From a36d54a372c0e1140d33b41607c18629064ce9aa Mon Sep 17 00:00:00 2001
From: "kepler155c@gmail.com" <kepler155c@gmail.com>
Date: Wed, 30 Oct 2019 22:50:01 -0600
Subject: [PATCH] restructure

---
 builder/.package                       |    1 +
 gps/.package                           |    3 +
 milo/MiloLocal.lua                     |   10 +-
 milo/apis/init.lua                     |   12 +-
 milo/core/learnWizard.lua              |    2 +-
 milo/core/machines.lua                 |    2 +-
 milo/plugins/machineLearn.lua          |    2 +-
 milo/plugins/turtleLearn.lua           |    2 +-
 miloApps/.package                      |    9 +
 {milo => miloApps}/apps/brewArray.lua  |    0
 {milo => miloApps}/apps/cobblegen.lua  |    0
 {milo => miloApps}/apps/enderchest.lua |    0
 {milo => miloApps}/apps/furni.lua      |    0
 {milo => miloApps}/apps/storageGen.lua |    0
 {milo => miloApps}/apps/water.lua      |    0
 miners/simpleMiner.lua                 |    2 +-
 packages.list                          |    1 +
 pickup/.package                        |    1 +
 turtle/apis/jumper/core/bheap.lua      |  175 ++++
 turtle/apis/jumper/core/node.lua       |   41 +
 turtle/apis/jumper/core/path.lua       |   67 ++
 turtle/apis/jumper/core/utils.lua      |   57 ++
 turtle/apis/jumper/grid.lua            |  101 ++
 turtle/apis/jumper/pathfinder.lua      |  104 ++
 turtle/apis/jumper/search/astar.lua    |   77 ++
 turtle/apis/pathfind.lua               |  256 +++++
 turtle/autorun/6.tl3.lua               | 1273 ++++++++++++++++++++++++
 {common => turtle}/canvasClient.lua    |    0
 28 files changed, 2185 insertions(+), 13 deletions(-)
 create mode 100644 miloApps/.package
 rename {milo => miloApps}/apps/brewArray.lua (100%)
 rename {milo => miloApps}/apps/cobblegen.lua (100%)
 rename {milo => miloApps}/apps/enderchest.lua (100%)
 rename {milo => miloApps}/apps/furni.lua (100%)
 rename {milo => miloApps}/apps/storageGen.lua (100%)
 rename {milo => miloApps}/apps/water.lua (100%)
 create mode 100644 turtle/apis/jumper/core/bheap.lua
 create mode 100644 turtle/apis/jumper/core/node.lua
 create mode 100644 turtle/apis/jumper/core/path.lua
 create mode 100644 turtle/apis/jumper/core/utils.lua
 create mode 100644 turtle/apis/jumper/grid.lua
 create mode 100644 turtle/apis/jumper/pathfinder.lua
 create mode 100644 turtle/apis/jumper/search/astar.lua
 create mode 100644 turtle/apis/pathfind.lua
 create mode 100644 turtle/autorun/6.tl3.lua
 rename {common => turtle}/canvasClient.lua (100%)

diff --git a/builder/.package b/builder/.package
index e1140b2..bfcf3b7 100644
--- a/builder/.package
+++ b/builder/.package
@@ -1,6 +1,7 @@
 {
 	required = {
 		'core',
+		'turtle',
 	},
 	title = 'Schematic Builder',
 	repository = 'kepler155c/opus-apps/{{OPUS_BRANCH}}/builder',
diff --git a/gps/.package b/gps/.package
index 8e1ee40..9a31617 100644
--- a/gps/.package
+++ b/gps/.package
@@ -1,4 +1,7 @@
 {
+	required = {
+		'turtle',
+	},
 	title = 'GPS',
 	repository = 'kepler155c/opus-apps/{{OPUS_BRANCH}}/gps',
 	description = [[A single turtle GPS server
diff --git a/milo/MiloLocal.lua b/milo/MiloLocal.lua
index d3a93ca..68b409f 100644
--- a/milo/MiloLocal.lua
+++ b/milo/MiloLocal.lua
@@ -180,21 +180,17 @@ Event.on('turtle_inventory', function()
 	end)
 end)
 
-local cycleHandle
-cycleHandle = Event.onInterval(5, function()
+Event.onInterval(5, function()
 	Event.trigger('milo_cycle')
-	if context.taskCounter > 0 then
-		--local average = context.taskTimer / context.taskCounter
-		--_syslog('Interval: ' .. math.max(5, 2 + average * 3))
-		--cycleHandle.updateInterval(math.max(5, 2 + average * 3))
-	end
 end)
 
 Event.on({ 'storage_offline', 'storage_online' }, function()
 	if context.storage:isOnline() then
 		Milo:resumeCrafting({ key = 'storageOnline' })
+		turtle.setStatus('Milo: online')
 	else
 		Milo:pauseCrafting({ key = 'storageOnline', msg = 'Storage offline' })
+		turtle.setStatus('Milo: offline')
 	end
 end)
 
diff --git a/milo/apis/init.lua b/milo/apis/init.lua
index 5287811..41b42b2 100644
--- a/milo/apis/init.lua
+++ b/milo/apis/init.lua
@@ -211,6 +211,16 @@ function Milo:makeRequest(item, count, callback)
 	return request
 end
 
+function Milo:emptyInventory()
+	for i = 1, 16 do
+		if turtle.getItemCount(i) > 0 then
+			turtle.select(i)
+			turtle.drop()
+		end
+	end
+	turtle.select(1)
+end
+
 function Milo:eject(item, count)
 	local total = 0
 	while count > 0 do
@@ -224,7 +234,7 @@ function Milo:eject(item, count)
 
 		--Sound.play('ui.button.click')
 		Sound.play('entity.illusion_illager.death', .3)
-		turtle.emptyInventory()
+		self:emptyInventory()
 	end
 	return total
 end
diff --git a/milo/core/learnWizard.lua b/milo/core/learnWizard.lua
index ee5ff2f..0f8917f 100644
--- a/milo/core/learnWizard.lua
+++ b/milo/core/learnWizard.lua
@@ -77,7 +77,7 @@ end
 
 function learnPage:eventHandler(event)
 	if event.type == 'cancel' then
-		turtle.emptyInventory()
+		Milo:emptyInventory()
 		UI:setPreviousPage()
 
 	elseif event.type  == 'form_invalid' or event.type == 'general_error' then
diff --git a/milo/core/machines.lua b/milo/core/machines.lua
index b29a60b..844e491 100644
--- a/milo/core/machines.lua
+++ b/milo/core/machines.lua
@@ -346,7 +346,7 @@ function nodeWizard.filter:eventHandler(event)
 		self:resetGrid()
 		self.grid:update()
 		self.grid:draw()
-		turtle.emptyInventory()
+		Milo:emptyInventory()
 
 	elseif event.type == 'remove_entry' then
 		local row = self.grid:getSelected()
diff --git a/milo/plugins/machineLearn.lua b/milo/plugins/machineLearn.lua
index 76e5069..388a4f0 100644
--- a/milo/plugins/machineLearn.lua
+++ b/milo/plugins/machineLearn.lua
@@ -122,7 +122,7 @@ function pages.confirmation:validate()
 	end
 
 	Milo:saveMachineRecipe(recipe, result, machine.name)
-	turtle.emptyInventory()
+	Milo:emptyInventory()
 
 	local displayName = itemDB:getName(result)
 	UI:setPage('listing', {
diff --git a/milo/plugins/turtleLearn.lua b/milo/plugins/turtleLearn.lua
index 43c6125..2c09abc 100644
--- a/milo/plugins/turtleLearn.lua
+++ b/milo/plugins/turtleLearn.lua
@@ -23,7 +23,7 @@ function pages.turtleCraft:validate()
 	if recipe then
 		local displayName = itemDB:getName(recipe)
 
-		turtle.emptyInventory()
+		Milo:emptyInventory()
 
 		UI:setPage('listing', {
 			filter = displayName,
diff --git a/miloApps/.package b/miloApps/.package
new file mode 100644
index 0000000..30e04c8
--- /dev/null
+++ b/miloApps/.package
@@ -0,0 +1,9 @@
+{
+	required = {
+		'turtle',
+	},
+	title = 'Milo extra applications',
+	repository = 'kepler155c/opus-apps/{{OPUS_BRANCH}}/miloApps',
+	description = [[Programs for turtles in a Milo network]],
+	licence = 'MIT',
+}
diff --git a/milo/apps/brewArray.lua b/miloApps/apps/brewArray.lua
similarity index 100%
rename from milo/apps/brewArray.lua
rename to miloApps/apps/brewArray.lua
diff --git a/milo/apps/cobblegen.lua b/miloApps/apps/cobblegen.lua
similarity index 100%
rename from milo/apps/cobblegen.lua
rename to miloApps/apps/cobblegen.lua
diff --git a/milo/apps/enderchest.lua b/miloApps/apps/enderchest.lua
similarity index 100%
rename from milo/apps/enderchest.lua
rename to miloApps/apps/enderchest.lua
diff --git a/milo/apps/furni.lua b/miloApps/apps/furni.lua
similarity index 100%
rename from milo/apps/furni.lua
rename to miloApps/apps/furni.lua
diff --git a/milo/apps/storageGen.lua b/miloApps/apps/storageGen.lua
similarity index 100%
rename from milo/apps/storageGen.lua
rename to miloApps/apps/storageGen.lua
diff --git a/milo/apps/water.lua b/miloApps/apps/water.lua
similarity index 100%
rename from milo/apps/water.lua
rename to miloApps/apps/water.lua
diff --git a/miners/simpleMiner.lua b/miners/simpleMiner.lua
index afd7c14..4acd2b4 100644
--- a/miners/simpleMiner.lua
+++ b/miners/simpleMiner.lua
@@ -1,4 +1,4 @@
-local Pathing = require('opus.pathfind')
+local Pathing = require('turtle.pathfind')
 local Point   = require('opus.point')
 local Util    = require('opus.util')
 
