--[[
    Turtle Control OS
    Originally created by ottomated, modified by PrintedScript
    https://github.com/PrintedScript/turtle-control
]]
-- Settings
local websocketServer = "https://83de-2601-cd-c000-2ae0-00-816.ngrok-free.app"


-- BEGIN JSON LIBRARY --
local type = type
local next = next
local error = error
local tonumber = tonumber
local tostring = tostring
local utf8_char = string.char
local table_concat = table.concat
local table_sort = table.sort
local string_char = string.char
local string_byte = string.byte
local string_find = string.find
local string_match = string.match
local string_gsub = string.gsub
local string_sub = string.sub
local string_format = string.format
local setmetatable = setmetatable
local getmetatable = getmetatable
local huge = math.huge
local tiny = -huge

local json = {}
json.object = {}

function math_type(number)
	if math.floor(number) == number then
		return "integer"
	else
		return "float"
	end
end
-- json.encode --
local statusVisited
local statusBuilder

local encode_map = {}

local encode_escape_map = {
    [ "\"" ] = "\\\"",
    [ "\\" ] = "\\\\",
    [ "/" ]  = "\\/",
    [ "\b" ] = "\\b",
    [ "\f" ] = "\\f",
    [ "\n" ] = "\\n",
    [ "\r" ] = "\\r",
    [ "\t" ] = "\\t",
}

local decode_escape_set = {}
local decode_escape_map = {}
for k, v in next, encode_escape_map do
    decode_escape_map[v] = k
    decode_escape_set[string_byte(v, 2)] = true
end

for i = 0, 31 do
    local c = string_char(i)
    if not encode_escape_map[c] then
        encode_escape_map[c] = string_format("\\u%04x", i)
    end
end

local function encode(v)
    local res = encode_map[type(v)](v)
    statusBuilder[#statusBuilder+1] = res
end

encode_map["nil"] = function ()
    return "null"
end

local function encode_string(v)
    return string_gsub(v, '[\0-\31\\"]', encode_escape_map)
end

function encode_map.string(v)
    statusBuilder[#statusBuilder+1] = '"'
    statusBuilder[#statusBuilder+1] = encode_string(v)
    return '"'
end

local function convertreal(v)
    local g = string_format('%.16g', v)
    if tonumber(g) == v then
        return g
    end
    return string_format('%.17g', v)
end

if string_match(tostring(1/2), "%p") == "," then
    local _convertreal = convertreal
    function convertreal(v)
        return string_gsub(_convertreal(v), ',', '.')
    end
end

function encode_map.number(v)
    if v ~= v or v <= tiny or v >= huge then
        error("unexpected number value '" .. tostring(v) .. "'")
    end
    return convertreal(v)
end

function encode_map.boolean(v)
    if v then
        return "true"
    else
        return "false"
    end
end

function encode_map.table(t)
    local first_val = next(t)
    if first_val == nil then
        if getmetatable(t) == json.object then
            return "{}"
        else
            return "[]"
        end
    end
    if statusVisited[t] then
        error("circular reference")
    end
    statusVisited[t] = true
    if type(first_val) == 'string' then
        local key = {}
        for k in next, t do
            if type(k) ~= "string" then
                error("invalid table: mixed or invalid key types")
            end
            key[#key+1] = k
        end
        table_sort(key)
        local k = key[1]
        statusBuilder[#statusBuilder+1] = '{"'
        statusBuilder[#statusBuilder+1] = encode_string(k)
        statusBuilder[#statusBuilder+1] = '":'
        encode(t[k])
        for i = 2, #key do
            local k = key[i]
            statusBuilder[#statusBuilder+1] = ',"'
            statusBuilder[#statusBuilder+1] = encode_string(k)
            statusBuilder[#statusBuilder+1] = '":'
            encode(t[k])
        end
        statusVisited[t] = nil
        return "}"
    else
        local max = 0
        for k in next, t do
            if math_type(k) ~= "integer" or k <= 0 then
                error("invalid table: mixed or invalid key types")
            end
            if max < k then
                max = k
            end
        end
        statusBuilder[#statusBuilder+1] = "["
        encode(t[1])
        for i = 2, max do
            statusBuilder[#statusBuilder+1] = ","
            encode(t[i])
        end
        statusVisited[t] = nil
        return "]"
    end
end

local function encode_unexpected(v)
    if v == json.null then
        return "null"
    else
        error("unexpected type '"..type(v).."'")
    end
end
encode_map[ "function" ] = encode_unexpected
encode_map[ "userdata" ] = encode_unexpected
encode_map[ "thread"   ] = encode_unexpected

function json.encode(v)
    statusVisited = {}
    statusBuilder = {}
    encode(v)
    return table_concat(statusBuilder)
end

