VillageBot v1.0

 

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 = -111, y = 65, z = 219, 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,"findPeripheral: Find "..name.." type '"..tostring(type_arg).."'")end

    if type(type_arg) ~= "string" then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "findPeripheral: Invalid type argument passed. 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,"findPeripheral: peripheral.find Result for type '"..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,"initCorePeripherals: Start") end

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

   

    if not pAutomata then

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

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

        return false

    end

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initCorePeripherals: 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,"findHomeLocationPeripherals: 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,"findHomeLocationPeripherals: Called when not at stored home coordinates. This might fail.") 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,"findHomeLocationPeripherals: Not facing home direction (".. (home_pos and DIR_NAMES[home_pos.dir] or "N/A").."). ME Bridge might not be in front.") end

        if home_pos and home_pos.dir ~= nil then

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

            if not ml.turnToDir(home_pos.dir) then

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

            end

        else

             if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "findHomeLocationPeripherals: 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 LOG_LEVELS then

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

    end

 

    if not pColonyIntegrator then

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

    elseif LOG_LEVELS then

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

    end

 

 

    if not (pMeBridge and pColonyIntegrator)then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"findHomeLocationPeripherals: 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,"findHomeLocationPeripherals: 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 (roboSlot, home_pos, current_pos, or current_dir is nil/incomplete).")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. Success:"..tostring(sc)..", Err/Data:"..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 file.")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:%s Y:%s Z:%s Dir:%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: Success, Block: "..d.name .. (d.state and " " .. textutils.serialize(d.state) or "")) end; return d elseif s and not d then if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspect: Success, Empty space.")end; return nil else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.inspect: Failed: " .. 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: Success, Block: "..d.name)end; return d else if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspectUp: Success, Empty/failed.")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: Success, Block: "..d.name)end; return d else if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.inspectDown: Success, Empty/failed.")end; return nil end end

local function genericMove(moveFunc,actionName,updatesPos,updatesDir) if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"genericMove: Action: '"..actionName.."' FuelStart:"..turtle.getFuelLevel())end; local s,e=pcall(moveFunc); if s then if LOG_LEVELS then botLog(LOG_LEVELS.INFO,actionName.." successful. FuelEnd:"..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,"genericMove: 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,"genericMove: 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.." failed: "..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: Slot "..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: Slot "..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: Attempt drop "..aC.." of "..iN.." from slot "..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: Dropped from slot "..sl)end else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.drop: Fail drop from slot "..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: Attempt suck "..aC.." into slot "..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: Sucked items into slot "..sl .. " (requested: "..aC..")")end else if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"ml.suck: Fail suck into slot "..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. Expected '"..COAL_BLOCK_NAME.."', Item: "..(it and it.name or "nil"))end;return false end;if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.refuel: Attempt from slot "..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 "..(current_dir and 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 - Target X:%s Y:%s Z:%s Dir:%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: Attempt: Target X%sY%sZ%sD%s | Current X%sY%sZ%sD%s (%s)",tx,ty,tz,(tdir_opt and DIR_NAMES[tdir_opt] or "any"), current_pos.x,current_pos.y,current_pos.z,current_dir,(current_dir and DIR_NAMES[current_dir] or "nil")))end; local function att(aF,cnt,axisName)for i=1,cnt do if DEBUG_LOGGING_ENABLED and LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"ml.moveTo.att: "..axisName.." Step "..i.."/"..cnt)end;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: Adjust 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: Adjust 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.." to X="..tx)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.." to X="..tx)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: Adjust 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.." to Z="..tz)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.." to Z="..tz)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: Adjust final dir to "..DIR_NAMES[tdir_opt].." ("..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.." ("..(current_dir and DIR_NAMES[current_dir] or "nil")..")")end; print(string.format("Console: ml.moveTo End - Current X:%s Y:%s Z:%s Dir:%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: Success="..tostring(ws)..", Result="..tostring(we))end;

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

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"initializeBot: Warp OK. Now 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: Attempt " .. i .. "/4 to find ME Bridge peripheral ("..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 attempt " .. 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 peripheral not found in current direction. Turning right.") end

            if not turtle.turnRight() then

                if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "initializeBot: turtle.turnRight() failed during ME Bridge peripheral 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 attempts. This is 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 peripheral NOT found (it is required).") end

        return false

    end

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

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "initializeBot: Confirming visual orientation 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 is in front (attempt " .. 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 block. Turning right for visual confirmation.") end

            if not turtle.turnRight() then

                if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "initializeBot: turtle.turnRight() failed during visual ME Bridge confirmation.") 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 attempts. This is needed for coordinate setup.") 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 after orienting to ME Bridge.")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 (to face Redstone path).")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..") along path...")end;

    while true do

        -- CORRECTED THE RETURN VALUE HANDLING FOR PCALL(TURTLE.INSPECT)

