fix(docker): clone platform from git instead of additional_contexts

The additional_contexts approach required cc-platform-core to exist on
the Docker host at a relative path. This fails on servers where the
repo layout differs. Instead, use a multi-stage build: stage 1 clones
cc-platform-core from Gitea (depth 1), stage 2 copies server/ into the
app and rewrites the file: path. Fully self-contained — no host deps.
Applied to both production and dev Dockerfiles.

.package

@@ -0,0 +1,34 @@
+{
+  required = {
+    'platform',
+  },
+  title = "RemoteTurtle",
+  description = "Web-based remote control for CC:Tweaked turtles with 3D visualization, D* Lite pathfinding, and state-machine AI. Includes turtle controller, GPS host, web bridge, and pocket computer programs.",
+  repository = "gitea://git.spatulaa.com/MayaTheShy/remoteturtle/master/",
+  exclude = {
+    "^server/", "^client/", "^__tests__/",
+    "^startup_", "^start%.",
+    "%.md$", "%.yml$", "%.json$", "%.bat$", "%.sh$",
+    "^Dockerfile", "^%.git", "^LICENSE$", "^node_modules/",
+  },
+  install = [[
+    local pkgDir = fs.combine("packages", "remoteturtle")
+
+    -- Web Bridge config
+    print("")
+    print("-- RemoteTurtle Web Bridge Setup --")
+    print("")
+    write("Server URL (e.g. http://192.168.1.10:4200): ")
+    local serverUrl = read()
+    if serverUrl and #serverUrl > 0 then
+      local wsUrl = serverUrl:gsub("^http", "ws") .. "/ws/bridge"
+      local cfg = textutils.serialiseJSON({ serverUrl = serverUrl, wsUrl = wsUrl })
+      local f = fs.open(fs.combine(pkgDir, ".webbridge_config"), "w")
+      f.write(cfg)
+      f.close()
+      print("Saved web bridge config.")
+    else
+      print("Skipped — edit .webbridge_config later.")
+    end
+  ]],
+}

QUICKSTART.md

@@ -64,6 +64,36 @@ You should see:
 **GPS not working?**
 - Set up 4 GPS host computers at high altitude
 - Run `gps host X Y Z` on each (with their coordinates)
+- **Alternative:** If running Opus OS, use its `gpsServer` package — a single
+  turtle can self-build a complete GPS constellation (replaces 4 host computers)
+
+## Pathfinding
+
+The turtle now includes a built-in pathfinding module exposed as `_G._pathfind`.
+You can trigger it from the web UI via eval commands:
+
+```lua
+-- Navigate to coordinates (avoids obstacles)
+_pathfind.goto(100, 65, -200)
+
+-- Navigate with block digging enabled
+_pathfind.goto(100, 65, -200, { dig = true })
+
+-- Go home
+_pathfind.goHome()
+
+-- Face a specific heading (0=south, 1=west, 2=north, 3=east)
+_pathfind.face(3)
+
+-- Get current heading name
+_pathfind.headingName()  -- "east"
+```
+
+The pathfinder:
+- Uses GPS for initial position, then tracks movement locally
+- Auto-detects heading on startup via GPS triangulation
+- Handles obstacles by trying to go over/around them
+- Supports optional block digging for clearing paths
 
 ## Next Steps
 

etc/apps.db

@@ -0,0 +1,36 @@
+{
+  [ "rt_turtle_controller" ] = {
+    title = "Turtle Controller",
+    category = "RemoteTurtle",
+    run = "turtle.lua",
+    requires = "turtle",
+  },
+  [ "rt_gps_host" ] = {
+    title = "GPS Host",
+    category = "RemoteTurtle",
+    run = "gpshost.lua",
+  },
+  [ "rt_web_bridge" ] = {
+    title = "Web Bridge",
+    category = "RemoteTurtle",
+    run = "webbridge.lua",
+  },
+  [ "rt_pocket_control" ] = {
+    title = "Pocket Control",
+    category = "RemoteTurtle",
+    run = "pocketcontrol.lua",
+    requires = "pocket",
+  },
+  [ "rt_pocket_remote" ] = {
+    title = "Pocket Remote",
+    category = "RemoteTurtle",
+    run = "pocketremote.lua",
+    requires = "pocket",
+  },
+  [ "rt_pocket_gps" ] = {
+    title = "Pocket GPS",
+    category = "RemoteTurtle",
+    run = "pocketgps.lua",
+    requires = "pocket",
+  },
+}

pocketcontrol.lua

@@ -2,10 +2,12 @@
 -- Combines turtle control, GPS tracking, server management, and webbridge control
 -- Communicates wirelessly with webbridge - NO direct HTTP calls
 
