cTurtle

cTurtle.lua

assert(turtle,"This API may only be used on turtles!")
local ver = 2.5
local turtleOS = turtle.inspect and 1.64 or fs.getDir and 1.63 or turtle.equipRight and 1.6 or peripheral.getNames and 1.51
local tFile = {
--file path table
["cTurtle"] = "cTurtle"
}
tFile.directory = "/"..tFile.cTurtle.."Files"
tFile.data = tFile.directory.."/data"
tFile.restarted = tFile.directory.."/restarted"
tFile.settings = tFile.directory.."/settings"

local unlimitedFuel = turtle.getFuelLevel() == "unlimited"

tSettings = {}
function saveSettings(path,tTable)
  path = path or tFile.settings
  tTable = tTable or tSettings
  local file = fs.open(path,"w")
  for k,v in pairs(tTable) do
    if type(v) == "table" then
      v = textutils.serialize(v):gsub("\n%s-","")
    elseif v == true then
      v = "true"
    elseif v == false then
      v = "false"
    end
    file.writeLine(k.." = "..v)
  end
  file.close()
end

local function loadSettings(path,tTable)
  path = path or tFile.settings
  tTable = tTable or tSettings
  local file = fs.open(path,"r")
  local line = file.readLine()
  while line do
    local k = line:match"^%S+"
    local v = line:sub(#k+4,#line)
    if v:match"^%d+$" then --number
      v = tonumber(v)
    elseif v == "true" then --true
      v = true
    elseif v == "false" then --false
      v = false
    elseif v:match"^{.-}$" then --table
      v = textutils.unserialize(v)
    end
    tTable[k] = v
    line = file.readLine()
  end
  file.close()
end

--settings, configure these from external programs using cTurtle.tSettings.setting = setting then cTurtle.saveSettings()
if fs.exists(tFile.settings) then
  loadSettings()
else
  tSettings.renderMove = true --wether to render info page on movement or not
  tSettings.enderFuel = false --slot of enderchest containing fuel
  tSettings.autoRefuel = false --wether to check inventory for fuel before stopping when out of fuel
  tSettings.controlChannel = 9280 --channel for external modem control, modemControl(true) must be called prior to usage
  tSettings.controlResponseChannel = 9281 --channel for modem responses
  tSettings.swarmChannel = 9290 --channel for swarm controls
  tSettings.swarmResponseChannel = 9291 --channel for swarm responses
  tSettings.swarm = false --swarm number. Swarm turtles will not break other turtles.
  tSettings.formation = false --swarm formation
  tSettings.tEnderFuel = {} -- slots to check enderchest for fuel
  for i=17,54 do
    tSettings.tEnderFuel[#tSettings.tEnderFuel+1] = i
  end
end

tTimer = {
--timer table
["inputCoords"] = 20, --time to cancel coordinate input
["dig"] = 0.1, --time to wait after digging a block, incase of sand or gravel
["moveFail"] = 0.5, --time to wait if not digging and path is blocked
["enderFuel"] = 60 --time between each enderchest fuel check. 
}

--init tables
local tColors
--color table
if term.isColor() then
  tColors = {
    ["screen"] = colors.lightBlue,
    ["text"] = colors.white,
    ["textBackground"] = colors.black,
    ["topBar"] = colors.blue,
    ["bottomBar"] = colors.blue,
    ["topBarText"] = colors.yellow,
    ["bottomBarText"] = colors.yellow
  }
else
  tColors = {
  --black & white color table
    ["screen"] = colors.white,
    ["text"] = colors.white,
    ["textBackground"] = colors.black,
    ["topBar"] = colors.black,
    ["bottomBar"] = colors.black,
    ["topBarText"] = colors.white,
    ["bottomBarText"] = colors.white
  }
end

local tText = {
--string table
  ["topBar"] = "cTurtle ver: "..ver,
  ["x"] = "X: ",
  ["y"] = "Y: ",
  ["z"] = "Z: ",
  ["dir"] = "Dir: ",
  ["fuel"] = "Fuel: ",
  ["failedGPS"] = "No GPS, please input co-ordinates"
}

local tTerm = {}
--terminal size table
tTerm.x,tTerm.y = term.getSize()
tTerm.xMid = tTerm.x/2
tTerm.yMid = tTerm.y/2

local tCurs = {
--cursor table
  ["x"] = 1,
  ["y"] = 1
}

tDir = {
--direction conversion table
  ["X+"]        = {
    "x+","-x-","1","+1","-3","east","-west","e","-w"
  },
  ["X-"]        = {
    "x-","-x+","3","+3","-1","west","-east","w","-e"
  },
  ["Z+"]        = {
    "z+","-z-","2","+2","-4","south","-north","s","-n"
  },
  ["Z-"]        = {
    "z-","-z+","4","+4","-2","north","-south","n","-s"
  },
  ["Y+"]        = {
    "y+","-y-","up","-down","top","-bottom","5","+5","-6"
  },
  ["Y-"]        = {
    "y-","-y+","down","-up","bottom","-top","6","+6","-5"
  }
}

tDirText = {
--text to direction conversion table
  ["forward"]   = {
    "forward","front","ahead","-back","-backward","-backwards","-behind"
  },
  ["backward"]  = {
    "back","backward","backwards","behind","around","-front","-forward","-ahead"
  },
  ["left"]      = {
    "left","-right"
  },
  ["right"]     = {
    "right","-left"
  }
}

tNumDir = {
--number to symbol conversion table
  "X+",
  "Z+",
  "X-",
  "Z-",
  "Y+",
  "Y-"
}

tNumHeading = {
--number to heading conversion table
  "east",
  "south",
  "west",
  "north",
  "up",
  "down"
}

tDirNum = {
--symbol to number conversion table
  ["X+"] = 1,
  ["X-"] = 3,
  ["Z+"] = 2,
  ["Z-"] = 4,
  ["Y+"] = 5,
  ["Y-"] = 6
}

tNumSide = {
--number to turtle side conversion table
  [1] = "front",
  [2] = "front",
  [3] = "front",
  [4] = "front",
  [5] = "top",
  [6] = "bottom"
}
tPos = {} --location table
tDest = {} --destination table


--custom native turtle functions

tPos.selectedSlot = 1
turtle.select(1)
local turtleSelect = _G.turtle.select
_G.turtle.select = function(slot)
  turtleSelect(slot)
  tPos.selectedSlot = slot
end

native = turtle.native or turtle

eventHandler = {} --stores custom event handler functions
function clearEventHandler(skipcTurtle) --idfk why i can't just redef it....
  local tKey = {}
  for k in pairs(eventHandler) do
    if not skipcTurtle
    or (k ~= "refuel" and k ~= "moveFail") then
      tKey[#tKey+1] = k
    end
  end
  for i=1,#tKey do --fuck you next
    eventHandler[tKey[i]] = nil
  end
end
local function waitForResponse(id) --modified to not throw away non-turtle events and handle cTurtle events
  local resBool,resString
  while true do
    local tEvent = {os.pullEvent()}
    if tEvent[1] == "turtle_response" then
      if tEvent[2] == id then
        if tEvent[3] then
          resBool = true
        else
          resBool,resString = false, tEvent[4]
        end
        return resBool,resString
      end
    elseif tEvent[1] == "cTurtle" then
      return tEvent[2]
    elseif eventHandler[tEvent[1]] then
      eventHandler[tEvent[1]](tEvent)
    end
  end
end

local function wrap(sCommand) --get native function
  return turtleOS >= 1.6 and native[sCommand]
  or function(...)
    local id = native[sCommand](...)
    if id == -1 then
      return false
    end
    return waitForResponse(id)
  end
end

