villageBot v1.5

 

local LOG_LEVELS = { DEBUG = 1, INFO = 2, WARN = 3, ERROR = 4, FATAL = 5 }

local DEBUG_LOGGING_ENABLED = true

local LOG_FILE_NAME_CONST = "villagebot.log"

 

local current_log_level_val

if DEBUG_LOGGING_ENABLED then

    current_log_level_val = (LOG_LEVELS and LOG_LEVELS.DEBUG) or 1

    current_log_level_val = (LOG_LEVELS and LOG_LEVELS.INFO) or 2

 

local BOT_DATA_FILE = "villagebot_data.json"

local ME_BRIDGE_NAME = "advancedperipherals:me_bridge"

local REDSTONE_BLOCK_NAME = "minecraft:redstone_block"

 

local AUTOMATA_PERIPHERAL_NAME = "endAutomata"

local ME_BRIDGE_PERIPHERAL_NAME = "meBridge"

local COLONY_INTEGRATOR_PERIPHERAL_NAME = "colonyIntegrator"

 

local FUEL_SLOT = 16

local COAL_BLOCK_NAME = "minecraft:coal_block"

local REFUEL_BELOW_PERCENTAGE = 0.90

local MAX_REDSTONE_BLOCK_RETRIES = 10

local REDSTONE_BLOCK_RETRY_WAIT = 5

local REFUEL_BARREL_ACCESS_POS = { x = -114, y = 65, z = 221, dir = 3 }

 

local current_pos = { x = nil, y = nil, z = nil }; local current_dir = nil

local roboSlot = nil; local home_pos = { x = nil, y = nil, z = nil, dir = nil }

local pAutomata = nil; local pMeBridge = nil; local pColonyIntegrator = nil

local DIR_VECTORS = { [0]={x=0,z=1},[1]={x=1,z=0},[2]={x=0,z=-1},[3]={x=-1,z=0} }

local DIR_NAMES = {[0]="North",[1]="East",[2]="South",[3]="West"}

local mounted_peripherals = {}; local undeliveredItemsBuffer = {}

 

local function botLog(level, message)

    local message_str = message

    if type(message) ~= "string" and type(message) ~= "number" then

        message_str = textutils.serialize(message, {compact=true})

        if message == nil then message_str = "nil_message_passed_to_botLog" end

    else message_str = tostring(message) end

 

    local level_display_name = "LVL?"

    if LOG_LEVELS and type(LOG_LEVELS) == "table" then

        for name_key, lVal_val in pairs(LOG_LEVELS) do if lVal_val == level then level_display_name = name_key; break end end

    else print("Console: botLog - LOG_LEVELS is nil or not a table! Cannot determine level name.") end

   

    print(string.format("[%s] [%s] %s", os.date("%Y-%m-%d %H:%M:%S"), level_display_name, message_str))

 

    local can_write_to_file = false

    if LOG_LEVELS and type(LOG_LEVELS) == "table" and current_log_level_val and LOG_FILE_NAME_CONST and type(LOG_FILE_NAME_CONST) == "string" then

        if DEBUG_LOGGING_ENABLED or level >= (LOG_LEVELS.WARN or 3) then

            if level >= current_log_level_val then

                can_write_to_file = true

            end

        end

    end

 

    if can_write_to_file then

        local levelNameInFile = "UNK_LVL"

        if LOG_LEVELS then for name, lVal in pairs(LOG_LEVELS) do if lVal == level then levelNameInFile = name; break end end end

        local logMessageToFile = string.format("[%s] [%s] %s", os.date("%Y-%m-%d %H:%M:%S"), levelNameInFile, message_str)

        local f, err = fs.open(LOG_FILE_NAME_CONST, "a")

        if f then

            f.write(logMessageToFile .. "\n"); f.close()

        else

            print("CONSOLE: LOG FILE OPEN ERROR for '"..LOG_FILE_NAME_CONST.."' (in botLog): " .. tostring(err))

        end

    elseif DEBUG_LOGGING_ENABLED then

        if not LOG_LEVELS or type(LOG_LEVELS) ~= "table" then print("Console: botLog - Cannot write to file, LOG_LEVELS invalid.") end

        if not current_log_level_val then print("Console: botLog - Cannot write to file, current_log_level_val invalid.") end

        if not LOG_FILE_NAME_CONST or type(LOG_FILE_NAME_CONST) ~= "string" then print("Console: botLog - Cannot write to file, LOG_FILE_NAME_CONST invalid.") end

    end

 

function findPeripheral(name,type_arg,required)

    if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"FindP: "..name.." type '"..tostring(type_arg).."'")end

    if type(type_arg) ~= "string" then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "FindP: Invalid type arg. Expected string, got " .. type(type_arg)) end

        return nil

    end

    local p=peripheral.find(type_arg)

    if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"FindP: peripheral.find Result for '"..type_arg.."': "..tostring(p))end

    if p then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"Found peripheral: "..name) end

        mounted_peripherals[name]=p

        return p

    else

        local m="Peripheral NOT FOUND: "..name.." (type: " .. type_arg .. ")"

        if required then

            if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,m.." - REQUIRED!") end

        else

            if LOG_LEVELS then botLog(LOG_LEVELS.WARN,m) end

        end

        return nil

    end

 

function initCorePeripherals()

    print("Console: CHKPT - Enter initCorePeripherals")

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initCoreP: Start") end

    pAutomata=findPeripheral("Automata",AUTOMATA_PERIPHERAL_NAME,true)

   

    if not pAutomata then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"initCoreP: Automata peripheral missing. Cannot proceed.") end

        print("Console: CHKPT - initCorePeripherals FAIL (Automata missing)")

        return false

    end

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initCoreP: Core peripherals OK.") end

    print("Console: CHKPT - initCorePeripherals OK")

    return true

 

function findHomeLocationPeripherals()

    print("Console: CHKPT - Enter findHomeLocationPeripherals")

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"findHomeLocP: Start (should be at home and oriented)") end

