use .call instead of native in Inventory peripheral

refs #2

.gitignore

@@ -1,2 +1,3 @@
 /build
-/node_modules
+node_modules
+/dump

Makefile

@@ -1,42 +1,90 @@
 BUNDLE_NAME = bundle.lua
 HAXE_NAME = haxe.lua
 MINIFYD_NAME = bundle.min.lua
+HAXE_ZIP_NAME = "haxe.zip"
+UNPACK_NAME = unpack.lua
+UNPACK_POLYFILLED_NAME = unpack.polyfill.lua
+UNPACK_MINIFYD_NAME = unpack.min.lua
 BUILD_DIR = build
-HAXE_FLAGS =
+HAXE_FLAGS = -D message.reporting=pretty
 POLYFILLED_NAME = bundle.polyfill.lua
 POLYFILL_SRC = src/polyfill.lua
+CREAFTOS_PATH = craftos
+BUILD_HXML = build.hxml
 
 HAXE_PATH := $(BUILD_DIR)/$(HAXE_NAME)
 MIN_PATH := $(BUILD_DIR)/$(MINIFYD_NAME)
 POLYFILL_PATH := $(BUILD_DIR)/$(POLYFILLED_NAME)
+UNPACK_PATH := $(BUILD_DIR)/$(UNPACK_NAME)
+UNPACK_MINIFYD_PATH := $(BUILD_DIR)/$(UNPACK_MINIFYD_NAME)
+HAXE_ZIP_PATH := $(BUILD_DIR)/$(HAXE_ZIP_NAME)
+UNPACK_POLYFILLED_PATH := $(BUILD_DIR)/$(UNPACK_POLYFILLED_NAME)
 
-all: clean build
+all: clean build unpack
 
+build: HAXE_FLAGS += -D analyzer-optimize -D no-traces
 build: $(MIN_PATH)
 
 debug: HAXE_FLAGS += -D webconsole -D error_stack --debug 
-debug: build
+debug: $(MIN_PATH)
 
+unpack: $(UNPACK_MINIFYD_PATH) $(HAXE_ZIP_PATH)
+
+$(HAXE_PATH): HAXE_FLAGS += --main kernel.Entrypoint --lua $(HAXE_PATH) 
 $(HAXE_PATH): $(shell find src -name '*.hx')
-	haxe build.hxml $(HAXE_FLAGS) --cmd "mv build/_haxe.lua $(HAXE_PATH)"
-
-$(MIN_PATH): $(POLYFILL_PATH)
-	node minify.js $(POLYFILL_PATH) $@
+	haxe $(BUILD_HXML) $(HAXE_FLAGS)
 
 $(POLYFILL_PATH): $(POLYFILL_SRC) $(HAXE_PATH)
 	cat $(POLYFILL_SRC) $(HAXE_PATH) > $@
 
-deps: package.json build.hxml
-	haxelib install all --always && yarn install
+$(MIN_PATH): $(POLYFILL_PATH)
+	node tools/minify.js < $(POLYFILL_PATH) > $@
 
+$(HAXE_ZIP_PATH): $(MIN_PATH)
+	node tools/zlibDeflate.js < $(MIN_PATH) > $@
+
+$(UNPACK_PATH): HAXE_FLAGS += --main Unpack -D analyzer-optimize --lua $(UNPACK_PATH)
+$(UNPACK_PATH): $(shell find src -name '*.hx')
+	haxe $(BUILD_HXML) $(HAXE_FLAGS)
+
+$(UNPACK_POLYFILLED_PATH): $(UNPACK_PATH)
+	cat $(POLYFILL_SRC) $(UNPACK_PATH) > $@
+
+$(UNPACK_MINIFYD_PATH): $(UNPACK_POLYFILLED_PATH)
+	node tools/minify.js < $(UNPACK_POLYFILLED_PATH) > $@
+
+.PHONY: deps
+deps: deps-hx deps-node
+
+.PHONY: deps-hx
+deps-hx:
+	haxelib install all --always
+
+.PHONY: deps-node
+deps-node:
+	npm install
+
+.PHONY: clean
 clean:
 	rm -rf $(BUILD_DIR)
+	mkdir $(BUILD_DIR)
 
+.PHONY: watch
 watch:
-	find src -name "*.hx" | entr make debug
+	find src | entr make debug
 
+.PHONY: emulator
 emulator:
-	craftos --mount-ro /=build 
+	$(CREAFTOS_PATH) --mount-ro /=$(shell pwd)/$(BUILD_DIR) 
 
+.PHONY: webconsole
 webconsole:
-	node console.js
+	node tools/console.js
+
+.PHONY: format
+format:
+	haxelib run formatter -s src
+
+.PHONY: format-deps
+format-deps:
+	haxelib install formatter

README.md

@@ -21,7 +21,7 @@ run `make deps && make`. The `bundle.min.lua` inside the `build` dir is the fina
 
 # Useful links
 
-[CC lua code](https://github.com/cc-tweaked/CC-Tweaked/tree/mc-1.16.x/src/main/resources/data/computercraft/lua)
+[CC lua code](https://github.com/cc-tweaked/CC-Tweaked/tree/mc-1.20.x/projects/core/src/main/resources/data/computercraft/lua)
 
 [CC wiki](https://tweaked.cc/)
 
@@ -38,6 +38,7 @@ Run `make watch` to recompile when a file changed.
 ## Emulator
 
 You could use Minecraft to run the program or you could use [craftos pc](https://www.craftos-pc.cc/) as an emulator. Just install it and run `make emulator`. 
+There is an AppImage available [here](https://github.com/MCJack123/craftos2/releases).
 
 ## Websconsole
 

build.hxml

@@ -1,12 +1,12 @@
 -p src
---main kernel.Entrypoint
 
 --library cctweaked:git:https://git.kapelle.org/niklas/cctweaked-haxelib.git
 --library tink_core
+--library compiletime
 
 --dce full
 
 -D lua-vanilla
 -D lua-ver 5.1
 
---lua build/_haxe.lua 
+--macro include("bin")

buildServer/Dockerfile

@@ -0,0 +1,24 @@
+FROM haxe:4.3-bullseye
+
+RUN apt-get update && apt-get install -y \
+    git \
+    make \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -fsSL https://deb.nodesource.com/setup_current.x | bash - && \
+    apt-get install -y nodejs
+
+RUN mkdir -p /app
+RUN mkdir -p /repo
+
+WORKDIR /app
+
+COPY index.js /app/index.js
+COPY package.json /app/package.json
+
+RUN npm install
+
+ENV REPO_DIR=/repo
+EXPOSE 3000
+
+CMD ["node", "index.js"]

buildServer/index.js

@@ -0,0 +1,105 @@
+const express = require('express');
+const childProcess = require('child_process');
+const fs = require('fs').promises;
+const path = require('path');
+const async = require('async');
+const bodyParser = require('body-parser');
+
+const workingDir = process.env.REPO_DIR ?? "repo";
+const buildQueue = async.queue(async (task) => {
+    return build(task);
+});
+
+const app = express();
+
+app.use(bodyParser.json());
+
+app.post('/build', async (req, res) => {
+    try{
+        let output = await buildQueue.push(req.body);
+        res.status(200);
+        res.send(output);
+    }catch(e){
+        res.status(500);
+        res.send(e);
+    }
+});
+
+app.post('/pull', async (req, res) => {
+    try{
+        await pull();
+        res.status(200);
+        res.send("Pulled");
+    }catch(e){
+        res.status(500);
+        res.send(e);
+    }
+}); 
+
+main();
+
+async function build(body){
+    return await make();
+}
+
+async function main() {
+    await setup();
+
+    app.listen(3000, () => console.log('Server running on port 3000'));
+
+    process.on('SIGINT', async () => {
+        console.log("Shutting down");
+        process.exit(0);
+    });
+}
+
+async function pull(){
+    await runCommand("git pull");
+}
+
+async function make(makeCommand = "make build"){
+    try{
+        await runCommand(makeCommand);
+        let build =  await fs.readFile(path.join(workingDir,"build/bundle.min.lua"), "utf8");
+        return build;
+    }catch(e){
+        console.log("Build failed");
+    }finally{
+        await runCommand("make clean");
+    }
+}
+
+async function setup() {
+    try {
+        await fs.mkdir(workingDir);
+    } catch (e) {
+        if (e.code !== "EEXIST") {
+            throw e;
+        }
+    }    
+
+    if ((await fs.readdir(workingDir)).length !== 0) {
+        return;
+    }
+
+    console.log("Setting up repo");
+    await runCommand("git clone https://git.kapelle.org/niklas/cc-haxe.git .");
+    await runCommand("make deps");
+}
+
+function runCommand(cmd) {
+    return new Promise((resolve, reject) => {
+        childProcess.exec(cmd,{
+            cwd: workingDir,
+        }, (err, stdout, stderr) => {
+            if (err) {
+                reject(err);
+            }
+        
+            console.log(stdout);
+            console.log(stderr);
+
+            resolve();
+        });
+    });
+}

buildServer/package-lock.json

@@ -0,0 +1,701 @@
+{
+  "name": "buildServer",
+  "version": "1.0.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "buildServer",
+      "version": "1.0.0",
+      "license": "MIT",
+      "dependencies": {
+        "async": "^3.2.4",
+        "body-parser": "^1.20.2",
+        "express": "^4.18.2"
+      }
+    },
+    "node_modules/accepts": {
+      "version": "1.3.8",
+      "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.8.tgz",
+      "integrity": "sha512-PYAthTa2m2VKxuvSD3DPC/Gy+U+sOA1LAuT8mkmRuvw+NACSaeXEQ+NHcVF7rONl6qcaxV3Uuemwawk+7+SJLw==",
+      "license": "MIT",
+      "dependencies": {
+        "mime-types": "~2.1.34",
+        "negotiator": "0.6.3"
+      },
+      "engines": {
+        "node": ">= 0.6"
+      }
+    },
+    "node_modules/array-flatten": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/array-flatten/-/array-flatten-1.1.1.tgz",
+      "integrity": "sha512-PCVAQswWemu6UdxsDFFX/+gVeYqKAod3D3UVm91jHwynguOwAvYPhx8nNlM++NqRcK6CxxpUafjmhIdKiHibqg==",
+      "license": "MIT"
+    },
+    "node_modules/async": {
+      "version": "3.2.4",
+      "resolved": "https://registry.npmjs.org/async/-/async-3.2.4.tgz",
+      "integrity": "sha512-iAB+JbDEGXhyIUavoDl9WP/Jj106Kz9DEn1DPgYw5ruDn0e3Wgi3sKFm55sASdGBNOQB8F59d9qQ7deqrHA8wQ=="
+    },
+    "node_modules/body-parser": {
+      "version": "1.20.2",
+      "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.2.tgz",
+      "integrity": "sha512-ml9pReCu3M61kGlqoTm2umSXTlRTuGTx0bfYj+uIUKKYycG5NtSbeetV3faSU6R7ajOPw0g/J1PvK4qNy7s5bA==",
+      "dependencies": {
+        "bytes": "3.1.2",
+        "content-type": "~1.0.5",
+        "debug": "2.6.9",
+        "depd": "2.0.0",
+        "destroy": "1.2.0",
+        "http-errors": "2.0.0",
+        "iconv-lite": "0.4.24",
+        "on-finished": "2.4.1",
+        "qs": "6.11.0",
+        "raw-body": "2.5.2",
+        "type-is": "~1.6.18",
+        "unpipe": "1.0.0"
+      },
+      "engines": {
+        "node": ">= 0.8",
+        "npm": "1.2.8000 || >= 1.4.16"
+      }
+    },
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+      "engines": {
+        "node": ">= 0.8"
+      }
+    },
+    "node_modules/call-bind": {
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+      "license": "MIT",
+      "dependencies": {
+        "function-bind": "^1.1.1",
+        "get-intrinsic": "^1.0.2"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/content-disposition": {
+      "version": "0.5.4",
+      "resolved": "https://registry.npmjs.org/content-disposition/-/content-disposition-0.5.4.tgz",
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+      },
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+      "engines": {
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+      }
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+      "engines": {
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+    },
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+      "engines": {
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+      },
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+        "on-finished": "2.4.1",
+        "parseurl": "~1.3.3",
+        "statuses": "2.0.1",
+        "unpipe": "~1.0.0"
+      },
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+}

buildServer/package.json

@@ -0,0 +1,11 @@
+{
+  "name": "buildServer",
+  "version": "1.0.0",
+  "main": "index.js",
+  "license": "MIT",
+  "dependencies": {
+    "async": "^3.2.4",
+    "body-parser": "^1.20.2",
+    "express": "^4.18.2"
+  }
+}

console.js

@@ -1,32 +0,0 @@
-const http = require('http');
-
-function time() {
-	let now = new Date();
-
-	return `${now.getHours().toString().padStart(2, "0")}:${now.getMinutes().toString().padStart(2, 0)}:${now.getSeconds().toString().padStart(2, 0)}`;
-}
-
-const server = http.createServer((req, res) => {
-
-	if (req.method != "POST") {
-		res.writeHead(400);
-		return;
-	}
-
-	var id = req.url.substring(1);
-
-	let data = "";
-
-	req.on('data', chunk => {
-		data += chunk;
-	})
-
-	req.on('end', () => {
-		console.log(`[${time()}][${id}]${data}`);
-		res.writeHead(200);
-		res.end();
-	})
-});
-
-console.log("Listening on port 8080")
-server.listen(8080);

doc/Concepts.md

@@ -0,0 +1,253 @@
+Use this if you want to know how the OS works.
+
+# Network
+
+Every computer has a id assigned by the mod. It is a unique number that identifies the computer and cannot be changed.
+The native implementation of the network stack works with channels. If you listen on a channel you will receive all messages sent to that channel.
+Every computer listens to the channel with its id and a brodcast channel. 
+The broadcast channel is used for Routing Tables and GPS packets.
+
+Network messages can be forwarded by other computers. This is done by the Routing Table. The routing algorithm prefers wire over wireless connections.
+
+Packages also have a time-to-live (TTL) value. This is used to prevent packages from being forwarded forever. You will get a response if a package is dropped because of TTL. 
+
+There is also a concept of protocols. A protocol is used to distinguish between different types of packages.
+A protocol is basically a string and that is used to forward packages to the correct handler. You can use `registerProto` to listen for packages with a specific protocol.
+
+There are 2 ways of sending messages to other computers: `sendAndAwait` and `sendAndForget`. 
+`sendAndAwait` will wait for a response from the remote computer and return it.
+`sendAndForget` will send the message and return immediately and does not care about the response.
+You can compare it to UDP and TCP.
+
+## Usage
+
+```haxe
+import net.Net;
+
+var data = {"foo": "bar"};
+
+Net.sendAndAwait(netID,"protoname",data).map((response)->{
+    switch (response){
+        case Success(data):
+            trace(data);
+        case Failure(error):
+            trace(error);
+    }
+});
+
+Net.registerProto("res",(pack: GenericPackage)->{
+    var requestPack: Package<MyType> = cast pack; // Try not to use Dynamic
+
+    requestPack.respond("Hello Back");
+});
+
+```
+
+# Peripherals
+
+Peripherals are devices that are connected to the computer. They can be used to interact with the world.
+Every peripheral has an address and a type. The address can be "back" or "right" to refer to the peripheral on the back or right side of the computer or 
+something like "energyCell_0" to refer to something connected via cable. Peripherals can be accessed via the Peripheral class.
+
+Also peripherals can be made accessible via the network. More on that later.
+
+## Usage
+
+```haxe
+var back = Peripheral.getRedstone("back");
+back.setOutput(true);
+
+var drive = Peripheral.getDrive("drive_0");
+drive.eject();
+```
+
+# GUI
+
+If you want to write something to the screen you have to create a `WindowContext` via the `WindowManager`. This allows programs to write to the screen without interfering with each other. 
+
+There are currently 2 types of `WindowContext`: the `BufferedVirtualTermWriter` that stores the state of the screen in a buffer and prints it to the screen 
+when it is activeted and the `StatelessVirtualTermWriter` which calls a render method when it is activated. Currently i prefer the `StatelessVirtualTermWriter` because its not so heavy on the RAM but both work.
+
+They both can be used just like the [nativ implmentation](https://tweaked.cc/module/term.html).
+
+## Usage
+
+```haxe 
+var ctx = WindowManager.createNewBufferedContext();
+ctx.setCursorPos(0, 0);
+ctx.setCursorBlink(false);
+ctx.setBackgroundColor(Blue);
+ctx.setForegroundColor(White);
+ctx.write("Hello world!");
+```
+
+## Under the hood
+
+There are a number of interfaces and classes that needs to be explained to understand how the GUI works.
+
+`TermWriteable` is an interface that allows the usage of the normal CC terminal write methods. Stuff like `write`, `setCursorPos` and `setCursorBlink` are defined here. This is of course implemented by the physical screens and the main terminal.
+
+Most of the time you will not write directory to a real screen but to a `VirtualTermWriter` which extends `TermWriteable` with some more methods like `enable`
+and `setTarget`. The `setTarget` is used as the proxy target of a `VirtualTermWriter` and with `enable` and `disable` you can enable and disable the forwarding of the write methods to the target.
+
+The `StatelessVirtualTermWriter` and `BufferedVirtualTermWriter` are both `VirtualTermWriter`. They can have a real output as a target. Or they can have another `VirtualTermWriter` as target like the `BufferedVirtualTermWriter` which uses a `TermBuffer` as an intermediate target.
+
+All of that is just for printing to the screen. If you want to read input you have to use the `WindowContext` which is a `TermWriteable`. 
+`WindowContext` also handles events like `onClick` or `onKey`. This is need so that the right program gets the input depending on the active window on the 
+screen or terminal.
+
+All of the `WindowContext` are managed by the `WindowManager`. The `WindowManager` also delegates the events to the right `WindowContext`.
+
+## GUI helper classes
+
+Because we want a more abstract way of writing to the screen we have some "helper" classes. I call them "helper" but they a very essential to the GUI.
+
+First there is the `Pixel` class which is nothing more that a char and a foreground and background color. 
+
+A collection of `Pixel` is called a `Canvas` which is nothing more than a 2D array of `Pixel` with some functions strapped to it.
+
+# Proceses
+
+The concept of processes tryes to encapsulate programs. A process is basically an interface with the `run(handle: ProcessHandle)` method.
+The idea is that you can register all you disposable resources in the handle and they will be disposed when the process is killed or crashes.
+
+A process can be used as a command on the terminal or as a service. Basically everything that runs and is not part of the kernel is a process.
+
+More on that at [Applications](#applications). 
+
+# EndOfLoop
+
+You can imagine the whole runtime like the event loop is JS. The `EndOfLoop` class is used to register callbacks that are called at the end of the loop.
+This is like the `setTimeout(0, callback)` in JS. 
+
+# Turtle Thread 
+
+Computercraft is mostly event-based. Listening to `Coroutine.yield()` waits for events with an option parameter for filtering events.
+The problem with turtle arises when we call turtle functions like `move` or `place`. These functions wait internally for 
+the operation to finish with a `Coroutine.yield("turtle_response")` call. There  is no way to prevent this. So in order to keep the main loop from 
+being blocked, we run all the turtle code in a separate thread. 
+
+There are no real threads in Lua, but we can create a coroutine for the turtles. Lua now switches between the main thread and the turtle thread. 
+Switching occurs when a `turtle_response` events is fired. This will be forwarded to the turtle thread. Once the turtle thread has run its code 
+and waits for the turtle operation to finish, we switch back to the main thread. The main thread is running normally until a `turtle_response` fires 
+and the circle repeats.
+
+Be aware that no one is stopping you from running turtle commands in the main thread. 
+
+See `KernelEvents.hx` for more. 
+
+## Using Turtle threads
+
+Example: 
+
+```haxe
+// In the context of a process
+
+if (!handle.claimTurtleMutex()) {
+    Log.warn("Failed to claim turtle thread");
+    return;
+}
+
+// Btw. no one is stopping you from calling this without claiming the mutex.
+TurtleMutex.runInTThread(() -> {
+    while(true){
+        Turtle.turnLeft();
+    }
+});
+```
+
+# RPC
+
+With the help of dark and badly documented magic also known as "macros", we can create quickly create remote procedure call Classes to call functions on other 
+computers. A problem that arises is that since all data gets send over the network that we kinda lose the type safty. We cloud trust ourself to cast 
+the result of the request to the right type or we cloud just make use of macros. The RPC macro will create a RPC class that implements all functions of an 
+interface just that the return type is wrapped in a Promise. Now if we call a function of that RPC class it fires a request to the other computer and waits 
+for a response. On the other side the service makes use of that generated package handle function for the RPC class. 
+
+A simple example:
+
+```haxe
+interface IExampleRPC {
+	function addNumber(a:Int, b:Int):Int;
+}
+
+@:build(macros.rpc.RPC.buildRPC(IExampleRPC))
+class ExampleRPC extends RPCBase {}
+
+
+@:build(macros.Binstore.includeBin("Example SRV", ["example-srv"]))
+class ExampleService implements IProcess implements IExampleRPC {
+	private var handle:ProcessHandle;
+
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		this.handle = handle;
+
+		kernel.net.Net.registerProto("example", (pack) -> {
+			ExampleRPC.handlePackage(this, pack);
+		});
+	}
+
+	public function addNumber(a:Int, b:Int):Int {
+		return a + b;
+	}
+}
+
+// ...
+
+var rpc = new ExampleRPC(12,"example");
+
+rpc.addNumber(3,7).handle((p)->{
+    switch p {
+        case Success(r):
+            Log.info('3+7=$r');
+        case Failure(err):
+            Log.error('Error: $err');
+    }
+});
+```
+
+# Build system and flags
+
+We use `make` to build the project. If you want a prod build just run `make` and if you want the debug build run `make debug`.
+The `build` directory should contain all needed files. 
+
+- `bundle.min.lua`: The minified final file
+- `bundle.polyfill.lua`: The same as above just not minified. use this when debugging.
+- `haxe.lua`: Intermediate file. Polyfill not yet added.
+- `haxe.zip`: The compressed `bundle.min.lua`. 
+- `unpack.*`: Same as the bundle files. Used to unpack and run the `haxe.zip` file.
+
+The follwing haxe flags can be used in the code or can be set in the makefile.
+
+- `debug`: Is set when debug
+- `kv_use_native`: If set use the native CC serialize and unserialize functions instead of the Haxe ones. See [KVStore.hx](../src/lib/KVStore.hx) for more.
+
+# Applications
+
+If you want to make an application you just need to create a class that implements IProcess and and has no arguments in the constructor. 
+In order to have the programm available from the terminal you need to add the `Binstore.includeBin` macro for the class. Here is an example:
+
+```haxe
+@:build(macros.Binstore.includeBin("HelloWorld", ["hello", "helloworld"]))
+class HelloWorld implements IProcess {
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+        handle.writeLine("Hello World");
+        handle.close(true);
+    }
+}
+```
+
+Let's break this down:
+
+- The `includeBin` macro is required to automaticly inlcude the app and to defeat the DCE optimisation. In early versions refections were used but DCE did not like that
+- The first argument on `includeBin` is the name of the app. Only ever used in displaying.
+- The second argument are the aliases. These are used to call the app from the terminal and other places
+- The constructor can't have any arguments. It's also recommended to not do any major setup stuff in there. 
+- The `run` method is the entry point in the app.
+- The handle is used to interact with the outside world. (theoretically at least)
+- The `handle.close(true)` call is required to end a process. The app does not end when the run function is finished. The first arguments represents if the app was successfull. 
+

doc/Manual.md

@@ -0,0 +1,112 @@
+Use this if you want to know how to use the OS.
+
+# Commands
+
+## Disk
+
+Interact with a disk drive. 
+
+Synopsys:
+
+- `disk ls` list all disk drives and its content
+- `disk play <drive>` play an audio disk inside a disk drive
+- `disk stop <drive>` stops playing audio
+- `disk eject <drive>` ejects the disk
+- `disk lable <dive> [lable]` Reads or sets a lable on a disk.
+
+## GPS
+
+Interact with the buildin GPS and INS (Inertial Navigation System) system. The INS is used to update a turtle's position when it is moving. 
+
+The GPS has 4 states of accuracy:
+
+- `0` Unknown position
+- `1` Position from INS or its best guess
+- `2` Position from manual input or the last known position
+- `3` Position from GPS
+
+In case of a turtle the GPS accuracy will be set to `1`.
+
+Synopsys:
+
+- `gps set <x> <y> <z>` set the position manually. This will get saved.
+- `gps status` prints the current GPS accuracy, position and INS status.
+- `gps locate` try to locate the current position. Accuracy will be set to `3` if successful.
+- `gps ins` perform an INS alignment. Used to get the current heading.
+
+## KSettings 
+
+Get and set Kernel settings. 
+
+Current settings are:
+
+- `hostname` the hostname of the computer
+- `sitecontroller` the id of the site controller
+
+Synopsys:
+
+- `ks get <setting>` print the value of a setting
+- `ks set <setting> <value>` set the value of a setting
+- `ks list` list all settings
+
+## LSPS
+
+List all processes running on the computer. Very simple and not very useful other than for debugging.
+
+## Net
+
+Interact with the network stack.
+
+Synopsys:
+
+- `net route` print the routing table
+- `net iface` list all network interfaces
+- `net proto` list all network currently active protocols
+- `net ping <id>` ping a remote computer by id
+
+## Peripherals
+
+Interact with the peripherals connected to the computer. 
+
+Synopsys:
+
+- `perf inspect <peripheral>` print all types and methods of a peripheral
+- `perf list` list all peripherals
+
+## Redstone
+
+Interact with the redstone. Support for Project Red's Bundle Cable is partialy implemented.
+
+Synopsys:
+
+- `rs on <side> ` turn on redstone on a side
+- `rs off <side> ` turn off redstone on a side
+- `rs get <side> ` get the redstone state on a side
+
+## Service
+
+Interact with the service manager. A service is a program that runs in the background and can be automatically started when the computer boots.
+
+A service is a normal program. In order to create a new service you must register a command with arguments under a name. 
+After that you can start the service by its name. If it is running you can enable it so it will be started when the computer boots.
+
+Synopsys:
+
+- `srv start <name> ` start a service
+- `srv stop <name> ` stop a service
+- `srv register <name> <binary> [args...]` register a service
+- `srv unregister <name> ` unregister a service
+- `srv list` list all services
+- `srv enable <name> ` enable a service. Must be started before it can be enabled.
+
+## Turtle
+
+Interact with a turtle. Very simple. More to come maybe.
+
+Synopsys:
+- `turtle forward` move the turtle forward
+- `turtle back` move the turtle back
+- `turtle up` move the turtle up
+- `turtle down` move the turtle down
+- `turtle left` turn the turtle left
+- `turtle right` turn the turtle right

minify.js

@@ -1,10 +0,0 @@
-const fs = require("fs");
-const luamin = require("luamin");
-
-const haxeOutput = fs.readFileSync(process.argv[2] ?? "build/Haxe.min.lua",{encoding:"utf8"});
-
-const minified  = luamin.minify(haxeOutput);
-
-fs.writeFileSync(process.argv[3] ?? "build/Haxe.min.lua",minified);
-
-console.log("minified lua");

package-lock.json

@@ -0,0 +1,35 @@
+{
+  "name": "haxe",
+  "version": "1.0.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "haxe",
+      "version": "1.0.0",
+      "license": "MIT",
+      "dependencies": {
+        "luamin": "^1.0.4"
+      }
+    },
+    "node_modules/luamin": {
+      "version": "1.0.4",
+      "resolved": "https://registry.npmjs.org/luamin/-/luamin-1.0.4.tgz",
+      "integrity": "sha1-lEUptY/G+k0x6s4uA1PUEhDw49M= sha512-z1h0bclRD/QGsS/Dz4Skp9z0qPTmmm+IKcrCapGmdTczPWVdN9f9jk6WqkNrcifQr8+n9Pzsm9WkwpOH1JBUAQ==",
+      "dependencies": {
+        "luaparse": "^0.2.1"
+      },
+      "bin": {
+        "luamin": "bin/luamin"
+      }
+    },
+    "node_modules/luaparse": {
+      "version": "0.2.1",
+      "resolved": "https://registry.npmjs.org/luaparse/-/luaparse-0.2.1.tgz",
+      "integrity": "sha1-qo9WEysN6X0388mRqd9C4OF/ZWw= sha512-VKBcryd5nJte4ZNR29NOk8F/UkMipjeb4yoxcSS51z6QAzg9DXUC2WsfLniS0J1eh3pr/ZL3e9ha6V8fhoLbBQ==",
+      "bin": {
+        "luaparse": "bin/luaparse"
+      }
+    }
+  }
+}

pre-commit.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env sh
+
+# Run:
+# ln -s ../../pre-commit.sh .git/hooks/pre-commit
+
+set -e
+
+# format
+
+make format
+git diff --name-only --cached --diff-filter=d | xargs -l git add
+# build 
+
+make build
+

src/Startup.hx

@@ -1,10 +1,29 @@
+import kernel.ui.WindowManager;
+import kernel.ps.ProcessManager;
+import kernel.binstore.BinStore;
+import kernel.MainTerm;
 import lib.HomeContext;
 
 class Startup {
 	public static function main() {
+		#if debug
+		var term = BinStore.instantiate("terminal");
+		var pid = ProcessManager.run(term, {
+			// args: ["debug"]
+		});
+		var ctx = WindowManager.getContextByPID(pid);
+		WindowManager.focusContextToOutput(ctx[0], "main");
+		#else
+		if (MainTerm.instance.isColor()) {
 			var main = new HomeContext();
 
 			main.run();
+		} else {
+			var term = BinStore.instantiate("terminal");
+			var pid = ProcessManager.run(term, {});
+			var ctx = WindowManager.getContextByPID(pid);
+			WindowManager.focusContextToOutput(ctx[0], "main");
+		}
+		#end
 	}
 }
-

src/Unpack.hx

@@ -0,0 +1,29 @@
+import lua.Lua;
+import haxe.io.Bytes;
+import kernel.fs.FS;
+import haxe.zip.Uncompress;
+
+class Unpack {
+	public static function main() {
+		var filename = "/haxe.zip";
+		var handle = FS.openReadBinary(filename);
+		var size = FS.attributes(filename).size;
+		var data = Bytes.alloc(size);
+
+		for (i in 0...size) {
+			data.set(i, handle.readByte());
+		}
+
+		var uncompressed = Uncompress.run(data);
+
+		var res = Lua.load(uncompressed.toString()); // FIXME: Haxe is missing some parameters. This does not work.
+
+		var f = res.func; // Required for silly haxe bug.
+
+		if (res.message == null) {
+			f();
+		} else {
+			trace('Failed: ${res.message}');
+		}
+	}
+}

src/bin/Disk.hx

@@ -1,137 +1,103 @@
 package bin;
 
