command.lua

local COMMAND_POSITION = {138, 49, 1400}
local SCANNER_OFFSET = {0, 0, 0}

local startFacing = 0

local P = require "SimplifyPathfinding"
local F = require "Frame"
local M = require "SimplifyPathfinding.Util.MapExtras"
local TRANSMISSION_CHANNEL = 4589

local mons = {peripheral.find("monitor")}
local mon, mon2
local modem = peripheral.find("modem", function(_, w) return w.isWireless() end)
modem.open(TRANSMISSION_CHANNEL)
if mons[1].getSize() < mons[2].getSize() then
  mon = mons[2]
  mon2 = mons[1]
else
  mon = mons[1]
  mon2 = mons[2]
end
mon2.setTextScale(1.5)
local frame = F.new(mon)
local frame2 = F.new(mon2)
frame.Initialize()
frame2.Initialize()
local mw, mh = frame.getSize()

local Pathfinder = P.New(
  "Test Map",
  COMMAND_POSITION[1] + SCANNER_OFFSET[1],
  COMMAND_POSITION[2] + SCANNER_OFFSET[2],
  COMMAND_POSITION[3] + SCANNER_OFFSET[3]
)
local MapExtra = M.New(Pathfinder)

local outputStack = {}
local outputWindow = window.create(frame, 3, 14, mw - 4, 5)
local function PrintToOutput(...)
  local old = term.redirect(outputWindow)
  local packed = table.pack(...)
  for i = 1, packed.n do
    packed[i] = tostring(packed[i])
  end
  print()
  write(
    string.format(
      "[%s] %s",
      outputStack[#outputStack],
      table.concat(packed, ' ')
    )
  )
  term.redirect(old)
end
local function PrintGoodToOutput(...)
  local old = term.redirect(outputWindow)
  local oldc = term.getTextColor()
  local packed = table.pack(...)
  for i = 1, packed.n do
    packed[i] = tostring(packed[i])
  end
  print()
  term.setTextColor(colors.green)
  write(
    string.format(
      "[%s] %s",
      outputStack[#outputStack],
      table.concat(packed, ' ')
    )
  )
  term.setTextColor(oldc)
  term.redirect(old)
end
local function PrintErrorToOutput(...)
  local old = term.redirect(outputWindow)
  local oldc = term.getTextColor()
  local packed = table.pack(...)
  for i = 1, packed.n do
    packed[i] = tostring(packed[i])
  end
  print()
  term.setTextColor(colors.red)
  write(
    string.format(
      "[%s] %s",
      outputStack[#outputStack],
      table.concat(packed, ' ')
    )
  )
  term.setTextColor(oldc)
  term.redirect(old)
end
local function PushOutputStack(name)
  table.insert(outputStack, name)
end
local function PopOutputStack()
  table.remove(outputStack)
end

local state = {
  busy = false,
  map = {
    serializing = false,
    map = Pathfinder.Map,
    percent = 0,
    size = 0
  }
}

local function FindBlock(scanData, name)

  for i, block in ipairs(scanData) do
    if block.name == name then
      return block
    end
  end
end

local function makeOffsets(block)
  return block.x + COMMAND_POSITION[1] + SCANNER_OFFSET[1],
         block.y + COMMAND_POSITION[2] + SCANNER_OFFSET[2],
         block.z + COMMAND_POSITION[3] + SCANNER_OFFSET[3]
end

local function PutBlock(data, name)
  commands.exec(
    string.format(
      "setblock %d %d %d %s",
      data.X or data.x, data.Y or data.y, data.Z or data.z,
      name
    )
  )
end

local buttons = {}
local function CheckButtons(x, y)
  for i = 1, #buttons do
    local b = buttons[i]

    if x >= b.X and x < b.X + b.W and y >= b.Y and y < b.Y + b.H then
      b:Callback()
    end
  end
end

local function DrawButtons()
  for i = 1, #buttons do
    buttons[i]:Draw()
  end
end

local function DrawBox(termObj, x, y, w, h, c)
  local line = string.rep(' ', w)

  termObj.setBackgroundColor(c)
  for ypos = y, y + h - 1 do
    termObj.setCursorPos(x, ypos)
    termObj.write(line)
  end
end

local function CenterText(termObj, x, y, w, h, txt)
  termObj.setCursorPos(
    x + math.floor((w - 1) / 2 - txt:len() / 2 + 0.5),
    y + math.floor((h - 1) / 2 + 0.5)
  )
  termObj.write(txt)
end

local function Button(termObj, x, y, w, h, fgcolor, bgcolor, bgdisable, txt, callback)
  if type(callback) ~= "function" then
    error("REEEEEEEEEEEEEEE", 2)
  end
  local function Draw(self)
    DrawBox(termObj, x, y, w, h, self.enable and bgcolor or bgdisable)

    termObj.setTextColor(fgcolor)