 

    if not (home_pos and home_pos.x and current_pos and current_pos.x == home_pos.x and current_pos.y == home_pos.y and current_pos.z == home_pos.z) then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"findHomeLocP: Called when not at stored home coordinates.") end

    end

    if not (home_pos and home_pos.dir ~= nil and current_dir == home_pos.dir) then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"findHomeLocP: Not facing home direction (".. (home_pos and DIR_NAMES[home_pos.dir] or "N/A")..").") end

        if home_pos and home_pos.dir ~= nil then

            if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "findHomeLocP: Attempting re-orientation to home dir: " .. DIR_NAMES[home_pos.dir]) end

            if not ml.turnToDir(home_pos.dir) then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "findHomeLocP: Re-orientation failed.") end

            end

        else

             if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "findHomeLocP: home_pos.dir is nil, cannot re-orient.") end

        end

    end

 

    if not pMeBridge then

        pMeBridge=findPeripheral("ME Bridge",ME_BRIDGE_PERIPHERAL_NAME,true)

    elseif DEBUG_LOGGING_ENABLED and LOG_LEVELS then

        botLog(LOG_LEVELS.DEBUG, "findHomeLocP: pMeBridge already attached.")

    end

 

    if not pColonyIntegrator then

        pColonyIntegrator=findPeripheral("Colony Integrator",COLONY_INTEGRATOR_PERIPHERAL_NAME,true)

    elseif DEBUG_LOGGING_ENABLED and LOG_LEVELS then

        botLog(LOG_LEVELS.DEBUG, "findHomeLocP: pColonyIntegrator already attached.")

    end

 

 

    if not (pMeBridge and pColonyIntegrator)then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"findHomeLocP: ME Bridge or Colony Integrator missing after checks.") end

        print("Console: CHKPT - findHomeLocationPeripherals FAIL")

        return false

    end

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"findHomeLocP: Home location peripherals OK.") end

    print("Console: CHKPT - findHomeLocationPeripherals OK")

    return true

 

function saveData() if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"saveData: Attempt")end; if roboSlot==nil or not home_pos or home_pos.x==nil or not current_pos or current_pos.x==nil or current_dir==nil then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"saveData: Skip, incomplete data.")end; return false end; local d={roboSlot=roboSlot,home_pos=home_pos,current_pos=current_pos,current_dir=current_dir}; if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"saveData: Data: "..textutils.serialize(d))end; local s,e=textutils.serialiseJSON(d); if not s then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"saveData: Serialize fail: "..tostring(e))end; return false end; local f,fe=fs.open(BOT_DATA_FILE,"w"); if not f then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"saveData: Open file fail: "..tostring(fe))end; return false end; f.write(s);f.close(); if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"Bot data saved.")end; return true end

function loadData() print("Console: CHKPT - Enter loadData"); if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"loadData: Attempt from '"..BOT_DATA_FILE.."'")end; if not fs.exists(BOT_DATA_FILE)then if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"loadData: File not found.")end; print("Console: CHKPT - loadData: No file"); return false end; local f,fe=fs.open(BOT_DATA_FILE,"r"); if not f then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"loadData: Open file fail: "..tostring(fe))end; print("Console: CHKPT - loadData: Open fail"); return false end; local s=f.readAll();f.close(); if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"loadData: File content: "..s)end; local sc,d=pcall(textutils.unserialiseJSON,s); if not sc or type(d)~="table"then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"loadData: Parse fail. SC:"..tostring(sc)..",D:"..tostring(d))end; print("Console: CHKPT - loadData: Parse JSON fail"); return false end; if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"loadData: Parsed: "..textutils.serialize(d))end; if d.roboSlot and d.home_pos and d.home_pos.x~=nil and d.home_pos.y~=nil and d.home_pos.z~=nil and d.home_pos.dir~=nil and d.current_pos and d.current_pos.x~=nil and d.current_pos.y~=nil and d.current_pos.z~=nil and d.current_dir~=nil then roboSlot=d.roboSlot;home_pos=d.home_pos;current_pos=d.current_pos;current_dir=d.current_dir; if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"Bot data loaded.")end; print("Console: CHKPT - loadData: OK"); return true else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"loadData: Incomplete/malformed data in JSON.")end; print("Console: CHKPT - loadData: Malformed data"); return false end end

 

ml = {}

function ml.setPos(x,y,z,dirNum) current_pos={x=x,y=y,z=z}; current_dir=dirNum; if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, string.format("ml.setPos: X%sY%sZ%sD%s (%s)",x,y,z,dirNum,DIR_NAMES[dirNum])) end; saveData() end

function ml.inspect() if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "ml.inspect: Called") end; local s,d=turtle.inspect(); if s and d then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspect: OK, Block: "..d.name) end; return d elseif s and not d then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspect: OK, Empty.")end; return nil else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.inspect: Fail: " .. tostring(d))end; return nil end end

function ml.inspectUp() if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "ml.inspectUp: Called") end; local s,d=turtle.inspectUp(); if s and d then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspectUp: OK, Block: "..d.name)end; return d else if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspectUp: OK, Empty/fail.")end; return nil end end

function ml.inspectDown() if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "ml.inspectDown: Called") end; local s,d=turtle.inspectDown(); if s and d then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspectDown: OK, Block: "..d.name)end; return d else if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspectDown: OK, Empty/fail.")end; return nil end end

local function genericMove(moveFunc,actionName,updatesPos,updatesDir) local s,e=pcall(moveFunc); if s then if LOG_LEVELS then botLog(LOG_LEVELS.INFO,actionName.." OK. Fuel:"..turtle.getFuelLevel())end; if updatesPos and current_pos and current_pos.x~=nil and current_dir~=nil then local oX,oY,oZ=current_pos.x,current_pos.y,current_pos.z; if actionName=="forward"then current_pos.x=current_pos.x+DIR_VECTORS[current_dir].x;current_pos.z=current_pos.z+DIR_VECTORS[current_dir].z elseif actionName=="back"then current_pos.x=current_pos.x-DIR_VECTORS[current_dir].x;current_pos.z=current_pos.z-DIR_VECTORS[current_dir].z elseif actionName=="up"then current_pos.y=current_pos.y+1 elseif actionName=="down"then current_pos.y=current_pos.y-1 end; if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"gMove Pos "..oX..","..oY..","..oZ.." -> "..current_pos.x..","..current_pos.y..","..current_pos.z)end; end; if updatesDir and current_dir~=nil then local oD=current_dir; if actionName=="turnLeft"then current_dir=(current_dir-1+4)%4 elseif actionName=="turnRight"then current_dir=(current_dir+1)%4 end; if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"gMove Dir "..(oD and DIR_NAMES[oD] or "nil").." -> "..(current_dir and DIR_NAMES[current_dir] or "nil"))end; end; if updatesPos or updatesDir then saveData() end; return true else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,actionName.." FAIL: "..tostring(e))end; return false end end