        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

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

                        block_ahead_log_str = block_data_val_or_errmsg.name

                    else

                        block_ahead_log_str = "empty" -- inspect success, but no block table (air)

                    end

                else

                    block_ahead_log_str = "inspect_fail:" .. tostring(block_data_val_or_errmsg) -- inspect failed, block_data_val_or_errmsg is error

                end

            else

                 block_ahead_log_str = "pcall_fail:" .. tostring(inspect_success_val) -- pcall failed, inspect_success_val is pcall error

            end

            botLog(LOG_LEVELS.DEBUG,"initializeBot: Redstone not found in front, moving forward. Count:"..forward_count_to_redstone.." BlockAhead: " .. 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 after multiple retries.")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 current pos at Redstone (Slot %d's marker): X%d Y%d Z%d Dir%s(1)", roboSlot, 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: Calculated home_pos: X%s Y%s Z%s Dir%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-initialization.")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,"maneuverToBarrelsFromHome: 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,"maneuverToBarrelsFromHome: Not at home! Current: 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..". Aborting.")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,"maneuverToBarrelsFromHome: Failed ml.moveTo barrel access point.")end;

        return false

    end;

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

    return true

 

function maneuverHomeFromBarrels()

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"maneuverHomeFromBarrels: 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,"maneuverHomeFromBarrels: Not at barrel access point! Abort.")end; return false

    end

 

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

   

    if not ml.turnRight() then return false end

    if not ml.forward() then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHomeFromBarrels: Failed forward (North) after turning from barrel access.")end; return false end

 

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHomeFromBarrels: Intermediate pos: 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,"maneuverHomeFromBarrels: Calculated deltaX to home: " .. deltaX .. " (home_pos.x: "..home_pos.x..", current_pos.x: "..current_pos.x..")") end

 

    if deltaX > 0 then

        if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHomeFromBarrels: Moving East by "..deltaX)end

        if not ml.turnToDir(1) then return false end

        for _=1, deltaX do

            if not ml.forward() then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHomeFromBarrels: Failed move East step.")end; return false end

        end

    elseif deltaX < 0 then

        if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHomeFromBarrels: Moving West by "..math.abs(deltaX))end

        if not ml.turnToDir(3) then return false end

        for _=1, math.abs(deltaX) do

            if not ml.forward() then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHomeFromBarrels: Failed move West step.")end; return false end

        end

    end

   

    if not ml.turnToDir(home_pos.dir) then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHomeFromBarrels: Failed to turn North for final approach.")end; return false

    end

 

    if current_pos.z ~= home_pos.z then

        local deltaZ = home_pos.z - current_pos.z

        if deltaZ == 1 and current_dir == 0 then

             if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"maneuverHomeFromBarrels: Moving final step North to Z:"..home_pos.z)end

            if not ml.forward() then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHomeFromBarrels: Failed final Northward move to home Z.")end; return false end

        else

            if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"maneuverHomeFromBarrels: Unexpected Z difference or direction for final move. deltaZ: "..deltaZ..", current_dir: "..current_dir)end; return false

        end

    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,"maneuverHomeFromBarrels: OK, successfully at home.")end; return true

    else

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,string.format("maneuverHomeFromBarrels: Homing FAILED. Position Mismatch. Expected 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,"goHomeProcedure: 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,"goHomeProcedure: Already at home.")end; print("Console: goHomeProcedure - Already home");

        return true

    end;

   

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

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

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

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"goHomeProcedure: 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,"goHomeProcedure: Descending. Current Y:"..current_pos.y)end;

        if not ml.down()then

            if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"goHomeProcedure: 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,"goHomeProcedure: Descended to Y65.")end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"goHomeProcedure: Moving to barrel access position defined by 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,"goHomeProcedure: Failed to move to defined barrel access position.")end;

        return false

    end;

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

   

    if not maneuverHomeFromBarrels()then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"goHomeProcedure: maneuverHomeFromBarrels (called from goHomeProcedure) failed.")end;

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"goHomeProcedure: 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 point. Skipping fuel handling.")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 detected.")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 required. Needs Refuel="..tostring(needs_refuel)..", Needs Restock="..tostring(needs_restock))end;

       

        if needs_restock then

            if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleFuel: Restocking fuel slot "..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.." item found in fuel slot! Cannot restock unless slot is cleared or contains correct item type.")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: Attempting to 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.." into fuel slot. New count: "..ml.getItemCount(FUEL_SLOT))end

                    else

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

                    end

                else

                     if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"handleFuel: Fuel slot already full of "..COAL_BLOCK_NAME.." or needs 0 items.")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 slot does not contain "..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 point. Skipping item return.")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 slot "..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 slots 1-15 to return.")end; print("Console: handleItemReturn - No items");

        return true

    end;

   

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

    if not ml.up()then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"handleItemReturn: Failed to move up to Return Barrel level.")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: Attempting to return "..item_count_in_slot.."x "..item_name.." from slot "..slot_idx)end;

            if not ml.drop()then

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

            end

        end

    end;

