lua-computercraft/controller/turtle_controller.lua

local Position = require("lib.position")
local Direction = require("lib.direction")
local Stack = require("lib.stack")

---@alias TurtleControllerConfig {fuel_direction: Direction, fuel_name: string, refuel_amount: number, refuel_safety_margin: number, storage_direction: Direction}

---@class TurtleController
---@field config TurtleControllerConfig
---@field position Position
---@field last_positions Stack
---@field mine boolean
local TurtleController = {}
TurtleController.__index = TurtleController


-- TODO: Test if there's a chest when dropping/sucking/mining (don't mine chests!)


---@return TurtleController
function TurtleController:Create()
    local t = {}
    setmetatable(t, TurtleController)


    -----------------------------------------------------------------------------------------------
    -- Fields
    -----------------------------------------------------------------------------------------------


    t.config = {
        fuel_direction = Direction.EAST,
        fuel_name = turtle.getItemDetail(1) == nil and "" or turtle.getItemDetail(1).name,
        refuel_amount = 500,
        refuel_safety_margin = 160,
        storage_direction = Direction.WEST,
    }
    t.position = Position:Empty()
    t.last_positions = Stack:Create()
    t.mine = false


    return t
end


-----------------------------------------------------------------------------------------------
-- Movement Methods
-----------------------------------------------------------------------------------------------


---Positive numbers turn clockwise, negative numbers turn counterclockwise
---@param number_of_turns number
function TurtleController:TurnRelative(number_of_turns)
    if number_of_turns == 0 then
        return
    end

    self:RefuelIfEmpty()

    -- Turn turtle
    local turns = number_of_turns % 4
    if turns == 3 then
        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))

        -- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
        turtle.turnLeft()
    else
        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))

        for _ = 1,turns do
            turtle.turnRight()
        end
    end

    -- Update current_position
    self.position.dir = (self.position.dir + number_of_turns) % 4
end


---@param direction Direction
function TurtleController:TurnToDirection(direction)
    if self.position.dir == direction then
        return
    end

    self:TurnRelative(direction - self.position.dir)
end


---Move forward by a number of blocks depending on the current rotation
---@param number_of_blocks number
function TurtleController:MoveRelative(number_of_blocks)
    if number_of_blocks == 0 then
        return
    end

    print(("Turtle is moving forward by %d blocks..."):format(number_of_blocks))

    for _ = 1,math.abs(number_of_blocks) do
        self:RefuelIfEmpty()
        self:UnstockIfFull()

        -- Break blocks
        if self.mine then
            while not turtle.forward() do
                turtle.dig()
            end
            turtle.digUp()
            turtle.digDown()
        else
            if not turtle.forward() then
                printError("Turtle wants to move without mining but is blocked!")
            end
        end

        -- Update current_position
        if self.position.dir == Direction.NORTH then
            self.position.z = self.position.z + 1
        elseif self.position.dir == Direction.SOUTH then
            self.position.z = self.position.z - 1
        elseif self.position.dir == Direction.EAST then
            self.position.x = self.position.x + 1
        elseif self.position.dir == Direction.WEST then
            self.position.x = self.position.x - 1
        end
    end
end


---@param x number The EAST/WEST axis (grows from WEST to EAST)
---@param y number The UP/DOWN axis (grows from DOWN to UP)
---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
---@param dir Direction
function TurtleController:MoveToPosition(x, y, z, dir)
    print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))

    self:DisableMining()
    self.last_positions:Push(Position:Copy(self.position))

    if self.position.z > 1 then
        -- Move south once (if we're at the top) to not be blocked by the slice that is currently mined.
        -- This assumes that we mine the full width back to front.
        self:TurnToDirection(Direction.SOUTH)
        self:MoveRelative(1)
    elseif self.position.z == 0 then
        -- Move north once (if we're at the bottom) to not be blocked by the chests
        self:TurnToDirection(Direction.NORTH)
        self:MoveRelative(1)
    end

    -- EAST/WEST axis (do first to not interfere with chests or unmined walls)
    if self.position.x > x then
        self:TurnToDirection(Direction.WEST)
    elseif self.position.x < x then
        self:TurnToDirection(Direction.EAST)
    end
    self:MoveRelative(math.abs(self.position.x - x))

    -- NORTH/SOUTH axis
    if self.position.z > z then
        self:TurnToDirection(Direction.SOUTH)
    elseif self.position.z < z then
        self:TurnToDirection(Direction.NORTH)
    end
    self:MoveRelative(math.abs(self.position.z - z))

    -- Direction
    self:TurnToDirection(dir or Direction.NORTH)

    -- Sanity check
    if not(self.position.x == x and self.position.y == y and self.position.z == z and self.position.dir == dir) then
        printError("TurtleController:MoveToPosition failed to move to target position!")
    end
end


function TurtleController:MoveBack()
    local target_position = self.last_positions:Pop()

    if target_position == nil then
        shell.exit()
    else
        self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
        self.last_positions:Pop()
    end

end


-----------------------------------------------------------------------------------------------
-- Inventory Methods
-----------------------------------------------------------------------------------------------


