kino

-- 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 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 is_air(x, y, z)
    local hardness = geolyzer.analyze(x, y, z) -- Get block hardness
    return hardness == 0  -- Hardness 0 means air
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

-- **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...")

    for x_offset = -scan_radius, scan_radius, scan_step do
        for z_offset = -scan_radius, scan_radius, scan_step do
            scan_chunk(x_offset, z_offset)  -- ✅ Scan each chunk

            -- ✅ Move to the next scan position
            if z_offset < scan_radius then
                move(0, 0, scan_step)  -- Move forward in Z direction
            elseif x_offset < scan_radius then
                move(scan_step, 0, -scan_radius * 2)  -- Move right and reset Z
            end
        end
    end

    debug("✅ Full area scan completed.")
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()
        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