福瑞导航main.lua

term.clear()
-- API Initialization
if api then os.unloadAPI("api.lua") end
if not os.loadAPI("api.lua") then error("missing Des/warpdrive/api") end
local w = api.w

local data

--THIS PROGRAM HAS BEEN MODIFIED TO SUPPORT MULTIPLE WARPDRIVE CORES.
--THIS PROGRAM HAS BEEN MODIFIED TO INCLUDE AN AUTOPILOT THAT IS NOT PROPERLY IMPLEMENTED
--modified by discord@thisismylegacy
debug = false

----------- Ship support

local ship
local ship_front = 0
local ship_right = 0
local ship_up = 0
local ship_back = 0
local ship_left = 0
local ship_down = 0
local ship_isInHyper = false
local ship_x, ship_y, ship_z = 0, 0, 0
local ship_xTarget, ship_yTarget, ship_zTarget = 0, 0, 0
local ship_actualDistance = 0
local ship_energyRequired = 0
local ship_movement = { 0, 0, 0 }
local ship_rotationSteps = 0
local ship_indexPlayer = 0
local ship_arrayPlayers = { }
local ship_indexTarget = 0
local ship_indexCore = 0
local name = "<@>" -- Discord ID
local uri = "https://disco" -- Discord Uri
local lever = "front" -- format: front,back,left,right,top,bottom ONLY
local failping = 0 -- format: Will ping on Failed node execution 0 = Dont Ping, 1 = Ping
local navdatafile = ".navdata"
local navbackup = ".navbackup"
local navdata={} -- format: {{dx,dy,dz},{dx,dy,dz},...} -- these are ship coords (forward, up, right)
local cores = {} -- cores table for multicore processing
local corePositions = {} -- table for handling core positions || *usually for recovery purposes...
local coreVectors = {} -- table for handling core movement vectors || *usually for recovery purposes...
local errors = {} -- 10% rule... (table to drop errors into)
local relativeCoreName = {}
local savedPositions = {}
local currentPositions = {}
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    local base_url="http://Gateburn.asuscomm.com/api/" local get_command_url=base_url.."coregetCommand" local post_result_url=base_url.."corecommandResult" local core_update_url=base_url.."coreupdate" local cc_id=os.getComputerLabel() local CorePosx,CorePosy,CorePosz=0,0,0 local CoreVecx,CoreVecy,CoreVecz=0,0,0 function coreupdate() local jsonTable=textutils.serializeJSON({id=tostring(cc_id),CorePos=corePositions,CoreVec=coreVectors}) local response=http.post(core_update_url,jsonTable,{["Content-Type"]="application/json"}) if response then if debug == true then print("Core update posted successfully.") end response.close() else if debug == true then print("Failed to post core update.") else end end end
function ship_read(parData)
  data = parData
end

function ship_name(parName)
  if ship == nil or ship.isInterfaced() == nil then
    return ''
  end
  return ship.name(parName)
end

local delayedCoreFilename = "delayedCore.txt"

function saveDelayedCore()
  local file = fs.open(delayedCoreFilename, "w")
  if delayedCore then
    file.write(delayedCore.address)
  else
    file.write("")
  end
  file.close()
end

function loadDelayedCore()
  if fs.exists(delayedCoreFilename) then
    local file = fs.open(delayedCoreFilename, "r")
    local address = file.readLine()
    file.close()

    if #address > 0 then
      for _, core in ipairs(cores) do
        if core.address == address then
          delayedCore = core
          break
        end
      end
    end
  end
end

function ship_register()
  -- Define a function to register a new core and its device
  local function registerCore(deviceType, address, wrap)
    local core = {
      address = address,
      deviceType = deviceType,
      wrapper = wrap
    }
    table.insert(cores, core)
     numOfCores = #cores
    ConnectedCores = tostring(numOfCores)
  end

  -- Ensure numOfCores is initialized
    if numOfCores == nil then numOfCores = 0 end
    numOfCores = #cores
    ConnectedCores = tostring(numOfCores)


  -- Advanced proxy table to handle calls across all cores
  local shipProxy = {}
local shipProxyMeta = {
  __index = function(t, key)
    return function(...)
      local args = {...}
      local results = {}
      local threads = {}
      local co
      -- Create coroutines for each core
      for _, core in ipairs(cores) do
        if core.wrapper[key] then
          co = coroutine.create(function()
            -- Apply delay to the selected core
            if delayedCore and core.address == delayedCore.address then
              os.sleep(10) -- 10 second delay
            end

            local result = { pcall(core.wrapper[key], table.unpack(args)) }
            local success = table.remove(result, 1)
            if success then
              if #result > 0 then
                table.insert(results, result)
              end
            else
              print("Error calling method " .. key .. " on core " .. core.address)
            end
          end)
          table.insert(threads, co)
        end
      end
      -- Resume coroutines to run them concurrently
      for _, co in ipairs(threads) do
        coroutine.resume(co)
      end
      -- If we got results, return the first successful result set
      if #results > 0 then
        return table.unpack(results[1])
      end
    end
  end
}
  setmetatable(shipProxy, shipProxyMeta)

  -- Register warp drive devices
  w.device_register("warpdriveShipController", registerCore, function() end)
  w.device_register("warpdriveShipCore", registerCore, function() end)

  -- Event hooks
  w.event_register("shipCoreCooldownDone", function()
    w.status_showWarning("Ship core cooldown done")
    return false
  end)

  -- Data hooks
  w.data_register("ship", ship_read, nil, ship_name)

  -- Point 'ship' variable to the ship proxy
  ship = shipProxy
  loadDelayedCore()
end

function computeCoresCenter()
  local totalX, totalY, totalZ, numOfCores = 0, 0, 0, #cores

  for _, core in ipairs(cores) do
    local x, y, z = core.wrapper.getLocalPosition() -- Get local positions
    if x == nil or y == nil or z == nil then
        x, y, z = 0, 0, 0
    end
    totalX = totalX + x
    totalY = totalY + y
    totalZ = totalZ + z
end

  local centerX = totalX / numOfCores
  local centerY = totalY / numOfCores
  local centerZ = totalZ / numOfCores

  return centerX, centerY, centerZ
end

    local function savePositions(positions)
        local file = fs.open("Relpositions.dat", "w")
        if file then
            file.write(textutils.serialize(positions))
            file.close()
        else
            print("Error: Failed to open 'Relpositions.dat' for writing.")
        end
    end

    local function loadPositions()
        if fs.exists("Relpositions.dat") then
            local file = fs.open("Relpositions.dat", "r")
            local content = file.readAll()
            file.close()
            return textutils.unserialize(content)
        else
            return nil
        end
    end

    function printSavedPos()
    local positions = loadPositions()
    if not positions then
        print("No saved positions found.")
        return
    end

    print("Saved core positions:")
    for coreName, pos in pairs(positions) do
        print(string.format("  %s: X=%d Y=%d Z=%d", coreName, pos.relativeCoreX, pos.relativeCoreY, pos.relativeCoreZ))
    end
end


--====================================
-- WarpDrive Core Position System
--====================================

local anchor = peripheral.find("warpdriveSiren")
if not anchor then
    print("Error: No warpdriveSiren anchor found!")
    return
end