+import kernel.peripherals.Drive;
+import lib.CLIAppBase;
 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;
-
-	public function new() {}
-
-	public function invoke(handle:TermHandle):Future<Bool> {
-		this.handle = handle;
-		var subcommand = handle.args[0];
-		var driveAddr:Null<String> = handle.args[1];
-
-		switch (subcommand) {
-			case "ls":
-				Peripheral.instance.getDrives().foreach(drive -> {
+@:build(macros.Binstore.includeBin("Disk", ["disk"]))
+class Disk extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("ls", (args) -> {
+			Peripheral.getAllDrives().foreach(drive -> {
 				var addr = drive.getAddr();
 				var label = drive.getDiskLabel();
 				var id = drive.getDiskID();
 
 				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;
 			});
-			case "play":
-				var drive = Peripheral.instance.getDrive(driveAddr);
+		});
 
-				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
-				}
+		registerSyncSubcommand("play", (args) -> {
+			return audioDiskPlayPause(args.getString("addr"), true);
+		}, [Peripheral("addr", Drive.TYPE_NAME)]);
+
+		registerSyncSubcommand("stop", (args) -> {
+			return audioDiskPlayPause(args.getString("addr"), false);
+		}, [Peripheral("addr", Drive.TYPE_NAME)]);
+
+		registerSyncSubcommand("eject", (args) -> {
+			var driveAddr = args.getString("addr");
+			var drive = Peripheral.getDrive(driveAddr);
 
 			if (!drive.isDiskPresent()) {
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
-				}
-
-				if (!drive.hasAudio()){
-					handle.writeLn("Disk in drive " + driveAddr + " does not have audio");
-					return Future.sync(false);
-				}
-
-				drive.playAudio();
-			case "stop":
-				var drive = Peripheral.instance.getDrive(driveAddr);
-
-				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
-				}
-
-				if (!drive.isDiskPresent()){
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
-				}
-
-				if (!drive.hasAudio()){
-					handle.writeLn("Disk in drive: " + driveAddr + " does not have audio");
-					return Future.sync(false);
-				}
-
-				drive.stopAudio();
-
-			case "eject":
-				var drive = Peripheral.instance.getDrive(driveAddr);
-
-				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
-				}
-
-				if (!drive.isDiskPresent()){
-					handle.writeLn("No disk in drive: " + driveAddr);
-					return Future.sync(false);
+				handle.writeLine("No disk in drive: " + driveAddr);
+				return false;
 			}
 
 			drive.ejectDisk();
-			case "lable":
-				var drive = Peripheral.instance.getDrive(driveAddr);
-				var label:String = handle.args[2];
+			return true;
+		}, [Peripheral("addr", Drive.TYPE_NAME)]);
 
-				if (drive == null){
-					handle.writeLn("Drive not found: " + driveAddr);
-					return Future.sync(false);
-				}
+		registerSyncSubcommand("label", (args) -> {
+			var driveAddr = args.getString("addr");
+			var drive = Peripheral.getDrive(driveAddr);
+			var label:Null<String> = args.getString("label");
 
 			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");
+					return false;
 				}
 			}
-			case "help":
-			case null:
-				printHelp();
-			default:
-				handle.writeLn("Unknown subcommand: " + subcommand);
-				printHelp();
-				return Future.sync(false);
-		}
 
-		return Future.sync(true);
+			return true;
+		}, [Peripheral("addr", Drive.TYPE_NAME), Optional(String("label"))]);
 	}
 
-	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]");
+	private function audioDiskPlayPause(driveAddr:String, play:Bool):Bool {
+		var drive = Peripheral.getDrive(driveAddr);
+
+		if (drive == null) {
+			handle.writeLine("Drive not found: " + driveAddr);
+			return false;
+		}
+
+		if (!drive.isDiskPresent()) {
+			handle.writeLine("No disk in drive: " + driveAddr);
+			return false;
+		}
+
+		if (!drive.hasAudio()) {
+			handle.writeLine("Disk in drive: " + driveAddr + " does not have audio");
+			return false;
+		}
+
+		if (play) {
+			drive.playAudio();
+		} else {
+			drive.stopAudio();
+		}
+
+		return true;
 	}
 }

src/bin/GPS.hx

@@ -1,71 +1,72 @@
 package bin;
 
-import lib.Pos3;
+import lib.CLIAppBase;
+import kernel.gps.INS;
+import lib.WorldPos;
 import lib.Vec.Vec3;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
 
 using tink.CoreApi;
 
-class GPS extends CLIApp {
-	private var handle:TermHandle;
+@:build(macros.Binstore.includeBin("GPS", ["gps"]))
+class GPS extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("set", (args) -> {
+			var x:Float = args.getFloat("x");
+			var y:Float = args.getFloat("y");
+			var z:Float = args.getFloat("z");
 
-	public function new() {}
+			var pos:WorldPos = new Vec3<Float>(x, y, z);
 
-	public function invoke(handle: TermHandle):Future<Bool> {
-		this.handle = handle;
-
-		var subcommand = handle.args[0];
-		var subcommand_args = handle.args.slice(1);
-
-		switch (subcommand) {
-			case "set":
-				return Future.sync(setManuelPos(subcommand_args));
-			case "status":
-				return Future.sync(getGPSStatus());
-			case "locate":
-				kernel.gps.GPS.instance.locate();
-				return Future.sync(true);
-			default:
-				handle.writeLn("Unknown subcommand: " + subcommand);
-				return Future.sync(false);
-
-		}
-
-		return Future.sync(true);
-	}
-
-	private function setManuelPos(args: Array<String>): Bool {
-		var x: Float = Std.parseFloat(args[0]);
-		var y: Float = Std.parseFloat(args[1]);
-		var z: Float = Std.parseFloat(args[2]);
-
-		var pos: Pos3 = new Vec3<Float>(x, y, z);
-
-		kernel.gps.GPS.instance.setManualPosition(pos);
+			kernel.gps.GPS.setManualPosition(pos);
 
 			return true;
-	}
+		}, [Float("x"), Float("y"), Float("z")]);
 
-	private function getGPSStatus(): Bool {
-
-		var pos = kernel.gps.GPS.instance.getPosition();
+		registerSyncSubcommand("status", (args) -> {
+			var pos = kernel.gps.GPS.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();
+			var acc = kernel.gps.GPS.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.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;
+		});
+
+		registerAsyncSubcommand("locate", (args) -> {
+			return kernel.gps.GPS.locate().map((result) -> {
+				switch result {
+					case Success(pos):
+						handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
+					case Failure(err):
+						handle.writeLine("Position not available: " + err);
+				}
+				return true;
+			});
+		});
+
+		registerAsyncSubcommand("ins", (args) -> {
+			return INS.align().map((_) -> {
+				handle.writeLine("INS aligned");
+				return true;
+			});
+		});
 	}
 }

src/bin/HelloWorld.hx

@@ -1,21 +0,0 @@
-package bin;
-
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
-
-using tink.CoreApi;
-
-class HelloWorld extends CLIApp {
-
-	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);
-	}
-}

src/bin/ID.hx

@@ -0,0 +1,14 @@
+package bin;
+
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+@:build(macros.Binstore.includeBin("ID", ["id"]))
+class ID implements IProcess {
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		handle.writeLine("ID: " + kernel.net.Net.networkID);
+		handle.close();
+	}
+}

src/bin/KSettings.hx

@@ -0,0 +1,63 @@
+package bin;
+
+import kernel.KernelSettings;
+import lib.CLIAppBase;
+
+@:build(macros.Binstore.includeBin("Kernel settings", ["ksettings", "kset"]))
+class KSettings extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("get", (args) -> {
+			var key = args.getString("key");
+
+			var value = switch (key) {
+				case "hostname":
+					KernelSettings.hostname;
+				case "nameServer":
+					Std.string(KernelSettings.nameServer);
+				default:
+					null;
+			}
+
+			if (value == null) {
+				handle.writeLine("Key not found or not set");
+				return false;
+			}
+
+			handle.writeLine(value);
+			return true;
+		}, [String("key")]);
+
+		registerSyncSubcommand("set", (args) -> {
+			var key = args.getString("key");
+
+			if (key == null) {
+				handle.writeLine("Key not specified");
+				return false;
+			}
+
+			var value = args.getString("value");
+
+			if (value == null) {
+				handle.writeLine("Value not specified");
+				return false;
+			}
+
+			switch (key) {
+				case "hostname":
+					KernelSettings.hostname = value;
+				case "nameServer":
+					KernelSettings.nameServer = Std.parseInt(value);
+				default:
+					handle.writeLine("Key not found");
+					return false;
+			}
+			return true;
+		}, [String("key"), String("value")]);
+
+		registerSyncSubcommand("list", (args) -> {
+			handle.writeLine("hostname");
+			handle.writeLine("nameServer");
+			return true;
+		});
+	}
+}

src/bin/KernelLog.hx

@@ -1,31 +1,31 @@
 package bin;
 
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
 import lib.Color;
 import lib.MathI;
 import kernel.log.Log;
 import kernel.ui.WindowContext;
-import lib.ui.UIApp;
 
 using tink.CoreApi;
 
-class KernelLog extends UIApp{
+@:build(macros.Binstore.includeBin("Log", ["log"]))
+class KernelLog implements IProcess {
+	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;
 
-		Log.instance.onLog.handle(()->{
-			render();
-		});
+		var statelessCtx = handle.createStatelessWindowContext();
+		this.ctx = statelessCtx.ctx;
 
-		render();
+		statelessCtx.setRenderFunc(this.render);
 
-		return new Future<Bool>(cb -> {
-			this.exitTrigger = cb;
-			return null;
+		Log.onLog.handle(() -> {
+			statelessCtx.requestRender();
 		});
 	}
 
@@ -33,7 +33,7 @@ class KernelLog extends UIApp{
 		ctx.clear();
 		ctx.setCursorPos(0, 0);
 
-		var lines = Log.instance.getLines();
+		var lines = Log.getLines();
 		var height = ctx.getSize().y;
 		var start = MathI.max(lines.length - height, 0);
 

src/bin/LSPS.hx

@@ -0,0 +1,22 @@
+package bin;
+
+import kernel.ps.ProcessManager;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+@:build(macros.Binstore.includeBin("LSPS", ["lsps"]))
+class LSPS implements IProcess {
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		var pids = ProcessManager.listProcesses();
+
+		handle.writeLine('Count: ${pids.length}');
+
+		for (pid in pids) {
+			handle.writeLine('${pid}');
+		}
+
+		handle.close();
+	}
+}

src/bin/Net.hx

@@ -1,106 +1,57 @@
 package bin;
 
+import lib.CLIAppBase;
 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;
-
-	public function new() {}
-
-	public function invoke(handle:TermHandle):Future<Bool> {
-		this.handle = handle;
-
-		var subcommand = handle.args[0];
-		var subcommand_args = handle.args.slice(1);
-
-		switch (subcommand) {
-			case "route":
-				return Future.sync(route(subcommand_args));
-			case "iface":
-				return  Future.sync(iface(subcommand_args));
-			case "help":
-				printHelp();
-				return Future.sync(true);
-			case "ping":
-				return ping(subcommand_args);
-			case "proto":
-				return Future.sync(protos());
-			default:
-				handle.writeLn("Unknown subcommand: " + subcommand);
-				printHelp();
-				return Future.sync(false);
-		}
-	}
-
-	private function printHelp() {
-		handle.writeLn("net route");
-		handle.writeLn("net iface");
-		handle.writeLn("net help");
-		handle.writeLn("net proto");
-	}
-
-	private function route(args:ReadOnlyArray<String>):Bool {
-		var routes = Routing.instance.getRouteTable();
+@:build(macros.Binstore.includeBin("Net", ["net"]))
+class Net extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("route", (args) -> {
+			var routes = Routing.getRouteTable();
 
 			for (k => v in routes) {
-			handle.writeLn('${k} => ${v.interf.name()}(${v.cost})');
+				handle.writeLine('${k} => ${v.interf.name()}(${v.cost})');
 			}
 
 			return true;
-	}
+		});
 
-	private function iface(args:ReadOnlyArray<String>):Bool {
-		var modems = Peripheral.instance.getModems();
+		registerSyncSubcommand("iface", (args) -> {
+			var modems = Peripheral.getAllModems();
 
 			for (modem in modems) {
-			handle.writeLn(modem.name());
+				handle.writeLine(modem.name());
 			}
 
 			return true;
-	}
-
-	function ping(args:ReadOnlyArray<String>): Future<Bool> {
-		return new Future<Bool>(trigger -> {
-			if (args.length != 1) {
-				handle.writeLn("Usage: net ping id");
-				trigger(false);
-				return null;
-			}
-
-			var toID:Null<Int> = Std.parseInt(args[0]);
-
-			if (toID == null) {
-				handle.writeLn("Invalid ID");
-				trigger(false);
-				return null;
-			}
-
-			kernel.net.Net.instance.ping(toID).handle(result -> {
-				switch (result){
-					case Success(_):
-						handle.writeLn("Ping succeeded");
-						trigger(true);
-					case Failure(failure):
-						handle.writeLn("Ping failed: " + failure);
-						trigger(false);
-				}
 		});
-		});
-	}
 
-	function protos():Bool {
-		var protos = kernel.net.Net.instance.getActiveProtocols();
+		registerSyncSubcommand("proto", (args) -> {
+			var protos = kernel.net.Net.getActiveProtocols();
 
 			for (proto in protos) {
-			handle.writeLn(proto);
+				handle.writeLine(proto);
 			}
 
 			return true;
+		});
+
+		registerAsyncSubcommand("ping", (args) -> {
+			var toID:Int = args.getInt("id");
+
+			return kernel.net.Net.ping(toID).map(result -> {
+				switch (result) {
+					case Success(_):
+						handle.write("Ping succeeded");
+					case Failure(failure):
+						handle.write("Ping failed: " + failure);
+				}
+
+				return true;
+			});
+		}, [Int("id")]);
 	}
 }

src/bin/Peri.hx

@@ -0,0 +1,33 @@
+package bin;
+
+import kernel.peripherals.Peripherals.Peripheral;
+import lib.CLIAppBase;
+
+@:build(macros.Binstore.includeBin("Peripheral", ["ph", "peripheral"]))
+class Peri extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("inspect", (args) -> {
+			var addr = args.getString("addr");
+			var result = Peripheral.inspect(addr);
+
+			handle.writeLine("Types:");
+			for (type in result.types) {
+				handle.writeLine("  " + type);
+			}
+
+			handle.writeLine("Methods:");
+			for (method in result.methods) {
+				handle.writeLine("  " + method);
+			}
+
+			return true;
+		}, [Addr("addr")]);
+
+		registerSyncSubcommand("list", (args) -> {
+			for (addr in Peripheral.getAllAddresses()) {
+				handle.writeLine('$addr => ${Peripheral.getTypes(addr).join(", ")}');
+			}
+			return true;
+		});
+	}
+}

src/bin/Redstone.hx

@@ -1,44 +1,27 @@
 package bin;
 
+import lib.CLIAppBase;
 import kernel.peripherals.Peripherals.Peripheral;
-import kernel.peripherals.Side;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
 
 using tink.CoreApi;
 
-class Redstone extends CLIApp {
-	public function new() {}
+@:build(macros.Binstore.includeBin("Redstone", ["redstone", "rs"]))
+class Redstone extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("on", (args) -> {
+			Peripheral.getRedstone(args.getString("side")).setOutput(true);
+			return true;
+		}, [Side("side")]);
 
-	public function invoke(handle:TermHandle):Future<Bool> {
-		var subcommand = handle.args[0];
+		registerSyncSubcommand("off", (args) -> {
+			Peripheral.getRedstone(args.getString("side")).setOutput(false);
+			return true;
+		}, [Side("side")]);
 
-		if (subcommand == null) {
-			handle.writeLn("Usage: redstone <on|off|get> <side>");
-			return Future.sync(false);
-		}
-
-		var side:Null<Side> = handle.args[1];
-		if (side == null) {
-			handle.writeLn("Invalid side");
-			return Future.sync(false);
-		}
-
-		switch (subcommand) {
-			case "on":
-				Peripheral.instance.getRedstone(side).setOutput(true);
-			case "off":
-				Peripheral.instance.getRedstone(side).setOutput(false);
-			case "get":
-				var value = Peripheral.instance.getRedstone(side).getAnalogInput();
-				handle.writeLn("Analog input: " + value);
-			case "help":
-				handle.writeLn("Usage: redstone <on|off|get> <side>");
-			default:
-				handle.writeLn("Invalid subcommand");
-				return Future.sync(false);
-		}
-
-		return Future.sync(true);
+		registerSyncSubcommand("get", (args) -> {
+			var value = Peripheral.getRedstone(args.getString("side")).getAnalogInput();
+			handle.write("Analog input: " + value);
+			return true;
+		}, [Side("side")]);
 	}
 }

src/bin/Service.hx

@@ -0,0 +1,60 @@
+package bin;
+
+import kernel.service.ServiceManager;
+import lib.CLIAppBase;
+
+using tink.CoreApi;
+
+@:build(macros.Binstore.includeBin("Service", ["srv"]))
+class Service extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("start", (args) -> {
+			var result = ServiceManager.start(args.getString("name"));
+			return handleResult(result);
+		}, [String("name")]);
+
+		registerSyncSubcommand("stop", (args) -> {
+			var result = ServiceManager.stop(args.getString("name"));
+			return handleResult(result);
+		}, [String("name")]);
+
+		registerSyncSubcommand("register", (args) -> {
+			var name = args.getString("name");
+			var binName = args.getString("binary");
+			var rest = args.getRest();
+
+			var result = ServiceManager.register(name, binName, rest);
+			return handleResult(result);
+		}, [String("name"), String("binary"), Rest("args")]);
+
+		registerSyncSubcommand("unregister", (args) -> {
+			var result = ServiceManager.unregister(args.getString("name"));
+			return handleResult(result);
+		}, [String("name")]);
+
+		registerSyncSubcommand("list", (args) -> {
+			var list = ServiceManager.listRunning();
+
+			for (name in list) {
+				this.handle.writeLine(name);
+			}
+
+			return true;
+		});
+
+		registerSyncSubcommand("enable", (args) -> {
+			ServiceManager.enable(args.getString("name"));
+			return true;
+		}, [String("name")]);
+	}
+
+	private function handleResult(res:Outcome<Noise, String>):Bool {
+		switch (res) {
+			case Success(_):
+				return true;
+			case Failure(e):
+				this.handle.write(e);
+				return false;
+		}
+	}
+}

src/bin/Speaker.hx

@@ -0,0 +1,71 @@
+package bin;
+
+import kernel.peripherals.Peripherals.Peripheral;
+import lib.CLIAppBase;
+
+using tink.CoreApi;
+
+@:build(macros.Binstore.includeBin("Speaker", ["speaker", "sp"]))
+class Speaker extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("note", (args) -> {
+			var sp = Peripheral.getSpeaker(args.getString("addr"));
+
+			var note = args.getString("note");
+			var r;
+
+			if (args.hasArg("pitch")) {
+				if (args.hasArg("volume")) {
+					r = sp.playNote(note, args.getFloat("volume"), args.getInt("pitch"));
+				} else {
+					r = sp.playNote(note, args.getFloat("volume"));
+				}
+			} else {
+				r = sp.playNote(note);
+			}
+
+			switch r {
+				case Failure(failure):
+					handle.writeLine(failure);
+					return false;
+				case Success(_):
+					return true;
+			}
+		}, [
+			Peripheral("addr", kernel.peripherals.Speaker.TYPE_NAME),
+			String("note"),
+			Optional(Int("pitch")),
+			Optional(Float("volume"))
+		]);
+
+		registerSyncSubcommand("sound", (args) -> {
+			var sp = Peripheral.getSpeaker(args.getString("addr"));
+
+			var sound = args.getString("sound");
+			var r;
+
+			if (args.hasArg("volume")) {
+				if (args.hasArg("pitch")) {
+					r = sp.playSound(sound, args.getFloat("volume"), args.getFloat("pitch"));
+				} else {
+					r = sp.playSound(sound, args.getFloat("volume"));
+				}
+			} else {
+				r = sp.playSound(sound);
+			}
+
+			switch r {
+				case Failure(failure):
+					handle.writeLine(failure);
+					return false;
+				case Success(_):
+					return true;
+			}
+		}, [
+			Peripheral("addr", kernel.peripherals.Speaker.TYPE_NAME),
+			String("sound"),
+			Optional(Float("pitch")),
+			Optional(Float("volume"))
+		]);
+	}
+}

src/bin/Terminal.hx

@@ -1,85 +1,146 @@
 package bin;
 
-import lib.ui.UIApp;
-import lib.cli.TermHandle;
-import lib.cli.CLIApp;
+import lib.MathI;
+import kernel.EndOfLoop;
+import lua.NativeStringTools;
+import kernel.binstore.BinStore;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+import kernel.ps.ProcessManager;
 import lib.Color;
 import kernel.ui.WindowContext;
-import kernel.ui.WindowManager;
 
 using tink.CoreApi;
 
-class Terminal extends UIApp {
-	private var context:WindowContext;
+@:build(macros.Binstore.includeBin("Terminal", ["terminal"]))
+class Terminal implements IProcess {
+	private static inline final MAX_BACKLOG:Int = 100;
+
+	private var handle:ProcessHandle;
+
+	private var ctx:WindowContext;
+	private var requestRender:() -> Void;
+
 	private var input:String = "";
 	private var backlog:Array<String> = [];
-	private var exitTrigger: Bool -> Void;
+	private var history:Array<String> = [];
+	private var historyIndex:Int = 0;
+
+	private var scrollBack = 0;
+
+	private var runningPID:PID = -1;
 
 	public function new() {}
 
-	public function invoke(context: WindowContext): Future<Bool> {
-		this.context = context;
+	public function run(handle:ProcessHandle):Void {
+		this.handle = handle;
 
-		this.context.onChar.handle(char -> {
+		var statelessContext = handle.createStatelessWindowContext();
+
+		this.ctx = statelessContext.ctx;
+		this.requestRender = statelessContext.requestRender;
+
+		statelessContext.setRenderFunc(this.render);
+
+		// Add input event handlers
+		handle.addCallbackLink(this.ctx.onChar.handle(char -> {
+			if (this.runningPID > 0)
+				return;
 			this.input += char;
-			this.redrawInput();
-		});
+			this.requestRender();
+		}));
 
-		this.context.onKey.handle(e -> {
-			if (e.keyCode == 259) {
+		// Add key event handlers
+		handle.addCallbackLink(this.ctx.onKey.handle(e -> {
+			switch (e.keyCode) {
+				case 259: // Backspace
+					if (this.runningPID > 0)
+						return;
 					this.input = this.input.substr(0, this.input.length - 1);
-				this.redrawInput();
-			} else if (e.keyCode == 257) {
+					this.requestRender();
+				case 257: // Enter
+					if (this.runningPID > 0)
+						return;
 					this.backlog.push("> " + this.input);
+					this.backlog.push("");
+
 					var command = this.input;
 					this.input = "";
-				this.redrawBacklog();
-				this.redrawInput();
+					this.scrollBack = 0;
+					this.requestRender();
+					this.historyIndex = 0;
 					this.invokeCommand(command);
+				case 269: // END
+					this.stopCurrentPS();
+				case 265: // UP
+					if (this.historyIndex < this.history.length) {
+						this.historyIndex++;
+						this.input = this.history[this.history.length - this.historyIndex];
+						this.requestRender();
 					}
-		});
+				case 266: // PAGE UP
+					this.scrollBack = MathI.min(scrollBack + 1, this.backlog.length - 1);
+					this.requestRender();
+				case 267: // PAGE DOWN
+					this.scrollBack = MathI.max(scrollBack - 1, 0);
+					this.requestRender();
+			}
+		}));
 
-		WindowManager.instance.focusContextToOutput(context, "main");
-		this.redrawInput();
+		this.requestRender();
 
-		return new Future<Bool>(cb -> {
-			this.exitTrigger = cb;
-			return null;
+		if (handle.args.length > 0) {
+			var arg1 = handle.args[0];
+
+			this.backlog.push("> " + arg1);
+			this.backlog.push("");
+
+			EndOfLoop.endOfLoop(() -> {
+				this.invokeCommand(arg1);
 			});
 		}
+	}
 