---@param slot number
---@param count number
---@return boolean
function TurtleController:SuckItem(slot, count)
    local previous_slot = turtle.getSelectedSlot()

    turtle.select(slot or 1)
    local sucked = turtle.suck(count)

    turtle.select(previous_slot)

    return sucked
end


---@param slot number
---@param count number
---@return boolean
function TurtleController:DropItem(slot, count)
    local previous_slot = turtle.getSelectedSlot()

    turtle.select(slot or 1)
    local dropped = turtle.drop(count)

    turtle.select(previous_slot)

    return dropped
end


function TurtleController:DropInventory()
    print("Dropping inventory into chest...")

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

    turtle.select(1)
end


---@param skip_inventory_check boolean | nil
function TurtleController:UnstockIfFull(skip_inventory_check)
    skip_inventory_check = skip_inventory_check or false
    if not skip_inventory_check and self:HasInventorySpace() then
        return
    end

    print("Turtle is unstocking...")

    self:MoveToPosition(0, 0, 0, self.config.storage_direction)
    self:DropInventory()
    self:RefuelIfEmpty()

    self:MoveBack()
end


---@param skip_fuel_check boolean | nil
function TurtleController:RefuelIfEmpty(skip_fuel_check)
    skip_fuel_check = skip_fuel_check or false
    if not skip_fuel_check and self:HasFuel() then
        return
    end

    print("Turtle is refueling...")

    -- Clear our inventory into the storage chest
    self:MoveToPosition(0, 0, 0, self.config.storage_direction)
    self:DropInventory()

    -- Prepare refueling
    self:TurnToDirection(self.config.fuel_direction)
    turtle.select(1)

    -- Include the distance to the last position when refueling
    -- to keep the amount of work done between refuelings constant
    local target_fuel_level = self.config.refuel_amount
    local last_position = self.last_positions:Peek()
    if last_position == nil then
        shell.exit()
    else
        target_fuel_level = target_fuel_level + last_position.x + last_position.y + last_position.z
    end

    -- Refuel until we hit the refuel_amount
    local before_level = turtle.getFuelLevel()
    repeat
        if not self:SuckItem(1, 1) then
            printError("Failed to suck fuel out of fuel chest!")
            shell.exit()
        end
        turtle.refuel()
    until turtle.getFuelLevel() >= target_fuel_level
    local after_level = turtle.getFuelLevel()

    self:MoveBack()

    print(("Refuelled %d units, current level is %d (old level was %d)"):format(after_level - before_level, after_level, before_level))
end


-----------------------------------------------------------------------------------------------
-- Management Methods
-----------------------------------------------------------------------------------------------


function TurtleController:Configure()
    local config_complete = false

    while not config_complete do
        -- Check for valid fuel
        while self.config.fuel_name == "" do
            print("Please put valid fuel into the first slot and press Enter!")
            local _ = io.read()
            self.config.fuel_name = turtle.getItemDetail(1) == nil and "" or turtle.getItemDetail(1).name
        end

        print("A chest with fuel has to be placed beside the turtle's starting position. Is this chest...")
        print(("...right of the turtle (enter %d)?"):format(Direction.EAST))
        print(("...behind the turtle (enter %d)?"):format(Direction.SOUTH))
        print(("...left of the turtle (enter %d)?"):format(Direction.WEST))
        print("By default, the chest is assumed on the left.")
        self.config.fuel_direction = tonumber(io.read()) or Direction.WEST

        print("A chest to store mined blocks has to be placed beside the turtle's starting position. Is this chest...")
        print(("...right of the turtle (enter %d)?"):format(Direction.EAST))
        print(("...behind the turtle (enter %d)?"):format(Direction.SOUTH))
        print(("...left of the turtle (enter %d)?"):format(Direction.WEST))
        print("By default, the chest is assumed on the right.")
        self.config.storage_direction = tonumber(io.read()) or Direction.EAST

        print("Configuration complete!")
        print(("Turtle will consume \"%s\" for fuel. Put the desired fuel into the first slot to change."):format(self.config.fuel_name))
        print("Do you want to accept the configuration (enter 1, otherwise 0)?")
        config_complete = tonumber(io.read()) == 1
    end
end


function TurtleController:EnableMining()
    self.mine = true
end


function TurtleController:DisableMining()
    self.mine = false
end


function TurtleController:HasFuel()
    local level = turtle.getFuelLevel()
    local distance_home = self.position.x + self.position.y + self.position.z

    return level > distance_home + self.config.refuel_safety_margin
end


function TurtleController:HasInventorySpace()
    for slot = 1,16 do
        if turtle.getItemDetail(slot) == nil then
            return true
        end
    end

    return false
end

return TurtleController