function ml.forward() return genericMove(turtle.forward,"forward",true,false) end

function ml.back() return genericMove(turtle.back,"back",true,false) end

function ml.up() return genericMove(turtle.up,"up",true,false) end

function ml.down() return genericMove(turtle.down,"down",true,false) end

function ml.turnLeft() return genericMove(turtle.turnLeft,"turnLeft",false,true) end

function ml.turnRight() return genericMove(turtle.turnRight,"turnRight",false,true) end

function ml.select(slot) if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.select: Slot "..slot) end; turtle.select(slot); return true end

function ml.getItemCount(slot) local c=turtle.getItemCount(slot); if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.getItemCount: Slt "..slot.." has "..c)end; return c end

function ml.getItemDetail(slot) local d=turtle.getItemDetail(slot); if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.getItemDetail: Slt "..slot.." detail: "..(d and textutils.serialize(d, {compact=true}) or "nil"))end; return d end

function ml.getFuelLevel() local l=turtle.getFuelLevel(); if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.getFuelLevel: "..l)end; return l end

function ml.getFuelLimit() local l=turtle.getFuelLimit(); if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.getFuelLimit: "..l)end; return l end

function ml.drop(count) local sl=turtle.getSelectedSlot();local dt=ml.getItemDetail(sl);local iN=(dt and dt.name or "unk item");local aC=count or ml.getItemCount(sl);if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.drop: Try drop "..aC.." "..iN.." from slt "..sl)end;if aC==0 then return true end;local sc;if count then sc=turtle.drop(count)else sc=turtle.drop()end;if sc then if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"ml.drop: OK from slt "..sl)end else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.drop: FAIL from slt "..sl)end end;return sc end

function ml.suck(count) local sl=turtle.getSelectedSlot();local aC=count or 1;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.suck: Try suck "..aC.." into slt "..sl)end;local sc;if count then sc=turtle.suck(count)else sc=turtle.suck()end;if sc then if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"ml.suck: OK into slt "..sl .. " (req: "..aC..")")end else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.suck: FAIL into slt "..sl)end end;return sc end

function ml.refuel() ml.select(FUEL_SLOT);local it=ml.getItemDetail(FUEL_SLOT);if not it or it.name ~= COAL_BLOCK_NAME then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.refuel: Fail: No/wrong fuel. Need '"..COAL_BLOCK_NAME.."', Has: "..(it and it.name or "nil"))end;return false end;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.refuel: Attempt from slt "..FUEL_SLOT.." with "..it.name)end;local iF=ml.getFuelLevel();local s=turtle.refuel();if s then if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"ml.refuel: OK. Fuel: "..ml.getFuelLevel().." (was "..iF..")")end else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.refuel: turtle.refuel() fail.")end end;return s end

function ml.turnToDir(targetDirNum) if current_dir==nil then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"ml.turnToDir: current_dir is nil.")end; return false end;if targetDirNum<0 or targetDirNum>3 then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"ml.turnToDir: Invalid targetDir: "..targetDirNum)end; return false end;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.turnToDir: From "..(DIR_NAMES[current_dir] or "nil").."("..current_dir..") to "..DIR_NAMES[targetDirNum].."("..targetDirNum..")")end;if current_dir==targetDirNum then return true end;local df=(targetDirNum-current_dir+4)%4;if df==1 then return ml.turnRight()elseif df==2 then return ml.turnRight() and ml.turnRight()elseif df==3 then return ml.turnLeft()end;return false end

function ml.moveTo(tx,ty,tz,tdir_opt) print(string.format("Console: ml.moveTo Start - Tgt X%sY%sZ%sD%s", tx, ty, tz, (tdir_opt and DIR_NAMES[tdir_opt] or "any"))); if LOG_LEVELS then botLog(LOG_LEVELS.INFO, string.format("ml.moveTo: Tgt X%sY%sZ%sD%s | Cur X%sY%sZ%sD%s",tx,ty,tz,(tdir_opt and DIR_NAMES[tdir_opt] or "any"), current_pos.x,current_pos.y,current_pos.z,(current_dir and DIR_NAMES[current_dir] or "nil")))end; local function att(aF,cnt,axisName)for i=1,cnt do if not aF()then return false end;if ml.getFuelLevel()<5 and ml.getFuelLimit()>0 then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Low fuel ("..ml.getFuelLevel()..")!")end end;sleep(0.05)end;return true end; if current_pos.y~=ty then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: Adj Y "..current_pos.y.."->"..ty)end; while current_pos.y<ty do if not ml.up()then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Blocked UP at Y="..current_pos.y.." to Y="..ty)end;return false end end;while current_pos.y>ty do if not ml.down()then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Blocked DOWN at Y="..current_pos.y.." to Y="..ty)end;return false end end;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: Y OK at "..current_pos.y)end end; if current_pos.x~=tx then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: Adj X "..current_pos.x.."->"..tx)end; if current_pos.x<tx then if not ml.turnToDir(1)then return false end;if not att(ml.forward,tx-current_pos.x,"East")then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Blocked EAST at X="..current_pos.x)end;return false end elseif current_pos.x>tx then if not ml.turnToDir(3)then return false end;if not att(ml.forward,current_pos.x-tx,"West")then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Blocked WEST at X="..current_pos.x)end;return false end end;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: X OK at "..current_pos.x)end end; if current_pos.z~=tz then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: Adj Z "..current_pos.z.."->"..tz)end; if current_pos.z<tz then if not ml.turnToDir(0)then return false end;if not att(ml.forward,tz-current_pos.z,"North")then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Blocked NORTH at Z="..current_pos.z)end;return false end elseif current_pos.z>tz then if not ml.turnToDir(2)then return false end;if not att(ml.forward,current_pos.z-tz,"South")then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.moveTo: Blocked SOUTH at Z="..current_pos.z)end;return false end end;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: Z OK at "..current_pos.z)end end; if tdir_opt~=nil and current_dir~=tdir_opt then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo: Adj final dir to "..DIR_NAMES[tdir_opt])end; if not ml.turnToDir(tdir_opt)then return false end end; if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"ml.moveTo: Target vicinity. Final Pos: X:"..current_pos.x.." Y:"..current_pos.y.." Z:"..current_pos.z.." Dir:"..(current_dir and DIR_NAMES[current_dir] or "nil"))end; print(string.format("Console: ml.moveTo End - Cur X%sY%sZ%sD%s", current_pos.x, current_pos.y, current_pos.z, (current_dir and DIR_NAMES[current_dir] or "nil"))); return current_pos.x==tx and current_pos.y==ty and current_pos.z==tz and (tdir_opt == nil or current_dir == tdir_opt) end

