StoreKeeper 2.0

--[[
Name: storeKeeperV
Version: 2.0
Description: Put items away in an inventory system made up of a network of stacked chests.  Be able
to store, identify and count the contents of each chest and be able to retrieve items when requested
by the InventoryControl program.

Note:  This program has been extensively rewritten from the original program written by nitrogetfingers used in his Turtle Butler example.
The use of the parallel option was removed because of problems using it on a server.

Date: 01/14/13
Author: Velander

Future enhancements planned:
- Unloading mine carts

]]--

-- Current inventory location
location = 0
locLevel = 0
locDir = 0
-- Current Inventory Location
currentLocation = locLevel..","..locDir
-- Current orientation within the room (1 = forward, 2=right, 3=back, 4=left)
orientation = 1
-- Flag to abort mission.
abortMission = false
-- Maximum slot to use to transfer inventory
maxSlot = 15
-- Slot to use to store fuel.
fuelSlot = 16
-- Setup Directions.
invDir = 1
fuelDir = 2
unknownDir = 4
-- Inventory Names
inventoryName = {}
-- Home Terminal
orderComputer = nil
storeKeeperID = nil

-- Has Pick Axe
hasPickAxe = false
--The list of all tasks to be done
queue = {}

-- List of empty chests encountered.
emptyChests = {}

function saveTable(tableData, tableName)
    save = textutils.serialize(tableData)
    file = fs.open(tableName, "w")
    file.write(save)
    file.close()
end
function loadTable(tableName)
    if fs.exists(tableName) then
      file = fs.open(tableName, "r")
      vars = file.readAll()
      file.close()
      tableData = textutils.unserialize(vars)
    else
      file = fs.open(tableName, "w")
      tableData = {}
      vars = textutils.serialize(tableData)
      file.write(vars)
      file.close()
    end
    return tableData
end
function reportInventory(computerId)
  invData = textutils.serialize(inventoryName)
  if computerId == nil then
    rednet.broadcast("inventory"..invData)
  else
    rednet.send(computerId, "inventory"..invData)
  end
end
function identifyInventory()
  -- If there is inventory left and there are empty chests, put it in the empty chests
  if not isTurtleEmpty() then
    if not goToStart() then return end
    emptyInventory()
  end

  -- This function locates inventory locations that have not been identified and requests descriptions.
  local level = 1
  local dir = 0
  local slot = 0
  local locationsLevel = {}
  local locationsDir = {}
  local locationsName = {}
  local locationNotEmpty = true
  setStatus("Retrieving Inventory")
  while slot < maxSlot and locationNotEmpty do
    for dir = 1,4 do
      local invLoc = level..","..dir
      local name, qty = getInventoryNameQty(invLoc)
      if name == "_" then
        gotoLocation(level,dir)
        if turtle.detect() then
          slot = slot + 1
          turtle.select(slot)
          if turtle.suck() then
            turtle.drop(turtle.getItemCount(slot)-1)
            locationsLevel[slot] = level
            locationsDir[slot] = dir
            print("at "..invLoc)
            setStatus("at "..invLoc)
            if qty ~= nil then
              if tonumber(qty) > 0 then
                qty = qty - 1
                inventoryName[invLoc] = "_#"..qty
              end
            end
          else
            slot = slot - 1
          end
        else
          locationNotEmpty = false
          break
        end
      end
      if slot == maxSlot then break end
    end
    level = level + 1
  end
  if goToStart() then
    if not isTurtleEmpty() then
      -- Something was loaded.  Get names for each item in
      local i = 1
      while locationsLevel[i] ~= nil do
        if turtle.getItemCount(i) > 0 then
          level = locationsLevel[i]
          dir = locationsDir[i]
          local name, qty = getInventoryNameQty(invLoc)
          name = nil
          while name == nil do
            setStatus("Identify slot "..i)
            term.write("Identify slot "..i.." (b=back):")
            name = io.read()
          end
          if string.lower(name) == "b" then
            if i > 1 then i = i - 2 else i = i - 1 end
          else
            inventoryName[level..","..dir] = name.."#"..qty
            setStatus("identify"..level..","..dir.."-"..name)
          end
        end
        i = i + 1
      end
      saveTable(inventoryName, "inventory")
      -- Now go and put everything away.
      setStatus("Putting inventory back.")
      local i = 1
      while locationsLevel[i] ~= nil do
        if turtle.getItemCount(i) > 0 then
          level = locationsLevel[i]
          dir = locationsDir[i]
          returnItemToInventory(i, level, dir)
        end
        i = i + 1
      end
      goToStart()
    else
      setStatus("done identifying.")
    end
  end
end
-- Is there anything in the turtle.
function isTurtleEmpty()
  for s=1,maxSlot,1 do
    if turtle.getItemCount(s) > 0 then return false end
  end
  return true
end
-- Change the orientation of the turtle
function changeOrientation(dir)
  if dir < 1 then dir = dir + 4 end
  if dir > 4 then dir = dir - 4 end
  while orientation ~= dir do
    if (orientation - dir) == -3 or (orientation - dir) == 1 then
      turtle.turnLeft()
      orientation = orientation - 1
    else
      turtle.turnRight()
      orientation = orientation + 1
    end
        if orientation > 4 then
      orientation = 1
    elseif orientation == 0 then
      orientation = 4
    end
    end
end
--Go to starting position
function goToStart()
  print("Going to start.")
  setStatus("going to start")
  refuel()
  -- Move out of chest shaft.
  local ceilingFound = false
  for a=1,70 do
    refuel()
    if not turtle.detectUp() then turtle.down() else
      ceilingFound = true
      break
    end
  end
  if not ceilingFound then
    for b=1,70 do
      refuel()
      turtle.up()
    end
    print("Ceiling not found.")
    return false
  end
  changeOrientation(invDir)  -- Now facing material chest