-local CHANNEL_SEND = 100
+local Channels = require('platform.channels')
-local CHANNEL_RECEIVE = 101
+
-local STATUS_CHANNEL = 102
+local CHANNEL_SEND    = Channels.get('remoteturtle.command')
-local POCKET_CHANNEL = 103 -- Pocket <-> Webbridge communication
+local CHANNEL_RECEIVE = Channels.get('remoteturtle.response')
+local STATUS_CHANNEL  = Channels.get('remoteturtle.status')
+local POCKET_CHANNEL  = Channels.get('remoteturtle.pocket')
 
 -- Find modem
 local modem = peripheral.find("modem")
@@ -19,9 +21,12 @@ if pocket then
     modem = peripheral.find("modem")
 end
 
-modem.open(CHANNEL_RECEIVE)
+local WebBridge = require('platform.webbridge')
-modem.open(STATUS_CHANNEL)
+WebBridge.openChannels(modem, {
-modem.open(POCKET_CHANNEL)
+    'remoteturtle.response',
+    'remoteturtle.status',
+    'remoteturtle.pocket',
+})
 
 local w, h = term.getSize()
 
@@ -574,7 +579,9 @@ parallel.waitForAny(
         while true do
             local event, side, channel, replyChannel, message = os.pullEvent("modem_message")
             
-            if channel == STATUS_CHANNEL and type(message) == "table" then
+            -- Uses Channels.match() for dual-mode safety: accepts messages on
+            -- both legacy (102/103) and target (4212/4213) channels during migration.
+            if Channels.match('remoteturtle.status', channel) and type(message) == "table" then
                 if message.type == "status" then
                     -- Update turtle list
                     local found = false
@@ -590,7 +597,7 @@ parallel.waitForAny(
                         addLog("Turtle #" .. message.turtleID .. " connected", colors.lime)
                     end
                 end
-            elseif channel == POCKET_CHANNEL and type(message) == "table" then
+            elseif Channels.match('remoteturtle.pocket', channel) and type(message) == "table" then
                 -- Handle responses from webbridge
                 if message.type == "webbridge_status" then
                     webbridgeStatus = message.data

pocketgps.lua

@@ -1,7 +1,10 @@
 -- Live GPS Tracker for Pocket Computer
 -- Shows your current location in real-time
 
-local STATUS_CHANNEL = 102
+local Channels  = require('platform.channels')
+local WebBridge = require('platform.webbridge')
+
+local STATUS_CHANNEL = Channels.get('remoteturtle.status')
 
 -- Setup modem
 local modem = peripheral.find("modem")
@@ -15,7 +18,7 @@ if pocket then
     modem = peripheral.find("modem")
 end
 
-modem.open(STATUS_CHANNEL)
+WebBridge.openChannels(modem, { 'remoteturtle.status' })
 
 local w, h = term.getSize()
 local myID = os.getComputerID()
@@ -228,7 +231,9 @@ local function main()
             local replyChannel = param3
             local message = param4
             
-            if channel == STATUS_CHANNEL and type(message) == "table" then
+            -- Uses Channels.match() for dual-mode safety: accepts messages on
+            -- both legacy (102) and target (4212) channels during migration.
+            if Channels.match('remoteturtle.status', channel) and type(message) == "table" then
                 handleStatus(message)
             end
             

pocketremote.lua

@@ -1,9 +1,12 @@
 -- Touch-Enabled Command Center for Pocket Computer (FIXED)
 -- Monitor and control autonomous mining turtles
 