json._encode_map = encode_map
json._encode_string = encode_string

-- json.decode --

local statusBuf
local statusPos
local statusTop
local statusAry = {}
local statusRef = {}

local function find_line()
    local line = 1
    local pos = 1
    while true do
        local f, _, nl1, nl2 = string_find(statusBuf, '([\n\r])([\n\r]?)', pos)
        if not f then
            return line, statusPos - pos + 1
        end
        local newpos = f + ((nl1 == nl2 or nl2 == '') and 1 or 2)
        if newpos > statusPos then
            return line, statusPos - pos + 1
        end
        pos = newpos
        line = line + 1
    end
end

local function decode_error(msg)
    error(string_format("ERROR: %s at line %d col %d", msg, find_line()))
end

local function get_word()
    return string_match(statusBuf, "^[^ \t\r\n%]},]*", statusPos)
end

local function next_byte()
    local pos = string_find(statusBuf, "[^ \t\r\n]", statusPos)
    if pos then
        statusPos = pos
        return string_byte(statusBuf, pos)
    end
    return -1
end

local function consume_byte(c)
    local _, pos = string_find(statusBuf, c, statusPos)
    if pos then
        statusPos = pos + 1
        return true
    end
end

local function expect_byte(c)
    local _, pos = string_find(statusBuf, c, statusPos)
    if not pos then
        decode_error(string_format("expected '%s'", string_sub(c, #c)))
    end
    statusPos = pos
end

local function decode_unicode_surrogate(s1, s2)
    return utf8_char(0x10000 + (tonumber(s1, 16) - 0xd800) * 0x400 + (tonumber(s2, 16) - 0xdc00))
end

local function decode_unicode_escape(s)
    return utf8_char(tonumber(s, 16))
end

local function decode_string()
    local has_unicode_escape = false
    local has_escape = false
    local i = statusPos + 1
    while true do
        i = string_find(statusBuf, '["\\\0-\31]', i)
        if not i then
            decode_error "expected closing quote for string"
        end
        local x = string_byte(statusBuf, i)
        if x < 32 then
            statusPos = i
            decode_error "control character in string"
        end
        if x == 34 --[[ '"' ]] then
            local s = string_sub(statusBuf, statusPos + 1, i - 1)
            if has_unicode_escape then
                s = string_gsub(string_gsub(s
                    , "\\u([dD][89aAbB]%x%x)\\u([dD][c-fC-F]%x%x)", decode_unicode_surrogate)
                    , "\\u(%x%x%x%x)", decode_unicode_escape)
            end
            if has_escape then
                s = string_gsub(s, "\\.", decode_escape_map)
            end
            statusPos = i + 1
            return s
        end
        --assert(x == 92 --[[ "\\" ]])
        local nx = string_byte(statusBuf, i+1)
        if nx == 117 --[[ "u" ]] then
            if not string_match(statusBuf, "^%x%x%x%x", i+2) then
                statusPos = i
                decode_error "invalid unicode escape in string"
            end
            has_unicode_escape = true
            i = i + 6
        else
            if not decode_escape_set[nx] then
                statusPos = i
                decode_error("invalid escape char '" .. (nx and string_char(nx) or "<eol>") .. "' in string")
            end
            has_escape = true
            i = i + 2
        end
    end
end

local function decode_number()
    local num, c = string_match(statusBuf, '^([0-9]+%.?[0-9]*)([eE]?)', statusPos)
    if not num or string_byte(num, -1) == 0x2E --[[ "." ]] then
        decode_error("invalid number '" .. get_word() .. "'")
    end
    if c ~= '' then
        num = string_match(statusBuf, '^([^eE]*[eE][-+]?[0-9]+)[ \t\r\n%]},]', statusPos)
        if not num then
            decode_error("invalid number '" .. get_word() .. "'")
        end
    end
    statusPos = statusPos + #num
    return tonumber(num)
end

local function decode_number_zero()
    local num, c = string_match(statusBuf, '^(.%.?[0-9]*)([eE]?)', statusPos)
    if not num or string_byte(num, -1) == 0x2E --[[ "." ]] or string_match(statusBuf, '^.[0-9]+', statusPos) then
        decode_error("invalid number '" .. get_word() .. "'")
    end
    if c ~= '' then
        num = string_match(statusBuf, '^([^eE]*[eE][-+]?[0-9]+)[ \t\r\n%]},]', statusPos)
        if not num then
            decode_error("invalid number '" .. get_word() .. "'")
        end
    end
    statusPos = statusPos + #num
    return tonumber(num)
end

