MineOS/Applications/Robot/advancedRobot.lua

local component = require("component")
local computer = require("computer")
local event = require("event")
local sides = require("sides")

local AR = {}

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AR.proxies = {}
AR.requiredProxies = {
	["robot"] = true,
	["generator"] = true,
	["inventory_controller"] = true,
	["modem"] = true,
	["geolyzer"] = true,
	["redstone"] = true,
	["experience"] = true,
	["chunkloader"] = true,
}

AR.fuels = {
	["minecraft:coal"] = true,
	["minecraft:coal_block"] = true,
	["minecraft:lava_bucket"] = true,
	["minecraft:coal_block"] = true,
}

AR.droppables = {
	["minecraft:cobblestone"] = true,
	["minecraft:stone"] = true,
	["minecraft:grass"] = true,
	["minecraft:dirt"] = true,
	["minecraft:gravel"] = true,
	["minecraft:sand"] = true,
	["minecraft:sandstone"] = true,
	["minecraft:torch"] = true,
	["minecraft:planks"] = true,
	["minecraft:fence"] = true,
	["minecraft:chest"] = true,
	["minecraft:monster_egg"] = true,
	["minecraft:stonebrick"] = true,
}

AR.tools = {
	["minecraft:diamond_pickaxe"] = true,
	["minecraft:iron_pickaxe"] = true,
}

AR.positionX = 0
AR.positionY = 0
AR.positionZ = 0
AR.rotation = 0

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function AR.rotatePosition(x, y, z)
	if AR.rotation == 0 then
		return x, y, z
	elseif AR.rotation == 1 then
		return z, y, -x
	elseif AR.rotation == 2 then
		return -x, y, -z
	else
		return -z, y, x
	end
end

function AR.reset()
	AR.positionX, AR.positionY, AR.positionZ, AR.rotation = 0, 0, 0, 0
end

function AR.updateProxies()
	local name
	for name in pairs(AR.requiredProxies) do
		AR.proxies[name] = component.list(name)()
		if AR.proxies[name] then
			AR.proxies[name] = component.proxy(AR.proxies[name])
		end
	end
end

AR.reset()
AR.updateProxies()

for key, value in pairs(AR.proxies.robot) do
	AR[key] = value
end

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function AR.move(direction)
	local success, reason = AR.proxies.robot.move(direction)
	
	if success then
		if direction == sides.front or direction == sides.back then
			local directionOffset = direction == sides.front and 1 or -1

			if AR.rotation == 0 then
				AR.positionX = AR.positionX + directionOffset
			elseif AR.rotation == 1 then
				AR.positionZ = AR.positionZ + directionOffset
			elseif AR.rotation == 2 then
				AR.positionX = AR.positionX - directionOffset
			elseif AR.rotation == 3 then
				AR.positionZ = AR.positionZ - directionOffset
			end
		elseif direction == sides.up or direction == sides.down then
			AR.positionY = AR.positionY + (direction == sides.up and 1 or -1)
		end
	end

	return success, reason
end

function AR.turn(clockwise)
	AR.proxies.robot.turn(clockwise)
	AR.rotation = AR.rotation + (clockwise and 1 or -1)
	
	if AR.rotation > 3 then
		AR.rotation = 0
	elseif AR.rotation < 0 then
		AR.rotation = 3
	end
end

function AR.turnToRotation(requiredRotation)
	local difference = AR.rotation - requiredRotation
	if difference ~= 0 then
		local fastestWay
		if difference > 0 then
			fastestWay = difference > 2
		else
			fastestWay = -difference <= 2
		end

		while AR.rotation ~= requiredRotation do
			AR.turn(fastestWay)
		end
	end
end

function AR.moveToPosition(xTarget, yTarget, zTarget)
	local xDistance, yDistance, zDistance = xTarget - AR.positionX, yTarget - AR.positionY, zTarget - AR.positionZ

	if yDistance ~= 0 then
		for i = 1, math.abs(yDistance) do
			AR.swingAndMove(yDistance > 0 and sides.up or sides.down)
		end
	end

	if xDistance ~= 0 then
		AR.turnToRotation(xDistance > 0 and 0 or 2)
		for i = 1, math.abs(xDistance) do
			AR.swingAndMove(sides.front)
		end
	end

	if zDistance ~= 0 then
		AR.turnToRotation(zDistance > 0 and 1 or 3)
		for i = 1, math.abs(zDistance) do
			AR.swingAndMove(sides.front)
		end
	end
end

