opus-apps/builder/apis/turtle.lua

local Adapter   = require('core.inventoryAdapter')
local Builder   = require('builder.builder')
local class     = require('class')
local Event     = require('event')
local itemDB    = require('core.itemDB')
local Message   = require('core.message')
local Point     = require('point')
local UI        = require('ui')
local Util      = require('util')

local device     = _G.device
local fs         = _G.fs
local os         = _G.os
local read       = _G.read
local rs         = _G.rs
local turtle     = _G.turtle

local RESOURCE_SLOTS = 14
local FUEL_ITEM      = { id = 'minecraft:coal', dmg = 0 }

local TurtleBuilder = class(Builder)
Util.merge(TurtleBuilder, {
  slots         = { },
})

-- Temp functions until conversion to new adapters is complete
local function convertSingleForward(item)
  item.displayName = item.display_name
  item.name = item.id
  item.damage = item.dmg
  item.count = item.qty
  item.maxCount = item.max_size
  return item
end

local function convertForward(t)
  for _,v in pairs(t) do
    convertSingleForward(v)
  end
  return t
end

local function convertSingleBack(item)
  if item then
    item.id = item.name
    item.dmg = item.damage
    item.qty = item.count
    item.max_size = item.maxCount
    item.display_name = item.displayName
  end
  return item
end

--[[-- SupplyPage --]]--
local supplyPage = UI.Page {
  titleBar = UI.TitleBar {
    title = 'Waiting for supplies',
    previousPage = 'start'
  },
  menuBar = UI.MenuBar {
    y = 2,
    buttons = {
      --{ text = 'Refresh', event = 'refresh', help = 'Refresh inventory' },
      { text = 'Continue',    event = 'build', help = 'Continue building' },
      { text = 'Menu',        event = 'menu',  help = 'Return to main menu' },
--      { text = 'Force Craft', event = 'craft', help = 'Request crafting (again)' },
    }
  },
  grid = UI.Grid {
    columns = {
      { heading = 'Name', key = 'display_name',  width = UI.term.width - 7 },
      { heading = 'Need', key = 'need',  width = 4                 },
    },
    sortColumn = 'display_name',
    y = 3,
    width = UI.term.width,
    height = UI.term.height - 3
  },
  statusBar = UI.StatusBar {
    columns = {
      { 'Help', 'help', UI.term.width - 13 },
      { 'Fuel', 'fuel', 11 }
    }
  },
  accelerators = {
    c = 'craft',
    r = 'refresh',
    b = 'build',
    m = 'menu',
  },
}

function supplyPage:eventHandler(event)
  if event.type == 'build' then
    UI:setPage('start')
    self:sync()
    self.builder:build()

  elseif event.type == 'menu' then
    self.builder:dumpInventory()
    --Builder.status = 'idle'
    UI:setPage('start')
    turtle.setStatus('waiting')

  elseif event.type == 'grid_focus_row' then
    self.statusBar:setValue('help', event.selected.id .. ':' .. event.selected.dmg)
    self.statusBar:draw()

  elseif event.type == 'focus_change' then
    self.statusBar:timedStatus(event.focused.help, 3)
  end

  return UI.Page.eventHandler(self, event)
end

function supplyPage:enable(builder)
  self.builder = builder
  self.grid:setIndex(1)
  self.statusBar:setValue('fuel',
    string.format('Fuel: %dk', math.floor(turtle.getFuelLevel() / 1024)))

  Event.addNamedTimer('supplyRefresh', 6, true, function()
    if self.enabled then
      self.builder:autocraft(self.builder:getSupplies())
      self:refresh()
      self.statusBar:timedStatus('Refreshed ', 2)
      self:sync()
    end
  end)
  UI.Page.enable(self)
end

function supplyPage:disable()
  Event.cancelNamedTimer('supplyRefresh')
end

function supplyPage:setSupplies(supplies)
  local t = { }
  for _,s in pairs(supplies) do
    local key = s.id .. ':' .. s.dmg
    local entry = t[key]
    if not entry then
      entry = Util.shallowCopy(s)
      t[key] = entry
    else
      entry.need = entry.need + s.need
    end
    entry.need = entry.need - turtle.getItemCount(s.index)
  end

  self.grid:setValues(t)
end

function supplyPage:refresh()
  self.statusBar:timedStatus('Refreshed ', 3)
  local supplies = self.builder:getSupplies()
  if #supplies == 0 then
    UI:setPage('blank')
    self:sync()
    self.builder:build()
  else
    self:setSupplies(supplies)
    self.grid:draw()
  end
end

