remoteturtle/turtle.lua

-- Server-Driven Turtle v5 (Pure Eval Protocol)
-- All behavior is driven by the server via eval commands.
-- This script only handles: eval execution, status broadcasting,
-- GPS tracking, inventory/peripheral events.

local Channels = require('platform.channels')

local CHANNEL_RECEIVE = Channels.get('remoteturtle.command')
local CHANNEL_SEND    = Channels.get('remoteturtle.response')
local STATUS_CHANNEL  = Channels.get('remoteturtle.status')

-- State tracking (lightweight - server drives everything)
local state = {
    position = nil,
    homePosition = nil,
    fuel = 0,
    inventory = {},
    facing = 0,
    lastStatusUpdate = 0,
}

-- Configuration
local config = {
    statusUpdateInterval = 5,
}

-- Check for modem
local WebBridge = require('platform.webbridge')
local modem, modemSide = WebBridge.findModem(true)
if not modem then
    error("No wireless modem found!")
end
-- Open command channel (respects dual-mode migration)
WebBridge.openChannels(modem, { 'remoteturtle.command' })

print("Server-Driven Turtle v5 (Pure Eval Protocol)")
print("ID: " .. os.getComputerID())
print("Modem opened on channel " .. CHANNEL_RECEIVE)

-- Store facing in global for eval access
_G._turtleFacing = 0

-- ========== GPS Functions ==========

local function updatePosition()
    local x, y, z = gps.locate(2)
    if x then
        state.position = {x = math.floor(x), y = math.floor(y), z = math.floor(z)}
        return true
    end
    return false
end

-- ========== Fuel & Inventory ==========

local function updateFuel()
    state.fuel = turtle.getFuelLevel()
    return state.fuel
end

local function updateInventory()
    state.inventory = {}
    for slot = 1, 16 do
        local item = turtle.getItemDetail(slot)
        if item then
            table.insert(state.inventory, {
                slot = slot,
                name = item.name,
                count = item.count
            })
        end
    end
end

-- ========== Status Broadcasting ==========

local function broadcastStatus()
    updateFuel()
    updateInventory()

    local surroundings = {}
    local hasBlock, data

    hasBlock, data = turtle.inspect()
    if hasBlock then surroundings.forward = {name = data.name, metadata = data.metadata or 0} end

    hasBlock, data = turtle.inspectUp()
    if hasBlock then surroundings.up = {name = data.name, metadata = data.metadata or 0} end

    hasBlock, data = turtle.inspectDown()
    if hasBlock then surroundings.down = {name = data.name, metadata = data.metadata or 0} end

    local statusPacket = {
        type = "status",
        turtleID = os.getComputerID(),
        position = state.position,
        homePosition = state.homePosition,
        fuel = state.fuel,
        inventoryCount = #state.inventory,
        inventory = state.inventory,
        facing = state.facing,
        surroundings = surroundings,
        evalSupported = true,
        label = os.getComputerLabel(),
    }

    modem.transmit(STATUS_CHANNEL, CHANNEL_RECEIVE, statusPacket)
end

-- ========== Eval/Response Protocol ==========

local function executeEval(uuid, code)
    local fn, compileError = load(code, "eval", "t")
    if not fn then
        modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
            type = "eval_response",
            uuid = uuid,
            result = nil,
            error = "Compile error: " .. tostring(compileError),
            turtleID = os.getComputerID()
        })
        return
    end

    local results = table.pack(pcall(fn))
    local ok = results[1]

    if ok then
        local returnVal
        if results.n <= 2 then
            returnVal = results[2]
        else
            returnVal = {}
            for i = 2, results.n do
                returnVal[i - 1] = results[i]
            end
        end
        modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
            type = "eval_response",
            uuid = uuid,
            result = returnVal,
            error = nil,
            turtleID = os.getComputerID()
        })
    else
        modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
            type = "eval_response",
            uuid = uuid,
            result = nil,
            error = "Runtime error: " .. tostring(results[2]),
            turtleID = os.getComputerID()
        })
    end
end

