ComputerCraft - Less Stupid: Lumberjack Turtle

local FuelNeeded   -- Minimum level of fuel allowed for turtle to start
local Chest = 0    -- Declaring a chest value to determine if chest should be place in the end

local path = {}
local aUpdate = {}
mLog = {x = 100, y = 100, z = 100, d = 0}
goToArr = {}
--quickStart = {x = 10, y = 10, z = 10}
quickStart = nil

local GlobalLog = {}

File = fs.open("Turtle_output.txt", "w")
table.insert(GlobalLog, {x = 0, y = 0, z = 0, block = "minecraft:void"})
table.insert(mLog, {x = 100, y = 100, z = 100, d = 0})

table.insert(path, {x = 0, y = 0, block = "minecraft:cobblestone"})

-- Functions

local function tablelength(T)
    local count = 0
    for _ in pairs(T) do count = count + 1 end
    return count
end

local function IsPath(success, data )

    if not success then
        return false
    end

    local whitelist={
    ["minecraft:chest"] = true,
    }

    if not whitelist[data.name] then --# quick access trick: we have the name of the block now, if it's in the list we will get true for the if
        return false
    else
        return true
    end
end


function Move(command)
    File.writeLine("---------------------")

    function Fwd(shouldLog)
        turtle.dig()
        turtle.forward()

        if shouldLog == true then
            table.insert(mLog, {x = 0, y = 1, z = 0})
            File.writeLine("Move('fwd')")
        else
            print("Rtn_Fwd")
        end

    end
    function FwdClear(shouldLog)
        turtle.dig()
        turtle.digUp()
        turtle.digDown()
        turtle.forward()

        if shouldLog == true then
            table.insert(mLog, {x = 0, y = 1, z = 0})
            File.writeLine("Move('fwdClear')")
        else
            print("Rtn_Fwd")
        end

    end
    function Bwd(shouldLog)
        turtle.back()

        if shouldLog == true then
            table.insert(mLog, {x = 0, y = -1, z = 0})
            File.writeLine("Move('bwd')")
        else
            print("Rtn_Bwd")
        end

    end
    local function Left(shouldLog)
        turtle.turnLeft()

        if shouldLog == true then

            table.insert(mLog, {x = 0, y = 0, z = 0, d = -1})
            File.writeLine("Move('Left')")
        else
            print("Rtn_Left")
        end
    end
    local function Right(shouldLog)
        turtle.turnRight()

        if shouldLog == true then
            table.insert(mLog, {x = 0, y = 0, z = 0, d = 1})
            File.writeLine("Move('Right')")
        else
            print("Rtn_Right")
        end
    end
    local function Up(shouldLog)
        turtle.digUp()
        turtle.up()

        if shouldLog == true then
            table.insert(mLog, {x = 0, y = 0, z = 1, d = 0})
            File.writeLine("Move('Up')")
        else
            print("Rtn_Up")
        end

    end
    local function Down(shouldLog)
        turtle.digDown()
        turtle.down()

        if shouldLog == true then
            table.insert(mLog, {x = 0, y = 0, z = -1, d = 0})
            File.writeLine("Move('Down')")
        else
            print("Rtn_Down")
        end

    end

    function Tscan(shouldLog)

        print("TurtleScan")
        File.writeLine("Move('Tscan')")
        Move("right")
        Move("right")
        Move("right")
        Move("right")
    end

    if command == "fwd" then Fwd(true)
    elseif command == "fwdClear" then FwdClear(true)
    elseif command == "bwd" then Bwd(true)
    elseif command == "left" then Left(true)
    elseif command == "right" then Right(true)
    elseif command == "up" then Up(true)
    elseif command == "down" then Down(true)
    elseif command == "tscan" then Tscan(true)

    elseif command == "fwd_NoLog" then Fwd(false)
    elseif command == "bwd_NoLog" then Bwd(false)
    elseif command == "left_NoLog" then Left(false)
    elseif command == "right_NoLog" then Right(false)
    elseif command == "up_NoLog" then Up(false)
    elseif command == "down_NoLog" then Down(false)
    elseif command == "tscan_NoLog" then Tscan(false)

    end

end


function InsertFilter(tab, valArray)
    File.writeLine("---------------------")
    File.writeLine("InsertFilter()")
    if #valArray > 0 then