    CenterText(termObj, x, y, w, h, txt)
  end

  local obj = {
    enable = true,
    Draw = Draw,
    X = x,
    Y = y,
    W = w,
    H = h
  }
  function obj.Callback(...)
    obj.enable = false
    local ok, err = pcall(callback, ...)
    if not ok then
      PrintErrorToOutput("Failed:", err)
      PopOutputStack()
    end
    obj.enable = true
  end

  buttons[#buttons + 1] = obj

  return obj
end

local Redraw

local function Serialize(self)
  PushOutputStack("SERIALIZE")

  state.map.serializing = true
  state.map.percent = 0
  state.map.serialized = nil
  state.map.size = 0

  PrintToOutput("Serializing...")
  Redraw()
  state.map.serialized = Pathfinder.Map:Serialize(false, function(_, percent)
    state.map.percent = percent
    Redraw()
  end)
  PrintGoodToOutput("Serializing Done.")
  PrintToOutput(string.format("Write actions needed: %d", #state.map.serialized))
  state.map.serializing = false
  state.map.percent = 1

  PrintToOutput("Getting filesize.")
  Redraw()
  local h = io.open("output.txt", 'w')
  for _, thing in ipairs(state.map.serialized) do
    h:write(thing)
    print(_)
  end
  h:close()

  state.map.size = fs.getSize("output.txt")

  PrintGoodToOutput("Done.")

  PopOutputStack()
end

local function Draw(self)
  PushOutputStack("DRAW")

  Redraw()
  if not state.pathResult then
    PrintErrorToOutput("No path to be drawn!")
    return
  end

  if state.drawn then
    PrintToOutput("Clearing path.")
  else
    PrintToOutput("Drawing path.")
  end
  Redraw()

  for i = 1, #state.pathResult do
    PutBlock(state.pathResult[i], state.drawn and "minecraft:air" or "minecraft:redstone_block")
  end

  PrintGoodToOutput("Done.")

  state.drawn = not state.drawn

  PopOutputStack()
end

local function Scan(self)
  PushOutputStack("SCAN")

  PrintToOutput("Scanning.")
  Redraw()

  if state.drawn then
    PrintToOutput("Clearing old path before scanning.")
    Draw{}
  end

  local ok, data = MapExtra:Scan(
    24,
    makeOffsets{x=0,y=0,z=0}
  )

  if ok then
    PrintGoodToOutput("Scan OK")
  else
    PrintErrorToOutput("Scan FAIL:", data)
    Redraw()
    return
  end
  state.goldBlock = FindBlock(data, "minecraft:gold_block")
  state.diamondBlock = FindBlock(data, "minecraft:diamond_block")

  if state.goldBlock then
    PrintGoodToOutput("  Found gold block.")
  else
    PrintErrorToOutput("  Did not find gold block.")
  end
  if state.diamondBlock then
    PrintGoodToOutput("  Found diamond block.")
  else
    PrintErrorToOutput("  Did not find diamond block.")
  end

  Redraw()

  PopOutputStack()
end

local function Path(self)
  PushOutputStack("PATH")
  Redraw()

  if state.drawn then
    PrintToOutput("Clearing old path before pathfinding.")
    Draw{}
  end

  if not state.goldBlock then
    PrintErrorToOutput("Cannot pathfind, missing gold block.")
    state.pathResult = nil
    return
  end
  if not state.diamondBlock then
    PrintErrorToOutput("Cannot pathfind, missing diamond block.")
    state.pathResult = nil
    return
  end

  local x1, y1, z1 = makeOffsets(state.goldBlock)
  local x2, y2, z2 = makeOffsets(state.diamondBlock)

  Pathfinder:AddAir(x1, y1, z1)
  Pathfinder:AddAir(x2, y2, z2)

  PrintToOutput("Pathfinding...")
  Redraw()

  local ok, result = Pathfinder:Pathfind(x1, y1, z1, x2, y2, z2, startFacing)
  if not ok then
    PrintErrorToOutput("Pathfinding failed:", result)
    state.pathResult = nil
  else
    PrintGoodToOutput("Pathfinding success! Path length:", #result)
    state.pathResult = result
  end