--[[-- Builder --]]--
function TurtleBuilder:getBlockCounts()
  local blocks = Builder.getBlockCounts(self)

  -- add a couple essential items to the supply list to allow replacements
  local wrench = self.subDB:getSubstitutedItem('SubstituteAWrench', 0)
  wrench.qty = 0
  wrench.need = 1
  blocks[wrench.id .. ':' .. wrench.dmg] = wrench

  local fuel = self.subDB:getSubstitutedItem(FUEL_ITEM.id, FUEL_ITEM.dmg)
  fuel.qty = 0
  fuel.need = 1
  blocks[fuel.id .. ':' .. fuel.dmg] = fuel

  blocks['minecraft:piston:0'] = {
    id = 'minecraft:piston',
    dmg = 0,
    qty = 0,
    need = 1,
  }

  return blocks
end

function TurtleBuilder:selectItem(id, dmg)
  for k,s in ipairs(self.slots) do
    if s.qty > 0 and s.id == id and s.dmg == dmg then
      -- check to see if someone pulled items from inventory
      -- or we passed over a hopper
      if turtle.getItemCount(s.index) > 0 then
        if k > 1 and s.qty > 1 then
          table.remove(self.slots, k)
          table.insert(self.slots, 1, s)
        end
        turtle.select(s.index)
        return s
      end
    end
  end
end

function TurtleBuilder:getAirResupplyList(blockIndex)
  local slots = { }

  if self.mode == 'destroy' then
    for i = 1, RESOURCE_SLOTS do
      slots[i] = {
        qty = 0,
        need = 0,
        index = i
      }
    end
  else
    slots = self:getGenericSupplyList(blockIndex)
  end

  local fuel = self.subDB:getSubstitutedItem(FUEL_ITEM.id, FUEL_ITEM.dmg)

  slots[15] = {
    id = 'minecraft:chest',
    dmg = 0,
    qty = 0,
    need = 1,
    index = 15,
  }

  slots[16] = {
    id = fuel.id,
    dmg = fuel.dmg,
    qty = 0,
    need = 64,
    index = 16,
  }

  return slots
end

function TurtleBuilder:getSupplyList(blockIndex)
  local slots, lastBlock = self:getGenericSupplyList(blockIndex)

  slots[15] = {
    id = 'minecraft:piston',
    dmg = 0,
    qty = 0,
    need = 1,
    index = 15,
  }

  local wrench = self.subDB:getSubstitutedItem('SubstituteAWrench', 0)
  slots[16] = {
    id = wrench.id,
    dmg = wrench.dmg,
    qty = 0,
    need = 1,
    index = 16,
  }

  self.slots = slots

  return lastBlock
end

function TurtleBuilder:getGenericSupplyList(blockIndex)
  local slots = { }

  for i = 1, RESOURCE_SLOTS do
    slots[i] = {
      qty = 0,
      need = 0,
      index = i
    }
  end

  local function getSlot(id, dmg)
    -- find matching slot
    local maxStack = itemDB:getMaxCount({ name = id, damage = dmg })
    for _, s in ipairs(slots) do
      if s.id == id and s.dmg == dmg and s.need < maxStack then
        return s
      end
    end
    -- return first available slot
    for _, s in ipairs(slots) do
      if not s.id then
        s.key = id .. ':' .. dmg
        s.id = id
        s.dmg = dmg
        return s
      end
    end
  end

  local lastBlock = blockIndex
  for k = blockIndex, #self.schematic.blocks do
    lastBlock = k
    local b = self.schematic:getComputedBlock(k)

    if b.id ~= 'minecraft:air' then
      local slot = getSlot(b.id, b.dmg)
      if not slot then
        break
      end
      slot.need = slot.need + 1
    end
  end

  for _,s in pairs(slots) do
    if s.id then
      s.display_name = itemDB:getName({ name = s.id, damage = s.dmg })
    end
  end