local function decode_number_negative()
    statusPos = statusPos + 1
    local c = string_byte(statusBuf, statusPos)
    if c then
        if c == 0x30 then
            return -decode_number_zero()
        elseif c > 0x30 and c < 0x3A then
            return -decode_number()
        end
    end
    decode_error("invalid number '" .. get_word() .. "'")
end

local function decode_true()
    if string_sub(statusBuf, statusPos, statusPos+3) ~= "true" then
        decode_error("invalid literal '" .. get_word() .. "'")
    end
    statusPos = statusPos + 4
    return true
end

local function decode_false()
    if string_sub(statusBuf, statusPos, statusPos+4) ~= "false" then
        decode_error("invalid literal '" .. get_word() .. "'")
    end
    statusPos = statusPos + 5
    return false
end

local function decode_null()
    if string_sub(statusBuf, statusPos, statusPos+3) ~= "null" then
        decode_error("invalid literal '" .. get_word() .. "'")
    end
    statusPos = statusPos + 4
    return json.null
end

local function decode_array()
    statusPos = statusPos + 1
    local res = {}
    if consume_byte "^[ \t\r\n]*%]" then
        return res
    end
    statusTop = statusTop + 1
    statusAry[statusTop] = true
    statusRef[statusTop] = res
    return res
end

local function decode_object()
    statusPos = statusPos + 1
    local res = {}
    if consume_byte "^[ \t\r\n]*}" then
        return setmetatable(res, json.object)
    end
    statusTop = statusTop + 1
    statusAry[statusTop] = false
    statusRef[statusTop] = res
    return res
end

local decode_uncompleted_map = {
    [ string_byte '"' ] = decode_string,
    [ string_byte "0" ] = decode_number_zero,
    [ string_byte "1" ] = decode_number,
    [ string_byte "2" ] = decode_number,
    [ string_byte "3" ] = decode_number,
    [ string_byte "4" ] = decode_number,
    [ string_byte "5" ] = decode_number,
    [ string_byte "6" ] = decode_number,
    [ string_byte "7" ] = decode_number,
    [ string_byte "8" ] = decode_number,
    [ string_byte "9" ] = decode_number,
    [ string_byte "-" ] = decode_number_negative,
    [ string_byte "t" ] = decode_true,
    [ string_byte "f" ] = decode_false,
    [ string_byte "n" ] = decode_null,
    [ string_byte "[" ] = decode_array,
    [ string_byte "{" ] = decode_object,
}
local function unexpected_character()
    decode_error("unexpected character '" .. string_sub(statusBuf, statusPos, statusPos) .. "'")
end
local function unexpected_eol()
    decode_error("unexpected character '<eol>'")
end

local decode_map = {}
for i = 0, 255 do
    decode_map[i] = decode_uncompleted_map[i] or unexpected_character
end
decode_map[-1] = unexpected_eol

local function decode()
    return decode_map[next_byte()]()
end

local function decode_item()
    local top = statusTop
    local ref = statusRef[top]
    if statusAry[top] then
        ref[#ref+1] = decode()
    else
        expect_byte '^[ \t\r\n]*"'
        local key = decode_string()
        expect_byte '^[ \t\r\n]*:'
        statusPos = statusPos + 1
        ref[key] = decode()
    end
    if top == statusTop then
        repeat
            local chr = next_byte(); statusPos = statusPos + 1
            if chr == 44 --[[ "," ]] then
                return
            end
            if statusAry[statusTop] then
                if chr ~= 93 --[[ "]" ]] then decode_error "expected ']' or ','" end
            else
                if chr ~= 125 --[[ "}" ]] then decode_error "expected '}' or ','" end
            end
            statusTop = statusTop - 1
        until statusTop == 0
    end
end

function json.decode(str)
    if type(str) ~= "string" then
        error("expected argument of type string, got " .. type(str))
    end
    statusBuf = str
    statusPos = 1
    statusTop = 0
    local res = decode()
    while statusTop > 0 do
        decode_item()
    end
    if string_find(statusBuf, "[^ \t\r\n]", statusPos) then
        decode_error "trailing garbage"
    end
    return res
end

-- Generate a lightuserdata
json.null = 12897345879

-- I stole this from you :)
function getItemIndex(itemName)
	for slot = 1, 16, 1 do
		local item = turtle.getItemDetail(slot)
		if(item ~= nil) then
			if(item["name"] == itemName) then
				return slot
			end
		end
	end
end