-local CHANNEL_SEND = 100
+local Channels  = require('platform.channels')
-local CHANNEL_RECEIVE = 101
+local WebBridge = require('platform.webbridge')
-local STATUS_CHANNEL = 102
+
+local CHANNEL_SEND    = Channels.get('remoteturtle.command')
+local CHANNEL_RECEIVE = Channels.get('remoteturtle.response')
+local STATUS_CHANNEL  = Channels.get('remoteturtle.status')
 
 local modem = peripheral.find("modem")
 if not modem then
@@ -15,8 +18,10 @@ if pocket then
     modem = peripheral.find("modem")
 end
 
-modem.open(CHANNEL_RECEIVE)
+WebBridge.openChannels(modem, {
-modem.open(STATUS_CHANNEL)
+    'remoteturtle.response',
+    'remoteturtle.status',
+})
 
 local w, h = term.getSize()
 
@@ -626,10 +631,12 @@ parallel.waitForAny(
     end,
     function()
         -- Status receiver
+        -- Uses Channels.match() for dual-mode safety: accepts status on
+        -- both legacy (102) and target (4212) channels during migration.
         while true do
             local event, side, channel, replyChannel, message = os.pullEvent("modem_message")
             
-            if channel == STATUS_CHANNEL and type(message) == "table" and message.type == "status" then
+            if Channels.match('remoteturtle.status', channel) and type(message) == "table" and message.type == "status" then
                 -- Update or add turtle
                 local found = false
                 for i, t in ipairs(turtles) do
@@ -655,7 +662,7 @@ parallel.waitForAny(
                 end
                 
                 draw()
-            elseif channel == CHANNEL_RECEIVE and type(message) == "table" then
+            elseif Channels.match('remoteturtle.response', channel) and type(message) == "table" then
                 -- State change confirmation or other response
                 if message.type == "state_changed" and message.turtleID then
                     for i, t in ipairs(turtles) do

server/Dockerfile

@@ -1,11 +1,26 @@
-# Node.js backend
+# Stage 1: Fetch platform server package from git
+FROM alpine:3.20 AS platform
+RUN apk add --no-cache git
+ARG PLATFORM_REPO=https://git.spatulaa.com/MayaTheShy/cc-platform-core.git
+ARG PLATFORM_BRANCH=master
+RUN git clone --depth 1 --branch "$PLATFORM_BRANCH" "$PLATFORM_REPO" /src \
+    && rm -rf /src/server/node_modules /src/.git
+
+# Stage 2: Node.js backend
 FROM node:18-alpine
 
 WORKDIR /app
 
+# Copy platform server package from the git-clone stage
+COPY --from=platform /src/server /app/platform-server/
+
 # Copy package files
 COPY package*.json ./
 
+# Rewrite file: dependency to use the local copy inside the container
+RUN sed -i 's|file:../../cc-platform-core/server|file:./platform-server|' package.json \
+    && rm -f package-lock.json
+
 # Install dependencies
 RUN npm install --omit=dev
 

server/Dockerfile.dev

@@ -1,14 +1,29 @@
-# Development Dockerfile with hot reload
+# Stage 1: Fetch platform server package from git
+FROM alpine:3.20 AS platform
+RUN apk add --no-cache git
+ARG PLATFORM_REPO=https://git.spatulaa.com/MayaTheShy/cc-platform-core.git
+ARG PLATFORM_BRANCH=master
+RUN git clone --depth 1 --branch "$PLATFORM_BRANCH" "$PLATFORM_REPO" /src \
+    && rm -rf /src/server/node_modules /src/.git
+
+# Stage 2: Development with hot reload
 FROM node:18-alpine
 
 WORKDIR /app
 
+# Copy platform server package from the git-clone stage
+COPY --from=platform /src/server /app/platform-server/
+
 # Install nodemon for hot reload
 RUN npm install -g nodemon
 