  -- Reset location to indicate at Start position.
  location = 0
  locLevel = 0
  locDir = 0
  currentLocation = locLevel..","..locDir
  changeOrientation(invDir)
  return true
end
function refuel()
  -- Refuel
  if turtle.getFuelLevel() < 100 then
    print("Refueling.")
    setStatus("refueling")
    turtle.select(fuelSlot)
        changeOrientation(fuelDir)
    while turtle.getFuelLevel() < 100 do
      if turtle.getItemCount(fuelSlot) <= 1 then
        if not turtle.suck() then
          print("Place more fuel in slot "..fuelSlot)
          setStatus("waiting for fuel")
          sleep(20)
        end
      end
      turtle.refuel(1)
    end
    -- Put the extra fuel back.
    print("Refuelled to level "..turtle.getFuelLevel())
    turtle.select(1)
    end
    changeOrientation(invDir)
  return true
end
-- Go to a specific inventory location.
function gotoLocation(level, dir)
  if locDir == 0 then
    -- Should be 1 above floor
    if not turtle.up() then return false end  -- Now even with floor
    if not turtle.up() then return false end  -- Now 1 below fllor
    if not turtle.up() then return false end  -- Now even with the first level of chest.
    locLevel = 1
    changeOrientation(1)
    locDir = 1
    currentLocation = locLevel..","..locDir
  end
  while level ~= locLevel do
    refuel()
    if locLevel < level  then
      if turtle.up() then locLevel = locLevel + 1 else return false end
    else
      if turtle.down() then locLevel = locLevel - 1 else return false end
    end
    currentLocation = locLevel..","..locDir
  end
  -- Now must be at the correct level.
  changeOrientation(dir)
  locDir = dir
  return turtle.detect()
end
-- Go to next inventory location.
function gotoNextInventoryLocation()
    -- Check to see if the turtle has started a level.
  if locDir == 0 then
    -- Should be 1 above floor
    turtle.down()  -- Now even with floor
    turtle.down()  -- Now 1 below fllor
    turtle.down()  -- Now even with the first level of chest.
    locLevel = 1
    changeOrientation(1)
    locDir = 1
    currentLocation = locLevel..","..locDir
  elseif locDir == 4 then
    if turtle.detectUp() then
      -- We have reached the bottom.
      return false
    else
      -- Move down to the next chest.
      while not turtle.down() do
        setStatus("blocked at level "..locLevel)
        sleep(10)
      end
      locLevel = locLevel + 1
      locDir = 1
      changeOrientation(locDir)
      currentLocation = locLevel..","..locDir
      -- Check to see if there isn't a chest there.
      if not turtle.detect() then return false end
    end
  else
    locDir = locDir + 1
    changeOrientation(locDir)
    currentLocation = locLevel..","..locDir
    -- Check to see if there isn't a chest there.
    if not turtle.detect() then return false end
  end
  return true
end

-- Load Inventory To Put Away
function loadInventory()
    -- Pick up all of the items in the chest in front of the turtle.
    -- Set the flag that the inventory is empty.
    inventoryLoaded = false
    -- Start filling at slot 2.  Keep slot 1 clear for comparing to contents of chest.
    s=2
    while s <= maxSlot do
        turtle.select(s)
        if turtle.suck() then
            -- Something was picked up so reset the flag.
            inventoryLoaded = true
        else
            -- The inventory chest is empty.
            break
        end
        -- Move to the next slot in the turtle.
        s = s + 1
    end
    return inventoryLoaded
end