-- BEGIN MAIN CODE --

-- check if we are running on a disk
if fs.exists("/disk/startup") then
    if not fs.exists("/startup") then
        fs.copy("/disk/startup", "/startup")
        shell.run("reboot")
    end
end

function undergoMitosis()
	turtle.select(getItemIndex("computercraft:peripheral"))
	if not turtle.place() then
		return nil
	end
	turtle.select(getItemIndex("computercraft:disk_expanded"))
	turtle.drop()
	if not turtle.up() then
		return nil
	end
	turtle.select(getItemIndex("computercraft:turtle_expanded"))
	if not turtle.place() then
		return nil
	end
	turtle.select(1)
	turtle.drop(math.floor(turtle.getItemCount() / 2))
	os.sleep(1)
	peripheral.call("front", "turnOn")
	local cloneId = peripheral.call("front", "getID")
	if not turtle.down() then
		return nil
	end
	if not turtle.suck() then
		return nil
	end
	if not turtle.dig() then
		return nil
	end
	return cloneId
end

function GetGPSLocation()
    local X, Y, Z = gps.locate(5)
    if X == nil then
        return nil,nil,nil
    end
    return X, Y, Z
end

function mineTunnel(obj, ws)
	local file
	local blocks = {}
	for i=1,obj.length,1 do
		if obj.direction == 'forward' then
			turtle.dig()
			local success = turtle.forward()
			if not success then
				return res
			end
			ws.send(json.encode({move="f", nonce=obj.nonce}))
			blocks[i] = {}
			blocks[i][1] = select(2,turtle.inspectDown())
			blocks[i][2] = select(2,turtle.inspectUp())
			turtle.turnLeft()
			ws.send(json.encode({move="l", nonce=obj.nonce}))
			blocks[i][3] = select(2,turtle.inspect())
			turtle.turnRight()
			ws.send(json.encode({move="r", nonce=obj.nonce}))
			turtle.turnRight()
			ws.send(json.encode({move="r", nonce=obj.nonce}))
			blocks[i][4] = select(2,turtle.inspect())
			turtle.turnLeft()
			ws.send(json.encode({move="l", blocks=blocks[i], nonce=obj.nonce}))
		else
			if obj.direction == 'up' then
				turtle.digUp()
				local success = turtle.up()
				if not success then
					return res
				end
				ws.send(json.encode({move="u", nonce=obj.nonce}))
			else
				turtle.digDown()
				local success = turtle.down()
				if not success then
					return res
				end
				ws.send(json.encode({move="d", nonce=obj.nonce}))
			end

			blocks[i] = {}
			blocks[i][1] = select(2,turtle.inspect())
			turtle.turnLeft()
			ws.send(json.encode({move="l", nonce=obj.nonce}))

			blocks[i][2] = select(2,turtle.inspect())
			turtle.turnLeft()
			ws.send(json.encode({move="l", nonce=obj.nonce}))

			blocks[i][3] = select(2,turtle.inspect())
			turtle.turnLeft()
			ws.send(json.encode({move="l", nonce=obj.nonce}))

			blocks[i][4] = select(2,turtle.inspect())
			ws.send(json.encode({blocks=blocks[i], nonce=obj.nonce}))
		end
	end
	return blocks
end
local X,Y,Z = 0,0,0
function websocketLoop()

	local ws, err = http.websocket(websocketServer)

	if err then
		print(err)
	elseif ws then
		while true do
			term.clear()
			term.setCursorPos(1,1)
			print("Turtle Control OS, originally created by Ottomated. Modified by PrintedScript")
            print("View the project on github! https://github.com/PrintedScript/turtle-control")
			local message = ws.receive()
			if message == nil then
				break
			end
			local obj = json.decode(message)
			if obj.type == 'eval' then
				local func = loadstring(obj['function'])
				local result = func()
				ws.send(json.encode({data=result, nonce=obj.nonce}))
			elseif obj.type == 'mitosis' then
				local status, res = pcall(undergoMitosis)
				if not status then
					ws.send(json.encode({data="null", nonce=obj.nonce}))
				elseif res == nil then
					ws.send(json.encode({data="null", nonce=obj.nonce}))
				else
					ws.send(json.encode({data=res, nonce=obj.nonce}))
				end
			elseif obj.type == 'mine' then
				local status, res = pcall(mineTunnel, obj, ws)
				ws.send(json.encode({data="end", nonce=obj.nonce}))
            elseif obj.type == 'location' then
                X,Y,Z = GetGPSLocation()
                if X == nil then
                    ws.send(json.encode({data="null", nonce=obj.nonce}))
                else
                    ws.send(json.encode({data={X,Y,Z}, nonce=obj.nonce}))
                end
			end
		end
	end
	if ws then
		ws.close()
	end
end

while true do
	local status, res = pcall(websocketLoop)
	term.clear()
	term.setCursorPos(1,1)
	if res == 'Terminated' then
		print("Turtle Control OS terminated")
		break
	end
	print("Sleeping for 5 seconds before attempting reconnection - Turtle Control OS - https://github.com/PrintedScript/turtle-control")
	os.sleep(5)
end