-- Wrap standard commands
local turtle = {}
turtle["getItemCount"] = native.getItemCount
turtle["getItemSpace"] = native.getItemSpace
turtle["getFuelLevel"] = native.getFuelLevel

for k,v in pairs( native ) do
  if type( k ) == "string" and type( v ) == "function" and turtle[k] == nil then
    turtle[k] = wrap( k )
  end
end

-- Wrap peripheral commands
if peripheral.getType("left") == "workbench" then
  turtle["craft"] = function( ... )
    local id = peripheral.call( "left", "craft", ... )
    return waitForResponse( id )
  end
elseif peripheral.getType("right") == "workbench" then
  turtle["craft"] = function( ... )
    local id = peripheral.call( "right", "craft", ... )
    return waitForResponse( id )
  end
end

--internal API functions
tTextDir = {}
local function updateDirs()
  --updates table containing current directions
  tTextDir.forward = tPos.dir
  tTextDir.right = dirAdd(tPos.dir)
  tTextDir.left = dirSub(tPos.dir)
  tTextDir.backward = dirAdd(tPos.dir,2)
  return tTextDir
end

local function getTurtleFunc(FUNCTION,DIRECTION,oneTurn)
  --simplified function for acessing all turtle functions with cTurtle's direction capabilities
  assert(DIRECTION,"No direction given for function "..FUNCTION)
  DIRECTION = dirStandardize(DIRECTION)
  if DIRECTION < 5 then -- not Y+ or Y-
    if FUNCTION == "move" then
      FUNCTION = "forward"
    end
    if oneTurn == true then
      turn(DIRECTION)
      return turtle[FUNCTION]
    elseif oneTurn == false then
      return turtle[FUNCTION]
    else
      return function()
        turn(DIRECTION)
        return turtle[FUNCTION]()
      end
    end
  elseif DIRECTION == 5 then --Y+
    if FUNCTION == "move" then
      return turtle.up
    end
    return turtle[FUNCTION.."Up"]
  elseif DIRECTION == 6 then -- Y-
    if FUNCTION == "move" then
      return turtle.down
    end
    return turtle[FUNCTION.."Down"]
  end
end


local function turnRight(AMOUNT)
  --proper right turn
  AMOUNT = AMOUNT or 1
  if AMOUNT < 1 then
    AMOUNT = -AMOUNT
  end
  for i=1,AMOUNT do
    tPos.dir = dirAdd(tPos.dir,1)
    saveData()
    --updates data prior to turn, to compensate for crash during turn
    turtle.turnRight()
    if renderMove then
      refreshLines()
    end
  end
  updateDirs()
end

local function turnLeft(AMOUNT)
  --proper left turn
  AMOUNT = AMOUNT or 1
  if AMOUNT < 1 then
    AMOUNT = -AMOUNT
  end
  for i=1,AMOUNT do
    tPos.dir = dirSub(tPos.dir,1)
    saveData()
    --updates data prior to turn, to compensate for crash during turn
    turtle.turnLeft()
    if renderMove then
      refreshLines()
    end
  end
  updateDirs()
end

local function sleep(time)
  -- modified to not throw away events and cancel cTurtle events if c is pressed
  local timerId = os.startTimer(time or 0)
  while true do
    local tEvent = {os.pullEvent()}
    if tEvent[1] == "timer" and tEvent[2] == timerId then
      return time
    elseif tEvent[1] == "key" and tEvent[2] == keys.c then --c
      os.queueEvent("cTurtle","cancel")
    else
      os.queueEvent(unpack(tEvent))
    end
  end
end

--API functions
function update(swarm)
  if swarm then --update swarm turtles through rednet
    local cTurtleFile = {
      id = "all",
      [1] = "cTurtle update"
    }
    for line in fs.open(tFile.cTurtle,"r").readLine do
      cTurtleFile[#cTurtleFile+1] = line
    end
    _G.modem.transmit(tSettings.swarmChannel,tSettings.swarmResponseChannel,cTurtleFile)
  else --update self
    local response,paste = http.get("https://gist.github.com/Pyeroh/81e88be13c819d612530f59b7d173c20/raw/cTurtle.lua")
    if response then
      paste = response.readAll()
      response.close()
      --save to file
      local file = fs.open(tFile.cTurtle,"w")
      file.writeLine(paste)
      file.close()
      os.reboot()
    else
      return false
    end
  end
end