   

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

    if not ml.down()then

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

        return false

    end;

   

    undeliveredItemsBuffer = {}

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"handleItemReturn: Item return process 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 processing item requests.") 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 position. Aborting.") end

        return {}

    end

    if not pMeBridge then

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

        return {}

    end

 

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

    if not ml.up() then

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

        return {}

    end

 

    local fetched_item_details = {}

 

    for _, requested_item_spec in ipairs(itemsToGetTable) do

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

       

        local export_success, export_result = 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 Success=" .. tostring(export_success) .. ", Result=" .. textutils.serialize(export_result)) end

 

        if not export_success or type(export_result) ~= "number" or export_result == 0 then

            if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "getItemsFromME: ME export failed or exported 0 for " .. requested_item_spec.name .. ". Error/Msg: " .. tostring(export_result)) end

            goto continue_me_item_request

        end

 

        local actual_exported_count = export_result

        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 inventory space for more '" .. requested_item_spec.name .. "' (needed " .. 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: Slot " .. target_slot .. " is full or no more items needed for " .. requested_item_spec.name .. ". Skipping 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 .. " into slot " .. target_slot .. ". Total in slot: " .. count_in_slot_after_suck .. ". Remaining from chest: " .. amount_remaining_to_suck_from_chest) end

                else

                    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG, "getItemsFromME: ml.suck() transferred 0 items for " .. requested_item_spec.name .. " into slot " .. target_slot .. ". Chest might be empty for this item now.") end

                    break

                end

            else

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN, "getItemsFromME: ml.suck() failed for " .. requested_item_spec.name .. " into slot " .. target_slot .. ". Chest might be obstructed or empty.") end

                break

            end

        end

        ::continue_me_item_request::

    end

 

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

    if not ml.down() then

        if LOG_LEVELS then botLog(LOG_LEVELS.ERROR, "getItemsFromME: Failed to move down from ME transfer chest level.") 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 its redstone block position (X%s Y%s Z%s Dir%s) to begin exit sequence.", 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 its redstone block to start exit sequence.")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 during exit.")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 during exit.")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. Current Y:"..current_pos.y)end;

        if not ml.up()then if LOG_LEVELS then botLog(LOG_LEVELS.ERROR,"leaveNest: Obstructed during 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 point (X%s Y%s Z%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: Could not reach precise final exit point. Current Y:%s. Target was X%s Y%s Z%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 coordinate incorrect after ascent and moveTo. Expected Y"..target_exit_y)end;

            return false

        end

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.INFO,string.format("leaveNest: Successfully exited nest. Current Position: X:%s Y:%s Z:%s Dir:%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:%s Y:%s Z:%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 to move to delivery location.")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 moved to undeliveredItemsBuffer. Buffer size:"..#undeliveredItemsBuffer)end;

        return false

    end;

   

    if LOG_LEVELS then botLog(LOG_LEVELS.DEBUG,"deliverItems: Arrived at delivery location. Attempting to drop 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: Attempting to drop "..count_to_drop.."x "..item_detail_entry.name.." from slot "..item_detail_entry.slot)end;

            if not ml.drop(count_to_drop)then

                if LOG_LEVELS then botLog(LOG_LEVELS.WARN,"deliverItems: Failed to drop all items ("..item_detail_entry.name..") from slot "..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 slot "..item_detail_entry.slot.." added to undeliveredItemsBuffer.")end

                end

            else

                if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"deliverItems: Successfully dropped "..count_to_drop.."x "..item_detail_entry.name.." from slot "..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 is nil AT THE POINT OF OPENING. Forcing default for safety.")

            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 and initialized using: " .. 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 v1.4 Starting...") else print("Console: VillageBot v1.4 Starting... (LOG_LEVELS nil)") end

    sleep(0.1)

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

    local corePOK=initCorePeripherals();

    if not corePOK then if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,"RUN: initCorePeripherals FAILED. Terminating script.")end; print("Console: Error - Core Peripheral init FAILED. Terminate from run()."); 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 successfully. RoboSlot:"..roboSlot)end

        data_setup_successful=true

    else

        if LOG_LEVELS then botLog(LOG_LEVELS.INFO,"RUN: No valid data file found or data incomplete. Performing full initialization.")end

        if fs.exists(BOT_DATA_FILE) then

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

             pcall(fs.delete, BOT_DATA_FILE)

        end

        if initializeBot()then

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

            data_setup_successful=true

        else

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

        end

    end

    if not data_setup_successful then if LOG_LEVELS then botLog(LOG_LEVELS.FATAL,"RUN: Failed to load or initialize bot data. Terminating script.")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 peripherals (ME Bridge, Colony Integrator) not yet confirmed/attached. Ensuring bot is home and then finding/attaching them.") 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