  return slots, lastBlock
end

function TurtleBuilder:dumpInventory()
  local success = true

  for i = 1, 16 do
    local qty = turtle.getItemCount(i)
    if qty > 0 then
      self.itemAdapter:insert(i, qty)
    end
    if turtle.getItemCount(i) ~= 0 then
      success = false
    end
  end
  turtle.select(1)

  return success
end

function TurtleBuilder:dumpInventoryWithCheck()
  while not self:dumpInventory() do
    print('Storage is full or missing - make space or replace')
    print('Press enter to continue')
    turtle.setHeading(0)
    read()
  end
end

function TurtleBuilder:autocraft(supplies)
  if self.itemAdapter.craftItems then
    local t = { }

    for _,s in pairs(supplies) do
      local key = s.id .. ':' .. s.dmg
      local item = t[key]
      if not item then
        item = {
          id = s.id,
          dmg = s.dmg,
          qty = 0,
        }
        t[key] = item
      end
      item.qty = item.qty + (s.need - s.qty)
    end

    self.itemAdapter:craftItems(convertForward(t))
  end
end

function TurtleBuilder:getSupplies()
  self.itemAdapter:refresh()

  local t = { }
  for _,s in ipairs(self.slots) do
    if s.need > 0 then
      local item = convertSingleBack(self.itemAdapter:getItemInfo({
        name = s.id,
        damage = s.dmg,
        nbtHash = s.nbt_hash,
      }))
      if item then
        s.display_name = item.display_name

        local qty = math.min(s.need - s.qty, item.qty)

        if qty + s.qty > item.max_size then
          qty = item.max_size
          s.need = qty
        end
        if qty > 0 then
          self.itemAdapter:provide(convertSingleForward(item), qty, s.index)
          s.qty = turtle.getItemCount(s.index)
        end
      else
        s.display_name = itemDB:getName({ name = s.id, damage = s.dmg })
      end
    end
    if s.qty < s.need then
      table.insert(t, s)
    end
  end

  return t
end

function TurtleBuilder:refuel()
  while turtle.getFuelLevel() < 4000 do
    print('Refueling')
    turtle.select(1)

    local fuel = self.subDB:getSubstitutedItem(FUEL_ITEM.id, FUEL_ITEM.dmg)

    self.itemAdapter:provide(convertSingleForward(fuel), 64, 1)
    if turtle.getItemCount(1) == 0 then
      print('Out of fuel, add fuel to chest/ME system')
      turtle.setHeading(0)
      turtle.setStatus('waiting')
      os.sleep(5)
    else
      turtle.refuel(64)
    end
  end
end

function TurtleBuilder:inAirDropoff()
  if not device.wireless_modem then
    return false
  end

  self:log('Requesting air supply drop for supply #: ' .. 1)
  while true do
    Message.broadcast('needSupplies', { point = turtle.getPoint(), uid = 1 })
    local _, _, msg, _ = Message.waitForMessage('gotSupplies', 1)

    if not msg or not msg.contents then
      Message.broadcast('supplyList', { uid = 1, slots = self:getAirResupplyList() })
      return false
    end

    turtle.setStatus('waiting')

    if msg.contents.point then
      local pt = msg.contents.point

      self:log('Received supply location')
      os.sleep(0)

      turtle.go(pt)
      os.sleep(.1)  -- random computer is not connected error

      local chestAdapter = Adapter.wrap({ direction = 'down', side = 'top' })

      if not chestAdapter then
        self:log('Chests above is not valid')
        return false
      end

      local oldAdapter = self.itemAdapter
      self.itemAdapter = chestAdapter

      if not self:dumpInventory() then
        self:log('Unable to dump inventory')
        self.itemAdapter = oldAdapter
        return false
      end

      self.itemAdapter = oldAdapter

      Message.broadcast('thanks', { })

      for _ = 1,12 do -- wait til supplier is idle before sending next request
        if turtle.detectUp() then
          os.sleep(.25)
        end
      end
      os.sleep(.1)

