mapserver

--[[
	SWARM server by ninnghazad
	See drone-script for more info.
]]
mapserver = {}
version = "0.1"
os.loadAPI("swarm")
swarm.setSystemType("mapserver")
numSaveFiles = 4

function locate()
	while true do
		x,y,z = gps.locate(120)
		if x ~= nil then
			break
		end
		print("Waiting for GPS-signal... "..textutils.serialize({x,y,z}))
	end
end

local function init()
	print("Booting...")
	swarm.openModem()
	swarm.openModem(swarm.CHANNEL_DRONE_BROADCAST)
	locate()
	load()
	return true
end

function net()
	swarm.status("mapserver is now running")
	swarm.openModem(swarm.id)
	local e,coord,msg,stink,id
	-- using a table of functions is faster then a bunch of if/elseifs
	local actions = {
		[10] = function(msg,id)
			coord = textutils.unserialize(string.sub(msg,2))
			if coord ~= nil and type(coord) == "table" and #coord >= 3 then
				dronePositions[id] = {coord,swarm.timestamp()}
				
				worldMap:set(coord[1],coord[2],coord[3],{0,swarm.timestamp()})
			else
				errors[#errors+1] = "received corrupt position broadcast from "..id.." "..textutils.serialize(coord)
			end
			swarm.statistics["Drone Broadcasts"] = swarm.statistics["Drone Broadcasts"] + 1
		end,
		[1] = function(msg,id)
			coord = textutils.unserialize(string.sub(msg,2))
			if coord ~= nil and type(coord) == "table" then
				msg = string.char(2).." "..textutils.serialize(worldMap:get(coord[1],coord[2],coord[3]))
				rednet.send(id,msg)
				--errors[0] = id.." "..msg
			else
				errors[#errors+1] = "received corrupt get request from "..id
			end
			swarm.statistics["GET"] = swarm.statistics["GET"] + 1
		end,
		[3] = function(msg,id)
			swarm.statistics["SET"] = swarm.statistics["SET"] + 1
			coord = textutils.unserialize(string.sub(msg,2))
			if coord ~= nil then
				if coord[4] == nil then
					worldMap:set(coord[1],coord[2],coord[3],nil)
				else
					worldMap:set(coord[1],coord[2],coord[3],{coord[4],swarm.timestamp()})
				end
			else
				errors[#errors+1] = "received corrupt set request from "..e[2]
			end
		end,
		[100] = function(msg,id)
			rednet.send(id,string.char(101).."MAPSERVER "..id.." ")
		end,
		[110] = function(msg,id)
			-- TODO: we should explicitly save on reboot?!
			swarm.status("received reboot signal")
			rednet.send(id,string.char(111))
			swarm.status("will now reboot")
			os.reboot()
		end,
		[130] = function(msg,id)
			os.reboot()
		end,
		[140] = function(msg,id)
			swarm.status("received shutdown signal")
			rednet.send(id,string.char(141))
			swarm.status("will now shutdown")
			os.shutdown()
		end,
		[120] = function(msg,id)
			rednet.send(id,string.char(121)..textutils.serialize(swarm._status))
		end,
		[123] = function(msg,id)
			if msg == "PING" or msg == "ping" or msg:byte(1) == 123 then -- Serve PING/GPS request
				swarm.statistics["GPS"] = swarm.statistics["GPS"] + 1
				rednet.send(id,textutils.serialize({x,y,z}))
			end
		end,
		[80] = function(msg,id) -- 80 == P
			if msg == "PING" or msg == "ping" or msg:byte(1) == 123 then -- Serve PING/GPS request
				swarm.statistics["GPS"] = swarm.statistics["GPS"] + 1
				rednet.send(id,textutils.serialize({x,y,z}))
			end
		end,
		[112] = function(msg,id) -- 112 == p
			if msg == "PING" or msg == "ping" or msg:byte(1) == 123 then -- Serve PING/GPS request
				swarm.statistics["GPS"] = swarm.statistics["GPS"] + 1
				rednet.send(id,textutils.serialize({x,y,z}))
			end
		end,
	}
	
	stink = 1
	while true do
		e = {os.pullEvent("modem_message")}
		id = e[4]
		msg = e[5]["message"]
		c = msg:byte(1)
		if actions[c] ~= nil then
			actions[c](msg,id)
		end
	end
	errors[#errors+1] = "listener exits!"
end

function key()
	local e
	while true do
		e = {os.pullEvent("key")}
		if e[2] == 16 then -- Q
			print("Q pressed, quitting...")
			--print(""..nil)
			break
		elseif e[2] == 50 then
			mode = "map"
		elseif e[2] == 31 then
			mode = "status"
		elseif e[2] == 78 then
			viewPos[3] = viewPos[3] + 1
		elseif e[2] == 74 then
			viewPos[3] = viewPos[3] - 1
		elseif e[2] == 200 then
			viewPos[2] = viewPos[2] - 1
		elseif e[2] == 208 then
			viewPos[2] = viewPos[2] + 1
		elseif e[2] == 203 then
			viewPos[1] = viewPos[1] - 1
		elseif e[2] == 205 then
			viewPos[1] = viewPos[1] + 1
		end
	end
end

function decode(str,signed)
	local num = 0
	local bytes = #str
	signed = signed or true
	
	for i = 1,bytes do
		num = num + string.byte(str,i) * 256^(bytes-i)
	end
	if signed then
		num = num - ((2^(bytes*8))/2)
	end
	return num
end
function encode(num,signed,bytes)
	local str=""
	signed = signed or true
	bytes = bytes or 4
	
	if signed then
		num = num + ((2^(bytes*8))/2)
	end
	for i=1,bytes do
		str = string.char(num%256) .. str
		num = math.floor(num/256)
	end
	return str
end