 # Copy package files
 COPY package*.json ./
 
+# Rewrite file: dependency to use the local copy inside the container
+RUN sed -i 's|file:../../cc-platform-core/server|file:./platform-server|' package.json \
+    && rm -f package-lock.json
+
 # Install all dependencies (including dev)
 RUN npm install
 

server/package.json

@@ -19,6 +19,7 @@
   "author": "",
   "license": "MIT",
   "dependencies": {
+    "@cc-platform/server": "file:../../cc-platform-core/server",
     "better-sqlite3": "^9.2.2",
     "cors": "^2.8.5",
     "express": "^4.18.2",

server/server.js

@@ -1,41 +1,27 @@
-import express from 'express';
 import { WebSocketServer } from 'ws';
-import cors from 'cors';
+import { createRequire } from 'module';
-import { createServer } from 'http';
 import * as db from './database.js';
 import { Turtle } from './Turtle.js';
 import { TaskDispatcher } from './TaskDispatcher.js';
 import { WorldBlockCache } from './WorldBlockCache.js';
 
-const app = express();
+const require = createRequire(import.meta.url);
-const PORT = 3001;
+const {
+  createPlatformServer,
+  setupGracefulShutdown,
+  createProxyEndpoint,
+} = require('@cc-platform/server');
 
-app.use(cors());
+// ========== Platform Server Setup ==========
-app.use(express.json({ limit: '5mb' }));
+const { app, server, auth, start, port } = createPlatformServer({
-
+  serviceName: 'turtle-control',
-// ========== API Key Authentication ==========
+  port: 3001,
-const API_KEY = process.env.API_KEY || '';
+  cors: true,
-
-function extractApiKey(req) {
-  const auth = req.headers.authorization || '';
-  if (auth.startsWith('Bearer ')) return auth.slice(7);
-  return req.headers['x-api-key'] || req.query.key || '';
-}
-
-function requireAuth(req, res, next) {
-  if (!API_KEY) return next(); // Auth disabled when no key configured
-  if (extractApiKey(req) === API_KEY) return next();
-  return res.status(401).json({ error: 'Unauthorized — invalid or missing API key' });
-}
-
-// Protect mutating endpoints when an API key is set
-app.use((req, res, next) => {
-  if (req.method === 'GET' || req.method === 'HEAD' || req.method === 'OPTIONS') {
-    return next();
-  }
-  return requireAuth(req, res, next);
 });
 
+const { requireAuth } = auth;
+const API_KEY = process.env.API_KEY || '';
+
 // Rewrite requests that arrive without /api prefix (from reverse proxy stripping it)
 app.use((req, res, next) => {
   if (!req.path.startsWith('/api') && req.path !== '/' && req.path !== '/health') {
@@ -215,19 +201,12 @@ function getBlockPosition(turtlePos, facing, direction) {
   return pos;
 }
 
-// Create HTTP server
-const server = createServer(app);
-
 // WebSocket server for web clients AND bridge connections
 const wss = new WebSocketServer({ server });
 
 // Track bridge connections separately
 const bridgeClients = new Set();
 
-console.log(`🚀 Turtle Control Server starting...`);
-console.log(`📡 HTTP Server: http://localhost:${PORT}`);
-console.log(`🔌 WebSocket Server: ws://localhost:${PORT}/ws`);
-
 /**
  * Push a command to the webbridge for a specific turtle.
  * If a bridge is connected via WebSocket, send instantly.
@@ -1880,8 +1859,6 @@ app.post('/api/turtle/:id/refresh-inventory', async (req, res) => {
 // ========== Cross-Project Integration API ==========
 // These endpoints allow the Inventory Manager system to query turtle state
 
-const INVENTORY_SERVER_URL = process.env.INVENTORY_SERVER_URL || ''; // e.g. http://inventory-server:3001
-
 // Get all turtle summaries (for inventory dashboard sidebar widget)
 app.get('/api/integration/turtle-summary', (req, res) => {
   const summaries = [];
@@ -1902,62 +1879,29 @@ app.get('/api/integration/turtle-summary', (req, res) => {
 });
 