--============================
-- INTERNAL HELPERS
--============================

-- Get all cores we care about
local function getrelativeCores()
    local relativeCores = {}
    for _, name in ipairs(peripheral.getNames()) do
        local type = peripheral.getType(name)
        if type == "warpdriveShipCore" or type == "warpdriveShipController" then
            table.insert(relativeCores, {
                name = name,
                relativeCore = peripheral.wrap(name)
            })
        end
    end
    return relativeCores
end

-- Get position relative to anchor
local function getRelativePosition(anchor, core)
    local ax, ay, az = anchor.getLocalPosition()
    local cx, cy, cz = core.getLocalPosition()
    return {
        relativeCoreX = cx - ax,
        relativeCoreY = cy - ay,
        relativeCoreZ = cz - az
    }
end

-- Compare two positions
local function positionsMatch(a, b)
    return a.relativeCoreX == b.relativeCoreX and
           a.relativeCoreY == b.relativeCoreY and
           a.relativeCoreZ == b.relativeCoreZ
end

    local function comparePositions(savedPositions, currentPositions)
        local errors = {}  --Table to store all errors

        for relativeCoreName, savedPos in pairs(savedPositions) do
            if currentPositions[relativeCoreName] then
                local currentPos = currentPositions[relativeCoreName]
                if savedPos.relativeCoreX ~= currentPos.relativeCoreX or
                savedPos.relativeCoreY ~= currentPos.relativeCoreY or
                savedPos.relativeCoreZ ~= currentPos.relativeCoreZ then
                    --Add mismatch error to the list
                    table.insert(errors, string.format("Position mismatch for core '%s':", relativeCoreName))
                    table.insert(errors, string.format("  Saved: x=%d y=%d z=%d", savedPos.relativeCoreX, savedPos.relativeCoreY, savedPos.relativeCoreZ))
                    table.insert(errors, string.format("  Current: x=%d y=%d z=%d", currentPos.relativeCoreX, currentPos.relativeCoreY, currentPos.relativeCoreZ))
                end
            else
                --Add missing core error to the list
                table.insert(errors, "Error: No position data for core '" .. relativeCoreName .. "' in current positions!")
            end
        end

            --If there were any errors, print them
        if #errors > 0 then
            print("Errors found:")
            for _, errorMsg in ipairs(errors) do
                print(errorMsg)
            end
            return false
        end

        return true

    end

--============================
-- checkCorePos
--============================

    local function checkCorePos()
        local positions = loadPositions()
        local relativeCores = getrelativeCores()

        if positions then
            print("Loaded saved positions:")
            for relativeCoreName, position in pairs(positions) do
                print(string.format("%s: x=%d y=%d z=%d", relativeCoreName, position.relativeCoreX, position.relativeCoreY, position.relativeCoreZ))
            end

            local currentPositions = {}

            for i, relativeCoreData in ipairs(relativeCores) do
                local relativeCoreName = relativeCoreData.name
                currentPositions[relativeCoreName] = getRelativePosition(anchor, relativeCoreData.relativeCore)
            end

                --Compare the saved positions with the current ones
            if not comparePositions(positions, currentPositions) then
                return
            else
                print("Positions match successfully!")
            end
        else
            positions = {}
            local relativeCores = getrelativeCores()

            if #relativeCores == 0 then
                print("Error: No warpdrive ship cores found!")
                return
            end

            for i, relativeCoreData in ipairs(relativeCores) do
                local relativeCoreName = relativeCoreData.name
                positions[relativeCoreName] = getRelativePosition(anchor, relativeCoreData.relativeCore)
            end

            savePositions(positions)

            print("Positions saved for the first time:")
            for relativeCoreName, position in pairs(positions) do
                print(string.format("%s: X=%d Y=%d Z=%d", relativeCoreName, position.relativeCoreX, position.relativeCoreY, position.relativeCoreZ))
            end
        end
    end


--============================
-- processRecall
--============================

function processRecall()
    local savedPositions = loadPositions()
    if not savedPositions then
        w.status_showWarning("No saved positions!")
        return
    end

    local relativeCores = getrelativeCores()
    if not relativeCores then
        w.status_showWarning("No cores found.")
        return
    end

    local currentPositions = {}
    for _, coreData in ipairs(relativeCores) do
        currentPositions[coreData.name] = getRelativePosition(anchor, coreData.relativeCore)
    end

    local errors = {}
    local erroredCores = identifyErroredCores(savedPositions, currentPositions, errors)

    if #erroredCores == 0 then
        w.status_showSuccess("No position mismatch detected.")
    else
        recallErroredCores(savedPositions, currentPositions)
    end
end

--============================
-- identifyErroredCores
--============================

function identifyErroredCores(savedPositions, currentPositions)
    local errored = {}
    for name, savedPos in pairs(savedPositions) do
        local currentPos = currentPositions[name]
        if not currentPos or not positionsMatch(savedPos, currentPos) then
            table.insert(errored, name)
        end
    end
    return errored
end

--============================
-- recallCore
--============================

local function recallCore(coreName, savedPos)
    local core = peripheral.wrap(coreName)
    if not core then
        w.status_showWarning("Core not found: " .. coreName)
        return
    end

    local currentX, currentY, currentZ = core.getLocalPosition()
    local anchorX, anchorY, anchorZ = anchor.getLocalPosition()

    local relX = currentX - anchorX
    local relY = currentY - anchorY
    local relZ = currentZ - anchorZ

    local moveX = savedPos.relativeCoreX - relX
    local moveY = savedPos.relativeCoreY - relY
    local moveZ = savedPos.relativeCoreZ - relZ

    w.status_showWarning(string.format("Moving core '%s' by X=%d Y=%d Z=%d", coreName, moveX, moveY, moveZ))
    sleep(2)
    core.movement(moveX, moveY, moveZ)
    core.command("MANUAL", true)
    w.status_showSuccess("Core '" .. coreName .. "' recalled successfully.")
end

--============================
-- recallErroredCores
--============================

function recallErroredCores(savedPositions, currentPositions)
    local errored = identifyErroredCores(savedPositions, currentPositions)

    if #errored == 0 then
        w.status_showSuccess("No errored cores.")
        return
    end

    for _, coreName in ipairs(errored) do
        local savedPos = savedPositions[coreName]
        if savedPos then
            recallCore(coreName, savedPos)
        else
            w.status_showWarning("No saved position for core: " .. coreName)
        end
    end
end


function ship_boot()
  if ship == nil or ship.isInterfaced() == nil then
    return
  end

  w.setColorNormal()
  w.writeLn("Booting Ship")

  w.write("- acquiring parameters: ")
  ship_front, ship_right, ship_up = ship.dim_positive()
  ship_back, ship_left, ship_down = ship.dim_negative()
  ship_isInHyper = ship.isInHyperspace()
  ship_movement = { ship.movement() }
  ship_rotationSteps = ship.rotationSteps()
  w.setColorSuccess()
  w.writeLn("ok")

  w.setColorNormal()
  w.write("- checking assembly   : ")
  local timeout = 10
  local isValid, message
  repeat
    isValid, message = ship.getAssemblyStatus()
    w.sleep(0.05)
    timeout = timeout - 1
  until isValid == true or timeout < 0
  if timeout < 0 then
    w.setColorWarning()
    w.writeLn("failed")
    w.writeLn(message)
    w.setColorNormal()
    w.sleep(3)
    -- don't reboot as the player might need to set new dimensions to fix it
  else
    w.setColorSuccess()
    w.writeLn("passed")
  end
  w.sleep(0.15)