tInput = {}
function input()
  --enables co-ordinate input
  local tFieldOrder = {"x","y","z","dir"}
  for i=1,#tFieldOrder do
    --creates input field table
    local key,value = tFieldOrder[i],tPos[tFieldOrder[i]]
    if key == "dir" and string.match(string.format(value),"%d") then
      value = tNumDir[value]
    end
    tInput[i] = {}
    tInput[i]["value"] = string.format(value)
    tInput[i]["field"] = tText[key]
    tInput[i]["startX"] = #tInput[i]["field"]+2
  end
  term.setBackgroundColor(tColors.screen)
  term.clear()
  refreshLines()
  renderBars(tText.failedGPS)
  tCurs.x,tCurs.Y = 0,1
  term.setCursorPos(tInput[tCurs.y]["startX"],tCurs.y*2+1)
  term.setCursorBlink(true)
  local timeOut = os.startTimer(tTimer.inputCoords)
  while true do
    --user input begins
    local tEvent = {os.pullEvent()}
    if timeOut 
    and (tEvent[1] == "key" or tEvent[1] == "mouse_click" or tEvent[1] == "char") then
      --cancel timeout
      timeOut = nil
    end
    if tEvent[1] == "mouse_click" then
      if tEvent[2] == 1 then
        local clickY = (tEvent[4]-1)/2
        if tFieldOrder[clickY] and tEvent[3] < tTerm.xMid-1 then
          local clickX = tEvent[3]-#tInput[clickY]["field"]-1
          if clickX > 0 then
            tCurs.y = clickY
            tCurs.x = math.min(#tInput[clickY]["value"],clickX-1)
          end
        end
      end
    elseif tEvent[1] == "key" then
      --special keyes
      if tEvent[2] == keys.up then --up arrow
        tCurs.x = tCurs.x+#tInput[tCurs.y]["field"]
        tCurs.y = tCurs.y-1
        tCurs.x = tCurs.x-#tInput[math.max(1,tCurs.y)]["field"]
      elseif tEvent[2] == keys.down then --down arrow
        tCurs.x = tCurs.x+#tInput[tCurs.y]["field"]
        tCurs.y = tCurs.y+1
        tCurs.x= tCurs.x-#tInput[math.min(#tInput,tCurs.y)]["field"]
      elseif tEvent[2] == keys.left then --left arrow
        tCurs.x = tCurs.x-1
      elseif tEvent[2] == keys.right then --right arrow
        tCurs.x = tCurs.x+1
      elseif tEvent[2] == keys.enter then --enter
        if tCurs.y >= #tInput then
          --input complete
          if dirStandardize(tInput[4]["value"]) then
            break
          else
            renderBars"Faulty direction."
          end
        else
          tCurs.x = tCurs.x+#tInput[tCurs.y]["field"]-#tInput[tCurs.y+1]["field"]
          tCurs.y = tCurs.y+1
        end
      elseif tEvent[2] == keys.backspace and tCurs.x > 0 then --backspace
        tInput[tCurs.y]["value"] = string.sub(tInput[tCurs.y]["value"],1,tCurs.x-1)..string.sub(tInput[tCurs.y]["value"],tCurs.x+1,#tInput[tCurs.y]["value"])
        tCurs.x = tCurs.x-1
      elseif tEvent[2] == keys["end"] then --end
        tCurs.x = #tInput[tCurs.y]["value"]
      elseif tEvent[2] == keys.home then --home
        tCurs.x = 1
      elseif tEvent[2] == keys.delete then --delete
        if #tInput[tCurs.y]["value"] == 1 and tCurs.x <= 0 then
          tInput[tCurs.y]["value"] = ""
        else
          tInput[tCurs.y]["value"] = string.sub(tInput[tCurs.y]["value"],1,tCurs.x)..string.sub(tInput[tCurs.y]["value"],tCurs.x+2,#tInput[tCurs.y]["value"])
        end
      end
      --cursor check
      tCurs.y = math.min(#tInput,tCurs.y)
      tCurs.y = math.max(1,tCurs.y)
      tCurs.x = math.min(#tInput[tCurs.y]["value"],tCurs.x)
      tCurs.x = math.max(0,tCurs.x)
    elseif tEvent[1] == "char" then
      local input
      if #tInput[tCurs.y]["value"]+#tInput[tCurs.y]["field"] >= tTerm.xMid-3 then
        --limits amount of characters to bar size 
      elseif tEvent[2]:match"[%+%-]" and tInput[tCurs.y]["value"]:match"[%+%-]" then
        --only one of either + or -
      elseif tInput[tCurs.y]["field"]:match"Dir:" and tEvent[2]:match"[XZxznorthNORTHsuSUweWEaA%+%-]" then
        --input to direction field, accepts +- and letters related to directions
        if tEvent[2]:match"[%+%-]" and tCurs.x ~= 1
        or tEvent[2]:match"[%+%-]" and #tInput[tCurs.y]["value"] > 1 then
          -- + and - can only be at the end of single char directions
        else
          input = true
        end
      elseif tEvent[2]:match"[0-9%+%-]" then
        --other fields, only accept numbers and +-
        if tEvent[2]:match"[%+%-]" and tCurs.x ~= 0
        or tInput[tCurs.y]["value"]:match"[%+%-]" and tCurs.x == 0 then
          -- + and - can only be at start
        else
          input = true
        end
      end
      if input then
        --input accepted
        tInput[tCurs.y]["value"] = string.sub(tInput[tCurs.y]["value"],1,tCurs.x)..tEvent[2]..string.sub(tInput[tCurs.y]["value"],tCurs.x+1,#tInput[tCurs.y]["value"])
        tCurs.x = tCurs.x+1
      end
    elseif tEvent[1] == "timer" then
      --timers
      if tEvent[2] == timeOut then
        break
      end
    end
    --updates current field on user input
    renderLine(tCurs.y)
    term.setCursorPos(tInput[tCurs.y]["startX"]+tCurs.x,tCurs.y*2+1)
    term.setCursorBlink(true)
  end
  --input complete, storing data
  tPos.x = tonumber(tInput[1]["value"])
  tPos.y = tonumber(tInput[2]["value"])
  tPos.z = tonumber(tInput[3]["value"])
  tPos.lastMove = dirStandardize(tInput[4]["value"])
  tPos.dir = tPos.lastMove
  term.setCursorBlink(false)
  term.setTextColor(colors.white)
  term.setBackgroundColor(colors.black)
  term.clear()
  term.setCursorPos(1,1)
end

function locate(FORCE)
  --gets turtle coordinates
  local x,y,z,dir,x2,y2,z2
  if _G.restarted or FORCE then
    --re-gets coordinates
    --via GPS
    x,y,z = gps.locate(3)
    if x and (not unlimitedFuel and turtle.getFuelLevel() > 0 or unlimitedFuel) then
      --GPS sucess, getting direction by moving
      local moved,down = false,false
      while not moved do
        while not unlimitedFuel and turtle.getFuelLevel() <= 0 do
          if tSettings.enderFuel then
            enderRestock(tSettings.enderFuel,true,tSettings.tEnderFuel)
            os.startTimer(tTimer.enderFuel)
          end
          if tSettings.autoRefuel and turtle.getFuelLevel() <= 0 then
            for i=1,16 do
              turtle.refuel(64)
            end
          end
          if turtle.getFuelLevel() <= 0 then
            if eventHandler.refuel then
              eventHandler.refuel()
            else
              renderBars("Fuel required! Press any key.")
              while true do
                local e = os.pullEvent()
                if e == "key" then
                  turtle.refuel(64)
                  break
                elseif e == "timer" then
                  break
                end
              end
            end
          end
        end
        for i=1,4 do
          if turtle.forward() then
            moved = true
            break
          else
            turtle.turnLeft()
          end
        end
        if (turtle.detectUp() or down)
        and not moved then
          turtle.down()
          down = true
        elseif not moved then
          turtle.up()
        end
      end
    -- get new posistion
      x2,y2,z2 = gps.locate(3)
    -- calculate direction
      if x2 and (x ~= x2 or z ~= z2) then --incase second GPS fails
        if x < x2 then
          dir = "X+"
        elseif x > x2 then
          dir = "X-"
        elseif z < z2 then
          dir = "Z+"
        elseif z > z2 then
          dir = "Z-"
        end
        tPos.x = x2
        tPos.z = z2
        tPos.y = y2
        tPos.dir = tDirNum[dir]
        tPos.fuel = unlimitedFuel and 9999 or turtle.getFuelLevel()
      end
    end
    if not x 
    or not x2 
    or x == x2 and z == z2 
    or not dir then
      --GPS failed, attempting player input
      if fs.exists(tFile.data) then
        loadData()
      else
        tPos.x = (x or 0)
        tPos.y = (y or 0)
        tPos.z = (z or 0)
        tPos.dir = 1
        tPos.fuel = unlimitedFuel and 9999 or turtle.getFuelLevel()
      end
      tDest.x = tPos.x
      tDest.y = tPos.y
      tDest.z = tPos.z
      input()
    end
    saveData()
    _G.restarted = false
    local file = fs.open(tFile.restarted,"w")
    file.writeLine"false"
    file.close()
  else
    --non-restarted call to locate
    loadData()
  end
  tDest.x = tPos.x
  tDest.y = tPos.y
  tDest.z = tPos.z
  return tPos
end