 // Proxy to inventory server (locate items for turtle pickup)
-app.get('/api/integration/inventory-locate', async (req, res) => {
+createProxyEndpoint(app, '/api/integration/inventory-locate', 'INVENTORY_SERVER_URL', '/api/integration/locate-item');
-  if (!INVENTORY_SERVER_URL) {
-    return res.json({ configured: false, message: 'INVENTORY_SERVER_URL not configured' });
-  }
-  try {
-    const params = new URLSearchParams(req.query);
-    const resp = await fetch(`${INVENTORY_SERVER_URL}/api/integration/locate-item?${params}`);
-    const data = await resp.json();
-    res.json({ configured: true, ...data });
-  } catch (err) {
-    res.status(502).json({ configured: true, error: `Cannot reach inventory server: ${err.message}` });
-  }
-});
 
 // Proxy to inventory server (low stock alerts — turtles could auto-mine missing resources)
-app.get('/api/integration/inventory-alerts', async (req, res) => {
+createProxyEndpoint(app, '/api/integration/inventory-alerts', 'INVENTORY_SERVER_URL', '/api/integration/low-stock');
-  if (!INVENTORY_SERVER_URL) {
-    return res.json({ configured: false, message: 'INVENTORY_SERVER_URL not configured' });
-  }
-  try {
-    const resp = await fetch(`${INVENTORY_SERVER_URL}/api/integration/low-stock`);
-    const data = await resp.json();
-    res.json({ configured: true, ...data });
-  } catch (err) {
-    res.status(502).json({ configured: true, error: `Cannot reach inventory server: ${err.message}` });
-  }
-});
 
 // Proxy to inventory server (storage space check — should turtles keep mining?)
-app.get('/api/integration/storage-status', async (req, res) => {
+createProxyEndpoint(app, '/api/integration/storage-status', 'INVENTORY_SERVER_URL', '/api/integration/storage-status');
-  if (!INVENTORY_SERVER_URL) {
+
-    return res.json({ configured: false, message: 'INVENTORY_SERVER_URL not configured' });
+// ========== Graceful Shutdown & Start ==========
-  }
+
-  try {
+setupGracefulShutdown({
-    const resp = await fetch(`${INVENTORY_SERVER_URL}/api/integration/storage-status`);
+  serviceName: 'turtle-control',
-    const data = await resp.json();
+  cleanup: [
-    res.json({ configured: true, ...data });
+    () => taskDispatcher.stop(),
-  } catch (err) {
+    () => db.closeDatabase(),
-    res.status(502).json({ configured: true, error: `Cannot reach inventory server: ${err.message}` });
+  ],
-  }
 });
 
-// Graceful shutdown
+start(() => {
-process.on('SIGINT', () => {
-  console.log('\n🛑 Shutting down server...');
-  taskDispatcher.stop();
-  db.closeDatabase();
-  process.exit(0);
-});
-
-server.listen(PORT, () => {
-  console.log(`✅ Server ready!`);
   console.log(`\nConfigured turtles to send updates to:`);
-  console.log(`  http://localhost:${PORT}/api/turtle/update`);
+  console.log(`  http://localhost:${port}/api/turtle/update`);
-  if (INVENTORY_SERVER_URL) {
+  if (process.env.INVENTORY_SERVER_URL) {
-    console.log(`📦 Inventory server integration: ${INVENTORY_SERVER_URL}`);
+    console.log(`📦 Inventory server integration: ${process.env.INVENTORY_SERVER_URL}`);
   }
   // Start task dispatcher after server is ready
   taskDispatcher.start();

turtle.lua

@@ -3,9 +3,11 @@
 -- This script only handles: eval execution, status broadcasting,
 -- GPS tracking, inventory/peripheral events.
 
-local CHANNEL_RECEIVE = 100
+local Channels = require('platform.channels')
-local CHANNEL_SEND = 101
+
-local STATUS_CHANNEL = 102
+local CHANNEL_RECEIVE = Channels.get('remoteturtle.command')
+local CHANNEL_SEND    = Channels.get('remoteturtle.response')
+local STATUS_CHANNEL  = Channels.get('remoteturtle.status')
 
 -- State tracking (lightweight - server drives everything)
 local state = {
@@ -23,11 +25,13 @@ local config = {
 }
 
