turtleCommand

-- PASTE FNbnMgtK

-- Open modem
local modem = peripheral.find("modem")
modem.open(2)

-- Load in software library
local sl = require("softwareLib")

-- Set color scheme to default
local function defaultColors()
      sl.fill(colors.lightBlue)
      sl.color(colors.black)
end

-- Set colors scheme to submenu scheme
local function subColors()
      sl.fill(colors.white)
      sl.color(colors.black)
end

-- List connected turtles
local function checkConnections()
      subColors()
      sl.panel(4,4,sl.getWidth() - 6, sl.getHeight() - 6)
      sl.xyCenteredText("Checking connections...")
      modem.transmit(1,2,"CheckConnection")
      defaultColors()

      -- Wait for responses from turtles
      local numConnected = 0
      os.startTimer(3)
      local event, peripheral_name, channel, replyChannel, message, distance
      while event ~= "timer" do
            event, peripheral_name, channel, replyChannel, message, distance = os.pullEvent()
            if event == "modem_message" and message == "CheckConnection true" then
                  numConnected = numConnected + 1
            end
      end

      -- Display number of connected turtles
      sl.text(1,sl.getHeight(),numConnected .. (numConnected == 1 and " turtle" or " turtles") .. " connected")
end

-- Sync turtles' individual maps
local function syncMap()
      modem.transmit(1,2,"GetMap")

      -- Wait for responses from turtles
      os.startTimer(5)
      local event, peripheral_name, channel, replyChannel, message, distance
      while event ~= "timer" do
            event, peripheral_name, channel, replyChannel, message, distance = os.pullEvent()
            if event == "modem_message" and string.sub(message, 1, 7) == "GetMap " then

            end
      end

      -- Sync maps

      -- Set all turtles to use the new synced map
end

-- Command turtles to go to a location
local function move()
      local function goHome()
            local x,y,z = gps.locate()
            modem.transmit(1,2,"GoAbsolute " .. x .. " " .. y .. " " .. z)
      end
      local function moveRelative()

      end
      local function moveAbsolute()

      end
      -- Draw menu
      subColors()
      sl.panel(3,3,10,6)
      sl.text(4,4,"MOVE")
      sl.menu(4,5,1,
            {sl.menuOption("Home", goHome),
            sl.menuOption("Relative", moveRelative),
            sl.menuOption("Absolute", moveAbsolute)})
      defaultColors()
end

-- Command turtles to explore
local function explore()
      modem.transmit(1,2,"Explore")
end

-- View the current map
local function viewMap()
      -- Ask the user if they want to sync the map first
      subColors()
      sl.panel(4,4,sl.getWidth() - 6, sl.getHeight() - 6)
      sl.text(6,4,"SYNC FIRST?")

      -- Sync the map first
      local function yes()
            syncMap()
            no()
      end
      -- Don't sync the map first, just view
      local function no()

            -- Show map

            -- Set color scheme back to normal
            defaultColors()
      end

      -- Menu to sync map
      sl.xyCenteredMenu(1, {sl.menuOption("Yes", yes), sl.menuOption("No", no)})
      defaultColors()
end

-- Show main menu
local function mainMenu()
      -- BG
      defaultColors()
      sl.panel(0,0,sl.getWidth() + 2, sl.getHeight() + 2)
      sl.panel(1,1,sl.getWidth(), sl.getHeight() - 1)

      -- Menu
      sl.text(3,1,"TURTLE COMMANDER")

      checkConnections()

      while true do
            sl.panel(1,1,sl.getWidth(), sl.getHeight() - 1)
            sl.text(3,1,"TURTLE COMMANDER")
            sl.xyCenteredMenu(1,
                  {sl.menuOption("Check Connections", checkConnections),
                  sl.menuOption("Sync Map", syncMap),
                  sl.menuOption("Move", move),
                  sl.menuOption("Explore", explore),
                  sl.menuOption("View Map", viewMap)})
      end
end

-- Program logic
mainMenu()