      Message.broadcast('supplyList', { uid = 1, slots = self:getAirResupplyList() })

      return true
    end
  end
end

function TurtleBuilder:inAirResupply()
  if not device.wireless_modem then
    return false
  end

  local oldAdapter = self.itemAdapter

  self:log('Requesting air supply drop for supply #: ' .. self.slotUid)
  while true do
    Message.broadcast('needSupplies', { point = turtle.getPoint(), uid = self.slotUid })
    local _, _, msg, _ = Message.waitForMessage('gotSupplies', 1)

    if not msg or not msg.contents then
      self.itemAdapter = oldAdapter
      return false
    end

    turtle.setStatus('waiting')

    if msg.contents.point then
      local pt = msg.contents.point

      self:log('Received supply location')
      os.sleep(0)

      turtle.go(pt)
      os.sleep(.1)  -- random computer is not connected error

      local chestAdapter = Adapter.wrap({ direction = 'down', side = 'top' })

      if not chestAdapter then
        Util.print('not valid')
        read()
      end

      self.itemAdapter = chestAdapter

      if not self:dumpInventory() then
        self.itemAdapter = oldAdapter
        return false
      end
      self:refuel()

      local lastBlock = self:getSupplyList(self.index)
      local supplies = self:getSupplies()

      Message.broadcast('thanks', { })

      self.itemAdapter = oldAdapter

      if #supplies == 0 then

        for _ = 1,12 do -- wait til supplier is idle before sending next request
          if turtle.detectUp() then
            os.sleep(.25)
          end
        end
        os.sleep(.1)
        if lastBlock < #self.schematic.blocks then
          self:sendSupplyRequest(lastBlock)
        else
          Message.broadcast('finished')
        end

        return true
      end
      self:log('Missing supplies - manually resupplying')
      return false
    end
  end
end

function TurtleBuilder:sendSupplyRequest(lastBlock)
  if device.wireless_modem then
    local slots = self:getAirResupplyList(lastBlock)
    self.slotUid = os.clock()
    Message.broadcast('supplyList', { uid = self.slotUid, slots = slots })
  end
end

local function closestEdgePoint(pt, pts, rpt, y)
  pt = Point.copy(pt)
  pt.heading = rpt.heading

  local pta = Point.closest(pt, pts)
  Util.removeByValue(pts, pta)
  local ptb = Point.closest(pt, pts)

  local cpt = { }
  if rpt.x < math.min(pta.x, ptb.x) then
    cpt.x = math.min(pta.x, ptb.x)
  elseif rpt.x > math.max(pta.x, ptb.x) then
    cpt.x = math.max(pta.x, ptb.x)
  else
    cpt.x = rpt.x
  end

  if rpt.z < math.min(pta.z, ptb.z) then
    cpt.z = math.min(pta.z, ptb.z)
  elseif rpt.z > math.max(pta.z, ptb.z) then
    cpt.z = math.max(pta.z, ptb.z)
  else
    cpt.z = rpt.z
  end

  cpt.y = y
  return cpt
end

function TurtleBuilder:getBuildingCorner(y)
  local pts = {
    { x = -1,                   z = -1,                    y = 0 },
    { x = -1,                   z = self.schematic.length, y = 0 },
    { x = self.schematic.width, z = -1,                    y = 0 },
    { x = self.schematic.width, z = self.schematic.length, y = 0 },
  }
  return closestEdgePoint(self.supplyPoint, pts, turtle.getPoint(), y)
end

function TurtleBuilder:gotoSupplyPoint()
  if not Point.same(turtle.getPoint(), self.supplyPoint) then
    -- so we don't end up pathfinding through a building
    -- go to the corner closest to the supplies point
    -- pathfind the rest of the way
    local pt = self:getBuildingCorner(turtle.point.y)
    turtle.go({ x = pt.x, z = pt.z })
    turtle.set({
      digPolicy = 'digNone',
      attackPolicy = 'attackNone',
    })
    turtle.pathfind(self.supplyPoint)
    os.sleep(.1) -- random 'Computer is not connected' error...
  end
end

function TurtleBuilder:resupply()
  if self.slotUid and self:inAirResupply() then
    os.queueEvent('build')
    return
  end

  turtle.setStatus('resupplying')

  self:log('Resupplying')
  self:gotoSupplyPoint()
  self:dumpInventoryWithCheck()
  self:refuel()
  local lastBlock = self:getSupplyList(self.index)
  if lastBlock < #self.schematic.blocks then
    self:sendSupplyRequest(lastBlock)
  elseif device.wireless_modem then
    Message.broadcast('finished')
  end
  os.sleep(1)
  local supplies = self:getSupplies()