 -- Check for modem
-local modem = peripheral.find("modem")
+local WebBridge = require('platform.webbridge')
+local modem, modemSide = WebBridge.findModem(true)
 if not modem then
     error("No wireless modem found!")
 end
-modem.open(CHANNEL_RECEIVE)
+-- Open command channel (respects dual-mode migration)
+WebBridge.openChannels(modem, { 'remoteturtle.command' })
 
 print("Server-Driven Turtle v5 (Pure Eval Protocol)")
 print("ID: " .. os.getComputerID())
@@ -203,7 +207,215 @@ end
 
 syncHomeWithServer()
 updateFuel()
-print("Ready! Turtle " .. os.getComputerID() .. " online (v5 server-driven)")
+
+-- ========== Movement Wrapping (heading + position tracking) ==========
+
+-- Heading: 0=south(+z), 1=west(-x), 2=north(-z), 3=east(+x)
+local MOVE_DELTA = {
+    [0] = { x = 0, z = 1 },    -- south
+    [1] = { x = -1, z = 0 },   -- west
+    [2] = { x = 0, z = -1 },   -- north
+    [3] = { x = 1, z = 0 },    -- east
+}
+
+local _rawForward   = turtle.forward
+local _rawBack      = turtle.back
+local _rawUp        = turtle.up
+local _rawDown      = turtle.down
+local _rawTurnLeft  = turtle.turnLeft
+local _rawTurnRight = turtle.turnRight
+
+turtle.forward = function()
+    local ok, reason = _rawForward()
+    if ok and state.position then
+        local d = MOVE_DELTA[state.facing]
+        state.position.x = state.position.x + d.x
+        state.position.z = state.position.z + d.z
+    end
+    return ok, reason
+end
+
+turtle.back = function()
+    local ok, reason = _rawBack()
+    if ok and state.position then
+        local d = MOVE_DELTA[state.facing]
+        state.position.x = state.position.x - d.x
+        state.position.z = state.position.z - d.z
+    end
+    return ok, reason
+end
+
+turtle.up = function()
+    local ok, reason = _rawUp()
+    if ok and state.position then
+        state.position.y = state.position.y + 1
+    end
+    return ok, reason
+end
+
+turtle.down = function()
+    local ok, reason = _rawDown()
+    if ok and state.position then
+        state.position.y = state.position.y - 1
+    end
+    return ok, reason
+end
+
+turtle.turnLeft = function()
+    local ok = _rawTurnLeft()
+    if ok then
+        state.facing = (state.facing + 3) % 4
+        _G._turtleFacing = state.facing
+    end
+    return ok
+end
+
+turtle.turnRight = function()
+    local ok = _rawTurnRight()
+    if ok then
+        state.facing = (state.facing + 1) % 4
+        _G._turtleFacing = state.facing
+    end
+    return ok
+end
+
+-- Detect heading via GPS triangulation
+local function detectHeading()
+    local x1, _, z1 = gps.locate(2)
+    if not x1 then return false end
+    if _rawForward() then
+        local x2, _, z2 = gps.locate(2)
+        _rawBack()
+        if x2 then
+            local dx = math.floor(x2) - math.floor(x1)
+            local dz = math.floor(z2) - math.floor(z1)
+            if dz > 0 then state.facing = 0       -- south
+            elseif dz < 0 then state.facing = 2    -- north
+            elseif dx > 0 then state.facing = 3    -- east
+            elseif dx < 0 then state.facing = 1    -- west
+            end
+            _G._turtleFacing = state.facing
+            return true
+        end
+    end
+    return false
+end
+
+if state.position then
+    if detectHeading() then
+        print("Heading: " .. ({"south","west","north","east"})[state.facing + 1])
+    else
+        print("Heading: unknown (blocked)")
+    end
+end
+
+-- ========== Pathfinding Module ==========