 

function initializeBot()

    print("Console: CHKPT - Enter initializeBot");

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Start")end;

    if not pAutomata then if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,"initializeBot: pAutomata nil!")end; print("Console: initializeBot - pAutomata nil, FAIL"); return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"initializeBot: Warp 'home'")end;

    local ws,we=pcall(function()return pAutomata.warpToPoint("home")end);

    if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"initializeBot: Warp pcall: SC="..tostring(ws)..", RES="..tostring(we))end;

    if not ws or not we then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"initializeBot: Warp fail: SC="..tostring(ws)..", RES="..tostring(we))end; print("Console: initializeBot - Warp FAIL"); return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Warp OK. At physical home.")end;

    current_pos={x=nil,y=nil,z=nil};current_dir=nil;

 

    local me_bridge_peripheral_found = false

    for i=1,4 do

        if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "initializeBot: Try " .. i .. "/4 find ME Bridge ("..ME_BRIDGE_PERIPHERAL_NAME..").") end

        pMeBridge = peripheral.find(ME_BRIDGE_PERIPHERAL_NAME)

        if pMeBridge then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "initializeBot: ME Bridge peripheral (type '"..ME_BRIDGE_PERIPHERAL_NAME.."') found on try " .. i .. ".") end

            mounted_peripherals["ME Bridge"] = pMeBridge

            me_bridge_peripheral_found = true

            break

        end

        if i < 4 then

            if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "initializeBot: ME Bridge not found. Turning right.") end

            if not turtle.turnRight() then

                if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "initializeBot: turtle.turnRight() failed during ME Bridge search.") end

                return false

            end

            sleep(0.2)

        end

    end

 

    if not me_bridge_peripheral_found then

        if LOG_LEVELS then botLog(LOG_LEVELS.FATAL, "initializeBot: ME Bridge peripheral (type '"..ME_BRIDGE_PERIPHERAL_NAME.."') NOT found after 4 tries. REQUIRED.") end

        return false

    end

 

    pColonyIntegrator = findPeripheral("Colony Integrator", COLONY_INTEGRATOR_PERIPHERAL_NAME, true)

    if not pColonyIntegrator then

        if LOG_LEVELS then botLog(LOG_LEVELS.FATAL, "initializeBot: Colony Integrator NOT found (REQUIRED).") end

        return false

    end

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Home location peripherals (ME Bridge, Colony Integrator) found.") end

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "initializeBot: Confirming visual to ME Bridge block ('"..ME_BRIDGE_NAME.."')...") end

    local visually_oriented_to_me_block = false

    for visual_orient_attempt = 1, 4 do

        local success_inspect, block_in_front = turtle.inspect()

        if success_inspect and block_in_front and block_in_front.name == ME_BRIDGE_NAME then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "initializeBot: Visually confirmed ME_BRIDGE_NAME block in front (try " .. visual_orient_attempt .. ").") end

            visually_oriented_to_me_block = true

            break

        end

        if visual_orient_attempt < 4 then

            if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "initializeBot: Not visually facing ME_BRIDGE_NAME. Turning right.") end

            if not turtle.turnRight() then

                if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "initializeBot: turtle.turnRight() failed during visual ME Bridge confirm.") end

                return false

            end

            sleep(0.2)

        end

    end

   

    if not visually_oriented_to_me_block then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "initializeBot: Could not visually confirm ME_BRIDGE_NAME block in front after 4 tries.") end

        return false

    end

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"initializeBot: Backing up from ME Bridge.")end;

    if not turtle.back()then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"initializeBot: Raw turtle.back() failed.")end; print("Console: initializeBot - Back ME FAIL"); return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"initializeBot: Turning right (to face Redstone path).")end;

    if not turtle.turnRight()then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"initializeBot: Raw turtle.turnRight() failed.")end; print("Console: initializeBot - TR after back FAIL"); return false end;

   

    local forward_count_to_redstone=0;

    local redstone_retries=0;

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"initializeBot: Searching for Redstone Block ("..REDSTONE_BLOCK_NAME..")...")end;

    while true do

        local pcall_success, inspect_success_val, block_data_val_or_errmsg = pcall(turtle.inspect);

       

        if pcall_success and inspect_success_val and block_data_val_or_errmsg and type(block_data_val_or_errmsg) == "table" and block_data_val_or_errmsg.name==REDSTONE_BLOCK_NAME then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Redstone Block found after " .. forward_count_to_redstone .. " forward moves.")end;

            break

        end;

       

        if DEBUG_LOGGING_ENABLED and LOG_LEVELS then

            local block_ahead_log_str = "pcall_fail"

            if pcall_success then

                if inspect_success_val then block_ahead_log_str = (block_data_val_or_errmsg and type(block_data_val_or_errmsg)=="table" and block_data_val_or_errmsg.name or "empty")

                else block_ahead_log_str = "inspect_fail:" .. tostring(block_data_val_or_errmsg) end

            else block_ahead_log_str = "pcall_fail:" .. tostring(inspect_success_val) end

            botLog(LOG_LEVELS.DEBUG,"initializeBot: Redstone not found. Fwd. Count:"..forward_count_to_redstone.." Ahead: " .. block_ahead_log_str)

        end;

       

        if turtle.forward()then

            forward_count_to_redstone=forward_count_to_redstone+1;

            redstone_retries=0

        else

            if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"initializeBot: Path to Redstone obstructed. Retry "..(redstone_retries+1).."/"..MAX_REDSTONE_BLOCK_RETRIES)end;

            redstone_retries=redstone_retries+1;

            if redstone_retries>=MAX_REDSTONE_BLOCK_RETRIES then

                if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"initializeBot: Failed to reach Redstone Block.")end; print("Console: initializeBot - Redstone search FAIL (obstructed)"); return false

            end;

            sleep(REDSTONE_BLOCK_RETRY_WAIT)

        end

    end;

