use new Terminal Process in Terminal

src/bin/Disk.hx

@@ -1,19 +1,18 @@
 package bin;
 
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
 import kernel.peripherals.Peripherals.Peripheral;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
 
 using tink.CoreApi;
 using Lambda;
 
-class Disk extends CLIApp {
-
-	private var handle:TermHandle;
+class Disk implements Process {
+	private var handle:ProcessHandle;
 
 	public function new() {}
 
-	public function invoke(handle:TermHandle):Future<Bool> {
+	public function run(handle:ProcessHandle):Void {
 		this.handle = handle;
 		var subcommand = handle.args[0];
 		var driveAddr:Null<String> = handle.args[1];
@@ -27,12 +26,12 @@ class Disk extends CLIApp {
 
 					if (drive.isDiskPresent()){
 						if (drive.hasAudio()){
-							handle.writeLn('${addr} => ${label} [AUDIO]');
+							handle.writeLine('${addr} => ${label} [AUDIO]');
 						}else{
-							handle.writeLn('${addr} => ${label} (${id})');
+							handle.writeLine('${addr} => ${label} (${id})');
 						}
 					}else {
-						handle.writeLn('${addr} => [NO DISK]');
+						handle.writeLine('${addr} => [NO DISK]');
 					}
 
 					return true;
@@ -41,18 +40,15 @@ class Disk extends CLIApp {
 				var drive = Peripheral.instance.getDrive(driveAddr);
 
 				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("Drive not found: " + driveAddr);
 				}
 
 				if (!drive.isDiskPresent()){
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("No disk in drive: " + driveAddr);
 				}
 
 				if (!drive.hasAudio()){
-					handle.writeLn("Disk in drive " + driveAddr + " does not have audio");
-					return Future.sync(false);
+					handle.writeLine("Disk in drive " + driveAddr + " does not have audio");
 				}
 
 				drive.playAudio();
@@ -60,18 +56,15 @@ class Disk extends CLIApp {
 				var drive = Peripheral.instance.getDrive(driveAddr);
 
 				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("Drive not found: " + driveAddr);
 				}
 
 				if (!drive.isDiskPresent()){
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("No disk in drive: " + driveAddr);
 				}
 
 				if (!drive.hasAudio()){
-					handle.writeLn("Disk in drive: " + driveAddr + " does not have audio");
-					return Future.sync(false);
+					handle.writeLine("Disk in drive: " + driveAddr + " does not have audio");
 				}
 
 				drive.stopAudio();
@@ -80,13 +73,11 @@ class Disk extends CLIApp {
 				var drive = Peripheral.instance.getDrive(driveAddr);
 
 				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("Drive not found: " + driveAddr);
 				}
 
 				if (!drive.isDiskPresent()){
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("No disk in drive: " + driveAddr);
 				}
 
 				drive.ejectDisk();
@@ -95,43 +86,39 @@ class Disk extends CLIApp {
 				var label:String = handle.args[2];
 
 				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("Drive not found: " + driveAddr);
 				}
 
 				if (!drive.isDiskPresent()){
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
+					handle.writeLine("No disk in drive: " + driveAddr);
 				}
 
 				if (label == null || label == ""){
-					handle.writeLn(drive.getDiskLabel());
+					handle.writeLine(drive.getDiskLabel());
 				}else{
 					var err  = drive.setDiskLabel(label);
 					if (err != null){
-						handle.writeLn("Failed to set lable");
-						return Future.sync(false);
+						handle.writeLine("Failed to set lable");
 					}
 				}
 			case "help":
 			case null:
 				printHelp();
 			default:
-				handle.writeLn("Unknown subcommand: " + subcommand);
+				handle.writeLine("Unknown subcommand: " + subcommand);
 				printHelp();
-				return Future.sync(false);
 		}
 
-		return Future.sync(true);
+		return handle.close(true);
 	}
 
 	private function printHelp() {
-		handle.writeLn("Usage: disk <subcommand> [args]");
-		handle.writeLn("Subcommands:");
-		handle.writeLn("  ls");
-		handle.writeLn("  play <drive>");
-		handle.writeLn("  stop <drive>");
-		handle.writeLn("  eject <drive>");
-		handle.writeLn("  label <drive> [label]");
+		handle.writeLine("Usage: disk <subcommand> [args]");
+		handle.writeLine("Subcommands:");
+		handle.writeLine("  ls");
+		handle.writeLine("  play <drive>");
+		handle.writeLine("  stop <drive>");
+		handle.writeLine("  eject <drive>");
+		handle.writeLine("  label <drive> [label]");
 	}
 }

src/bin/GPS.hx

@@ -1,18 +1,19 @@
 package bin;
 
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
+import kernel.gps.INS;
 import lib.Pos3;
 import lib.Vec.Vec3;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
 
 using tink.CoreApi;
 