diff --git a/packages.list b/packages.list
index 7f56846..cf5eb83 100644
--- a/packages.list
+++ b/packages.list
@@ -10,6 +10,7 @@
 	[ 'gps'        ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/gps/.package',
 	[ 'mbs'        ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/mbs/.package',
 	[ 'milo'       ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/milo/.package',
+	[ 'miloApps'   ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/miloApps/.package',
 	[ 'miners'     ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/miners/.package',
 	[ 'monitor'    ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/monitor/.package',
 	[ 'neural'     ] = 'https://raw.githubusercontent.com/kepler155c/opus-apps/develop-1.8/neural/.package',
diff --git a/pickup/.package b/pickup/.package
index ea5dd64..3e1b222 100644
--- a/pickup/.package
+++ b/pickup/.package
@@ -1,6 +1,7 @@
 {
 	required = {
 		'core',
+		'turtle',
 	},
 	title = 'Move resources around with turtles',
 	repository = 'kepler155c/opus-apps/{{OPUS_BRANCH}}/pickup',
diff --git a/turtle/apis/jumper/core/bheap.lua b/turtle/apis/jumper/core/bheap.lua
new file mode 100644
index 0000000..c58ce2f
--- /dev/null
+++ b/turtle/apis/jumper/core/bheap.lua
@@ -0,0 +1,175 @@
+--- A light implementation of Binary heaps data structure.
+-- While running a search, some search algorithms (Astar, Dijkstra, Jump Point Search) have to maintains
+-- a list of nodes called __open list__. Retrieve from this list the lowest cost node can be quite slow,
+-- as it normally requires to skim through the full set of nodes stored in this list. This becomes a real
+-- problem especially when dozens of nodes are being processed (on large maps).
+--
+-- The current module implements a <a href="http://www.policyalmanac.org/games/binaryHeaps.htm">binary heap</a>
+-- data structure, from which the search algorithm will instantiate an open list, and cache the nodes being
+-- examined during a search. As such, retrieving the lower-cost node is faster and globally makes the search end
+-- up quickly.
+--
+-- This module is internally used by the library on purpose.
+-- It should normally not be used explicitely, yet it remains fully accessible.
+--
+
+--[[
+	Notes:
+	This lighter implementation of binary heaps, based on :
+		https://github.com/Yonaba/Binary-Heaps
+--]]
+
+if (...) then
+
+	-- Dependency
+	local Utils = require((...):gsub('%.bheap$','.utils'))
+
+	-- Local reference
+	local floor = math.floor
+
+	-- Default comparison function
+	local function f_min(a,b) return a < b end
+
+	-- Percolates up
+	local function percolate_up(heap, index)
+		if index == 1 then return end
+		local pIndex
+		if index <= 1 then return end
+		if index%2 == 0 then
+			pIndex =  index/2
+		else pIndex = (index-1)/2
+		end
+		if not heap._sort(heap._heap[pIndex], heap._heap[index]) then
+			heap._heap[pIndex], heap._heap[index] =
+				heap._heap[index], heap._heap[pIndex]
+			percolate_up(heap, pIndex)
+		end
+	end
+
+	-- Percolates down
+	local function percolate_down(heap,index)
+		local lfIndex,rtIndex,minIndex
+		lfIndex = 2*index
+		rtIndex = lfIndex + 1
+		if rtIndex > heap._size then
+			if lfIndex > heap._size then return
+			else minIndex = lfIndex  end
+		else
+			if heap._sort(heap._heap[lfIndex],heap._heap[rtIndex]) then
+				minIndex = lfIndex
+			else
+				minIndex = rtIndex
+			end
+		end
+		if not heap._sort(heap._heap[index],heap._heap[minIndex]) then
+			heap._heap[index],heap._heap[minIndex] = heap._heap[minIndex],heap._heap[index]
+			percolate_down(heap,minIndex)
+		end
+	end
+
+	-- Produces a new heap
+	local function newHeap(template,comp)
+		return setmetatable({_heap = {},
+			_sort = comp or f_min, _size = 0},
+		template)
+	end
+
+
+	--- The `heap` class.<br/>
+	-- This class is callable.
+	-- _Therefore,_ <code>heap(...)</code> _is used to instantiate new heaps_.
+	-- @type heap
+	local heap = setmetatable({},
+		{__call = function(self,...)
+			return newHeap(self,...)
+		end})
+	heap.__index = heap
+
+	--- Checks if a `heap` is empty
+	-- @class function
+	-- @treturn bool __true__ of no item is queued in the heap, __false__ otherwise
+	-- @usage
+	-- if myHeap:empty() then
+	--   print('Heap is empty!')
+	-- end
+	function heap:empty()
+		return (self._size==0)
+	end
+
+	--- Clears the `heap` (removes all items queued in the heap)
+	-- @class function
+	-- @treturn heap self (the calling `heap` itself, can be chained)
+	-- @usage myHeap:clear()
+	function heap:clear()
+		self._heap = {}
+		self._size = 0
+		self._sort = self._sort or f_min
+		return self
+	end
+
+	--- Adds a new item in the `heap`
+	-- @class function
+	-- @tparam value item a new value to be queued in the heap
+	-- @treturn heap self (the calling `heap` itself, can be chained)
+	-- @usage
+	-- myHeap:push(1)
+	-- -- or, with chaining
+	-- myHeap:push(1):push(2):push(4)
+	function heap:push(item)
+		if item then
+			self._size = self._size + 1
+			self._heap[self._size] = item
+			percolate_up(self, self._size)
+		end
+		return self
+	end
+
+	--- Pops from the `heap`.
+	-- Removes and returns the lowest cost item (with respect to the comparison function being used) from the `heap`.
+	-- @class function
+	-- @treturn value a value previously pushed into the heap
+	-- @usage
+	-- while not myHeap:empty() do
+	--   local lowestValue = myHeap:pop()
+	--   ...
+	-- end
+	function heap:pop()
+		local root
+		if self._size > 0 then
+			root = self._heap[1]
+			self._heap[1] = self._heap[self._size]
+			self._heap[self._size] = nil
+			self._size = self._size-1
+			if self._size>1 then
+				percolate_down(self, 1)
+			end
+		end
+		return root
+	end
+
+	--- Restores the `heap` property.
+	-- Reorders the `heap` with respect to the comparison function being used.
+	-- When given argument __item__ (a value existing in the `heap`), will sort from that very item in the `heap`.
+	-- Otherwise, the whole `heap` will be cheacked.
+	-- @class function
+	-- @tparam[opt] value item the modified value
+	-- @treturn heap self (the calling `heap` itself, can be chained)
+	-- @usage myHeap:heapify()
+	function heap:heapify(item)
+		if self._size == 0 then return end
+		if item then
+			local i = Utils.indexOf(self._heap,item)
+			if i then
+				percolate_down(self, i)
+				percolate_up(self, i)
+			end
+			return
+		end
+		for i = floor(self._size/2),1,-1 do
+			percolate_down(self,i)
+		end
+		return self
+	end
+
+	return heap
+end
\ No newline at end of file
diff --git a/turtle/apis/jumper/core/node.lua b/turtle/apis/jumper/core/node.lua
new file mode 100644
index 0000000..09d1db4
--- /dev/null
+++ b/turtle/apis/jumper/core/node.lua
@@ -0,0 +1,41 @@
+--- The Node class.
+-- The `node` represents a cell (or a tile) on a collision map. Basically, for each single cell (tile)
+-- in the collision map passed-in upon initialization, a `node` object will be generated
+-- and then cached within the `grid`.
+--
+-- In the following implementation, nodes can be compared using the `<` operator. The comparison is
+-- made with regards of their `f` cost. From a given node being examined, the `pathfinder` will expand the search
+-- to the next neighbouring node having the lowest `f` cost. See `core.bheap` for more details.
+--
+if (...) then
+
+	local Node = {}
+	Node.__index = Node
+
+	function Node:new(x,y,z)
+		return setmetatable({x = x, y = y, z = z }, Node)
+	end
+
+	-- Enables the use of operator '<' to compare nodes.
+	-- Will be used to sort a collection of nodes in a binary heap on the basis of their F-cost
+	function Node.__lt(A,B) return (A._f < B._f) end
+
+	function Node:getX() return self.x end
+	function Node:getY() return self.y end
+	function Node:getZ() return self.z end
+
+	--- Clears temporary cached attributes of a `node`.
+	-- Deletes the attributes cached within a given node after a pathfinding call.
+	-- This function is internally used by the search algorithms, so you should not use it explicitely.
+	function Node:reset()
+		self._g, self._h, self._f = nil, nil, nil
+		self._opened, self._closed, self._parent = nil, nil, nil
+		return self
+	end
+
+	return setmetatable(Node,
+		{__call = function(_,...)
+			return Node:new(...)
+		end}
+	)
+end
\ No newline at end of file
diff --git a/turtle/apis/jumper/core/path.lua b/turtle/apis/jumper/core/path.lua
new file mode 100644
index 0000000..f02c41b
--- /dev/null
+++ b/turtle/apis/jumper/core/path.lua