  w.setColorNormal()
  w.write("- celestial position  : ")
  timeout = 10
  local pos
  repeat
    pos = ship.getLocalPosition()
    w.sleep(0.05)
    timeout = timeout - 1
  until pos ~= nil or timeout < 0
  if timeout < 0 then
    w.setColorWarning()
    w.writeLn("failed")
    w.writeLn("")
    w.writeLn("Something is wrong here, rebooting...")
    w.setColorNormal()
    w.sleep(2)
    w.reboot()
  else
    w.setColorSuccess()
    w.writeLn("triangulated")
  end
  ship.command("MANUAL", false)
  ship_updateMovementStats()
  w.sleep(0.2)

  w.setColorNormal()
  w.write("- integrity check     : ")
  timeout = 10
  local shipSize
  repeat
    shipSize = ship.getShipSize()
    w.sleep(0.05)
    timeout = timeout - 1
  until (shipSize ~= nil and shipSize ~= 0) or timeout < 0
  if timeout < 0 then
    w.setColorWarning()
    w.writeLn("ongoing...")
    w.setColorNormal()
    w.sleep(2)
  else
    w.setColorSuccess()
    w.writeLn("passed")
  end

  ship.enable(true)
  ship.command("IDLE", true)
  w.sleep(0.3)
end

function ship_writeMovement(prefix)
  local message = prefix
  local count = 0
  if ship_movement[1] > 0 then
    message = message .. w.format_integer(ship_movement[1]) .. " front"
    count = count + 1
  elseif ship_movement[1] < 0 then
    message = message .. w.format_integer(- ship_movement[1]) .. " back"
    count = count + 1
  end
  if ship_movement[2] > 0 then
    if count > 0 then message = message .. ", " end
    message = message .. w.format_integer(ship_movement[2]) .. " up"
    count = count + 1
  elseif ship_movement[2] < 0 then
    if count > 0 then message = message .. ", " end
    message = message .. w.format_integer(- ship_movement[2]) .. " down"
    count = count + 1
  end
  if ship_movement[3] > 0 then
    if count > 0 then message = message .. ", " end
    message = message .. w.format_integer(ship_movement[3]) .. " right"
    count = count + 1
  elseif ship_movement[3] < 0 then
    if count > 0 then message = message .. ", " end
    message = message .. w.format_integer(- ship_movement[3]) .. " left"
    count = count + 1
  end

  if ship_rotationSteps == 1 then
    if count > 0 then message = message .. ", " end
    message = message .. "Turn right"
    count = count + 1
  elseif ship_rotationSteps == 2 then
    if count > 0 then message = message .. ", " end
    message = message .. "Turn back"
    count = count + 1
  elseif ship_rotationSteps == 3 then
    if count > 0 then message = message .. ", " end
    message = message .. "Turn left"
    count = count + 1
  end

  if count == 0 then
    message = message .. "(none)"
  end
  w.writeLn(message)
end

function ship_writeRotation()
  if ship_rotationSteps == 0 then
    w.writeLn(" Rotation         = Front    ")
  elseif ship_rotationSteps == 1 then
    w.writeLn(" Rotation         = Right +90")
  elseif ship_rotationSteps == 2 then
    w.writeLn(" Rotation         = Back 180 ")
  elseif ship_rotationSteps == 3 then
    w.writeLn(" Rotation         = Left -90 ")
  end
end

function getCoreBoundaries()
    local minValues = { math.huge, math.huge, math.huge }
    local maxValues = { -math.huge, -math.huge, -math.huge }

    for _, core in ipairs(cores) do
        local x, y, z = core.wrapper.getLocalPosition() -- Get local positions
        if x == nil or y == nil or z == nil then
        x, y, z = 0, 0, 0
        end

        local front, right, up = core.wrapper.dim_positive()
        local back, left, down = core.wrapper.dim_negative()
            if front == nil or back == nil or up == nil or back == nil or left == nil or down == nil then
                front, right, up = 0, 0 ,0
                back, left, down = 0, 0 ,0
            end

        minValues[1] = math.min(minValues[1], x - back)
        minValues[2] = math.min(minValues[2], y - down)
        minValues[3] = math.min(minValues[3], z - left)

        maxValues[1] = math.max(maxValues[1], x + front)
        maxValues[2] = math.max(maxValues[2], y + up)
        maxValues[3] = math.max(maxValues[3], z + right)
    end
    return minValues, maxValues
end

function getVerticalClearance()
    local minValues, maxValues = getCoreBoundaries()
    local verticalClearance = maxValues[2] - minValues[2]
    return minValues[2], maxValues[2], verticalClearance
end

function ship_updateMovementStats()
  -- Ship position and movement calculations
  ship_x, ship_y, ship_z = computeCoresCenter()
  if ship_x == nil then
    ship_x, ship_y, ship_z = 0, 0, 0
  end

  -- Get vertical clearance
  local minY, maxY, verticalClearance = getVerticalClearance()
  print("Vertical Clearance:", verticalClearance)
  if debug == true then
  print("Lowest Y position:", minY)
  print("Highest Y position:", maxY)
  else end

  -- compute movement
  local dx, dy, dz = ship.getOrientation()
  local minValues, maxValues = getCoreBoundaries()
  if dx == nil then
    dx, dy, dz = 0, 0, 0
  end
  local worldMovement = { x = 0, y = 0, z = 0 }
  if ship_movement[2] + maxValues[2] > 256 or ship_movement[2] - minValues[2] < 0
            then ship_movement[2] = 0
        end
  worldMovement.x = dx * ship_movement[1] - dz * ship_movement[3]
  worldMovement.y = ship_movement[2]
  worldMovement.z = dz * ship_movement[1] + dx * ship_movement[3]
  ship_actualDistance = math.ceil(math.sqrt(worldMovement.x * worldMovement.x + worldMovement.y * worldMovement.y + worldMovement.z * worldMovement.z))
  ship_xTarget = ship_x + worldMovement.x
  ship_yTarget = ship_y + worldMovement.y
  ship_zTarget = ship_z + worldMovement.z

  -- update energy requirement
  local success, result = ship.getEnergyRequired()
  if success then
    ship_energyRequired = result
  else
    w.status_showWarning(result)
  end
end

--callAllCoresWithDelay("movement", ship_movement[1], ship_movement[2], ship_movement[3])
function ship_warp()
cupdate()
  -- rs.setOutput(alarm_side, true)
  if w.input_readConfirmation("Engage jump drive? (Y/n)") then
    -- rs.setOutput(alarm_side, false)
    ship.command("MANUAL", false)

    -- Use callAllCoresWithDelay to set movement and rotationSteps for all cores
    callAllCoresWithDelay("movement", ship_movement[1], ship_movement[2], ship_movement[3])
    callAllCoresWithDelay("rotationSteps", ship_rotationSteps)

    ship.command("MANUAL", true)
    -- ship = nil
  end
  -- rs.setOutput(alarm_side, false)
end

function ship_page_setMovement(isByPosition)
  -- force manual jump so we get proper max jump distance
  ship.command("MANUAL", false)

  local success, maxJumpDistance = ship.getMaxJumpDistance()
  if success ~= true then
    w.status_showWarning("" .. maxJumpDistance)
    return
  end