   

    roboSlot = forward_count_to_redstone + 1;

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Determined roboSlot: "..roboSlot)end;

   

    local redstone_block_abs_x = -110

    local redstone_block_abs_y = 65

    local redstone_block_abs_z = 220

    local redstone_block_abs_dir = 1

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, string.format("initializeBot: Setting pos at Redstone: X%dY%dZ%dD%s(1)", redstone_block_abs_x, redstone_block_abs_y, redstone_block_abs_z, DIR_NAMES[redstone_block_abs_dir]))end;

    ml.setPos(redstone_block_abs_x, redstone_block_abs_y, redstone_block_abs_z, redstone_block_abs_dir);

   

    home_pos.x = redstone_block_abs_x - (roboSlot - 1);

    home_pos.y = redstone_block_abs_y;

    home_pos.z = redstone_block_abs_z + 1;

    home_pos.dir = 0;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,string.format("initializeBot: Calc home_pos: X%sY%sZ%sD%s (%s)",home_pos.x,home_pos.y,home_pos.z,home_pos.dir, DIR_NAMES[home_pos.dir]))end;

   

    if not saveData()then if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"initializeBot: Save data failed post-init.")end end;

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Initialization complete.")end;

    print("Console: CHKPT - initializeBot OK");

    return true

 

function maneuverToBarrelsFromHome()

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"maneuverToBarrels: Start")end;

    if not(current_pos.x==home_pos.x and current_pos.y==home_pos.y and current_pos.z==home_pos.z and current_dir==home_pos.dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"maneuverToBarrels: Not at home! Cur: X"..current_pos.x.."Y"..current_pos.y.."Z"..current_pos.z.."D"..current_dir..". Home: X"..home_pos.x.."Y"..home_pos.y.."Z"..home_pos.z.."D"..home_pos.dir..". Abort.")end;

        return false

    end;

    if not ml.moveTo(REFUEL_BARREL_ACCESS_POS.x,REFUEL_BARREL_ACCESS_POS.y,REFUEL_BARREL_ACCESS_POS.z,REFUEL_BARREL_ACCESS_POS.dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverToBarrels: Failed ml.moveTo barrel access.")end;

        return false

    end;

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"maneuverToBarrels: OK, at barrel access.")end;

    return true

 

function maneuverHomeFromBarrels()

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"maneuverHome: Start")end

    if not(current_pos.x==REFUEL_BARREL_ACCESS_POS.x and current_pos.y==REFUEL_BARREL_ACCESS_POS.y and current_pos.z==REFUEL_BARREL_ACCESS_POS.z and current_dir==REFUEL_BARREL_ACCESS_POS.dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"maneuverHome: Not at barrel access! Cur: X"..current_pos.x.."Y"..current_pos.y.."Z"..current_pos.z.."D"..current_dir..". Expect: X"..REFUEL_BARREL_ACCESS_POS.x.."Y"..REFUEL_BARREL_ACCESS_POS.y.."Z"..REFUEL_BARREL_ACCESS_POS.z.."D"..REFUEL_BARREL_ACCESS_POS.dir..". Abort.")end; return false

    end

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHome: Cur pos at barrel access: X"..current_pos.x.."Y"..current_pos.y.."Z"..current_pos.z.."D"..DIR_NAMES[current_dir])end

   

    local deltaX = home_pos.x - current_pos.x

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHome: DeltaX to home: " .. deltaX .. " (home.x: "..home_pos.x..", cur.x: "..current_pos.x..")") end

 

    if deltaX ~= 0 then

        local target_x_dir = (deltaX > 0) and 1 or 3

        if not ml.turnToDir(target_x_dir) then

            if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHome: Failed turn for X align.")end; return false

        end

        for _=1, math.abs(deltaX) do

            if not ml.forward() then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHome: Failed move during X align.")end; return false end

        end

    end

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHome: X coord aligned. Cur: X"..current_pos.x.."Y"..current_pos.y.."Z"..current_pos.z.."D"..DIR_NAMES[current_dir]) end

   

    if current_pos.z ~= home_pos.z then

        local deltaZ_to_home = home_pos.z - current_pos.z

        local target_z_dir = (deltaZ_to_home > 0) and 0 or 2

         if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHome: Adj Z from "..current_pos.z.." to "..home_pos.z) end

        if not ml.turnToDir(target_z_dir) then

             if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHome: Failed turn for Z align.")end; return false

        end

        for _=1, math.abs(deltaZ_to_home) do

            if not ml.forward() then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHome: Failed move during Z align.")end; return false end

        end

    end

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHome: Z coord aligned. Cur: X"..current_pos.x.."Y"..current_pos.y.."Z"..current_pos.z.."D"..DIR_NAMES[current_dir]) end

 

    if not ml.turnToDir(home_pos.dir) then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHome: Failed turn to final home dir ("..DIR_NAMES[home_pos.dir]..").")end; return false

    end

   

    if current_pos.x==home_pos.x and current_pos.y==home_pos.y and current_pos.z==home_pos.z and current_dir==home_pos.dir then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"maneuverHome: OK, at home.")end; return true

    else

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,string.format("maneuverHome: Homing FAILED. Pos Mismatch. Expect X%sY%sZ%sD%s, Got X%sY%sZ%sD%s", home_pos.x,home_pos.y,home_pos.z,DIR_NAMES[home_pos.dir], current_pos.x,current_pos.y,current_pos.z,DIR_NAMES[current_dir]))end;

        return false

    end

 

function goHomeProcedure()

    print("Console: CHKPT - Enter goHomeProcedure");

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"goHomeProc: Start")end;

    if current_pos.x==home_pos.x and current_pos.y==home_pos.y and current_pos.z==home_pos.z and current_dir==home_pos.dir then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"goHomeProc: Already at home.")end; print("Console: goHomeProcedure - Already home");

        return true

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"goHomeProc: Nav to nest entry x-113 y100 z221...")end;

    if not ml.moveTo(-113,100,221,nil)then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"goHomeProc: Failed to nav to nest entry.")end; print("Console: goHomeProcedure - moveTo nest entry FAIL");