  if #supplies == 0 then
    os.queueEvent('build')
  else
    turtle.setHeading(0)
    self:autocraft(supplies)
    supplyPage:setSupplies(supplies)
    UI:setPage(supplyPage, self)
  end
end

function TurtleBuilder:placeDown(slot)
  return turtle.placeDown(slot.index)
end

function TurtleBuilder:placeUp(slot)
  return turtle.placeUp(slot.index)
end

function TurtleBuilder:place(slot)
  return turtle.place(slot.index)
end

function TurtleBuilder:getWrenchSlot()
  local wrench = self.subDB:getSubstitutedItem('SubstituteAWrench', 0)
  return self:selectItem(wrench.id, wrench.dmg)
end

-- figure out our orientation in the world
function TurtleBuilder:getTurtleFacing()
  local directions = {
    [5] = 2,
    [3] = 3,
    [4] = 0,
    [2] = 1,
  }

  local function getItem(item)
    turtle.select(1)
    local msg = false
    while true do
      self.itemAdapter:provide(item, 1, 1)
      if turtle.getItemCount(1) == 1 then
        break
      end
      if not msg then
        print('Place ' .. itemDB:getName(item) .. ' in supply chest')
        msg = true
      end
      os.sleep(1)
    end
  end

  getItem({ name = 'minecraft:piston', damage = 0 })
  turtle.placeUp()
  local _, bi = turtle.inspectUp()
  turtle.digUp()
  self:dumpInventoryWithCheck()

  if directions[bi.metadata] then
    self.facing = directions[bi.metadata]
    return
  end

  -- if the piston faces up when placed above, then this version
  -- has the stair bug
  self.stairBug = true

  getItem({ name = 'minecraft:chest', damage = 0 })
  turtle.placeUp()
  local _, bi2 = turtle.inspectUp()
  turtle.digUp()
  self:dumpInventoryWithCheck()

  self.facing = directions[bi2.metadata]
end

function TurtleBuilder:wrenchBlock(side, facing, cache)
  local s = self:getWrenchSlot()

  if not s then
    return false
  end

  local key = turtle.getPoint().heading .. '-' .. facing
  if cache then
    local count = cache[side][key]

    if count then
      turtle.select(s.index)
      for _ = 1,count do
        turtle.getAction(side).place()
      end
      return true
    end
  end

  local directions = {
    [5] = 'east',
    [3] = 'south',
    [4] = 'west',
    [2] = 'north',
    [0] = 'down',
    [1] = 'up',
  }

  if turtle.getHeadingInfo(facing).heading < 4 then
    local offsetDirection = (self.facing +
                turtle.getHeadingInfo(facing).heading) % 4
    facing = turtle.getHeadingInfo(offsetDirection).direction
  end

  local count = 0
  print('determining wrench count')
  for _ = 1, 6 do
    local _, bi = turtle.getAction(side).inspect()

    if facing == directions[bi.metadata] then
      if cache then
        cache[side][key] = count
      end
      return true
    end
    count = count + 1
    turtle.getAction(side).place()
  end

  return false
end

function TurtleBuilder:rotateBlock(side, facing)
  if self:getWrenchSlot() then
    for _ = 1, facing do
      turtle.getAction(side).place()
    end
    return true
  end
end

-- place piston, wrench piston to face downward, extend, remove piston
function TurtleBuilder:placePiston(b)
  local ps = self:selectItem('minecraft:piston', 0)
  local ws = self:getWrenchSlot()

  if not ps or not ws then
    b.needResupply = true
    -- a hopper may have eaten the piston
    return
  end

  if not turtle.place(ps.index) then
    return
  end

  if self.wrenchSucks then
    turtle.turnRight()
    turtle.forward()
    turtle.turnLeft()
    turtle.forward()
    turtle.turnLeft()
  end

  --wrench piston to point downwards
  local success = self:wrenchBlock('forward', 'down', self.pistonFacings)

  rs.setOutput('front', true)
  os.sleep(.25)
  rs.setOutput('front', false)
  os.sleep(.25)
  turtle.select(ps.index)
  turtle.dig()

  if not success and not self.wrenchSucks then
    self.wrenchSucks = true
    success = self:placePiston(b)
  end

  return success
end

function TurtleBuilder:go(x, z, y, heading)
  if not turtle.go({ x = x, z = z, y = y, heading = heading }) then
    print('stuck')
    print('Press enter to continue')
    os.sleep(1)
    turtle.setStatus('stuck')
    read()
  end
end

