-- SPDX-FileCopyrightText: 2017 Daniel Ratcliffe
--
-- SPDX-License-Identifier: LicenseRef-CCPL

--[[- Use [modems][`modem`] to locate the position of the current turtle or
computers.

It broadcasts a PING message over [`rednet`] and wait for responses. In order for
this system to work, there must be at least 4 computers used as gps hosts which
will respond and allow trilateration. Three of these hosts should be in a plane,
and the fourth should be either above or below the other three. The three in a
plane should not be in a line with each other. You can set up hosts using the
gps program.

> [!NOTE]
> When entering in the coordinates for the host you need to put in the `x`, `y`,
> and `z` coordinates of the block that the modem is connected to, not the modem.
> All modem distances are measured from the block that the modem is placed on.

Also note that you may choose which axes x, y, or z refers to - so long as your
systems have the same definition as any GPS servers that're in range, it works
just the same. For example, you might build a GPS cluster according to [this
tutorial][1], using z to account for height, or you might use y to account for
height in the way that Minecraft's debug screen displays.

[1]: https://ccf.squiddev.cc/forums2/index.php?/topic/3088-how-to-guide-gps-global-position-system/

@module gps
@since 1.31
@see gps_setup For more detailed instructions on setting up GPS
]]

local expect = dofile("rom/modules/main/cc/expect.lua").expect

--- The channel which GPS requests and responses are broadcast on.
CHANNEL_GPS = 65534

local function trilaterate(A, B, C)
    local a2b = B.vPosition - A.vPosition
    local a2c = C.vPosition - A.vPosition

    if math.abs(a2b:normalize():dot(a2c:normalize())) > 0.999 then
        return nil
    end

    local d = a2b:length()
    local ex = a2b:normalize( )
    local i = ex:dot(a2c)
    local ey = (a2c - ex * i):normalize()
    local j = ey:dot(a2c)
    local ez = ex:cross(ey)

    local r1 = A.nDistance
    local r2 = B.nDistance
    local r3 = C.nDistance

    local x = (r1 * r1 - r2 * r2 + d * d) / (2 * d)
    local y = (r1 * r1 - r3 * r3 - x * x + (x - i) * (x - i) + j * j) / (2 * j)

    local result = A.vPosition + ex * x + ey * y

    local zSquared = r1 * r1 - x * x - y * y
    if zSquared > 0 then
        local z = math.sqrt(zSquared)
        local result1 = result + ez * z
        local result2 = result - ez * z

        local rounded1, rounded2 = result1:round(0.01), result2:round(0.01)
        if rounded1.x ~= rounded2.x or rounded1.y ~= rounded2.y or rounded1.z ~= rounded2.z then
            return rounded1, rounded2
        else
            return rounded1
        end
    end
    return result:round(0.01)

end

local function narrow(p1, p2, fix)
    local dist1 = math.abs((p1 - fix.vPosition):length() - fix.nDistance)
    local dist2 = math.abs((p2 - fix.vPosition):length() - fix.nDistance)

    if math.abs(dist1 - dist2) < 0.01 then
        return p1, p2
    elseif dist1 < dist2 then
        return p1:round(0.01)
    else
        return p2:round(0.01)
    end
end

--- Tries to retrieve the computer or turtles own location.
--
-- @tparam[opt=2] number timeout The maximum time in seconds taken to establish our
-- position.
-- @tparam[opt=false] boolean debug Print debugging messages
-- @treturn[1] number This computer's `x` position.
-- @treturn[1] number This computer's `y` position.
-- @treturn[1] number This computer's `z` position.
-- @treturn[2] nil If the position could not be established.
function locate(_nTimeout, _bDebug)
    expect(1, _nTimeout, "number", "nil")
    expect(2, _bDebug, "boolean", "nil")
    -- Let command computers use their magic fourth-wall-breaking special abilities
    if commands then
        return commands.getBlockPosition()
    end

    -- Find a modem
    local sModemSide = nil
    for _, sSide in ipairs(rs.getSides()) do
        if peripheral.getType(sSide) == "modem" and peripheral.call(sSide, "isWireless") then
            sModemSide = sSide
            break
        end
    end

    if sModemSide == nil then
        if _bDebug then
            print("No wireless modem attached")
        end
        return nil
    end

    if _bDebug then
        print("Finding position...")
    end

    -- Open GPS channel to listen for ping responses
    local modem = peripheral.wrap(sModemSide)
    local bCloseChannel = false
    if not modem.isOpen(CHANNEL_GPS) then
        modem.open(CHANNEL_GPS)
        bCloseChannel = true
    end

    -- Send a ping to listening GPS hosts
    modem.transmit(CHANNEL_GPS, CHANNEL_GPS, "PING")

    -- Wait for the responses
    local tFixes = {}
    local pos1, pos2 = nil, nil
    local timeout = os.startTimer(_nTimeout or 2)
    while true do
        local e, p1, p2, p3, p4, p5 = os.pullEvent()
        if e == "modem_message" then
            -- We received a reply from a modem
            local sSide, sChannel, sReplyChannel, tMessage, nDistance = p1, p2, p3, p4, p5
            if sSide == sModemSide and sChannel == CHANNEL_GPS and sReplyChannel == CHANNEL_GPS and nDistance then
                -- Received the correct message from the correct modem: use it to determine position
                if type(tMessage) == "table" and #tMessage == 3 and tonumber(tMessage[1]) and tonumber(tMessage[2]) and tonumber(tMessage[3]) then
                    local tFix = { vPosition = vector.new(tMessage[1], tMessage[2], tMessage[3]), nDistance = nDistance }
                    if _bDebug then
                        print(tFix.nDistance .. " metres from " .. tostring(tFix.vPosition))
                    end
                    if tFix.nDistance == 0 then
                        pos1, pos2 = tFix.vPosition, nil
                    else
                        -- Insert our new position in our table, with a maximum of three items. If this is close to a
                        -- previous position, replace that instead of inserting.
                        local insIndex = math.min(3, #tFixes + 1)
                        for i, older in pairs(tFixes) do
                            if (older.vPosition - tFix.vPosition):length() < 1 then
                                insIndex = i
                                break
                            end
                        end
                        tFixes[insIndex] = tFix

                        if #tFixes >= 3 then
                            if not pos1 then
                                pos1, pos2 = trilaterate(tFixes[1], tFixes[2], tFixes[3])
                            else
                                pos1, pos2 = narrow(pos1, pos2, tFixes[3])
                            end
                        end
                    end
                    if pos1 and not pos2 then
                        break
                    end
                end
            end

        elseif e == "timer" then
            -- We received a timeout
            local timer = p1
            if timer == timeout then
                break
            end

        end
    end

    -- Close the channel, if we opened one
    if bCloseChannel then
        modem.close(CHANNEL_GPS)
    end

    os.cancelTimer(timeout)

    -- Return the response
    if pos1 and pos2 then
        if _bDebug then
            print("Ambiguous position")
            print("Could be " .. pos1.x .. "," .. pos1.y .. "," .. pos1.z .. " or " .. pos2.x .. "," .. pos2.y .. "," .. pos2.z)
        end
        return nil
    elseif pos1 then
        if _bDebug then
            print("Position is " .. pos1.x .. "," .. pos1.y .. "," .. pos1.z)
        end
        return pos1.x, pos1.y, pos1.z
    else
        if _bDebug then
            print("Could not determine position")
        end
        return nil
    end
end