@@ -0,0 +1,67 @@
+--- The Path class.
+-- The `path` class is a structure which represents a path (ordered set of nodes) from a start location to a goal.
+-- An instance from this class would be a result of a request addressed to `Pathfinder:getPath`.
+--
+-- This module is internally used by the library on purpose.
+-- It should normally not be used explicitely, yet it remains fully accessible.
+--
+
+if (...) then
+
+	local t_remove = table.remove
+
+	local Path = {}
+	Path.__index = Path
+
+	function Path:new()
+		return setmetatable({_nodes = {}}, Path)
+	end
+
+	--- Iterates on each single `node` along a `path`. At each step of iteration,
+	-- returns the `node` plus a count value. Aliased as @{Path:nodes}
+	-- @usage
+	-- for node, count in p:iter() do
+	--   ...
+	-- end
+	function Path:nodes()
+		local i = 1
+		return function()
+			if self._nodes[i] then
+				i = i+1
+				return self._nodes[i-1],i-1
+			end
+		end
+	end
+
+	--- `Path` compression modifier. Given a `path`, eliminates useless nodes to return a lighter `path`
+	-- consisting of straight moves. Does the opposite of @{Path:fill}
+	-- @class function
+	-- @treturn path self (the calling `path` itself, can be chained)
+	-- @see Path:fill
+	-- @usage p:filter()
+	function Path:filter()
+		local i = 2
+		local xi,yi,zi,dx,dy,dz, olddx, olddy, olddz
+		xi,yi,zi = self._nodes[i].x, self._nodes[i].y, self._nodes[i].z
+		dx, dy,dz = xi - self._nodes[i-1].x, yi-self._nodes[i-1].y, zi-self._nodes[i-1].z
+		while true do
+			olddx, olddy, olddz = dx, dy, dz
+			if self._nodes[i+1] then
+				i = i+1
+				xi, yi, zi = self._nodes[i].x, self._nodes[i].y, self._nodes[i].z
+				dx, dy, dz = xi - self._nodes[i-1].x, yi - self._nodes[i-1].y, zi - self._nodes[i-1].z
+				if olddx == dx and olddy == dy and olddz == dz then
+					t_remove(self._nodes, i-1)
+					i = i - 1
+				end
+			else break end
+		end
+		return self
+	end
+
+	return setmetatable(Path,
+		{__call = function(_,...)
+			return Path:new(...)
+		end
+	})
+end
\ No newline at end of file
diff --git a/turtle/apis/jumper/core/utils.lua b/turtle/apis/jumper/core/utils.lua
new file mode 100644
index 0000000..ab5f764
--- /dev/null
+++ b/turtle/apis/jumper/core/utils.lua
@@ -0,0 +1,57 @@
+-- Various utilities for Jumper top-level modules
+
+if (...) then
+
+	-- Dependencies
+	local _PATH = (...):gsub('%.utils$','')
+	local Path = require (_PATH .. '.path')
+
+	-- Local references
+	local pairs = pairs
+	local t_insert = table.insert
+
+	-- Raw array items count
+	local function arraySize(t)
+		local count = 0
+		for _ in pairs(t) do
+			count = count+1
+		end
+		return count
+	end
+
+	-- Extract a path from a given start/end position
+	local function traceBackPath(finder, node, startNode)
+		local path = Path:new()
+		path._grid = finder._grid
+		while true do
+			if node._parent then
+				t_insert(path._nodes,1,node)
+				node = node._parent
+			else
+				t_insert(path._nodes,1,startNode)
+				return path
+			end
+		end
+	end
+
+	-- Lookup for value in a table
+	local indexOf = function(t,v)
+		for i = 1,#t do
+			if t[i] == v then return i end
+		end
+		return nil
+	end
+
+	-- Is i out of range
+	local function outOfRange(i,low,up)
+		return (i< low or i > up)
+	end
+
+	return {
+		arraySize = arraySize,
+		indexOf = indexOf,
+		outOfRange = outOfRange,
+		traceBackPath = traceBackPath
+	}
+
+end
diff --git a/turtle/apis/jumper/grid.lua b/turtle/apis/jumper/grid.lua
new file mode 100644
index 0000000..6cfc53a
--- /dev/null
+++ b/turtle/apis/jumper/grid.lua
@@ -0,0 +1,101 @@
+--- The Grid class.
+-- Implementation of the `grid` class.
+-- The `grid` is a implicit graph which represents the 2D
+-- world map layout on which the `pathfinder` object will run.
+-- During a search, the `pathfinder` object needs to save some critical values.
+-- These values are cached within each `node`
+-- object, and the whole set of nodes are tight inside the `grid` object itself.
+
+if (...) then
+
+	-- Dependencies
+	local _PATH = (...):gsub('%.grid$','')
+
+	-- Local references
+	local Utils = require (_PATH .. '.core.utils')
+	local Node = require (_PATH .. '.core.node')
+
+	-- Local references
+	local setmetatable = setmetatable
+
+	-- Offsets for straights moves
+	local straightOffsets = {
+		{x = 1, y = 0, z = 0} --[[W]], {x = -1, y =  0, z =  0}, --[[E]]
+		{x = 0, y = 1, z = 0} --[[S]], {x =  0, y = -1, z =  0}, --[[N]]
+		{x = 0, y = 0, z = 1} --[[U]], {x =  0, y = -0, z = -1}, --[[D]]
+	}
+
+	local Grid = {}
+	Grid.__index = Grid
+
+	function Grid:new(dim)
+		local newGrid = { }
+		newGrid._min_x, newGrid._max_x = dim.x, dim.ex
+		newGrid._min_y, newGrid._max_y = dim.y, dim.ey
+		newGrid._min_z, newGrid._max_z = dim.z, dim.ez
+		newGrid._nodes = { }
+		newGrid._width = (newGrid._max_x-newGrid._min_x)+1
+		newGrid._height = (newGrid._max_y-newGrid._min_y)+1
+		newGrid._length = (newGrid._max_z-newGrid._min_z)+1
+		return setmetatable(newGrid,Grid)
+	end
+
+	function Grid:isWalkableAt(x, y, z)
+		local node = self:getNodeAt(x,y,z)
+		return node and node.walkable ~= 1
+	end
+
+	function Grid:getWidth()
+		return self._width
+	end
+
+	function Grid:getHeight()
+		 return self._height
+	end
+
+	function Grid:getNodes()
+		return self._nodes
+	end
+
+	function Grid:getBounds()
+		return self._min_x, self._min_y, self._min_z, self._max_x, self._max_y, self._max_z
+	end
+
+	--- Returns neighbours. The returned value is an array of __walkable__ nodes neighbouring a given `node`.
+	-- @treturn {node,...} an array of nodes neighbouring a given node
+	function Grid:getNeighbours(node)
+		local neighbours = {}
+		for i = 1,#straightOffsets do
+			local n = self:getNodeAt(
+				node.x + straightOffsets[i].x,
+				node.y + straightOffsets[i].y,
+				node.z + straightOffsets[i].z
+			)
+			if n and self:isWalkableAt(n.x, n.y, n.z) then
+				neighbours[#neighbours+1] = n
+			end
+		end
+
+		return neighbours
+	end
+
+ function Grid:getNodeAt(x,y,z)
+		if not x or not y or not z then return end
+		if Utils.outOfRange(x,self._min_x,self._max_x) then return end
+		if Utils.outOfRange(y,self._min_y,self._max_y) then return end
+		if Utils.outOfRange(z,self._min_z,self._max_z) then return end
+
+		-- inefficient
+		if not self._nodes[y] then self._nodes[y] = {} end
+		if not self._nodes[y][x] then self._nodes[y][x] = {} end
+		if not self._nodes[y][x][z] then self._nodes[y][x][z] = Node:new(x,y,z) end
+		return self._nodes[y][x][z]
+	end
+
+	return setmetatable(Grid,{
+		__call = function(self,...)
+			return self:new(...)
+		end
+	})
+
+end
diff --git a/turtle/apis/jumper/pathfinder.lua b/turtle/apis/jumper/pathfinder.lua
new file mode 100644
index 0000000..0ff2844
--- /dev/null
+++ b/turtle/apis/jumper/pathfinder.lua
@@ -0,0 +1,104 @@
+--[[
+	The following License applies to all files within the jumper directory.
+
+	Note that this is only a partial copy of the full jumper code base. Also,
+	the code was modified to support 3D maps.
+--]]
+
+--[[
+This work is under MIT-LICENSE
+Copyright (c) 2012-2013 Roland Yonaba.
+
+-- https://opensource.org/licenses/MIT
+
+--]]
+
+local _VERSION = ""
+local _RELEASEDATE = ""
+
+if (...) then
+
+	-- Dependencies
+	local _PATH = (...):gsub('%.pathfinder$','')
+	local Utils     = require (_PATH .. '.core.utils')
+
+	-- Internalization
+	local pairs = pairs
+	local assert = assert
+	local setmetatable = setmetatable
+
+	--- Finders (search algorithms implemented). Refers to the search algorithms actually implemented in Jumper.
+	-- <li>[A*](http://en.wikipedia.org/wiki/A*_search_algorithm)</li>
+	local Finders = {
+		['ASTAR']     = require (_PATH .. '.search.astar'),
+	}
+
+	-- Will keep track of all nodes expanded during the search
+	-- to easily reset their properties for the next pathfinding call
+	local toClear = {}
+
+	-- Performs a traceback from the goal node to the start node
+	-- Only happens when the path was found
+
+	local Pathfinder = {}
+	Pathfinder.__index = Pathfinder
+
+	function Pathfinder:new(heuristic)
+		local newPathfinder = {}
+		setmetatable(newPathfinder, Pathfinder)
+		self._finder = Finders.ASTAR
+		self._heuristic = heuristic
+		return newPathfinder
+	end
+
+	function Pathfinder:setGrid(grid)
+		self._grid = grid
+		return self
+	end
+
+	--- Calculates a `path`. Returns the `path` from start to end location
+	-- Both locations must exist on the collision map. The starting location can be unwalkable.