-- goto used when turtle could be below travel plane
-- if the distance is no more than 1 block, there's no need to pop back to the travel plane
function TurtleBuilder:gotoEx(x, z, y, h, travelPlane)
  local pt = turtle.getPoint()
  local distance = math.abs(pt.x - x) + math.abs(pt.z - z)

  -- following code could be better
  if distance == 0 then
    turtle.gotoY(y)
  elseif distance == 1 then
    if pt.y < y then
      turtle.gotoY(y)
    end
  elseif distance > 1 then
    self:gotoTravelPlane(travelPlane)
  end
  self:go(x, z, y, h)
end

function TurtleBuilder:placeDirectionalBlock(b, slot, travelPlane)
  local d = b.direction

  local function getAdjacentPoint(pt, direction)
    local hi = turtle.getHeadingInfo(direction)
    return { x = pt.x + hi.xd, z = pt.z + hi.zd, y = pt.y + hi.yd, heading = (hi.heading + 2) % 4 }
  end

  local directions = {
    [ 'north' ] = 'north',
    [ 'south' ] = 'south',
    [ 'east'  ] = 'east',
    [ 'west'  ] = 'west',
  }
  if directions[d] then
    self:gotoEx(b.x, b.z, b.y, turtle.getHeadingInfo(directions[d]).heading, travelPlane)
    b.placed = self:placeDown(slot)
  end

  if d == 'top' then
    self:gotoEx(b.x, b.z, b.y+1, nil, travelPlane)
    if self:placeDown(slot) then
      turtle.goback()
      b.placed = self:placePiston(b)
    end
  end

  if d == 'bottom' then
    local t = {
      [1] = getAdjacentPoint(b, 'east'),
      [2] = getAdjacentPoint(b, 'south'),
      [3] = getAdjacentPoint(b, 'west'),
      [4] = getAdjacentPoint(b, 'north'),
    }

    local c = Point.closest(turtle.getPoint(), t)
    self:gotoEx(c.x, c.z, c.y, c.heading, travelPlane)

    if self:place(slot) then
      turtle.up()
      b.placed = self:placePiston(b)
    end
  end

  local stairDownDirections = {
    [ 'north-down' ] = 'north',
    [ 'south-down' ] = 'south',
    [ 'east-down'  ] = 'east',
    [ 'west-down'  ] = 'west'
  }
  if stairDownDirections[d] then
    self:gotoEx(b.x, b.z, b.y+1, turtle.getHeadingInfo(stairDownDirections[d]).heading, travelPlane)
    if self:placeDown(slot) then
      turtle.goback()
      b.placed = self:placePiston(b)
    end
  end

  local stairUpDirections = {
    [ 'north-up' ] = 'south',
    [ 'south-up' ] = 'north',
    [ 'east-up'  ] = 'west',
    [ 'west-up'  ] = 'east'
  }
  if stairUpDirections[d] then
    local isSouth = (self.facing +
                    turtle.getHeadingInfo(stairUpDirections[d]).heading) % 4 == 1

    if not self.stairBug then
      isSouth = false
    end

    if isSouth then
      -- for some reason, the south facing stair doesn't place correctly
      -- jump through some hoops to place it
      self:gotoEx(b.x, b.z, b.y, (turtle.getHeadingInfo(stairUpDirections[d]).heading + 2) % 4, travelPlane)
      if self:placeUp(slot) then
        turtle.goback()
        turtle.gotoY(turtle.getPoint().y + 2)
        b.placed = self:placePiston(b)
        turtle.down()
        b.placed = self:placePiston(b)