local eofMarker = "\0\0\0\0\0\0\0\0\0\0\0"

function binWrite(fileName,data)
	local startTime = swarm.timestamp()
	if fs.exists(fileName) then
		fs.delete(fileName)
	end
	file = fs.open(fileName, "w")
	local buffer,count,bytes
	count = {0,0}
	buffer = ""
	for z,za in pairs(data) do
		if type(za) == "table" and swarm.countArray(za) > 0 then
			for y,ya in pairs(za) do
				for x,v in pairs(ya) do
					buffer = buffer..encode(x)..encode(y)..encode(z,false,1)..encode(v[1],true,1)..encode(v[2],true,1)
					if #buffer > 1024*4 then -- use 4K buffer
						sleep(0)
		 				file.write(buffer)
						count[1] = count[1] + #buffer
						buffer = ""
					end
					count[2] = count[2] + 1
				end
			end
		end
	end
	file.write(buffer)
	count[1] = count[1] + #buffer
	buffer = ""
	
	for i = 1, #eofMarker do
		file.write(eofMarker:byte(i))
		
	end
	file.close()
	
	swarm.statistics["last written values"] = count[2]
	swarm.statistics["last written bytes"] = count[1]+#eofMarker
	swarm.statistics["last written seconds"] = (swarm.timestamp() - startTime) / 20
	return true
end
function binRead(fileName,data)
	file = fs.open(fileName, "rb")
	if file == nil then
		return false
	end
	local buffer,count,eof
	local x,y,z,v,fail,c
	v = {}
	fail = false
	count = 0
	eof = false
	while true do
		buffer = ""
		while true do
			c = file.read()
			if c == nil then
				fail = true
				break
			end
			buffer = buffer..string.char(c)
			
			if #buffer == #eofMarker and buffer == eofMarker then
				eof = true
				break
			end
			if #buffer == 11 then
				break
			end
		end
		
		if fail then
			print("FAIL: "..textutils.serialize(buffer))
			fail = true
			break
		elseif eof then
		--	print("found eof")
			break
		end
		--print(buffer)
		x = decode(buffer:sub(1,4))
		y = decode(buffer:sub(5,8))
		z = decode(buffer:sub(9,9),false)
		v[1] = decode(buffer:sub(10,10))
		v[2] = decode(buffer:sub(11,11))
		--print(#buffer.." # "..x..","..y..","..z..": "..v[1]..","..v[2])
		data:set(x,y,z,v)
		count = count + 1
	end
	file.close()
	if fail then
		return false
	else
		return count
	end
end

function load()
	local mapFile,i,s,t
	i = 1
	t = 0
	local biggest = 1
	while true do
		mapFile = mapFileBase..i
		s = fs.getSize(mapFile)
		if s > t then
			biggest = i
			t = s
		end
		i = i + 1
		if i > numSaveFiles then
			break
		end
	end
	-- try to load biggest mapfile first, then just try all other ones
	i = biggest
	while true do
		mapFile = mapFileBase..i
		print("Trying backup "..mapFile.." ...")
		
		if fs.exists(mapFile) then
			print("Loading "..fs.getSize(mapFile).." bytes of map data...")
			
			
			if binRead(mapFile,worldMap) and worldMap ~= nil and type(worldMap) == "table" then 
				print("Successfully loaded.") 
				break 
			end
		else
			print("There is no such map data: '"..mapFile.."'")
		end
	
		i = i + 1
		if i == biggest then
			print("Could not load any saved map!")
			worldMap = map.new()
			sleep(2)
			break
		end
	end
-- 	--sleep(10)
end

function save()
	local timer = os.startTimer(4)
	local e,data,file,start,i
	i = 1
	local mapFile
	local saveToggle = true
	
	while true do
		e = {os.pullEvent("timer")}
		if e[2] == timer then
			start = swarm.timestamp()
			mapFile = mapFileBase..i
			
			binWrite(mapFile,worldMap.data)
			
			sleep(0)
			swarm.statistics["last written files"] = mapFile
			timer = os.startTimer(saveInterval)
			i = i + 1
			if i > numSaveFiles then
				i = 1
			end
		end
		
	end
	
end





function run()
	swarm.gpsPos = {6,6,6}
	local startTime = swarm.timestamp()
	
	term.clear()
	term.setCursorPos(1,1)

	worldMap = map.new(0)
	mapFileBase = "worldMap.data."..os.getComputerID().."."
	
	name = os.getComputerLabel()
	id = os.getComputerID()
	dronePositions = {}
		
	swarm.statistics["GET"] = 0
	swarm.statistics["SET"] = 0
	swarm.statistics["GET Area"] = 0
	swarm.statistics["GET Path"] = 0
	swarm.statistics["SET Path"] = 0
	swarm.statistics["GPS"] = 0
	swarm.statistics["Drone Broadcasts"] = 0
	
	saveInterval = 300 -- every five minutes
	statusInterval = 0.5
	--local viewPos = {283,-300,84}
	screenSize = {term.getSize()}
	mode = "status" -- If this is == status, diplay numeric infos, if it is == map, diplay graphical map
	--local screenMap = {}
	errors = {}

	init()

	sleep(1)

	term.clear()
	term.setCursorPos(1,1)


	print("Waiting for signals(press Q to quit,press M or S toggle mode) ...")

	function wrapReceiver() return swarm.wrap(net,"network receiver") end 
	function wrapWriter() return swarm.wrap(save,"data writer") end 
	function wrapKeyboard() return swarm.wrap(key,"keyboard handler") end 
		
	parallel.waitForAny(wrapReceiver,wrapWriter,swarm.wrapGui,wrapKeyboard)

	print("shutting down...")
	--sleep(7200*10)
	print(textutils.serialize(errors))
end