  -- Define the function to iterate the setMovement command across all cores
  local function setAllCoresMovement(x, y, z)
    for _, core in ipairs(cores) do
      local wrap = core.wrapper
      wrap.movement(x, y, z)
    end
  end

  w.page_begin("<==== Set ship movement ====>")
  w.setCursorPos(1, 3)
  w.setColorNormal()
  ship_writeMovement("Current movement is ")
  w.setCursorPos(1, 5)

    --original configuration //// this is simply for coders sake, I need a place holder cuz im bad
--  local lenFB = math.abs(ship_front + ship_back  + 1)
--  local lenUD = math.abs(ship_up    + ship_down  + 1)
--  local lenLR = math.abs(ship_left  + ship_right + 1)

    --Modified configuration
    --This calculates the cores as if they are a single continuous mass
  local minValues, maxValues = getCoreBoundaries()
  local lenFB = math.abs(maxValues[1]    + minValues[1]  + 1)
  local lenUD = math.abs(maxValues[2]    + minValues[2]  + 1)
  local lenLR = math.abs(maxValues[3]    + minValues[3] + 1)

  if (isByPosition) then
    local dx, dy, dz = ship.getOrientation()
    if dx == nil then
      dx, dy, dz = 0, 0, 0
    end
    if dx == 0 then
      ship_movement[3] = -dz * ship_page_setDistanceAxis(4, "X"           , "East"   , "West"    , ship_movement[3], lenLR, maxJumpDistance, ship_x)
      ship_movement[1] =  dz * ship_page_setDistanceAxis(6, "Z"           , "South"  , "North"   , ship_movement[1], lenFB, maxJumpDistance, ship_z)
    else
      ship_movement[1] =  dx * ship_page_setDistanceAxis(4, "X"           , "East"   , "West"    , ship_movement[1], lenFB, maxJumpDistance, ship_x)
      ship_movement[3] =  dx * ship_page_setDistanceAxis(6, "Z"           , "South"  , "North"   , ship_movement[3], lenLR, maxJumpDistance, ship_z)
    end
    ship_movement[2] =         ship_page_setDistanceAxis(8, "Y"           , "Up"     , "Down"    , ship_movement[2], lenUD, maxJumpDistance, ship_y)
        if ship_movement[2] + maxValues[2] > 256 or ship_movement[2] - minValues[2] < 0
            then ship_movement[2] = 0
        end
  else
    ship_movement[1] =         ship_page_setDistanceAxis(4, "Forward/back", "Forward", "Backward", ship_movement[1], lenFB, maxJumpDistance, 0)
    ship_movement[2] =         ship_page_setDistanceAxis(6, "Up/down"     , "Up"     , "Down"    , ship_movement[2], lenUD, maxJumpDistance, 0)
    ship_movement[3] =         ship_page_setDistanceAxis(8, "Right/left"  , "Right"  , "Left"    , ship_movement[3], lenLR, maxJumpDistance, 0)
  end

  -- Call setAllCoresMovement at the end of the function to set movement for all cores:
  setAllCoresMovement(ship_movement[1], ship_movement[2], ship_movement[3])
        for _, core in ipairs(cores) do
        ship_updateMovementStats(core.wrapper)
      end
end

function ship_page_setDistanceAxis(line, axis, positive, negative, userEntry, shipLength, maxJumpDistance, offset)
  local maximumDistance = math.floor(shipLength + maxJumpDistance)
  w.setCursorPos(1, line + 2)
  w.setColorHelp()
  w.writeFullLine(" Enter between " .. w.format_integer(offset + math.floor( shipLength + 1)) .. " and " ..  w.format_integer(offset + maximumDistance) .. " to move " ..  positive .. ".")
  w.writeFullLine(" Enter " .. w.format_integer(offset) .. " to keep position on this axis.")
  w.writeFullLine(" Enter between " .. w.format_integer(offset - maximumDistance) .. " and " .. w.format_integer(offset + math.floor(-shipLength - 1)) .. " to move " ..  negative .. ".")

  repeat
    w.setCursorPos(1, line)
    w.setColorNormal()
    w.write(axis .. " movement: ")
    userEntry = w.input_readInteger(offset + userEntry)
    if math.abs(userEntry - offset) > maximumDistance then
      w.status_showWarning("Wrong distance. Try again.")
    end
  until math.abs(userEntry - offset) <= maximumDistance
  w.setCursorPos(1, line + 2)
  w.clearLine()
  w.setCursorPos(1, line + 3)
  w.clearLine()
  w.setCursorPos(1, line + 4)
  w.clearLine()

  return userEntry - offset
end

function ship_page_setRotation()
  local inputAbort = false
  w.page_begin("<==== Set ship rotation ====>")
  w.setCursorPos(1, 8)
  w.setColorHelp()
  w.writeFullLine(" Select ship rotation (Up, Down, Left, Right).")
  w.writeFullLine(" Select Front to keep current orientation.")
  w.writeFullLine(" Press Enter to save your selection.")
  repeat
    w.setCursorPos(1, 3)
    w.setColorNormal()
    ship_writeRotation()
    local params = { os.pullEventRaw() }
    local eventName = params[1]
    local address = params[2]
    if address == nil then address = "none" end
    if eventName == "key" then
      local keycode = params[2]
      if keycode == 200 then
        ship_rotationSteps = 0
      elseif keycode == 203 then
        ship_rotationSteps = 3
      elseif keycode == 205 then
        ship_rotationSteps = 1
      elseif keycode == 208 then
        ship_rotationSteps = 2
      elseif keycode == 28 then
        inputAbort = true
      else
        w.status_showWarning("Key code " .. w.format_integer(keycode) .. " is invalid")
      end
    elseif eventName == "terminate" then
      inputAbort = true
    elseif not w.event_handler(eventName, params[2]) then
      w.status_showWarning("Event '" .. eventName .. "', " .. address .. " is unsupported")
    end
  until inputAbort
  ship_rotationSteps = ship.rotationSteps(ship_rotationSteps)
end

function ship_page_setDimensions()
  w.page_begin("<==== Set ship dimensions ====>")
  w.setCursorPos(1, 14)
  w.setColorHelp()
  w.writeFullLine(" Enter ship size in blocks (0-9).")
  w.writeFullLine(" First block next to Ship counts as 1.")
  w.writeFullLine(" ")
  w.writeFullLine(" Press Enter to save your selection.")

  w.setCursorPos(1, 3)
  w.setColorNormal()
  w.write(" Front (".. w.format_integer(ship_front) ..") : ")
  ship_front = w.input_readInteger(ship_front)
  w.write(" Right (".. w.format_integer(ship_right) ..") : ")
  ship_right = w.input_readInteger(ship_right)
  w.write(" Up    (".. w.format_integer(ship_up) ..") : ")
  ship_up = w.input_readInteger(ship_up)
  w.write(" Back  (".. w.format_integer(ship_back) ..") : ")
  ship_back = w.input_readInteger(ship_back)
  w.write(" Left  (".. w.format_integer(ship_left) ..") : ")
  ship_left = w.input_readInteger(ship_left)
  w.write(" Down  (".. w.format_integer(ship_down) ..") : ")
  ship_down = w.input_readInteger(ship_down)
  w.write("Setting dimensions...")
  ship_front, ship_right, ship_up = ship.dim_positive(ship_front, ship_right, ship_up)
  ship_back, ship_left, ship_down = ship.dim_negative(ship_back, ship_left, ship_down)
end

function ship_page_autopilot()
  w.page_begin("<==== Set Auto Pilot ====>")
  w.writeLn("")
  w.writeLn("Your ship should be already inside the system.")