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"goHomeProc: At nest entry. Descending to Y65.")end;

    while current_pos.y > 65 do

        if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"goHomeProc: Descending. Cur Y:"..current_pos.y)end;

        if not ml.down()then

            if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"goHomeProc: Descend failed at Y:"..current_pos.y)end; print("Console: goHomeProcedure - descend FAIL");

            return false

        end

    end;

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"goHomeProc: Descended to Y65.")end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"goHomeProc: Moving to barrel access pos REFUEL_BARREL_ACCESS_POS")end;

    if not ml.moveTo(REFUEL_BARREL_ACCESS_POS.x,REFUEL_BARREL_ACCESS_POS.y,REFUEL_BARREL_ACCESS_POS.z,REFUEL_BARREL_ACCESS_POS.dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"goHomeProc: Failed to move to barrel access pos.")end;

        return false

    end;

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"goHomeProc: Positioned at refuel barrel access.")end;

   

    if not maneuverHomeFromBarrels()then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"goHomeProc: maneuverHomeFromBarrels failed.")end;

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"goHomeProc: Successfully returned home.")end;

    print("Console: CHKPT - goHomeProcedure OK");

    return true

 

function handleFuel()

    print("Console: CHKPT - Enter handleFuel");

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Start")end;

    if not(current_pos.x==REFUEL_BARREL_ACCESS_POS.x and current_pos.y==REFUEL_BARREL_ACCESS_POS.y and current_pos.z==REFUEL_BARREL_ACCESS_POS.z and current_dir==REFUEL_BARREL_ACCESS_POS.dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleFuel: Not at barrel access. Skipping fuel.")end;

        return true

    end;

   

    local fuel_level, fuel_limit = ml.getFuelLevel(), ml.getFuelLimit();

    if fuel_limit == 0 then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Infinite fuel.")end;

        return true

    end;

   

    local fuel_percentage = (fuel_level / fuel_limit);

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,string.format("handleFuel: Fuel: %d/%d (%.2f%%)",fuel_level,fuel_limit,fuel_percentage*100))end;

   

    local needs_refuel = fuel_percentage < REFUEL_BELOW_PERCENTAGE;

    local coal_detail = ml.getItemDetail(FUEL_SLOT);

    local coal_count = ml.getItemCount(FUEL_SLOT);

    local needs_restock = not coal_detail or coal_detail.name ~= COAL_BLOCK_NAME or coal_count < (coal_detail and coal_detail.maxCount or 64);

 

    if needs_refuel or needs_restock then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Action. Refuel="..tostring(needs_refuel)..", Restock="..tostring(needs_restock))end;

       

        if needs_restock then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Restocking slt "..FUEL_SLOT.." with "..COAL_BLOCK_NAME)end;

            ml.select(FUEL_SLOT);

            if coal_detail and coal_detail.name ~= COAL_BLOCK_NAME and coal_count > 0 then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleFuel: Non-"..COAL_BLOCK_NAME.." in fuel slt! Can't restock.")end

            else

                local amount_to_suck = (coal_detail and coal_detail.maxCount or 64) - coal_count;

                if amount_to_suck > 0 then

                    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"handleFuel: Try suck "..amount_to_suck.." "..COAL_BLOCK_NAME..".")end;

                    if ml.suck(amount_to_suck)then

                        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Sucked "..COAL_BLOCK_NAME..". New count: "..ml.getItemCount(FUEL_SLOT))end

                    else

                        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleFuel: Failed to suck "..COAL_BLOCK_NAME..".")end

                    end

                else

                     if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"handleFuel: Fuel slt full of "..COAL_BLOCK_NAME.." or needs 0.")end

                end

            end

        end;

       

        coal_detail = ml.getItemDetail(FUEL_SLOT)

        if fuel_percentage < REFUEL_BELOW_PERCENTAGE and coal_detail and coal_detail.name == COAL_BLOCK_NAME then

             if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Refueling...")end;

             if not ml.refuel()then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleFuel: ml.refuel() attempt failed.")end

             end

        elseif fuel_percentage < REFUEL_BELOW_PERCENTAGE then

            if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleFuel: Needs refuel, but fuel slt no "..COAL_BLOCK_NAME)end

        end

    else

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Fuel level and stock OK.")end

    end;

    print("Console: CHKPT - Exit handleFuel");

    return true

 

function handleItemReturn()

    print("Console: CHKPT - Enter handleItemReturn");

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleItemReturn: Start")end;

    if not(current_pos.x==REFUEL_BARREL_ACCESS_POS.x and current_pos.y==REFUEL_BARREL_ACCESS_POS.y and current_pos.z==REFUEL_BARREL_ACCESS_POS.z and current_dir==REFUEL_BARREL_ACCESS_POS.dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleItemReturn: Not at barrel access. Skipping.")end;

        return true

    end;

   

    local items_found_to_return=false;

    for slot_idx=1,15 do

        if ml.getItemCount(slot_idx)>0 then

            items_found_to_return=true;

            if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"handleItemReturn: Found items in slt "..slot_idx.." to return.")end;

            break

        end

    end;

   

    if not items_found_to_return then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleItemReturn: No items in cargo slts 1-15.")end; print("Console: handleItemReturn - No items");

        return true

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleItemReturn: Items found. Moving up to Return Barrel.")end;

    if not ml.up()then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"handleItemReturn: Failed move up to Return Barrel.")end; print("Console: handleItemReturn - up FAIL");

        return false

    end;

   

    for slot_idx=1,15 do

        ml.select(slot_idx);

        local item_count_in_slot=ml.getItemCount(slot_idx);

        if item_count_in_slot > 0 then

            local item_detail=ml.getItemDetail(slot_idx);

            local item_name = item_detail and item_detail.name or "Unknown Item";

            if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"handleItemReturn: Try return "..item_count_in_slot.."x "..item_name.." from slt "..slot_idx)end;

            if not ml.drop()then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"handleItemReturn: Failed drop items from slt "..slot_idx)end

            end

        end

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"handleItemReturn: Finished returns. Moving down from Return Barrel.")end;

    if not ml.down()then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"handleItemReturn: Failed move down from Return Barrel.")end; print("Console: handleItemReturn - down FAIL");

        return false

    end;

   

    undeliveredItemsBuffer = {}

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleItemReturn: Item return complete.")end;

    print("Console: CHKPT - Exit handleItemReturn");

    return true

 

function getItemsFromME(itemsToGetTable)

    print("Console: CHKPT - Enter getItemsFromME")