-class GPS extends CLIApp {
-	private var handle:TermHandle;
+class GPS implements Process {
+	private var handle:ProcessHandle;
 
 	public function new() {}
 
-	public function invoke(handle: TermHandle):Future<Bool> {
+	public function run(handle: ProcessHandle):Void {
 		this.handle = handle;
 
 		var subcommand = handle.args[0];
@@ -20,19 +21,37 @@ class GPS extends CLIApp {
 
 		switch (subcommand) {
 			case "set":
-				return Future.sync(setManuelPos(subcommand_args));
+				handle.close(setManuelPos(subcommand_args));
 			case "status":
-				return Future.sync(getGPSStatus());
+				handle.close(getGPSStatus());
 			case "locate":
-				kernel.gps.GPS.instance.locate();
-				return Future.sync(true);
+				kernel.gps.GPS.instance.locate().handle((pos)->{
+					if (pos != null) {
+						handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
+						handle.close(true);
+					} else {
+						handle.writeLine("Position not available");
+						handle.close(false);
+					}
+				});
+			case "ins":
+				INS.instance.align().handle(()->{
+					handle.writeLine("INS aligned");
+					handle.close(true);
+				});
 			default:
-				handle.writeLn("Unknown subcommand: " + subcommand);
-				return Future.sync(false);
-
+				handle.writeLine("Unknown subcommand: " + subcommand);
+				printHelp();
+				handle.close(false);
+		}
 	}
 
-		return Future.sync(true);
+	private function printHelp(){
+		handle.writeLine("GPS commands:");
+		handle.writeLine("set <x> <y> <z> - set manual position");
+		handle.writeLine("status - get current position and accuracy");
+		handle.writeLine("locate - get current position");
+		handle.writeLine("ins - align INS");
 	}
 
 	private function setManuelPos(args: Array<String>): Bool {
@@ -51,19 +70,26 @@ class GPS extends CLIApp {
 
 		var pos = kernel.gps.GPS.instance.getPosition();
 		if (pos != null) {
-			handle.writeLn('Position x:${pos.x} y:${pos.y} z:${pos.z}');
+			handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
 		} else {
-			handle.writeLn("Position not available");
+			handle.writeLine("Position not available");
 			return true;
 		}
 
 		var acc = kernel.gps.GPS.instance.getAccuracy();
 		if (acc == 1){
-			handle.writeLn("Accuracy: Low");
+			handle.writeLine("Accuracy: Low");
 		} else if (acc == 2){
-			handle.writeLn("Accuracy: Medium");
+			handle.writeLine("Accuracy: Medium");
 		} else if (acc == 3){
-			handle.writeLn("Accuracy: High");
+			handle.writeLine("Accuracy: High");
+		}
+
+		var ins = INS.instance.getHeading();
+		if (ins != null) {
+			handle.writeLine('INS heading: ${ins.x} y:${ins.y} z:${ins.z}');
+		} else {
+			handle.writeLine("INS heading not available");
 		}
 
 		return true;

src/bin/HelloWorld.hx

@@ -1,21 +1,16 @@
 package bin;
 
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
 
 using tink.CoreApi;
 
-class HelloWorld extends CLIApp {
+class HelloWorld implements Process {
 
 	public function new() {}
 
-	public function invoke(handle: TermHandle):Future<Bool> {
-		var world:String = "world";
-		if (handle.args.length > 0) {
-			world = handle.args[0];
-		}
-
-		handle.write('Hello, $world!');
-		return Future.sync(true);
+	public function run(handle:ProcessHandle) {
+		handle.write("Hello World!");
+		handle.close();
 	}
 }

src/bin/KernelLog.hx

@@ -1,5 +1,7 @@
 package bin;
 
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
 import lib.Color;
 import lib.MathI;
 import kernel.log.Log;
@@ -8,24 +10,22 @@ import lib.ui.UIApp;
 
 using tink.CoreApi;
 
-class KernelLog extends UIApp{
+class KernelLog implements Process {
+	private var handle: ProcessHandle;
 	private var ctx: WindowContext;
-	private var exitTrigger: Bool -> Void;
 
 	public function new() {}
 
-	public function invoke(context:WindowContext):Future<Bool> {
-		this.ctx = context;
+	public function run(handle: ProcessHandle):Void {
+		this.handle = handle;
+
+		var statelessCtx = handle.createStatelessWindowContext();
+		this.ctx = statelessCtx.ctx;
+
+		statelessCtx.setRenderFunc(this.render);
 
 		Log.instance.onLog.handle(()->{
-			render();
-		});
-
-		render();
-
-		return new Future<Bool>(cb -> {
-			this.exitTrigger = cb;
-			return null;
+			statelessCtx.requestRender();
 		});
 	}
 

src/bin/Net.hx

@@ -1,19 +1,19 @@
 package bin;
 
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
 import kernel.peripherals.Peripherals.Peripheral;
 import kernel.net.Routing;
 import haxe.ds.ReadOnlyArray;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
 
 using tink.CoreApi;
 