-- Empty non-identified items
function emptyInventory()
    print("Emptying inv.")
  setStatus("emptying inventory")
    changeOrientation(unknownDir)
    -- Dump everything into chest of unknown material.
    for s=1,maxSlot,1 do
        turtle.select(s)
        turtle.drop()
    end
    -- Return to Start position
    changeOrientation(invDir)
end
function digFoward()
  turtle.select(6)
  while turtle.detect() do
    turtle.dig()
    sleep(.5)
  end
end
function selectFill()
  for s=7,15 do
    turtle.select(s)
    if turtle.compareTo(6) then return end
  end
  turtle.select(6)
end
function placeSeal()
  selectFill()
  while not turtle.detect() do
    turtle.place()
    sleep(.5)
  end
end
function placeSealDown()
  selectFill()
  while not turtle.detectDown() do
    turtle.placeDown()
    sleep(.5)
  end
end
function digUp()
  turtle.select(6)
  while turtle.detectUp() do
    turtle.digUp()
    sleep(.5)
  end
end
function goForward()
  while not turtle.forward() do
    print("Forward blocked")
    sleep(4)
  end
end
function goBack()
  while not turtle.back() do
    print("Back blocked")
    sleep(4)
  end
end
function selectChest()
  for s=5,15 do
    turtle.select(s)
    if turtle.compareTo(1) then return true end
  end
  if turtle.getItemCount(1) > 0 then
    turtle.select(1)
    return true
  end
  return false
end
function placeChest()
  selectChest()
  turtle.place()
end
function placeChestUp()
  selectChest()
  turtle.placeUp()
end
function selectGlass()
  for s=5,15 do
    turtle.select(s)
    if turtle.compareTo(2) then return true end
  end
  turtle.select(2)
  if turtle.getItemCount(2) > 0 then
    turtle.select(2)
    return true
  end
  return false
end
function placeGlass()
  if selectGlass() then
    turtle.place()
  else
    placeSeal()
  end
end
function selectTorch()
  for s=5,15 do
    turtle.select(s)
    if turtle.compareTo(3) then return true end
  end
  if turtle.getItemCount(3) > 0 then
    turtle.select(3)
    return true
  end
  return false
end
function placeTorchDown()
  if selectTorch() then
    turtle.placeDown()
    return true
  end
  return false
end
function selectLadder()
  for s=5,15 do
    turtle.select(s)
    if turtle.compareTo(4) then return true end
  end
  if turtle.getItemCount(4) > 0 then
    turtle.select(4)
    return true
  end
  return false
end
function placeLadderDown()
  if selectLadder() then
    turtle.placeDown()
    return true
  end
  return false
end
function placeSign(message)
  if hasSigns then
    if not turtle.detect() then
      goForward()
      if not turtle.detect() then placeSeal() end
      goBack()
    end
    turtle.select(5)
    turtle.place(message)
  end
end
-- Create Initial Chest Setup
function Initialize()
  if not hasPickAxe then
    print("Turtle must have a pick axe to")
    print("be able to create warehouse shaft.")
    return false
  end
  -- First check that you are facing a wall.
  local wallDetected = false
  for a=1,4 do
    if turtle.detect() then
      wallDetected = true
      break
    end
    turtle.turnRight()
  end
  if not wallDetected then
    print("Turtle must be next to a wall to create initial setup.")
    return false
  end
  -- Now give instructions about where to put chests.
  while turtle.getItemCount(fuelSlot) < 5 do
    print("Place 5+ fuel in slot "..fuelSlot..".")
    term.write("Ready? (Y/N):")
    continue = string.upper(io.read())
    if continue ~= "Y" then return false end
  end
  while turtle.getItemCount(1) < 10 do
    print("Place the following material in the slots.")
    print("Slot 1: 30+ chests")
    print("Slot 2: 30+ glass blocks")
    print("Slot 3: 20+ torches")
    print("Slot 4: 30+ ladders")
    print("Slot 5: 3 signs")
    print("Slot 6: Material to seal walls")
    print("Place additional chests, glass and material in other slots.")
    term.write("Ready? (Y/N):")
    continue = string.upper(io.read())
    if continue ~= "Y" then return false end
  end
  -- Check for clearance to place chests
  refuel()
  rightOk = false
  backOk = false
  leftOk = false
  upOk = false
  hasGlass = turtle.getItemCount(2) > 30
  hasTorches = turtle.getItemCount(3) > 20
  hasLadders = turtle.getItemCount(4) > 30
  hasSigns = turtle.getItemCount(5) > 3
  while not (rightOk and leftOk and backOk and upOk) do
    -- Check to the right
    turtle.turnRight()
    -- Facing right
    if not turtle.detect() then
      if turtle.forward() then
        if not turtle.detect() then rightOk = true end
        turtle.back()
      end
    end
    -- Check to the back.
    turtle.turnRight()
    -- Facing front
    if not turtle.detect() then backOk = true end
    -- Check to the left
    turtle.turnRight()
    -- Facing left
    if not turtle.detect() then
      if turtle.forward() then
        if not turtle.detect() then leftOk = true end
        turtle.back()
      end
    end
    -- Check Up
    if not turtle.detectUp() then upOk = true end
    turtle.turnRight()
    -- Facing back
    if not upOk then print("Space above turtle must be clear.") end
    if not rightOk then print("2 spaces to right must be clear.") end
    if not backOk then print("Space behind turtle must be clear.") end
    if not leftOk then print("2 spaces to left must be clear.") end
    if not (rightOk and leftOk and backOk and upOk) then
      print("Continue?")
      cont = io.read()
    end
  end
  ---------- BLOCK PATTERN ---------
  --             Back
  --               X
  --            P  U  W
  --         R  O  T  V  Y
  -- Left 11 N  M  S  A  B 12 Right
  --      10 L  I  G  E  C 13
  --       9 K  J  H  F  D 14
  --         8  1  2  3  4
  --            7  6  5
  --             Front
  -- Everthing ready, start setting things up.
  refuel()
  -- Place double unidentified chest
  turtle.turnRight()
  -- Facing right
  placeChest()
  -- Now put a sign on it.
  if hasSigns then
    if turtle.down() then
      turtle.turnRight()
      if turtle.forward() then
        turtle.turnLeft()
        if turtle.forward() then
          turtle.turnLeft()
          placeSign("\nOverflow\nInventory")
          turtle.turnRight()
          turtle.back()
        end
        turtle.turnRight()
        turtle.back()
      end
      turtle.turnLeft()
      turtle.up()
    end
  end
  -- Place double fuel chest
  turtle.turnRight()
  turtle.turnRight()
  -- Facing left
  placeChest()
  -- Now put some fuel in it.
  turtle.select(fuelSlot)
  turtle.drop(1)
  -- Now put a sign on it.
  if hasSigns then
    if turtle.down() then
      turtle.turnLeft()
      if turtle.forward() then
        turtle.turnRight()
        if turtle.forward() then
          turtle.turnRight()
          placeSign("\nStoreKeeper\nFuel")
          turtle.turnLeft()
          turtle.back()
        end
        turtle.turnLeft()
        turtle.back()
      end
      turtle.turnRight()
      turtle.up()
    end
  end
  -- Place retrieval chest
  turtle.turnRight()
  -- Facing back
  placeChestUp()
  -- Now put a sign on it.
  if turtle.back() then
    if turtle.down() then
      if turtle.down() then
        placeSign("\nRequested\nItems")
        turtle.up()
      end
      turtle.up()
      turtle.forward()
    end
  end
  -- Place unknown item chest
  turtle.turnRight()
  turtle.turnRight()
  -- Facing front
  placeChest()
  turtle.turnRight()
  turtle.turnRight()
  -- Facing back