+	-- @treturn path a path (array of nodes) when found, otherwise nil
+	-- @usage local path = myFinder:getPath(1,1,5,5)
+	function Pathfinder:getPath(startX, startY, startZ, ih, endX, endY, endZ, oh)
+		self:reset()
+		local startNode = self._grid:getNodeAt(startX, startY, startZ)
+		local endNode = self._grid:getNodeAt(endX, endY, endZ)
+		if not startNode or not endNode then
+			return nil
+		end
+
+		startNode.heading = ih
+		endNode.heading = oh
+
+		assert(startNode, ('Invalid location [%d, %d, %d]'):format(startX, startY, startZ))
+		assert(endNode and self._grid:isWalkableAt(endX, endY, endZ),
+			('Invalid or unreachable location [%d, %d, %d]'):format(endX, endY, endZ))
+		local _endNode = self._finder(self, startNode, endNode, toClear)
+		if _endNode then
+			return Utils.traceBackPath(self, _endNode, startNode)
+		end
+		return nil
+	end
+
+	--- Resets the `pathfinder`. This function is called internally between
+	-- successive pathfinding calls, so you should not
+	-- use it explicitely, unless under specific circumstances.
+	-- @class function
+	-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
+	-- @usage local path, len = myFinder:getPath(1,1,5,5)
+	function Pathfinder:reset()
+		for node in pairs(toClear) do node:reset() end
+		toClear = {}
+		return self
+	end
+
+	-- Returns Pathfinder class
+	Pathfinder._VERSION = _VERSION
+	Pathfinder._RELEASEDATE = _RELEASEDATE
+	return setmetatable(Pathfinder,{
+		__call = function(self,...)
+			return self:new(...)
+		end
+	})
+end
diff --git a/turtle/apis/jumper/search/astar.lua b/turtle/apis/jumper/search/astar.lua
new file mode 100644
index 0000000..c92dabc
--- /dev/null
+++ b/turtle/apis/jumper/search/astar.lua
@@ -0,0 +1,77 @@
+-- Astar algorithm
+-- This actual implementation of A-star is based on
+-- [Nash A. & al. pseudocode](http://aigamedev.com/open/tutorials/theta-star-any-angle-paths/)
+
+if (...) then
+
+	-- Internalization
+	local huge = math.huge
+
+	-- Dependancies
+	local _PATH = (...):match('(.+)%.search.astar$')
+	local Heap = require (_PATH.. '.core.bheap')
+
+	-- Updates G-cost
+	local function computeCost(node, neighbour, heuristic)
+		local mCost, heading = heuristic(neighbour, node) -- Heuristics.EUCLIDIAN(neighbour, node)
+
+		if node._g + mCost < neighbour._g then
+			neighbour._parent = node
+			neighbour._g = node._g + mCost
+			neighbour.heading = heading
+		end
+	end
+
+	-- Updates vertex node-neighbour
+	local function updateVertex(openList, node, neighbour, endNode, heuristic)
+		local oldG = neighbour._g
+		computeCost(node, neighbour, heuristic)
+		if neighbour._g < oldG then
+			if neighbour._opened then neighbour._opened = false end
+			neighbour._h = heuristic(endNode, neighbour)
+			neighbour._f = neighbour._g + neighbour._h
+			openList:push(neighbour)
+			neighbour._opened = true
+		end
+	end
+
+	-- Calculates a path.
+	-- Returns the path from location `<startX, startY>` to location `<endX, endY>`.
+	return function (finder, startNode, endNode, toClear)
+		local openList = Heap()
+		startNode._g = 0
+		startNode._h = finder._heuristic(endNode, startNode)
+		startNode._f = startNode._g + startNode._h
+		openList:push(startNode)
+		toClear[startNode] = true
+		startNode._opened = true
+
+		while not openList:empty() do
+			local node = openList:pop()
+			node._closed = true
+			if node == endNode then return node end
+			local neighbours = finder._grid:getNeighbours(node)
+			for i = 1,#neighbours do
+				local neighbour = neighbours[i]
+				if not neighbour._closed then
+					toClear[neighbour] = true
+					if not neighbour._opened then
+						neighbour._g = huge
+						neighbour._parent = nil
+					end
+					updateVertex(openList, node, neighbour, endNode, finder._heuristic)
+				end
+			end
+
+			--[[
+			printf('x:%d y:%d z:%d  g:%d', node.x, node.y, node.z, node._g)
+			for i = 1,#neighbours do
+				local n = neighbours[i]
+				printf('x:%d y:%d z:%d f:%f g:%f h:%d', n.x, n.y, n.z, n._f, n._g, n.heading or -1)
+			end
+			--]]
+
+		end
+		return nil
+	end
+end
diff --git a/turtle/apis/pathfind.lua b/turtle/apis/pathfind.lua
new file mode 100644
index 0000000..f475418
--- /dev/null
+++ b/turtle/apis/pathfind.lua
@@ -0,0 +1,256 @@
+local Grid       = require('turtle.jumper.grid')
+local Pathfinder = require('turtle.jumper.pathfinder')
+local Point      = require('opus.point')
+local Util       = require('opus.util')
+
+local turtle = _G.turtle
+
+local function addBlock(grid, b, dim)
+	if Point.inBox(b, dim) then
+		local node = grid:getNodeAt(b.x, b.y, b.z)
+		if node then
+			node.walkable = 1
+		end
+	end
+end
+
+-- map shrinks/grows depending upon blocks encountered
+-- the map will encompass any blocks encountered, the turtle position, and the destination
+local function mapDimensions(dest, blocks, boundingBox, dests)
+	local box = Point.makeBox(turtle.point, turtle.point)
+
+	Point.expandBox(box, dest)
+
+	for _,d in pairs(dests) do
+		Point.expandBox(box, d)
+	end
+
+	for _,b in pairs(blocks) do
+		Point.expandBox(box, b)
+	end
+
+	-- expand one block out in all directions
+	if boundingBox then
+		box.x = math.max(box.x - 1, boundingBox.x)
+		box.z = math.max(box.z - 1, boundingBox.z)
+		box.y = math.max(box.y - 1, boundingBox.y)
+		box.ex = math.min(box.ex + 1, boundingBox.ex)
+		box.ez = math.min(box.ez + 1, boundingBox.ez)
+		box.ey = math.min(box.ey + 1, boundingBox.ey)
+	else
+		box.x = box.x - 1
+		box.z = box.z - 1
+		box.y = box.y - 1
+		box.ex = box.ex + 1
+		box.ez = box.ez + 1
+		box.ey = box.ey + 1
+	end
+
+	return box
+end
+
+local function nodeToPoint(node)
+	return { x = node.x, y = node.y, z = node.z, heading = node.heading }
+end
+
+local function heuristic(n, node)
+	return Point.calculateMoves(node, n)
+--			{ x = node.x, y = node.y, z = node.z, heading = node.heading },
+--			{ x = n.x, y = n.y, z = n.z, heading = n.heading })
+end
+
+local function dimsAreEqual(d1, d2)
+	return d1.ex == d2.ex and
+			 d1.ey == d2.ey and
+			 d1.ez == d2.ez and
+			 d1.x == d2.x and
+			 d1.y == d2.y and
+			 d1.z == d2.z
+end
+
+-- turtle sensor returns blocks in relation to the world - not turtle orientation
+-- so cannot figure out block location unless we know our orientation in the world
+-- really kinda dumb since it returns the coordinates as offsets of our location
+-- instead of true coordinates
+local function addSensorBlocks(blocks, sblocks)
+	for _,b in pairs(sblocks) do
+		if b.type ~= 'AIR' then
+			local pt = { x = turtle.point.x, y = turtle.point.y + b.y, z = turtle.point.z }
+			pt.x = pt.x - b.x
+			pt.z = pt.z - b.z -- this will only work if we were originally facing west
+			local found = false
+			for _,ob in pairs(blocks) do
+				if pt.x == ob.x and pt.y == ob.y and pt.z == ob.z then
+					found = true
+					break
+				end
+			end
+			if not found then
+				table.insert(blocks, pt)
+			end
+		end
+	end
+end
+
+local function selectDestination(pts, box, grid)
+	while #pts > 0 do
+		local pt = Point.closest(turtle.point, pts)
+		if box and not Point.inBox(pt, box) then
+			Util.removeByValue(pts, pt)
+		else
+			if grid:isWalkableAt(pt.x, pt.y, pt.z) then
+				return pt
+			end
+			Util.removeByValue(pts, pt)
+		end
+	end
+end
+
+local function updateCanvas(path)
+	local t = { }
+	for node in path:nodes() do
+		table.insert(t, { x = node.x, y = node.y, z = node.z })
+	end
+	os.queueEvent('canvas', {
+		type = 'canvas_path',
+		data = t,
+	})
+end
+
+local function pathTo(dest, options)
+	local blocks = options.blocks or turtle.getState().blocks or { }
+	local dests  = options.dest   or { dest }  -- support alternative destinations
+	local box    = options.box    or turtle.getState().box
+	local lastDim
+	local grid
+
+	if box then
+		box = Point.normalizeBox(box)
+	end
+
+	-- Creates a pathfinder object
+	local finder = Pathfinder(heuristic)
+
+	while turtle.point.x ~= dest.x or turtle.point.z ~= dest.z or turtle.point.y ~= dest.y do
+
+		-- map expands as we encounter obstacles
+		local dim = mapDimensions(dest, blocks, box, dests)
+
+		-- reuse map if possible
+		if not lastDim or not dimsAreEqual(dim, lastDim) then
+			-- Creates a grid object
+			grid = Grid(dim)
+			finder:setGrid(grid)
+
+			lastDim = dim
+		end
+		for _,b in pairs(blocks) do
+			addBlock(grid, b, dim)
+		end
+
+		dest = selectDestination(dests, box, grid)
+		if not dest then
+			return false, 'failed to reach destination'
+		end