-class Net extends CLIApp {
-	private var handle:TermHandle;
+class Net implements Process {
+	private var handle:ProcessHandle;
 
 	public function new() {}
 
-	public function invoke(handle:TermHandle):Future<Bool> {
+	public function run(handle:ProcessHandle):Void {
 		this.handle = handle;
 
 		var subcommand = handle.args[0];
@@ -21,86 +21,82 @@ class Net extends CLIApp {
 
 		switch (subcommand) {
 			case "route":
-				return Future.sync(route(subcommand_args));
+				route(subcommand_args);
+				return handle.close();
 			case "iface":
-				return  Future.sync(iface(subcommand_args));
+				iface(subcommand_args);
+				return handle.close();
 			case "help":
 				printHelp();
-				return Future.sync(true);
+				return handle.close();
 			case "ping":
-				return ping(subcommand_args);
+				ping(subcommand_args);
+				// Closes itself
 			case "proto":
-				return Future.sync(protos());
+				protos();
+				return handle.close();
 			default:
-				handle.writeLn("Unknown subcommand: " + subcommand);
+				handle.write("Unknown subcommand: " + subcommand);
 				printHelp();
-				return Future.sync(false);
+				return handle.close(false);
 		}
 	}
 
 	private function printHelp() {
-		handle.writeLn("net route");
-		handle.writeLn("net iface");
-		handle.writeLn("net help");
-		handle.writeLn("net proto");
+		handle.write("net route");
+		handle.write("net iface");
+		handle.write("net help");
+		handle.write("net proto");
 	}
 
-	private function route(args:ReadOnlyArray<String>):Bool {
+	private function route(args:ReadOnlyArray<String>):Void {
 		var routes = Routing.instance.getRouteTable();
 
 		for(k => v in routes) {
-			handle.writeLn('${k} => ${v.interf.name()}(${v.cost})');
+			handle.write('${k} => ${v.interf.name()}(${v.cost})');
 		}
-
-		return true;
 	}
 
 	private function iface(args:ReadOnlyArray<String>):Bool {
 		var modems = Peripheral.instance.getModems();
 
 		for (modem in modems) {
-			handle.writeLn(modem.name());
+			handle.write(modem.name());
 		}
 
 		return true;
 	}
 
-	function ping(args:ReadOnlyArray<String>): Future<Bool> {
-		return new Future<Bool>(trigger -> {
+	function ping(args:ReadOnlyArray<String>): Void {
 		if (args.length != 1) {
-				handle.writeLn("Usage: net ping id");
-				trigger(false);
-				return null;
+			handle.write("Usage: net ping id");
+			return handle.close(false);
 		}
 
 		var toID:Null<Int> = Std.parseInt(args[0]);
 
 		if (toID == null) {
-				handle.writeLn("Invalid ID");
-				trigger(false);
-				return null;
+			handle.write("Invalid ID");
+			return handle.close(false);
 		}
 
 		kernel.net.Net.instance.ping(toID).handle(result -> {
 			switch (result){
 				case Success(_):
-						handle.writeLn("Ping succeeded");
-						trigger(true);
+					handle.write("Ping succeeded");
+					return handle.close();
 				case Failure(failure):
-						handle.writeLn("Ping failed: " + failure);
-						trigger(false);
+					handle.write("Ping failed: " + failure);
+					return handle.close(false);
 			}
 		});
-		});
 	}
 
-	function protos():Bool {
+	function protos():Void {
 		var protos = kernel.net.Net.instance.getActiveProtocols();
 
 		for (proto in protos) {
-			handle.writeLn(proto);
-		}
-
-		return true;
+			handle.write(proto);
+		}
 	}
 }

src/bin/Redstone.hx

@@ -1,27 +1,27 @@
 package bin;
 
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
 import kernel.peripherals.Peripherals.Peripheral;
 import kernel.peripherals.Side;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
 
 using tink.CoreApi;
 
-class Redstone extends CLIApp {
+class Redstone implements Process {
 	public function new() {}
 
-	public function invoke(handle:TermHandle):Future<Bool> {
+	public function run(handle: ProcessHandle):Void {
 		var subcommand = handle.args[0];
 
 		if (subcommand == null) {
-			handle.writeLn("Usage: redstone <on|off|get> <side>");
-			return Future.sync(false);
+			handle.write("Usage: redstone <on|off|get> <side>");
+			return handle.close(false);
 		}
 
 		var side:Null<Side> = handle.args[1];
 		if (side == null) {
-			handle.writeLn("Invalid side");
-			return Future.sync(false);
+			handle.write("Invalid side");
+			return handle.close(false);
 		}
 
 		switch (subcommand) {
@@ -31,14 +31,14 @@ class Redstone extends CLIApp {
 				Peripheral.instance.getRedstone(side).setOutput(false);
 			case "get":
 				var value = Peripheral.instance.getRedstone(side).getAnalogInput();
-				handle.writeLn("Analog input: " + value);
+				handle.write("Analog input: " + value);
 			case "help":
-				handle.writeLn("Usage: redstone <on|off|get> <side>");
+				handle.write("Usage: redstone <on|off|get> <side>");
 			default:
-				handle.writeLn("Invalid subcommand");
-				return Future.sync(false);
+				handle.write("Invalid subcommand");
+				return handle.close(false);
 		}
 
-		return Future.sync(true);
+		return handle.close();
 	}
 }

src/bin/Terminal.hx

@@ -1,51 +1,56 @@
 package bin;
 