function renderBars(BOTTOMTEXT)
  --render top and bottom bar
  BOTTOMTEXT = BOTTOMTEXT or " "
  paintutils.drawLine(1,1,tTerm.x,1,tColors.topBar)
  paintutils.drawLine(1,tTerm.y,tTerm.x,tTerm.y,tColors.bottomBar)
  term.setCursorPos(tTerm.xMid-(#tText.topBar/2),1)
  term.setTextColor(tColors.topBarText)
  term.setBackgroundColor(tColors.topBar)
  term.write(tText.topBar)
  term.setCursorPos(tTerm.xMid-(#BOTTOMTEXT/2),tTerm.y)
  term.setTextColor(tColors.bottomBarText)
  term.setBackgroundColor(tColors.bottomBar)
  term.write(BOTTOMTEXT)
  term.setTextColor(tColors.text)
  term.setBackgroundColor(tColors.textBackground)
end

function refreshLines()
  term.setTextColor(tColors.text)
  term.setBackgroundColor(tColors.textBackground)
  local tFieldOrder = {"x","y","z","dir","fuel","x","y","z"}
  for i,k in pairs(tFieldOrder) do
    if i <= 5 then
      --pos, dir and fuel bars
      local value = tPos[k]
      if k == "dir" and string.match(string.format(value),"%d") then
        value = tNumDir[value]
      end
      paintutils.drawLine(2,i*2+1,tTerm.xMid-1,i*2+1,tColors.textBackground)
      term.setCursorPos(2,i*2+1)
      term.write(string.sub(k:upper(),1,1)..k:sub(2,#k)..": "..value)
    else
      --dest bars
      local value = tDest[k]
      paintutils.drawLine(tTerm.xMid+1,(i-5)*2+1,tTerm.x-1,(i-5)*2+1,tColors.textBackground)
      term.setCursorPos(tTerm.xMid+1,(i-5)*2+1)
      term.write("Dest"..k:upper()..": "..value)
    end
  end
end

function renderLine(LINE)
  --renders input lines
  paintutils.drawLine(2,LINE*2+1,tTerm.xMid-1,LINE*2+1,tColors.textBackground)
  term.setCursorPos(2,LINE*2+1)
  term.write(tInput[LINE]["field"]..tInput[LINE]["value"])
end

function loadData()
  --loads position data from file
  local file = fs.open(tFile.data,"r")
  file.readLine() --skip first line
  tPos.x = tonumber(string.sub(file.readLine(),4,10))
  tPos.y = tonumber(string.sub(file.readLine(),4,10))
  tPos.z = tonumber(string.sub(file.readLine(),4,10))
  tPos.dir = tDirNum[string.sub(file.readLine(),6,7)]
  tPos.fuel = tonumber(string.sub(file.readLine(),7,13))
  tPos.lastMove = string.sub(file.readLine(),12,13)
  if not unlimitedFuel and turtle.getFuelLevel() < tPos.fuel and _G.restarted then
    --fuel missing, correcting co-ordinates accordingly
    local lastMove = string.lower(tPos.lastMove)
    tPos[lastMove:sub(1,1)] = tPos[lastMove:sub(1,1)] + tonumber(lastMove:sub(2,2)..1)
    tPos.fuel = turtle.getFuelLevel()
    tPos.lastMove = tDirNum[tPos.lastMove]
    saveData()
  else
    tPos.fuel = unlimitedFuel and 9999 or turtle.getFuelLevel()
    tPos.lastMove = tDirNum[tPos.lastMove]
  end
  return tPos
end

function saveData(x,y,z,dir,fuel,path)
  x = x or tPos.x
  y = y or tPos.y
  z = z or tPos.z
  dir = dir or tPos.dir
  fuel = fuel or tPos.fuel
  path = path or tFile.data
  --saves position data to file
  local file = fs.open(path,"w")
  file.writeLine"cTurtle data file."
  file.writeLine("X: "..x)
  file.writeLine("Y: "..y)
  file.writeLine("Z: "..z)
  file.writeLine("Dir: "..tNumDir[dir])
  file.writeLine("Fuel: "..(tPos.fuel or unlimitedFuel and 9999 or turtle.getFuelLevel()))
  file.writeLine("Last move: "..tNumDir[(tPos.lastMove or dir)])
  file.close()
end

function dirStandardize(DIRECTION)
  --formats the given direction for usage
  assert(DIRECTION,"No direction given!")
  DIRECTION = string.format(string.lower(DIRECTION))
  if tPos.dir then
    updateDirs()
    for k,v in pairs(tDirText) do
      for i=1,#tDirText[k] do
        if DIRECTION == tDirText[k][i] then
        --checks for forward, left, right, etc.
          return tonumber(tTextDir[k])
        end
      end
    end
  end
  for k,v in pairs(tDir) do
    --checks for x+,x-,z+,north,south etc.
    for i=1,#tDir[k] do
      if DIRECTION == tDir[k][i] then
        return tonumber(tDirNum[k])
      end
    end
  end
  --failed to format direction
  error("Failed to format the given direction: "..DIRECTION,2)
end

function dirAdd(NUM,ADDNUM)
  --direction num right turn
  NUM = NUM+(ADDNUM or 1)
  if NUM > 4 then
    NUM = NUM-4
  end
  return NUM
end
    
function dirSub(NUM,SUBNUM)
  --direction num left turn
  NUM = NUM-(SUBNUM or 1)
  if NUM < 1 then
    NUM = 4+NUM
  end
  return NUM
end

function turn(DIRECTION)
  DIRECTION = dirStandardize(DIRECTION)
  if DIRECTION > 4 then
    return false --unable to turn Y+, Y-
  end
  if tSettings.renderMove then
    renderBars("Turning "..tNumDir[DIRECTION])
  end
  if DIRECTION == dirSub(tPos.dir,1) then
    --left turn when turning one left
    turnLeft(1)
  else
    local turns = 0
    while dirAdd(tPos.dir,turns) ~= DIRECTION do
      turns = turns+1
    end 
    --otherwise turn right
    turnRight(turns)
  end
  if tSettings.renderMove then
    renderBars("Turn complete")
  end
  return true
end

function detect(DIRECTION)
  return getTurtleFunc("detect",DIRECTION,true)()
end

function dig(DIRECTION,SLOT,LOOP)
  if SLOT then
    turtle.select(SLOT)
  end
  local digFunc = getTurtleFunc("dig",DIRECTION,true)
  local detectFunc = getTurtleFunc("detect",DIRECTION,false)
  if LOOP then
    digFunc()
    while detectFunc() do
      digFunc()
    end
    return true
  end
  return digFunc()
end

function compare(DIRECTION,SLOT)
  if SLOT then
    turtle.select(SLOT)
  end
  return getTurtleFunc("compare",DIRECTION,true)()
end

function place(DIRECTION,SLOT,LOOP)
  if SLOT then
    turtle.select(SLOT)
  end
  local func = getTurtleFunc("place",DIRECTION,true)
  if loop then
    while not func() do
    end
    return true
  else
    return getTurtleFunc("place",DIRECTION,true)()
  end
end