-	private function redrawBacklog() {
-		var size = this.context.getSize();
+	private function stopCurrentPS() {
+		if (this.runningPID < 0) {
+			return;
+		}
+
+		ProcessManager.kill(this.runningPID);
+	}
+
+	private function render() {
+		var size = this.ctx.getSize();
 		var linesAvailable = size.y - 1;
 
-		var start:Int = this.backlog.length - linesAvailable;
+		var withoutScrollBack = (this.backlog.length - linesAvailable);
+		var start:Int = withoutScrollBack - scrollBack;
 
 		for (i in 0...linesAvailable) {
 			var line = this.backlog[start + i];
 
-			this.context.setCursorPos(0, i);
-			this.context.clearLine();
+			this.ctx.setCursorPos(0, i);
+			this.ctx.clearLine();
 
 			if (line != null) {
-				this.context.write(line);
+				this.ctx.write(line);
 			}
 		}
-		this.moveCursorToInput();
+
+		this.ctx.setCursorPos(0, size.y - 1);
+		this.ctx.clearLine();
+
+		this.ctx.setTextColor(Color.Blue);
+		this.ctx.write("> ");
+
+		this.ctx.setTextColor(Color.White);
+		this.ctx.write(this.input);
+
+		if (this.runningPID < 0) {
+			this.ctx.setCursorBlink(true);
+		} else {
+			this.ctx.setCursorBlink(false);
 		}
-
-	private function redrawInput() {
-		var size = this.context.getSize();
-
-		this.context.setCursorPos(0, size.y - 1);
-		this.context.clearLine();
-
-		this.context.setTextColor(Color.Blue);
-		this.context.write("> ");
-
-		this.context.setTextColor(Color.White);
-		this.context.write(this.input);
-
-		this.context.setCursorBlink(true);
 	}
 
 	private function invokeCommand(command:String):Void {
@@ -88,6 +149,13 @@ class Terminal extends UIApp {
 		if (args.length == 0) {
 			return;
 		}
+
+		this.history.push(command);
+
+		if (this.history.length > MAX_BACKLOG) {
+			this.history.shift();
+		}
+
 		var commandName = args[0];
 
 		// Handle built-in commands
@@ -98,42 +166,49 @@ class Terminal extends UIApp {
 		}
 
 		var commandArgs:Array<String> = args.slice(1);
-		var hadInput = false;
-		var handle = new TermHandle(commandArgs, {
-			onWrite: (s:String) -> {
-				if (!hadInput) {
-					this.backlog.push("");
-					hadInput = true;
-				}
-				this.backlog[this.backlog.length - 1] += s;
-				this.redrawBacklog();
-			},
-			onNewLine: () -> {
-				this.backlog.push("");
-				this.redrawBacklog();
-			}
-		});
 
-		var prog:CLIApp = getProgByName(commandName);
-
-		if (prog == null) {
-			this.backlog.push("Command not found: " + commandName);
-			this.redrawBacklog();
+		var ps = BinStore.instantiate(commandName);
+		if (ps == null) {
+			this.backlog.push("Unknown command: " + commandName);
+			this.requestRender();
 			return;
 		}
 
-		this.context.setCursorBlink(false);
+		this.runningPID = ProcessManager.run(ps, {
+			args: commandArgs,
+			onWrite: (s:String) -> {
+				if (s == "") {
+					return;
+				}
 
-		prog.invoke(handle).handle((exitCode) -> {
-			// Cleanup extra newline
+				var splits = s.split("\n");
+
+				for (i => split in splits) {
+					if (i == 0) {
+						this.backlog[this.backlog.length - 1] += split;
+					} else {
+						this.backlog.push(split);
+					}
+				}
+
+				this.requestRender();
+			},
+			onExit: (success:Bool) -> {
+				this.runningPID = -1;
 				if (this.backlog[this.backlog.length - 1] == "") {
 					this.backlog.pop();
 				}
 
-			this.redrawInput();
+				this.requestRender();
+			}
 		});
+
+		this.ctx.setCursorBlink(false);
 	}
 
+	/**
+		Convter a command string into an array of arguments where the first element is the command name
+	**/
 	private function parseArgs(command:String):Array<String> {
 		// TODO: tim and quote handling
 		return command.split(" ");
@@ -141,28 +216,11 @@ class Terminal extends UIApp {
 
 	private function clear() {
 		this.backlog = [];
-		this.redrawBacklog();
-	}
-
-	private function getProgByName(name:String):CLIApp {
-		switch (name) {
-			case "hello":
-				return new HelloWorld();
-			case "net":
-				return new Net();
-			case "rs":
-				return new Redstone();
-			case "disk":
-				return new Disk();
-			case "gps":
-				return new GPS();
-			default:
-				return null;
-		}
+		this.requestRender();
 	}
 
 	private function moveCursorToInput() {
-		var size = this.context.getSize();
-		this.context.setCursorPos(this.input.length + 2, size.y - 1);
+		var size = this.ctx.getSize();
+		this.ctx.setCursorPos(this.input.length + 2, size.y - 1);
 	}
 }

src/bin/TurtleCtl.hx

@@ -0,0 +1,180 @@
+package bin;
+
+import kernel.turtle.Types.ToolSide;
+import lib.turtle.Helper;
+import kernel.turtle.TurtleMutex;
+import kernel.turtle.Turtle;
+import lib.turtle.InvManager;
+import lib.CLIAppBase;
+
+using tink.CoreApi;
+
+@:build(macros.Binstore.includeBin("Turtle", ["turtle", "t"]))
+class TurtleCtl extends CLIAppBase {
+	public function new() {
+		registerAsyncSubcommand("f", (args) -> {
+			return asynPerform(Turtle.forward, args.getInt("times") ?? 1);
+		}, [Optional(Int("times"))]);
+
+		registerAsyncSubcommand("b", (args) -> {
+			return asynPerform(Turtle.back, args.getInt("times") ?? 1);
+		}, [Optional(Int("times"))]);
+
+		registerAsyncSubcommand("l", (args) -> {
+			return asynPerform(Turtle.turnLeft, args.getInt("times") ?? 1);
+		}, [Optional(Int("times"))]);
+
+		registerAsyncSubcommand("r", (args) -> {
+			return asynPerform(Turtle.turnRight, args.getInt("times") ?? 1);
+		}, [Optional(Int("times"))]);
+
+		registerAsyncSubcommand("u", (args) -> {
+			return asynPerform(Turtle.up, args.getInt("times") ?? 1);
+		}, [Optional(Int("times"))]);
+
+		registerAsyncSubcommand("d", (args) -> {
+			return asynPerform(Turtle.down, args.getInt("times") ?? 1);
+		}, [Optional(Int("times"))]);
+
+		registerAsyncSubcommand("defrag", (args) -> {
+			return asynPerform(() -> {
+				// TODO: when defrag can fail return that error
+				InvManager.defrag();
+				return Success(null);
+			}, 1);
+		});
+
+		registerSyncSubcommand("fuel", (args) -> {
+			var lvl = Turtle.getFuelLevel();
+			var limit = Turtle.getFuelLimit();
+			handle.writeLine('${lvl}/${limit} (${(lvl / limit) * 100}%)');
+			return true;
+		});
+
+		registerAsyncSubcommand("fuel-sources", (args) -> {
+			return asynPerform(() -> {
+				var items = InvManager.getCombustableItems();
+
+				for (i in items) {
+					handle.writeLine(i);
+				}
+
+				return Success(null);
+			}, 1);
+		});
+
+		registerAsyncSubcommand("refuel", (args) -> {
+			var refuelTo = Turtle.getFuelLimit();
+			var arg = args.getString("to");
+			if (arg != null) {
+				var split = arg.split("%");
+
+				if (split.length > 1) {
+					// Is percentage
+					var parsed = Std.parseFloat(split[0]);
+
+					if (parsed == null) {
+						handle.writeLine("Failed to parse ammount");
+						return Future.sync(false);
+					}
+
+					refuelTo = Math.round(refuelTo * (parsed / 100));
+				} else {
+					// Is absolute
+					var parsed = Std.parseInt(arg);
+
+					if (parsed == null) {
+						handle.writeLine("Failed to parse ammount");
+						return Future.sync(false);
+					}
+
+					refuelTo = parsed;
+				}
+			}
+
+			return asynPerform(() -> {
+				InvManager.refuel(refuelTo, []);
+
+				return Success(null);
+			}, 1);
+		}, [Optional(String("to"))]);
+
+		registerAsyncSubcommand("dig", (args) -> {
+			var direction = args.getString("direction");
+			switch (direction) {
+				case "front" | "f":
+					return asynPerform(() -> Turtle.dig(Front), 1);
+				case "top" | "t" | "up" | "u":
+					return asynPerform(() -> Turtle.dig(Up), 1);
+				case "bot" | "bottom" | "b" | "down" | "d":
+					return asynPerform(() -> Turtle.dig(Down), 1);
+				default:
+					return Future.sync(false);
+			}
+		}, [String("direction")]);
+
+		registerAsyncSubcommand("tunnel", (args) -> {
+			var len = args.getInt("length");
+			return asynPerform(Helper.combine.bind([Turtle.digEmpty.bind(Front), Turtle.forward, Turtle.digEmpty.bind(Up)]), len);
+		}, [Int("length")]);
+
+		registerSyncSubcommand("inspect", (args) -> {
+			var res = Turtle.inspect(Front);
+
+			switch res {
+				case Failure(err):
+					handle.writeLine("Failed: " + err);
+					return false;
+				case Success(data):
+					handle.writeLine('Name: ${data.name}');
+					handle.writeLine("Tags:");
+
+					for (tag in data.tags.sortByName()) {
+						handle.writeLine('	${tag}');
+					}
+
+					handle.writeLine("State:");
+					handle.writeLine(data.state);
+			}
+
+			return true;
+		}, []);
+	}
+
+	private function asynPerform(op:Void->Outcome<Noise, String>, times:Int):Future<Bool> {
+		return new Future<Bool>((wakeup) -> {
+			if (times == 0) {
+				wakeup(false);
+				return null;
+			}
+
+			if (!Turtle.isTurtle()) {
+				handle.write("This is not a turtle!");
+				wakeup(false);
+				return null;
+			}
+
+			if (!handle.claimTurtleMutex()) {
+				handle.writeLine("Failed to claim mutex");
+				wakeup(false);
+				return null;
+			}
+
+			TurtleMutex.runInTThread(() -> {
+				for (i in 0...times) {
+					switch op() {
+						case Success(_):
+						case Failure(failure):
+							handle.writeLine('Failed: $failure');
+							wakeup(false);
+							return;
+					}
+				}
+
+				wakeup(true);
+			});
+
+			return null;
+		});
+	}
+}

src/bin/debug/Debug.hx

@@ -0,0 +1,41 @@
+package bin.debug;
+
+import kernel.log.Log;
+import lib.turtle.InvManager;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+/**
+	Use this to test whatever you are working on. It will also print debug statements. 
+	IDK if you commit changes in this file. It will not be included in non debug build.
+**/
+#if debug
+@:build(macros.Binstore.includeBin("Debug", ["dbg", "debug"]))
+#end
+class Debug implements IProcess {
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		var link = Log.onLog.handle((line) -> {
+			handle.writeLine('[${line.level}] ${line.message}');
+		});
+
+		handle.addDeferFunc(() -> {
+			link.cancel();
+		});
+
+		// Add your stuff here
+		// -----
+
+		var rpc = new bin.debug.DebugRPC.DebugRPCImpl(1, "debug");
+
+		var a = rpc.addNumber(1, 2);
+
+		// rpc.addNumber(1,2).handle((e)->{
+		// 	Log.debug(e);
+		// 	handle.close();
+		// });
+
+		// -----
+	}
+}

src/bin/debug/DebugRPC.hx

@@ -0,0 +1,10 @@
+package bin.debug;
+
+import macros.rpc.RPCBase;
+
+interface DebugRPC {
+	function addNumber(a:Int, b:Int):Int;
+}
+
+@:build(macros.rpc.RPC.buildRPC(DebugRPC))
+class DebugRPCImpl extends RPCBase {}

src/bin/debug/DebugService.hx

@@ -0,0 +1,27 @@
+package bin.debug;
+
+import bin.debug.DebugRPC.DebugRPCImpl;
+import macros.rpc.RPC;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+#if debug
+@:build(macros.Binstore.includeBin("Debug SRV", ["dbg-srv", "debug-srv"]))
+#end
+class DebugService implements IProcess implements DebugRPC {
+	private var handle:ProcessHandle;
+
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		this.handle = handle;
+
+		kernel.net.Net.registerProto("debug", (pack) -> {
+			DebugRPCImpl.handlePackage(this, pack);
+		});
+	}
+
+	public function addNumber(a:Int, b:Int):Int {
+		return a + b;
+	}
+}

src/bin/exporter/Exporter.hx

@@ -0,0 +1,67 @@
+package bin.exporter;
+
+import kernel.net.Package.GenericPackage;
+import kernel.peripherals.exports.RedstoneExport;
+import kernel.peripherals.Peripherals.Peripheral;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+/**
+	A service to expose local peripherals to the network. 
+**/
+@:build(macros.Binstore.includeBin("Exporter", ["exporter"]))
+class Exporter implements IProcess {
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		if (handle.args.length < 2) {
+			handle.writeLine("Not enough args: <addr> <type>");
+			handle.close(false);
+		}
+
+		var addr = handle.args[0];
+		var expectedType = handle.args[1];
+
+		// Check if peripheral is present. Not the case for redstone.
+		if (expectedType != kernel.peripherals.Redstone.TYPE_NAME && !Peripheral.isPresent(addr)) {
+			handle.writeLine('Address: $addr not present');
+			handle.close(false);
+		}
+
+		var types = Peripheral.getTypes(addr);
+
+		// Check if the correct type is present. Not the case for redstone.
+		if (expectedType != kernel.peripherals.Redstone.TYPE_NAME && !types.contains(expectedType)) {
+			handle.writeLine('Expected type not machted on address: $addr. Wanted $expectedType got $types');
+			handle.close(false);
+		}
+
+		var peri = Peripheral.getFromType(addr, expectedType);
+
+		if (peri == null) {
+			handle.writeLine('Failed to create peripheral for address: $addr');
+			handle.close(false);
+		}
+
+		var handePackFunc:(GenericPackage) -> Bool = null;
+
+		// Cast to RPC class
+		// TODO: There must be a smarter way to do this.
+		switch expectedType {
+			case kernel.peripherals.Redstone.TYPE_NAME:
+				handePackFunc = (p) -> {
+					return RedstoneExport.handlePackage(cast peri, p);
+				};
+				// TODO: More peripherals
+		}
+
+		handle.writeLine('Listening on export:$addr with type $expectedType');
+
+		// Listen for packages
+		kernel.net.Net.registerProto('export:$addr', (p) -> {
+			if (!handePackFunc(p)) {
+				handle.writeLine("Failed handle package on export");
+			}
+		});
+	}
+}

src/bin/ns/NameSystem.hx

@@ -0,0 +1,71 @@
+package bin.ns;
+
+import lib.KVStore;
+import haxe.ds.StringMap;
+import kernel.net.Package.NetworkID;
+import bin.ns.NameSystemRPC.INameSystemRPC;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+using Lambda;
+using tink.CoreApi;
+
+@:build(macros.Binstore.includeBin("NameSystem", ["ns", "namesystem"]))
+class NameSystem implements IProcess implements INameSystemRPC {
+	private var handle:ProcessHandle;
+
+	private var idRecords:StringMap<NetworkID> = new StringMap();
+
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		this.handle = handle;
+
+		this.load();
+
+		kernel.net.Net.registerProto("ns", (p) -> {
+			NameSystemRPC.handlePackage(this, p);
+		});
+	}
+
+	private function load() {
+		var kv = new KVStore("NameSystem");
+		kv.load();
+
+		this.idRecords = kv.get("idRecords", new StringMap());
+	}
+
+	private function save() {
+		var kv = new KVStore("NameSystem");
+
+		kv.set("idRecords", this.idRecords);
+
+		kv.save();
+	}
+
+	public function setIDRecord(name:String, id:NetworkID):Noise {
+		this.idRecords.set(name, id);
+		this.save();
+		return Noise;
+	}
+
+	public function getIDRecord(name:String):Null<NetworkID> {
+		return this.idRecords.get(name);
+	}
+
+	public function removeIDRecord(name:String):Noise {
+		this.idRecords.remove(name);
+		this.save();
+		return Noise;
+	}
+
+	public function listIDRecords():Array<{name:String, id:NetworkID}> {
+		var rtn = [];
+
+		for (k => v in this.idRecords) {
+			rtn.push({name: k, id: v});
+		}
+
+		return rtn;
+	}
+}

src/bin/ns/NameSystemCLI.hx

@@ -0,0 +1,71 @@
+package bin.ns;
+
+import lib.CLIAppBase;
+
+using tink.CoreApi;
+
+@:build(macros.Binstore.includeBin("NameSystemCLI", ["ns-cli"]))
+class NameSystemCLI extends CLIAppBase {
+	public function new() {
+		registerAsyncSubcommand("get", (args) -> {
+			var ns = NameSystemRPC.getDefault();
+
+			return ns.getIDRecord(args.getString("name")).map((r) -> {
+				switch r {
+					case Success(data):
+						handle.writeLine('Resolved: $data');
+					case Failure(failure):
+						handle.writeLine('Failed: $failure');
+				}
+
+				return true;
+			});
+		}, [String("name")]);
+
+		registerAsyncSubcommand("register", (args) -> {
+			var id = args.getInt("id");
+			var ns = NameSystemRPC.getDefault();
+
+			return ns.setIDRecord(args.getString("name"), id).map((r) -> {
+				switch r {
+					case Success(_):
+						handle.writeLine('Set');
+					case Failure(failure):
+						handle.writeLine('Failed: $failure');
+				}
+
+				return true;
+			});
+		}, [String("name"), Int("id")]);
+
+		registerAsyncSubcommand("list", (args) -> {
+			var ns = NameSystemRPC.getDefault();
+
+			return ns.listIDRecords().map((r) -> {
+				switch r {
+					case Success(data):
+						handle.writeLine('List: $data');
+					case Failure(failure):
+						handle.writeLine('Failed: $failure');
+				}
+
+				return true;
+			});
+		});
+
+		registerAsyncSubcommand("unregister", (args) -> {
+			var ns = NameSystemRPC.getDefault();
+
+			return ns.removeIDRecord(args.getString("name")).map((r) -> {
+				switch r {
+					case Success(_):
+						handle.writeLine('Unregisterd');
+					case Failure(failure):
+						handle.writeLine('Failed: $failure');
+				}
+
+				return true;
+			});
+		}, [String("name")]);
+	}
+}

src/bin/ns/NameSystemRPC.hx

@@ -0,0 +1,31 @@
+package bin.ns;
+
+import kernel.KernelSettings;
+import macros.rpc.RPCBase;
+import kernel.net.Package.NetworkID;
+
+using tink.CoreApi;
+
+interface INameSystemRPC {
+	function setIDRecord(name:String, id:NetworkID):Noise;
+	function getIDRecord(name:String):Null<NetworkID>;
+	function removeIDRecord(name:String):Noise;
+	function listIDRecords():Array<{name:String, id:NetworkID}>;
+}
+
+@:build(macros.rpc.RPC.buildRPC(INameSystemRPC))
+class NameSystemRPC extends RPCBase {
+	public static function getDefault():NameSystemRPC {
+		return new NameSystemRPC(KernelSettings.nameServer, "ns");
+	}
+
+	public static function resolve(input:String):Promise<Null<NetworkID>> {
+		if (input == "12345") {
+			return Promise.resolve(Std.parseInt(input));
+		}
+
+		var ns = getDefault();
+
+		return ns.getIDRecord(input);
+	}
+}

src/bin/pathfinder/PFClient.hx

@@ -0,0 +1,59 @@
+package bin.pathfinder;
+
+import lib.WorldPos;
+import lib.ui.elements.IUIElement;
+import lib.ui.elements.TextElement;
+import lib.ui.elements.RootElement;
+import kernel.ui.WindowContext;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+class PFClient implements IProcess {
+	private var handle:ProcessHandle;
+
+	private var ctx:WindowContext;
+	private var requestRender:Void->Void;
+	private var root:RootElement;
+
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		this.handle = handle;
+
+		var stateless = handle.createStatelessWindowContext();
+		this.ctx = stateless.ctx;
+		this.requestRender = stateless.requestRender;
+
+		stateless.setRenderFunc(this.render);
+
+		this.root = new RootElement();
+		this.root.setTitle("Pathfinder");
+
+		this.ctx.delegateEvents(this.root);
+
+		this.requestRender();
+	}
+
+	private function render() {
+		var acc = kernel.gps.GPS.getAccuracy();
+		var pos:WorldPos = kernel.gps.GPS.getPosition() ?? {x: 0, y: 0, z: 0};
+
+		var childre:Array<IUIElement> = [
+			new TextElement('Acc: ${acc}'),
+			new TextElement('Pos: X:${pos.x} Y:${pos.y} Z:${pos.z}'),
+			new TextElement('UPDATE', {
+				style: {bgColor: Gray},
+				uiEvents: {
+					onClick: () -> {
+						kernel.gps.GPS.locate().handle((pos) -> {
+							this.requestRender();
+						});
+					}
+				}
+			}),
+		];
+
+		this.root.setChildren(childre);
+		this.root.render(ctx.getSize()).renderToContext(ctx);
+	}
+}

src/bin/turtle/CircleMine.hx

@@ -0,0 +1,158 @@
+package bin.turtle;
+
+import kernel.turtle.Turtle;
+import lib.turtle.TurtleAppBase;
+
+@:build(macros.Binstore.includeBin("Circle Mine", ["circle-mine", "cm"]))
+class CircleMine extends TurtleAppBase {
+	private var rings:Int;
+	private var skip:Int = 0;
+	private var depth:Int = 0;
+
+	public function new() {
+		super(initFunc, turtleFunc);
+	}
+
+	private function initFunc() {
+		if (handle.args.length < 1) {
+			handle.writeLine("Not enough args");
+			handle.close(false);
+			return;
+		}
+
+		this.rings = Std.parseInt(handle.args[0]);
+		if (this.rings == null) {
+			handle.writeLine("Failed to parse args");
+			handle.close(false);
+			return;
+		}
+
+		if (handle.args.length > 1) {
+			this.skip = Std.parseInt(handle.args[1]);
+			if (this.skip == null) {
+				handle.writeLine("Failed to parse args");
+				handle.close(false);
+				return;
+			}
+		}
+	}
+
+	private function turtleFunc() {
+		// Go down 1 layer
+		if (skip == 0) {
+			Turtle.dig(Down);
+			Turtle.down();
+			Turtle.dig(Down);
+		} else {
+			// Move to outer ring
+			for (i in 0...(skip * 3) - 1) {
+				Turtle.forward();
+			}
+		}
+
+		// Start mining
+		for (i in skip...(rings + skip)) {
+			if (i == 0) {
+				center();
+				handle.writeLine("Center done");
+			} else {
+				circle(i * 3 + 1);
+				handle.writeLine('Ring $i done');
+			}
+		}
+
+		// Go back to starting pos.
+		for (i in 0...((rings + skip) * 3 - 1)) {
+			Turtle.back();
+		}
+
+		handle.close();
+	}
+
+	private function circle(radius:Int) {
+		step();
+		step();
+		frontDig();
+
+		// Do a 1/2 of a side of a ring
+		Turtle.turnRight();
+		for (i in 0...radius) {
+			step();
+		}
+
+		// Do the other 2 sides
+		for (s in 0...3) {
+			Turtle.turnRight();
+			for (i in 0...radius) {
+				step();
+			}
+
+			middle();
+
+			for (i in 0...radius) {
+				step();
+			}
+		}
+
+		// Complete the 1/2 of the first side
+		Turtle.turnRight();
+		for (i in 0...radius) {
+			step();
+		}
+
+		Turtle.turnLeft();
+		Turtle.forward();
+	}
+
+	private function middle() {
+		Turtle.turnRight();
+
+		Turtle.dig(Front);
+		Turtle.down();
+		Turtle.dig(Front);
+
+		Turtle.turnLeft();
+		Turtle.turnLeft();
+
+		Turtle.dig(Front);
+		Turtle.up();
+		Turtle.dig(Front);
+
+		Turtle.turnRight();
+	}
+
+	private function step() {
+		Turtle.dig(Front);
+		Turtle.forward();
+		Turtle.dig(Down);
+	}
+
+	private function frontDig() {
+		Turtle.dig(Front);
+		Turtle.down();
+		Turtle.dig(Front);
+		Turtle.up();
+	}
+
+	private function center() {
+		Turtle.dig(Down);
+		step();
+		frontDig();
+		Turtle.turnRight();
+
+		for (i in 0...3) {
+			step();
+			Turtle.turnRight();
+			step();
+			Turtle.turnLeft();
+			frontDig();
+			Turtle.turnRight();
+		}
+
+		step();
+		Turtle.turnRight();
+		Turtle.forward();
+		Turtle.turnLeft();
+		Turtle.forward();
+	}
+}

src/bin/turtle/CircleMinePlan.hx

@@ -0,0 +1,56 @@
+package bin.turtle;
+
+import lib.turtle.planner.Plan;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+@:build(macros.Binstore.includeBin("Circle Mine Plan", ["cmp"]))
+class CircleMinePlan implements IProcess {
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		var rings:Int = 3;
+		var skip:Int = 0;
+
+		var p = Plan.newPlan();
+
+		p = p.repeat([Forward], (skip * 3) - 1); // Move to outer ring or stay if none skiped
+
+		for (i in skip...(rings + skip)) {
+			if (i == 0) {
+				p = p.act([Clear(Down), Down, Clear(Down)]) // Move down a layer
+					.subplan(center());
+			} else {
+				p = p.subplan(circle(i * 3 + 1));
+			}
+		}
+
+		p.repeat([Back], (rings + skip) * 3 - 1);
+
+		p.begin(handle);
+	}
+
+	private function circle(radius:Int):Plan {
+		return Plan.newPlan()
+			.act([FullTunnel, FullTunnel, HalfTunnel])
+			.act([TurnRight])
+			.repeat([FullTunnel], radius)
+			.repateSubplan(Plan.newPlan().act([TurnRight]).repeat([FullTunnel], radius).act([
+				TurnRight, Clear(Front), Down, Clear(Front), TurnLeft, TurnLeft, Clear(Front), Up, Clear(Front), TurnRight
+			]).repeat([FullTunnel], radius), 3)
+			.act([TurnRight])
+			.repeat([FullTunnel], radius)
+			.act([TurnLeft, Forward]);
+	}
+
+	private function center():Plan {
+		return Plan.newPlan()
+			.act([Clear(Down)])
+			.act([FullTunnel])
+			.act([Clear(Front), Down, Clear(Front), Up])
+			.act([TurnRight])
+			.repeat([FullTunnel, TurnRight, FullTunnel, TurnLeft, HalfTunnel, TurnRight], 3)
+			.act([FullTunnel])
+			.act([TurnRight, Forward, TurnLeft, Forward]);
+	}
+}

src/bin/turtle/Excavate.hx

@@ -0,0 +1,67 @@
+package bin.turtle;
+
+import lib.turtle.Helper;
+import lib.turtle.TurtleAppBase;
+
+class Excavate extends TurtleAppBase {
+	private var x:Int = 0;
+	private var y:Int = 0;
+	private var z:Int = 0;
+
+	public function new() {
+		super(init, turtleFunction);
+	}
+
+	private function init() {
+		if (handle.args.length < 2) {
+			handle.writeLine("Usage: excavate <front> <right> <down>");
+			handle.close(false);
+		}
+
+		var parsedX = Std.parseInt(handle.args[0]);
+		var parsedY = Std.parseInt(handle.args[1]);
+		var parsedZ = Std.parseInt(handle.args[2]);
+
+		if (parsedX == null || parsedY == null || parsedZ == null) {
+			handle.writeLine("Invalid arguments");
+			handle.close(false);
+		}
+
+		this.x = parsedX;
+		this.y = parsedY;
+		this.z = parsedZ;
+	}
+
+	private function turtleFunction() {
+		for (z in 0...this.z) {
+			for (y in 0...this.y) {
+				for (x in 0...this.x) {
+					kernel.turtle.Turtle.dig(Down);
+
+					if (x < this.x - 1) {
+						kernel.turtle.Turtle.forward();
+					}
+				}
+
+				if (y < this.y - 1) {
+					if (y % 2 == 0) {
+						kernel.turtle.Turtle.turnRight();
+						kernel.turtle.Turtle.forward();
+						kernel.turtle.Turtle.turnRight();
+					} else {
+						kernel.turtle.Turtle.turnLeft();
+						kernel.turtle.Turtle.forward();
+						kernel.turtle.Turtle.turnLeft();
+					}
+				}
+			}
+
+			kernel.turtle.Turtle.dig(Down);
+			kernel.turtle.Turtle.down();
+
+			Helper.times(kernel.turtle.Turtle.turnLeft, 2);
+		}
+
+		handle.close(true);
+	}
+}

src/bin/turtle/Patrol.hx

@@ -0,0 +1,31 @@
+package bin.turtle;
+
+import kernel.turtle.TurtleMutex;
+import kernel.ps.ProcessHandle;
+import kernel.ps.IProcess;
+
+class Patrol implements IProcess {
+	private var handle:ProcessHandle;
+
+	public function new() {}
+
+	public function run(handle:ProcessHandle) {
+		this.handle = handle;
+
+		if (!handle.claimTurtleMutex()) {
+			handle.writeLine("Failed to claim turtle mutex");
+			handle.close();
+		}
+
+		handle.writeLine("Patroling");
+
+		TurtleMutex.runInTThread(() -> {
+			while (true) {
+				kernel.turtle.Turtle.forward();
+				kernel.turtle.Turtle.forward();
+				kernel.turtle.Turtle.forward();
+				kernel.turtle.Turtle.turnLeft();
+			}
+		});
+	}
+}

src/kernel/EndOfLoop.hx

@@ -0,0 +1,28 @@
+package kernel;
+
+import cc.OS;
+
+/**
+	Make sure that a function is called at the end of the current event loop.
+	Like setTimeout(func, 0) in JavaScript.
+**/
+class EndOfLoop {
+	private static var backlog:Array<Void->Void> = [];
+	private static var isQueued = false;
+
+	public static function endOfLoop(func:Void->Void) {
+		backlog.push(func);
+		if (!isQueued) {
+			OS.queueEvent("endofloop", null);
+		}
+	}
+
+	@:allow(kernel.KernelEvents)
+	private static function run() {
+		for (func in backlog) {
+			func();
+		}
+		backlog = [];
+		isQueued = false;
+	}
+}

src/kernel/Entrypoint.hx

@@ -4,11 +4,19 @@ import kernel.log.Log;
 
 class Entrypoint {
 	public static function main() {
+		try {
 			Init.initKernel();
+		} catch (e) {
+			Log.error('Error in init: ${e.toString()}');
+			return;
+		}
+
 		try {
 			Startup.main();
 		} catch (e) {
 			Log.error('Error in startup: ${e.toString()}');
 		}
+
+		KernelEvents.startEventLoop();
 	}
 }

src/kernel/Init.hx

@@ -1,52 +1,44 @@
 package kernel;
 