-import lib.ui.UIApp;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
+import kernel.ps.ProcessHandle;
+import kernel.ps.Process;
+import kernel.ps.ProcessManager;
 import lib.Color;
 import kernel.ui.WindowContext;
-import kernel.ui.WindowManager;
 
 using tink.CoreApi;
 
-class Terminal extends UIApp {
+class Terminal implements Process {
 	private var context:WindowContext;
 	private var input:String = "";
 	private var backlog:Array<String> = [];
-	private var exitTrigger: Bool -> Void;
+	private var handle:ProcessHandle;
+	private var requestRender: () -> Void;
 
 	public function new() {}
 
-	public function invoke(context: WindowContext): Future<Bool> {
-		this.context = context;
+	public function run(handle: ProcessHandle): Void {
+		this.handle = handle;
+
+		var statelessContext = handle.createStatelessWindowContext();
+
+		this.context = statelessContext.ctx;
+		this.requestRender = statelessContext.requestRender;
+
+		statelessContext.setRenderFunc(this.render);
 
 		this.context.onChar.handle(char -> {
 			this.input += char;
-			this.redrawInput();
+			this.requestRender();
 		});
 
 		this.context.onKey.handle(e -> {
-			if (e.keyCode == 259) {
+			if (e.keyCode == 259) { // Backspace
 				this.input = this.input.substr(0, this.input.length - 1);
-				this.redrawInput();
-			} else if (e.keyCode == 257) {
+				this.requestRender();
+			} else if (e.keyCode == 257) { // Enter
 				this.backlog.push("> " + this.input);
 				var command = this.input;
 				this.input = "";
-				this.redrawBacklog();
-				this.redrawInput();
+				this.requestRender();
 				this.invokeCommand(command);
 			}
 		});
 
-		WindowManager.instance.focusContextToOutput(context, "main");
-		this.redrawInput();
+		this.requestRender();
+	}
 
-		return new Future<Bool>(cb -> {
-			this.exitTrigger = cb;
-			return null;
-		});
+	private function render() {
+		redrawBacklog();
+		redrawInput();
 	}
 
 	private function redrawBacklog() {
@@ -99,39 +104,35 @@ class Terminal extends UIApp {
 
 		var commandArgs:Array<String> = args.slice(1);
 		var hadInput = false;
-		var handle = new TermHandle(commandArgs, {
+
+		var ps = getProgByName(commandName);
+		if (ps == null) {
+			this.backlog.push("Unknown command: " + commandName);
+			this.redrawBacklog();
+			this.redrawInput();
+			return;
+		}
+
+		ProcessManager.run(ps,{
+			args: commandArgs,
 			onWrite: (s:String) -> {
 				if (!hadInput) {
 					this.backlog.push("");
 					hadInput = true;
 				}
 				this.backlog[this.backlog.length - 1] += s;
-				this.redrawBacklog();
+				this.requestRender();
 			},
-			onNewLine: () -> {
-				this.backlog.push("");
-				this.redrawBacklog();
-			}
-		});
-
-		var prog:CLIApp = getProgByName(commandName);
-
-		if (prog == null) {
-			this.backlog.push("Command not found: " + commandName);
-			this.redrawBacklog();
-			return;
-		}
-
-		this.context.setCursorBlink(false);
-
-		prog.invoke(handle).handle((exitCode) -> {
-			// Cleanup extra newline
+			onExit: (success:Bool) -> {
 				if (this.backlog[this.backlog.length - 1] == "") {
 					this.backlog.pop();
 				}
 
-			this.redrawInput();
+				this.requestRender();
+			}
 		});
+
+		this.context.setCursorBlink(false);
 	}
 
 	private function parseArgs(command:String):Array<String> {
@@ -144,7 +145,7 @@ class Terminal extends UIApp {
 		this.redrawBacklog();
 	}
 
-	private function getProgByName(name:String):CLIApp {
+	private function getProgByName(name:String):Process {
 		switch (name) {
 			case "hello":
 				return new HelloWorld();
@@ -156,6 +157,8 @@ class Terminal extends UIApp {
 				return new Disk();
 			case "gps":
 				return new GPS();
+			case "turtle":
+				return new Turtle();
 			default:
 				return null;
 		}

src/bin/Turtle.hx

@@ -0,0 +1,44 @@
+package bin;
+
+import lib.CLIAppBase;
+
+using tink.CoreApi;
+
+class Turtle extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("forward", (args)->{
+			return perform(kernel.turtle.Turtle.instance.forward());
+		});
+
+		registerSyncSubcommand("back", (args)->{
+			return perform(kernel.turtle.Turtle.instance.back());
+		});
+
+		registerSyncSubcommand("left", (args)->{
+			return perform(kernel.turtle.Turtle.instance.turnLeft());
+		});
+
+		registerSyncSubcommand("right", (args)->{
+			return perform(kernel.turtle.Turtle.instance.turnRight());
+		});
+
+		registerSyncSubcommand("up", (args)->{
+			return perform(kernel.turtle.Turtle.instance.up());
+		});
+
+		registerSyncSubcommand("down", (args)->{
+			return perform(kernel.turtle.Turtle.instance.down());
+		});
+	}
+
+	private function perform(outcome: Outcome<Noise,String>): Bool {
+		switch outcome {
+			case Success(_):
+				return true;
+			case Failure(error):
+				handle.write(error);
+				return false;
+		}
+	}
+
+}

src/kernel/Init.hx

@@ -1,5 +1,6 @@
 package kernel;
 