+
+local pathfind = {}
+
+--- Face a target heading.
+function pathfind.face(targetH)
+    targetH = targetH % 4
+    while state.facing ~= targetH do
+        local diff = (targetH - state.facing) % 4
+        if diff == 1 then
+            turtle.turnRight()
+        elseif diff == 3 then
+            turtle.turnLeft()
+        else
+            turtle.turnRight()
+            turtle.turnRight()
+        end
+    end
+end
+
+--- Navigate to target coordinates with simple obstacle avoidance.
+-- @param tx, ty, tz  target position
+-- @param options     { dig = false, maxAttempts = 256 }
+-- @return true or false, error
+function pathfind.goto(tx, ty, tz, options)
+    options = options or {}
+    local maxAttempts = options.maxAttempts or 256
+    local dig = options.dig or false
+    local attempts = 0
+
+    while attempts < maxAttempts do
+        local pos = state.position
+        if not pos then return false, "No GPS position" end
+
+        -- Arrived?
+        if pos.x == tx and pos.y == ty and pos.z == tz then
+            return true
+        end
+
+        attempts = attempts + 1
+        local moved = false
+
+        -- Priority: Y first (get to correct height), then X, then Z
+        if not moved and pos.y ~= ty then
+            if pos.y < ty then
+                moved = turtle.up()
+                if not moved and dig then turtle.digUp(); moved = turtle.up() end
+            else
+                moved = turtle.down()
+                if not moved and dig then turtle.digDown(); moved = turtle.down() end
+            end
+        end
+
+        if not moved and pos.x ~= tx then
+            pathfind.face(tx > pos.x and 3 or 1)
+            moved = turtle.forward()
+            if not moved and dig then turtle.dig(); moved = turtle.forward() end
+        end
+
+        if not moved and pos.z ~= tz then
+            pathfind.face(tz > pos.z and 0 or 2)
+            moved = turtle.forward()
+            if not moved and dig then turtle.dig(); moved = turtle.forward() end
+        end
+
+        -- Obstacle avoidance: try going around
+        if not moved then
+            if turtle.up() then
+                moved = true
+            elseif turtle.down() then
+                moved = true
+            else
+                turtle.turnRight()
+                if turtle.forward() then
+                    moved = true
+                else
+                    turtle.turnLeft()
+                    turtle.turnLeft()
+                    if turtle.forward() then
+                        moved = true
+                    else
+                        turtle.turnRight() -- restore heading
+                        return false, "Stuck at " .. pos.x .. "," .. pos.y .. "," .. pos.z
+                    end
+                end
+            end
+        end
+    end
+
+    return false, "Max attempts exceeded"
+end
+
+--- Go home (to saved home position).
+function pathfind.goHome(options)
+    if not state.homePosition then return false, "No home position set" end
+    return pathfind.goto(state.homePosition.x, state.homePosition.y, state.homePosition.z, options)
+end
+
+--- Get current heading name.
+function pathfind.headingName()
+    return ({"south","west","north","east"})[state.facing + 1]
+end
+
+-- Expose globally for eval access
+_G._pathfind = pathfind
+
+print("Ready! Turtle " .. os.getComputerID() .. " online (v5 server-driven + pathfinding)")
 broadcastStatus()
 