        counter = 0

        for k,v in ipairs(valArray) do

            tx = tab.x
            ty = tab.y
            tz = tab.z

            vx = v.x
            vy = v.y
            vz = v.z

            if tx == vx and (ty == vy and tz == vz) then
                counter = counter +1
                File.writeLine("Count: " .. counter)
            end
        end

        if counter < 1 then
            table.insert(valArray, tab)
            File.writeLine("ins_" .. " " .. tab.x .. " " .. tab.y .. " " .. tab.z)
        end
    else
        table.insert(valArray, tab)
        File.writeLine("ins_" .. " " .. tab.x .. " " .. tab.y .. " " .. tab.z)
    end
end

function GetDiffToCoord(ix,iy,iz)

    local cPos = GetPos()
    File.writeLine("GetDiffToCoord_Get: " .. cPos.x .. ", " .. cPos.y .. ", " .. cPos.z .. ", " .. cPos.d)

    xDiff = ix - cPos.x
    yDiff = iy - cPos.y
    zDiff = iz - cPos.z

    File.writeLine("GetDiff_Get: " .. xDiff .. ", " .. yDiff .. ", " .. zDiff)

    return {x = xDiff, y = yDiff, z = zDiff}
end

function GetMoveDir(iDiff)

    idir = 0
    if iDiff < 0 then
        idir = -1
    elseif iDiff > 0 then
        idir = 1
    end

    return idir
end

function Vec2Move(coord)

    idir = 0

    if coord < 0 then
        idir = -1
    elseif coord > 0 then
        idir = 1
    end

    return idir
end

function ResetDir()
    --while not (GetPos().d == 0 ) do
    File.writeLine("---------------------")
    File.writeLine("ResetDir()")

    local d = GetPos().d

    if d == 0 then
        return true
    elseif d < 2 then
        Move("left")
        return true
    elseif d > 2 then
        Move("right")
        return true
    else
        Move("right")
        Move("right")
        return true
    end

end

function ArrayRemove(t, fnKeep)
    local j, n = 1, #t;

    for i=1,n do
        if (fnKeep(t, i, j)) then
            -- Move i's kept value to j's position, if it's not already there.
            if (i ~= j) then
                t[j] = t[i];
                t[i] = nil;
            end
            j = j + 1; -- Increment position of where we'll place the next kept value.
        else
            t[i] = nil;
        end
    end

    return t;
end


function Dir2Vec3(y, d)

    --File.writeLine("---------------------")
    --File.writeLine("Dir2Vec3(" .. y .. "," .. d .. ")")

    d = (d+4)%4

    mY = 0
    mX = 0

    y = Vec2Move(y)

    if y == 1 and d == 0 then
        mY = 1
    elseif y == 1 and d == 1 then
        mX = 1
    elseif y == 1 and d == 2 then
        mY = -1
    elseif y == 1 and d == 3 then
        mX = -1
    end

    return {x = mX, y = mY}

end

function MoveTo(x,y,z)
    File.writeLine("---------------------")
    File.writeLine("MoveTo(" .. x .. "," .. y .. "," .. z .. ")")
    --d = GetPos().d

    if z == 1 then
        Move("up")
    elseif z == -1 then
        Move("down")
    elseif y == 1 and x == 1 then
        Move("fwd")
        Move("right")
        Move("fwd")
    elseif y == -1 and x == 1 then
        Move("right")
        Move("fwd")
        Move("right")
        Move("fwd")
    elseif y == 1 and x == -1 then
        Move("fwd")
        Move("left")
        Move("fwd")
    elseif y == -1 and x == -1 then
        Move("left")
        Move("fwd")
        Move("left")
        Move("fwd")
    elseif y == 0 and x == -1 then
        Move("left")
        Move("fwd")
    elseif y == 0 and x == 1 then
        Move("right")
        Move("fwd")
    elseif y == 1 and x == 0 then
        --ResetDir()
        Move("fwd")
    elseif y == -1 and x == 0 then
        File.writeLine("bwd ->")
        Move("left")
        Move("left")
        Move("fwd")
    else
        File.writeLine("Reached: " .. x .. ", " .. y .. ", " .. z)
        return true
    end

end

function GetPos(iX,iY,iZ)

    local tPos = {}

    tX = mLog[1].x
    tY = mLog[1].y
    tZ = mLog[1].z
    tD = mLog[1].d

    --vec = 0
    lD = 0

    for k, v in ipairs(mLog) do

        --File.writeLine("Key: " .. k)
        --File.flush()