function suck(DIRECTION,SLOT)
  if SLOT then
    turtle.select(SLOT)
  end
  return getTurtleFunc("suck",DIRECTION,true)()
end

function drop(DIRECTION,SLOT,AMOUNT)
  if SLOT then
    turtle.select(SLOT)
  end
  return getTurtleFunc("drop",DIRECTION,true)(AMOUNT or 64)
end

function select(SLOT)
  return turtle.select(SLOT)
end

function replace(DIRECTION,SLOT,DIGSLOT)
  if not compare(DIRECTION,SLOT) then
    dig(DIRECTION,DIGSLOT,true)
    turtle.select(SLOT or tPos.selectedSlot)
  end
  place(DIRECTION,SLOT)
end
  
function findSpace(place)
  --finds an open space and returns direction, places slected block if place
  if not turtle.detectUp() then
    while place and not turtle.placeUp() do end
    return 5,"top"
  elseif not turtle.detectDown() then
    while place and not turtle.placeDown() do end
    return 6,"bottom"
  elseif not turtle.detect() then
    while place and not turtle.place() do end
    return tPos.dir,"front"
  else
    for i=1,3 do
      turn"right"
      if not turtle.detect() then
         while place and not turtle.place() do end
         return tPos.dir,"front"
      end
    end
  end
  return false
end

function enderInteract(enderSlot,tItemsOut,tItemsIn)
  --[[puts down an ender chest from the slot (enderSlot), iteracts with it according to the tItems table
    using the following structure
    tItemsOut = { --push items into chest
      "Coal","Charcoal", --you can either store the name of the item directly in an index
      1,2,3,4,5 --or the number of specific slots
      { --or use a table for more advanced options
        name = "Stone", --display name of the desired item, slot numbers work aswell
        amount = 128, --optional, amount of items to attempt to deposit
        slot = 1, --optional, slot to deposit the items to
        slot = {1,2,3,4,5} --or a table may be used for multiple slots
      }
    },
    tItemsIn = { --pull in specific items
      "Coal","Charcoal", --you can either store the name of the item directly in an index
      1,2,3,4,5 --or the number of specific slots to pull from
      { --or use a table for more advanced options
        name = "Stone", --display name of the desired item, slot numbers work aswell
        amount = 128, --optional,amount of items to attempt to retrieve
        slot = 1, --optional,slot to store the items in
        slot = {1,2,3,4,5} --or a table may be used for multiple slots
      }
    }
  ]]
  turtle.select(enderSlot)
  local _dir,chestDir = findSpace(true)
  sleep(0.05)
  --locate open space for ender chest
  if chestDir then
    local pushDir = tNumHeading[dirStandardize("-"..chestDir)]
    local selected
    local amount = 0 -- amout of items pushed from chest
    if peripheral.getType(chestDir) == "ender_chest" then -- confirms ender chest peripheral
      tItemsOut = tItemsOut or {}
      tItemsIn = tItemsIn or {}
      for k,v in pairs(tItemsOut) do
        local class = type(v)
        if class == "number" then
          
        elseif class == "string" then
          
        else --class == "table"
          
        end
      end
      for k,v in pairs(tItemsIn) do
        if class == "number" then
          
        elseif class == "string" then
          
        else --class == "table"
          
        end
      end
    end
  end
end

function enderRestock(enderSlot,tTurtleSlots,tEnderSlots)
  --puts down an ender chest from the slot (enderSlot), then attempts to restock the
  --turtle slots in the table tTurtleSlots with the chest slots in tEnderSlots
  turtle.select(enderSlot)
  local _dir,chestDir = findSpace(true)
  sleep(0.05)
  --locate open space for ender chest
  if chestDir then
    local pushDir = tNumHeading[dirStandardize("-"..chestDir)]
    local tTurtleSlotsCopy
    if type(tTurtleSlots) == "table" then
      --create local copy of turtle slots table
      tTurtleSlotsCopy = {}
      for i=1,#tTurtleSlots do
        tTurtleSlotsCopy[i] = tTurtleSlots[i]
      end
    else
      tTurtleSlotsCopy = {enderSlot}
    end
    local tEnderSlotsCopy = {}
    --create local copy of ender chest slots table
    for i=1,#tEnderSlots do
      tEnderSlotsCopy[i] = tEnderSlots[i]
    end
    local selected
    local amount = 0 -- amout of items pushed from chest
    if peripheral.getType(chestDir) == "ender_chest" then -- confirms ender chest peripheral
      local chest = peripheral.wrap(chestDir)
      local chestFunc = chest.pushItemIntoSlot or chest.pushIntoSlot
      for iTurtle=1,#tTurtleSlotsCopy do
        local turtleCount = turtle.getItemCount(tTurtleSlotsCopy[iTurtle])
        if turtleCount < 64 then -- only restocks the slot if there is space
          local iEnder = 1
          while iEnder <= #tEnderSlotsCopy do --dynamic for loop
            local stack = peripheral.call(chestDir,"getStackInSlot",tEnderSlotsCopy[iEnder]) or {["qty"] = 0}
            local removed = false
            if stack.qty > 0 then -- items in ender chest slot
              local pushed = chestFunc(pushDir,tEnderSlotsCopy[iEnder],tTurtleSlots == true and stack.qty-1 or stack.qty,tTurtleSlotsCopy[iTurtle])
              turtleCount = turtleCount+pushed
              amount = amount+pushed
              if pushed == (tTurtleSlots == true and stack.qty-1 or stack.qty) then
                remove = true
              end
              if turtleCount >= 64 then --ends loop if turtle slot is full
                break
              end
            else -- no items in ender chest slot, slot is removed
              remove = true
            end
            if remove then
              table.remove(tEnderSlotsCopy,iEnder)
            else
              iEnder = iEnder+1
            end
          end
        end
      end
    end
    if tTurtleSlots == true then
      turtle.select(enderSlot)
      turtle.refuel(64)
    end
    dig(chestDir,enderSlot,true) -- retrieves the ender chest
    if amount > 0 then
      return amount
    else
      return false --no items pushed
    end
  end
  return false --chest placement failed
end