+#if debug
+import lib.Debug;
+#end
+import kernel.service.ServiceManager;
 import kernel.fs.FS;
 import kernel.gps.GPS;
 import kernel.log.Log;
-import kernel.turtle.Turtle;
-import haxe.MainLoop;
 import kernel.net.Routing;
-import cc.OS;
-import lib.Debug;
 import kernel.ui.WindowManager;
-import kernel.peripherals.Peripherals.Peripheral;
 import kernel.net.Net;
 
 class Init {
+	@:allow(kernel.KernelEvents)
 	public static function initKernel() {
 		// Init singeltons here because haxe is confused about the order to create them.
-		Log.instance = new Log();
-		KernelEvents.instance = new KernelEvents();
-		Peripheral.instance = new Peripheral();
+		Log.init();
+		KernelEvents.init();
 
-		WindowManager.instance = new WindowManager();
+		WindowManager.init();
 		MainTerm.instance = new MainTerm();
 
-		if (Turtle.isTurtle()){
-			Turtle.instance = new Turtle();
-		}
+		Routing.init();
+		Net.init();
 
-		Routing.instance = new Routing();
-		Net.instance = new Net();
-
-		GPS.instance = new GPS();
+		GPS.init();
 
 		// Register default terminate handler
-		KernelEvents.instance.onTerminate.handle(_->{
-			OS.reboot();
+		KernelEvents.onTerminate.handle(_ -> {
+			KernelEvents.shutdown();
 		});
 
+		#if debug
 		Debug.printBuildInfo();
-
-		Routing.instance.init();
+		#end
 
 		if (!FS.exists("/var/ns")) {
 			FS.makeDir("/var/ns");
 		}
 
-		MainLoop.add(()->{
-			KernelEvents.instance.startEventLoop();
-		});
-
+		ServiceManager.init();
 	}
 }

src/kernel/KernelEvents.hx

@@ -1,11 +1,13 @@
 package kernel;
 
+import kernel.turtle.TurtleMutex;
+import kernel.turtle.Turtle;
+import kernel.peripherals.Peripherals.Peripheral;
 import kernel.log.Log;
-import lib.Pos;
+import lib.ScreenPos;
 import cc.HTTP.HTTPResponse;
 import lua.TableTools;
 import lua.Coroutine;
-import lib.Vec.Vec2;
 import haxe.Exception;
 
 using tink.CoreApi;
@@ -18,156 +20,220 @@ class KernelEvents {
 	/**
 		Depends on: (Nothing)
 	**/
-	public static var instance:KernelEvents;
+	public static var onAlarm(default, null):Signal<Int>;
 
-	public final onAlarm:Signal<Int>;
-	public final onChar:Signal<String>;
-	public final onDisk:Signal<String>;
-	public final onDiskEject:Signal<String>;
-	public final onHttpCheck:Signal<{url:String, success:Bool, failReason:Any}>;
-	public final onHttpFailure:Signal<{url:String, failReason:String, handle:HTTPResponse}>;
-	public final onHttpSuccess:Signal<{url:String, handle:HTTPResponse}>;
-	public final onKey:Signal<{keyCode:Int, isHeld:Bool}>;
-	public final onKeyUp:Signal<Int>;
-	public final onModemMessage:Signal<{
+	public static var onChar(default, null):Signal<String>;
+	public static var onDisk(default, null):Signal<String>;
+	public static var onDiskEject(default, null):Signal<String>;
+	public static var onHttpCheck(default, null):Signal<{url:String, success:Bool, failReason:Any}>;
+	public static var onHttpFailure(default, null):Signal<{url:String, failReason:String, handle:HTTPResponse}>;
+	public static var onHttpSuccess(default, null):Signal<{url:String, handle:HTTPResponse}>;
+	public static var onKey(default, null):Signal<{keyCode:Int, isHeld:Bool}>;
+	public static var onKeyUp(default, null):Signal<Int>;
+	public static var onModemMessage(default, null):Signal<{
 		addr:String,
 		channel:Int,
 		replyChannel:Int,
 		message:Dynamic,
 		distance:Null<Float>
 	}>;
-	public final onMonitorResize:Signal<String>;
-	public final onMonitorTouch:Signal<{addr:String, pos:Pos}>;
-	public final onMouseClick:Signal<{button:ButtonType, pos:Pos}>;
-	public final onMouseDrag:Signal<{button:ButtonType, pos:Pos}>;
-	public final onMouseScroll:Signal<{dir:Int, pos:Pos}>;
-	public final onMouseUp:Signal<{button:ButtonType, pos:Pos}>;
-	public final onPaste:Signal<String>;
-	public final onPeripheral:Signal<String>;
-	public final onPeripheralDetach:Signal<String>;
-	public final onRedstone:Signal<Noise>;
-	public final onSpeakerAudioEmpty:Signal<String>;
-	public final onTaskComplete:Signal<{id:Int, success:Bool, failedReason:String}>;
-	public final onTermResize:Signal<Noise>;
-	public final onTerminate:Signal<Noise>;
-	public final onTimer:Signal<Int>;
-	public final onTurtleInventory:Signal<Noise>;
-	public final onWebsocketClose:Signal<String>;
-	public final onWebsocketFailure:Signal<{url:String, failReason:String}>;
-	public final onWebsocketMessage:Signal<{url:String, message:String, isBinary:Bool}>;
-	public final onWebsocketSuccess:Signal<{url:String, handle:Any}>;
+	public static var onMonitorResize(default, null):Signal<String>;
+	public static var onMonitorTouch(default, null):Signal<{addr:String, pos:ScreenPos}>;
+	public static var onMouseClick(default, null):Signal<{button:ButtonType, pos:ScreenPos}>;
+	public static var onMouseDrag(default, null):Signal<{button:ButtonType, pos:ScreenPos}>;
+	public static var onMouseScroll(default, null):Signal<{dir:Int, pos:ScreenPos}>;
+	public static var onMouseUp(default, null):Signal<{button:ButtonType, pos:ScreenPos}>;
+	public static var onPaste(default, null):Signal<String>;
+	public static var onPeripheral(default, null):Signal<String>;
+	public static var onPeripheralDetach(default, null):Signal<String>;
+	public static var onRedstone(default, null):Signal<Noise>;
+	public static var onSpeakerAudioEmpty(default, null):Signal<String>;
+	public static var onTaskComplete(default, null):Signal<{id:Int, success:Bool, failedReason:String}>;
+	public static var onTermResize(default, null):Signal<Noise>;
+	public static var onTerminate(default, null):Signal<Noise>;
+	public static var onTimer(default, null):Signal<Int>;
+	public static var onTurtleInventory(default, null):Signal<Noise>;
+	public static var onWebsocketClose(default, null):Signal<String>;
+	public static var onWebsocketFailure(default, null):Signal<{url:String, failReason:String}>;
+	public static var onWebsocketMessage(default, null):Signal<{url:String, message:String, isBinary:Bool}>;
+	public static var onWebsocketSuccess(default, null):Signal<{url:String, handle:Any}>;
 
-	private final onAlarmTrigger:SignalTrigger<Int> = Signal.trigger();
-	private final onCharTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onDiskTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onDiskEjectTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onHttpCheckTrigger:SignalTrigger<{url:String, success:Bool, failReason:Any}> = Signal.trigger();
-	private final onHttpFailureTrigger:SignalTrigger<{url:String, failReason:String, handle:HTTPResponse}> = Signal.trigger();
-	private final onHttpSuccessTrigger:SignalTrigger<{url:String, handle:HTTPResponse}> = Signal.trigger();
-	private final onKeyTrigger:SignalTrigger<{keyCode:Int, isHeld:Bool}> = Signal.trigger();
-	private final onKeyUpTrigger:SignalTrigger<Int> = Signal.trigger();
-	private final onModemMessageTrigger:SignalTrigger<{
+	private static final onAlarmTrigger:SignalTrigger<Int> = Signal.trigger();
+	private static final onCharTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onDiskTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onDiskEjectTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onHttpCheckTrigger:SignalTrigger<{url:String, success:Bool, failReason:Any}> = Signal.trigger();
+	private static final onHttpFailureTrigger:SignalTrigger<{url:String, failReason:String, handle:HTTPResponse}> = Signal.trigger();
+	private static final onHttpSuccessTrigger:SignalTrigger<{url:String, handle:HTTPResponse}> = Signal.trigger();
+	private static final onKeyTrigger:SignalTrigger<{keyCode:Int, isHeld:Bool}> = Signal.trigger();
+	private static final onKeyUpTrigger:SignalTrigger<Int> = Signal.trigger();
+	private static final onModemMessageTrigger:SignalTrigger<{
 		addr:String,
 		channel:Int,
 		replyChannel:Int,
 		message:Dynamic,
 		distance:Null<Float>
 	}> = Signal.trigger();
-	private final onMonitorResizeTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onMonitorTouchTrigger:SignalTrigger<{addr:String, pos:Pos}> = Signal.trigger();
-	private final onMouseClickTrigger:SignalTrigger<{button:ButtonType, pos:Pos}> = Signal.trigger();
-	private final onMouseDragTrigger:SignalTrigger<{button:ButtonType, pos:Pos}> = Signal.trigger();
-	private final onMouseScrollTrigger:SignalTrigger<{dir:Int, pos:Pos}> = Signal.trigger();
-	private final onMouseUpTrigger:SignalTrigger<{button:ButtonType, pos:Pos}> = Signal.trigger();
-	private final onPasteTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onPeripheralTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onPeripheralDetachTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onRednetMessageTrigger:SignalTrigger<{sender:Int, message:Any, protocol:Any}> = Signal.trigger();
-	private final onRedstoneTrigger:SignalTrigger<Noise> = Signal.trigger();
-	private final onSpeakerAudioEmptyTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onTaskCompleteTrigger:SignalTrigger<{id:Int, success:Bool, failedReason:String}> = Signal.trigger();
-	private final onTermResizeTrigger:SignalTrigger<Noise> = Signal.trigger();
-	private final onTerminateTrigger:SignalTrigger<Noise> = Signal.trigger();
-	private final onTimerTrigger:SignalTrigger<Int> = Signal.trigger();
-	private final onTurtleInventoryTrigger:SignalTrigger<Noise> = Signal.trigger();
-	private final onWebsocketCloseTrigger:SignalTrigger<String> = Signal.trigger();
-	private final onWebsocketFailureTrigger:SignalTrigger<{url:String, failReason:String}> = Signal.trigger();
-	private final onWebsocketMessageTrigger:SignalTrigger<{url:String, message:String, isBinary:Bool}> = Signal.trigger();
-	private final onWebsocketSuccessTrigger:SignalTrigger<{url:String, handle:Any}> = Signal.trigger();
+	private static final onMonitorResizeTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onMonitorTouchTrigger:SignalTrigger<{addr:String, pos:ScreenPos}> = Signal.trigger();
+	private static final onMouseClickTrigger:SignalTrigger<{button:ButtonType, pos:ScreenPos}> = Signal.trigger();
+	private static final onMouseDragTrigger:SignalTrigger<{button:ButtonType, pos:ScreenPos}> = Signal.trigger();
+	private static final onMouseScrollTrigger:SignalTrigger<{dir:Int, pos:ScreenPos}> = Signal.trigger();
+	private static final onMouseUpTrigger:SignalTrigger<{button:ButtonType, pos:ScreenPos}> = Signal.trigger();
+	private static final onPasteTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onPeripheralTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onPeripheralDetachTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onRednetMessageTrigger:SignalTrigger<{sender:Int, message:Any, protocol:Any}> = Signal.trigger();
+	private static final onRedstoneTrigger:SignalTrigger<Noise> = Signal.trigger();
+	private static final onSpeakerAudioEmptyTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onTaskCompleteTrigger:SignalTrigger<{id:Int, success:Bool, failedReason:String}> = Signal.trigger();
+	private static final onTermResizeTrigger:SignalTrigger<Noise> = Signal.trigger();
+	private static final onTerminateTrigger:SignalTrigger<Noise> = Signal.trigger();
+	private static final onTimerTrigger:SignalTrigger<Int> = Signal.trigger();
+	private static final onTurtleInventoryTrigger:SignalTrigger<Noise> = Signal.trigger();
+	private static final onWebsocketCloseTrigger:SignalTrigger<String> = Signal.trigger();
+	private static final onWebsocketFailureTrigger:SignalTrigger<{url:String, failReason:String}> = Signal.trigger();
+	private static final onWebsocketMessageTrigger:SignalTrigger<{url:String, message:String, isBinary:Bool}> = Signal.trigger();
+	private static final onWebsocketSuccessTrigger:SignalTrigger<{url:String, handle:Any}> = Signal.trigger();
+
+	private static var stopLoop:Bool = false;
+	private static var turtleCoroutine:Coroutine<Dynamic>;
 
 	@:allow(kernel.Init)
-	private function new() {
-		this.onAlarm = onAlarmTrigger.asSignal();
-		this.onChar = onCharTrigger.asSignal();
-		this.onDisk = onDiskTrigger.asSignal();
-		this.onDiskEject = onDiskEjectTrigger.asSignal();
-		this.onHttpCheck = onHttpCheckTrigger.asSignal();
-		this.onHttpFailure = onHttpFailureTrigger.asSignal();
-		this.onHttpSuccess = onHttpSuccessTrigger.asSignal();
-		this.onKey = onKeyTrigger.asSignal();
-		this.onKeyUp = onKeyUpTrigger.asSignal();
-		this.onModemMessage = onModemMessageTrigger.asSignal();
-		this.onMonitorResize = onMonitorResizeTrigger.asSignal();
-		this.onMonitorTouch = onMonitorTouchTrigger.asSignal();
-		this.onMouseClick = onMouseClickTrigger.asSignal();
-		this.onMouseDrag = onMouseDragTrigger.asSignal();
-		this.onMouseScroll = onMouseScrollTrigger.asSignal();
-		this.onMouseUp = onMouseUpTrigger.asSignal();
-		this.onPaste = onPasteTrigger.asSignal();
-		this.onPeripheral = onPeripheralTrigger.asSignal();
-		this.onPeripheralDetach = onPeripheralDetachTrigger.asSignal();
-		this.onRedstone = onRedstoneTrigger.asSignal();
-		this.onSpeakerAudioEmpty = onSpeakerAudioEmptyTrigger.asSignal();
-		this.onTaskComplete = onTaskCompleteTrigger.asSignal();
-		this.onTermResize = onTermResizeTrigger.asSignal();
-		this.onTerminate = onTerminateTrigger.asSignal();
-		this.onTimer = onTimerTrigger.asSignal();
-		this.onTurtleInventory = onTurtleInventoryTrigger.asSignal();
-		this.onWebsocketClose = onWebsocketCloseTrigger.asSignal();
-		this.onWebsocketFailure = onWebsocketFailureTrigger.asSignal();
-		this.onWebsocketMessage = onWebsocketMessageTrigger.asSignal();
-		this.onWebsocketSuccess = onWebsocketSuccessTrigger.asSignal();
+	private static function init() {
+		onAlarm = onAlarmTrigger.asSignal();
+		onChar = onCharTrigger.asSignal();
+		onDisk = onDiskTrigger.asSignal();
+		onDiskEject = onDiskEjectTrigger.asSignal();
+		onHttpCheck = onHttpCheckTrigger.asSignal();
+		onHttpFailure = onHttpFailureTrigger.asSignal();
+		onHttpSuccess = onHttpSuccessTrigger.asSignal();
+		onKey = onKeyTrigger.asSignal();
+		onKeyUp = onKeyUpTrigger.asSignal();
+		onModemMessage = onModemMessageTrigger.asSignal();
+		onMonitorResize = onMonitorResizeTrigger.asSignal();
+		onMonitorTouch = onMonitorTouchTrigger.asSignal();
+		onMouseClick = onMouseClickTrigger.asSignal();
+		onMouseDrag = onMouseDragTrigger.asSignal();
+		onMouseScroll = onMouseScrollTrigger.asSignal();
+		onMouseUp = onMouseUpTrigger.asSignal();
+		onPaste = onPasteTrigger.asSignal();
+		onPeripheral = onPeripheralTrigger.asSignal();
+		onPeripheralDetach = onPeripheralDetachTrigger.asSignal();
+		onRedstone = onRedstoneTrigger.asSignal();
+		onSpeakerAudioEmpty = onSpeakerAudioEmptyTrigger.asSignal();
+		onTaskComplete = onTaskCompleteTrigger.asSignal();
+		onTermResize = onTermResizeTrigger.asSignal();
+		onTerminate = onTerminateTrigger.asSignal();
+		onTimer = onTimerTrigger.asSignal();
+		onTurtleInventory = onTurtleInventoryTrigger.asSignal();
+		onWebsocketClose = onWebsocketCloseTrigger.asSignal();
+		onWebsocketFailure = onWebsocketFailureTrigger.asSignal();
+		onWebsocketMessage = onWebsocketMessageTrigger.asSignal();
+		onWebsocketSuccess = onWebsocketSuccessTrigger.asSignal();
 	}
 
 	/**
 		Start pulling events. Blocking.
 	**/
-	public function startEventLoop() {
-		while (true) {
+	@:allow(kernel.Entrypoint)
+	private static function startEventLoop() {
+		if (Turtle.isTurtle()) {
+			turtleLoop();
+		} else {
+			runMainLoop();
+		}
+	}
+
+	@:allow(kernel.turtle.TurtleMutex)
+	private static function startTurtleCoroutine() {
+		turtleCoroutine = Coroutine.create(runTurtleLoop);
+		Coroutine.resume(turtleCoroutine);
+	}
+
+	private static function turtleLoop() {
+		startTurtleCoroutine();
+
+		while (!stopLoop) {
+			var eventData = pullEvents();
+
+			if (eventData[1] == "turtle_response" || eventData[1] == "tthread") {
+				var result = Coroutine.resume(turtleCoroutine, TableTools.unpack(eventData));
+
+				if (!result.success) {
+					Log.error('Error while running turtle thread: ${result.result}');
+				}
+
+				if (Coroutine.status(turtleCoroutine) == Dead) {
+					Log.error('Turtle thread died');
+				}
+			} else {
+				fireSignal(eventData[1], eventData);
+			}
+		}
+	}
+
+	private static function runTurtleLoop() {
+		while (!stopLoop) {
+			if ((TableTools.pack(Coroutine.yield()))[1] != "tthread")
+				continue;
+
+			if (stopLoop)
+				continue;
+			TurtleMutex.runThreadFunc();
+		}
+	}
+
+	private static function runMainLoop() {
+		while (!stopLoop) {
 			var event:Table<Int, Dynamic> = pullEvents();
 
 			var eventName:String = event[1];
-
+			try {
 				fireSignal(eventName, event);
+			} catch (e:Dynamic) {
+				Log.error('Error while handling event: $eventName: ${e}');
+			}
 		}
 	}
 
-	private function pullEvents():Table<Int, Dynamic> {
+	public static function shutdown() {
+		// clearing screens
+		for (screen in Peripheral.getAllScreens()) {
+			screen.reset();
+		}
+
+		Log.info('Shutting down event loop');
+		stopLoop = true;
+		MainTerm.instance.reset();
+	}
+
+	private static function pullEvents():Table<Int, Dynamic> {
 		return cast TableTools.pack(Coroutine.yield(null));
 	}
 
-	private function fireSignal(eventName: String,event:Table<Int, Dynamic> ) {
+	private static function fireSignal(eventName:String, event:Table<Int, Dynamic>) {
 		switch eventName {
 			case "alarm":
-				this.onAlarmTrigger.trigger(event[2]);
+				onAlarmTrigger.trigger(event[2]);
 			case "char":
-				this.onCharTrigger.trigger(event[2]);
+				onCharTrigger.trigger(event[2]);
 			case "disk":
-				this.onDiskTrigger.trigger(event[2]);
+				onDiskTrigger.trigger(event[2]);
 			case "disk_eject":
-				this.onDiskEjectTrigger.trigger(event[2]);
+				onDiskEjectTrigger.trigger(event[2]);
 			case "http_check":
-				this.onHttpCheckTrigger.trigger({url: event[2], success: event[3], failReason: event[4]});
+				onHttpCheckTrigger.trigger({url: event[2], success: event[3], failReason: event[4]});
 			case "http_failure":
-				this.onHttpFailureTrigger.trigger({url: event[2], failReason: event[3], handle: event[4]});
+				onHttpFailureTrigger.trigger({url: event[2], failReason: event[3], handle: event[4]});
 			case "http_success":
-				this.onHttpSuccessTrigger.trigger({url: event[2], handle: event[3]});
+				onHttpSuccessTrigger.trigger({url: event[2], handle: event[3]});
 			case "key":
-				this.onKeyTrigger.trigger({keyCode: event[2], isHeld: event[3]});
+				onKeyTrigger.trigger({keyCode: event[2], isHeld: event[3]});
 			case "key_up":
-				this.onKeyUpTrigger.trigger(event[2]);
+				onKeyUpTrigger.trigger(event[2]);
 			case "modem_message":
-				this.onModemMessageTrigger.trigger({
+				onModemMessageTrigger.trigger({
 					addr: event[2],
 					channel: event[3],
 					replyChannel: event[4],
@@ -175,45 +241,47 @@ class KernelEvents {
 					distance: event[6]
 				});
 			case "monitor_resize":
-				this.onMonitorResizeTrigger.trigger(event[2]);
+				onMonitorResizeTrigger.trigger(event[2]);
 			case "monitor_touch":
-				this.onMonitorTouchTrigger.trigger({addr: event[2], pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
+				onMonitorTouchTrigger.trigger({addr: event[2], pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
 			case "mouse_click":
-				this.onMouseClickTrigger.trigger({button: ccButtonToEnum(event[2]), pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
+				onMouseClickTrigger.trigger({button: ccButtonToEnum(event[2]), pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
 			case "mouse_drag":
-				this.onMouseDragTrigger.trigger({button: ccButtonToEnum(event[2]), pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
+				onMouseDragTrigger.trigger({button: ccButtonToEnum(event[2]), pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
 			case "mouse_scroll":
-				this.onMouseScrollTrigger.trigger({dir: event[2], pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
+				onMouseScrollTrigger.trigger({dir: event[2], pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
 			case "mouse_up":
-				this.onMouseUpTrigger.trigger({button: ccButtonToEnum(event[2]), pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
+				onMouseUpTrigger.trigger({button: ccButtonToEnum(event[2]), pos: {x: (event[3] : Int) - 1, y: (event[4] : Int) - 1}});
 			case "paste":
-				this.onPasteTrigger.trigger(event[2]);
+				onPasteTrigger.trigger(event[2]);
 			case "peripheral":
-				this.onPeripheralTrigger.trigger(event[2]);
+				onPeripheralTrigger.trigger(event[2]);
 			case "peripheral_detach":
-				this.onPeripheralDetachTrigger.trigger(event[2]);
+				onPeripheralDetachTrigger.trigger(event[2]);
 			case "redstone":
-				this.onRedstoneTrigger.trigger(null);
+				onRedstoneTrigger.trigger(null);
 			case "speaker_audio_empty":
-				this.onSpeakerAudioEmptyTrigger.trigger(event[2]);
+				onSpeakerAudioEmptyTrigger.trigger(event[2]);
 			case "task_complete":
-				this.onTaskCompleteTrigger.trigger({id: event[2], success: event[3], failedReason: event[4]});
+				onTaskCompleteTrigger.trigger({id: event[2], success: event[3], failedReason: event[4]});
 			case "term_resize":
-				this.onTermResizeTrigger.trigger(null);
+				onTermResizeTrigger.trigger(null);
 			case "terminate":
-				this.onTerminateTrigger.trigger(null);
+				onTerminateTrigger.trigger(null);
 			case "timer":
-				this.onTimerTrigger.trigger(event[2]);
+				onTimerTrigger.trigger(event[2]);
 			case "turtle_inventory":
-				this.onTurtleInventoryTrigger.trigger(null);
+				onTurtleInventoryTrigger.trigger(null);
 			case "websocket_closed":
-				this.onWebsocketCloseTrigger.trigger(event[2]);
+				onWebsocketCloseTrigger.trigger(event[2]);
 			case "websocket_failure":
-				this.onWebsocketFailureTrigger.trigger({url: event[2], failReason: event[3]});
+				onWebsocketFailureTrigger.trigger({url: event[2], failReason: event[3]});
 			case "websocket_message":
-				this.onWebsocketMessageTrigger.trigger({url: event[2], message: event[3], isBinary: event[4]});
+				onWebsocketMessageTrigger.trigger({url: event[2], message: event[3], isBinary: event[4]});
 			case "websocket_success":
-				this.onWebsocketSuccessTrigger.trigger({url: event[2], handle: event[3]});
+				onWebsocketSuccessTrigger.trigger({url: event[2], handle: event[3]});
+			case "endofloop":
+				EndOfLoop.run();
 			default:
 				Log.error('Unknown event: $eventName');
 		}
@@ -233,36 +301,66 @@ class KernelEvents {
 	}
 
