then
        low_energy = true -- ⚡ Mark for shutdown
    end

    for i = 1, #batch_scan_data, 20 do
        modem.send(base_address, 123, "scan_data", table.concat(batch_scan_data, ",", i, math.min(i + 19, #batch_scan_data)))
        sleep(0.1)
    end
    batch_scan_data = {} -- Clear buffer after sending
end
local function perform_scan(x, y, z)

    -- Avoid scanning the same position twice
    local scan_key = x .. "," .. y .. "," .. z
    if scanned_positions[scan_key] then
        return
    end
    scanned_positions[scan_key] = true

    local success, result = pcall(geolyzer.scan, x, z, y, 4, 4, 4)

    if success and type(result) == "table" then
        for i, density in ipairs(result) do
            local sx = ((i - 1) % 4) + x
            local sz = (((i - 1) // 4) % 4) + z
            local sy = (((i - 1) // 16) % 4) + y
            if density > 0 then
                table.insert(batch_scan_data, sx)
                table.insert(batch_scan_data, sy)
                table.insert(batch_scan_data, sz)
                table.insert(batch_scan_data, density)
            end
        end
    else
        debug("❌ Scan failed at X=" .. x .. " Y=" .. y .. " Z=" .. z)
    end

    -- Send data if batch threshold is reached
    if #batch_scan_data >= batch_threshold * 20 then
        send_scan_data()
    end
end
local function calculate_scan_coords()
    if low_energy then
        debug("[⚠️] Low energy detected! Sending last scan data and shutting down.")
        send_scan_data() -- Ensure all data is sent before shutdown
        modem.send(tablet_address, 123, "shutdownenergy")
        computer.shutdown()
    end

    -- Scan the Kino’s position first
    perform_scan(scan_x, scan_y, scan_z)

    -- Adjust X scanning (Alternate Positive/Negative)
    if scan_x == 0 and scan_z == 0 then
        scan_x = -step_size  -- Start negative first
    elseif scan_x < 0 then
        scan_x = -scan_x     -- Flip to positive side
    else
        scan_x = -(scan_x + step_size) -- Move further negative
    end

    -- Ensure Z alternates properly
    if math.abs(scan_x) > max_radius then
        scan_x = 0
        if scan_z >= 0 then
            scan_z = -scan_z - step_size -- Move to negative Z if not already
        else
            scan_z = -scan_z  -- Flip to positive
        end
    end

    -- Move upwards if we've fully scanned the X-Z plane
    if math.abs(scan_z) > max_radius then
        scan_x, scan_z = 0, 0
        scan_y = scan_y + step_size
    end

    -- Stop if max height is reached
    if scan_y > SCAN_HEIGHT then
        debug("[✔] Full area scan completed.")
        return false
    end

    return true
end
local function scan_entire_area()
    debug("[🔄] Starting full area scan...")
	drone.setStatusText("Scanning")
    drone.setLightColor(008000)

    while calculate_scan_coords() do
        sleep(0.2)  -- Small delay to prevent CPU overload
    end

	send_scan_data()
    debug("[✔] Full area scan completed.")
	scan_x, scan_y, scan_z = 0, -4, 0  -- Start at Kino's position
	step_size = 4  -- Scan size (4x4x4)
	scanned_positions = {}
	modem.send(tablet_address, 123, "finish")
    drone.setStatusText("Ready")
    drone.setLightColor(32768)
end
-- Confirm script upload to sender
modem.broadcast(123, "kino_update_success")
drone.setStatusText("Waiting")
while not got_address do
	local _, _, sender, _, _, cmd, value, value2 = computer.pullSignal(5)
	if cmd == "adresses" and value then
		tablet_address = value
		base_address = value2
		got_address = true
		debug("[✔] Tablet address updated: " .. tablet_address)
		debug("[✔] Base address updated: " .. base_address)
	end
end

if not modem or not drone then
    debug("[❌] Missing modem or drone component!")
end
if not geolyzer then
    debug("[❌] No Geolyzer found, stopping.")
	no_geo = true
end
if not chunkloader then
	debug("[❌] No Chunkloader found, Kino wont scan correctly.")
elseif chunkloader then
	chunkloader.setActive(true)
end

drone.setStatusText("Ready")
drone.setLightColor(32768)
-- **Main Loop: Handles movement + scan mode**
while got_address and not no_geo do
    local _, _, sender, _, _, cmd, value = computer.pullSignal(5)

    if sender == tablet_address then
        if cmd == "move" then
			if value == "forward" and not confirmed_move then
				move(scan_step, 0, 0)
			elseif value == "forward" and confirmed_move then
				drone.move(scan_step, 0, 0)
				sleep(0.2)
				computer.shutdown()
            elseif value == "backward" and not confirmed_move then
				move(-scan_step, 0, 0)
			elseif value == "backward" and confirmed_move then
				drone.move(-scan_step, 0, 0)
				sleep(0.2)
				computer.shutdown()
            elseif value == "left" and not confirmed_move then
				move(0, 0, -scan_step)
			elseif value == "left" and confirmed_move then
				drone.move(0, 0, -scan_step)
				sleep(0.2)
				computer.shutdown()
            elseif value == "right" and not confirmed_move then
				move(0, 0, scan_step)
			elseif value == "right" and confirmed_move then
				drone.move(0, 0, scan_step)
				sleep(0.2)
				computer.shutdown()
            elseif value == "up" and not confirmed_move then
				move(0, scan_step, 0)
            elseif value == "down" and not confirmed_move then
				move(0, -scan_step, 0)
			end
        elseif cmd == "set_scan_mode" then scan_mode = value
        elseif cmd == "scanconfirm" then
			modem.send(base_address, 123, "newscan")
			modem.send(tablet_address, 123, "newscan")
		elseif cmd == "scan" then
				if scan_mode == "normal" and not confirmed_move then
					modem.send(tablet_address, 123, "moveme")
				elseif scan_mode == "normal" and confirmed_move then
					-- why are we here, just to suffer
				elseif scan_mode == "manual" then
					scan_entire_area()
				end
		elseif cmd == "fine_control" then
				if value == "on" then
					fine_motor_control = true
					scan_step = 4
					debug("[🔧] Fine Motor Control ENABLED")
				elseif value == "off" then
					fine_motor_control = false
					scan_step = 1
					debug("[🔧] Fine Motor Control DISABLED")
				end
		elseif cmd == "confirmed_move" then
				confirmed_move = true
		elseif cmd == "autoscan" then
				modem.send(tablet_address, 123, "autoscanning")
				scan_entire_area()
		elseif cmd == "shutdown" then
			debug("Shutting Down")
			modem.send(tablet_address, 123, "shutok")
			sleep(1)
			computer.shutdown()
        end
    end
end