function enderDropoff(enderSlot,tTurtleSlots)
  --puts down an ender chest from the slot (enderSlot), then empties the specified
  --turtle slots in the table tTurtleSlots into the chest slots in tEnderSlots
  turtle.select(enderSlot)
  local _dir,chestDir = findSpace(true)
  sleep(0.1)
  --locate open space for ender chest
  if chestDir then
    local pullDir = tNumHeading[dirStandardize("-"..chestDir)]
    local tTurtleSlotsCopy = {}
    --create local copy of turtle slots table
    for i=1,#tTurtleSlots do
      tTurtleSlotsCopy[i] = tTurtleSlots[i]
    end
    local selected
    local amount = 0 -- amout of items stored in chest
    if peripheral.getType(chestDir) == "ender_chest" then -- confirms ender chest peripheral
      local chest = peripheral.wrap(chestDir)
      local chestFunc = chest.pullItemIntoSlot or chest.pullIntoSlot
      for iTurtle=1,#tTurtleSlotsCopy do
        local turtleCount = turtle.getItemCount(tTurtleSlotsCopy[iTurtle])
        if turtleCount > 0 then -- only stores occupied slots
          for iChest=17,chest.getInventorySize() do
            local stack = chest.getStackInSlot(iChest)
            stack = stack and stack.qty and stack.maxSize or {["qty"] = 0,["maxSize"] = 64}
            if stack.qty < stack.maxSize then --space in enderSlot
              local pulled = chestFunc(pullDir,tTurtleSlotsCopy[iTurtle],64,iChest)
              turtleCount = turtleCount-pulled
              amount = amount+pulled
              if turtleCount < 1 then -- Ends loop if turtle slot is empty
                break
              end
            end
          end
        end
      end
    else
      for iTurtle=1,#tTurtleSlotsCopy do
        local turtleCount = turtle.getItemCount(tTurtleSlotsCopy[iTurtle])
        if turtleCount > 0 then -- only stores occupied slots
          drop(chestDir, tTurtleSlotsCopy[iTurtle], turtleCount)
        end
      end
	end
    dig(chestDir,enderSlot,true) -- retrieves the ender chest
    if amount > 0 then
      return amount
    else
      return false --no items pulled
    end
  end
  return false --chest placement failed
end

function move(DIRECTION,AMOUNT,DIG)
  --moves turtle in DIRECTION, AMOUNT times, digs if DIG optional slot
  if AMOUNT == 0 then
    return
  end
  DIRECTION = dirStandardize(DIRECTION)
  AMOUNT = AMOUNT or 1
  if AMOUNT < 0 then
    DIRECTION = dirStandardize("-"..DIRECTION)
    AMOUNT = -AMOUNT
  end
  --function definitions
  local moveFunc 
  if DIRECTION == tTextDir.backward and not DIG then
    moveFunc = turtle.back
  else
    moveFunc = getTurtleFunc("move",DIRECTION,true)
  end
  local detectFunc = getTurtleFunc("detect",DIRECTION)
  local internalDigFunc = getTurtleFunc("dig",DIRECTION)
  local digFunc = type(DIG) == "number" and function()
    turtle.select(DIG)
    internalDigFunc()
  end or internalDigFunc
  local attackFunc = getTurtleFunc("attack",DIRECTION)
  saveData()
  local symDir = tNumDir[DIRECTION]
  local posEntry = string.lower(symDir:sub(1,1))
  local mathOp = symDir:sub(2,2)
  --movement calc function
  local calcFunc = function() 
    tPos[posEntry] = tPos[posEntry] + tonumber(mathOp.."1") 
    tPos.fuel = not unlimitedFuel and tPos.fuel-1 or 9999
  end
  tDest[posEntry] = tPos[posEntry] + tonumber(mathOp..AMOUNT)
  for i=1,AMOUNT do
    while DIG and detectFunc() do
      while tSettings.swarm and peripheral.getType(tNumSide[DIRECTION]) == "turtle" do -- swarm turtles check for other turtles
        sleep(0.5)
      end
      digFunc()
      if DIRECTION == 5 then
        sleep(tTimer.dig)
      end
    end
    local res = moveFunc()
    while not res or res == "cancel" do
      if res == "cancel" then
        return
      elseif not unlimitedFuel and tPos.fuel <= 1 then
        if tSettings.enderFuel then
          enderRestock(tSettings.enderFuel,true,tSettings.tEnderFuel)
          tPos.fuel = turtle.getFuelLevel()
          os.startTimer(tTimer.enderFuel)
        end
        if tSettings.autoRefuel and tPos.fuel <= 1 then
          for i=1,16 do
            turtle.refuel(64)
          end
          tPos.fuel = turtle.getFuelLevel()
        end
        if tPos.fuel <= 0 then
          if eventHandler.refuel then
            eventHandler.refuel()
            tPos.fuel = turtle.getFuelLevel()
          else
            renderBars("Fuel required! Press any key.")
            while true do
              local e = os.pullEvent()
              if e == "key" then
                turtle.refuel(64)
                tPos.fuel = turtle.getFuelLevel()
                break
              elseif e == "timer" then
                break
              end
            end
          end
        end
      else
        turtle.attack()
        if DIG then
          digFunc()
          attackFunc()
        end
        if eventHandler.moveFail then
          eventHandler.moveFail(tNumDir[DIRECTION])
        elseif tSettings.renderMove then
          renderBars("Move "..tNumDir[DIRECTION].." failed. Retry in "..tTimer.moveFail)
        end
        sleep(tTimer.moveFail)
      end
      res = moveFunc()
    end
    calcFunc()
    tPos.lastMove = DIRECTION
    saveData()
    if tSettings.renderMove then
      refreshLines()
      renderBars("Moving "..symDir)
    end
  end
  if renderMove then
    renderBars("Moved "..symDir)
  end
end

function moveTo(COORDS,SYM,DIG)
  SYM = SYM:lower()
  tDest[SYM] = COORDS
  local mathOp
  local amount = tPos[SYM]-COORDS
  if amount > 0 then
    mathOp = "-"
  elseif amount == 0 then
    return
  else
    mathOp = "+"
    amount = -amount
  end
  move(SYM..mathOp,amount,DIG)
end
 
function moveToXYZ(x,y,z,faceDir,DIG)
  tDest.x = x
  tDest.y = y
  tDest.z = z
  if faceDir == true then
    DIG = faceDir
    faceDir = false
  end
  moveTo(x,"x",DIG)
  moveTo(z,"z",DIG)
  moveTo(y,"y",DIG)
  if faceDir then
    turn(faceDir)
  end
end