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "getItemsFromME: Start") end

 

    if not (current_pos.x == home_pos.x and current_pos.y == home_pos.y and current_pos.z == home_pos.z and current_dir == home_pos.dir) then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "getItemsFromME: Not at home. Aborting.") end

        return {}

    end

    if not pMeBridge then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "getItemsFromME: pMeBridge is nil. Aborting.") end

        return {}

    end

    if type(pMeBridge.exportItem) ~= "function" then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "getItemsFromME: pMeBridge NO 'exportItem' method. Peripheral/mod issue? Abort ME.") end

        return {}

    end

 

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: Moving up to ME xfer chest.") end

    if not ml.up() then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "getItemsFromME: Failed move up to ME xfer chest.") end

        return {}

    end

 

    local fetched_item_details = {}

 

    for _, requested_item_spec in ipairs(itemsToGetTable) do

        if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: Request " .. requested_item_spec.count .. "x " .. requested_item_spec.name .. " from ME.") end

       

        local export_pcall_success, export_result_or_err = pcall(function() return pMeBridge.exportItem({ name = requested_item_spec.name, count = requested_item_spec.count }, "up") end)

       

        if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: exportItem pcall SC=" .. tostring(export_pcall_success) .. ", Res/Err=" .. textutils.serialize(export_result_or_err)) end

 

        if not export_pcall_success then

            if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "getItemsFromME: CRITICAL - pcall pMeBridge.exportItem failed for " .. requested_item_spec.name .. ". Err: " .. tostring(export_result_or_err)) end

            goto continue_me_item_request

        end

       

        if type(export_result_or_err) ~= "number" or export_result_or_err == 0 then

             if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "getItemsFromME: ME export 0/non-numeric for " .. requested_item_spec.name .. ". Actual ME resp: " .. textutils.serialize(export_result_or_err)) end

            goto continue_me_item_request

        end

 

        local actual_exported_count = export_result_or_err

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "getItemsFromME: ME Bridge exported " .. actual_exported_count .. "x " .. requested_item_spec.name .. " to chest.") end

       

        local amount_remaining_to_suck_from_chest = actual_exported_count

        while amount_remaining_to_suck_from_chest > 0 do

            local target_slot = -1

            for s = 1, 15 do

                local item_in_slot = ml.getItemDetail(s)

                if item_in_slot and item_in_slot.name == requested_item_spec.name and item_in_slot.count < item_in_slot.maxCount then

                    target_slot = s

                    break

                end

            end

            if target_slot == -1 then

                for s = 1, 15 do

                    if not ml.getItemDetail(s) then

                        target_slot = s

                        break

                    end

                end

            end

 

            if target_slot == -1 then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "getItemsFromME: No inv space for '" .. requested_item_spec.name .. "' (need " .. amount_remaining_to_suck_from_chest .. "). Items may remain in chest.") end

                break

            end

 

            ml.select(target_slot)

            local space_in_this_slot = turtle.getItemSpace(target_slot)

            local attempt_suck_amount = math.min(amount_remaining_to_suck_from_chest, space_in_this_slot)

 

            if attempt_suck_amount == 0 then

                if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: Slt " .. target_slot .. " full or no more items for " .. requested_item_spec.name .. ". Skip suck.") end

                break

            end

           

            local count_in_slot_before_suck = ml.getItemCount(target_slot)

            if ml.suck(attempt_suck_amount) then

                local count_in_slot_after_suck = ml.getItemCount(target_slot)

                local num_actually_sucked_this_op = count_in_slot_after_suck - count_in_slot_before_suck

               

                if num_actually_sucked_this_op > 0 then

                    amount_remaining_to_suck_from_chest = amount_remaining_to_suck_from_chest - num_actually_sucked_this_op

                   

                    local existing_entry_idx = -1

                    for i, entry in ipairs(fetched_item_details) do

                        if entry.slot == target_slot then

                            existing_entry_idx = i; break

                        end

                    end

                    if existing_entry_idx ~= -1 then

                        fetched_item_details[existing_entry_idx].count = count_in_slot_after_suck

                    else

                        table.insert(fetched_item_details, { name = requested_item_spec.name, slot = target_slot, count = count_in_slot_after_suck })

                    end

                    if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "getItemsFromME: Sucked " .. num_actually_sucked_this_op .. "x " .. requested_item_spec.name .. " to slt " .. target_slot .. ". Total: " .. count_in_slot_after_suck .. ". Left in chest: " .. amount_remaining_to_suck_from_chest) end

                else

                    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: ml.suck() 0 items for " .. requested_item_spec.name .. " to slt " .. target_slot .. ". Chest empty?") end

                    break

                end

            else

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "getItemsFromME: ml.suck() failed for " .. requested_item_spec.name .. " to slt " .. target_slot .. ". Chest obstructed/empty?") end

                break

            end

        end

        ::continue_me_item_request::

    end

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: Finished all requests. Moving down from ME chest.") end

    if not ml.down() then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "getItemsFromME: Failed to move down from ME xfer chest.") end

    end

 

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "getItemsFromME: Process complete. Fetched " .. #fetched_item_details .. " item stacks/details.") end

    print("Console: CHKPT - Exit getItemsFromME")

    return fetched_item_details

 

function leaveNest()

    print("Console: CHKPT - Enter leaveNest");

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"leaveNest: Start")end;

   

    local start_exit_pos_x = home_pos.x

    local start_exit_pos_y = home_pos.y

    local start_exit_pos_z = home_pos.z - 1

    local start_exit_dir = 1

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, string.format("leaveNest: Moving to redstone block pos (X%sY%sZ%sD%s) for exit.", start_exit_pos_x, start_exit_pos_y, start_exit_pos_z, DIR_NAMES[start_exit_dir]))end;

    if not ml.moveTo(start_exit_pos_x, start_exit_pos_y, start_exit_pos_z, start_exit_dir)then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"leaveNest: Failed to move to redstone block for exit.")end;

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Turning South (TR from East).")end;

    if not ml.turnRight()then return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Moving Forward (South).")end;

    if not ml.forward()then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"leaveNest: Obstructed moving South.")end;return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Turning West (TR from South).")end;

    if not ml.turnRight()then return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Moving Forward (West).")end;

    if not ml.forward()then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"leaveNest: Obstructed moving West.")end;return false end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Ascending to Y=100...")end;

    while current_pos.y < 100 do

        if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Ascending. Cur Y:"..current_pos.y)end;

        if not ml.up()then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"leaveNest: Obstructed ascent at Y:"..current_pos.y)end;return false end

    end;