  PopOutputStack()
end

local function send(data)
  modem.transmit(
    TRANSMISSION_CHANNEL,
    TRANSMISSION_CHANNEL,
    data
  )
end
local function sendACK(data)
  local timeout, count = os.startTimer(0), 0
  while count < 5 do
    local event, id, _, _, msg = os.pullEvent()
    if event == "timer" and id == timeout then
      if count ~= 5 then
        send(data)
        timeout = os.startTimer(2)
        count = count + 1
        PrintToOutput("Transmitting... ( try", count, "/ 4 )")
      end
    elseif event == "modem_message" and type(msg) == "table" then
      PrintToOutput("Received reply:")
      PrintToOutput("  OK:", msg.Ok)
      if not msg.Ok then
        error(string.format("Remote error: %s", msg.Error), 0)
      end
      return
    end
    Redraw()
  end

  error("Too many attempts!", 0)
end
local function Transmit(self)
  PushOutputStack "TRANSMIT"
  if not state.pathResult then
    PrintErrorToOutput("No path to transmit!")
    return
  end

  PrintToOutput("Transmitting GOTO start-of-path.")
  Redraw()

  sendACK {
    Action = "GOTO",
    Position = {
      state.pathResult[1].X,
      state.pathResult[1].Y,
      state.pathResult[1].Z
    },
    Ok = true
  }


  -- wait for turtle to be in position
  PrintToOutput("Waiting for turtle to be in position.")
  Redraw()
  local timeout = os.startTimer(30)
  while true do
    local event, id, _, _, msg = os.pullEvent()
    if event == "timer" and id == timeout then
      error("Timed out while waiting for turtle.", 0)
    elseif event == "modem_message" and type(msg) == "table" then
      if msg.Ok and msg.Action == "ARRIVED" then
        PrintGoodToOutput("Turtle arrived at position.")
        break
      elseif not msg.Ok then
        error(string.format("Remote error: %s", msg.Error), 0)
      else
        error("Unknown transmission received.", 0)
      end
    end
  end

  PrintToOutput("Ordering turtle to follow path.")
  Redraw()
  sendACK {
    Action = "FOLLOW_PATH",
    Path = state.pathResult,
    Ok = true
  }

  PrintToOutput("Waiting for turtle to complete path.")
  Redraw()
  timeout = os.startTimer(60)
  while true do
    local event, id, _, _, msg = os.pullEvent()
    if event == "timer" and id == timeout then
      error("Timed out while waiting for turtle.", 0)
    elseif event == "modem_message" and type(msg) == "table" then
      if msg.Ok and msg.Action == "ARRIVED" then
        PrintGoodToOutput("Turtle completed path.")
        break
      elseif not msg.Ok then
        error(string.format("Remote error: %s", msg.Error), 0)
      else
        error("Unknown transmission received.", 0)
      end
    end
  end

  PopOutputStack()
end

local function ToggleDebug()
  PushOutputStack "DEBUG"
  Pathfinder.Debug.PlaceBlocks = not Pathfinder.Debug.PlaceBlocks
  if Pathfinder.Debug.PlaceBlocks then
    PrintToOutput "Enabled."
  else
    PrintToOutput "Disabled."
  end

  PopOutputStack()
end

--[[
  state.map = {
    serialized = {} or nil
    serializing = true or false
    percent = 0 <-> 1
  }
  state.goldBlock = {x, y, z} or nil
  state.diamondBlock = {x, y, z} or nil

]]
Redraw = function()
  local w, h = frame.getSize()

  frame.setBackgroundColor(colors.black)
  frame.clear()

  -- Header
  DrawBox(frame, 1, 1, w, 3, state.busy and colors.red or colors.gray)
  CenterText(frame, 1, 1, w, 3, state.busy and "Pathfinder/Mapper Controller (Busy)" or "Pathfinder/Mapper Controller")

  -- Map information box
  DrawBox(frame, 2, 4, 22, 1, colors.purple)
  CenterText(frame, 2, 4, 22, 1, "Map Data")
  DrawBox(frame, 2, 5, 22, 6, colors.lightGray)
  frame.setCursorPos(3, 6)
  frame.setTextColor(colors.white)
  if state.map.serialized then
    frame.write(string.format("Name: %s", Pathfinder.Map.Name))
    frame.setCursorPos(3, 7)
    frame.write(string.format("Offs: %d %d %d", Pathfinder.Map.Offset[1], Pathfinder.Map.Offset[2], Pathfinder.Map.Offset[3]))
    frame.setCursorPos(3, 8)
    frame.write(string.format("Size: %d bytes", state.map.size))
  elseif state.map.serializing then
    frame.write("Serializing")
    frame.setCursorPos(3, 7)
    local line = string.rep('\143', math.floor(19 * state.map.percent + 0.5))
    frame.write("[")
    frame.setTextColor(colors.green)
    frame.write(line)
    frame.setTextColor(colors.white)
    frame.setCursorPos(22, 7)
    frame.write(']')
  else
    frame.write("No map data.")
  end