-- ========== Message Processing ==========

local function processMessage(channel, message)
    if type(message) ~= "table" then return end
    local myID = os.getComputerID()
    if message.target and message.target ~= myID then return end

    if message.type == "eval" and message.uuid and message.code then
        print("Eval: " .. message.uuid:sub(1, 8) .. "...")
        executeEval(message.uuid, message.code)

    elseif message.type == "home_position" and message.turtleID == myID then
        if message.homePosition then
            state.homePosition = message.homePosition
            print("Home synced from server")
        end

    elseif message.type == "home_set_confirm" and message.turtleID == myID then
        if message.homePosition then
            state.homePosition = message.homePosition
            print("Home confirmed by server")
        end

    elseif message.type == "rename" and message.name then
        os.setComputerLabel(message.name)
        print("Renamed to: " .. message.name)
        broadcastStatus()
    end
end

-- ========== Sync Home ==========

local function syncHomeWithServer()
    modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
        type = "request_home",
        turtleID = os.getComputerID()
    })
    return true
end

-- ========== Initialization ==========

print("Initializing...")
local x, y, z = gps.locate(5)
if x then
    state.position = {x = math.floor(x), y = math.floor(y), z = math.floor(z)}
    print("GPS: OK - " .. state.position.x .. "," .. state.position.y .. "," .. state.position.z)
else
    print("GPS: Not available")
    state.position = nil
end

syncHomeWithServer()
updateFuel()

-- ========== Movement Wrapping (heading + position tracking) ==========

-- Heading: 0=south(+z), 1=west(-x), 2=north(-z), 3=east(+x)
local MOVE_DELTA = {
    [0] = { x = 0, z = 1 },    -- south
    [1] = { x = -1, z = 0 },   -- west
    [2] = { x = 0, z = -1 },   -- north
    [3] = { x = 1, z = 0 },    -- east
}

local _rawForward   = turtle.forward
local _rawBack      = turtle.back
local _rawUp        = turtle.up
local _rawDown      = turtle.down
local _rawTurnLeft  = turtle.turnLeft
local _rawTurnRight = turtle.turnRight

turtle.forward = function()
    local ok, reason = _rawForward()
    if ok and state.position then
        local d = MOVE_DELTA[state.facing]
        state.position.x = state.position.x + d.x
        state.position.z = state.position.z + d.z
    end
    return ok, reason
end

turtle.back = function()
    local ok, reason = _rawBack()
    if ok and state.position then
        local d = MOVE_DELTA[state.facing]
        state.position.x = state.position.x - d.x
        state.position.z = state.position.z - d.z
    end
    return ok, reason
end

turtle.up = function()
    local ok, reason = _rawUp()
    if ok and state.position then
        state.position.y = state.position.y + 1
    end
    return ok, reason
end

turtle.down = function()
    local ok, reason = _rawDown()
    if ok and state.position then
        state.position.y = state.position.y - 1
    end
    return ok, reason
end

turtle.turnLeft = function()
    local ok = _rawTurnLeft()
    if ok then
        state.facing = (state.facing + 3) % 4
        _G._turtleFacing = state.facing
    end
    return ok
end

turtle.turnRight = function()
    local ok = _rawTurnRight()
    if ok then
        state.facing = (state.facing + 1) % 4
        _G._turtleFacing = state.facing
    end
    return ok
end

-- Detect heading via GPS triangulation
local function detectHeading()
    local x1, _, z1 = gps.locate(2)
    if not x1 then return false end
    if _rawForward() then
        local x2, _, z2 = gps.locate(2)
        _rawBack()
        if x2 then
            local dx = math.floor(x2) - math.floor(x1)
            local dz = math.floor(z2) - math.floor(z1)
            if dz > 0 then state.facing = 0       -- south
            elseif dz < 0 then state.facing = 2    -- north
            elseif dx > 0 then state.facing = 3    -- east
            elseif dx < 0 then state.facing = 1    -- west
            end
            _G._turtleFacing = state.facing
            return true
        end
    end
    return false
end

if state.position then
    if detectHeading() then
        print("Heading: " .. ({"south","west","north","east"})[state.facing + 1])
    else
        print("Heading: unknown (blocked)")
    end
end

-- ========== Pathfinding Module ==========

local pathfind = {}

--- Face a target heading.
function pathfind.face(targetH)
    targetH = targetH % 4
    while state.facing ~= targetH do
        local diff = (targetH - state.facing) % 4
        if diff == 1 then
            turtle.turnRight()
        elseif diff == 3 then
            turtle.turnLeft()
        else
            turtle.turnRight()
            turtle.turnRight()
        end
    end
end

--- Navigate to target coordinates with simple obstacle avoidance.
-- @param tx, ty, tz  target position
-- @param options     { dig = false, maxAttempts = 256 }
-- @return true or false, error
function pathfind.goto(tx, ty, tz, options)
    options = options or {}
    local maxAttempts = options.maxAttempts or 256
    local dig = options.dig or false
    local attempts = 0

    while attempts < maxAttempts do
        local pos = state.position
        if not pos then return false, "No GPS position" end