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"leaveNest: Reached Y=100.")end;

   

    local target_exit_x = -111

    local target_exit_y = 100

    local target_exit_z = 221

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, string.format("leaveNest: Moving to final exit (X%sY%sZ%s).",target_exit_x, target_exit_y, target_exit_z))end;

    if not ml.moveTo(target_exit_x, target_exit_y, target_exit_z, nil)then

        if LOG_LEVELS then botLog(LOG_LEVELS.WARN, string.format("leaveNest: Can't reach precise final exit. Cur Y:%s. Tgt X%sY%sZ%s.", current_pos.y, target_exit_x, target_exit_y, target_exit_z))end;

        if current_pos.y ~= target_exit_y then

            if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"leaveNest: Critical - Y incorrect after ascent. Expected Y"..target_exit_y)end;

            return false

        end

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,string.format("leaveNest: OK. Cur Pos: X%sY%sZ%sD%s (%s)",current_pos.x,current_pos.y,current_pos.z,current_dir, DIR_NAMES[current_dir]))end;

    print("Console: CHKPT - Exit leaveNest");

    return true

 

function deliverItems(target_pos,items_in_slots_details)

    print("Console: CHKPT - Enter deliverItems");

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,string.format("deliverItems: Target X%sY%sZ%s",target_pos.x,target_pos.y,target_pos.z))end;

   

    if not ml.moveTo(target_pos.x,target_pos.y,target_pos.z,nil)then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"deliverItems: Failed move to delivery loc ("..target_pos.x..","..target_pos.y..","..target_pos.z.."). Buffering items.")end;

        for _,item_detail_entry in ipairs(items_in_slots_details)do

            table.insert(undeliveredItemsBuffer,{name=item_detail_entry.name,count=item_detail_entry.count,original_slot=item_detail_entry.slot})

        end;

        if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"deliverItems: All items for this delivery buffered. Buffer size:"..#undeliveredItemsBuffer)end;

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"deliverItems: Arrived at delivery loc. Dropping items.")end;

    for _,item_detail_entry in ipairs(items_in_slots_details)do

        ml.select(item_detail_entry.slot);

        local count_to_drop = ml.getItemCount(item_detail_entry.slot);

       

        if count_to_drop > 0 then

            if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"deliverItems: Try drop "..count_to_drop.."x "..item_detail_entry.name.." from slt "..item_detail_entry.slot)end;

            if not ml.drop(count_to_drop)then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"deliverItems: Failed drop all ("..item_detail_entry.name..") from slt "..item_detail_entry.slot)end;

                local remaining_count = ml.getItemCount(item_detail_entry.slot);

                if remaining_count > 0 then

                    table.insert(undeliveredItemsBuffer,{name=item_detail_entry.name,count=remaining_count,original_slot=item_detail_entry.slot});

                    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"deliverItems: "..remaining_count.."x "..item_detail_entry.name.." from slt "..item_detail_entry.slot.." added to buffer.")end

                end

            else

                if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"deliverItems: OK dropped "..count_to_drop.."x "..item_detail_entry.name.." from slt "..item_detail_entry.slot)end

            end

        end

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"deliverItems: Delivery attempt complete.")end;

    print("Console: CHKPT - Exit deliverItems");

    return true

 

local function run()

    print("Console: CHKPT - run() CALLED")

    do

        local fileNameToOpen = LOG_FILE_NAME_CONST

        if type(fileNameToOpen) ~= "string" then

            print("Console: CRITICAL - LOG_FILE_NAME_CONST nil. Forcing default.")

            fileNameToOpen = "villagebot_forced_CRITICAL.log"

        end

        local f,ferr=fs.open(fileNameToOpen,"w")

        if f then

            f.write(string.format("[%s] VillageBot Log Initialized.\n",os.date("%Y-%m-%d %H:%M:%S")))

            f.close()

            print("Console: Log file reset: " .. fileNameToOpen)

        else

            print("Console: CRITICAL - Log init FAIL for '" .. tostring(fileNameToOpen) .. "': "..tostring(ferr))

            if LOG_LEVELS and pcall then

                 pcall(botLog,LOG_LEVELS.FATAL,"CRITICAL - Log init FAIL: "..tostring(ferr))

            end

            return

        end

    end

 

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"VillageBot v1.7 Starting...") else print("Console: VillageBot v1.7 Starting... (LOG_LEVELS nil)") end

    sleep(0.1)

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"RUN: Init core peripherals...") end; sleep(0.1)

    local corePOK=initCorePeripherals();

    if not corePOK then if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,"RUN: initCoreP FAILED. Terminating.")end; print("Console: Error - Core P init FAILED. Terminate."); return end

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"RUN: Core Peripherals OK.")end; sleep(0.1)

   

    local data_setup_successful=false

    if loadData() and roboSlot~=nil and home_pos and home_pos.x~=nil and current_pos and current_pos.x~=nil and current_dir~=nil then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"RUN: Bot data loaded. RoboSlot:"..roboSlot)end

        data_setup_successful=true

    else

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"RUN: No valid data file/incomplete. Full initialization.")end

        if fs.exists(BOT_DATA_FILE) then

             if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"RUN: Existing data file invalid. Deleting.")end

             pcall(fs.delete, BOT_DATA_FILE)

        end

        if initializeBot()then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"RUN: Bot full initialization OK.")end

            data_setup_successful=true

        else

            if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,"RUN: Bot full initialization FAILED. Terminating.")end;print("Console: Error - Bot core init FAILED. Terminate.");return

        end

    end

    if not data_setup_successful then if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,"RUN: Failed load/init bot data. Terminating.")end;print("Console: FATAL - Data setup FAILED. Terminate.");return end

   

    if not pMeBridge or not pColonyIntegrator then

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "RUN: Home location P (ME, ColonyIntegrator) not confirmed. Ensure home & find.") end

        if not (current_pos.x == home_pos.x and current_pos.y == home_pos.y and current_pos.z == home_pos.z and current_dir == home_pos.dir) then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO, "RUN: Bot not home. Running goHomeProcedure.") end

            if not goHomeProcedure() then