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-- Swing
function AR.swingForward()
	return AR.proxies.robot.swing(sides.front)
end

function AR.swingUp()
	return AR.proxies.robot.swing(sides.up)
end

function AR.swingDown()
	return AR.proxies.robot.swing(sides.down)
end
--Use
function AR.useForward()
	return AR.proxies.robot.use(sides.front)
end

function AR.useUp()
	return AR.proxies.robot.use(sides.up)
end

function AR.useDown()
	return AR.proxies.robot.use(sides.down)
end
-- Move
function AR.moveForward()
	return AR.move(sides.front)
end

function AR.moveBackward()
	return AR.move(sides.back)
end

function AR.moveUp()
	return AR.move(sides.up)
end

function AR.moveDown()
	return AR.move(sides.down)
end
-- Turn
function AR.turnLeft()
	return AR.turn(false)
end

function AR.turnRight()
	return AR.turn(true)
end

function AR.turnAround()
	AR.turn(true)
	AR.turn(true)
end

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local function callProxyMethod(proxyName, methodName, ...)
	if AR.proxies[proxyName] then
		return AR.proxies[proxyName][methodName](...)
	else
		return false, proxyName .. " component is not available"
	end
end

function AR.equip(...)
	return callProxyMethod("inventory_controller", "equip", ...)
end

function AR.getStackInInternalSlot(...)
	return callProxyMethod("inventory_controller", "getStackInInternalSlot", ...)
end

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function AR.moveToZeroPosition(noTurn)
	AR.moveToPosition(0, AR.positionY, 0)
	AR.turnToRotation(0)
	AR.moveToPosition(0, 0, 0)
end

function AR.swingAndMove(direction)
	while true do
		local swingSuccess, swingReason = AR.swing(direction)
		if swingSuccess or swingReason == "air" then
			local moveSuccess, moveReason = AR.move(direction)
			if moveSuccess then
				return moveSuccess, moveReason
			end
		else
			if swingReason == "block" then
				AR.moveToZeroPosition()
				return false, "Unbreakable block detected, going to base"
			end
		end
	end
end

function AR.getEmptySlotsCount()
	local count = 0
	for slot = 1, AR.inventorySize() do
		if AR.count(slot) == 0 then
			count = count + 1
		end
	end

	return count
end

function AR.dropDroppables(side)
	local oldSlot, need = AR.select()
	for slot = 1, AR.inventorySize() do
		local stack = AR.getStackInInternalSlot(slot)
		if stack then
			if AR.droppables[stack.name] then
				AR.select(slot)
				AR.drop(side or sides.down)
				need = true
			end
		end
	end

	if need then
		AR.select(oldSlot)
	end
end

function AR.dropAll(side, exceptArray)
	exceptArray = exceptArray or AR.tools
	local oldSlot = AR.select()

	for slot = 1, AR.inventorySize() do
		local stack = AR.getStackInInternalSlot(slot)
		if stack then
			if not exceptArray[stack.name] then
				AR.select(slot)
				AR.drop(side)
			end
		end
	end

	AR.select(oldSlot)
end

function AR.checkToolStatus(percent)
	if AR.durability() < percent then
		print("Equipped tool durability lesser then " .. percent)
		
		for slot = 1, AR.inventorySize() do
			local stack = AR.getStackInInternalSlot(slot)
			if stack then
				if stack.damage / stack.maxDamage < percent and AR.tools[stack.name] then
					local oldSlot = AR.select()
					AR.select(slot)
					AR.equip()
					AR.select(oldSlot)
					print("Tool switched to " .. stack.label)
					
					break
				end
			end
		end
	end
end

function AR.charge(percent)
	while computer.energy() / computer.maxEnergy() < percent do
		print("Charging up: " .. math.floor(computer.energy() / computer.maxEnergy() * 100) .. "%")
		os.sleep(1)
	end
end

function AR.getSlotWithFuel()
	for slot = 1, AR.inventorySize() do
		local stack = AR.getStackInInternalSlot(slot)
		if stack then
			if AR.fuels[stack.name] then
				return slot
			end
		end
	end
end

function AR.checkGeneratorStatus(count)
	if AR.proxies.generator then
		if AR.proxies.generator.count() == 0 then
			print("Generator is empty, trying to find some fuel in inventory")
			local slot = AR.getSlotWithFuel()
			if slot then
				print("Found slot with fuel: " .. slot)
				local oldSlot = AR.select()
				AR.select(slot)
				AR.proxies.generator.insert(count)
				AR.select(oldSlot)
				return
			else
				print("Slot with fuel not found, skipping")
			end
		end
	end
end

function AR.getWorldRotation()
	local initial = AR.proxies.geolyzer.scan(1, 0)[33]
	for i = 0, 3 do
		if initial > 0 then
			if AR.swing(3) and AR.proxies.geolyzer.scan(1, 0)[33] == 0 then
				for j = 1, i do
					AR.turn(true)
				end

				return i
			end
		else
			if AR.place(3) and AR.proxies.geolyzer.scan(1, 0)[33] > 0 then
				for j = 1, i do
					AR.swing(3)
					AR.turn(true)
				end
				AR.swing(3)

				return i
			end
		end

		AR.turn(false)
	end
end

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return AR