        -- Arrived?
        if pos.x == tx and pos.y == ty and pos.z == tz then
            return true
        end

        attempts = attempts + 1
        local moved = false

        -- Priority: Y first (get to correct height), then X, then Z
        if not moved and pos.y ~= ty then
            if pos.y < ty then
                moved = turtle.up()
                if not moved and dig then turtle.digUp(); moved = turtle.up() end
            else
                moved = turtle.down()
                if not moved and dig then turtle.digDown(); moved = turtle.down() end
            end
        end

        if not moved and pos.x ~= tx then
            pathfind.face(tx > pos.x and 3 or 1)
            moved = turtle.forward()
            if not moved and dig then turtle.dig(); moved = turtle.forward() end
        end

        if not moved and pos.z ~= tz then
            pathfind.face(tz > pos.z and 0 or 2)
            moved = turtle.forward()
            if not moved and dig then turtle.dig(); moved = turtle.forward() end
        end

        -- Obstacle avoidance: try going around
        if not moved then
            if turtle.up() then
                moved = true
            elseif turtle.down() then
                moved = true
            else
                turtle.turnRight()
                if turtle.forward() then
                    moved = true
                else
                    turtle.turnLeft()
                    turtle.turnLeft()
                    if turtle.forward() then
                        moved = true
                    else
                        turtle.turnRight() -- restore heading
                        return false, "Stuck at " .. pos.x .. "," .. pos.y .. "," .. pos.z
                    end
                end
            end
        end
    end

    return false, "Max attempts exceeded"
end

--- Go home (to saved home position).
function pathfind.goHome(options)
    if not state.homePosition then return false, "No home position set" end
    return pathfind.goto(state.homePosition.x, state.homePosition.y, state.homePosition.z, options)
end

--- Get current heading name.
function pathfind.headingName()
    return ({"south","west","north","east"})[state.facing + 1]
end

-- Expose globally for eval access
_G._pathfind = pathfind

print("Ready! Turtle " .. os.getComputerID() .. " online (v5 server-driven + pathfinding)")
broadcastStatus()

-- ========== Main Loop ==========

parallel.waitForAny(
    function()
        -- GPS retry loop
        while true do
            if not state.position then
                sleep(10)
                if updatePosition() then
                    print("GPS acquired!")
                    broadcastStatus()
                end
            else
                sleep(30)
            end
        end
    end,

    function()
        -- Status broadcast loop
        while true do
            sleep(config.statusUpdateInterval)
            broadcastStatus()
        end
    end,

    function()
        -- Command processing (eval protocol)
        -- Uses Channels.match() for dual-mode safety: accepts messages on
        -- both legacy (100) and target (4210) channels during migration.
        while true do
            local event, side, channel, replyChannel, message = os.pullEvent("modem_message")
            if Channels.match('remoteturtle.command', channel) then
                processMessage(channel, message)
            end
        end
    end,

    function()
        -- Inventory change events (real-time)
        while true do
            os.pullEvent("turtle_inventory")
            local inventory = {}
            for i = 1, 16 do
                local item = turtle.getItemDetail(i)
                if item then
                    table.insert(inventory, {
                        slot = i,
                        name = item.name,
                        count = item.count
                    })
                end
            end

            modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
                type = "inventory_update",
                turtleID = os.getComputerID(),
                inventory = inventory,
                timestamp = os.epoch("utc")
            })
        end
    end,

    function()
        -- Peripheral attached events (real-time)
        while true do
            os.pullEvent("peripheral")
            sleep(0.1) -- Small delay to let CC register
            local peripherals = {}
            local names = peripheral.getNames()
            for _, name in ipairs(names) do
                peripherals[name] = {types = {peripheral.getType(name)}}
            end

            modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
                type = "peripheral_attached",
                turtleID = os.getComputerID(),
                peripherals = peripherals,
                timestamp = os.epoch("utc")
            })
        end
    end,

    function()
        -- Peripheral detached events (real-time)
        while true do
            local _, side = os.pullEvent("peripheral_detach")
            if not peripheral.isPresent(side) then
                modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
                    type = "peripheral_detached",
                    turtleID = os.getComputerID(),
                    side = side,
                    timestamp = os.epoch("utc")
                })
            end
        end
    end
)