  -- Now replace the floor with glass blocks and a crawl hole
  refuel()
  local level = 0
  turtle.turnRight()
  -- Facing right
  turtle.digDown()
  turtle.up()
  level = level + 1
  -- If we have glass blocks then replace floor with glass blocks
  -- Replace floor to right
  digFoward()
  goForward() -- A
  turtle.turnLeft() -- Facing back
  placeGlass() -- V
  turtle.turnRight() -- Facing left
  digFoward()
  goForward() -- B
  turtle.turnLeft() -- Facing back
  placeGlass() -- Y
  turtle.turnRight() -- Facing left
  digFoward()
  goForward() -- 12
  turtle.turnRight() -- Facing front
  digFoward()
  goForward() -- 13
  digFoward()
  goForward() -- 14
  digFoward()
  placeSeal() -- 15
  goBack() -- 13
  placeSeal() -- 14
  goBack() -- 12
  placeSeal() -- 13
  turtle.turnLeft() -- Facing right
  goBack() -- B
  placeSeal() -- 12
  turtle.turnRight() -- Facing front
  digFoward()
  goForward() -- C
  digForward()
  goForward() -- D
  goBack() -- C
  goBack() -- B
  placeGlass() -- C
  turtle.turnLeft() -- Facing right
  goBack() -- A
  placeGlass() -- B
  turtle.turnRight() -- Facing front
  digFoward()
  placeGlass() -- E
  turtle.turnLeft() -- Facing right
  goBack() -- Start
  placeGlass() -- A
  turtle.turnRight() -- Facing front
  -- Replace floor to front with glass
  digFoward()
  goForward() -- G
  digFoward()
  goForward() -- H
  digFoward()
  goForward() -- 2
  turtle.turnLeft() -- Facing right
  digFoward()
  goForward() -- 3
  placeGlass() -- 4
  goBack() -- 2
  placeGlass() -- 3
  turtle.turnRight() -- Facing front
  turtle.turnRight() -- Facing left
  digFoward()
  goForward() -- 1
  digForward()
  goForward() -- 8
  placeGlass() -- 16
  goBack() -- 1
  placeGlass() -- 8
  goBack() -- 2
  placeGlass() -- 1
  turtle.turnLeft() -- Facing front
  goBack() -- H
  placeGlass() -- 2
  turtle.turnLeft() -- Facing right
  digFoward()
  goForward() -- F
  digFoward()
  goBack() -- H
  placeGlass() -- F
  turtle.turnRight() -- Facing front
  turtle.turnRight() -- Facing left
  digFoward()
  goForward() -- J
  digFoward() -- K
  goForward() -- K
  placeGlass() -- 9
  goBack() -- J
  goBack() -- H
  placeGlass() -- J
  turtle.turnLeft() -- Facing front
  goBack() -- G
  placeGlass() -- H
  goBack() -- S
  placeGlass() -- G
  -- Replace floor on left
  turtle.turnRight() -- Facing left
  digFoward()
  goForward() -- M
  turtle.turnLeft() -- Facing front
  digFoward()
  placeGlass() -- I
  turtle.turnRight() -- Facing left
  digFoward()
  goForward() -- N
  digForward()
  goForward() -- 11
  turtle.turnLeft() -- Facing front
  placeGlass() -- 10
  turtle.turnRight() -- Facing left
  goBack() -- N
  turtle.turnLeft() -- Facing front
  digFoward()
  placeGlass() -- L
  turtle.turnRight() -- Facing left
  placeSeal() -- 11
  goBack() -- M
  placeGlass() -- N
  goBack() -- Start
  placeGlass() -- M
  turtle.turnRight() -- Facing back
  -- Put fill in for the back
  digForward()
  goForward() -- T
  turtle.turnLeft() -- Facing left
  digForward() -- O
  goForward() -- O
  placeGlass() -- R
  goBack() -- T
  placeGlass() -- O
  turtle.turnRight() -- Facing back
  digForward() -- U
  goForward() -- U
  turtle.turnLeft() -- Facing left
  placeSeal() -- P
  turtle.turnRight() -- Facing back
  placeGlass() -- X
  turtle.turnRight() -- Facing right
  placeGlass() -- W
  turtle.turnLeft() -- Facing back
  goBack() -- T
  placeGlass() -- U
  goBack() -- S
  placeGlass() -- T w
  turtle.turnRight() -- Facing right
  turtle.digUp()
  turtle.down()
  level = level + 1
  -- Now start placing chests for warehouse until we run out of chests.
  -- Clear out space above chests.
  refuel()
  for d=1,4 do
    digFoward()
    goForward() -- 1=A, 2=G, 3=M, 4=T
    if d == 1 or d == 4 then
      turtle.turnLeft() -- Facing 1=back, 3=left
      placeSeal() -- 1=V, 4=O
      turtle.turnRight() -- Facing 1=right, 3=back
    elseif d == 2 or d == 4 then
      turtle.turnLeft() -- Facing right
      if d == 2 then digFoward() else placeSeal() end -- O
      turtle.turnRight() -- Facing front
      turtle.turnRight() -- Facing left
      if d == 2 then digFoward() else placeSeal() end -- V
      turtle.turnLeft() -- Facing front
    end
    digFoward()
    goForward() -- 1=B, 2=H, 3=N, 4=U
    if d == 1 or d == 4 then
      placeSeal() -- 1=12, 4=X
      turtle.turnLeft() -- Facing 1=back, 4=left
      placeSeal() -- 1=Y, 4=P
      turtle.turnRight() -- Facing 1=right, 4=back
      turtle.turnRight() -- Facing 1=front, 4=right
      if d == 1 then
        digFoward()
        placeGlass() -- C
      elseif d == 4 then placeSeal() end -- W
      turtle.turnLeft() -- Facing 1=right, 4=back
    elseif d == 2 then
      turtle.turnLeft() -- Facing 2=right
      digForward() -- F
      goForward() -- F
      digForward() -- D
      goForward() -- D
      placeSeal() -- 14
      goBack() -- F
      goBack() -- H
      placeGlass() -- F
      turtle.turnRight() -- Facing front
      turtle.turnRight() -- Facing left
      digForward()
      goForward() -- J
      digForward() -- K
      goForward() -- K
      placeSeal() -- 9
      turtle.turnLeft() -- Facing front
      placeSeal() -- 8
      turtle.turnRight() -- Facing left
      goBack() -- J
      goBack() -- H
      placeGlass() -- J
      turtle.turnLeft() -- Facing front
      digForward()
      goForward() -- 2
      placeSeal() -- 6
      turtle.turnLeft() -- Facing right
      digForward() -- 3
      goForward() -- 3
      placeSeal() -- 4
      goBack() -- 2
      placeGlass() -- 3
      turtle.turnRight() -- Facing front
      turtle.turnRight() -- Facing left
      digForward() -- 1
      placeGlass() -- 1
      turtle.turnLeft() -- Facing front
      goBack() -- H
    elseif d == 3 then
      placeSeal() -- 11
      turtle.turnLeft() -- Facing front
      digForward()
      placeGlass() -- L
      turtle.turnRight() -- Facing left
      turtle.turnRight() -- Facing back
      placeSeal() -- R
      turtle.turnLeft() -- Facing left
    end
    goBack() -- 1=A, 2=G, 3=M, 4=T
    goBack() -- Start
    turtle.turnRight() -- Facing 1=front, 2=left, 3=back, 4=right
  end
  -- Facing right
  -- S
  -- Now start adding layers of chests until they are all gone.
  while turtle.getItemCount(1) > 1 do
    refuel()
    turtle.digUp()
    turtle.down()
    level = level + 1
    for d=1,4 do
      -- Facing 1=right, 2=front, 3=left, 4=back
      turtle.select(5)
      digForward() -- 1=A, 2=G, 3=M, 4=T
      goForward() -- 1=A, 2=G, 3=M, 4=T
      if d == 1 or d == 4 then
        turtle.turnLeft() -- Facing 1=back, 3=left
        placeSeal() -- 1=V, 4=O
        turtle.turnRight() -- Facing 1=right, 3=back
      elseif d == 2 or d == 4 then
        turtle.turnLeft() -- Facing right
        if d == 2 then
          digFoward()
          if (level-2)%6 == 0 then placeGlass() else -- E
            goForward()
            goBack()
          end
        else placeSeal() end -- O
        turtle.turnRight() -- Facing front
        turtle.turnRight() -- Facing left
        if d == 2 then
          digFoward()
          if (level-2)%6 == 0 then placeGlass() else -- I
            goForward()
            goBack()
          end
        else placeSeal() end -- V
        turtle.turnLeft() -- Facing front
      end
      digForward() -- 1=B, 2=H, 3=N, 4=U
      goForward() -- 1=B, 2=H, 3=N, 4=U
      if (d == 1) then
        placeSeal() -- 12
        turtle.turnLeft() -- Facing back
        placeSeal() -- Y
        turtle.turnRight() -- Facing right
        turtle.turnRight() -- Facing front
        digForward() -- C
        goForward()
        goBack()
        if not(level%6 == 0 or (level-1)%6 == 0) then
          placeGlass() -- F
        else
          goForward() -- C
          turtle.turnLeft() -- Facing right
          placeSeal() -- 13
          turtle.turnRight() -- Facing front
          goBack() -- B
        end
        turtle.turnLeft() -- Facing 2=right
      elseif (d == 2) then
        turtle.turnLeft() -- Facing 2=right
        digForward() -- F
        goForward() -- F
        digForward() -- D
        goForward() -- D
        placeSeal() -- 14
        placeLadderUp() -- D
        turtle.turnRight() -- Facing front
        placeSeal() -- 4
        turtle.turnLeft() -- Facing right
        goBack() -- F
        turtle.turnRight() -- Facing 2=front
        digForward() -- 3
        if level%8 then
          placeGlass() -- 3
        else
          goForward() -- 3
          placeSeal() -- 5
          goBack() -- F
        end
        turtle.turnLeft() -- Facing 2=right
        goBack() -- H
        if not(level%6 == 0 or (level-1)%6 == 0) then placeGlass() end -- F
        turtle.turnRight() -- Facing 2=front
        digForward() -- 2
        if level%8 then
          placeGlass() -- 2
        else
          goForward() -- 2