function deployGPS(tSlots,x,y,z)
  --builds a GPS tower at the given coordinates or the current coordinates
  --[[tSlots = {
    diskDrive = 1,
    disk = 2,
    computer = 3,
    modem = 4
  }]]
  assert(tSlots,"Slots table missing!")
  assert(tSlots.diskDrive,"diskDrive slot missing!")
  assert(turtle.getItemCount(tSlots.diskDrive) > 0,"No disk drive in slot "..tSlots.diskDrive.."!")
  assert(tSlots.disk,"disk slot missing!")
  assert(turtle.getItemCount(tSlots.disk) > 0,"No disk in slot "..tSlots.disk.."!")
  assert(tSlots.computer,"computer slot missing!")
  assert(turtle.getItemCount(tSlots.computer) > 3,"Missing "..(4-turtle.getItemCount(tSlots.computer).." computers in slot "..tSlots.computer.."!"))
  assert(tSlots.modem,"modem slot missing!")
  assert(turtle.getItemCount(tSlots.modem) > 3,"Missing "..(4-turtle.getItemCount(tSlots.modem).." modems in slot "..tSlots.modem.."!"))
  x = x or tPos.x
  y = math.min((y or tPos.y),252)
  z = z or tPos.z
  local function setupHost(hostX,hostZ)
    place("forward",tSlots.computer)
    move"up"
    place("forward",tSlots.modem)
    place("down",tSlots.diskDrive)
    assert(peripheral.getType"bottom" == "drive","The block on slot "..tSlots.diskDrive.." was not a disk drive!")
    drop("down",tSlots.disk)
    assert(fs.exists"/disk","Missing disk drive in slot "..tSlots.disk)
    if not fs.exists"/disk/startup" then
      local diskFile = fs.open("/disk/startup", "w")
      diskFile.writeLine[[
if not os.getComputerLabel() then
  os.setComputerLabel"GPS Host"
end
fs.copy("/disk/hostFile", "/startup")
shell.run"startup"]]
      diskFile.close()
    end
    local hostFile = fs.open("/disk/hostFile", "w")
      hostFile.writeLine('shell.run"gps host '..hostX..' '..(tPos.y-1)..' '..hostZ..'"')
    hostFile.close()
    move"left"
    move"right"
    move"down"
    turn"right"
    assert(peripheral.getType"front" == "computer","The block in slot "..tSlots.computer.." was not a computer!")
    peripheral.call("front", "turnOn")
    move"right"
    suck("left",tSlots.disk)
    turtle.select(tSlots.diskDrive)
    dig("forward")
  end
  moveTo(y,"y",true)
  moveToXYZ(x+4,y,z,"x+",true)
  setupHost(tPos.x+1,tPos.z)
  moveToXYZ(x-4,y,z,"x-",true)
  setupHost(tPos.x-1,tPos.z)
  moveToXYZ(x,y,z+4,"z+",true)
  setupHost(tPos.x,tPos.z+1)
  moveToXYZ(x,y+1,z-4,"z-",true)
  setupHost(tPos.x,tPos.z-1)
  move("down",2)
end

function deployTurtle(tSlots,tData)
  --[[tSlots = {
    diskDrive = 1,
    disk = 2,
    turtle = 3,
    enderChest = 4 -- optional, enables enderRefuel slot 16
  }
  tData = {
    label = "the turtle label derpface",
    type = "remote" --enables remote modem control on startup
    type = "swarm" --assigns swarm ID and enables remote control, enderRefuel slot 16 and disables renderMove.
    swarm = 1 --swarm ID number
    formation = "wall" or "floor" --swarm formation
  ]]--
  tData = tData or {}
  assert(tSlots,"Slots table missing!")
  assert(tSlots.diskDrive,"diskDrive slot missing!")
  assert(tSlots.disk,"disk slot missing!")
  assert(tSlots.turtle,"turtle slot missing!")
  place("down",tSlots.diskDrive,true)
  assert(peripheral.getType"bottom" == "drive", "The block in slot "..tSlots.diskDrive.." was not a diskDrive!")
  drop("down",tSlots.disk)
  assert(fs.exists"/disk", "The block in slot "..tSlots.disk.." was not a disk!")
  --setup cTurtle
  fs.delete("/disk/"..tFile.cTurtle)
  fs.copy(tFile.cTurtle,"disk/cTurtle")
  fs.delete("/disk"..tFile.directory)
  fs.makeDir("/disk"..tFile.directory)
  --setup disk bootup file
  local file = fs.open("/disk/startup","w")
  file.writeLine([[
os.setComputerLabel("]]..(tData.label or tData.type or "cTurtle")..[[")
fs.copy("disk/]]..tFile.cTurtle..[[", "/]]..tFile.cTurtle..[[")
fs.copy("disk/startupFile","/startup")
fs.copy("disk]]..tFile.directory..[[","]]..tFile.directory..[[")]]
  )
  file.close()
  if tSlots.enderChest then
    local file = fs.open("/disk/startup","a")
    file.writeLine([[
turtle.select(1)
turtle.transferTo(16)]]
    )
    file.close()
  end
  local file = fs.open("/disk/startup","a") --one time actions goes here
  file.writeLine([[
sleep(5)
_G.restarted = false
shell.run"/startup"
cTurtle.move"forward"
cTurtle.move"back"]]
  )
  file.close()
  --setup settings
  local tNewSettings = {}
  for k,v in pairs(tSettings) do
    tNewSettings[k] = v
  end
  if tSlots.enderChest then
    tNewSettings.enderFuel = 16
  end
  if tData.type == "swarm" then
    tNewSettings.renderMove = false
  end
  for k,v in pairs(tData) do
    if tNewSettings[k] ~= nil then
      tNewSettings[k] = v
    end
  end
  saveSettings("/disk"..tFile.settings,tNewSettings)
  --setup startup file
  local file = fs.open("/disk/startupFile","w")
  file.writeLine([[
local file = fs.open("]]..tFile.restarted..[[", "w")
file.writeLine"true"
file.close()
os.loadAPI"]]..tFile.cTurtle..[["]]
  )
  file.close()
  --setup remote turtles
  if tData.type == "remote" then
    local file = fs.open("/disk/startupFile","a")
    file.writeLine([[
cTurtle.modemControl(true)]]
    )
    file.close()
  --setup swarm turtles
  elseif tData.type == "swarm" then
    local file = fs.open("/disk/startupFile","a")
    file.writeLine([[
cTurtle.modemControl(true)]]
    )
    file.close()
  end
  --setup location info
  --locaiton offset correction
  local tOffs = {
    x = 0,
    y = -1,
    z = 0
  }
  local dir = string.lower(tNumDir[tPos.dir])
  tOffs[dir:sub(1,1)] = tOffs[dir:sub(1,1)] + tonumber(dir:sub(2,2)..1)
  --save new location
  saveData(tPos.x+tOffs.x,tPos.y+tOffs.y,tPos.z+tOffs.z,tPos.dir,0,"/disk"..tFile.data)
  --place turtle
  move"forward"
  place("down",tSlots.turtle,true)
  assert(peripheral.getType"bottom" == "turtle","The block in slot "..tSlots.turtle.." was not a turtle!")
  if tSlots.enderChest then
    drop("down",tSlots.enderChest,1)
  end
  peripheral.call("bottom","turnOn")
  --retrieve disk and drive
  move"back"
  suck("down",tSlots.disk)
  turtle.select(tSlots.diskDrive)
  dig"down"
end

function deploySwarm (tSlots,height,width,formation)
  --[[tSlots = {
    diskDrive = 1,
    disk = 2,
    turtle = 3,
    enderChest = 4
}]]--
  formation = formation or "wall"
  local frontDir = dirStandardize"forward"
  local sideDir = dirStandardize"right"
  local id = 1
  for h=1,height do
    for w=1,width do
      deployTurtle(tSlots,{
        label = "swarm cTurtle "..id,
        type = "swarm", --assigns swarm ID and enables remote control, enderRefuel slot 16 and disables renderMove.
        swarm = id, --swarm ID number
        formation = formation --swarm formation
      })
      id = id+1
      if w < width then
        if formation == "wall" then
          move(sideDir)
          turn(frontDir)
        elseif formation == "floor" then
          move(sideDir)
          turn(frontDir)
        end
      end
    end
    sideDir = cTurtle.dirStandardize("-"..sideDir)
    if formation == "wall" then
      move"up"
    elseif formation == "floor" then
      move"back"
    end
  end
end