        -- stop debug message below since we are pointing in wrong direction
        b.heading = turtle.getPoint().heading
      end
    else
      local hi = turtle.getHeadingInfo(stairUpDirections[d])
      self:gotoEx(b.x - hi.xd, b.z - hi.zd, b.y, hi.heading, travelPlane)
      if self:place(slot) then
        turtle.up()
        b.placed = self:placePiston(b)
      end
    end
  end

  local horizontalDirections = {
    [ 'east-west-block'   ] = { 'east', 'west' },
    [ 'north-south-block' ] = { 'north', 'south' },
  }
  if horizontalDirections[d] then

    local t = {
      [1] = getAdjacentPoint(b, horizontalDirections[d][1]),
      [2] = getAdjacentPoint(b, horizontalDirections[d][2]),
    }

    local c = Point.closest(turtle.getPoint(), t)
    self:gotoEx(c.x, c.z, c.y, c.heading, travelPlane)

    if self:place(slot) then
      turtle.up()
      b.placed = self:placePiston(b)
    end
  end

  local pistonDirections = {
    [ 'piston-north' ] = 'north',
    [ 'piston-south' ] = 'south',
    [ 'piston-west'  ] = 'west',
    [ 'piston-east'  ] = 'east',
    [ 'piston-down'  ] = 'down',
    [ 'piston-up'    ] = 'up',
  }

  if pistonDirections[d] then
    -- why are pistons so broke in cc 1.7 ??????????????????????

    local ws = self:getWrenchSlot()

    if not ws then
      b.needResupply = true
      -- a hopper may have eaten the piston
      return false
    end

    -- piston turns relative to turtle position :)
    local rotatedPistonDirections = {
      [ 'piston-east' ] = 0,
      [ 'piston-south' ] = 1,
      [ 'piston-west' ] = 2,
      [ 'piston-north' ] = 3,
    }

    self:gotoEx(b.x, b.z, b.y, nil, travelPlane)

    local heading = rotatedPistonDirections[d]
    if heading and turtle.getPoint().heading % 2 ~= heading % 2 then
      turtle.setHeading(heading)
    end

    if self:placeDown(slot) then
      b.placed = self:wrenchBlock('down', pistonDirections[d], self.pistonFacings)
    end
  end

  local wrenchDirections = {
    [ 'wrench-down' ] = 'down',
    [ 'wrench-up'   ] = 'up',
  }

  if wrenchDirections[d] then

    local ws = self:getWrenchSlot()

    if not ws then
      b.needResupply = true
      -- a hopper may have eaten the piston
      return false
    end

    self:gotoEx(b.x, b.z, b.y, nil, travelPlane)

    if self:placeDown(slot) then
      b.placed = self:wrenchBlock('down', wrenchDirections[d])
    end
  end

  local doorDirections = {
    [ 'east-door' ] = 'east',
    [ 'south-door' ] = 'south',
    [ 'west-door'  ] = 'west',
    [ 'north-door'  ] = 'north',
  }
  if doorDirections[d] then
    local hi = turtle.getHeadingInfo(doorDirections[d])
    self:gotoEx(b.x - hi.xd, b.z - hi.zd, b.y - 1, hi.heading, travelPlane)
    b.placed = self:place(slot)
  end

  local blockDirections = {
    [ 'north-block' ] = 'north',
    [ 'south-block' ] = 'south',
    [ 'east-block'  ] = 'east',
    [ 'west-block'  ] = 'west',
  }
  if blockDirections[d] then
    local hi = turtle.getHeadingInfo(blockDirections[d])
    self:gotoEx(b.x - hi.xd, b.z - hi.zd, b.y-1, hi.heading, travelPlane)
    b.placed = self:place(slot)
  end

  if b.facing then
    self:rotateBlock('down', b.facing)
  end

-- debug
if d ~= 'top' and d ~= 'bottom' and not horizontalDirections[d] and not pistonDirections[d] then
  if not b.heading or turtle.getHeading() ~= b.heading then
    self:log(d .. ' - ' .. turtle.getHeading() .. ' - ' .. (b.heading or 'nil'))
    --read()
  end
end

  return b.placed
end

-- find the highest y in the last 2 planes
function TurtleBuilder:findTravelPlane(index)
  local travelPlane

  for i = index, 1, -1 do
    local b = self.schematic.blocks[i]

    local y = b.y
    if b.twoHigh then
      y = y + 1
    end
    if not travelPlane or y > travelPlane then
      travelPlane = y
    elseif travelPlane and travelPlane - y > 2 then
      break
    end
  end

  return travelPlane or 0
end

function TurtleBuilder:gotoTravelPlane(travelPlane)
  if travelPlane > turtle.getPoint().y then
    turtle.gotoY(travelPlane)
  end
end