          placeSeal() -- 6
          goBack() -- H
        end
        turtle.turnRight() -- Facing 2=left
        digForward() -- J
        goForward() -- J
        digForward() -- K
        goForward() -- K
        placeSeal() -- 9
        placeLadderUp() -- K
        turtle.turnLeft() -- Facing front
        placeSeal() -- 8
        turtle.turnRight() -- Facing left
        goBack() -- J
        turtle.turnLeft() -- Facing 2=front
        digForward() -- 1
        if level%8 then
          placeGlass() -- 1
        else
          goForward() -- 1
          placeSeal() -- 7
          goBack() -- J
        end
        turtle.turnRight() -- Facing 2=left
        goBack() -- H
        if not(level%6 == 0 or (level-1)%6 == 0) then placeGlass() end -- J
        turtle.turnLeft() -- Facing 2=front
      elseif (d == 3) then
        placeSeal() -- 11
        turtle.turnRight() -- Facing back
        placeSeal() -- R
        turtle.turnLeft() -- Facing left
        turtle.turnLeft() -- Facing 3=front
        digForward() -- L
        if not(level%6 == 0 or (level-1)%6 == 0) then
          placeGlass() -- L
        else
          goForward() -- L
          turtle.turnRight() -- Facing left
          placeSeal() -- 10
          placeTorchUp()
          turtle.turnLeft() -- Facing front
          goBack() -- N
        end
        turtle.turnRight() -- Facing 3=left
      elseif (d == 4) then
        placeSeal() -- X
        turtle.turnLeft() -- Facing left
        placeSeal() -- P
        turtle.turnRight() -- Facing back
        turtle.turnRight() -- Facing right
        placeSeal() -- W
        turtle.turnLeft() -- Facing back
      end
      -- Facing 1=right, 2=front, 3=left, 4=back
      goBack() -- 1=A, 2=G, 3=M, 4=T
      goBack() -- Start
      turtle.turnRight() -- Facing 1=front, 2=left, 3=back, 3=right
    end
    for d=1,4 do
      placeChest() -- 1=A, 2=G, 3=M, 4=T
      turtle.turnRight() -- Facing 1=front, 2=left, 3=back, 3=right
    end
    print("Finished layer "..level)
  end
  -- Now put in an empty space below the last chest.
  digDown()
  turtle.up()
  for d=1,4 do
    digForward()
    goForward() -- 1=A, 2=G, 3=M, 4=T
    turtle.turnLeft()
    digForward()
    goForward()
    placeSeal()
    goBack()
    turtle.turnRight()
    digForward()
    goForward() -- 1=B, 2=H, 3=N, 4=U
    turtle.turnLeft()
    digForward()
    goForward()
    placeSeal()
    goBack()
    turtle.turnRight()
    turtle.turnRight()
    digForward()
    goForward() -- 1=C, 2=H, 3=N, 4=U
    digForward()
    goForward() -- 1=D, 2=H, 3=N, 4=U
    placeSeal()
    placeLadderUp()
    goBack() -- 1=C
    goBack() -- 1=B
    turtle.turnLeft()
    goBack() -- 1=A
    goBack() -- 1=S
    turtle.turnRight()
  end
  -- Now seal the bottom.
  digDown()
  turtle.up()
  placeSealDown()
  for d=1,4 do
    digForward()
    goForward() -- 1=A, 2=G, 3=M, 4=T
    placeSealDown()
    turtle.turnLeft()
    digForward()
    goForward()
    placeSeal()
    placeSealDown()
    goBack()
    turtle.turnRight()
    digForward()
    goForward() -- 1=B, 2=H, 3=N, 4=U
    placeSealDown()
    turtle.turnLeft()
    digForward()
    goForward()
    placeSeal()
    placeSealDown()
    goBack()
    turtle.turnRight()
    turtle.turnRight()
    digForward()
    goForward() -- 1=C, 2=H, 3=N, 4=U
    placeSealDown()
    digForward()
    goForward() -- 1=D, 2=H, 3=N, 4=U
    placeSeal()
    placeSealDown()
    placeLadderUp()
    goBack() -- 1=C
    goBack() -- 1=B
    turtle.turnLeft()
    goBack() -- 1=A
    goBack() -- 1=S
    turtle.turnRight()
  end
  -- All down now go home.
  if goToStart() then return true else return false end
end
function moveDownDigging()
  if turtle.detectDown() then
    if not hasPickAxe then
      print("Turtle must have a pick axe to")
      print("be able to dig.")
      setStatus("unable to dig without pickaxe")
      return false
    end
    if not turtle.digDown() then return false end
  end
  if not turtle.up() then return false end
  return true
end
function digForward()
  if turtle.detect() then
    if not hasPickAxe then
      print("Turtle must have a pick axe to")
      print("be able to dig.")
      setStatus("unable to dig without pickaxe")
      return false
    end
    if not turtle.dig() then return false end
  end
  return true
end
function addInventoryLocation()
  -- If a chest is found in inventory to be put away then create a new inventory location.
  -- Go find the first inventory location without a chest.
  if turtle.getItemCount(1) > 1 then
    print("Adding inventory location.")
    --print("Place glass blocks in slot 2.")
    --print("Place torches in slot 3.")
    --print("Place ladders in slot 4.")
    --print("Place fill material in slot 6.")
    --print("Press enter to continue:")
    --io.read()
    local level = 0
    local location = 0
    locDir = locDir + 1
    changeOrientation(locDir)
    if not moveDownDigging() then return false end
    -- Now at floor level
    level = level + 1
    if not moveDownDigging() then return false end
    -- Now at level above chests
    level = level + 1
    if not moveDownDigging() then return false end
    -- Now at level of first chests
    level = level + 1
    locLevel = 1
    while turtle.getItemCount(1) > 1 do
      -- Find next Inventory location with no chest.
      refuel()
      print("Checking level "..locLevel)
      for d=0,3 do
        changeOrientation(invDir + d)
        -- Check for an existing chest
        if turtle.detect() then
          turtle.select(1)
          if not turtle.compare(1) then
            while turtle.detect() do
              turtle.select(2)
              if not digForward() then return false end
              sleep(.5)
            end
            turtle.forward()
            while turtle.detect() do
              turtle.select(2)
              if not digForward() then return false end
              sleep(.5)
            end
            turtle.back()
          end
        end
        if not turtle.detect() then
          turtle.forward()
          while turtle.detect() do
            turtle.select(2)
            if not digForward() then return false end
            sleep(.5)
          end
          turtle.select(1)
          turtle.place()
          turtle.back()
          turtle.place()
        end
      end
      if turtle.detectDown() then
        turtle.select(2)
        if not moveDownDigging() then return false end
      else
        if not turtle.up() then return false end
      end
      level = level + 1
      locLevel = locLevel + 1
    end
    for l=1,level do turtle.down() end
    level = 0
    changeOrientation(unknownDir)
    for s=1,maxSlot do
      turtle.select(s)
      if turtle.getItemCount(s) > 0 then turtle.drop() end
    end
    locDir = 0
  end
end
-- Compare Inventory to contents of chest.
function compareLocation(fillEmptyChests)
  local emptyChestsFound = false
    -- Set flag to indicate turtle is empty
  turtle.select(1)
  turtle.suck()
  -- Only compare the slots if the chest wasn't empty.
  local quantity = 0
  if turtle.getItemCount(1) == 0 then
    if fillEmptyChests then
      -- Put the next unidentified item in the slot to compare and place in the chest.
      for s=2,maxSlot do
        if turtle.getItemCount(s) > 0 then
          turtle.select(s)
          turtle.transferTo(1)
          quantity = quantity + turtle.getItemCount(1)
          break
        end
      end
    else
      emptyChestsFound = true
      table.insert(emptyChests, currentLocation)
    end
  end
  for s=2,maxSlot do
    -- Are there any items in this slot?
    if turtle.getItemCount(s) > 0 then
      turtle.select(s)
      if turtle.compareTo(1) then
        -- The current item matches the contents of the chest.
        quantity = quantity + turtle.getItemCount(s)
        turtle.drop()
        -- Subtract any that failed to be dropped.
        quantity = quantity - turtle.getItemCount(s)
        -- How do we detect that the chest is full?  You won't be able to drop it.
      end
    end
  end
  -- Now put the items back that were in slot 1.
  -- If the chest is full the material will remain in slot 1 and needs to be moved out.
  turtle.select(1)
  turtle.drop()
  -- Update inventory of location
  local name, qty = getInventoryNameQty(currentLocation)
  qty = qty + quantity
  inventoryName[currentLocation] = name.."#"..qty
  return emptyChestsFound
end
-- Put Inventory Away
function putInventoryAway()
  setStatus("putting inventory away")
  -- Make sure there is nothing is slot 1.
  if turtle.getItemCount(1) > 0 then
    changeOrientation(unknownDir)
    turtle.select(1)
    turtle.drop()
  end
  -- First put any fuel away.
  changeOrientation(fuelDir)
  for s=2,maxSlot do
    turtle.select(s)
    if turtle.compareTo(fuelSlot) then turtle.drop() end
  end