+import kernel.gps.INS;
 import kernel.fs.FS;
 import kernel.gps.GPS;
 import kernel.log.Log;
@@ -34,6 +35,7 @@ class Init {
 		Net.instance = new Net();
 
 		GPS.instance = new GPS();
+		INS.instance = new INS();
 
 		// Register default terminate handler
 		KernelEvents.instance.onTerminate.handle(_->{

src/kernel/gps/GPS.hx

@@ -23,6 +23,8 @@ class GPS {
 	private var cachedPosition:Pos3;
 	private var lastPositionResponse: Array<{pos:Pos3,dist:Float}> = [];
 
+	private var futureResolve: (pos:Null<Pos3>) -> Void = null;
+
 	@:allow(kernel.Init)
 	private function new() {
 		this.loadCachedPosition();
@@ -39,6 +41,12 @@ class GPS {
 		}
 	}
 
+	@:allow(kernel.gps.INS)
+	private function setINSPosition(pos:Pos3) {
+		cachedPosition = pos;
+		posAccuracy = 1;
+	}
+
 	public function getPosition():Null<Pos3> {
 		return cachedPosition;
 	}
@@ -52,8 +60,18 @@ class GPS {
 		posAccuracy = 0;
 	}
 
-	public function locate() {
+	public function locate():Future<Null<Pos3>> {
+		// TODO: implenet a timeout
+		// TODO: dont send a request twice if the last one is still pending or we moved
+		return new Future<Null<Pos3>>((resolve)->{
+			this.futureResolve = resolve;
 			sendPositionRequest();
+			return null;
+		});
+	}
+
+	private function resolveFuture(pos:Null<Pos3>) {
+		this.futureResolve(pos);
 	}
 
 	private function persistCachedPositon() {
@@ -124,13 +142,19 @@ class GPS {
 
 				if (lastPositionResponse.length < 4) return; // We need at least 3 responses to calculate the position
 
-				var calculatedPosition = calculatePosition().round();
+				var calculatedPosition = calculatePosition();
+
+				if (calculatedPosition != null){
+					calculatedPosition = calculatedPosition.round();
+				}
 
 				lastPositionResponse = []; // Reset the response array
 
 				if (calculatedPosition == null) return;
 				cachedPosition = calculatedPosition;
 				posAccuracy = 3;
+
+				resolveFuture(calculatedPosition);
 			default:
 		}
 	}