tCommandQueue = {} -- table of queued commands
function modemControl(enable)
  --enables a very advanced remote control of the turtle
  if enable then
    if modem then
      if cTurtle.tSettings.swarm then
        _G.modem.open(tSettings.swarmChannel)
      else
        _G.modem.open(tSettings.controlChannel)
      end
    else
      return
    end
    oldPull = _G.os.pullEvent
    _G.os.pullEvent = function(filter) -- override original pullEvent
      while true do
        local tEvent = {oldPull()}
        if tEvent[1] == "modem_message"
        and tEvent[3] == tSettings.controlChannel
        or tEvent[3] == tSettings.swarmChannel 
        and type(tEvent[5]) == "table"
        and (tEvent[5].id == "all" or tEvent[5].id == tSettings.swarm) then
          tCommandQueue[#tCommandQueue+1] = tEvent
          if not tCommandQueue[2] 
          or tEvent[5] == "cancel" then
            while tCommandQueue[1] do
              local oldRenderMove = tSettings.renderMove
              tSettings.renderMove = false
              local tArg = {}
              if tEvent[5] == "cancel" then --remote cancel
                os.queueEvent("cTurtle","cancel")
              elseif type(tEvent[5]) == "table" then --table commands
                if tEvent[5][1] == "cTurtle update" then --update cTurtle through modem message
                  table.remove(tEvent[5],1)
                  fs.open(tFile.cTurtle,"w").writeLine(table.concat(tEvent[5],"\n"))
                  os.reboot()
                else -- function command
                  tArg[1] = tEvent[5][1]
                  for i=2,#tEvent[5] do
                    if type(tEvent[5][i]) == "table" then
                      tArg[i] = "{"
                      for k,v in pairs(tEvent[5][i]) do
                        tArg[i] = tArg[i].." "..k.." = "..v..","
                      end
                      tArg[i] = tArg[i].."}"
                    elseif type(tEvent[5][i]) == "string" then
                      tArg[i] = '"'..tEvent[5][i]..'"' --add quotation marks to strings
                    elseif tEvent[5][i] == true then
                      tArg[i] = "true" --change boolean to string
                    elseif tEvent[5][i] == false then
                      tArg[i] = "false" --change boolean to string
                    else
                      tArg[i] = tEvent[5][i]  --numbers
                    end
                  end
                end
              else --string function command
                tArg[1] = tEvent[5]:match"^%S+"
                tEvent[5] = tEvent[5]:sub(#tArg[1]+2,#tEvent[5])
                for word in tEvent[5]:gmatch"%S+" do --split message into words
                  if word:match"^%d+$" then --convert numbers to number format
                    word = tonumber(word)
                  elseif word:match"true" then --convert booleans to string
                    word = "true"
                  elseif word:match"false" then
                    word = "false"
                  else
                    word = '"'..word..'"' --add quotation marks to strings
                  end
                  table.insert(tArg,word)
                end
              end
              if tArg[1] then --command
                local funcString = ""
                funcString = "cTurtle."..table.remove(tArg,1).."(" --write function
                for i=1,#tArg do
                  local arg = tArg[i]
                  if i > 1 then
                    funcString = funcString.."," --commas if multipe args
                  end
                  funcString = funcString..arg
                end
                funcString = funcString..")" --end function
                local func = loadstring("setfenv(1,_G) "..funcString) -- create function
                local tRes = {pcall(func)}
                local str = funcString
                if tRes[1] then -- no errors
                  table.remove(tRes,1) --remove error index
                  for i=1,#tRes do --convert return values to string
                    if tRes[i] == true then
                      str = str.."|True "
                    elseif tRes[i] == false then
                      str = str.."|False "
                    elseif type(tRes[i]) == "table" then
                      for k,v in pairs(tRes[i]) do
                        str = str.."|"..k.."="..v.." "
                      end
                    elseif tRes[i] then
                      str = str.."|"..tRes[i].." "
                    end
                  end
                else --function failed
                  str = str.."|"..tRes[2]
                end
                if tEvent[3] == tSettings.controlChannel then
                  modem.transmit(tSettings.controlResponseChannel,tSettings.controlChannel,{
                    response = str, 
                    tPos = tPos,
                    turtleId = os.getComputerID()
                  }) --send return values
                end
                renderMove = oldRenderMove
              end
              table.remove(tCommandQueue,1)
              if tCommandQueue[1] then -- command in queue
                tEvent = tCommandQueue[1]
              end
            end
          end
        elseif not filter or filter == tEvent[1] then
          return unpack(tEvent) -- return event params
        end
      end
    end
    if tSettings.swarm then
      _G.modem.transmit(tSettings.controlResponseChannel,tSettings.swarmChannel,"Swarm turtle #"..tSettings.swarm.." online.")
    else
      _G.modem.transmit(tSettings.controlResponseChannel,tSettings.controlChannel,"Turtle #"..os.getComputerID().." online.")
    end
  else
    _G.modem.close(tSettings.swarmChannel)
    _G.modem.close(tSettings.controlChannel)
    _G.os.pullEvent = oldPullEvent --restore original pullEvent
  end
end

--API init
if not fs.exists(tFile.directory) then
  fs.makeDir(tFile.directory)
end
if not fs.exists(tFile.settings) then
  saveSettings()
end
if not fs.exists"/startup" then
  local file = fs.open("/startup","w")
  file.writeLine([[
local file = fs.open("]]..tFile.restarted..[[", "w")
file.writeLine"true"
file.close()
_G.restarted = true
]])
  file.close()
  _G.restarted = true
else
  local file = fs.open("/startup","r")
  local sFile = file.readAll()
  file.close()
  if not sFile:match([[fs%.open%("]]..tFile.restarted..[[", "w"%)]]) then
    local file = fs.open("/startup","a")
    file.writeLine([[
local file = fs.open("]]..tFile.restarted..[[", "w")
file.writeLine"true"
file.close()
_G.restarted = true
]])
    file.close()
    _G.restarted = true
  end
  local file = fs.open(tFile.restarted, "w")
  file.writeLine"true"
  file.close()
end

if not _G.restarted then
  local file = fs.open(tFile.restarted,"r")
  _G.restarted = file.readLine() == "true"
  file.close()
end

if not _G.modem then --auto wrap turtle modem, for ease of use
  for k,side in pairs(peripheral.getNames()) do
    if peripheral.getType(side) == "modem" then
      _G.modem = peripheral.wrap(side)
      _G.modem.open(gps.CHANNEL_GPS) --open GPS channel
      break
    end
  end
end
locate()
local tArg = {...}
if tArg[1] then
  --shell usage
  for i=2,#tArg do
    if tArg[i]:match"^%d+$" then
      tArg[i] = tonumber(tArg[i])
    else
      tArg[i] = '"'..tArg[i]..'"'
    end
  end
  local func = loadstring(table.remove(tArg,1).."("..table.concat(tArg,",")..")")
  setfenv(func,getfenv())
  term.setBackgroundColor(colors.black)
  term.clear()
  func()
  term.clear()
  term.setCursorPos(1,1)
end