-- Check to see if any chests are in inventory
  local chestFound = false
  for s=2,maxSlot do
    turtle.select(s)
    if turtle.compare() then
      turtle.transferTo(1)
      chestFound = true
    end
  end

  -- If there are chests then create new inventory locations with them.
  changeOrientation(invDir)
  if chestFound then addInventoryLocation() end
  changeOrientation(invDir)
  -- If there is still something in slot 1 then move it back to inventory chest.
  if turtle.getItemCount(1) > 0 then turtle.drop() end
  -- If there is still something in the turtle then put it away.
  local emptyChestsFound = false, emptyChestLevel, emptyChestDir
  emptyChests = {}
    while not isTurtleEmpty() and gotoNextInventoryLocation() and not abortMission do
    emptyChestsFound = compareLocation(false)
    if emptyChestsFound and emptyChestLevel == nil then
      emptyChestLevel = locLevel
      emptyChestDir = locDir
    end
  end
  while not isTurtleEmpty() and #emptyChests > 0 do
    local chestLocation = emptyChests[1]
    table.remove(emptyChests, 1)
    print("Filling location "..chestLocation)
    dirIdx = string.find(chestLocation, ",")
    if dirIdx ~= nil then
      emptyChestLevel = tonumber(string.sub(chestLocation, 1, dirIdx-1))
      emptyChestDir = tonumber(string.sub(chestLocation, dirIdx+1))
      gotoLocation(emptyChestLevel, emptyChestDir)
      compareLocation(true)
    end
  end
    if not goToStart() then return end
  -- If there is inventory left then put it in the Unknown inventory chest
    if not isTurtleEmpty() then emptyInventory() end
end
function putAwayInventory()
    -- Is there inventory to put away
    if not isTurtleEmpty() or loadInventory() then
        putInventoryAway()
    saveTable(inventoryName, "inventory")
    return true
  else
    return false
  end
end
 function findFuelChest()
  -- Find first empty slot.
  for s=1,maxSlot do
    if turtle.getItemCount(s)==0 then
      turtle.select(s)
      break
    end
  end
  testOK = false
  for a=1,4 do
    if turtle.suck() then
      -- Was the fuel chest was found so we are in the correct location.
      if turtle.compareTo(fuelSlot) then testOK = true end
      turtle.drop()
    end
    if testOK then break else turtle.turnRight() end
  end
  return testOK
end
function powerUpChecks()
  if turtle.getItemCount(fuelSlot) == 0 then
    print("Place fuel in slot "..fuelSlot.." for fuel.")
    while turtle.getItemCount(fuelSlot) == 0 do
      sleep(10)
    end
  end
  if turtle.getFuelLevel() < 60 then
    print("Refueling.")
    refuel()
  end
  getPickAxeStatus()
  --Move to the top
  local x = 0
  firstEmpty = false
  while not turtle.detectUp() do
    if turtle.down() then x = x + 1 end
    refuel()