 	@:allow(lib.Debug)
-	private function printListenerCount() {
-		if (onAlarmTrigger.getLength() > 0) Log.debug("onAlarm: " + onAlarmTrigger.getLength());
-		if (onCharTrigger.getLength() > 0) Log.debug("onChar: " + onCharTrigger.getLength());
-		if (onDiskTrigger.getLength() > 0) Log.debug("onDisk: " + onDiskTrigger.getLength());
-		if (onDiskEjectTrigger.getLength() > 0) Log.debug("onDiskEject: " + onDiskEjectTrigger.getLength());
-		if (onHttpCheckTrigger.getLength() > 0) Log.debug("onHttpCheck: " + onHttpCheckTrigger.getLength());
-		if (onHttpFailureTrigger.getLength() > 0) Log.debug("onHttpFailure: " + onHttpFailureTrigger.getLength());
-		if (onHttpSuccessTrigger.getLength() > 0) Log.debug("onHttpSuccess: " + onHttpSuccessTrigger.getLength());
-		if (onKeyTrigger.getLength() > 0) Log.debug("onKey: " + onKeyTrigger.getLength());
-		if (onKeyUpTrigger.getLength() > 0) Log.debug("onKeyUp: " + onKeyUpTrigger.getLength());
-		if (onModemMessageTrigger.getLength() > 0) Log.debug("onModemMessage: " + onModemMessageTrigger.getLength());
-		if (onMonitorResizeTrigger.getLength() > 0) Log.debug("onMonitorResize: " + onMonitorResizeTrigger.getLength());
-		if (onMonitorTouchTrigger.getLength() > 0) Log.debug("onMonitorTouch: " + onMonitorTouchTrigger.getLength());
-		if (onMouseClickTrigger.getLength() > 0) Log.debug("onMouseClick: " + onMouseClickTrigger.getLength());
-		if (onMouseDragTrigger.getLength() > 0) Log.debug("onMouseDrag: " + onMouseDragTrigger.getLength());
-		if (onMouseScrollTrigger.getLength() > 0) Log.debug("onMouseScroll: " + onMouseScrollTrigger.getLength());
-		if (onMouseUpTrigger.getLength() > 0) Log.debug("onMouseUp: " + onMouseUpTrigger.getLength());
-		if (onPasteTrigger.getLength() > 0) Log.debug("onPaste: " + onPasteTrigger.getLength());
-		if (onPeripheralTrigger.getLength() > 0) Log.debug("onPeripheral: " + onPeripheralTrigger.getLength());
-		if (onPeripheralDetachTrigger.getLength() > 0) Log.debug("onPeripheralDetach: " + onPeripheralDetachTrigger.getLength());
-		if (onRedstoneTrigger.getLength() > 0) Log.debug("onRedstone: " + onRedstoneTrigger.getLength());
-		if (onSpeakerAudioEmptyTrigger.getLength() > 0) Log.debug("onSpeakerAudioEmpty: " + onSpeakerAudioEmptyTrigger.getLength());
-		if (onTaskCompleteTrigger.getLength() > 0) Log.debug("onTaskComplete: " + onTaskCompleteTrigger.getLength());
-		if (onTermResizeTrigger.getLength() > 0) Log.debug("onTermResize: " + onTermResizeTrigger.getLength());
-		if (onTerminateTrigger.getLength() > 0) Log.debug("onTerminate: " + onTerminateTrigger.getLength());
-		if (onTimerTrigger.getLength() > 0) Log.debug("onTimer: " + onTimerTrigger.getLength());
-		if (onTurtleInventoryTrigger.getLength() > 0) Log.debug("onTurtleInventory: " + onTurtleInventoryTrigger.getLength());
-		if (onWebsocketCloseTrigger.getLength() > 0) Log.debug("onWebsocketClose: " + onWebsocketCloseTrigger.getLength());
-		if (onWebsocketFailureTrigger.getLength() > 0) Log.debug("onWebsocketFailure: " + onWebsocketFailureTrigger.getLength());
-		if (onWebsocketMessageTrigger.getLength() > 0) Log.debug("onWebsocketMessage: " + onWebsocketMessageTrigger.getLength());
-		if (onWebsocketSuccessTrigger.getLength() > 0) Log.debug("onWebsocketSuccess: " + onWebsocketSuccessTrigger.getLength());
+	private static function printListenerCount() {
+		if (onAlarmTrigger.getLength() > 0)
+			Log.debug("onAlarm: " + onAlarmTrigger.getLength());
+		if (onCharTrigger.getLength() > 0)
+			Log.debug("onChar: " + onCharTrigger.getLength());
+		if (onDiskTrigger.getLength() > 0)
+			Log.debug("onDisk: " + onDiskTrigger.getLength());
+		if (onDiskEjectTrigger.getLength() > 0)
+			Log.debug("onDiskEject: " + onDiskEjectTrigger.getLength());
+		if (onHttpCheckTrigger.getLength() > 0)
+			Log.debug("onHttpCheck: " + onHttpCheckTrigger.getLength());
+		if (onHttpFailureTrigger.getLength() > 0)
+			Log.debug("onHttpFailure: " + onHttpFailureTrigger.getLength());
+		if (onHttpSuccessTrigger.getLength() > 0)
+			Log.debug("onHttpSuccess: " + onHttpSuccessTrigger.getLength());
+		if (onKeyTrigger.getLength() > 0)
+			Log.debug("onKey: " + onKeyTrigger.getLength());
+		if (onKeyUpTrigger.getLength() > 0)
+			Log.debug("onKeyUp: " + onKeyUpTrigger.getLength());
+		if (onModemMessageTrigger.getLength() > 0)
+			Log.debug("onModemMessage: " + onModemMessageTrigger.getLength());
+		if (onMonitorResizeTrigger.getLength() > 0)
+			Log.debug("onMonitorResize: " + onMonitorResizeTrigger.getLength());
+		if (onMonitorTouchTrigger.getLength() > 0)
+			Log.debug("onMonitorTouch: " + onMonitorTouchTrigger.getLength());
+		if (onMouseClickTrigger.getLength() > 0)
+			Log.debug("onMouseClick: " + onMouseClickTrigger.getLength());
+		if (onMouseDragTrigger.getLength() > 0)
+			Log.debug("onMouseDrag: " + onMouseDragTrigger.getLength());
+		if (onMouseScrollTrigger.getLength() > 0)
+			Log.debug("onMouseScroll: " + onMouseScrollTrigger.getLength());
+		if (onMouseUpTrigger.getLength() > 0)
+			Log.debug("onMouseUp: " + onMouseUpTrigger.getLength());
+		if (onPasteTrigger.getLength() > 0)
+			Log.debug("onPaste: " + onPasteTrigger.getLength());
+		if (onPeripheralTrigger.getLength() > 0)
+			Log.debug("onPeripheral: " + onPeripheralTrigger.getLength());
+		if (onPeripheralDetachTrigger.getLength() > 0)
+			Log.debug("onPeripheralDetach: " + onPeripheralDetachTrigger.getLength());
+		if (onRedstoneTrigger.getLength() > 0)
+			Log.debug("onRedstone: " + onRedstoneTrigger.getLength());
+		if (onSpeakerAudioEmptyTrigger.getLength() > 0)
+			Log.debug("onSpeakerAudioEmpty: " + onSpeakerAudioEmptyTrigger.getLength());
+		if (onTaskCompleteTrigger.getLength() > 0)
+			Log.debug("onTaskComplete: " + onTaskCompleteTrigger.getLength());
+		if (onTermResizeTrigger.getLength() > 0)
+			Log.debug("onTermResize: " + onTermResizeTrigger.getLength());
+		if (onTerminateTrigger.getLength() > 0)
+			Log.debug("onTerminate: " + onTerminateTrigger.getLength());
+		if (onTimerTrigger.getLength() > 0)
+			Log.debug("onTimer: " + onTimerTrigger.getLength());
+		if (onTurtleInventoryTrigger.getLength() > 0)
+			Log.debug("onTurtleInventory: " + onTurtleInventoryTrigger.getLength());
+		if (onWebsocketCloseTrigger.getLength() > 0)
+			Log.debug("onWebsocketClose: " + onWebsocketCloseTrigger.getLength());
+		if (onWebsocketFailureTrigger.getLength() > 0)
+			Log.debug("onWebsocketFailure: " + onWebsocketFailureTrigger.getLength());
+		if (onWebsocketMessageTrigger.getLength() > 0)
+			Log.debug("onWebsocketMessage: " + onWebsocketMessageTrigger.getLength());
+		if (onWebsocketSuccessTrigger.getLength() > 0)
+			Log.debug("onWebsocketSuccess: " + onWebsocketSuccessTrigger.getLength());
 	}
 }

src/kernel/KernelSettings.hx

@@ -0,0 +1,58 @@
+package kernel;
+
+import cc.OS;
+import kernel.net.Package.NetworkID;
+import lib.KVStore;
+import cc.Settings;
+
+class KernelSettings {
+	private static inline function setAllowStartup(value:Bool) {
+		Settings.set("shell.allow_startup", value);
+	}
+
+	private static inline function setAllowStartupFromFloppy(value:Bool) {
+		Settings.set("shell.allow_disk_startup", value);
+	}
+
+	private static function set(name:String, value:Dynamic) {
+		var kvstore = new KVStore("kernel");
+		kvstore.set(name, value);
+		kvstore.save();
+	}
+
+	private static function get(name:String):Null<Dynamic> {
+		var kvstore = new KVStore("kernel");
+		return kvstore.get(name);
+	}
+
+	public static var hostname(get, set):String;
+	private static var _hostname:String = get("hostname");
+
+	private static inline function get_hostname():String {
+		return _hostname;
+	}
+
+	private static inline function set_hostname(value:String):String {
+		OS.setComputerLabel(value);
+		set("hostname", value);
+		_hostname = value;
+		return value;
+	}
+
+	public static var nameServer(get, set):NetworkID;
+	private static var _nameServer:NetworkID = get("nameServer");
+
+	private static function get_nameServer():NetworkID {
+		return _nameServer;
+	}
+
+	private static function set_nameServer(value:NetworkID):NetworkID {
+		if (value == null) {
+			return get_nameServer();
+		}
+
+		set("nameServer", value);
+		_nameServer = value;
+		return value;
+	}
+}

src/kernel/MainTerm.hx

@@ -1,7 +1,7 @@
 package kernel;
 
-import lib.Pos;
-import kernel.ui.TermWriteable;
+import lib.ScreenPos;
+import kernel.ui.ITermWriteable;
 import cc.Term;
 import lib.Vec.Vec2;
 import lib.Color;
@@ -11,7 +11,7 @@ using tink.CoreApi;
 /**
 	Represents the main computer screen.
 **/
-class MainTerm implements TermWriteable {
+class MainTerm implements ITermWriteable {
 	/**
 		Depends on: KernelEvents,
 	**/
@@ -26,7 +26,7 @@ class MainTerm implements TermWriteable {
 		this.onResizeTrigger = Signal.trigger();
 		this.onResize = this.onResizeTrigger.asSignal();
 
-		KernelEvents.instance.onTermResize.handle(_ -> {
+		KernelEvents.onTermResize.handle(_ -> {
 			onResizeTrigger.trigger(getSize());
 		});
 	}
@@ -39,7 +39,7 @@ class MainTerm implements TermWriteable {
 		Term.scroll(y);
 	}
 
-	public function getCursorPos():Pos {
+	public function getCursorPos():ScreenPos {
 		var rtn = Term.getCursorPos();
 		return {
 			x: rtn.x - 1,
@@ -60,7 +60,7 @@ class MainTerm implements TermWriteable {
 		Term.setCursorBlink(blink);
 	}
 
-	public function getSize():Pos {
+	public function getSize():ScreenPos {
 		var rtn = Term.getSize();
 		return {
 			x: rtn.width,

src/kernel/Timer.hx

@@ -19,7 +19,7 @@ class Timer {
 		timerID = OS.startTimer(timeout);
 		this.callback = callback;
 
-		timerLink = KernelEvents.instance.onTimer.handle(timerID -> {
+		timerLink = KernelEvents.onTimer.handle(timerID -> {
 			if (this.timerID == timerID) {
 				callback.invoke(null);
 				timerLink.cancel();

src/kernel/binstore/Bin.hx

@@ -0,0 +1,12 @@
+package kernel.binstore;
+
+import kernel.ps.IProcess;
+
+/**
+	Represents a callable program.
+**/
+typedef Bin = {
+	c:Void->IProcess,
+	name:String,
+	aliases:Array<String>,
+}

src/kernel/binstore/BinStore.hx

@@ -0,0 +1,45 @@
+package kernel.binstore;
+
+import kernel.ps.IProcess;
+import macros.Binstore;
+
+class BinStore {
+	private static final bins:Array<Bin> = populateStore();
+
+	private static function populateStore()
+		return {
+			var bins:Array<Bin> = [];
+			Binstore.generateBinStore();
+			return bins;
+		}
+
+	public static function instantiate(alias:String):Null<IProcess> {
+		for (bin in bins) {
+			for (a in bin.aliases) {
+				if (a == alias) {
+					return bin.c();
+				}
+			}
+		}
+		return null;
+	}
+
+	private static function getBinByAlias(alias:String):Null<Bin> {
+		for (bin in bins) {
+			for (a in bin.aliases) {
+				if (a == alias) {
+					return bin;
+				}
+			}
+		}
+		return null;
+	}
+
+	public static function getNameByAlias(alias:String):Null<String> {
+		var bin = getBinByAlias(alias);
+		if (bin == null) {
+			return null;
+		}
+		return bin.name;
+	}
+}

src/kernel/fs/FileHandler.hx

@@ -5,7 +5,6 @@ import cc.FileSystem.FileHandle;
 using tink.CoreApi;
 
 abstract ReadHandle(FileHandle) from FileHandle {
-
 	public inline function new(handle:FileHandle) {
 		this = handle;
 	}
@@ -28,7 +27,6 @@ abstract ReadHandle(FileHandle) from FileHandle {
 }
 
 abstract WriteHandle(FileHandle) from FileHandle {
-
 	public inline function new(handle:FileHandle) {
 		this = handle;
 	}
@@ -51,7 +49,6 @@ abstract WriteHandle(FileHandle) from FileHandle {
 }
 
 abstract ReadBinaryHandle(FileHandle) from FileHandle {
-
 	public inline function new(handle:FileHandle) {
 		this = handle;
 	}
@@ -82,7 +79,6 @@ abstract ReadBinaryHandle(FileHandle) from FileHandle {
 }
 
 abstract WriteBinaryHandle(FileHandle) from FileHandle {
-
 	public inline function new(handle:FileHandle) {
 		this = handle;
 	}

src/kernel/gps/GPS.hx

@@ -1,10 +1,14 @@
 package kernel.gps;
 
+import lib.SingleTimeoutPromise;
+import kernel.log.Log;
 import lib.KVStore;
 import kernel.net.Net;
 import kernel.net.INetworkInterface;
 import kernel.net.Package;
-import lib.Pos3;
+import lib.WorldPos;
+
+using tink.CoreApi;
 
 /**
 	Determines the position of the computer based on the distance to other computers.
@@ -12,19 +16,22 @@ import lib.Pos3;
 	You need at least 3 computers that know their position to determine the position of the computer.
 **/
 class GPS {
-	public static var instance:GPS;
+	private static inline final TIMEOUT:Int = 1;
 
-	private var shouldRespond = true;
-	private var posAccuracy = 0; // 0 = unkown, 1 = (ins,best guess), 2 = (stored/manual,should be right), 3 = (gps,confirmed)
-	private var cachedPosition:Pos3;
-	private var lastPositionResponse: Array<{pos:Pos3,dist:Float}> = [];
+	private static var shouldRespond = true;
+	private static var shouldDoWholeNumberCheck = true;
+	private static var posAccuracy = 0; // 0 = unkown, 1 = (ins,best guess), 2 = (stored/manual,should be right), 3 = (gps,confirmed)
+	private static var cachedPosition:WorldPos;
+	private static var lastPositionResponse:Array<{pos:WorldPos, dist:Float}> = [];
+
+	private static final locatePromise:SingleTimeoutPromise<WorldPos> = new SingleTimeoutPromise(TIMEOUT, brodcastPositionRequest);
 
 	@:allow(kernel.Init)
-	private function new() {
-		this.loadCachedPosition();
+	private static function init() {
+		loadCachedPosition();
 	}
 
-	public function setManualPosition(pos:Pos3) {
+	public static function setManualPosition(pos:WorldPos) {
 		var kvstore = new KVStore("gps");
 		kvstore.set("mpos", pos);
 		kvstore.save();
@@ -35,37 +42,44 @@ class GPS {
 		}
 	}
 
-	public function getPosition():Null<Pos3> {
+	@:allow(kernel.gps.INS)
+	private static function setINSPosition(pos:WorldPos) {
+		cachedPosition = pos;
+		posAccuracy = 1;
+	}
+
+	public static function getPosition():Null<WorldPos> {
 		return cachedPosition;
 	}
 
-	public function getAccuracy():Int {
+	public static function getAccuracy():Int {
 		return posAccuracy;
 	}
 
-	public function invalidatePosition() {
+	public static function invalidatePosition() {
 		cachedPosition = null;
 		posAccuracy = 0;
 	}
 
-	public function locate() {
-		sendPositionRequest();
+	public static function locate():Promise<WorldPos> {
+		return locatePromise.request();
 	}
 
-	private function persistCachedPositon() {
-		if (cachedPosition == null) return;
+	private static function persistCachedPositon() {
+		if (cachedPosition == null)
+			return;
 		var kvstore = new KVStore("gps");
 
 		kvstore.set("cpos", cachedPosition);
 		kvstore.save();
 	}
 
-	private function loadCachedPosition() {
+	private static function loadCachedPosition() {
 		var kvstore = new KVStore("gps");
 		kvstore.load();
 
-		var mPos:Null<Pos3> = kvstore.get("mpos"); // Manual set position
-		var cPos:Null<Pos3> = kvstore.get("cpos"); // Cached position
+		var mPos:Null<WorldPos> = kvstore.get("mpos"); // Manual set position
+		var cPos:Null<WorldPos> = kvstore.get("cpos"); // Cached position
 
 		if (mPos != null && cPos != null && mPos == cPos) {
 			// Both are the same, so we can use the cached position
@@ -94,39 +108,62 @@ class GPS {
 			posAccuracy = 2;
 			return;
 		}
-
 	}
 
-	private function sendPositionRequest() {
-		Net.instance.brodcastGPSRequest();
+	private static function brodcastPositionRequest() {
+		Net.brodcastGPSRequest();
 	}
 
 	@:allow(kernel.net.Net)
-	private function handlePackage(pack:Package, dist: Float,iface: INetworkInterface) {
+	private static function handlePackage(pack:Package<Noise>, dist:Null<Float>, iface:INetworkInterface) {
+		if (dist == null) {
+			// Message comes from another dimension and has no distance.
+			return;
+		}
+
 		switch (pack.type) {
 			case GPSRequest:
-				if (!shouldRespond) return;
-				if (posAccuracy < 2) return;
-				if (cachedPosition == null) return;
+				if (!shouldRespond)
+					return;
+				if (posAccuracy < 2)
+					return;
+				if (cachedPosition == null)
+					return;
 
-				var response = new Package(Net.instance.networkID,pack.fromID, pack.msgID, GPSResponse(cachedPosition),null,0);
-				iface.send(pack.fromID,Net.instance.networkID,response);
-			case GPSResponse(pos):
-				if (lastPositionResponse.contains({pos:pos,dist:dist})) return;
-				lastPositionResponse.push({pos:pos,dist:dist});
-				if (lastPositionResponse.length > 5) lastPositionResponse.shift();
-				if (lastPositionResponse.length < 3) return;
+				var response = new Package(Net.networkID, pack.fromID, pack.msgID, GPSResponse(cachedPosition.x, cachedPosition.y, cachedPosition.z,), null, 0);
+				iface.send(pack.fromID, Net.networkID, response);
+			case GPSResponse(x, y, z):
+				if (lastPositionResponse.contains({pos: {x: x, y: y, z: z}, dist: dist}))
+					return; // Ignore duplicate responses
+
+				lastPositionResponse.push({pos: {x: x, y: y, z: z}, dist: dist});
+
+				// TODO: wait for a few seconds before calculating the position, so we can get more responses
+
+				if (lastPositionResponse.length < 4)
+					return; // We need at least 3 responses to calculate the position
 
 				var calculatedPosition = calculatePosition();
-				if (calculatedPosition == null) return;
+
+				if (calculatedPosition != null) {
+					calculatedPosition = calculatedPosition.round();
+				}
+
+				lastPositionResponse = []; // Reset the response array
+
+				if (calculatedPosition == null)
+					return;
 				cachedPosition = calculatedPosition;
 				posAccuracy = 3;
+
+				locatePromise.resolve(calculatedPosition);
 			default:
 		}
 	}
 
-	private function calculatePosition():Null<Pos3> {
-		if (lastPositionResponse.length < 3) return null;
+	private static function calculatePosition():Null<WorldPos> {
+		if (lastPositionResponse.length < 3)
+			return null;
 
 		// do a simple trilateration with the last 3 responses for now
 		var p1 = lastPositionResponse[0].pos;
@@ -137,62 +174,50 @@ class GPS {
 		var r2 = lastPositionResponse[1].dist;
 		var r3 = lastPositionResponse[2].dist;
 
-		return trilateration(p1,p2,p3,r1,r2,r3);
+		var result = trilateration(p1, p2, p3, r1, r2, r3);
 
-		// var calculatedPositions: Array<Pos3> = [];
+		if (result.a.close(result.b))
+			return result.a;
 
-		// // Loop through all possible permutations of the last 3 responses
-		// for (i in 0...lastPositionResponse.length) {
-		// 	for (j in 0...lastPositionResponse.length) {
-		// 		if (i == j) continue;
-		// 		for (k in 0...lastPositionResponse.length) {
-		// 			if (i == k || j == k) continue;
+		// If we have more than 3 responses, we can use the 4th response to determine which of the two positions is correct
+		// TODO: if this is a pocket computer we cant use this since it can move freely
+		if (lastPositionResponse.length > 3) {
+			var err1 = Math.abs(result.a.distance(lastPositionResponse[3].pos) - lastPositionResponse[3].dist);
+			var err2 = Math.abs(result.b.distance(lastPositionResponse[3].pos) - lastPositionResponse[3].dist);
 
-		// 			var p1 = lastPositionResponse[i].pos;
-		// 			var p2 = lastPositionResponse[j].pos;
-		// 			var p3 = lastPositionResponse[k].pos;
-
-		// 			var r1 = lastPositionResponse[i].dist;
-		// 			var r2 = lastPositionResponse[j].dist;
-		// 			var r3 = lastPositionResponse[k].dist;
-
-		// 			calculatedPositions.push(trilateration(p1,p2,p3,r1,r2,r3));
-		// 		}
-		// 	}
-		// }
-
-		// var tainted = false;
-		// // Check if all calculated positions are the same
-		// for (i in 0...calculatedPositions.length) {
-		// 	for (j in 0...calculatedPositions.length) {
-		// 		if (i == j) continue;
-		// 		if (calculatedPositions[i] != calculatedPositions[j]){
-		// 			Log.warn("GPS not all calculated positions are the same");
-		// 			tainted = true;
-		// 		}
-		// 	}
-		// }
-
-		// if (!tainted) return calculatedPositions[0];
-
-		// // Get the most common position
-		// var mostCommon:Pos3 = null;
-		// var mostCommonCount = 0;
-		// for (i in 0...calculatedPositions.length) {
-		// 	var count = 0;
-		// 	for (j in 0...calculatedPositions.length) {
-		// 		if (calculatedPositions[i] == calculatedPositions[j]) count++;
-		// 	}
-		// 	if (count > mostCommonCount) {
-		// 		mostCommon = calculatedPositions[i];
-		// 		mostCommonCount = count;
-		// 	}
-		// }
-
-		// return mostCommon;
+			if (Math.abs(err1 - err2) < 0.0001) {
+				Log.warn("Failed to determine GPS position via 4th fix");
+				return null; // The two positions are essentially the same, so we cant determine which one is correct
 			}
 
-	private function trilateration(p1:Pos3,p2:Pos3,p3: Pos3,r1:Float,r2:Float,r3:Float):Pos3 {
+			if (err1 < err2)
+				return result.a;
+			if (err2 < err1)
+				return result.b;
+		}
+
+		// last resort, just use the position that is closest to a whole number (whithin a resonable margin of error)
+		if (!shouldDoWholeNumberCheck)
+			return null;
+
+		// TODO: mark the position as not so accurate if we use this method
+
+		var err1 = (result.a - result.a.round()).length();
+		var err2 = (result.b - result.b.round()).length();
+
+		if (err1 < err2 && err1 < 0.0001) {
+			return result.a;
+		} else if (err2 < 0.0001) {
+			return result.b;
+		}
+
+		return null;
+	}
+
+	/**
+		Determines the position(s) of a point given 3 other points and the distance to each of them.
+	**/
+	private static function trilateration(p1:WorldPos, p2:WorldPos, p3:WorldPos, r1:Float, r2:Float, r3:Float):Pair<WorldPos, WorldPos> {
 		var a2b = p2 - p1;
 		var a2c = p3 - p1;
 
@@ -201,7 +226,7 @@ class GPS {
 		var i = ex.dot(a2c);
 		var ey = (a2c - ex * i).normalize();
 		var j = ey.dot(a2c);
-		var ez = ex.cross(ey);
+		var ez:WorldPos = ex.cross(ey);
 
 		var x = (r1 * r1 - r2 * r2 + d * d) / (2 * d);
 		var y = (r1 * r1 - r3 * r3 - x * x + (x - i) * (x - i) + j * j) / (2 * j);
@@ -211,9 +236,9 @@ class GPS {
 		var zSquared = r1 * r1 - x * x - y * y;
 		if (zSquared > 0) {
 			var z = Math.sqrt(zSquared);
-			result += ez * z;
+			return new Pair(result + (ez * z), result - (ez * z));
 		}
 
