Laser Guided Ship Controller

if warpdriveCommons then os.unloadAPI("warpdriveCommons") end
if not os.loadAPI("warpdrive/warpdriveCommons") then error("missing warpdriveCommons") end
local w = warpdriveCommons.w

local data

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

local miningLaser
local laserCamera
local laserGuideEnabled = true
local useMiningLaserOffset = true
local forwardBackMov =0
local leftRightMov = 0
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 lx = 0
local ly = 0
local lz = 0

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

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(6)
    -- don't reboot as the player might need to set new dimensions to fix it
  else
    w.setColorSuccess()
    w.writeLn("passed")
  end
  w.sleep(0.2)

  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_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 ship_updateMovementStats()
  -- get current position
  ship_x, ship_y, ship_z = ship.getLocalPosition()
  if ship_x == nil then
    ship_x, ship_y, ship_z = 0, 0, 0
  end

  -- compute movement
  local dx, dy, dz = ship.getOrientation()
  if dx == nil then
    dx, dy, dz = 0, 0, 0
  end
  local worldMovement = { x = 0, y = 0, z = 0 }
  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

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

function ship_page_setMovement()
  -- 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

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

  ship_movement[1] = ship_page_setDistanceAxis(4, "Forward/back", "Forward", "Backward", ship_movement[1], math.abs(ship_front + ship_back  + 1), maxJumpDistance)
  ship_movement[2] = ship_page_setDistanceAxis(6, "Up/down"     , "Up"     , "Down"    , ship_movement[2], math.abs(ship_up    + ship_down  + 1), maxJumpDistance)
  ship_movement[3] = ship_page_setDistanceAxis(8, "Right/left"  , "Right"  , "Left"    , ship_movement[3], math.abs(ship_left  + ship_right + 1), maxJumpDistance)
  ship_movement = { ship.movement(ship_movement[1], ship_movement[2], ship_movement[3]) }
  ship_updateMovementStats()
end

function ship_page_setDistanceAxis(line, axis, positive, negative, userEntry, shipLength, maxJumpDistance)
  local maximumDistance = math.floor(shipLength + maxJumpDistance)
  w.setCursorPos(1, line + 2)
  w.setColorHelp()
  w.writeFullLine(" Enter between " .. math.floor( shipLength + 1) .. " and " ..  maximumDistance .. " to move " ..  positive .. ".")
  w.writeFullLine(" Enter 0 to keep position on this axis.")
  w.writeFullLine(" Enter between " .. -maximumDistance .. " and " .. math.floor(-shipLength - 1) .. " to move " ..  negative .. ".")

  repeat
    w.setCursorPos(1, line)
    w.setColorNormal()
    w.write(axis .. " movement: ")
    userEntry = w.input_readInteger(userEntry)
    if userEntry ~= 0 and (math.abs(userEntry) <= shipLength or math.abs(userEntry) > maximumDistance) then
      w.status_showWarning("Wrong distance. Try again.")
    end
  until userEntry == 0 or (math.abs(userEntry) > shipLength and math.abs(userEntry) <= maximumDistance)
  w.setCursorPos(1, line + 2)
  w.clearLine()
  w.setCursorPos(1, line + 3)
  w.clearLine()
  w.setCursorPos(1, line + 4)
  w.clearLine()

  return userEntry
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 " .. 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_summon() -- no longer used
  w.page_begin("<==== Summon players ====>")
  local stringPlayers = ship.getAttachedPlayers()
  if stringPlayers == "" then
    w.writeLn("~ no players registered ~")
    w.writeLn("")
    w.setColorHelp()
    w.writeFullLine(" Press enter to exit.")
    w.setColorNormal()
    w.input_readInteger("")
    return
  end
  local arrayPlayers = w.data_splitString(stringPlayers, ",")
  for i = 1, #arrayPlayers do
    w.writeLn(i .. ". " .. arrayPlayers[i])
  end
  w.setColorHelp()
  w.writeFullLine(" Enter player number")
  w.writeFullLine(" or press enter to summon everyone.")
  w.setColorNormal()

  w.write(":")
  ship.command("SUMMON", false)
  local input = w.input_readInteger("")
  if input == "" then
    ship.targetName("")
  else
    input = tonumber(input)
    ship.targetName(arrayPlayers[input - 1])
  end
  ship.command("SUMMON", true)
end

function ship_page_jumpToGate()
  w.page_begin("<==== Jump through Jumpgate ====>")
  w.writeLn("")
  w.writeLn("Your ship should be already inside a jumpgate")

  w.setCursorPos(1, 16)
  w.setColorHelp()
  w.writeFullLine(" Enter target jumpgate name (a-z, 0-9).")
  w.writeFullLine(" Press enter to save jumpgate name.")