    if x > 10 and not turtle.detect() and firstEmpty then
      -- We have travelled far enough
      for z=1,x do
        refuel()
        turtle.up()
      end
      print("Can't locate ceiling.")
      break
    end
    if not turtle.detect() then
      firstEmpty = true
    else
      firstEmpty = false
    end
  end
  print("Testing orientation.")
  local testOK = "N"
  if findFuelChest() then testOK = "Y" end
  if string.upper(testOK) ~= "Y" then
    local setupNeeded = ""
    term.write("Create inventory chests? (Y/N):")
    setupNeeded = string.upper(io.read())
    if setupNeeded == "Y" then
      hasPickAxe = true
      local onFloor = "N"
      while onFloor ~= "Y" do
        term.write("At floor level? ('Y'/'U'p/'D'own):")
        onFloor = string.upper(io.read())
        if onFloor == "U" then turtle.down() end
        if onFloor == "D" then turtle.up() end
      end
      if Initialize() then
        if findFuelChest() then
          testOK = "Y"
          orientation = fuelDir
          emptyInventory()
          changeOrientation(fuelDir)
        end
      else
        abortMission = true
      end
    else
      return false
    end
  end
  while abortMission == false and string.upper(testOK) ~= "Y" do
    turtle.turnLeft()
    print("Facing fuel chest? (Y/N):")
    testOK = string.upper(io.read())
    if testOK == "Y" then
      turtle.select(fuelSlot)
      turtle.drop(1)
    end
  end
  orientation = fuelDir
  print("Found fuel chest")
  -- Make sure nothing is in slot 1.  Bad things happen if that is so.
  if turtle.getItemCount(1) > 0 then
    changeOrientation(unknownDir)
    turtle.select(1)
    turtle.drop()
  end
  changeOrientation(invDir)
  inventoryName = loadTable("inventory")
  return true
end
function listenForMessages()
  rednet.open("right")
  while true do
    setStatus("Listening")
    local id, msg = rednet.receive(5)
    if type(id) == "number" then
      if id ~= storeKeeperID then table.insert(queue, msg) end
    else
      return false
    end
  end
  rednet.close("right")
end
function setStatus(msg)
  if rednet.isOpen("right") then
    if orderComputer ~= nil then
      rednet.send(orderComputer, msg)
    else
      rednet.broadcast(msg)
    end
  end
end
function returnItemToInventory(slot, level, dir)
  local invLoc = level..","..dir
  if turtle.getItemCount(slot) > 0 then
    if gotoLocation(level,dir) then
      turtle.select(slot)
      local name, qty = getInventoryNameQty(invLoc)
      qty = qty + turtle.getItemCount(slot)
      inventoryName[invLoc] = name.."#"..qty
      turtle.drop()
    end
  end
end
function countNew()
  -- Count all of the inventory locations that don't have a quantity
  local level = 1
  local dir = 1
  while true do
    local invLoc = level..","..dir
    local name = inventoryName[invLoc]
    if name ~= nil then
      local qidx = string.find(name,"#")
      if qidx == nil then countLocation(invLoc) end
      if dir == 4 then
        dir = 1
        level = level + 1
      else
        dir = dir + 1
      end
    end
  end
  goToStart()
end
function countAll()
  -- Count all of the inventory locations that don't have a quantity
  local level = 1
  local dir = 1
  while true do
    local invLoc = level..","..dir
    if countLocation(invLoc) then
      if dir == 4 then
        dir = 1
        level = level + 1
      else
        dir = dir + 1
      end
    else
      break
    end
  end
  goToStart()
end
function countLocation(invLoc)
  -- Count item in invLoc.
  print("Counting "..invLoc)
  local totalQty = 0
  local name, quantity = getInventoryNameQty(invLoc)
  local quantity = 0
  local displayname = name
  if name == "_" then displayname = "Unidentified" end
  setStatus("counting "..displayname.." in location "..invLoc)
  local idx = string.find(invLoc.."",",")
  local level = tonumber(string.sub(invLoc,1,idx-1))
  local dir = tonumber(string.sub(invLoc,idx+1))
  if gotoLocation(level,dir) then
    turtle.select(1)
    while turtle.suck() and turtle.getItemCount(maxSlot)==0 do found = true end
    for slot=1,maxSlot do
      quantity = quantity + turtle.getItemCount(slot)
    end
    if quantity==0 then
      inventoryName = tableRemoveKey(inventoryName,invLoc)
    else
      inventoryName[invLoc] = name.."#"..quantity
    end