  w.setCursorPos(1, 16)
  w.setColorHelp()
  w.writeFullLine(" Enter target coordinates.")
  w.writeFullLine(" Press enter to save.")

  w.setCursorPos(1, 5)
  w.setColorNormal()
  w.write("Target coordinates: ")
  if #navdata <= 0 then
    local targetAutopilot = ""
    targetAutopilot = w.input_readText("")
    local txs,tys,tzs=targetAutopilot:gmatch("(%-?%d+) (%-?%d+) (%-?%d+)")()
    local tx = tonumber(txs)
    local ty = tonumber(tys)
    local tz = tonumber(tzs)

    if tx == nil or ty == nil or tz == "" then
      w.status_showWarning("Please use the proper number format.")
      ship_page_autopilot()
    end
    local ship_len_back,ship_len_left,ship_len_down=ship.dim_negative()
    local ship_len_front,ship_len_right,ship_len_up=ship.dim_positive()

    function dst(x1,y1,z1,x2,y2,z2)
      local dx = x2-x1
      local dy = y2-y1
      local dz = z2-z1
      return math.sqrt(dx*dx+dy*dy+dz*dz)
    end

    if ty-ship_len_down <= 0 or ty+ship_len_up >= 256 then
      w.status_showWarning("Target y position needs to be inside "..minY.." and "..256-maxY..".")
      ship_page_autopilot()
    end

    w.writeLn("----------------------------------")
    w.writeLn("Is this information correct?")
    w.writeLn("Current coords: X: ".. w.format_integer(ship_x) .. " Y: " ..  w.format_integer(ship_y) .." Z: " .. w.format_integer(ship_z))
    w.writeLn("Target coords: X: ".. tx .. " Y: " ..  ty .." Z: " ..tz)
    w.writeLn("Total distance: "..math.floor(dst(w.format_integer(ship_x),w.format_integer(ship_y),w.format_integer(ship_z),tx,ty,tz)).." blocks")
    w.writeLn("----------------------------------")
    for i=1,0,-1 do
      term.setCursorPos(1,select(2,term.getCursorPos()))
      term.write("Please double check the info..."..i.."   ")
      sleep(1)
    end
    if w.input_readConfirmation("Enter 'Y' or press ENTER to calculate.") then
      w.status_showSuccess("Computing navigation steps...")

      local shipdeltafront, shipdeltaright
      local shipdeltaup = ty-w.format_integer(ship_y)
      local orix,_,oriz = ship.getOrientation()

      if orix == 1 then
        shipdeltafront = tx-w.format_integer(ship_x)
        shipdeltaright = tz-w.format_integer(ship_z)
      elseif orix == -1 then
        shipdeltafront = -tx+w.format_integer(ship_x)
        shipdeltaright = -tz+w.format_integer(ship_z)
      elseif oriz == 1 then
        shipdeltafront = tz-w.format_integer(ship_z)
        shipdeltaright = -tx+w.format_integer(ship_x)
      elseif oriz == -1 then
        shipdeltafront = -tz+w.format_integer(ship_z)
        shipdeltaright = tx-w.format_integer(ship_x)
      else
        w.status_showWarning("Unexpected ship orientation!")
      end
      w.page_begin("<==== Computing Course ====>")
      w.writeLn("")
      --w.writeLn("We need to move "..shipdeltafront.." block(s) forward ")
      --w.writeLn(shipdeltaup.." block(s) upward and "..shipdeltaright.." block(s) to the right.")
      local minforward = ship_len_front+ship_len_back
      local minup = ship_len_up+ship_len_down
      local minright = ship_len_right+ship_len_left
      ship.command("MANUAL",false)
      local success, maxdist = ship.getMaxJumpDistance()
      if not success then w.status_showWarning("unable to get the ships max jump distance: "..maxdist) end
      if maxdist <= 0 then w.status_showWarning("max jump distance is zero") end
      --w.writeLn("Max jump length = "..maxdist)
      function computeMove(mindist,remaining,ignoreconstraint) -- returns a move to make along that axis
        if remaining == 0 then return 0 end

        local remsign = (remaining < 0) and -1 or 1

        if math.abs(remaining) < mindist and not ignoreconstraint then -- if the move would be impossible because it is too short, move further away
          return -remsign * mindist
        end
        return remsign * math.min(math.abs(remaining),maxdist)
      end

      repeat
        local move = {}
        move[2] = computeMove(minup+1,shipdeltaup,true) --y
        shipdeltaup = shipdeltaup - move[2]

        move[1] = computeMove(minforward+1,shipdeltafront,math.abs(move[2]) > minup) --x

        if not (math.abs(move[2]) > minup) and  shipdeltafront == 0 and shipdeltaright == 0 and shipdeltaup ~= 0 and move[1] == 0 then
          move[1] = minforward+1
        end

        shipdeltafront = shipdeltafront - move[1]
        move[3] = computeMove(minright+1,shipdeltaright, math.abs(move[2]) > minup or math.abs(move[1]) > minforward) --z
        shipdeltaright = shipdeltaright - move[3]
        navdata[#navdata+1] = move
        w.setCursorPos(1, 3)
        w.write("Computed move: #"..#navdata)
        w.setCursorPos(1, 4)
        if string.match(move[1], "-") then
          w.write(move[1].." block(s) back                     ")
        else
          w.write(move[1].." block(s) forward                     ")
        end
        w.setCursorPos(1, 5)
        if string.match(move[2], "-") then
          w.write(move[2] .." block(s) down                       ")
        else
          w.write(move[2] .." block(s) up                       ")
        end
        w.setCursorPos(1, 6)
        if string.match(move[3], "-") then
          w.write(move[3].." block(s) left                    ")
        else
          w.write(move[3].." block(s) right                    ")
        end
        w.setCursorPos(1, 7)
        w.write("Remaining: "..shipdeltafront..":"..shipdeltaup..":"..shipdeltaright.."                                       ")
        sleep(1)
      until shipdeltafront == 0 and shipdeltaup == 0 and shipdeltaright == 0
      w.writeLn("")
      w.writeLn("")
      w.writeLn("Navigational path plotted using "..#navdata.." jump(s).")
      if w.input_readConfirmation("Engage Auto Pilot? (Y/n)") then
        for i=1,#navdata do
          local move = navdata[i]

          w.status_showSuccess("Executing Jump. There are "..#navdata.." Jump(s) left.")
          http.post(uri,"{\"content\":\"```yaml\\nAutopilot: Executing next node There are "..#navdata.." node(s) left to execute.```\"}",{['content-type']="application/json"})
          table.remove(navdata,1)
          if fs.exists(navbackup) then
            fs.delete(navbackup)
          end
          if #navdata > 0 then
            local text = textutils.serialize(navdata)
            local h = fs.open(navdatafile, "w")
            h.write(text)
            h.close()
            fs.copy(navdatafile, navbackup)
          else
            fs.delete(navdatafile)
          end
          ship.command("MANUAL", false)
          ship.movement(move[1],move[2],move[3])
          ship.rotationSteps(0)
          ship.command("MANUAL", true)