src/kernel/gps/INS.hx

@@ -0,0 +1,211 @@
+package kernel.gps;
+
+import kernel.log.Log;
+import kernel.turtle.Turtle;
+import lib.Pos3;
+
+using tink.CoreApi;
+
+class INS {
+	public static var instance:INS;
+
+	private var heading: Null<Pos3> = null;
+	private var alingment: Int = 1; // 0 = degraded, 1 = not aligned, 2 = aligned
+
+	@:allow(kernel.Init)
+	private function new() {
+
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private function moveForward() {
+		if (heading == null) {
+			this.alingment = 0;
+			return;
+		}
+		move(heading);
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private function moveBackward() {
+		if (heading == null) {
+			this.alingment = 0;
+			return;
+		}
+		move(heading.negate());
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private function moveUp() {
+		move({x: 0, y: 1, z: 0});
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private function moveDown() {
+		move({x: 0, y: -1, z: 0});
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private function turnLeft() {
+		if (heading == null) return;
+		if (heading.x == 0 && heading.z == -1) {
+			heading = {x: -1, y: 0, z: 0};
+		} else if (heading.x == -1 && heading.z == 0) {
+			heading = {x: 0, y: 0, z: 1};
+		} else if (heading.x == 0 && heading.z == 1) {
+			heading = {x: 1, y: 0, z: 0};
+		} else if (heading.x == 1 && heading.z == 0) {
+			heading = {x: 0, y: 0, z: -1};
+		}
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private function turnRight() {
+		if (heading == null) return;
+		if (heading.x == 0 && heading.z == -1) {
+			heading = {x: 1, y: 0, z: 0};
+		} else if (heading.x == -1 && heading.z == 0) {
+			heading = {x: 0, y: 0, z: -1};
+		} else if (heading.x == 0 && heading.z == 1) {
+			heading = {x: -1, y: 0, z: 0};
+		} else if (heading.x == 1 && heading.z == 0) {
+			heading = {x: 0, y: 0, z: 1};
+		}
+	}
+
+	private function move(dir: Null<Pos3>) {
+		Log.debug('INS move: $dir');
+		var pos = GPS.instance.getPosition();
+		var newPos = pos + dir;
+		GPS.instance.setINSPosition(newPos);
+	}
+
+	public function getHeading():Null<Pos3> {
+		return heading;
+	}
+
+	public function align(): Promise<Noise> {
+		Log.info("Aligning INS");
+		return new Promise<Noise>((resolve,reject)->{
+
+			if (Turtle.instance.getFuelLevel() < 2){
+				Log.warn("Not enough fuel to align");
+				reject(new Error("Not enough fuel to align"));
+				return null;
+			}
+
+			GPS.instance.locate().handle((pos1)->{
+				Log.debug('pos1: $pos1');
+				if (pos1 == null) {
+					Log.warn("GPS not available for 1st position");
+					reject(new Error("GPS not available"));
+					return;
+				}
+
+				var moved = tryMoving();
+
+				if (moved == -1) {
+					Log.warn("Can't move");
+					reject(new Error("Can't move"));
+					return;
+				}
+
+				GPS.instance.locate().handle((pos2)->{
+					Log.debug('pos2: $pos2');
+					if (pos2 == null) {
+						Log.warn("GPS not available for 2nd position");
+						reject(new Error("GPS not available for 2nd position"));
+						return;
+					}
+
+					var heading = calcHeading(pos1,pos2,moved);
+					if (heading == null) {
+						Log.error("Can't calculate heading");
+						reject(new Error("Can't calculate heading"));
+						return;
+					}
+
+					this.heading = heading;
+					moveBack(moved);
+					GPS.instance.setINSPosition(pos1);
+
+					resolve(Noise);
+				});
+
+			});
+			return null;
+		});
+	}
+
+	// -1 = not moved, 0 = back, 1 = forward, 2 = left, 3 = right
+	private function tryMoving():Int {
+		if (Turtle.instance.back().isSuccess()) {
+			return 0;
+		} else if (Turtle.instance.forward().isSuccess()) {
+			return 1;
+		} else {
+			Turtle.instance.turnLeft(); // TODO: Check if successfull
+			if (Turtle.instance.forward().isSuccess()){
+				return 2;
+			} else if (Turtle.instance.back().isSuccess()) {
+				return 3;
+			} else {
+				// Can't move
+				return -1;
+			}
+		}
+	}
+
+	private function calcHeading(pos1: Pos3,pos2:Pos3,moved:Int): Null<Pos3> {
+		if (moved == 0) {
+			return pos1 - pos2;
+		} else if (moved == 1) {
+			return pos2 - pos1;
+		} else if (moved == 2) {
+			return rotatePos3ToRight(pos2 - pos1);
+		} else if (moved == 3) {
+			return rotatePos3ToLeft(pos2 - pos1);
+		} else {
+			return null;
+		}
+	}
+
+	private function moveBack(moved:Int) {
+		if (moved == 0) {
+			Turtle.instance.forward();
+			// cc.Turtle.forward();
+		} else if (moved == 1) {
+			Turtle.instance.back();
+			// cc.Turtle.back();
+		} else if (moved == 2) {
+			Turtle.instance.back();
+			// cc.Turtle.back();
+			Turtle.instance.turnRight();
+			// cc.Turtle.turnRight();
+		} else if (moved == 3) {
+			Turtle.instance.forward();
+			// cc.Turtle.forward();
+			Turtle.instance.turnRight();
+			// cc.Turtle.turnRight();
+		}
+	}
+
+	private function rotatePos3ToRight(pos:Pos3):Pos3 {
+		if (pos.x == 0 && pos.z == -1) {
+			return {x: 1, y: 0, z: 0};
+		} else if (pos.x == -1 && pos.z == 0) {
+			return {x: 0, y: 0, z: -1};
+		} else if (pos.x == 0 && pos.z == 1) {
+			return {x: -1, y: 0, z: 0};
+		} else if (pos.x == 1 && pos.z == 0) {
+			return {x: 0, y: 0, z: 1};
+		} else {
+			return pos;
+		}
+	}
+
+	private function rotatePos3ToLeft(pos3:Pos3):Pos3 {
+		return rotatePos3ToRight(rotatePos3ToRight(rotatePos3ToRight(pos3)));
+	}
+
+}

src/kernel/ps/Process.hx

@@ -0,0 +1,8 @@
+package kernel.ps;
+
+/**
+	Defines an independent process that can be run by the kernel.
+**/
+interface Process {
+	public function run(handle: ProcessHandle): Void;
+}