  w.setCursorPos(1, 5)
  w.setColorNormal()
  w.write("Target jumpgate name: ")
  local targetName = w.input_readText("")
  -- rs.setOutput(alarm_side, true)
  if w.input_readConfirmation("Engage gate jumping? (Y/n)") then
    -- rs.setOutput(alarm_side, false)
    ship.command("GATE", false)
    ship.targetName(targetName)
    ship.command("GATE", true)
    -- ship = nil
  end
  -- rs.setOutput(alarm_side, false)
end

function ship_page_controls()
  w.page_begin(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(ship_up) .. " blocks")
    w.writeLn(" Back, Left, Down = " .. w.format_integer(ship_back) .. ", " .. w.format_integer(ship_left) .. ", " .. w.format_integer(ship_down) .. " 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), dImensions (I), Movement (M)")
  if ship_isInHyper then
    w.writeFullLine(" Jump to move ship (M/J), exit Hyperspace (H)")
  else
    w.writeFullLine(" Jump to move ship (M/J), enter Hyperspace (H)")
  end
end

function ship_key_controls(character, keycode)
  if character == 'm' or character == 'M' then
    ship_page_setMovement()
    ship_page_setRotation()
    ship_warp()
    return true
  elseif character == 'i' or character == 'I' then
    ship_page_setDimensions()
    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)
      ship.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 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_crew()
  w.page_begin(w.data_getName() .. " - Ship crew")
  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("Attached players:")
      -- local stringPlayers, _ = ship.getAttachedPlayers()
      if stringPlayers == nil or stringPlayers == "" then
        stringPlayers = "~ no registered player ~"
      end
      ship_arrayPlayers = w.data_splitString(stringPlayers, ",")
      ship_indexPlayer = ship_writeArray(ship_arrayPlayers, ship_indexPlayer)
    end
  end

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine(" Summon all crew (S)")
  w.writeFullLine(" select crew (Up, Down), summon slctd crew (enter)")
end

function ship_key_crew(character, keycode)
  if character == 's' or character == 'S' then -- S
    ship.command("SUMMON", false)
    ship.targetName("")
    ship.command("SUMMON", true)
    return true
  elseif keycode == 28 then -- Enter
    local namePlayer = ship_arrayPlayers[ship_indexPlayer + 1]
    ship.command("SUMMON", false)
    ship.targetName(namePlayer)
    ship.command("SUMMON", true)
    w.status_showSuccess("Engaging teleportation for " .. namePlayer .. "...")
    return true
  elseif keycode == 200 or keycode == 203 or character == '-' then -- Up or Left or -
    ship_indexPlayer = ship_indexPlayer - 1
    return true
  elseif keycode == 208 or keycode == 205 or character == '+' then -- Down or Right or +
    ship_indexPlayer = ship_indexPlayer + 1
    return true
  end
  return false
end

function ship_page_navigation()
  w.page_begin(w.data_getName() .. " - Ship navigation")
  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 locationCurrent = "somewhere..."  -- @TODO ship.getLocation()
      w.writeLn("Current ship location        : " .. locationCurrent)
      w.writeLn("Jumpgates or beacons in range:")
      local stringTargets, _ = "not implemented", nil -- ship.getTargets()
      if stringTargets == nil or stringTargets == "" then
        stringTargets = "~ no beacon nor jumpgate in range ~"
      end
      local arrayTargets = w.data_splitString(stringTargets, ",")
      ship_indexTarget = ship_writeArray(arrayTargets, ship_indexTarget)
    end
  end

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine(" select target (Up, Down), register target (enter)")
  w.writeFullLine(" jump through Gate (G)")
end