 -- ========== Main Loop ==========
@@ -234,9 +446,11 @@ parallel.waitForAny(
 
     function()
         -- Command processing (eval protocol)
+        -- Uses Channels.match() for dual-mode safety: accepts messages on
+        -- both legacy (100) and target (4210) channels during migration.
         while true do
             local event, side, channel, replyChannel, message = os.pullEvent("modem_message")
-            if channel == CHANNEL_RECEIVE then
+            if Channels.match('remoteturtle.command', channel) then
                 processMessage(channel, message)
             end
         end

webbridge.lua

@@ -2,16 +2,43 @@
 -- Connects to server via WebSocket for instant bidirectional communication.
 -- Forwards turtle modem messages to server and server commands to turtles.
 -- Falls back to HTTP polling if WebSocket is unavailable.
+--
+-- Uses cc-platform-core for shared infrastructure (config, HTTP, modem, channels).
 
-local SERVER_URL = "http://beta:4200"
+local WebBridge = require('platform.webbridge')
-local WS_URL = "ws://beta:4200/ws/bridge"
+local Channels  = require('platform.channels')
-local CHANNEL_RECEIVE = 101
-local STATUS_CHANNEL = 102
-local COMMAND_CHANNEL = 100
-local POCKET_CHANNEL = 103
 
--- Find peripherals
+-------------------------------------------------
-local modem = peripheral.find("modem")
+-- Configuration (via platform)
+-------------------------------------------------
+
+local _baseDir = fs.getDir(shell.getRunningProgram())
+
+local config, configSource = WebBridge.loadConfig({
+    serverUrl = "http://localhost:4200",
+    wsUrl     = nil,  -- derived from serverUrl if not set
+}, {
+    fs.combine(_baseDir, ".webbridge_config"),
+})
+
+local SERVER_URL = config.serverUrl
+local WS_URL     = config.wsUrl or SERVER_URL:gsub("^http", "ws") .. "/ws/bridge"
+
+if configSource then
+    print("[CONFIG] Loaded from " .. configSource)
+end
+
+-- Channels from platform registry
+local COMMAND_CHANNEL  = Channels.get('remoteturtle.command')
+local CHANNEL_RECEIVE  = Channels.get('remoteturtle.response')
+local STATUS_CHANNEL   = Channels.get('remoteturtle.status')
+local POCKET_CHANNEL   = Channels.get('remoteturtle.pocket')
+
+-------------------------------------------------
+-- Peripherals
+-------------------------------------------------
+
+local modem, modemSide = WebBridge.findModem(true)  -- prefer wireless
 local monitor = peripheral.find("monitor")
 
 if not modem then
@@ -23,9 +50,12 @@ if hasMonitor then
     monitor.setTextScale(0.5)
 end
 
-modem.open(CHANNEL_RECEIVE)
+-- Open channels via platform (respects dual-mode migration)
-modem.open(STATUS_CHANNEL)
+WebBridge.openChannels(modem, {
-modem.open(POCKET_CHANNEL)
+    'remoteturtle.response',
+    'remoteturtle.status',
+    'remoteturtle.pocket',
+})
 
 -- Track turtles and stats
 local turtles = {}
@@ -177,32 +207,24 @@ local function wsSend(data)
     return false
 end
 
--- ========== HTTP Fallback Functions ==========
+-- ========== HTTP Helpers (via platform) ==========
 
 local function httpPost(path, data)
-    local success, result = pcall(function()
+    local result = WebBridge.httpPost(SERVER_URL .. path, data)
-        local response = http.post(SERVER_URL .. path, textutils.serializeJSON(data), { ["Content-Type"] = "application/json" })
+    if result then
-        if response then
+        local ok, parsed = pcall(textutils.unserialiseJSON, result)
-            local content = response.readAll()
+        if ok then return parsed end
-            response.close()
+    end
-            return textutils.unserializeJSON(content)
+    return nil
-        end
-        return nil
-    end)
-    return success and result or nil
 end
 
 local function httpGet(path)
-    local success, result = pcall(function()
+    local result = WebBridge.httpGet(SERVER_URL .. path)
-        local response = http.get(SERVER_URL .. path)
+    if result then
-        if response then
+        local ok, parsed = pcall(textutils.unserialiseJSON, result)
-            local content = response.readAll()
+        if ok then return parsed end
-            response.close()
+    end
-            return textutils.unserializeJSON(content)
+    return nil
-        end
-        return nil
-    end)
-    return success and result or nil
 end
 
 -- ========== Forward Turtle Modem Message to Server ==========
@@ -469,11 +491,13 @@ parallel.waitForAny(
             local event, side, channel, replyChannel, message, distance = os.pullEvent("modem_message")
             stats.messagesReceived = stats.messagesReceived + 1
 
-            if channel == STATUS_CHANNEL or channel == CHANNEL_RECEIVE then
+            -- Uses Channels.match() for dual-mode safety: accepts messages on
+            -- both legacy (101/102/103) and target (4211/4212/4213) during migration.
+            if (Channels.match('remoteturtle.status', channel) or Channels.match('remoteturtle.response', channel)) then
                 if type(message) == "table" then
                     forwardToServer(message)
                 end
-            elseif channel == POCKET_CHANNEL then
+            elseif Channels.match('remoteturtle.pocket', channel) then
                 if type(message) == "table" then
                     handlePocketMessage(message)
                 end