function TurtleBuilder:build()
  local direction = 1
  local last = #self.schematic.blocks
  local minFuel = self.schematic.height + self.schematic.width + self.schematic.length + 100
  local throttle = Util.throttle()

  if self.mode == 'destroy' then
    direction = -1
    last = 1
    turtle.setStatus('destroying')
  else
    turtle.setStatus('building')
  end

  local travelPlane  = self:findTravelPlane(self.index)

  local pt = self:getBuildingCorner(travelPlane)
  turtle.pathfind({ x = pt.x, z = pt.z, y = travelPlane })
  turtle.set({
    digPolicy = 'dig',
    attackPolicy = 'attack',
  })

  for i = self.index, last, direction do
    self.index = i

    local b = self.schematic:getComputedBlock(i)

    if b.id ~= 'minecraft:air' then

      if self.mode == 'destroy' then

        b.heading = nil -- don't make the supplier follow the block heading
        self:logBlock(self.index, b)
        if b.y ~= turtle.getPoint().y then
          turtle.gotoY(b.y)
        end
        self:go(b.x, b.z, b.y)
        turtle.digDown()

        -- if no supplier, then should fill all slots

        if turtle.getItemCount(RESOURCE_SLOTS) > 0 or turtle.getFuelLevel() < minFuel then
          if turtle.getFuelLevel() < minFuel or not self:inAirDropoff() then
            self:gotoSupplyPoint()
            self:dumpInventoryWithCheck()
            self:refuel()
          end
          turtle.setStatus('destroying')
        end

      else -- Build mode

        local slot = self:selectItem(b.id, b.dmg)
        if not slot or turtle.getFuelLevel() < minFuel then

          self:gotoTravelPlane(travelPlane)
          self:resupply()
          return
        end
        local y = b.y
        if b.twoHigh then
          y = b.y + 1
        end
        if y > travelPlane then
          travelPlane = y
        end

        self:logBlock(self.index, b)

        if b.direction then
          b.needResupply = false
          self:placeDirectionalBlock(b, slot, travelPlane)
          if b.needResupply then -- lost our piston in a hopper probably
            self:gotoTravelPlane(travelPlane)
            self:resupply()
            return
          end
        else
          self:gotoTravelPlane(travelPlane)
          self:go(b.x, b.z, b.y)
          b.placed = self:placeDown(slot)
        end

        if b.placed then
          slot.qty = slot.qty - 1
        else
          print('failed to place block')
        end
      end
      if self.mode == 'destroy' then
        self:saveProgress(math.max(self.index, 1))
      else
        self:saveProgress(self.index + 1)
      end
    else
      throttle() -- sleep in case there are a large # of skipped blocks
    end

    if turtle.isAborted() then
      turtle.setStatus('aborting')
      turtle.abort(false)
      self:gotoTravelPlane(travelPlane)
      self:gotoSupplyPoint()
      turtle.setHeading(0)
      self:dumpInventory()
      Event.exitPullEvents()
      print('Aborted')
      return
    end
  end

  if device.wireless_modem then
    Message.broadcast('finished')
  end

  self:gotoTravelPlane(travelPlane)
  self:gotoSupplyPoint()
  turtle.setHeading(0)
  self:dumpInventory()

  for _ = 1, 4 do
    turtle.turnRight()
  end

  fs.delete(self.schematic.filename .. '.progress')
  print('Finished')
  Event.exitPullEvents()
end

function TurtleBuilder:begin()
  turtle.reset()
  self:dumpInventory()
  self:refuel()
  self:getTurtleFacing()

  if self.loc.x then
    self.supplyPoint = {
      x = self.loc.x - self.loc.rx - 1,
      y = self.loc.y - self.loc.ry,
      z = self.loc.z - self.loc.rz - 1,
    }
    Point.rotate(self.supplyPoint, self.facing)
  else
    self.supplyPoint = { x = -1, y = 0, z = -1 }
  end
  turtle.setPoint(self.supplyPoint)

  -- reset piston cache in case wrench was substituted
  self.pistonFacings = {
    down = { },
    forward = { },
  }

  if self.mode == 'destroy' then
    if device.wireless_modem then
      Message.broadcast('supplyList', { uid = 1, slots = self:getAirResupplyList() })
    end
    print('Beginning destruction')
    self:build()
  else
    print('Starting build')
    self:resupply()
  end
end

return TurtleBuilder