src/kernel/ps/ProcessHandle.hx

@@ -0,0 +1,82 @@
+package kernel.ps;
+
+import kernel.ps.ProcessManager.PID;
+import kernel.ui.WindowContext;
+import kernel.ui.WindowManager;
+import haxe.ds.ReadOnlyArray;
+using tink.CoreApi;
+
+typedef HandleConfig = {
+	?args: Array<String>,
+	?onWrite: Callback<String>,
+	?onExit: Callback<Bool>,
+}
+
+class ProcessHandle {
+	public var args(get,null): ReadOnlyArray<String>;
+
+	private final pid: PID;
+	private final config:HandleConfig;
+	private final closeFuture: Future<Bool>;
+	private var closeFutureResolev: Bool -> Void;
+	private final windowContexts: Array<WindowContext> = [];
+
+	@:allow(kernel.ps.ProcessManager)
+	private function new(config: HandleConfig,pid: PID) {
+		this.config = config;
+		this.pid = pid;
+
+		this.closeFuture = new Future<Bool>((trigger)->{
+			this.closeFutureResolev = trigger;
+			return null;
+		});
+
+		if (this.config.onExit != null) {
+			this.closeFuture.handle(this.config.onExit);
+		}
+
+		this.closeFuture.eager();
+	}
+
+	public function onExit(): Future<Bool> {
+		return this.closeFuture;
+	}
+
+	public function close(success: Bool = true): Void {
+		this.dispose();
+		this.closeFutureResolev(success);
+		ProcessManager.removeProcess(this.pid);
+	}
+
+	public function write(message: String): Void {
+		this.config.onWrite.invoke(message);
+	}
+
+	public function writeLine(message: String): Void {
+		this.write(message + "\n");
+	}
+
+	public function createBufferdWindowContext(): WindowContext {
+		var ctx = WindowManager.instance.createNewContext();
+		this.windowContexts.push(ctx);
+		return ctx;
+	}
+
+	public function createStatelessWindowContext(): {ctx:WindowContext, setRenderFunc: (() -> Void) -> Void, requestRender:() -> Void} {
+		var ctx = WindowManager.instance.createNewStatelessContext();
+		this.windowContexts.push(ctx.ctx);
+		return ctx;
+	}
+
+	public function getWindowContexts(): ReadOnlyArray<WindowContext> {
+		return this.windowContexts;
+	}
+
+	private function dispose() {
+		// TODO
+	}
+
+	function get_args():ReadOnlyArray<String> {
+		return this.config.args;
+	}
+}

src/kernel/ps/ProcessManager.hx

@@ -0,0 +1,37 @@
+package kernel.ps;
+
+import kernel.ps.ProcessHandle.HandleConfig;
+
+typedef PID = Int;
+
+class ProcessManager {
+	private static final processList = new Map<PID,ProcessHandle>();
+
+	public static function run(process:Process, config: HandleConfig):PID {
+		var pid = createPID();
+		var handle = new ProcessHandle(config, pid);
+
+		processList.set(pid, handle);
+
+		process.run(handle);
+
+		return pid;
+	}
+
+	private static function createPID(): PID {
+		// TODO: better PID generation
+
+		// generate a random PID
+		return Math.ceil(Math.random() * 1000000);
+	}
+
+	@:allow(kernel.ui.WindowManager)
+	private static function getProcess(pid:PID):Null<ProcessHandle>{
+		return processList.get(pid);
+	}
+
+	@:allow(kernel.ps.ProcessHandle)
+	private static function removeProcess(pid:PID):Void {
+		processList.remove(pid);
+	}
+}

src/kernel/turtle/Turtle.hx

@@ -2,6 +2,7 @@ package kernel.turtle;
 
 import kernel.log.Log;
 import kernel.turtle.Types;
+import kernel.gps.INS;
 
 using tink.CoreApi;
 
@@ -34,32 +35,44 @@ class Turtle {
 
 	public function forward():Outcome<Noise, String> {
 		var r = cc.Turtle.forward();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess()) INS.instance.moveForward();
+		return r2;
 	}
 
 	public function back():Outcome<Noise, String> {
 		var r = cc.Turtle.back();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess()) INS.instance.moveBackward();
+		return r2;
 	}
 
 	public function up():Outcome<Noise, String> {
 		var r = cc.Turtle.up();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess()) INS.instance.moveUp();
+		return r2;
 	}
 
 	public function down():Outcome<Noise, String> {
 		var r = cc.Turtle.down();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess()) INS.instance.moveDown();
+		return r2;
 	}
 
 	public function turnLeft():Outcome<Noise, String> {
 		var r = cc.Turtle.turnLeft();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess()) INS.instance.turnRight();
+		return r2;
 	}
 
 	public function turnRight():Outcome<Noise, String> {
 		var r = cc.Turtle.turnRight();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess()) INS.instance.turnRight();
+		return r2;
 	}
 
 	public function dig(dir:InteractDirections, ?toolSide:ToolSide):Outcome<Noise, String> {

src/kernel/ui/WindowManager.hx

@@ -1,5 +1,7 @@
 package kernel.ui;
 
+import kernel.ps.ProcessManager;
+import kernel.ps.ProcessManager.PID;
 import haxe.ds.ReadOnlyArray;
 import kernel.ui.TermWriteable;
 import kernel.peripherals.Peripherals.Peripheral;
@@ -162,4 +164,13 @@ class WindowManager {
 		context.setTarget(target);
 		context.enable();
 	}
+
+	public function getContextByPID(pid: PID): ReadOnlyArray<WindowContext> {
+		var handle = ProcessManager.getProcess(pid);
+		if (handle == null) {
+			return [];
+		}
+
+		return handle.getWindowContexts();
+	}
 }

