local uri = "https://discor"
local ship=peripheral.find("warpdriveShipCore")
local initialx,initialy,initialz = ship.getLocalPosition()
local navdatafile = "navdata.txt"
local navdata={} -- format: {{dx,dy,dz},{dx,dy,dz},...} -- these are ship coords (forward, up, right)

if not (ship.isInHyperspace() or ship.isInSpace()) then
    error("Ship needs to be in space or hyperspace!")
end

print("We are currently in "..(ship.isInHyperspace() and "HYPERSPACE"or"SPACE").." at "..initialx.." "..initialy.." "..initialz)

if fs.exists(navdatafile) then
    local h = fs.open(navdatafile, "r")
    local text = h.readAll()
    navdata = textutils.unserialize(text)
    h.close()
    print("Waiting 5 seconds before starting node execution...")
    sleep(25)
end

if #navdata <= 0 then -- if navdata wasnt loaded
    print("Enter target pos: x y z")
    local input = read()
    local txs,tys,tzs=input:gmatch("(%-?%d+) (%-?%d+) (%-?%d+)")()
    print("'"..txs.."'")
    print("'"..tys.."'")
    print("'"..tzs.."'")
    local tx = tonumber(txs)
    local ty = tonumber(tys)
    local tz = tonumber(tzs)
    if tx == nil or ty == nil or tz == "" then
        error("Please use the proper number format.")
    end
    local ship_len_back,ship_len_left,ship_len_down=ship.dim_negative()
    local ship_len_front,ship_len_right,ship_len_up=ship.dim_positive()

    function dst(x1,y1,z1,x2,y2,z2)
        local dx = x2-x1
        local dy = y2-y1
        local dz = z2-z1
        return math.sqrt(dx*dx+dy*dy+dz*dz)
    end --dst

    if ty-ship_len_down <= 0 or ty+ship_len_up >= 256 then
        error("Target y position needs to be inside "..ship_len_down.." and "..256-ship_len_up..".")
    end

    print("Do you want to stay in hyperspace after jumping? (Y/n)")
    local input2 = read()
    local stayInHyper = input2~="n" and input2~="N"
    print("----------------------------------")
    print("Is this information correct?")
    print("Target coords: ", tx,ty,tz)
    print("Target dimension: "..(stayInHyper and "HYPERSPACE" or "SPACE"))
    print("Total distance: "..math.floor(dst(initialx,initialy,initialz,tx,ty,tz)).." blocks")
    print("----------------------------------")
    for i=1,0,-1 do
        term.setCursorPos(1,select(2,term.getCursorPos()))
        term.write("Please double check the info..."..i.."   ")
        sleep(1)
    end
    term.clearLine()
    print()
    print("Enter 'Y' or press ENTER to engage navigation.")
    local input3 = read()
    if input3 ~= "Y" and input3 ~="y" and input3 ~="" then
        print("Aborting nagivation.")
        return
    end
    print("Computing navigation steps...")

    local shipdeltafront, shipdeltaright
    local shipdeltaup = ty-initialy
    local orix,_,oriz = ship.getOrientation()

    if orix == 1 then
        shipdeltafront = tx-initialx
        shipdeltaright = tz-initialz
    elseif orix == -1 then
        shipdeltafront = -tx+initialx
        shipdeltaright = -tz+initialz
    elseif oriz == 1 then
        shipdeltafront = tz-initialz
        shipdeltaright = -tx+initialx
    elseif oriz == -1 then
        shipdeltafront = -tz+initialz
        shipdeltaright = tx-initialx
    else
        error("Unexpected ship orientation!")
    end

    print("We need to move "..shipdeltafront.." block(s) forward, "..shipdeltaup.." block(s) upward and "..shipdeltaright.." block(s) to the right.")
    local minforward = ship_len_front+ship_len_back
    local minup = ship_len_up+ship_len_down
    local minright = ship_len_right+ship_len_left
    ship.command("MANUAL",false)
    local success, maxdist = ship.getMaxJumpDistance()
    if not success then error("unable to get the ships max jump distance: "..maxdist) end
    if maxdist <= 0 then error("max jump distance is zero") end
    print("Max jump length = "..maxdist)
    function computeMove(mindist,remaining,ignoreconstraint) -- returns a move to make along that axis
        if remaining == 0 then return 0 end

        local remsign = (remaining < 0) and -1 or 1

        if math.abs(remaining) < mindist and not ignoreconstraint then -- if the move would be impossible because it is too short, move further away
            return -remsign * mindist
        end
        return remsign * math.min(math.abs(remaining),maxdist)
    end

    repeat
        local move = {}
        move[2] = computeMove(minup+1,shipdeltaup,true) --y
        shipdeltaup = shipdeltaup - move[2]

        move[1] = computeMove(minforward+1,shipdeltafront,math.abs(move[2]) > minup) --x

        if not (math.abs(move[2]) > minup) and  shipdeltafront == 0 and shipdeltaright == 0 and shipdeltaup ~= 0 and move[1] == 0 then
            move[1] = minforward+1
        end

        shipdeltafront = shipdeltafront - move[1]
        move[3] = computeMove(minright+1,shipdeltaright, math.abs(move[2]) > minup or math.abs(move[1]) > minforward) --z
        shipdeltaright = shipdeltaright - move[3]
        navdata[#navdata+1] = move
        print("Computed move: #"..#navdata..": "..move[1].." block(s) forward, "..move[2].." block(s) upward and "..move[3].." block(s) to the right.")
        print("Remaining: "..shipdeltafront..":"..shipdeltaup..":"..shipdeltaright)

    until shipdeltafront == 0 and shipdeltaup == 0 and shipdeltaright == 0
    print("Navigational path plotted using "..#navdata.." jump(s).")
end
for i=1,#navdata do
    local move = navdata[i]

    print("Executing next node... There are "..#navdata.." node(s) left to execute.")
 http.post(uri,"{\"content\":\"Executing next node... There are "..#navdata.." node(s) left to execute."\"}",{['content-type']="application/json"})
    table.remove(navdata,1)

    if #navdata > 0 then
        local text = textutils.serialize(navdata)
        local h = fs.open(navdatafile, "w")
        h.write(text)
        h.close()
    else
        fs.delete(navdatafile)
    end
    ship.command("MANUAL", false)
    ship.movement(move[1],move[2],move[3])
    ship.rotationSteps(0)
    ship.command("MANUAL", true)

    for i=60,0,-1 do
        term.setCursorPos(1,select(2,term.getCursorPos()))
        term.write("Waiting for the ship to jump..."..i.."   ")
        sleep(1)
    end
    error("The ship did not jump.")
end