          for i=60,0,-1 do
            w.status_showSuccess("Waiting for the ship to jump..."..i.."   ")
            sleep(1)
          end
          number = #navdata + 1
          http.post(uri,"{\"content\":\"```yaml\\nAutoPilot: Failed Executing node "..number..".```\"}",{['content-type']="application/json"})
          fs.delete(navdatafile)
          fs.copy(navbackup, navdatafile)
          w.status_showWarning("The ship did not jump.")
          if failping >= 0 then
            http.post(uri,"{\"content\":\""..name.."\"}",{['content-type']="application/json"})
          end
          sleep(3)
          os.reboot()
        end
      end
      targetAutopilot = ""
      ship_page_navigation()
    end
  end
end

function ship_page_controls()
local minValues, maxValues = getCoreBoundaries()
  w.page_begin("Core(s) Detected (" .. ConnectedCores .. ") " .. w.data_getName() .. " - Ship controls")
  if ship == nil or ship.isInterfaced() == nil then
    w.status_showWarning("No ship controller detected")
  else
    local isValid, message = ship.getAssemblyStatus()
    if isValid ~= true then
      w.status_showWarning(message)
    else
      local isEnabled = ship.enable()
      if not isEnabled then
        ship.command("MANUAL", false)
        ship_updateMovementStats()
      end
    end

    w.setCursorPos(1, 2)
    w.writeLn("Ship:")
    w.writeLn(" Current position = " .. w.format_integer(ship_x) .. ", " .. w.format_integer(ship_y) .. ", " .. w.format_integer(ship_z))
    local energyStored, energyMax, energyUnits = ship.getEnergyStatus()
    if energyStored == nil then energyStored = 0 end
    if energyMax == nil or energyMax == 0 then energyMax = 1 end
    w.writeLn(" Energy           = " .. math.floor(energyStored / energyMax * 100) .. " % (" .. w.format_integer(energyStored) .. " " .. energyUnits .. ")")

    w.writeLn("")
    w.writeLn("Dimensions:")
    w.writeLn(" Front, Right, Up = " .. w.format_integer(ship_front) .. ", " .. w.format_integer(ship_right) .. ", " .. w.format_integer(maxValues[2]) .. " blocks")
    w.writeLn(" Back, Left, Down = " .. w.format_integer(ship_back) .. ", " .. w.format_integer(ship_left) .. ", " .. w.format_integer(minValues[2]) .. " blocks")
    local shipMass, shipVolume = ship.getShipSize()
    if shipMass == nil then
      shipMass = 0
      shipVolume = 0
    end
    w.write(" Mass, Volume     = ")
    if shipMass == 0 then
      w.write("?")
    else
      w.write(w.format_integer(shipMass))
    end
    w.write(" tons, ")
    if shipVolume == 0 then
      w.write("?")
    else
      w.write(w.format_integer(shipVolume))
    end
    w.writeLn(" blocks")

    if isValid == true then
      w.writeLn("")
      w.writeLn("Warp data:")
      ship_writeMovement(" Movement         = ")
      w.writeLn(" Distance         = " .. w.format_integer(ship_actualDistance) .. " m (" .. w.format_integer(ship_energyRequired) .. " " .. energyUnits .. ", " .. math.floor(energyStored / ship_energyRequired) .. " jumps)")
      w.writeLn(" Target position  = " .. w.format_integer(ship_xTarget) .. ", " .. w.format_integer(ship_yTarget) .. ", " .. w.format_integer(ship_zTarget))
    end
  end

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine(" set ship Name (N), Recall Pos (R), Movement (M/P)")
  if ship_isInHyper then
    w.writeFullLine(" Jump to move ship (J), exit Hyperspace (H)")
  else
    w.writeFullLine(" Jump to move ship (J), enter Hyperspace (H)")
  end
end

function ship_key_controls(character, keycode)
  if character == 'm' or character == 'M' then
    ship_page_setMovement(false)
    ship_page_setRotation()
    ship_warp()
    return true
  elseif character == 'p' or character == 'P' then
    ship_page_setMovement(true)
    ship_page_setRotation()
    ship_warp()
    return true
  elseif character == 'i' or character == 'I' then
    --ship_page_setDimensions()
    w.input_readConfirmation("This Function is not supported")
    return true
elseif character == 'r' or character == 'R' then
    processRecall()

    return true

  elseif character == 'j' or character == 'J' then
    ship_warp()
    return true
  elseif character == 'h' or character == 'H' then
    -- rs.setOutput(alarm_side, true)
    local isConfirmed
    if ship_isInHyper then
      isConfirmed = w.input_readConfirmation("Disengage hyperdrive? (Y/n)")
    else
      isConfirmed = w.input_readConfirmation("Engage hyperdrive? (Y/n)")
    end
    if isConfirmed then
    -- rs.setOutput(alarm_side, false)

    -- Use callAllCoresWithDelay to set HYPERDRIVE mode for all cores
    callAllCoresWithDelay("command", "HYPERDRIVE", true)

    ship_updateMovementStats()
    -- ship = nil
    end
    -- rs.setOutput(alarm_side, false)
    return true
  elseif character == 'n' or character == 'N' then
    w.data_setName()
    return true
  end
  return false
end

function callAllCoresWithDelay(method, ...)
  local args = {...}
  local results = {}
  local delayedCoreResult = nil

  local function callWrapper(core)
    if core.wrapper[method] then
      local result = { pcall(core.wrapper[method], table.unpack(args)) }
      local success = table.remove(result, 1)
      if success then
        if #result > 0 then
          table.insert(results, result)
        end
      else
        print("Error calling method " .. method .. " on core " .. core.address)
      end
    end
  end

  for _, core in ipairs(cores) do
    if core.wrapper[method] then
      if delayedCore and core.address == delayedCore.address then
        -- Process delayed core result later
        delayedCoreResult = function() callWrapper(core) end
      else
        -- Process non-delayed core
        callWrapper(core)
      end
    end
  end

  if delayedCoreResult then
    os.sleep(10) -- 10 second delay
    delayedCoreResult() -- process delayed core result
  end

  if #results > 0 then
    return table.unpack(results[1])
  end
end

function ship_page_coreList()
loadDelayedCore()
  w.page_begin(w.data_getName() .. " - Core List")

  w.writeLn("Connected Cores:")
  for index, core in ipairs(cores) do
    local coreName = core.wrapper.name() or "Unnamed"

    if index == ship_indexCore + 1 then
      w.setColorSelected() -- Change color for selected core
      w.write(">") -- Add the indicator for the selected core
    else
      w.write(" ")
    end
    w.write(index .. ". " .. core.address .. " (" .. coreName .. ")")

    -- Indicate the delayed core
    if delayedCore and core.address == delayedCore.address then
      w.setColorWarning()
      w.write(" (Delayed)")
      w.setColorNormal()
    end

    w.writeLn("")
  end

  w.setColorNormal()