+		if turtle.point.x == dest.x and turtle.point.z == dest.z and turtle.point.y == dest.y then
+			break
+		end
+
+		-- Define start and goal locations coordinates
+		local startPt = turtle.point
+
+		-- Calculates the path, and its length
+		local path = finder:getPath(
+			startPt.x, startPt.y, startPt.z, turtle.point.heading,
+			dest.x, dest.y, dest.z, dest.heading)
+
+		if not path then
+			Util.removeByValue(dests, dest)
+		else
+			updateCanvas(path)
+
+			path:filter()
+
+			for node in path:nodes() do
+				local pt = nodeToPoint(node)
+
+				if turtle.isAborted() then
+					return false, 'aborted'
+				end
+
+--if this is the next to last node
+--and we are traveling up or down, then the
+--heading for this node should be the heading of the last node
+--or, maybe..
+--if last node is up or down (or either?)
+
+				-- use single turn method so the turtle doesn't turn around
+				-- when encountering obstacles
+				--if not turtle.gotoSingleTurn(pt.x, pt.y, pt.z, pt.heading) then
+				pt.heading = nil
+				if not turtle.go(pt) then
+					local bpt = Point.nearestTo(turtle.point, pt)
+
+					if turtle.getFuelLevel() == 0 then
+						return false, 'Out of fuel'
+					end
+					table.insert(blocks, bpt)
+					os.queueEvent('canvas', {
+						type = 'canvas_barrier',
+						data = { bpt },
+					})
+					-- really need to check if the block we ran into was a turtle.
+					-- if so, this block should be temporary (1-2 secs)
+
+					--local side = turtle.getSide(turtle.point, pt)
+					--if turtle.isTurtleAtSide(side) then
+					--	pt.timestamp = os.clock() + ?
+					--end
+					-- if dim has not changed, then need to update grid with
+					-- walkable = nil (after time has elapsed)
+
+					--if device.turtlesensorenvironment then
+					--	addSensorBlocks(blocks, device.turtlesensorenvironment.sonicScan())
+					--end
+					break
+				end
+			end
+		end
+	end
+
+	if dest.heading then
+		turtle.setHeading(dest.heading)
+	end
+	return dest
+end
+
+return {
+	pathfind = function(dest, options)
+		options = options or { }
+		--if not options.blocks and turtle.gotoPoint(dest) then
+		--	return dest
+		--end
+		return pathTo(dest, options)
+	end,
+
+	-- set a global bounding box
+	-- box can be overridden by passing box in pathfind options
+	setBox = function(box)
+		turtle.getState().box = box
+	end,
+
+	setBlocks = function(blocks)
+		turtle.getState().blocks = blocks
+	end,
+
+	addBlock = function(block)
+		if turtle.getState().blocks then
+			table.insert(turtle.getState().blocks, block)
+		end
+	end,
+
+	reset = function()
+		turtle.getState().box    = nil
+		turtle.getState().blocks = nil
+	end,
+}
diff --git a/turtle/autorun/6.tl3.lua b/turtle/autorun/6.tl3.lua
new file mode 100644
index 0000000..51db8ec
--- /dev/null
+++ b/turtle/autorun/6.tl3.lua
@@ -0,0 +1,1273 @@
+if not _G.turtle then
+	return
+end
+
+local Pathing      = require('turtle.pathfind')
+local Point        = require('opus.point')
+local synchronized = require('opus.sync').sync
+local Util         = require('opus.util')
+
+local os         = _G.os
+local peripheral = _G.peripheral
+local turtle     = _G.turtle
+
+local function noop() end
+local headings = Point.headings
+local state = { }
+
+turtle.pathfind = Pathing.pathfind
+turtle.point = { x = 0, y = 0, z = 0, heading = 0 }
+
+function turtle.getState()   return state end
+function turtle.isAborted()  return state.abort end
+function turtle.getStatus()  return state.status end
+function turtle.setStatus(s) state.status = s end
+
+local function _defaultMove(action)
+	while not action.move() do
+		if not state.digPolicy(action) and not state.attackPolicy(action) then
+			return false
+		end
+	end
+	return true
+end
+
+function turtle.getPoint()   return turtle.point end
+function turtle.setPoint(pt, isGPS)
+	turtle.point.x = pt.x
+	turtle.point.y = pt.y
+	turtle.point.z = pt.z
+	if pt.heading then
+		turtle.point.heading = pt.heading
+	end
+	turtle.point.gps = isGPS
+	return true
+end
+
+function turtle.resetState()
+	state.abort = false
+	state.status = 'idle'
+	state.attackPolicy = noop
+	state.digPolicy = noop
+	state.movePolicy = _defaultMove
+	state.moveCallback = noop
+	state.blacklist = nil
+	state.reference = nil -- gps reference when converting to relative coords
+	Pathing.reset()
+	return true
+end
+
+function turtle.reset()
+	turtle.point.x = 0
+	turtle.point.y = 0
+	turtle.point.z = 0
+	turtle.point.heading = 0 -- should be facing
+	turtle.point.gps = false
+
+	turtle.resetState()
+	return true
+end
+
+local function _dig(name, inspect, dig)
+	if name then
+		local s, b = inspect()
+		if not s or b.name ~= name then
+			return false
+		end
+	end
+	return dig()
+end
+
+function turtle.dig(s)
+	return _dig(s, turtle.inspect, turtle.native.dig)
+end
+
+function turtle.digUp(s)
+	return _dig(s, turtle.inspectUp, turtle.native.digUp)
+end
+
+function turtle.digDown(s)
+	return _dig(s, turtle.inspectDown, turtle.native.digDown)
+end
+
+local actions = {
+	up = {
+		detect = turtle.native.detectUp,
+		dig = turtle.digUp,
+		move = turtle.native.up,
+		attack = turtle.native.attackUp,
+		place = turtle.native.placeUp,
+		drop = turtle.native.dropUp,
+		suck = turtle.native.suckUp,
+		compare = turtle.native.compareUp,
+		inspect = turtle.native.inspectUp,
+		side = 'top'
+	},
+	down = {
+		detect = turtle.native.detectDown,
+		dig = turtle.digDown,
+		move = turtle.native.down,
+		attack = turtle.native.attackDown,
+		place = turtle.native.placeDown,
+		drop = turtle.native.dropDown,
+		suck = turtle.native.suckDown,
+		compare = turtle.native.compareDown,
+		inspect = turtle.native.inspectDown,
+		side = 'bottom'
+	},
+	forward = {
+		detect = turtle.native.detect,
+		dig = turtle.dig,
+		move = turtle.native.forward,
+		attack = turtle.native.attack,
+		place = turtle.native.place,
+		drop = turtle.native.drop,
+		suck = turtle.native.suck,
+		compare = turtle.native.compare,
+		inspect = turtle.native.inspect,
+		side = 'front'
+	},
+	back = {
+		detect = noop,
+		dig = noop,
+		move = turtle.native.back,
+		attack = noop,
+		place = noop,
+		suck = noop,
+		compare = noop,
+		side = 'back'
+	},
+}
+
+function turtle.getAction(direction)
+	return actions[direction]
+end
+
+function turtle.getHeadingInfo(heading)
+	heading = heading or turtle.point.heading
+	return headings[heading]
+end
+
+function turtle.isTurtleAtSide(side)
+	local sideType = peripheral.getType(side)
+	return sideType and sideType == 'turtle'
+end
+
+-- [[ Policies ]] --
+turtle.policies = { }
+
+function turtle.addPolicy(name, policy)
+	turtle.policies[name] = policy
+end
+
+function turtle.getPolicy(policy)
+	if type(policy) == 'function' then
+		return policy
+	end
+	local p = turtle.policies[policy]
+	if not p then
+		error('Invalid policy: ' .. tostring(policy))
+	end
+	return p
+end
+
+-- [[ Basic turtle actions ]] --
+local function inventoryAction(fn, name, qty)
+	local slots = turtle.getFilledSlots()
+	local s
+	for _,slot in pairs(slots) do
+		if slot.key == name or slot.name == name then
+			turtle.native.select(slot.index)
+			if not qty then
+				s = fn()
+			else
+				s = fn(math.min(qty, slot.count))
+				qty = qty - slot.count
+				if qty < 0 then
+					break
+				end
+			end
+		end
+	end
+	if not s then
+		return false, 'No items found'
+	end
+	return s
+end
+
+-- [[ Attack ]] --
+local function _attack(action)
+	if action.attack() then
+		repeat until not action.attack()
+		return true
+	end
+	return false
+end
+
+function turtle.attack()        return _attack(actions.forward) end
+function turtle.attackUp()      return _attack(actions.up)      end
+function turtle.attackDown()    return _attack(actions.down)    end
+
+turtle.addPolicy('attackNone', noop)
+turtle.addPolicy('attack', function(action)
+	return _attack(action)
+end)
+
+function turtle.setAttackPolicy(policy)  state.attackPolicy = policy end
+
+-- [[ Place ]] --
+local function _place(action, indexOrId)
+	local slot
+
+	if indexOrId then
+		slot = turtle.getSlot(indexOrId)
+		if not slot then
+			return false, 'No items to place'
+		end
+	end
+
+	if slot and slot.count == 0 then
+		return false, 'No items to place'
+	end
+
+	return Util.tryTimes(3, function()
+		if slot then
+			turtle.select(slot.index)
+		end
+		local result = { action.place() }
+		if result[1] then
+			return true
+		end
+		if not state.digPolicy(action) then
+			state.attackPolicy(action)
+		end
+		return table.unpack(result)