src/lib/CLIAppBase.hx

@@ -0,0 +1,58 @@
+package lib;
+
+import kernel.ps.Process;
+import kernel.ps.ProcessHandle;
+
+using tink.CoreApi;
+
+abstract class CLIAppBase implements Process {
+	private var handle: ProcessHandle;
+
+	private final _subcommandsSync: Map<String, (Array<String>) -> Bool> = [];
+	private final _subcommandsAsync: Map<String, (Array<String>) -> Future<Bool>> = [];
+	private final _subcommandsSynopsis: Array<String> = [];
+
+	public function run(handle: ProcessHandle){
+		this.handle = handle;
+
+		var subcommand = handle.args[0];
+
+		if (subcommand == null || subcommand == "") {
+			handle.writeLine("No subcommand specified");
+			printHelp();
+			return handle.close(false);
+		}
+
+		var args = handle.args.slice(1);
+
+		if (_subcommandsSync.exists(subcommand)) {
+			var result = _subcommandsSync[subcommand](args);
+			return handle.close(result);
+		} else if (_subcommandsAsync.exists(subcommand)) {
+			_subcommandsAsync[subcommand](args).handle(handle.close);
+		} else {
+			handle.writeLine("Unknown subcommand: " + subcommand);
+			printHelp();
+			return handle.close(false);
+		}
+
+	}
+
+	private function registerSyncSubcommand(command: String, callback: (Array<String>) -> Bool, synopsis: String = null) {
+		_subcommandsSync.set(command, callback);
+		_subcommandsSynopsis.push(command + " " + synopsis);
+	}
+
+	private function registerAsyncSubcommand(command: String, callback: (Array<String>) -> Future<Bool>, synopsis: String = null) {
+		_subcommandsAsync.set(command, callback);
+		_subcommandsSynopsis.push(command + " " + synopsis);
+	}
+
+	private function printHelp() {
+		handle.writeLine("Usage: <subcommand> [args]");
+		handle.writeLine("Subcommands:");
+		for (subcommand in _subcommandsSynopsis) {
+			handle.writeLine("  " + subcommand);
+		}
+	}
+}

src/lib/HomeContext.hx

@@ -1,5 +1,7 @@
 package lib;
 
+import kernel.ps.Process;
+import kernel.ps.ProcessManager;
 import bin.KernelLog;
 import lib.ui.elements.UIElement;
 import lib.ui.elements.TextElement;
@@ -88,33 +90,18 @@ class HomeContext {
 		focusContext(contextId);
 	}
 
-	private function addTerminal(){
-		var newContext = WindowManager.instance.createNewBufferedContext();
+	private function spawnPs(ps: Process) {
+		var pid = ProcessManager.run(ps, {});
+		var lastContextID = -1;
 
-		// Create new terminal
-		var term = new Terminal();
-		term.invoke(newContext);
+		for ( ctx in WindowManager.instance.getContextByPID(pid)){
+			lastContextID = addContextNextWorkspace(ctx);
+		}
 
-		var contextID = addContextNextWorkspace(newContext);
-		if (contextID == -1) {
+		if (lastContextID == -1) {
 			return;
 		}
-		focusContext(contextID);
-	}
-
-
-	private function addLog(){
-		var newContext = WindowManager.instance.createNewBufferedContext();
-
-		// Create new terminal
-		var term = new KernelLog();
-		term.invoke(newContext);
-
-		var contextID = addContextNextWorkspace(newContext);
-		if (contextID == -1) {
-			return;
-		}
-		focusContext(contextID);
+		focusContext(lastContextID);		
 	}
 
 	private function render() {
@@ -128,8 +115,8 @@ class HomeContext {
 			for (i in workspaceIDs) new TextElement('Switch to ${i + 1}', {onClick: this.handleSelectContext.bind(i)})
 		];
 
-		children.push(new TextElement('Add Terminal', {onClick: this.addTerminal}));
-		children.push(new TextElement('Add Log', {onClick: this.addLog}));
+		children.push(new TextElement('Add Terminal', {onClick: this.spawnPs.bind(new Terminal())}));
+		children.push(new TextElement('Add Log', {onClick: this.spawnPs.bind(new KernelLog())}));
 		children.push(new TextElement('Exit', {onClick: KernelEvents.instance.shutdown}));
 
 		renderer.setChildren(children);

src/lib/cli/CLIApp.hx

@@ -1,7 +0,0 @@
-package lib.cli;
-
-using tink.CoreApi;
-
-abstract class CLIApp {
-	public abstract function invoke(handle: TermHandle): Future<Bool>;
-}

src/lib/cli/TermHandle.hx

@@ -1,29 +0,0 @@
-package lib.cli;
-
-import haxe.ds.ReadOnlyArray;
-
-typedef TermHandleEvents = {
-	onWrite: String->Void,
-	onNewLine: Void->Void,
-}
-
-class TermHandle {
-	public final args:ReadOnlyArray<String>;
-	private final events:TermHandleEvents;
-
-	@:allow(bin.Terminal)
-	private function new(args: Array<String>, events: TermHandleEvents) {
-		this.args = args;
-		this.events = events;
-	}
-
-	public function write(s:String) {
-		this.events.onWrite(s);
-	}
-
-	public function writeLn(s:String = "") {
-		if (s != "")
-			this.events.onWrite(s);
-		this.events.onNewLine();
-	}
-}