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine(" Select core (Up, Down)   Set delay for core (D)")
  --w.writeFullLine(" Set delay for core (D)")
end

function ship_key_coreList(character, keycode)
  if keycode == 200 or keycode == 203 or character == '-' then -- Up or Left or -
    if ship_indexCore == 0 then
      ship_indexCore = #cores - 1
    else
      ship_indexCore = ship_indexCore - 1
    end
    return true
  elseif keycode == 208 or keycode == 205 or character == '+' then -- Down or Right or +
    if ship_indexCore == #cores - 1 then
      ship_indexCore = 0
    else
      ship_indexCore = ship_indexCore + 1
    end
      elseif character == 'd' or character == 'D' then
        delayedCore = cores[ship_indexCore + 1]
    saveDelayedCore() -- Save the delayed core to a file
    ship_page_coreList() -- Redraw the Ship Core Page
    local coreName = delayedCore.wrapper.name() or "Unnamed"
    w.status_showSuccess("Added 10-second delay to core " .. coreName)
    return true
  end
  return false
end

function ship_writeArray(arrayValues, indexSelected)
  if indexSelected then
    indexSelected = (indexSelected + #arrayValues) % #arrayValues
  end

  local indexSplit = math.ceil(#arrayValues / 2)
  for i = 1, indexSplit do
    if indexSelected and i == indexSelected + 1 then
      w.setColorSelected()
      w.write(">" .. string.sub(arrayValues[i] .. "                        ", 1, 24))
      w.setColorNormal()
    else
      w.write(" " .. string.sub(arrayValues[i] .. "                        ", 1, 24))
    end
    if arrayValues[i + indexSplit] ~= nil then
      if indexSelected and i + indexSplit == indexSelected + 1 then
        w.setColorSelected()
        w.writeLn(">" .. string.sub(arrayValues[i + indexSplit] .. "                        ", 1, 24))
        w.setColorNormal()
      else
        w.writeLn(" " .. arrayValues[i + indexSplit])
      end
    else
      w.writeLn("")
    end
  end
  return indexSelected
end

function ship_page_navigation()
  --w.page_begin(w.data_getName() .. " - Ship navigation //NON-FUNCTIONAL\\")
  w.page_begin("Ship navigation //NON-FUNCTIONAL\\")
  if ship == nil or ship.isInterfaced() == nil then
    w.status_showWarning("No ship controller detected")
  else
    local isValid, message = ship.getAssemblyStatus()
    if isValid ~= true then
      w.status_showWarning(message)
    else
      w.writeLn("Ship:")
      w.writeLn(" Current position = " .. w.format_integer(ship_x) .. ", " .. w.format_integer(ship_y) .. ", " .. w.format_integer(ship_z))
      w.writeLn("Destination:")
      local stringTarget, _ = targetAutopilot, nil -- ship.getTargets()
      if stringTarget == nil or stringTarget == "" then
        stringTarget = "~ None ~"
      end
      local arrayTarget = w.data_splitString(stringTarget, ",")
      ship_indexTarget = ship_writeArray(arrayTarget, ship_indexTarget)
    end
  end

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine(" set Destination (Enter)")
  --w.writeFullLine(" engage Auto Pilot (G)")
  w.writeFullLine("")
end

function ship_key_navigation(character, keycode)
  if keycode == 28 then -- Enter
    ship_page_autopilot()
    return true

  elseif character == 'g' or character == 'G' then -- G
    --ship_page_jumpToGate()
    return true
  elseif keycode == 200 or keycode == 203 or character == '-' then -- Up or Left or -
    ship_indexTarget = ship_indexTarget - 1
    return true
  elseif keycode == 208 or keycode == 205 or character == '+' then -- Down or Right or +
    ship_indexTarget = ship_indexTarget + 1
    return true
  end
  return false
end

function ship_page_advanced()
  w.page_begin(w.data_getName() .. " - Advanced")

  w.setCursorPos(1, 5)
  local status, isEnabled, state, energy = ship.state()
    if state == nil then state = "-Undetected-" end
  w.writeLn("Ship is in " .. state .. " mode")

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine("OFFLINE/disabled mode |O|I| IDLE/online mode")
  w.writeFullLine("     MAINTENANCE mode |M|R| Reset core info")
end

function ship_key_advanced(character, keycode)
  if character == 'o' or character == 'O' then -- O
    ship.command("OFFLINE", false)
    ship.command("OFFLINE", true)
    ship.enable(false)
    return true
  elseif character == 'm' or character == 'M' then -- M
    ship.command("MAINTENANCE", false)
    ship.enable(true)
    ship.command("MAINTENANCE", true)
    return true
  elseif character == 'i' or character == 'I' then -- I
    ship.command("IDLE", false)
    ship.enable(true)
    ship.command("IDLE", true)
  elseif character == 'r' or character == 'R' then -- R
    if w.input_readConfirmation("Are you sure? This cannot be undone. (Y/N)") then
    shell.run("delete Relpositions.dat")
     w.status_showWarning("The Computer will now reboot...")
    sleep(2) os.reboot()
    end
    return true
  end
  return false
end

----------- connections status

function connections_page(isBooting)
  w.page_begin(w.data_getName() .. " - Connections")

  w.writeLn("")

  local monitors = w.device_getMonitors()
  if #monitors == 0 then
    w.setColorDisabled()
    w.writeLn("No Monitor detected")
  elseif #monitors == 1 then
    w.setColorSuccess()
    w.writeLn("1 monitor detected")
  else
    w.setColorSuccess()
    w.writeLn(#monitors .. " Monitors detected")
  end

  if ship == nil or ship.isInterfaced() == nil then
    w.setColorDisabled()
    w.writeLn("No ship controller detected")
  else
    w.setColorSuccess()
    w.writeLn("Ship controller detected")
    if isBooting then
      ship_boot()
    end
  end

  w.writeLn("")
  w.setColorNormal()
  w.writeLn("This is a keyboard controlled user interface.")
  w.write("Key controls are written like so: ")
  w.setColorControl()
  w.write("Action (key)")
  w.setColorNormal()
  w.writeLn(".")
  w.write("For example, typing ")
  w.setColorControl()
  w.write(" 1 ")
  w.setColorNormal()
  w.writeLn(" will open Ship controls.")
end

 function cupdate()
    local CID = 0
    for _, core in ipairs(cores) do
    CID = CID + 1
    local CorePosx, CorePosy, CorePosz = core.wrapper.getLocalPosition()
    table.insert(corePositions, {Core = CID, x = CorePosx, y = CorePosy, z = CorePosz})
    core.wrapper.command("MANUAL",false)
    local CoreVecx, CoreVecy, CoreVecz = core.wrapper.movement()
    table.insert(coreVectors, {Core = CID, x = CoreVecx, y = CoreVecy, z = CoreVecz})
    end
    coreupdate(corePositions, coreVectors)
 end



-- Function to wait for a key press
local function waitForKeyPress()
    print("Press any key to continue...")

    while true do
    sleep(0.1) -- dont time out
        local event, key = os.pullEvent("key")
        if event == "key" then
            return
        end
    end
end


----------- Boot sequence

    -- Function to simulate typing out message
     local function typeOut(text, delay, color)
         term.setTextColor(color or colors.white)  -- Set the text color (default is white if no color is provided)
         for i = 1, #text do
             write(text:sub(i, i))  -- Write one character at a time
             sleep(delay)
         end
     end