+	end)
+end
+
+function turtle.place(slot)     return _place(actions.forward, slot) end
+function turtle.placeUp(slot)   return _place(actions.up, slot)      end
+function turtle.placeDown(slot) return _place(actions.down, slot)    end
+
+-- [[ Drop ]] --
+local function _drop(action, qtyOrName, qty)
+	if not qtyOrName or type(qtyOrName) == 'number' then
+		return action.drop(qtyOrName or 64)
+	end
+	return inventoryAction(action.drop, qtyOrName, qty)
+end
+
+function turtle.drop(count, slot)     return _drop(actions.forward, count, slot) end
+function turtle.dropUp(count, slot)   return _drop(actions.up, count, slot)      end
+function turtle.dropDown(count, slot) return _drop(actions.down, count, slot)    end
+
+-- [[ Dig ]] --
+turtle.addPolicy('digNone', noop)
+
+turtle.addPolicy('dig', function(action)
+	return action.dig()
+end)
+
+turtle.addPolicy('turtleSafe', function(action)
+	if action.side == 'back' then
+		return false
+	end
+	if not turtle.isTurtleAtSide(action.side) then
+		return action.dig()
+	end
+	return Util.tryTimes(6, function()
+		os.sleep(.25)
+		if not action.detect() then
+			return true
+		end
+	end)
+end)
+
+local function isBlacklisted(b)
+	if b and state.blacklist then
+		for _, v in pairs(state.blacklist) do
+			if b.name:find(v) then
+				return true
+			end
+		end
+	end
+end
+
+turtle.addPolicy('blacklist', function(action)
+	if action.side == 'back' then
+		return false
+	end
+	local s, m = action.inspect()
+  if not isBlacklisted(s and m) then
+		return action.dig()
+	end
+	if s and m and m.name:find('turtle') then
+		return Util.tryTimes(math.random(3, 6), function()
+			os.sleep(.25)
+			if not action.detect() then
+				return true
+			end
+		end)
+	end
+end)
+
+turtle.addPolicy('digAndDrop', function(action)
+	if action.detect() then
+		local slots = turtle.getInventory()
+		if action.dig() then
+			turtle.reconcileInventory(slots)
+			return true
+		end
+	end
+	return false
+end)
+
+function turtle.setDigPolicy(policy)     state.digPolicy = policy    end
+
+-- [[ Move ]] --
+turtle.addPolicy('moveNone', noop)
+turtle.addPolicy('moveDefault', _defaultMove)
+turtle.addPolicy('moveAssured', function(action)
+	if not _defaultMove(action) then
+		if action.side == 'back' then
+			return false
+		end
+		local oldStatus = state.status
+		print('assured move: stuck')
+		state.status = 'stuck'
+		repeat
+			os.sleep(1)
+		until _defaultMove(action)
+		state.status = oldStatus
+	end
+	return true
+end)
+
+function turtle.setMoveCallback(cb)      state.moveCallback = cb     end
+function turtle.clearMoveCallback()      state.moveCallback = noop   end
+function turtle.getMoveCallback()        return state.moveCallback   end
+
+-- convenience method for setting multiple values
+function turtle.set(args)
+	for k,v in pairs(args) do
+
+		if k == 'attackPolicy' then
+			turtle.setAttackPolicy(turtle.getPolicy(v))
+
+		elseif k == 'digPolicy' then
+			turtle.setDigPolicy(turtle.getPolicy(v))
+
+		elseif k == 'movePolicy' then
+			state.movePolicy = turtle.getPolicy(v)
+
+		elseif k == 'movementStrategy' then
+			turtle.setMovementStrategy(v)
+
+		elseif k == 'pathingBox' then
+			turtle.setPathingBox(v)
+
+		elseif k == 'point' then
+			turtle.setPoint(v)
+
+		elseif k == 'moveCallback' then
+			turtle.setMoveCallback(v)
+
+		elseif k == 'status' then
+			turtle.setStatus(v)
+
+		elseif k == 'blacklist' then
+			state.blacklist = v
+
+		elseif k == 'reference' then
+			state.reference = v
+
+		else
+			error('Invalid turle.set: ' .. tostring(k))
+		end
+	end
+end
+
+-- [[ Fuel ]] --
+if type(turtle.getFuelLevel()) ~= 'number' then
+	-- Support unlimited fuel
+	function turtle.getFuelLevel()
+		return 100000
+	end
+end
+
+-- override to optionally specify a fuel
+function turtle.refuel(qtyOrName, qty)
+	if not qtyOrName or type(qtyOrName) == 'number' then
+		return turtle.native.refuel(qtyOrName or 64)
+	end
+	return inventoryAction(turtle.native.refuel, qtyOrName, qty or 64)
+end
+
+-- [[ Heading ]] --
+function turtle.getHeading()
+	return turtle.point.heading
+end
+
+function turtle.turnRight()
+	turtle.setHeading((turtle.point.heading + 1) % 4)
+	return turtle.point
+end
+
+function turtle.turnLeft()
+	turtle.setHeading((turtle.point.heading - 1) % 4)
+	return turtle.point
+end
+
+function turtle.turnAround()
+	turtle.setHeading((turtle.point.heading + 2) % 4)
+	return turtle.point
+end
+
+function turtle.setHeading(heading)
+	if not heading then
+		return false, 'Invalid heading'
+	end
+
+	if heading == turtle.point.heading then
+		return turtle.point
+	end
+
+	local fi = Point.facings[heading]
+	if not fi then
+		return false, 'Invalid heading'
+	end
+
+	heading = fi.heading % 4
+	if heading ~= turtle.point.heading then
+		while heading < turtle.point.heading do
+			heading = heading + 4
+		end
+		if heading - turtle.point.heading == 3 then
+			turtle.native.turnLeft()
+			turtle.point.heading = (turtle.point.heading - 1) % 4
+			state.moveCallback('turn', turtle.point)
+		else
+			local turns = heading - turtle.point.heading
+			while turns > 0 do
+				turns = turns - 1
+				turtle.native.turnRight()
+				turtle.point.heading = (turtle.point.heading + 1) % 4
+				state.moveCallback('turn', turtle.point)
+			end
+		end
+	end
+
+	return turtle.point
+end
+
+function turtle.headTowardsX(dx)
+	if turtle.point.x ~= dx then
+		if turtle.point.x > dx then
+			turtle.setHeading(2)
+		else
+			turtle.setHeading(0)
+		end
+	end
+end
+
+function turtle.headTowardsZ(dz)
+	if turtle.point.z ~= dz then
+		if turtle.point.z > dz then
+			turtle.setHeading(3)
+		else
+			turtle.setHeading(1)
+		end
+	end
+end
+
+function turtle.headTowards(pt)
+	local xd = math.abs(turtle.point.x - pt.x)
+	local zd = math.abs(turtle.point.z - pt.z)
+	if xd > zd then
+		turtle.headTowardsX(pt.x)
+	else
+		turtle.headTowardsZ(pt.z)
+	end
+end
+
+-- [[ move ]] --
+function turtle.up()
+	if state.movePolicy(actions.up) then
+		turtle.point.y = turtle.point.y + 1
+		state.moveCallback('up', turtle.point)
+		return true, turtle.point
+	end
+end
+
+function turtle.down()
+	if state.movePolicy(actions.down) then
+		turtle.point.y = turtle.point.y - 1
+		state.moveCallback('down', turtle.point)
+		return true, turtle.point
+	end
+end
+
+function turtle.forward()
+	if state.movePolicy(actions.forward) then
+		turtle.point.x = turtle.point.x + headings[turtle.point.heading].xd
+		turtle.point.z = turtle.point.z + headings[turtle.point.heading].zd
+		state.moveCallback('forward', turtle.point)
+		return true, turtle.point
+	end
+end
+
+function turtle.back()
+	if state.movePolicy(actions.back) then
+		turtle.point.x = turtle.point.x - headings[turtle.point.heading].xd
+		turtle.point.z = turtle.point.z - headings[turtle.point.heading].zd
+		state.moveCallback('back', turtle.point)
+		return true, turtle.point
+	end
+end
+
+local function moveTowardsX(dx)
+	if not tonumber(dx) then error('moveTowardsX: Invalid arguments') end
+	local direction = dx - turtle.point.x
+	local move
+
+	if direction == 0 then
+		return true
+	end
+
+	if direction > 0 and turtle.point.heading == 0 or
+		 direction < 0 and turtle.point.heading == 2 then
+		move = turtle.forward
+	else
+		move = turtle.back
+	end
+
+	repeat
+		if not move() then
+			return false
+		end
+	until turtle.point.x == dx
+	return true
+end
+
+local function moveTowardsZ(dz)
+	local direction = dz - turtle.point.z
+	local move
+
+	if direction == 0 then
+		return true
+	end
+
+	if direction > 0 and turtle.point.heading == 1 or
+		 direction < 0 and turtle.point.heading == 3 then
+		move = turtle.forward
+	else
+		move = turtle.back
+	end
+
+	repeat
+		if not move() then
+			return false
+		end
+	until turtle.point.z == dz
+	return true
+end
+
+-- [[ go ]] --
+-- 1 turn goto (going backwards if possible)
+function turtle.gotoSingleTurn(dx, dy, dz, dh)
+	dx = dx or turtle.point.x
+	dy = dy or turtle.point.y
+	dz = dz or turtle.point.z
+
+	local function gx()
+		if turtle.point.x ~= dx then
+			moveTowardsX(dx)
+		end
+		if turtle.point.z ~= dz then
+			if dh and dh % 2 == 1 then
+				turtle.setHeading(dh)
+			else
+				turtle.headTowardsZ(dz)
+			end
+		end
+	end
+
+	local function gz()
+		if turtle.point.z ~= dz then
+			moveTowardsZ(dz)
+		end
+		if turtle.point.x ~= dx then
+			if dh and dh % 2 == 0 then
+				turtle.setHeading(dh)
+			else
+				turtle.headTowardsX(dx)
+			end
+		end
+	end
+
+	repeat