    setStatus(quantity.." "..displayname.." in location "..invLoc)
    -- Now put it all back
    for slot=1,maxSlot do
      if turtle.getItemCount(slot) > 0 then
        turtle.select(slot)
        turtle.drop()
      else
        break
      end
    end
  else
    return false
  end
  return true
end
function fetchItem(command)
  local invLoc = string.sub(command,6)
  local quantity = 1
  local quantityIdx = string.find(invLoc.."","-")
  if quantityIdx ~= nil then
    quantity = tonumber(string.sub(invLoc, quantityIdx+1))
    invLoc = string.sub(invLoc,1,quantityIdx-1)
  end
  local item,qty = getInventoryNameQty(invLoc)
  setStatus("Fetching "..item.." from "..invLoc)
  print("Fetching "..quantity.." of "..item)
  setStatus("fetching "..quantity.." of "..item)
  depositInMasterChest(item, invLoc, quantity)
end
function tableRemoveKey(sourceTable, keyToRemove)
  local newTable = {}
  for key,value in pairs(sourceTable) do
    if key ~= keyToRemove then newTable[key]=value end
  end
  return newTable
end
function emptyInMasterChest(invLoc)
  -- Locate item in inventoryName.
  local found = false
  local totalQty = 0
  print("emptying location "..invLoc)
  setStatus("emptying location "..invLoc)
  found = true
  local idx = string.find(invLoc.."",",")
  local level = tonumber(string.sub(invLoc,1,idx-1))
  local dir = tonumber(string.sub(invLoc,idx+1))
  if gotoLocation(level,dir) then
    turtle.select(1)
    print("sucking from "..invLoc)
    while turtle.suck() and turtle.getItemCount(maxSlot)==0 do found = true end
    if turtle.getItemCount(maxSlot) == 0 then
      print("removing "..invLoc)
      inventoryName = tableRemoveKey(inventoryName,invLoc)
    end
  else
    setStatus("Unable to access location")
    return false
  end
  if goToStart() then
    if found then
      if turtleInventory() == 0 then
        setStatus("Location "..invLoc.." already empty.")
      else
        for s=1,maxSlot do
          turtle.select(s)
          turtle.dropUp()
        end
        setStatus("Location "..invLoc.." emptied.")
      end
      return true
    end
  end
  setStatus("Unable to find location "..invLoc)
  return false
end
function turtleInventory()
  local qty = 0
  for s=1,maxSlot do
    qty = qty + turtle.getItemCount(s)
  end
  return qty
end
function getInventoryNameQty(invLocation)
  local name = inventoryName[invLocation]
  local qty = 0
  if name ~= nil then
    local idx = string.find(name,"#")
    if idx ~= nil then
      qty = string.sub(name,idx+1)
      if qty == nil then qty = 0 end
      name = string.sub(name,1,idx-1)
    end
  else
    name = "_"
  end
  return name,qty
end
function depositInMasterChest(item, invLoc, quantity)
  -- Locate item in inventoryName.
  local found = false
  local totalQty = 0
  for invLocation,value in pairs(inventoryName) do
    local name, qty = getInventoryNameQty(invLocation)
    if name == item then
      print("checking location "..invLocation)
      setStatus("checking location "..invLocation)
      found = true
      local idx = string.find(invLocation.."", ",")
      local level = tonumber(string.sub(invLocation,1,idx-1))
      local dir = tonumber(string.sub(invLocation,idx+1))
      if gotoLocation(level,dir) then
        local prevQty = 0
        turtle.select(1)
        local firstSuck = true
        totalQty = turtleInventory()
        while totalQty < quantity do
          if not turtle.suck() then
            -- No more to suck
            if firstSuck then tableRemoveKey(inventoryName,invLocation) end
            break
          else
            totalQty = turtleInventory()
            if totalQty > quantity then
              -- We sucked more than we need
              turtle.drop(totalQty - quantity)
              break
            elseif firstSuck then
              -- We need to leave at least 1 per location.
              turtle.drop(1)
              firstSuck = false
            end
            qty = totalQty - prevQty
            prevQty = totalQty
            found = true
          end
        end
        inventoryName[invLocation] = name.."#"..qty
        if totalQty == quantity then break end
      else
        setStatus("Unable to access location")
        inventoryName = tableRemoveKey(inventoryName,invLocation)
        return false
      end
      break
    end
  end
  if goToStart() then
    if found then
      if turtleInventory() == 0 then
        setStatus("only 1 "..item.." found.")
      else
        for s=1,maxSlot do
          turtle.select(s)
          turtle.dropUp()
        end
        setStatus("finished retrieving item "..item)
      end
      return true
    end
  end
  setStatus("Unable to find item "..item)
  return false
end
function getPickAxeStatus()
  local fname = "hasPickAxe"
  if fs.exists(fname) then
    file = fs.open(fname, "r")
    local frcd = file.readAll()
    if frcd == "Y" then hasPickAxe = true else hasPickAxe = false end
    file.close()
  else
    file = fs.open(fname, "w")
    file.write("N")
    file.close()
    hasPickAxe = false
  end
end
function getOrderComputer()
  local fname = "InventoryControlID"
  if fs.exists(fname) then
    file = fs.open(fname, "r")
    local frcd = file.readAll()
    orderComputer = tonumber(frcd)
    file.close()
  else
    print("Inventory Manager ID:")
    orderComputer = tonumber(io.read())
    file = fs.open(fname, "w")
    file.write(orderComputer)
    file.close()
  end
end
function runQueue()
  while true do
    if #queue == 0 then
      if not putAwayInventory() then
        refuel()
        setStatus("waiting")
      end
      return true
    else
      local command = queue[1]
      print("Queue contains "..command)
      table.remove(queue, 1)
      if command == "identify" then
        setStatus("Identify Acknowledged")
        -- Identify items in unidentified locations
        identifyInventory()
        setStatus("finished")
      elseif (command == "reportinventory") then
        setStatus("Report Acknowledged")
        reportInventory(orderComputer)
      elseif (string.sub(command,1,5) == "fetch") then
        setStatus("Fetch Acknowledged")
        fetchItem(command)
        saveTable(inventoryName, "inventory")
        setStatus("finished")
      elseif (string.sub(command,1,5) == "empty") then
        setStatus("Empty Acknowledged")
        local invLoc = string.sub(command,6)
        setStatus("Emptying "..invLoc)
        while inventoryName[invLoc] ~= nil do emptyInMasterChest(invLoc) end
        saveTable(inventoryName, "inventory")
        setStatus("finished")
      elseif (string.sub(command,1,5) == "count") then
        setStatus("Count Acknowledged")
        local invLoc = string.sub(command,7)
        if invLoc == "all" then
          countAll()
        elseif invLoc == "new" then
          countNew()
        else
          countLocation(invLoc)
          goToStart()
        end
        saveTable(inventoryName, "inventory")
        setStatus("finished")
      end
    end
  end
end
--------------------- Main Program ---------------------
-- Check orientation. and move to start position.
storeKeeperID = os.getComputerID()
print("Computer ID: "..storeKeeperID)
if not powerUpChecks() then return end
print("Startup completed")
getOrderComputer()
while true do
  if not listenForMessages() then
    runQueue()
  end
end