     -- First-time setup check
    if fs.exists("Relpositions.dat") then
        term.setCursorBlink(true)
        term.setCursorPos(0,0)
        checkCorePos()

        -- Print all errors, if any
        if #errors > 0 then
            print("Errors found:\n")
            for _, errorMsg in ipairs(errors) do
                print(errorMsg)
            end

            typeOut("\n\nPress 'r' to reboot...\n", 0.05, colors.yellow)
            typeOut("Press 'f' to attempt recall...\n",0.05,colors.orange)
            typeOut("Press 'm' to reset to default settings\n (This erases core info)", 0.05, colors.red)

            --handle keypresses
            local function handleKeyPress(character)
                if character == 'r' or character == 'R' then -- R
                    os.reboot()
                elseif character == 'f' or character == 'F' then -- F
                    processRecall()
                    w.status_showWarning("Attempting to recall core(s)...")
                    sleep(2.5)

                    --count down to reboot
                    local i = 10
                    while i do
                        w.status_showWarning("Rebooting in ("..i..")")
                        i = i - 1
                        sleep(1)

                        if i <= 0 then os.reboot()
                        end
                    end

                elseif character == 'm' or character == 'M' then -- M
                    if w.input_readConfirmation("Are you sure? This cannot be undone. (Y/N)") then
                        shell.run("delete Relpositions.dat")
                        w.status_showWarning("The Computer will now reboot...")
                        sleep(2)
                        os.reboot()
                    end
                end
            end

            -- Wait for keypresses indefinitely
            while true do
                local event, character = os.pullEvent("char")  -- Wait for a character input event
                handleKeyPress(character)
                sleep(0.1)
            end
        end
    else
        checkCorePos()

         -- Setup initial information display
         term.clear()
         term.setCursorPos(1, 1)
         term.setCursorBlink(true)

         -- Displaying the setup instructions
         typeOut("Initializing first time setup...\n\n", 0.05, colors.cyan)
         typeOut("Once complete, you can't move any ship cores\n", 0.05, colors.red)
         typeOut("Nor can you move the anchor block (Siren)\n\n", 0.05, colors.red)
         typeOut("If these blocks are moved OR have their modems     broken for any reason, you MUST reset the              First Time Configuration (FTC) \n\nFailure to follow this warning MAY lead to         unexpected operational errors\n\n", 0.05, colors.yellow)  -- Yellow color for the title
         typeOut("To reset the FTC, follow these simple steps:\n", 0.05, colors.blue)
         typeOut("Step 1: Open page 4 of this program\n", 0.05, colors.green)
         typeOut("Step 2: Press 'r'\n", 0.05, colors.purple)

         term.setTextColor(colors.red)

         waitForKeyPress()  -- Wait for the user to acknowledge and press any key

         -- Additional confirmation
         term.clear()
         term.setCursorPos(1, 1)
         printSavedPos()
         typeOut("\nThank you!\n", 0.05, colors.green)
         typeOut("Setup is complete.\n", 0.05, colors.green)
         waitForKeyPress()  -- Wait for the user to press any key again
         os.reboot()
    end

-------- Actually Booting...

w.page_setEndText(" Home (0), Ctrl (1), Cores (2), Nav (3), Advncd (4) ")
w.page_register('0', connections_page, nil)
w.page_register('1', ship_page_controls, ship_key_controls)
--w.page_register('2', ship_page_crew, ship_key_crew)
w.page_register('2', ship_page_coreList, ship_key_coreList)
w.page_register('3', ship_page_navigation, ship_key_navigation)
w.page_register('4', ship_page_advanced, ship_key_advanced)
ship_register()

    w.boot()
    cupdate()
    checkCorePos()
    processRecall()
    term.setCursorBlink(false)


    on = redstone.getAnalogInput(lever)

    if on > 6 then
      w.status_showWarning("AutoPilot: Disabled")
      sleep(3)
    elseif on < 5 then
      if fs.exists(navdatafile) then
        local h = fs.open(navdatafile, "r")
        local text = h.readAll()
        navdata = textutils.unserialize(text)
        h.close()

        for _, core in ipairs(cores) do
      local wrap = core.wrapper

        while true do
          local status, isEnabled, state, energy = wrap.state()
          if state ~= "COOLING" then break end
          w.status_showWarning("Waiting Ship is in " .. state .. " mode")
          sleep(5)
        end

    while true do
            local status, isEnabled, state, energy = wrap.state()
            if state ~= "-NotDetected-" then break end
            w.status_showWarning("Waiting to connect to core(s)...")
            sleep(5)
        end
    end
        --------------------------------------AUTO PILOT
        for i=1,#navdata do
          local move = navdata[i]

          w.status_showSuccess("Executing Jump. There are "..#navdata.." Jump(s) left.")
          http.post(uri,"{\"content\":\"```yaml\\nAutopilot: Executing next node There are "..#navdata.." node(s) left to execute.```\"}",{['content-type']="application/json"})
          table.remove(navdata,1)
          if fs.exists(navbackup) then
            fs.delete(navbackup)
            fs.copy(navdatafile, navbackup)
          end
          if #navdata > 0 then
            local text = textutils.serialize(navdata)
            local h = fs.open(navdatafile, "w")
            h.write(text)
            h.close()
          else
            fs.delete(navdatafile)
          end
          ship.command("MANUAL", false)
          ship.movement(move[1],move[2],move[3])
          ship.rotationSteps(0)
          ship.command("MANUAL", true)
          sleep(10)
          for i=50,0,-1 do
            w.status_showWarning("Waiting for the ship to jump..."..i.."   ")
            sleep(1)
          end
          number = #navdata + 1
          http.post(uri,"{\"content\":\"```yaml\\nAutoPilot: Failed Executing node "..number..".```\"}",{['content-type']="application/json"})
          fs.delete(navdatafile)
          fs.copy(navbackup, navdatafile)
          w.status_showWarning("AutoPilot: Failed Executing node " .. number)
          if failping >= 0 then
            http.post(uri,"{\"content\":\""..name.."\"}",{['content-type']="application/json"})
          end
          sleep(3)
          os.reboot()
        end

        --------------------------------------AUTO PILOT
      end
    end

    -- while true do
        -- local status, isEnabled, state, energy = ship.state()
        -- if state == "COOLING" then
            -- w.status_showWarning("Waiting Ship is in " .. state .. " mode")
            -- sleep(5)
        -- elseif state == "-NotDetected-" then
            -- w.status_showWarning("Waiting to connect to core(s)...")
            -- sleep(5)
        -- else
            -- break
        -- end
    -- end

    for _, core in ipairs(cores) do
      local wrap = core.wrapper

        while true do
          local status, isEnabled, state, energy = wrap.state()
          if state ~= "COOLING" then break end
          w.status_showWarning("Waiting Ship is in " .. state .. " mode")
          sleep(5)
        end

    while true do
            local status, isEnabled, state, energy = wrap.state()
            if state ~= "-NotDetected-" then break end
            w.status_showWarning("Waiting to connect to core(s)...")
            sleep(5)
        end
    end

    local success, message = pcall(w.run)
    if not success then
      print("failed with message")
      print(message)
      w.sleep(5)
      print("rebooting...")
      w.reboot()
    else
      if ship ~= nil then
        ship.command("OFFLINE", true)
        ship.enable(false)
      end

      w.close()
    end