+		local x, z
+		local y = turtle.point.y
+
+		repeat
+			x, z = turtle.point.x, turtle.point.z
+
+			if turtle.point.heading % 2 == 0 then
+				gx()
+				gz()
+			else
+				gz()
+				gx()
+			end
+		until x == turtle.point.x and z == turtle.point.z
+
+		if turtle.point.y ~= dy then
+			turtle.gotoY(dy)
+		end
+
+		if turtle.point.x == dx and turtle.point.z == dz and turtle.point.y == dy then
+			return true
+		end
+
+	until x == turtle.point.x and z == turtle.point.z and y == turtle.point.y
+
+	return false
+end
+
+local function gotoEx(dx, dy, dz)
+	-- determine the heading to ensure the least amount of turns
+	-- first check is 1 turn needed - remaining require 2 turns
+	if turtle.point.heading == 0 and turtle.point.x <= dx or
+		 turtle.point.heading == 2 and turtle.point.x >= dx or
+		 turtle.point.heading == 1 and turtle.point.z <= dz or
+		 turtle.point.heading == 3 and turtle.point.z >= dz then
+		-- maintain current heading
+		-- nop
+	elseif dz > turtle.point.z and turtle.point.heading == 0 or
+				 dz < turtle.point.z and turtle.point.heading == 2 or
+				 dx < turtle.point.x and turtle.point.heading == 1 or
+				 dx > turtle.point.x and turtle.point.heading == 3 then
+		turtle.turnRight()
+	else
+		turtle.turnLeft()
+	end
+
+	if (turtle.point.heading % 2) == 1 then
+		if not turtle.gotoZ(dz) then return false end
+		if not turtle.gotoX(dx) then return false end
+	else
+		if not turtle.gotoX(dx) then return false end
+		if not turtle.gotoZ(dz) then return false end
+	end
+
+	if dy then
+		if not turtle.gotoY(dy) then return false end
+	end
+
+	return true
+end
+
+-- fallback goto - will turn around if was previously moving backwards
+local function gotoMultiTurn(dx, dy, dz)
+	if gotoEx(dx, dy, dz) then
+		return true
+	end
+
+	local moved
+	repeat
+		local x, y, z = turtle.point.x, turtle.point.y, turtle.point.z
+
+		-- try going the other way
+		if (turtle.point.heading % 2) == 1 then
+			turtle.headTowardsX(dx)
+		else
+			turtle.headTowardsZ(dz)
+		end
+
+		if gotoEx(dx, dy, dz) then
+			return true
+		end
+
+		if dy then
+			turtle.gotoY(dy)
+		end
+
+		moved = x ~= turtle.point.x or y ~= turtle.point.y or z ~= turtle.point.z
+	until not moved
+
+	return false
+end
+
+-- go backwards - turning around if necessary to fight mobs / break blocks
+function turtle.goback()
+	local hi = headings[turtle.point.heading]
+	return turtle.go({
+		x = turtle.point.x - hi.xd,
+		y = turtle.point.y,
+		z = turtle.point.z - hi.zd,
+		heading = turtle.point.heading,
+	})
+end
+
+function turtle.gotoYfirst(pt)
+	if turtle.gotoY(pt.y) then
+		if turtle.go(pt) then
+			turtle.setHeading(pt.heading)
+			return true
+		end
+	end
+end
+
+function turtle.go(pt)
+	if not pt.x and not pt.z and pt.y then
+		if turtle.gotoY(pt.y) then
+			turtle.setHeading(pt.heading)
+			return true
+		end
+		return false, 'Failed to reach location'
+	end
+
+	local dx = pt.x or turtle.point.x
+	local dz = pt.z or turtle.point.z
+	local dy, dh = pt.y, pt.heading
+	if not turtle.gotoSingleTurn(dx, dy, dz, dh) then
+		if not gotoMultiTurn(dx, dy, dz) then
+			return false, 'Failed to reach location'
+		end
+	end
+	turtle.setHeading(dh)
+	return pt
+end
+
+-- avoid lint errors
+-- deprecated
+turtle['goto'] = turtle.go
+turtle['_goto'] = turtle.go
+
+-- TODO: localize these goto functions
+function turtle.gotoX(dx)
+	turtle.headTowardsX(dx)
+
+	while turtle.point.x ~= dx do
+		if not turtle.forward() then
+			return false
+		end
+	end
+	return true
+end
+
+function turtle.gotoZ(dz)
+	turtle.headTowardsZ(dz)
+
+	while turtle.point.z ~= dz do
+		if not turtle.forward() then
+			return false
+		end
+	end
+	return true
+end
+
+function turtle.gotoY(dy)
+	while turtle.point.y > dy do
+		if not turtle.down() then
+			return false
+		end
+	end
+
+	while turtle.point.y < dy do
+		if not turtle.up() then
+			return false
+		end
+	end
+	return true
+end
+
+-- [[ Inventory ]] --
+function turtle.getSlot(indexOrId, slots)
+	if type(indexOrId) == 'string' then
+		slots = slots or turtle.getInventory()
+		local _,c = string.gsub(indexOrId, ':', '')
+		if c == 2 then -- combined id and dmg .. ie. minecraft:coal:0
+			return Util.find(slots, 'key', indexOrId)
+		end
+		return Util.find(slots, 'name', indexOrId)
+	end
+
+	local detail = turtle.getItemDetail(indexOrId)
+	if detail then
+		return {
+			name = detail.name,
+			damage = detail.damage,
+			count = detail.count,
+			key = detail.name .. ':' .. detail.damage,
+
+			index = indexOrId,
+
+			-- deprecate
+			qty = detail.count,
+			dmg = detail.damage,
+			id = detail.name,
+		}
+	end
+
+	-- inconsistent return value
+	-- null is returned if indexOrId is a string and no item is present
+	return {
+		qty = 0,  -- deprecate
+		count = 0,
+		index = indexOrId,
+	}
+end
+
+function turtle.select(indexOrId)
+	if type(indexOrId) == 'number' then
+		return turtle.native.select(indexOrId)
+	end
+
+	local s = turtle.getSlot(indexOrId)
+	if s then
+		turtle.native.select(s.index)
+		return s
+	end
+
+	return false, 'Inventory does not contain item'
+end
+
+function turtle.getInventory(slots)
+	slots = slots or { }
+	for i = 1, 16 do
+		slots[i] = turtle.getSlot(i)
+	end
+	return slots
+end
+
+function turtle.getSummedInventory()
+	local slots = turtle.getFilledSlots()
+	local t = { }
+	for _,slot in pairs(slots) do
+		local entry = t[slot.key]
+		if not entry then
+			entry = {
+				count = 0,
+				damage = slot.damage,
+				name = slot.name,
+				key = slot.key,
+
+				-- deprecate
+				qty = 0,
+				dmg = slot.dmg,
+				id = slot.id,
+			}
+			t[slot.key] = entry
+		end
+		entry.qty = entry.qty + slot.qty
+		entry.count = entry.qty
+	end
+	return t
+end
+
+function turtle.has(item, count)
+	if item:match('.*:%d') then
+		local slot = turtle.getSummedInventory()[item]
+		return slot and slot.count >= (count or 1)
+	end
+	local slot = turtle.getSlot(item)
+	return slot and slot.count >= (count or 1)
+end
+
+function turtle.getFilledSlots(startSlot)
+	startSlot = startSlot or 1
+
+	local slots = { }
+	for i = startSlot, 16 do
+		local count = turtle.getItemCount(i)
+		if count > 0 then
+			slots[i] = turtle.getSlot(i)
+		end
+	end
+	return slots
+end
+
+function turtle.eachFilledSlot(fn)
+	local slots = turtle.getFilledSlots()
+	for _,slot in pairs(slots) do
+		fn(slot)
+	end
+end
+
+function turtle.emptyInventory(dropAction)
+	dropAction = dropAction or turtle.native.drop
+	turtle.eachFilledSlot(function(slot)
+		turtle.select(slot.index)
+		dropAction()
+	end)
+	turtle.select(1)
+end
+
+function turtle.reconcileInventory(slots, dropAction)
+	dropAction = dropAction or turtle.native.drop
+	for _,s in pairs(slots) do
+		local qty = turtle.getItemCount(s.index)
+		if qty > s.qty then
+			turtle.select(s.index)
+			dropAction(qty-s.qty, s)
+		end
+	end
+end
+
+function turtle.selectSlotWithItems(startSlot)
+	startSlot = startSlot or 1
+	for i = startSlot, 16 do
+		if turtle.getItemCount(i) > 0 then
+			turtle.select(i)
+			return i
+		end
+	end
+end
+
+function turtle.selectSlotWithQuantity(qty, startSlot)
+	startSlot = startSlot or 1
+
+	for i = startSlot, 16 do
+		if turtle.getItemCount(i) == qty then
+			turtle.select(i)
+			return i
+		end
+	end
+end
+
+function turtle.selectOpenSlot(startSlot)
+	return turtle.selectSlotWithQuantity(0, startSlot)
+end
+
+function turtle.condense()
+	local slots = turtle.getInventory()
+
+	for i = 1, 16 do
+		if slots[i].count < 64 then
+			for j = 16, i + 1, -1 do
+				if slots[j].count > 0 and (slots[i].count == 0 or slots[i].key == slots[j].key) then
+					turtle.select(j)
+					if turtle.transferTo(i) then
+						local transferred = turtle.getItemCount(i) - slots[i].count
+						slots[j].count = slots[j].count - transferred
+						slots[i].count = slots[i].count + transferred
+						slots[i].key = slots[j].key
+						if slots[j].count == 0 then
+							slots[j].key = nil
+						end
+						if slots[i].count == 64 then
+							break
+						end
+					else
+						break
+					end
+				end
+			end
+		end
+	end
+	turtle.select(1)
+	return true
+end
+
+function turtle.getItemCount(idOrName)
+	if type(idOrName) == 'number' then
+		return turtle.native.getItemCount(idOrName)
+	end
+	local slots = turtle.getFilledSlots()
+	local count = 0
+	for _,slot in pairs(slots) do
+		if slot.key == idOrName or slot.name == idOrName then
+			count = count + slot.count
+		end
+	end
+	return count
+end
+
+-- [[ Equipment ]] --
+function turtle.equip(side, item)
