StorageTurtle

    -- pastebin get bSBgdCDF StorageTurtle

    TT = require("TT")
    TURT = {}

    local function isTurtleBlock(data)
        return data and type(data.name) == "string" and data.name:match("computercraft:turtle")
    end

    local function getDirectionInQueue()
        local initData = SDM.TURTLE.loadInitData()

        local posQueueLeft = CVF.sub(initData.diskFinishCoord, initData.dirSection)
        local posQueueRight = CVF.add(posQueueLeft, CVF.mult(4, initData.dirTopBelt))

        posQueueLeft.y = POS.position.y
        posQueueRight.y = POS.position.y

        if CVF.equalCoords(posQueueLeft, POS.position) then
            local strBlocks = ""
            for i = 1, 4 do
                local success, data = turtle.inspect()

                if success and not isTurtleBlock(data) then
                    if i < 4 or strBlocks ~= "1" then
                        strBlocks = strBlocks .. tostring(i)
                        if #strBlocks == 2 then
                            POS.direction = {x=initData.dirBottomBelt.x, z=initData.dirBottomBelt.z}
                            return true
                        end
                    else
                        strBlocks = tostring(i) .. strBlocks
                        if #strBlocks == 2 then
                            POS.direction = {x = -initData.dirSection.x, z = -initData.dirSection.z}
                            return true
                        end
                    end
                end
                BM.turnRight()
            end
            return false
        elseif CVF.equalCoords(posQueueRight, POS.position) and not (posQueueLeft.y == initData.diskFinishCoord.y + 1) then
            local strBlocks = ""
            for i = 1, 4 do
                local success, data = turtle.inspect()

                if success and not isTurtleBlock(data) then
                    if i < 4 or strBlocks ~= "1" then
                        strBlocks = strBlocks .. tostring(i)
                        if #strBlocks == 2 then
                            POS.direction = {x = -initData.dirSection.x, z = -initData.dirSection.z}
                            return true
                        end
                    else
                        strBlocks = tostring(i) .. strBlocks
                        if #strBlocks == 2 then
                            POS.direction = {x=initData.dirTopBelt.x, z=initData.dirTopBelt.z}
                            return true
                        end
                    end
                end
                BM.turnRight()
            end
            return false
        else
            for i = 1, 4 do
                local success, data = turtle.inspect()
                if success and not isTurtleBlock(data) then
                    POS.direction = {x = -initData.dirSection.x, z = -initData.dirSection.z}
                    return true
                end
                BM.turnRight()
            end
        end
    end

    local function getDirectionPerMovement()
        local initData = SDM.TURTLE.loadInitData()
        local bQueue = SDM.TURTLE.getQueueState()

        if bQueue then
            if getDirectionInQueue() then return true end
        end
        if POS.isOnElevatorDown() then
            local bModY = initData.lowBeltY % initData.blockHeight
            while POS.position.y % initData.blockHeight ~= bModY do BM.down() end
        elseif POS.isOnElevatorUp() then
            local bModY = initData.lowBeltY % initData.blockHeight
            while POS.position.y % initData.blockHeight ~= bModY do BM.up() end
        end

        local cnt = 0
        while not BM.forward() do
            if cnt == 4 then
                return false
            end
            BM.turnLeft()
            cnt = cnt + 1
        end
        if not POS.isInSystem() then
            while not BM.back() do sleep(0.1) end
        end
        return true
    end


    function TURT.init()
        local bInit, num = POS.init()
        if not bInit and num == 3 then
            if not getDirectionPerMovement() then
                print("Can't get direction")
                return false
            end
        elseif not bInit then
            return false
        end
        return true
    end

    function TURT.main()
        local minFuelLevel = 2000
        local initData = SDM.TURTLE.loadInitData()
        local taskOutputCoord = initData.diskOutCoord
        local finishCoord = initData.diskFinishCoord
        local refuelCoord = initData.chestRefuelCoord

        taskOutputCoord.y = taskOutputCoord.y + 1
        finishCoord.y = initData.diskFinishCoord.y + 1
        refuelCoord.y = refuelCoord.y - 1

        while not TURT.init() do sleep(5) end

        refuelCoord[POS.sectionDir] = refuelCoord[POS.sectionDir] + initData.dirSection[POS.sectionDir]

        while true do
            if CVF.equalCoords(taskOutputCoord, POS.position) then
                SDM.TURTLE.setQueueState(false)
                if SDM.TURTLE.update_SE() then
                    os.reboot()
                end
                SDM.TURTLE.setQueueState(false)
                if turtle.getFuelLevel() < minFuelLevel then
                    while not AM.goToCoord(refuelCoord) do
                        while not POS.get_GPS_Position() do sleep(1) end
                    end
                    return true
                end
            end
            if SDM.TURTLE.getQueueState() then
                AM.queueForTask()
            elseif CVF.equalCoords(taskOutputCoord, POS.position) then
                if SDM.TURTLE.update_SE() then
                    os.reboot()
                end
                SDM.TURTLE.setQueueState(false)
                if turtle.getFuelLevel() < minFuelLevel then
                    while not AM.goToCoord(refuelCoord) do
                        while not POS.get_GPS_Position() do sleep(1) end
                    end
                    return true
                end
                while not TT.getTask() do sleep(0.5) end
                if SDM.TURTLE.update_SE() then
                    os.reboot()
                end
            elseif not TT.getTask() then
                while not AM.goToCoord(finishCoord) do
                    while not POS.get_GPS_Position() do sleep(1) end
                end
                AM.joinQueue()
            end

            if TT.getTask() then
                if TT.Task.taskType == "incoming" then
                    TT.doIncomingTask()
                elseif TT.Task.taskType == "requested" then
                    TT.doOutgoingTask()
                elseif TT.Task.taskType == "create chests" then
                    TT.doCreateChest()
                elseif TT.Task.taskType == "check chests" then
                    TT.doCheckChests()
                else

                end
            end

        end
    end

    return TURT