-		return result;
+		return new Pair(result, result);
 	}
 }

src/kernel/gps/INS.hx

@@ -0,0 +1,197 @@
+package kernel.gps;
+
+import lib.SinglePromise;
+import kernel.turtle.Turtle;
+import lib.WorldPos;
+
+using tink.CoreApi;
+
+class INS {
+	private static var heading:Null<WorldPos> = null;
+	private static var alingment:Int = 1; // 0 = degraded, 1 = not aligned, 2 = aligned
+	private static final alignPromise:SinglePromise<Noise> = new SinglePromise(startAlign);
+
+	@:allow(kernel.turtle.Turtle)
+	private static function moveForward() {
+		if (heading == null) {
+			alingment = 0;
+			return;
+		}
+		move(heading);
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private static function moveBackward() {
+		if (heading == null) {
+			alingment = 0;
+			return;
+		}
+		move(heading.negate());
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private static function moveUp() {
+		move({x: 0, y: 1, z: 0});
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private static function moveDown() {
+		move({x: 0, y: -1, z: 0});
+	}
+
+	@:allow(kernel.turtle.Turtle)
+	private static 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 static 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 static function move(dir:Null<WorldPos>) {
+		if (alignPromise.isRunning()) {
+			return;
+		}
+		var pos = GPS.getPosition();
+		if (pos == null || dir == null)
+			return;
+		var newPos = pos + dir;
+		GPS.setINSPosition(newPos);
+	}
+
+	public static function getHeading():Null<WorldPos> {
+		return heading;
+	}
+
+	public static function align():Promise<Noise> {
+		return alignPromise.request();
+	}
+
+	public static function startAlign():Void {
+		if (Turtle.getFuelLevel() < 2) {
+			alignPromise.reject(new Error("Not enough fuel to align"));
+			return;
+		}
+
+		GPS.locate().handle((result) -> {
+			switch result {
+				case Failure(err):
+					alignPromise.reject(new Error("Failed to locate 1st positon: " + err));
+					return;
+				case Success(pos1):
+					var moved = tryMoving();
+
+					if (moved == -1) {
+						alignPromise.reject(new Error("Can't move"));
+						return;
+					}
+
+					GPS.locate().handle((result2) -> {
+						switch result2 {
+							case Failure(err):
+								alignPromise.reject(new Error("GPS not available for 2nd position: " + err));
+								return;
+							case Success(pos2):
+								var cHeading = calcHeading(pos1, pos2, moved);
+								if (cHeading == null) {
+									alignPromise.reject(new Error("Can't calculate heading"));
+									return;
+								}
+
+								heading = cHeading;
+								moveBack(moved);
+								GPS.setINSPosition(pos1);
+
+								alignPromise.resolve(Noise);
+						}
+					});
+			}
+		});
+	}
+
+	// -1 = not moved, 0 = back, 1 = forward, 2 = left, 3 = right
+	private static function tryMoving():Int {
+		if (Turtle.back().isSuccess()) {
+			return 0;
+		} else if (Turtle.forward().isSuccess()) {
+			return 1;
+		} else {
+			Turtle.turnLeft(); // TODO: Check if successfull
+			if (Turtle.forward().isSuccess()) {
+				return 2;
+			} else if (Turtle.back().isSuccess()) {
+				return 3;
+			} else {
+				// Can't move
+				return -1;
+			}
+		}
+	}
+
+	private static function calcHeading(pos1:WorldPos, pos2:WorldPos, moved:Int):Null<WorldPos> {
+		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 static function moveBack(moved:Int) {
+		if (moved == 0) {
+			Turtle.forward();
+		} else if (moved == 1) {
+			Turtle.back();
+		} else if (moved == 2) {
+			Turtle.back();
+			Turtle.turnRight();
+		} else if (moved == 3) {
+			Turtle.forward();
+			Turtle.turnRight();
+		}
+	}
+
+	private static function rotatePos3ToRight(pos:WorldPos):WorldPos {
+		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 static function rotatePos3ToLeft(pos3:WorldPos):WorldPos {
+		return rotatePos3ToRight(rotatePos3ToRight(rotatePos3ToRight(pos3)));
+	}
+}

src/kernel/http/HTTPFailure.hx

@@ -3,7 +3,6 @@ package kernel.http;
 using lua.Table;
 
 class HTTPFailure {
-
 	public final reason:String;
 	public final statusCode:Null<StatusCode>;
 	public final headers:Map<String, String>;

src/kernel/http/HTTPRequest.hx

@@ -8,13 +8,13 @@ using tink.CoreApi;
 class Http {
 	public static function request(url:String, ?body:String, ?options:String):Future<Outcome<HTTPResponse, HTTPFailure>> {
 		return new Future<Outcome<HTTPResponse, HTTPFailure>>((resolve) -> {
-			KernelEvents.instance.onHttpFailure.handle((params)->{
+			KernelEvents.onHttpFailure.handle((params) -> {
 				if (params.url == url) {
 					resolve(Failure(new HTTPFailure(params.failReason, params.handle)));
 				}
 			});
 
-			KernelEvents.instance.onHttpSuccess.handle((params) -> {
+			KernelEvents.onHttpSuccess.handle((params) -> {
 				if (params.url == url) {
 					resolve(Success(new HTTPResponse(params.handle)));
 				}

src/kernel/http/HTTPResponse.hx

@@ -3,7 +3,6 @@ package kernel.http;
 using lua.Table;
 
 class HTTPResponse {
-
 	public final statusCode:StatusCode;
 	public final headers:Map<String, String>;
 	public final body:String;

src/kernel/log/Log.hx

@@ -1,7 +1,8 @@
 package kernel.log;
 
 import haxe.ds.ReadOnlyArray;
-#if webconsole
+import haxe.macro.Context;
+#if (webconsole && !macro)
 import lib.Debug;
 #end
 
@@ -11,57 +12,122 @@ using tink.CoreApi;
 	Central logging system.
 **/
 class Log {
-	public static var instance:Log;
-
 	private static inline final MAX_LINES:Int = 100;
 
-	public final onLog:Signal<LogLine>;
+	public static var onLog(default, null):Signal<LogLine>;
 
-	private final onLogTrigger:SignalTrigger<LogLine> = new SignalTrigger();
-	private final logLines:Array<LogLine> = [];
+	private static final onLogTrigger:SignalTrigger<LogLine> = new SignalTrigger();
+	private static final logLines:Array<LogLine> = [];
 
-	public function new() {
+	@:allow(kernel.Init)
+	private static function init() {
 		onLog = onLogTrigger.asSignal();
-	}
 
-	public static function info(msg:Dynamic, ?pos:haxe.PosInfos) {
-		instance.log({level: Info, message: Std.string(msg),time: 0},pos);
-	}
-
-	public static function warn(msg:Dynamic, ?pos:haxe.PosInfos) {
-		instance.log({level: Warn, message: Std.string(msg),time: 0},pos);
-	}
-
-	public static function error(msg:Dynamic, ?pos:haxe.PosInfos) {
-		instance.log({level: Error, message: Std.string(msg),time: 0},pos);
-	}
-
-	public static function debug(msg:Dynamic, ?pos:haxe.PosInfos) {
 		#if debug
-		instance.log({level: Debug, message: Std.string(msg),time: 0},pos);
+		haxe.Log.trace = function(v:Dynamic, ?infos:haxe.PosInfos) {
+			Log._debug(v, infos.className);
+		}
 		#end
 	}
 
-	public static function silly(msg:Dynamic, ?pos:haxe.PosInfos) {
-		instance.log({level: Silly, message: Std.string(msg),time: 0},pos);
+	public static function _info(msg:Dynamic, ?origin:String) {
+		log({
+			level: Info,
+			message: Std.string(msg),
+			time: 0,
+			origin: origin
+		});
 	}
 
-	private function log(line: LogLine, ?pos:haxe.PosInfos) {
-		line.origin = pos.className;
+	public static function _warn(msg:Dynamic, ?origin:String) {
+		log({
+			level: Warn,
+			message: Std.string(msg),
+			time: 0,
+			origin: origin
+		});
+	}
+
+	public static function _error(msg:Dynamic, ?origin:String) {
+		log({
+			level: Error,
+			message: Std.string(msg),
+			time: 0,
+			origin: origin
+		});
+	}
+
+	public static function _debug(msg:Dynamic, ?origin:String) {
+		#if debug
+		log({
+			level: Debug,
+			message: Std.string(msg),
+			time: 0,
+			origin: origin
+		});
+		#end
+	}
+
+	public static function _silly(msg:Dynamic, ?origin:String) {
+		log({
+			level: Silly,
+			message: Std.string(msg),
+			time: 0,
+			origin: origin
+		});
+	}
+
+	private static function log(line:LogLine) {
 		logLines.push(line);
 
 		if (logLines.length > MAX_LINES) {
 			logLines.shift();
 		}
-
-		#if webconsole
-		Debug.printWeb('[${Std.string(line.level)}][${line.origin}] ${line.message}');
-		#end
-
 		onLogTrigger.trigger(line);
+
+		#if (webconsole && !macro)
+		Debug.logToWebconsole(line);
+		#end
 	}
 
-	public function getLines():ReadOnlyArray<LogLine> {
+	public static function getLines():ReadOnlyArray<LogLine> {
 		return logLines;
 	}
+
+	#if macro
+	private static function getOrigin():String {
+		var localClass = Context.getLocalClass().get();
+		return localClass.name;
+	}
+	#end
+
+	public macro static function info(msg:ExprOf<Dynamic>) {
+		return macro {
+			Log._info(${msg}, $v{getOrigin()});
+		}
+	}
+
+	public macro static function warn(msg:ExprOf<Dynamic>) {
+		return macro {
+			Log._warn(${msg}, $v{getOrigin()});
+		}
+	}
+
+	public macro static function error(msg:ExprOf<Dynamic>) {
+		return macro {
+			Log._error(${msg}, $v{getOrigin()});
+		}
+	}
+
+	public macro static function debug(msg:ExprOf<Dynamic>) {
+		return macro {
+			Log._debug(${msg}, $v{getOrigin()});
+		}
+	}
+
+	public macro static function silly(msg:ExprOf<Dynamic>) {
+		return macro {
+			Log._silly(${msg}, $v{getOrigin()});
+		}
+	}
 }

src/kernel/net/INetworkInterface.hx

@@ -1,5 +1,7 @@
 package kernel.net;
 
+import kernel.net.Package.GenericPackage;
+
 using tink.CoreApi;
 
 /**
@@ -13,5 +15,5 @@ interface INetworkInterface {
 	public function send(chan:Int, replyChan:Int, payload:Any):Void;
 	public function name():String;
 	public function getBaseRoutingCost():Int;
-	public var onMessage (default, null): Signal<{pack:Package,?dist:Float}>;
+	public var onMessage(default, null):Signal<{pack:GenericPackage, ?dist:Float}>;
 }

src/kernel/net/Loopback.hx

@@ -1,6 +1,8 @@
 package kernel.net;
 
+import kernel.net.Package.GenericPackage;
 import kernel.log.Log;
+
 using tink.CoreApi;
 
 /**
@@ -9,9 +11,9 @@ using tink.CoreApi;
 class Loopback implements INetworkInterface {
 	public static final instance:Loopback = new Loopback();
 
-	public var onMessage(default, null):Signal<{pack:Package,dist:Null<Float>}>;
+	public var onMessage(default, null):Signal<{pack:GenericPackage, dist:Null<Float>}>;
 
-	private final onMessageTrigger: SignalTrigger<{pack:Package,dist:Null<Float>}> = Signal.trigger();
+	private final onMessageTrigger:SignalTrigger<{pack:GenericPackage, dist:Null<Float>}> = Signal.trigger();
 	private var openChans:Array<Int> = [];
 
 	private function new() {

src/kernel/net/Net.hx

@@ -1,5 +1,6 @@
 package kernel.net;
 
+import kernel.net.Package.GenericPackage;
 import kernel.gps.GPS;
 import haxe.ds.ReadOnlyArray;
 import kernel.net.Package.NetworkID;
@@ -19,33 +20,64 @@ class Net {
 	/**
 		Depends on: KernelEvents
 	**/
-	public static var instance:Net;
 	public static inline final BRODCAST_PORT:Int = 65533;
+
 	public static inline final MESSAGE_TIMEOUT:Int = 3;
 	public static inline final DEFAULT_TTL:Int = 10;
 
-	public final networkID:NetworkID = OS.getComputerID();
-	private final responseBus:Map<Int, Callback<Outcome<Package,Error>>> = new Map();
-	private final protoHandlers:Map<String, Callback<Package>> = new Map();
-	private var interfaces:Array<INetworkInterface>;
+	public static final networkID:NetworkID = OS.getComputerID();
+	private static final responseBus:Map<Int, Callback<Outcome<GenericPackage, Error>>> = new Map();
+	private static final protoHandlers:Map<String, Callback<GenericPackage>> = new Map();
+	private static var interfaces:Array<INetworkInterface>;
 
 	@:allow(kernel.Init)
-	private function new() {
-		this.interfaces = [for (e in Peripheral.instance.getModems()) e ]; // TODO: is this the way to do it?
-		this.interfaces.push(Loopback.instance);
+	private static function init() {
+		interfaces = [for (e in Peripheral.getAllModems()) e]; // TODO: is this the way to do it?
+		interfaces.push(Loopback.instance);
 
 		for (interf in interfaces) {
 			setupInterf(interf);
 		}
 
-		setupPingHandle();
+		// Handle when a modem has been removed
+		KernelEvents.onPeripheralDetach.handle((addr) -> {
+			var idx = interfaces.findIndex((i) -> {
+				return i.name() == addr;
+			});
+			if (idx == -1) {
+				return;
 			}
 
-	private function setupPingHandle() {
-		this.registerProto("icmp", pack -> {
+			Log.debug('Removed modem on addr: $addr');
+
+			interfaces.splice(idx, 1);
+			Routing.removeInterface(addr);
+		});
+
+		// Handle when a new modem is connected
+		KernelEvents.onPeripheral.handle((addr) -> {
+			if (!Peripheral.getTypes(addr).contains("modem")) {
+				return;
+			}
+
+			Log.debug('Added modem on addr: $addr');
+
+			var modem = Peripheral.getModem(addr);
+			interfaces.push(modem);
+			setupInterf(modem);
+			Routing.addInterface(modem);
+		});
+
+		setupPingHandle();
+
+		Routing.setup();
+	}
+
+	private static function setupPingHandle() {
+		registerProto("icmp", pack -> {
 			switch pack.data.type {
 				case "ping":
-					this.respondTo(pack, "pong");
+					respondTo(pack, "pong");
 				case "died":
 					// If we get a "died" message from a node when one of our packages ttl hits 0
 					// the `data.msgId` prop is the message id
@@ -59,7 +91,10 @@ class Net {
 		});
 	}
 
-	private function setupInterf(interf: INetworkInterface) {
+	/**
+		Enables the interface to receive messages.
+	**/
+	private static function setupInterf(interf:INetworkInterface) {
 		interf.onMessage.handle(e -> handle(e.pack, interf, e.dist));
 		interf.listen(networkID);
 		interf.listen(BRODCAST_PORT);
@@ -68,8 +103,8 @@ class Net {
 	/**
 		Called when a new package comes in.
 	**/
-	private function handle(pack:Package,interf: INetworkInterface, ?dist: Float) {
-		if (pack.toID == this.networkID || pack.toID == Net.BRODCAST_PORT){
+	private static function handle(pack:GenericPackage, interf:INetworkInterface, ?dist:Float) {
+		if (pack.toID == networkID || pack.toID == Net.BRODCAST_PORT) {
 			switch pack.type {
 				case Data(_) | DataNoResponse(_):
 					// Let a local proccess handle it
@@ -81,14 +116,14 @@ class Net {
 					}
 				case RouteDiscover(_) | RouteDiscoverResponse(_) | RouteDiscoverUpdate(_):
 					// Delegate to Routing
-					Routing.instance.handleRoutePackage(pack,interf);
+					Routing.handleRoutePackage(cast pack, interf);
 				case GPSRequest | GPSResponse(_):
 					if (dist == null) {
 						Log.silly("Got a GPS package but no distance was provided");
 						return;
 					}
 					// Delegate to GPS
-					GPS.instance.handlePackage(pack,dist,interf);
+					GPS.handlePackage(cast pack, dist, interf);
 			}
 		} else {
 			// New message received but its not ment for us. Forward if possible.
@@ -96,15 +131,15 @@ class Net {
 		}
 	}
 
-	private function generateMessageID():Int {
+	private static function generateMessageID():Int {
 		return Std.random(2147483647); // TODO: better uniqe number
 	}
 
 	/**
 		Send a message. Dont care if its reaches its destination nor it has a response.
 	**/
-	public function sendAndForget(dest:Int, proto:String, data:Dynamic) {
-		var pack:Package = {
+	public static function sendAndForget(dest:Int, proto:String, data:Dynamic) {
+		var pack:GenericPackage = {
 			toID: dest,
 			fromID: networkID,
 			msgID: generateMessageID(),
@@ -116,9 +151,8 @@ class Net {
 		sendRaw(pack);
 	}
 
-	private function forwardPackage(pack: Package) {
+	private static function forwardPackage(pack:GenericPackage) {
 		if (pack.ttl == 0) {
-
 			if (pack.type.match(Data(_))) {
 				// If the package is a data package and the ttl hits 0
 				// we send a "died" message to the sender
@@ -133,12 +167,13 @@ class Net {
 
 		if (!sendRaw(pack)) {
 			// Cant forward
+			Log.silly('Received a message that could not be forwarded to ${pack.toID}');
 		}
 	}
 
-	public function respondTo(pack:Package, data:Dynamic) {
-		if (pack.type.match(DataNoResponse(_))) {
-			Log.warn("Responed to a no response package. Ignoring");
+	public static function respondTo(pack:GenericPackage, data:Dynamic) {
+		if (!pack.type.match(Data(_))) {
+			Log.warn("Responding to a package that does require responding. Ignoring.");
 			return;
 		}
 
@@ -150,7 +185,7 @@ class Net {
 	/**
 		Send to package to the localy register handler based on the proto
 	**/
-	private function routeToProto(pack:Package) {
+	private static function routeToProto(pack:GenericPackage) {
 		var proto = switch pack.type {
 			case Data(proto):
 				proto;
@@ -172,22 +207,22 @@ class Net {
 		Just send the package to the right modem.
 		Returns true if message was send
 	**/
-	private function sendRaw(pack:Package): Bool {
-		var route = Routing.instance.getRouteToID(pack.toID);
+	private static function sendRaw(pack:GenericPackage):Bool {
+		var route = Routing.getRouteToID(pack.toID);
 		if (route == null) {
 			return false;
 		}
 
-		route.interf.send(route.rep,this.networkID,pack);
+		route.interf.send(route.rep, networkID, pack);
 		return true;
 	}
 
 	/**
 		Send a message and wait for a response.
 	**/
-	public function sendAndAwait(dest:NetworkID, proto:String, data:Dynamic):Promise<Package> {
-		return new Promise<Package>((resolve, reject) -> {
-			var pack:Package = {
+	public static function sendAndAwait<T>(dest:NetworkID, proto:String, data:T):Promise<GenericPackage> {
+		return new Promise<GenericPackage>((resolve, reject) -> {
+			var pack:GenericPackage = {
 				toID: dest,
 				fromID: networkID,
 				msgID: generateMessageID(),
@@ -198,8 +233,7 @@ class Net {
 
 			var timeout:Timer = null;
 
-			responseBus[pack.msgID] = ((reponse:Outcome<Package,Error>) -> {
-
+			responseBus[pack.msgID] = ((reponse:Outcome<GenericPackage, Error>) -> {
 				switch reponse {
 					case Success(pack):
 						resolve(pack);
@@ -211,6 +245,8 @@ class Net {
 				if (timeout != null) {
 					timeout.cancle();
 				}
+
+				responseBus.remove(pack.msgID);
 			});
 
 			timeout = new Timer(MESSAGE_TIMEOUT, () -> {
@@ -227,7 +263,7 @@ class Net {
 		});
 	}
 
-	public function registerProto(proto:String, callback:Callback<Package>) {
+	public static function registerProto(proto:String, callback:Callback<GenericPackage>) {
 		if (protoHandlers.exists(proto)) {
 			// Failed. Handler already exist.
 			// TODO: return error
@@ -237,16 +273,16 @@ class Net {
 		protoHandlers[proto] = callback;
 	}
 
-	public function removeProto(proto:String) {
+	public static function removeProto(proto:String) {
 		protoHandlers.remove(proto);
 	}
 
 	/**
 		Sends a ping package to the given id. Returns true if there was a response.
 	**/
-	public function ping(toID: NetworkID): Promise<Noise> {
+	public static function ping(toID:NetworkID):Promise<Noise> {
 		return new Promise<Noise>((resolve, reject) -> {
-			this.sendAndAwait(toID,"icmp",{type:"ping"}).handle(pack -> {
+			sendAndAwait(toID, "icmp", {type: "ping"}).handle(pack -> {
 				switch pack {
 					case Success(_):
 						resolve(Noise);
@@ -258,7 +294,7 @@ class Net {
 		});
 	}
 
-	public function getActiveProtocols(): ReadOnlyArray<String> {
+	public static function getActiveProtocols():ReadOnlyArray<String> {
 		var arr = new Array<String>();
 
 		for (proto in protoHandlers.keys()) {
@@ -269,8 +305,8 @@ class Net {
 	}
 
 	@:allow(kernel.gps.GPS)
-	private function brodcastGPSRequest() {
-		var pack: Package = {
+	private static function brodcastGPSRequest() {
+		var pack:Package<Noise> = {
 			fromID: networkID,
 			toID: Net.BRODCAST_PORT,
 			ttl: 0, // Prevent forwarding
@@ -279,9 +315,10 @@ class Net {
 			data: null,
 		};
 
-		for (modem in Peripheral.instance.getModems()) {
-			if (!modem.isWireless()) continue;
-			modem.send(Net.BRODCAST_PORT, Net.instance.networkID, pack);
+		for (modem in Peripheral.getAllModems()) {
+			if (!modem.isWireless())
+				continue;
+			modem.send(Net.BRODCAST_PORT, networkID, pack);
 		}
 	}
 }

src/kernel/net/Package.hx

@@ -1,8 +1,7 @@
 package kernel.net;
 
-import lib.Pos3;
-
 typedef NetworkID = Int;
+typedef GenericPackage = Package<Dynamic>;
 
 enum PackageTypes {
 	Data(proto:String);
@@ -11,22 +10,22 @@ enum PackageTypes {
 	RouteDiscover(reachableIDs:Array<{id:NetworkID, cost:Int}>);
 	RouteDiscoverResponse(reachableIDs:Array<{id:NetworkID, cost:Int}>);
 	RouteDiscoverUpdate(reachableIDs:Array<{id:NetworkID, cost:Int}>);
-	GPSResponse(pos:Pos3);
+	GPSResponse(x:Float, y:Float, z:Float);
 	GPSRequest();
 }
 
 /**
 	Representing a network package.
 **/
-@:structInit class Package {
+@:structInit class Package<T> {
 	public final fromID:NetworkID;
 	public final toID:NetworkID;
 	public final msgID:Int;
 	public final type:PackageTypes;
-	public final data:Dynamic;
+	public final data:T;
 	public var ttl:Int;
 
-	public function new(fromID:NetworkID, toID:NetworkID, msgID:Int, type:PackageTypes, data:Dynamic, ttl:Int) {
+	public function new(fromID:NetworkID, toID:NetworkID, msgID:Int, type:PackageTypes, data:T, ttl:Int) {
 		this.fromID = fromID;
 		this.toID = toID;
 		this.msgID = msgID;
@@ -38,7 +37,7 @@ enum PackageTypes {
 	/**
 		Create package that can be used as a response.
 	**/
-	public function createResponse(newData:Dynamic):Package {
+	public function createResponse<T2>(newData:T2):Package<T2> {
 		return {
 			toID: fromID,
 			fromID: toID,
@@ -50,9 +49,9 @@ enum PackageTypes {
 	}
 
 	/**
-		Wrapper for `Net.instance.respondTo`.
+		Wrapper for `Net.respondTo`.
 	**/
 	public function respond(data:Dynamic) {
-		Net.instance.respondTo(this, data);
+		Net.respondTo(this, data);
 	}
 }

src/kernel/net/Routing.hx

@@ -20,24 +20,22 @@ class Routing {
 	/**
 		Depends on: Peripheral
 	**/
-	public static var instance:Routing;
-
 	public static inline final UPDATE_WAIT_TIME:Float = 1;
 
-	public final onNewNeigbor:Signal<Int>;
+	public static var onNewNeigbor(default, null):Signal<Int>;
 
-	private final onNewNeigborTrigger:SignalTrigger<NetworkID> = Signal.trigger();
-	private final routingTable:Map<NetworkID, Route> = new Map();
-	private var routeUpdateInQueue:Bool = false;
+	private static final onNewNeigborTrigger:SignalTrigger<NetworkID> = Signal.trigger();
+	private static final routingTable:Map<NetworkID, Route> = new Map();
+	private static var routeUpdateInQueue:Bool = false;
 
 	@:allow(kernel.Init)
-	private function new() {
-		this.onNewNeigbor = this.onNewNeigborTrigger.asSignal();
+	private static function init() {
+		onNewNeigbor = onNewNeigborTrigger.asSignal();
 	}
 
-	@:allow(kernel.Init)
-	private function init() {
-		routingTable.set(Net.instance.networkID, {interf: Loopback.instance, cost: 0, rep: Net.instance.networkID});
+	@:allow(kernel.net.Net)
+	private static function setup() {
+		routingTable.set(Net.networkID, {interf: Loopback.instance, cost: 0, rep: Net.networkID});
 		brodcastRoutingTable();
 	}
 
@@ -45,27 +43,27 @@ class Routing {
 		Prepares an brodcast of the current routing table. If a brodcast is already in queue it will be ignored.
 		After UPDATE_WAIT_TIME seconds the routing table will be brodcasted. This is done to prevent spamming the network.
 	**/
-	private function prepareRouteUpdate() {
-		if (this.routeUpdateInQueue) {
+	private static function prepareRouteUpdate() {
+		if (routeUpdateInQueue) {
 			return;
 		}
 
-		this.routeUpdateInQueue = true;
+		routeUpdateInQueue = true;
 
 		new Timer(UPDATE_WAIT_TIME, () -> {
 			brodcastRoutingTable();
-			this.routeUpdateInQueue = false;
+			routeUpdateInQueue = false;
 		});
 	}
 
 	/**
 		Brodcast the current routing table to all peers.
 	**/
-	private function brodcastRoutingTable() {
+	private static function brodcastRoutingTable() {
 		var pack = newRoutDiscoverPackage();
 
-		for (modem in Peripheral.instance.getModems()) {
-			modem.send(Net.BRODCAST_PORT, Net.instance.networkID, pack);
+		for (modem in Peripheral.getAllModems()) {
+			modem.send(Net.BRODCAST_PORT, Net.networkID, pack);
 		}
 	}
 
@@ -73,53 +71,48 @@ class Routing {
 		Handle incomming packages that involve route discovery.
 	**/
 	@:allow(kernel.net.Net)
-	private function handleRoutePackage(pack:Package, interf:INetworkInterface):Void {
+	private static function handleRoutePackage(pack:Package<Noise>, interf:INetworkInterface):Void {
 		addPossibleRoute(pack.fromID, interf, 0, pack.fromID);
 
-		var shouldRespond:Bool = switch pack.type {
+		switch pack.type {
 			case RouteDiscoverResponse(routes):
+				// A request for routes has been answerd
 				for (route in routes) {
 					addPossibleRoute(route.id, interf, route.cost, pack.fromID);
 				}
-				false;
 			case RouteDiscover(routes):
+				// Received a request for available routes
 				for (route in routes) {
 					addPossibleRoute(route.id, interf, route.cost, pack.fromID);
 				}
-				true;
-			case RouteDiscoverUpdate(routes):
-				for (route in routes) {
-					addPossibleRoute(route.id, interf, route.cost, pack.fromID);
-				}
-				false;
-			default:
-				Log.error("Expected package to be a Route discover package");
-				false;
-		};
-
-		if (!shouldRespond) {
-			return;
-		}
 