+	if item then
+		if not turtle.select(item) then
+			return false, 'Unable to equip ' .. item
+		end
+	end
+
+	if side == 'left' then
+		return turtle.equipLeft()
+	end
+	return turtle.equipRight()
+end
+
+function turtle.isEquipped(item)
+	if peripheral.getType('left') == item then
+		return 'left'
+	elseif peripheral.getType('right') == item then
+		return 'right'
+	end
+end
+
+function turtle.unequip(side)
+	if not turtle.selectSlotWithQuantity(0) then
+		return false, 'No slots available'
+	end
+	return turtle.equip(side)
+end
+
+-- deprecate
+function turtle.run(fn, ...)
+	local args = { ... }
+	local s, m
+
+	if type(fn) == 'string' then
+		fn = turtle[fn]
+	end
+
+	synchronized(turtle, function()
+		turtle.resetState()
+		s, m = pcall(function() fn(table.unpack(args)) end)
+		turtle.resetState()
+		if not s and m then
+			_G.printError(m)
+		end
+	end)
+
+	return s, m
+end
+
+function turtle.abort(abort)
+	state.abort = abort
+	if abort then
+		os.queueEvent('turtle_abort')
+	end
+end
+
+-- [[ Pathing ]] --
+function turtle.setPersistent(isPersistent)
+	if isPersistent then
+		Pathing.setBlocks({ })
+	else
+		Pathing.setBlocks()
+	end
+end
+
+function turtle.setPathingBox(box)
+	Pathing.setBox(box)
+end
+
+function turtle.addWorldBlock(pt)
+	Pathing.addBlock(pt)
+end
+
+function turtle.addWorldBlocks(pts)
+	Util.each(pts, function(pt)
+		Pathing.addBlock(pt)
+	end)
+end
+
+local movementStrategy = turtle.pathfind
+
+function turtle.setMovementStrategy(strategy)
+	if strategy == 'pathing' then
+		movementStrategy = turtle.pathfind
+	elseif strategy == 'goto' then
+		movementStrategy = turtle.go
+	else
+		error('Invalid movement strategy')
+	end
+end
+
+function turtle.faceAgainst(pt, options) -- 4 sided
+	options = options or { }
+	options.dest = { }
+
+	for i = 0, 3 do
+		local hi = Point.facings[i]
+		table.insert(options.dest, {
+			x = pt.x + hi.xd,
+			z = pt.z + hi.zd,
+			y = pt.y + hi.yd,
+			heading = (hi.heading + 2) % 4,
+		})
+	end
+
+	return movementStrategy(Point.closest(turtle.point, options.dest), options)
+end
+
+-- move against this point
+-- if the point does not contain a heading, then the turtle
+-- will face the block (if on same plane)
+-- if above or below, the heading is undetermined unless specified
+function turtle.moveAgainst(pt, options) -- 6 sided
+	options = options or { }
+	options.dest = { }
+
+	for i = 0, 5 do
+		local hi = turtle.getHeadingInfo(i)
+		local heading, direction
+		if i < 4 then
+			heading = (hi.heading + 2) % 4
+			direction = 'forward'
+		elseif i == 4 then
+			direction = 'down'
+		elseif i == 5 then
+			direction = 'up'
+		end
+
+		table.insert(options.dest, {
+			x = pt.x + hi.xd,
+			z = pt.z + hi.zd,
+			y = pt.y + hi.yd,
+			direction = direction,
+			heading = pt.heading or heading,
+		})
+	end
+
+	return movementStrategy(Point.closest(turtle.point, options.dest), options)
+end
+
+local actionsAt = {
+	detect = {
+		up = turtle.detectUp,
+		down = turtle.detectDown,
+		forward = turtle.detect,
+	},
+	dig = {
+		up = turtle.digUp,
+		down = turtle.digDown,
+		forward = turtle.dig,
+	},
+	move = {
+		up = turtle.moveUp,
+		down = turtle.moveDown,
+		forward = turtle.move,
+	},
+	attack = {
+		up = turtle.attackUp,
+		down = turtle.attackDown,
+		forward = turtle.attack,
+	},
+	place = {
+		up = turtle.placeUp,
+		down = turtle.placeDown,
+		forward = turtle.place,
+	},
+	drop = {
+		up = turtle.dropUp,
+		down = turtle.dropDown,
+		forward = turtle.drop,
+	},
+	suck = {
+		up = turtle.suckUp,
+		down = turtle.suckDown,
+		forward = turtle.suck,
+	},
+	compare = {
+		up = turtle.compareUp,
+		down = turtle.compareDown,
+		forward = turtle.compare,
+	},
+	inspect = {
+		up = turtle.inspectUp,
+		down = turtle.inspectDown,
+		forward = turtle.inspect,
+	},
+}
+
+-- pt = { x,y,z,heading,direction }
+-- direction should only be up or down if provided
+-- heading can be provided to tell which way to face during action
+-- ex: place a block at the point from above facing east
+local function _actionAt(action, pt, ...)
+	if not pt.heading and not pt.direction then
+		local msg
+		pt, msg = turtle.moveAgainst(pt)
+		if pt then
+			return action[pt.direction](...)
+		end
+		return pt, msg
+	end
+
+	local reversed =
+		{ [0] = 2, [1] = 3, [2] = 0, [3] = 1, [4] = 5, [5] = 4, }
+	local dir = reversed[headings[pt.direction or pt.heading].heading]
+	local apt = { x = pt.x + headings[dir].xd,
+								y = pt.y + headings[dir].yd,
+								z = pt.z + headings[dir].zd, }
+	local direction
+
+	-- ex: place a block at this point, from above, facing east
+	if dir < 4 then
+		apt.heading = (dir + 2) % 4
+		direction = 'forward'
+	elseif dir == 4 then
+		apt.heading = pt.heading
+		direction = 'down'
+	elseif dir == 5 then
+		apt.heading = pt.heading
+		direction = 'up'
+	end
+
+	if movementStrategy(apt) then
+		return action[direction](...)
+	end
+end
+
+local function _actionDownAt(action, pt, ...)
+	pt = Util.shallowCopy(pt)
+	pt.direction = Point.DOWN
+	return _actionAt(action, pt, ...)
+end
+
+local function _actionUpAt(action, pt, ...)
+	pt = Util.shallowCopy(pt)
+	pt.direction = Point.UP
+	return _actionAt(action, pt, ...)
+end
+
+local function _actionForwardAt(action, pt, ...)
+	if turtle.faceAgainst(pt) then
+		return action.forward(...)
+	end
+end
+
+function turtle.detectAt(pt)             return _actionAt(actionsAt.detect, pt) end
+function turtle.detectDownAt(pt)         return _actionDownAt(actionsAt.detect, pt) end
+function turtle.detectForwardAt(pt)      return _actionForwardAt(actionsAt.detect, pt) end
+function turtle.detectUpAt(pt)           return _actionUpAt(actionsAt.detect, pt) end
+
+function turtle.digAt(pt, ...)           return _actionAt(actionsAt.dig, pt, ...) end
+function turtle.digDownAt(pt, ...)       return _actionDownAt(actionsAt.dig, pt, ...) end
+function turtle.digForwardAt(pt, ...)    return _actionForwardAt(actionsAt.dig, pt, ...) end
+function turtle.digUpAt(pt, ...)         return _actionUpAt(actionsAt.dig, pt, ...) end
+
+function turtle.attackAt(pt)             return _actionAt(actionsAt.attack, pt) end
+function turtle.attackDownAt(pt)         return _actionDownAt(actionsAt.attack, pt) end
+function turtle.attackForwardAt(pt)      return _actionForwardAt(actionsAt.attack, pt) end
+function turtle.attackUpAt(pt)           return _actionUpAt(actionsAt.attack, pt) end
+
+function turtle.placeAt(pt, arg, dir)    return _actionAt(actionsAt.place, pt, arg, dir) end
+function turtle.placeDownAt(pt, arg)     return _actionDownAt(actionsAt.place, pt, arg) end
+function turtle.placeForwardAt(pt, arg)  return _actionForwardAt(actionsAt.place, pt, arg) end
+function turtle.placeUpAt(pt, arg)       return _actionUpAt(actionsAt.place, pt, arg) end
+
+function turtle.dropAt(pt, ...)          return _actionAt(actionsAt.drop, pt, ...) end
+function turtle.dropDownAt(pt, ...)      return _actionDownAt(actionsAt.drop, pt, ...) end
+function turtle.dropForwardAt(pt, ...)   return _actionForwardAt(actionsAt.drop, pt, ...) end
+function turtle.dropUpAt(pt, ...)        return _actionUpAt(actionsAt.drop, pt, ...) end
+
+function turtle.suckAt(pt, qty)          return _actionAt(actionsAt.suck, pt, qty or 64) end
+function turtle.suckDownAt(pt, qty)      return _actionDownAt(actionsAt.suck, pt, qty or 64) end
+function turtle.suckForwardAt(pt, qty)   return _actionForwardAt(actionsAt.suck, pt, qty or 64) end
+function turtle.suckUpAt(pt, qty)        return _actionUpAt(actionsAt.suck, pt, qty or 64) end
+
+function turtle.compareAt(pt)            return _actionAt(actionsAt.compare, pt) end
+function turtle.compareDownAt(pt)        return _actionDownAt(actionsAt.compare, pt) end
+function turtle.compareForwardAt(pt)     return _actionForwardAt(actionsAt.compare, pt) end
+function turtle.compareUpAt(pt)          return _actionUpAt(actionsAt.compare, pt) end
+
+function turtle.inspectAt(pt)            return _actionAt(actionsAt.inspect, pt) end
+function turtle.inspectDownAt(pt)        return _actionDownAt(actionsAt.inspect, pt) end
+function turtle.inspectForwardAt(pt)     return _actionForwardAt(actionsAt.inspect, pt) end
+function turtle.inspectUpAt(pt)          return _actionUpAt(actionsAt.inspect, pt) end
+
+turtle.reset()
diff --git a/common/canvasClient.lua b/turtle/canvasClient.lua
similarity index 100%
rename from common/canvasClient.lua
rename to turtle/canvasClient.lua