  -- Pathfinder controls
  DrawBox(frame, 28, 4, 22, 1, colors.purple)
  CenterText(frame, 28, 4, 22, 1, "Controls")
  DrawBox(frame, 28, 5, 22, 6, colors.lightGray)

  -- Scan output
  DrawBox(frame, 2, 12, w - 2, 1, colors.purple)
  CenterText(frame, 2, 12, w - 2, 1, "Output")
  DrawBox(frame, 2, 13, w - 2, 7, colors.lightGray)

  -- SECOND MONITOR

  local w, h = frame2.getSize()
  frame2.setBackgroundColor(colors.black)
  frame2.clear()

  DrawBox(frame2, 1, 1, w, h, colors.gray)


  DrawButtons()
  outputWindow.redraw()
  frame.PushBuffer()
  frame2.PushBuffer()
end

local function Main()
  PushOutputStack("MAIN")
  local w, h = frame.getSize()

  -- Serialize map data
  Button(frame, 3, 10, 20, 1, colors.white, colors.green, colors.blue, "Serialize Map Data", Serialize)

  -- Scan
  Button(frame, 29, 6, 6, 3, colors.white, colors.green, colors.blue, "SCAN", Scan)
  -- Pathfind
  Button(frame, 36, 6, 6, 3, colors.white, colors.green, colors.blue, "PATH", Path)
  -- Draw path
  Button(frame, 43, 6, 6, 3, colors.white, colors.green, colors.blue, "DRAW", Draw)
  -- Transmit to turtle
  Button(frame, 29, 10, 10, 1, colors.white, colors.green, colors.blue, "TRANSMIT", Transmit)
  -- Enable debug
  Button(frame, 42, 10, 7, 1, colors.white, colors.green, colors.blue, "DEBUG", ToggleDebug)

  -- Reboot
  Button(frame, w - 2, 1, 3, 3, colors.white, colors.red, colors.red, "", function() Redraw() end)

  -- BUTTONS FOR FACING SETTING
  local up = "\24"
  local down = "\25"
  local right = "\26"
  local left = "\27"
  local btns = {}
  local function enable(i)
    for j = 1, 4 do
      if i == j then
        btns[j].enable = true
      else
        btns[j].enable = false
      end
    end
  end

  btns[1] = Button(frame2, 3, 1, 1, 1, colors.white, colors.blue, colors.lightGray, up, function()
    startFacing = 0
    enable(1)
  end)
  btns[2] = Button(frame2, 3, 3, 1, 1, colors.white, colors.blue, colors.lightGray, down, function()
    startFacing = 2
    enable(2)
  end)
  btns[3] = Button(frame2, 4, 2, 1, 1, colors.white, colors.blue, colors.lightGray, right, function()
    startFacing = 1
    enable(3)
  end)
  btns[4] = Button(frame2, 2, 2, 1, 1, colors.white, colors.blue, colors.lightGray, left, function()
    startFacing = 3
    enable(4)
  end)
  enable(1)

  PrintToOutput "Ready."
  Redraw()

  while true do
    local event, _, x, y = os.pullEvent("monitor_touch")
    state.busy = true
    Redraw()
    CheckButtons(x, y)
    state.busy = false
    Redraw()
  end
end

local function SIGTERM()
  while true do
    local event, data, x, y = os.pullEventRaw()

    if event == "monitor_touch" and x >= mw - 2 and y <= 3 then
      if state.busy then
        os.queueEvent("terminate")
      else
        os.sleep()
        os.reboot()
      end
    elseif event == "task_complete" then
      print(data, x, y)
    end
  end
end

while true do
  local ok, err = pcall(parallel.waitForAny, Main, SIGTERM)

  if not ok then
    printError(err)
    pcall(PrintErrorToOutput, "ERRORED -", err)
    if not err:lower():find("yielding") then
      pcall(PrintErrorToOutput, "Not due to too long without yielding. Stopping.")
      break
    else
      pcall(PrintErrorToOutput, "It is unknown if the operation completed.")
    end
    outputStack = {"MAIN"}
    os.sleep(5)
  else
    break
  end
end