 				// Respond to peer
-		var response:Package = {
+				var response:Package<Noise> = {
 					toID: pack.fromID,
-			fromID: Net.instance.networkID,
+					fromID: Net.networkID,
 					msgID: null,
 					type: RouteDiscoverResponse(genRouteList()),
 					data: null,
 					ttl: 0, // Prevent forwarding
 				}
 
-		interf.send(response.toID, Net.instance.networkID, response);
+				interf.send(response.toID, Net.networkID, response);
+			case RouteDiscoverUpdate(routes):
+				// Received an update of routes
+				for (route in routes) {
+					addPossibleRoute(route.id, interf, route.cost, pack.fromID);
+				}
+			default:
+				Log.silly("Expected package to be a Route discover package");
+		};
 	}
 
 	/**
 		Generate a list of routes to send to a peer based on the current routing table.
 	**/
-	private function genRouteList():Array<{id:NetworkID, cost:Int}> {
+	private static function genRouteList():Array<{id:NetworkID, cost:Int}> {
 		var routes:Array<{id:NetworkID, cost:Int}> = [];
-		for (k => v in this.routingTable) {
+		for (k => v in routingTable) {
 			routes.push({
 				id: k,
 				cost: v.cost
@@ -128,12 +121,15 @@ class Routing {
 		return routes;
 	}
 
-	private function newRoutDiscoverPackage():Package {
-		var pack:Package = {
+	/**
+		Create a new packate to brodcast our routes.
+	**/
+	private static function newRoutDiscoverPackage():Package<Noise> {
+		var pack:Package<Noise> = {
 			type: RouteDiscover(genRouteList()),
 			toID: Net.BRODCAST_PORT,
 			msgID: null,
-			fromID: Net.instance.networkID,
+			fromID: Net.networkID,
 			data: null,
 			ttl: 0, // Prevent forwarding
 		}
@@ -145,31 +141,31 @@ class Routing {
 		Called when a route to a client has been disoverd.
 		Its possible to be called multiple times with the same id but different addr.
 	**/
-	private function addPossibleRoute(toID:Int, interf:INetworkInterface, cost:Int, rep:NetworkID) {
-		if (toID == Net.instance.networkID) {
+	private static function addPossibleRoute(toID:Int, interf:INetworkInterface, cost:Int, rep:NetworkID) {
+		if (toID == Net.networkID) {
 			return;
 		}
 
 		var fullCost = cost + interf.getBaseRoutingCost();
 
-		if (this.routingTable.exists(toID)) {
-			if (this.routingTable[toID].cost > fullCost) {
-				this.routingTable[toID] = {interf: interf, cost: cost + interf.getBaseRoutingCost(), rep: rep};
-				this.prepareRouteUpdate();
+		if (routingTable.exists(toID)) {
+			if (routingTable[toID].cost > fullCost) {
+				routingTable[toID] = {interf: interf, cost: cost + interf.getBaseRoutingCost(), rep: rep};
+				prepareRouteUpdate();
 			}
 		} else {
-			this.routingTable[toID] = {interf: interf, cost: cost + interf.getBaseRoutingCost(), rep: rep};
-			this.onNewNeigborTrigger.trigger(toID);
-			this.prepareRouteUpdate();
+			routingTable[toID] = {interf: interf, cost: cost + interf.getBaseRoutingCost(), rep: rep};
+			onNewNeigborTrigger.trigger(toID);
+			prepareRouteUpdate();
 		}
 	}
 
-	public function getRouteToID(networkID:NetworkID):{interf:INetworkInterface, rep:NetworkID} {
-		if (networkID == Net.instance.networkID) {
-			return {interf: Loopback.instance, rep: Net.instance.networkID};
+	public static function getRouteToID(networkID:NetworkID):{interf:INetworkInterface, rep:NetworkID} {
+		if (networkID == Net.networkID) {
+			return {interf: Loopback.instance, rep: Net.networkID};
 		}
 
-		var route:Null<Route> = this.routingTable[networkID];
+		var route:Null<Route> = routingTable[networkID];
 
 		if (route == null) {
 			return null;
@@ -178,7 +174,31 @@ class Routing {
 		}
 	}
 
-	public function getRouteTable():Map<NetworkID, Route> {
-		return this.routingTable;
+	public static function getRouteTable():Map<NetworkID, Route> {
+		return routingTable;
+	}
+
+	/**
+		Call when an interface is no longer available.
+		Will rebrodcast routing requests.
+	**/
+	@:allow(kernel.net.Net)
+	private static function removeInterface(addr:String) {
+		// Remove the interface from the routing table
+		for (to => modem in routingTable) {
+			if (modem.interf.name() == addr) {
+				routingTable.remove(to);
+			}
+		}
+
+		// Since some routes to some host could be lost
+		// we rebrodcast on all interfaces again
+		brodcastRoutingTable();
+	}
+
+	@:allow(kernel.net.Net)
+	private static function addInterface(iface:INetworkInterface) {
+		var pack = newRoutDiscoverPackage();
+		iface.send(Net.BRODCAST_PORT, Net.networkID, pack);
 	}
 }

src/kernel/peripherals/BigReactor.hx

@@ -0,0 +1,181 @@
+package kernel.peripherals;
+
+import cc.Peripheral;
+
+using tink.CoreApi;
+
+class BigReactor implements IPeripheral {
+	public static inline final TYPE_NAME:String = "BigReactors-Reactor";
+
+	private final addr:String;
+
+	public function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getAddr():String {
+		return addr;
+	}
+
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
+	public inline function getActive():Bool {
+		return Peripheral.call(addr, "getActive");
+	}
+
+	public inline function getNumberOfControlRods():Int {
+		return Peripheral.call(addr, "getNumberOfControlRods");
+	}
+
+	public inline function getEnergyStored():Float {
+		return Peripheral.call(addr, "getEnergyStored");
+	}
+
+	public inline function getFuelTemperature():Float {
+		return Peripheral.call(addr, "getFuelTemperature");
+	}
+
+	public inline function getCasingTemperature():Float {
+		return Peripheral.call(addr, "getCasingTemperature");
+	}
+
+	public inline function getFuelAmount():Int {
+		return Peripheral.call(addr, "getFuelAmount");
+	}
+
+	public inline function getWasteAmount():Int {
+		return Peripheral.call(addr, "getWasteAmount");
+	}
+
+	public inline function getFuelAmountMax():Int {
+		return Peripheral.call(addr, "getFuelAmountMax");
+	}
+
+	public function getControlRodName(controlRodIndex:Int):String {
+		// TODO: check in bounds
+		return Peripheral.call(addr, "getControlRodName", controlRodIndex);
+	}
+
+	public function getControlRodLevel(controlRodIndex:Int):Int {
+		// TODO: check in bounds
+		return Peripheral.call(addr, "getControlRodLevel", controlRodIndex);
+	}
+
+	/**
+		If the reactor is actively cooled, returns the amount of hot fluid produced in the past tick, in milli-Buckets (mB).
+	**/
+	public inline function getEnergyProducedLastTick():Float {
+		return Peripheral.call(addr, "getEnergyProducedLastTick");
+	}
+
+	/**
+		If the reactor is passively cooled, always returns 0. 
+	**/
+	public inline function getHotFluidProducedLastTick():Float {
+		return Peripheral.call(addr, "getHotFluidProducedLastTick");
+	}
+
+	public inline function getCoolantType():Null<String> {
+		return Peripheral.call(addr, "getCoolantType");
+	}
+
+	/**
+		in milli-buckets (mB) 
+	**/
+	public inline function getCoolantAmount():Int {
+		return Peripheral.call(addr, "getCoolantAmount");
+	}
+
+	/**
+		in milli-buckets (mB)
+	**/
+	public inline function getCoolantAmountMax():Int {
+		return Peripheral.call(addr, "getCoolantAmountMax");
+	}
+
+	public inline function getHotFluidType():Null<String> {
+		return Peripheral.call(addr, "getHotFluidType");
+	}
+
+	/**
+		in milli-buckets (mB)
+	**/
+	public inline function getHotFluidAmount():Int {
+		return Peripheral.call(addr, "getHotFluidAmount");
+	}
+
+	/**
+		Returns the reactivity level of the reactor's fuel. 100 = 100 percent 
+	**/
+	public inline function getFuelReactivity():Int {
+		return Peripheral.call(addr, "getFuelReactivity");
+	}
+
+	public inline function getFuelConsumedLastTick():Float {
+		return Peripheral.call(addr, "getFuelConsumedLastTick");
+	}
+
+	public inline function isActivelyCooled():Bool {
+		return Peripheral.call(addr, "isActivelyCooled");
+	}
+
+	public inline function setActive(active:Bool):Void {
+		Peripheral.call(addr, "setActive", active);
+	}
+
+	/**
+		0 (not inserted) to 100 (fully inserted) 
+	**/
+	public inline function setAllControlRodLevels(level:Int) {
+		Peripheral.call(addr, "setAllControlRodLevels", level);
+	}
+
+	/**
+		0 (not inserted) to 100 (fully inserted) 
+	**/
+	public function setControlRodLevel(index:Int, level:Int):Void {
+		// TODO: check in bounds
+		Peripheral.call(addr, "setControlRodLevel", index, level);
+	}
+
+	public inline function doEjectWaste():Void {
+		throw new Error("Not implemented");
+	}
+
+	public inline function doEjectFuel():Void {
+		throw new Error("Not implemented");
+	}
+
+	public inline function getControlRodLocation(index:Int):Void {
+		throw new Error("Not implemented");
+	}
+
+	public inline function getEnergyStoredAsText():String {
+		return Peripheral.call(addr, "getEnergyStoredAsText");
+	}
+
+	public inline function getVariant():String {
+		return Peripheral.call(addr, "getVariant");
+	}
+
+	public inline function setControlRodName(index:Int, name:String):Void {
+		Peripheral.call(addr, "setControlRodName", index, name);
+	}
+
+	// Useless methods
+	// getFuelStats
+	// getEnergyStats
+	// getCoolantFluidStats
+	// getHotFluidStats
+	// TODO: need research
+	// isMethodAvailable(method: String): Bool
+	// mbGetMaximumCoordinate(): Pos3
+	// mbGetMinimumCoordinate(): Pos3
+	// mbGetMultiblockControllerTypeName(): String
+	// mbIsAssembled(): Bool
+	// mbIsConnected(): Bool
+	// mbIsDisassembled(): Bool
+	// mbIsPaused(): Bool
+}

src/kernel/peripherals/Computer.hx

@@ -0,0 +1,50 @@
+package kernel.peripherals;
+
+import cc.Peripheral;
+import kernel.net.Package.NetworkID;
+
+class Computer implements IPeripheral {
+	public static inline final TYPE_NAME:String = "computer";
+
+	private final addr:String;
+
+	@:allow(kernel.peripherals)
+	private function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getAddr():String {
+		return addr;
+	}
+
+	public function getType():String {
+		return Computer.TYPE_NAME;
+	}
+
+	public function isOn():Bool {
+		return Peripheral.call(addr, "isOn");
+	}
+
+	public function getLabel():Null<String> {
+		return Peripheral.call(addr, "getLabel");
+	}
+
+	/**
+		Return -1 if no ID set yet
+	**/
+	public function getID():NetworkID {
+		return Peripheral.call(addr, "getID");
+	}
+
+	public function reboot() {
+		Peripheral.call(addr, "reboot");
+	}
+
+	public function shutdown() {
+		Peripheral.call(addr, "shutdown");
+	}
+
+	public function turnOn() {
+		Peripheral.call(addr, "turnOn");
+	}
+}

src/kernel/peripherals/Drive.hx

@@ -1,8 +1,12 @@
 package kernel.peripherals;
 
+import cc.Peripheral;
+
 using tink.CoreApi;
 
 class Drive implements IPeripheral {
+	public static inline final TYPE_NAME:String = "drive";
+
 	public final onDiskInsert:Signal<Noise>;
 	public final onDiskEject:Signal<Noise>;
 
@@ -12,20 +16,20 @@ class Drive implements IPeripheral {
 	private final onDiskEjectTrigger:SignalTrigger<Noise> = Signal.trigger();
 
 	@:allow(kernel.peripherals)
-	private function new(native: cc.periphs.Disk,addr: String) {
+	private function new(addr:String) {
 		this.addr = addr;
-		this.native = native;
+		this.native = Peripheral.wrap(addr);
 
 		this.onDiskInsert = this.onDiskInsertTrigger.asSignal();
 		this.onDiskEject = this.onDiskEjectTrigger.asSignal();
 
-		KernelEvents.instance.onDisk.handle((addr) ->{
+		KernelEvents.onDisk.handle((addr) -> {
 			if (addr == this.addr) {
 				this.onDiskInsertTrigger.trigger(null);
 			}
 		});
 
-		KernelEvents.instance.onDiskEject.handle((addr)->{
+		KernelEvents.onDiskEject.handle((addr) -> {
 			if (addr == this.addr) {
 				this.onDiskEjectTrigger.trigger(null);
 			}
@@ -36,6 +40,10 @@ class Drive implements IPeripheral {
 		return this.addr;
 	}
 
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
 	public inline function isDiskPresent():Bool {
 		return this.native.isDiskPresent();
 	}

src/kernel/peripherals/DroneInterface.hx

@@ -0,0 +1,491 @@
+package kernel.peripherals;
+
+import lib.Item;
+import haxe.exceptions.NotImplementedException;
+
+/**
+	See https://github.com/MineMaarten/PneumaticCraft/blob/master/resources/assets/pneumaticcraft/wiki/en_US/block/droneInterface.txt
+**/
+class DroneInterface implements IPeripheral {
+	public static inline final TYPE_NAME:String = "drone_interface";
+
+	private final addr:String;
+
+	@:allow(kernel.peripherals)
+	private function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getAddr():String {
+		return this.addr;
+	}
+
+	public function getType():String {
+		return DroneInterface.TYPE_NAME;
+	}
+
+	/**
+		Returns true if a Drone has connected with this Drone Interface 
+		(when the Drone's program has arrived at the ComputerCraft piece and made a connection).
+	**/
+	public function isConnectedToDrone():Bool {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns the pressure of the connected Drone.
+	**/
+	public function getDronePressure() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns a table of 3 double values containing the x,y and z position respectively of the Drone.
+	**/
+	public function getDronePosition() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Stops the ComputerCraft piece in the Drone, and allows the Drone's program to proceed to the next puzzle piece.
+	**/
+	public function exitPiece() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns a table of all the current selectable actions (like 'dig' or 'place').
+	**/
+	public function getAllActions() {
+		/*
+			pneumaticcraft:entity_attack
+			pneumaticcraft:dig
+			pneumaticcraft:harvest
+			pneumaticcraft:place
+			pneumaticcraft:block_right_click
+			pneumaticcraft:entity_right_click
+			pneumaticcraft:pickup_item
+			pneumaticcraft:drop_item
+			pneumaticcraft:void_item
+			pneumaticcraft:void_liquid
+			pneumaticcraft:inventory_export
+			pneumaticcraft:inventory_import
+			pneumaticcraft:liquid_export
+			pneumaticcraft:liquid_import
+			pneumaticcraft:entity_export
+			pneumaticcraft:entity_import
+			pneumaticcraft:rf_import
+			pneumaticcraft:rf_export
+			pneumaticcraft:goto
+			pneumaticcraft:teleport
+			pneumaticcraft:emit_redstone
+			pneumaticcraft:rename
+			pneumaticcraft:suicide
+			pneumaticcraft:crafting
+			pneumaticcraft:standby
+			pneumaticcraft:logistics
+			pneumaticcraft:edit_sign
+			pneumaticcraft:condition_redstone
+			pneumaticcraft:condition_light
+			pneumaticcraft:condition_item_inventory
+			pneumaticcraft:condition_block
+			pneumaticcraft:condition_liquid_inventory
+			pneumaticcraft:condition_pressure
+			pneumaticcraft:drone_condition_item
+			pneumaticcraft:drone_condition_liquid
+			pneumaticcraft:drone_condition_entity
+			pneumaticcraft:drone_condition_pressure
+			pneumaticcraft:drone_condition_upgrades
+			pneumaticcraft:condition_rf
+			pneumaticcraft:drone_condition_rf
+			pneumaticcraft:computer_control
+		 */
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets the place/dig order of the Drone.
+	**/
+	public function setBlockOrder(order:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns a table of all the possible area types (filled, frame, sphere, ..).
+	**/
+	public function getAreaTypes() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Adds an area to the current stored area of the Drone. When using the latter method, x1, y1, and z1, represent
+		the first point (which would be the first GPS Tool normally), and x2, y2, and z2 represent the second point.
+	**/
+	public function addArea(x:Int, y:Int, z:Int) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Removes an area from the current stored area (like blacklisting).
+	**/
+	public function removeArea(x:Int, y:Int, z:Int) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears the current stored area.
+	**/
+	public function clearArea() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Will show the current stored area using the area renderer you are used to.
+	**/
+	public function showArea() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Will stop showing the area stored in the Drone.
+	**/
+	public function hideArea() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Acts as you've put a Item Filter piece on the right of a piece (making it whitelisting).
+		The item/block name is in Minecraft format, i.e. "minecraft:stone", or "pneumaticcraft:pressureTube".
+		The 'useXXX' are all booleans that determine what filters will be used (same functionality as the check boxes in the Item Filter puzzle piece).
+	**/
+	public function addWhitelistItemFilter(item:Item, metadata:String, useMetadata:Bool, useNBT:Bool, useOreDictionary:Bool, useModSimilarity:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Like the addWhitelistItemFilter(...), but to blacklist items.
+	**/
+	public function addBlacklistItemFilter(item:Item, metadata:String, useMetadata:Bool, useNBT:Bool, useOreDictionary:Bool, useModSimilarity:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears all the whitelisted item filters stored.
+	**/
+	public function clearWhitelistItemFilter() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears all the blacklisted item filters stored.
+	**/
+	public function clearBlacklistItemFilter() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Adds a text to the whitelisted texts. Used to specify a filter for the Entity Attack action for example.
+	**/
+	public function addWhitelistText(text:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Adds a text to the blacklisted texts. Used to specify a filter for the Entity Attack action for example.
+	**/
+	public function addBlacklistText(text:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears the stored whitelisted texts.
+	**/
+	public function clearWhitelistText() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears the stored blacklisted texts.
+	**/
+	public function clearBlacklistText() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Acts as you've put a Liquid Filter piece on the right of a piece (making it whitelisting).
+		You can either give it the 'registry name', or the localized name.
+	**/
+	public function addWhitelistLiquidFilter(liquidName:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Like the addWhitelistLiquidFilter(...), but to blacklist liquids.
+	**/
+	public function addBlacklistLiquidFilter(liquidName:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears all the whitelisted liquid filters stored.
+	**/
+	public function clearWhitelistLiquidFilter() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Clears all the blacklisted liquid filters stored.
+	**/
+	public function clearBlacklistLiquidFilter() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets the strength the redstone will be emitting when the "emitRedstone" action would be set.
+	**/
+	public function setEmittingRedstone(strength:Int) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets the name the Drone will be named to when the "rename" action would be set.
+	**/
+	public function setRenameString(name:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		When the "dropItem" action would be set, this determines whether or not 
+		the item will be dropped with a random velocity, or straight down.
+	**/
+	public function setDropStraight(to:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		This says whether or not the Drone has a maximum of imported/exported/dropped pieces. 
+		If true, also use setCount().
+	**/
+	public function setUseCount(count:Int) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		This configures the maximum amount of imported/exported/dropped items, and also is the amount that's checked when doing a condition check.
+	**/
+	public function setCount(count:Int) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Used in conditions only. When true, all checked blocks need to satisfy the condition requirements (>=10 etcetera).
+	**/
+	public function setIsAndFunction(to:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Used in conditions only.
+		Says whether or not the condition is checking for an equal amount (=) or equal and higher than amount (>=).
+		The amount can be set using setCount().
+	**/
+	public function setOperator(op:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns true/false. Used in conditions only.
+		Will return true/false depending on whether or not the condition is satisfied.
+		Drone Conditions can be checked right after setting 'setAction()'.
+		Note that you need to wait until 'isActionDone' if you're dealing with a non Drone Condition.
+	**/
+	public function evaluateCondition():Bool {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets the specific side to be accessible or not.
+		Used in the Inventory Im- and Export actions to set which side of the inventory the Drone can access.
+		It is also used for the Place action to determine how to place the block.
+	**/
+	public function setSide(side:String, accessible:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Same as setSide(side: String, accessible: Bool), now in one function to set all sides at once (6x boolean).
+	**/
+	public function setSides(down:Bool, up:Bool, north:Bool, south:Bool, east:Bool, west:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		This says whether or not the Drone has a maximum actions performed on a block at a time before the command is considered 'done'.
+		Applies to the Place, Dig and Right-Click block program. If true, also use setMaxActions().
+	**/
+	public function setUseMaxActions(to:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		This configures the maximum amount of actions performed on blocks before the command is considered 'done'.
+		This applies to the Place, Dig an Right-Click block program. Be sure to also call setUseMaxActions(true) to enable usage of this.
+	**/
+	public function setMaxActions(max:Int) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets up the crafting grid so when the Crafting instruction is called, this recipe will be used.
+		You need to specify all 9 items making up the recipe.
+		For empty spaces supply nil. The naming format is the same as for supplying item filters.
+
+		TODO: args: <item/block name>, <item/block name>, ...(9x)
+	**/
+	public function setCraftingGrid() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Only used in the right click command, this will set whether or not the fake player is sneaking while right clicking.
+	**/
+	public function setSneaking(sneaking:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Only used in the Liquid Export command, when set to true the Drone will be allowed to place down fluid blocks.
+	**/
+	public function setPlaceFluidBlocks(to:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets the[link{pneumaticcraft:progwidget/coordinateOperator}] variable[link{}] of this Drone.
+		When passing 'true', the coordinate will be set to (1,0,0).
+		Alternatively, false will be setting it to (0,0,0).
+		It is possible to set global variables (#) as well.
+
+		TODO: args
+			setVariable(<variable name>, <true/false>)
+			setVariable(<variable name>, <x>)
+			setVariable(<variable name>, <x>, <y>, <z>)
+	**/
+	public function setVariable(name:String, to:Dynamic) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns the value of the variable from this Drone (x, y and z).
+		It is possible to get global (#) and special variables ($) as well.
+	**/
+	public function getVariable(name:String):Dynamic {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Sets the text that's going to be set to Signs using the Edit Sign command.
+
+		TODO: args <line1>, <line2>, ..., <lineN>
+	**/
+	public function setSignText(lines:Array<String>) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		String that represents the action. This should be one of the actions returned by getAllActions().
+	**/
+	public function setAction(action:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns a string that represents the last action set by 'setAction'.
+		Will return nil when no action is set.
+		Can be used to make sure to only call 'isActionDone()' when this method does not return nil.
+	**/
+	public function getAction():String {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Stops the current running action.
+	**/
+	public function abortAction() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Returns true if the current action is done (goto has arrived at the target location,
+		inventory import can't import anymore, dig has dug every possible block, ..).
+	**/
+	public function isActionDone():Bool {
+		throw new NotImplementedException();
+	}
+
+	/**
+		When the Drone was targeting an Entity (in the Entity Attack program), this will stop attacking that target.
+	**/
+	public function forgetTarget() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Will get the amount of inserted upgrades of the given type.
+		This type is the index of the upgrade (in creative, or NEI), starting with 0.
+		Or the metadata value when you use NEI.
+		A Speed upgrade for example has an index of 5.
+	**/
+	public function getUpgrades(upgrade:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function setCanSteal(canSteal:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function setRequiresTool(requiresTool:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function setCheckLineOfSight(check:Bool) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function setRightClickType(to:String) {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function getDronePositionVec() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function getOwnerID() {
+		throw new NotImplementedException();
+	}
+
+	/**
+		Unkown. Showed up in the inspect.
+	**/
+	public function getOwnerName():String {
+		throw new NotImplementedException();
+	}
+}

src/kernel/peripherals/EnergyStorage.hx

@@ -0,0 +1,29 @@
+package kernel.peripherals;
+
+class EnergyStorage implements IPeripheral {
+	public static inline final TYPE_NAME:String = "energyCell";
+
+	private final addr:String;
+	private final native:cc.periphs.EnergyStorage;
+
+	public function new(addr:String) {
+		this.addr = addr;
+		this.native = cc.Peripheral.wrap(addr);
+	}
+
+	public function getEnergy():Int {
+		return this.native.getEnergy();
+	}
+
+	public function getEnergyCapacity():Int {
+		return this.native.getEnergyCapacity();
+	}
+
+	public function getAddr():String {
+		return this.addr;
+	}
+
+	public function getType():String {
+		return TYPE_NAME;
+	}
+}

src/kernel/peripherals/GeoScanner.hx

@@ -0,0 +1,76 @@
+package kernel.peripherals;
+
+import lib.BlockPos;
+import lib.Tags;
+import cc.Peripheral;
+
+using tink.CoreApi;
+using lua.Table;
+
+@:structInit typedef ScanBlock = {
+	name:String,
+	tags:Tags,
+	pos:BlockPos
+}
+
+class GeoScanner implements IPeripheral {
+	public static inline final TYPE_NAME:String = "geoScanner";
+
+	private final addr:String;
+
+	public function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getAddr():String {
+		return this.addr;
+	}
+
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
+	/**
+		Returns the current time remaining until then next scan() can be ran.
+	**/
+	public function getScanCooldown():Int {
+		return Peripheral.call(this.addr, "getScanCooldown");
+	}
+
+	/**
+		Returns the cost in FE for a scan with the given radius.
+		Returns null of scan of this radius is not posible.
+	**/
+	public function cost(radius:Int):Null<Int> {
+		return Peripheral.call(this.addr, "cost", radius);
+	}
+
+	/**
+		Returns a list of data about all blocks in the radius.
+		X,Y,Z are relative to the geoscanner block.
+		Air blocks are not included.
+		List is unsorted.
+	**/
+	public function scan(radius:Int):Outcome<Array<ScanBlock>, String> {
+		// TODO: Handel fail state
+		var result:lua.Table<Int, {
+			x:Int,
+			y:Int,
+			z:Int,
+			name:String,
+			tags:lua.Table<Int, String>
+		}> = Peripheral.call(this.addr, "scan", radius);
+
+		return Success(result.toArray().map((e) -> {
+			name: e.name,
+			tags: Tags.fromIntTable(e.tags),
+			pos: new BlockPos(e.x, e.y, e.z)
+		}));
+	}
+
+	public function chunkAnalyze():Outcome<Map<String, Int>, String> {
+		var result:lua.Table<String, Int> = Peripheral.call(this.addr, "chunkAnalyze");
+
+		return Success(result.toMap());
+	}
+}

src/kernel/peripherals/IPeripheral.hx

@@ -2,4 +2,5 @@ package kernel.peripherals;
 
 interface IPeripheral {
 	public function getAddr():String;
+	public function getType():String;
 }

src/kernel/peripherals/Inventory.hx

@@ -0,0 +1,123 @@
+package kernel.peripherals;
+
+import kernel.log.Log;
+import lib.Debug;
+import cc.Peripheral;
+import lib.Tags;
+import lib.Item;
+import cc.periphs.ItemStorage.ReducedItemInfo;
+import lua.Table;
+
+using Lambda;
+
+class ItemInfo {
+	public final count:Int;
+	public final name:Item;
+	public final nbt:Null<String>;
+
+	@:allow(kernel.peripherals.Inventory)
+	private function new(from:ReducedItemInfo) {
+		this.count = from.count;
+		this.name = from.name;
+		this.nbt = from.nbt;
+	}
+}
+
+class DetailedItemInfo extends ItemInfo {
+	public final displayName:String;
+	public final maxCount:Int;
+	public final tags:Tags;
+	public final durability:Null<Float>;
+	public final damage:Null<Int>;
+	public final maxDamage:Null<Int>;
+	public final enchantments:Array<{displayName:String, level:Int, name:String}>;
+
+	@:allow(kernel.peripherals.Inventory)
+	private function new(from:cc.periphs.ItemStorage.DetailedItemInfo) {
+		super(from);
+
+		this.tags = Tags.fromBoolTable(from.tags);
+
+		this.displayName = from.displayName;
+		this.maxCount = from.maxCount;
+		this.durability = from.durability;
+		this.damage = from.damage;
+		this.maxDamage = from.maxDamage;
+
+		if (from.enchantments != null) {
+			this.enchantments = from.enchantments;
+		} else {
+			this.enchantments = [];
+		}
+	}
+}
+
+class Inventory implements IPeripheral {
+	public static inline final TYPE_NAME:String = "inventory";
+
+	private final addr:String;
+
+	public function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getAddr():String {
+		return this.addr;
+	}
+
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
+	/**
+		Get the size of this inventory.
+	**/
+	public function size():Int {
+		return Peripheral.call(this.addr, "size");
+	}
+
+	/**
+		List all items in this inventory.
+	**/
+	public function list():Map<Int, ItemInfo> {
+		var list:Map<Int, ReducedItemInfo> = Table.toMap(Peripheral.call(this.addr, "list"));
+		var rtn:Map<Int, ItemInfo> = new Map();
+
+		for (k => v in list) {
+			rtn.set(k - 1, new ItemInfo(v));
+		}
+
+		return rtn;
+	}
+
+	/**
+		Get detailed information about an item.
+	**/
+	public function getItemDetail(slot:Int):DetailedItemInfo {
+		return new DetailedItemInfo(Peripheral.call(this.addr, "getItemDetail", slot + 1));
+	}
+
+	/**
+		Get the maximum number of items which can be stored in this slot.
+		Typically this will be limited to 64 items. 
+		However, some inventorwies (such as barrels or caches) can store hundreds or thousands of items in one slot.
+		Keep in mind that this does not depend on that item stored in this slot.
+	**/
+	public function getItemLimit(slot:Int):Int {
+		return Peripheral.call(this.addr, "getItemLimit", slot + 1);
+	}
+
+	/**
+		Push items from one inventory to another connected one. Needs to be on the same wired network.
+	**/
+	public function pushItems(to:String, fromSlot:Int, ?limit:Int, ?toSlot:Int):Int {
+		return Peripheral.call(this.addr, "pushItems", to, fromSlot + 1, limit, toSlot);
+	}
+
+	/**
+		Pull items from a connected inventory into this one. Needs to be on the same wired network.
+	**/
+	public function pullItems(from:String, fromSlot:Int, ?limit:Int, ?toSlot:Int):Int {
+		return Peripheral.call(this.addr, "pullItems", from, fromSlot + 1, limit, toSlot);
+	}
+}

src/kernel/peripherals/Modem.hx

@@ -1,5 +1,6 @@
 package kernel.peripherals;
 