        if k > 1 then

            d = v.d or nil

            if type(v.d) == "number" then

                lD = lD + v.d
                d = (lD+4)%4

            end

            dCorr = Dir2Vec3(v.y, lD)

            tX = tX + dCorr.x
            tY = tY + dCorr.y

            d = v.d or lD

            d = (d+4)%4

            tZ = tZ + v.z
            tD = tD + d
        end

    end

    iX = iX or 0
    iY = iY or 0
    iZ = iZ or 0

    oX = 0
    oY = 0

    tD = (lD+4)%4

    dCorr = Dir2Vec3(iY, tD)

    tX = tX + dCorr.x
    tY = tY + dCorr.y
    tZ = tZ + iZ

    tPos = {x = tX, y = tY, z = tZ, d = tD}

    return tPos
end

function GoTo(x,y,z)

    File.writeLine("GoTo(" .. x .. ", " .. y .. ", " .. z .. ")" )
    isReached = false

    while isReached == false do

        local dif = GetDiffToCoord(x,y,z)

        local ix = GetMoveDir(dif.x)
        local iy = GetMoveDir(dif.y)
        local iz = GetMoveDir(dif.z)

        File.writeLine("Dir = " .. GetPos().d)

        ResetDir()

        File.writeLine("Dir = " .. GetPos().d)

        if MoveTo(ix,iy,iz) == true then
            isReached = true
            File.writeLine("REACHED")
        end
        File.flush()

    end

    File.writeLine("GoTo()_DONE")
    return isReached

end

function RemoveNils(Objects)
    local tbl = {}
    for I = 1, #Objects do

        if(Objects[I] ~= nil) then
            table.insert(tbl, Objects[I])
        end
    end
    Objects = tbl
end


--sleep (2)
print ("------------")
print ("Less Stupid: Lumberjack Turtle")
print ("------------")
print ("Place: Bonemeal, Saplings and at least one Chest in top row of inventory (In that order)")
print (" ")
print ("---------------------------")

FuelNeeded = 500
print ("Fuel needed to dig is "..FuelNeeded)

if turtle.getFuelLevel() < FuelNeeded then
    turtle.select(1)
    turtle.refuel()
  print ("Fuel level is: "..turtle.getFuelLevel())
  print ("Turtle is low on fuel. Do you wish to refuel? y/n")
  local event, param1 = os.pullEvent("char")
  if param1 == "y" then
     turtle.select(1)
     turtle.refuel()

  else
     print ("!Too low fuel for program to initiate!")
     print ("Turtle rebooting!")
     sleep (2)
     os.reboot()

  end
end

startPos = GetPos()
shouldrun = true









-- ######################################################
-- ##################### LOOP START #####################
-- ######################################################

while shouldRun do

    success, data = turtle.inspectDown()

    if IsPath(success, data) then
        File.writeLine("scn: 0,0,-1")
        local pos = GetPos(0,0,-1)

        local tab = {x = pos.x, y = pos.y, block = data}

        InsertFilter(tab, path)
        File.writeLine("ScanDown_Get: " .. pos.x .. ", " .. pos.y .. ", " .. pos.z)

        File.flush()

        tSuccess, tData = turtle.inspect()

        if tSuccess then
            Move("right")
        else
            Move("fwd")
        end
    end

    shouldRun = false

end

-- ######################################################
-- ###################### LOOP END ######################
-- ######################################################

GoTo(startPos.x,startPos.y,startPos.z)











ResetDir()

turtle.turnLeft()
turtle.turnLeft()

local success, data = turtle.inspect()

if data.name == "minecraft:chest" then

    print("Chest Found!")

    for i = 1, 16 do
        turtle.select(i)
        turtle.drop()
    end

    isDone = true
else

    print("No Chest found, Searching inventory...")
    turtle.select(16)
    local data = turtle.getItemDetail()

    if not(data == nil) and data.name == "minecraft:chest" then

        print("Chest Found!")
        sleep (1)

        for i = 1, 16 do
            turtle.select(i)
            turtle.drop()
        end

        isDone = true
    end
end

turtle.turnLeft()
turtle.turnLeft()

for index, value in pairs(path) do
    File.writeLine("Fin: " .. path[index].x .. ", " .. path[index].y .. ", " .. path[index].block)
end

File.close()