function ship_key_navigation(character, keycode)
  if keycode == 28 then -- Enter
--    local success, xxx = ship.xxx(ship_indexTarget)
--    if success then
--      w.status_showSuccess("Engaging jumpgate jump to " .. xxx .. "...")
--    else
--      w.status_showWarning("Failed to summon crew member")
--    end
    return true
--  elseif character == 'b' or character == 'B' then -- B
--    ship_page_jumpToBeacon()
--    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_register()
  w.device_register("warpdriveShipController",
      function(deviceType, address, wrap) ship = wrap end,
      function() end)
  w.device_register("warpdriveShipCore",
      function(deviceType, address, wrap) ship = wrap end,
      function() end)
  w.device_register("warpdriveMiningLaser", function(deviceType, address, wrap) miningLaser = wrap end, function() end)
  w.device_register("warpdriveLaserCamera", function(deviceType, address, wrap) laserCamera = wrap end, function() end)
  w.event_register("shipCoreCooldownDone"  , function() w.status_showWarning("Ship core cooldown done")   return false end )
  w.event_register("laserScanning", function() laser_sendEvent() return false end )
  w.data_register("ship", ship_read, nil, ship_name)
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 laser_guide_page()
  w.page_begin(w.data_getName() .. " - Laser Guidance")
  if ship == nil or ship.isInterfaced() == nil then
    w.status_showWarning("No ship controller detected")
  elseif laserCamera == nil or laserCamera.isInterfaced() == nil then
	    w.status_showWarning("No laser camera detected")
  elseif laserCamera.laserMediumCount() < 1 then
		w.status_showWarning("No laser mediums detected")
  else
	if (miningLaser == nil or miningLaser.isInterfaced() == nil) then
		useMiningLaserOffset = false
	end
	laserGuideOn = "true"
	if (laserGuideEnabled) then
		laserGuideOn = "true"
	else
		laserGuideOn = "false"
	end
	w.writeLn("Laser Guidance Enabled = " .. laserGuideOn)
	w.writeLn("Mining Laser Offset Enabled = " .. tostring(useMiningLaserOffset))
	w.writeLn("Target Position = " .. " x:" .. lx .. " z:" .. lz)

	local forwardBack = " Forward, "
	local leftRight = " Right"
	if forwardBackMov < 0 then
		forwardBack = " Back, "
	end
	if leftRightMov < 0 then
		leftRight = " Left"
	end
	w.writeLn("Ship Movement = " .. math.abs(forwardBackMov) .. forwardBack .. math.abs(leftRightMov) .. leftRight)
  end

  w.setCursorPos(1, 16)
  w.setColorControl()
  w.writeFullLine("Toggle Laser Guidance (t), Clear Data (c)")
  w.writeFullLine("Mining Laser Offset (g)")
end
function laser_key(character, keycode)
  if character == 't' or character == 'T' then
	if laserGuideEnabled then
		laserGuideEnabled = false
	else
		laserGuideEnabled = true
	end
	return true
  elseif character == 'c' or character == 'C' then
	lx = 0
	ly = 0
	lz = 0
	leftRightMov = 0
	forwardBackMov = 0
	return true
  elseif character == 'g' or character == 'G' then
	if miningLaser == nil or miningLaser.isInterfaced() == nil then
		useMiningLaserOffset = false
		w.status_showWarning("No mining laser detected!")
	else
		if useMiningLaserOffset then
			useMiningLaserOffset = false
		else
			useMiningLaserOffset = true
		end
	end
	return true
  end
end
function laser_sendEvent()
	if (laserCamera ~= nil and laserCamera.isInterfaced()) then
		if (miningLaser == nil or miningLaser.isInterfaced() == nil) then
			useMiningLaserOffset = false
		end
		local resType, x, y, z, id, meta, res = laserCamera.getScanResult()
		lx = x
		ly = y
		lz = z
		ship.command("MANUAL", false)
		local success, maxJumpDistance = ship.getMaxJumpDistance()
		if success ~= true then
			w.status_showWarning("" .. maxJumpDistance)
			return
		end
		local rx, ry, rz = ship.getOrientation()
		minForwardBack = math.abs(ship_front+ship_back+1)
		minLeftRight = math.abs(ship_left+ship_right+1)
		if useMiningLaserOffset then
			local mx, my, mz = miningLaser.getLocalPosition()
			dx = x-mx
			dz = z-mz
		else
			local mx, my, mz = ship.getLocalPosition()
			dx = x-mx
			dz = z-mz
		end

		forwardBackMov = 0
		leftRightMov = 0

		if rx ~= 0 then
			forwardBackMov = dx*rx
			leftRightMov = dz*rx
		elseif rz ~= 0 then
			forwardBackMov = dz*rz
			leftRightMov = dx*rz
		end
		if math.abs(forwardBackMov) < minForwardBack and math.abs(leftRightMov) < minLeftRight then
			w.status_showWarning("The movement is too small!")
			return
		end
		forwardBackMov = forwardBackMov
		leftRightMov = leftRightMov*-1
		if laserGuideEnabled then
			ship.movement(forwardBackMov, 0, leftRightMov)
			ship.rotationSteps(0)
			ship.command("MANUAL", true)
		end
	end
end
----------- Boot sequence

w.page_setEndText("Home(0),Controls(1),Crew(2),Navigation(3),Laser(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('3', ship_page_navigation, ship_key_navigation)
w.page_register('4', laser_guide_page, laser_key)
ship_register()

w.boot()
local success, message = pcall(w.run)
if not success then
  print("failed with message")
  print(message)
  w.sleep(3.0)
  print("rebooting...")
  w.reboot()
else
  if ship ~= nil then
    ship.command("OFFLINE", true)
    ship.enable(false)
  end

  w.close()
end