+import cc.Peripheral;
 import kernel.log.Log;
 import kernel.net.Package;
 import kernel.net.INetworkInterface;
@@ -7,22 +8,24 @@ import kernel.net.INetworkInterface;
 using tink.CoreApi;
 
 class Modem implements INetworkInterface implements IPeripheral {
-	public final addr:String;
-	public var onMessage(default, null):Signal<{pack:Package,dist:Null<Float>}>;
+	public static inline final TYPE_NAME:String = "modem";
 
-	private final onMessageTrigger:SignalTrigger<{pack:Package,dist:Null<Float>}> = Signal.trigger();
+	public final addr:String;
+	public var onMessage(default, null):Signal<{pack:GenericPackage, dist:Null<Float>}>;
+
+	private final onMessageTrigger:SignalTrigger<{pack:GenericPackage, dist:Null<Float>}> = Signal.trigger();
 	private final native:cc.periphs.Modem.Modem;
 
 	@:allow(kernel.peripherals)
-	private function new(nativePeripherals:cc.periphs.Modem.Modem, addr:String) {
+	private function new(addr:String) {
 		this.onMessage = onMessageTrigger.asSignal();
-		this.native = nativePeripherals;
+		this.native = Peripheral.wrap(addr);
 		this.addr = addr;
 
-		KernelEvents.instance.onModemMessage.handle(params ->{
+		KernelEvents.onModemMessage.handle(params -> {
 			try {
 				if (params.addr == this.addr) {
-					var pack:Package = {
+					var pack:GenericPackage = {
 						fromID: params.message.fromID,
 						toID: params.message.toID,
 						msgID: params.message.msgID,
@@ -71,6 +74,10 @@ class Modem implements INetworkInterface implements IPeripheral {
 		return this.addr;
 	}
 
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
 	public function getBaseRoutingCost():Int {
 		if (this.native.isWireless()) {
 			return 2; // Prefere messages over cable

src/kernel/peripherals/Peripherals.hx

@@ -1,6 +1,5 @@
 package kernel.peripherals;
 
-import haxe.ds.ReadOnlyArray;
 import kernel.peripherals.Modem;
 import kernel.peripherals.Screen;
 
@@ -12,98 +11,185 @@ using tink.CoreApi;
 	Class responseable for retrieving peripherals.
 **/
 class Peripheral {
-	/**
-		Depends on: KernelEvents
-	**/
-	public static var instance:Peripheral;
-
-	private var screens: Array<Screen> = [];
-	private var modes: Array<Modem> = [];
-	private var drives:Array<Drive> = [];
-	private var redstone:Array<Redstone> = [];
-	private var printers:Array<Printer> = [];
-
-	@:allow(kernel.Init)
-	private function new() {
-		KernelEvents.instance.onPeripheral.handle(this.updatePeripherals);
-		KernelEvents.instance.onPeripheralDetach.handle(this.updatePeripherals);
-		updatePeripherals();
-
-		redstone = [ for(side in [Side.Top,Side.Right,Side.Left,Side.Front,Side.Bottom,Side.Back]) new Redstone(side) ];
+	public static function getAllAddresses():Array<String> {
+		return cc.Peripheral.getNames().toArray();
 	}
 
-	private function updatePeripherals() {
-		findScreens();
-		findModems();
-		findDrives();
+	public static function isPresent(addr:String):Bool {
+		return cc.Peripheral.isPresent(addr);
+	}
+
+	public static function getTypes(addr:String):Array<String> {
+		if (!cc.Peripheral.isPresent(addr)) {
+			return [];
+		}
+
+		return cc.Peripheral.getType(addr).toArray();
+	}
+
+	public static function findAddrByType(type:String):Array<String> {
+		return getAllAddresses().filter(addr -> getTypes(addr).contains(type));
+	}
+
+	private static function safeGetAddr(addr:String, type:String):Null<String> {
+		if (!isPresent(addr)) {
+			return null;
+		}
+
+		var types = getTypes(addr);
+		if (!types.contains(type)) {
+			return null;
+		}
+
+		return addr;
+	}
+
+	public static function inspect(addr:String):Null<{types:Array<String>, methods:Array<String>}> {
+		if (!isPresent(addr)) {
+			return null;
+		}
+
+		var types = getTypes(addr);
+		var methods = cc.Peripheral.getMethods(addr).toArray();
+
+		return {
+			types: types,
+			methods: methods
+		};
 	}
 
 	/**
-		Get all connected screens.
+		Cast peripheral to a specific type.
+		This is a temporary solution, maybe forever.
 	**/
-	public function getScreens():ReadOnlyArray<Screen> {
-		return this.screens;
+	public static function getFromType(addr:String, type:String):Null<IPeripheral> {
+		switch (type) {
+			case Computer.TYPE_NAME:
+				return getComputer(addr);
+			case Screen.TYPE_NAME:
+				return getScreen(addr);
+			case Drive.TYPE_NAME:
+				return getDrive(addr);
+			case EnergyStorage.TYPE_NAME:
+				return getEnergyStorage(addr);
+			case Modem.TYPE_NAME:
+				return getModem(addr);
+			case Printer.TYPE_NAME:
+				return getPrinter(addr);
+			case Speaker.TYPE_NAME:
+				return getSpeaker(addr);
+			case Redstone.TYPE_NAME:
+				return getRedstone(addr);
+			case Inventory.TYPE_NAME:
+				return getInventory(addr);
+			case GeoScanner.TYPE_NAME:
+				return getGeoScanner(addr);
 		}
 
-	private function findScreens():Void {
-		var allScreens = cc.Peripheral.getNames().toArray().filter(s -> cc.Peripheral.getType(s) == "monitor");
-		this.screens = allScreens.map(s -> return new Screen((cc.Peripheral.wrap(s) : Dynamic), s));
+		return null;
 	}
 
-	public function getScreen(addr: String): Screen {
-		return this.screens.find(item -> item.getAddr() == addr);
+	public static function getScreen(addr:String):Null<Screen> {
+		var addr = safeGetAddr(addr, Screen.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Screen(addr);
 	}
 
-	/**
-		Get all connected modems.
-	**/
-	public function getModems():ReadOnlyArray<Modem> {
-		return this.modes;
+	public static function getAllScreens():Array<Screen> {
+		return [for (addr in findAddrByType(Screen.TYPE_NAME)) new Screen(addr)];
 	}
 
-	public function getModem(addr: String): Null<Modem> {
-		return this.modes.find(item -> item.getAddr() == addr);
+	public static function getModem(addr:String):Null<Modem> {
+		var addr = safeGetAddr(addr, Modem.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Modem(addr);
 	}
 
-	private function findModems():Void {
-		var allModems = cc.Peripheral.getNames().toArray().filter(s -> cc.Peripheral.getType(s) == "modem");
-		this.modes = allModems.map(s -> return new Modem((cc.Peripheral.wrap(s) : Dynamic), s));
+	public static function getAllModems():Array<Modem> {
+		return [for (addr in findAddrByType(Modem.TYPE_NAME)) new Modem(addr)];
 	}
 
-	/**
-		Get all connected drives.
-	**/
-	public function getDrives(): ReadOnlyArray<Drive> {
-		return this.drives;
+	public static function getDrive(addr:String):Null<Drive> {
+		var addr = safeGetAddr(addr, Drive.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Drive(addr);
 	}
 
-	public function getDrive(addr: String): Null<Drive> {
-		return this.drives.find(item -> item.getAddr() == addr);
+	public static function getAllDrives():Array<Drive> {
+		return [for (addr in findAddrByType(Drive.TYPE_NAME)) new Drive(addr)];
 	}
 
-	private function findDrives() {
-		var allDrives = cc.Peripheral.getNames().toArray().filter(s -> cc.Peripheral.getType(s) == "drive");
-		this.drives = allDrives.map(s -> return new Drive((cc.Peripheral.wrap(s) : Dynamic), s));
+	public static function getRedstone(side:String):Redstone {
+		// TODO: maybe handle restone differently to not duplicate event listeners
+		return new Redstone(side);
 	}
 
-	/**
-		Get redstone peripheral.
-	**/
-	public function getRedstone(side: String): Redstone {
-		return this.redstone.find(item -> item.getAddr() == side);
+	public static function getPrinter(addr:String):Null<Printer> {
+		var addr = safeGetAddr(addr, Printer.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Printer(addr);
 	}
 
-	/**
-		Get all connected printers.
-	**/
-
-	public function getPrinters():ReadOnlyArray<Printer> {
-		return this.printers;
+	public static function getAllPrinters():Array<Printer> {
+		return [for (addr in findAddrByType(Printer.TYPE_NAME)) new Printer(addr)];
 	}
 
-	private function findPrinters() {
-		var allPrinters = cc.Peripheral.getNames().toArray().filter(s -> cc.Peripheral.getType(s) == "printer");
-		this.printers = allPrinters.map(s -> return new Printer((cc.Peripheral.wrap(s) : Dynamic), s));
+	public static function getEnergyStorage(addr:String):Null<EnergyStorage> {
+		var addr = safeGetAddr(addr, EnergyStorage.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new EnergyStorage(addr);
 	}
 
+	public static function getAllEnergyStorages():Array<EnergyStorage> {
+		return [for (addr in findAddrByType(EnergyStorage.TYPE_NAME)) new EnergyStorage(addr)];
+	}
+
+	public static function getComputer(addr:String):Null<Computer> {
+		var addr = safeGetAddr(addr, Computer.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Computer(addr);
+	}
+
+	public static function getAllComputers():Array<Computer> {
+		return [for (addr in findAddrByType(Computer.TYPE_NAME)) new Computer(addr)];
+	}
+
+	public static function getSpeaker(addr:String):Null<Speaker> {
+		var addr = safeGetAddr(addr, Speaker.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Speaker(addr);
+	}
+
+	public static function getAllSpeakers():Array<Speaker> {
+		return [for (addr in findAddrByType(Speaker.TYPE_NAME)) new Speaker(addr)];
+	}
+
+	public static function getInventory(addr:String):Null<Inventory> {
+		var addr = safeGetAddr(addr, Inventory.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new Inventory(addr);
+	}
+
+	public static function getAllInventorys():Array<Inventory> {
+		return [for (addr in findAddrByType(Inventory.TYPE_NAME)) new Inventory(addr)];
+	}
+
+	public static function getGeoScanner(addr:String):Null<GeoScanner> {
+		var addr = safeGetAddr(addr, GeoScanner.TYPE_NAME);
+		if (addr == null)
+			return null;
+		return new GeoScanner(addr);
+	}
+
+	public static function getAllGeoScanners():Array<GeoScanner> {
+		return [for (addr in findAddrByType(GeoScanner.TYPE_NAME)) new GeoScanner(addr)];
+	}
 }

src/kernel/peripherals/Printer.hx

@@ -1,15 +1,17 @@
 package kernel.peripherals;
 
+import cc.Peripheral;
 import lib.Rect;
-import lib.Pos;
+import lib.ScreenPos;
 
 class Printer implements IPeripheral {
+	public static inline final TYPE_NAME:String = "printer";
 
 	private final native:cc.periphs.Printer.Printer;
 	private final addr:String;
 
-	public function new(native: cc.periphs.Printer.Printer, addr: String) {
-		this.native = native;
+	public function new(addr:String) {
+		this.native = Peripheral.wrap(addr);
 		this.addr = addr;
 	}
 
@@ -17,15 +19,17 @@ class Printer implements IPeripheral {
 		return addr;
 	}
 
-	public function write(text: String){
-
+	public function getType():String {
+		return TYPE_NAME;
 	}
 
-	public function getCurserPos(): Pos {
-		return new Pos({x: 0, y: 0});
+	public function write(text:String) {}
+
+	public function getCurserPos():ScreenPos {
+		return new ScreenPos({x: 0, y: 0});
 	}
 
-	public function setCurserPos(pos: Pos){
+	public function setCurserPos(pos:ScreenPos) {
 		this.native.setCursorPos(pos.x, pos.y);
 	}
 

src/kernel/peripherals/Redstone.hx

@@ -1,5 +1,6 @@
 package kernel.peripherals;
 
+import kernel.peripherals.interfaces.IRedstone;
 import haxe.ds.ReadOnlyArray;
 import lib.Color;
 
@@ -41,7 +42,8 @@ abstract BundleMask(Int) from cc.Colors.Color to cc.Colors.Color  {
 	}
 }
 
-class Redstone implements IPeripheral {
+class Redstone implements IPeripheral implements IRedstone {
+	public static inline final TYPE_NAME:String = "redstone"; // TODO: there is technically not a type for redstone.
 
 	public final onChange:Signal<Noise>;
 
@@ -59,19 +61,22 @@ class Redstone implements IPeripheral {
 
 		updateState();
 
-		KernelEvents.instance.onRedstone.handle(()->{
+		KernelEvents.onRedstone.handle(() -> {
 			if ((this.getAnalogInput() != this.analogInputState) || (this.bundleInputState != this.getBundledInput())) {
 				updateState();
 				this.onChangeTrigger.trigger(null);
 			}
 		});
-
 	}
 
 	public function getAddr():String {
 		return this.addr;
 	}
 
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
 	private function updateState() {
 		this.analogInputState = cc.Redstone.getAnalogInput(this.addr);
 		this.bundleInputState = cc.Redstone.getBundledInput(this.addr);
@@ -119,5 +124,4 @@ class Redstone implements IPeripheral {
 	public inline function testBundledInput(mask:Color):Bool {
 		return cc.Redstone.testBundledInput(this.addr, mask);
 	}
-
 }

src/kernel/peripherals/Screen.hx

@@ -1,14 +1,17 @@
 package kernel.peripherals;
 
-import lib.Pos;
+import cc.Peripheral;
+import lib.ScreenPos;
 import cc.Term.TerminalSize;
-import kernel.ui.TermWriteable;
+import kernel.ui.ITermWriteable;
 import lib.Vec.Vec2;
 import lib.Color;
 
 using tink.CoreApi;
 
-class Screen implements TermWriteable implements IPeripheral {
+class Screen implements ITermWriteable implements IPeripheral {
+	public static inline final TYPE_NAME:String = "monitor";
+
 	private final nativ:cc.periphs.Monitor.Monitor;
 	private final addr:String;
 
@@ -17,13 +20,13 @@ class Screen implements TermWriteable implements IPeripheral {
 	public final onResize:Signal<Vec2<Int>>;
 
 	@:allow(kernel.peripherals)
-	private function new(nativePeripherals:cc.periphs.Monitor.Monitor, addr:String) {
+	private function new(addr:String) {
 		this.onResize = onResizeTrigger.asSignal();
 
-		this.nativ = nativePeripherals;
+		this.nativ = Peripheral.wrap(addr);
 		this.addr = addr;
 
-		KernelEvents.instance.onMonitorResize.handle(addr -> {
+		KernelEvents.onMonitorResize.handle(addr -> {
 			if (addr == this.addr) {
 				onResizeTrigger.trigger(getSize());
 			}
@@ -36,6 +39,10 @@ class Screen implements TermWriteable implements IPeripheral {
 		return this.addr;
 	}
 
+	public function getType():String {
+		return TYPE_NAME;
+	}
+
 	public function getTextScale():Float {
 		return nativ.getTextScale();
 	}
@@ -52,7 +59,7 @@ class Screen implements TermWriteable implements IPeripheral {
 		nativ.scroll(y);
 	}
 
-	public function getCursorPos():Pos {
+	public function getCursorPos():ScreenPos {
 		var rtn = nativ.getCursorPos();
 		return {
 			x: rtn.x - 1,

src/kernel/peripherals/Speaker.hx

@@ -0,0 +1,61 @@
+package kernel.peripherals;
+
+import cc.Peripheral;
+
+using tink.CoreApi;
+
+class Speaker implements IPeripheral {
+	public static inline final TYPE_NAME:String = "speaker";
+
+	private final addr:String;
+
+	public function new(addr:String) {
+		this.addr = addr;
+	}
+
+	public function getType():String {
+		return Speaker.TYPE_NAME;
+	}
+
+	public function getAddr():String {
+		return this.addr;
+	}
+
+	/**
+		Plays a note block note through the speaker.
+		The pitch argument uses semitones as the unit. This directly maps to the number of clicks on a note block. 
+		For reference, 0, 12, and 24 map to F#, and 6 and 18 map to C.
+		A maximum of 8 notes can be played in a single tick. If this limit is hit, this function will return an error.
+	**/
+	public function playNote(instrument:String, ?volume:Float = 1.0, ?pitch:Int = 12):Outcome<Noise, String> {
+		if (Peripheral.call(addr, "playNote", instrument, volume, pitch)) {
+			return Success(null);
+		} else {
+			return Failure("maximum reached");
+		}
+	}
+
+	public function playSound(sound:String, ?volume:Float = 1.0, ?pitch:Float = 1.0):Outcome<Noise, String> {
+		try {
+			if (Peripheral.call(addr, "playSound", sound, volume, pitch)) {
+				return Success(null);
+			} else {
+				return Failure("Sound still playing");
+			}
+		} catch (e) {
+			return Failure("Sound does not exist");
+		}
+	}
+
+	public function playAudio(buffer:Array<Int>, ?volume:Float = 1.0):Outcome<Noise, String> {
+		try {
+			if (Peripheral.call(addr, "playAudio", buffer, volume)) {
+				return Success(null);
+			} else {
+				return Failure("Buffer full");
+			}
+		} catch (e) {
+			return Failure("Buffer malformed");
+		}
+	}
+}

src/kernel/peripherals/exports/RedstoneExport.hx

@@ -0,0 +1,7 @@
+package kernel.peripherals.exports;
+
+import macros.rpc.RPCBase;
+import kernel.peripherals.interfaces.IRedstone;
+
+@:build(macros.rpc.RPC.buildRPC(IRedstone))
+class RedstoneExport extends RPCBase {}

src/kernel/peripherals/interfaces/IRedstone.hx

@@ -0,0 +1,17 @@
+package kernel.peripherals.interfaces;
+
+import cc.Colors.Color;
+import kernel.peripherals.Redstone.BundleMask;
+
+interface IRedstone {
+	function setOutput(on:Bool):Void;
+	function getOutput():Bool;
+	function getInput():Bool;
+	function setAnalogOutput(strength:Int):Void;
+	function getAnalogOutput():Int;
+	function getAnalogInput():Int;
+	function setBundledOutput(output:BundleMask):Void;
+	function getBundledOutput():BundleMask;
+	function getBundledInput():BundleMask;
+	function testBundledInput(mask:Color):Bool;
+}

src/kernel/pocket/Pocket.hx

@@ -0,0 +1,34 @@
+package kernel.pocket;
+
+using tink.CoreApi;
+
+class Pocket {
+	public static function isPocket():Bool {
+		return cc.Pocket != null;
+	}
+
+	/**
+		Search the player's inventory for another upgrade, replacing the existing one with that item if found.
+		This inventory search starts from the player's currently selected slot, allowing you to prioritise upgrades.
+	**/
+	public static function equipBack():Outcome<Noise, String> {
+		var r = cc.Pocket.equipBack();
+		if (r.successful) {
+			return Success(Noise);
+		}
+
+		return Failure(r.error);
+	}
+
+	/**
+		Remove the pocket computer's current upgrade.
+	**/
+	public static function unequipBack():Outcome<Noise, String> {
+		var r = cc.Pocket.unequipBack();
+		if (r.successful) {
+			return Success(Noise);
+		}
+
+		return Failure(r.error);
+	}
+}

src/kernel/ps/IProcess.hx

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

src/kernel/ps/ProcessHandle.hx

@@ -0,0 +1,123 @@
+package kernel.ps;
+
+import kernel.turtle.TurtleMutex;
+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> = [];
+	private final cbLinks:Array<CallbackLink> = [];
+	private final deferFuncs:Array<Void->Void> = [];
+	private var hasExited:Bool = false;
+
+	@: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);
+		}
+	}
+
+	public function onExit():Future<Bool> {
+		return this.closeFuture;
+	}
+
+	public function close(success:Bool = true):Void {
+		this.hasExited = true;
+		this.dispose();
+
+		EndOfLoop.endOfLoop(() -> {
+			this.closeFutureResolev(success);
+		});
+		ProcessManager.removeProcess(this.pid);
+	}
+
+	public function write(message:String):Void {
+		if (this.hasExited)
+			return;
+		if (this.config.onWrite != null) {
+			this.config.onWrite.invoke(message);
+		}
+	}
+
+	public function writeLine(message:String):Void {
+		this.write(message + "\n");
+	}
+
+	public function createBufferdWindowContext():WindowContext {
+		var ctx = WindowManager.createNewContext();
+		this.windowContexts.push(ctx);
+		return ctx;
+	}
+
+	public function createStatelessWindowContext():{ctx:WindowContext, setRenderFunc:(() -> Void)->Void, requestRender:() -> Void} {
+		var ctx = WindowManager.createNewStatelessContext();
+		this.windowContexts.push(ctx.ctx);
+		return ctx;
+	}
+
+	public function getWindowContexts():ReadOnlyArray<WindowContext> {
+		return this.windowContexts;
+	}
+
+	private function dispose() {
+		for (link in this.cbLinks) {
+			link.cancel();
+		}
+
+		for (func in this.deferFuncs) {
+			func();
+		}
+	}
+
+	public function getPid():PID {
+		return this.pid;
+	}
+
+	public function addCallbackLink(link:CallbackLink) {
+		this.cbLinks.push(link);
+	}
+
+	public function addDeferFunc(func:Void->Void) {
+		this.deferFuncs.push(func);
+	}
+
+	public function get_args():ReadOnlyArray<String> {
+		return this.config.args != null ? this.config.args : [];
+	}
+
+	public function claimTurtleMutex():Bool {
+		if (TurtleMutex.claim(this.pid)) {
+			this.addDeferFunc(() -> {
+				TurtleMutex.release(this.pid);
+			});
+
+			return true;
+		}
+
+		return false;
+	}
+}

src/kernel/ps/ProcessManager.hx

@@ -0,0 +1,60 @@
+package kernel.ps;
+
+import kernel.log.Log;
+import kernel.ps.ProcessHandle.HandleConfig;
+
+using tink.CoreApi;
+
+typedef PID = Int;
+
+class ProcessManager {
+	private static final processList = new Map<PID, ProcessHandle>();
+
+	public static function run(process:IProcess, config:HandleConfig):PID {
+		var pid = createPID();
+		var handle = new ProcessHandle(config, pid);
+
+		processList.set(pid, handle);
+
+		try {
+			process.run(handle);
+		} catch (e:Dynamic) {
+			Log.error("Error while running process: " + e);
+			handle.close(false);
+		}
+
+		return pid;
+	}
+
+	public static function kill(pid:PID) {
+		if (!processList.exists(pid)) {
+			Log.warn("Trying to kill non-existing process: " + pid);
+			return;
+		}
+
+		var handle = processList.get(pid);
+
+		handle.close();
+	}
+
+	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);
+	}
+
+	public static function listProcesses():Array<PID> {
+		return [for (pid in processList.keys()) pid];
+	}
+}

src/kernel/service/Service.hx

@@ -0,0 +1,38 @@
+package kernel.service;
+
+import kernel.ps.IProcess;
+import kernel.ps.ProcessManager;
+import kernel.binstore.BinStore;
+
+using tink.CoreApi;
+
+class Service {
+	public final binName:String;
+	public final name:String;
+	public final args:Array<String>;
+	public var pid:PID;
+	public var ps:IProcess;
+
+	@:allow(kernel.service.ServiceManager)
+	private function new(binName:String, name:String, ?args:Array<String>) {
+		this.binName = binName;
+		this.name = name;
+		this.args = args ?? [];
+	}
+
+	public function start() {
+		var ps = BinStore.instantiate(this.binName);
+
+		if (ps == null) {
+			throw new Error('Bin ${this.binName} not found');
+		}
+
+		this.ps = ps;
+
+		this.pid = ProcessManager.run(this.ps, {});
+	}
+
+	public function stop() {
+		ProcessManager.kill(this.pid);
+	}
+}

src/kernel/service/ServiceManager.hx

@@ -0,0 +1,149 @@
+package kernel.service;
+
+import kernel.log.Log;
+import kernel.binstore.BinStore;
+import lib.KVStore;
+
+using tink.CoreApi;
+
+class ServiceManager {
+	private static final services:Map<String, Service> = new Map();
+
+	@:allow(kernel.Init)
+	private static function init() {
+		startAllEnabled();
+	}
+
+	/**
+		Add a service to be automatically started.
+	**/
+	public static function enable(name:String):Outcome<Noise, String> {
+		if (!services.exists(name)) {
+			return Failure("Service must be started before enable");
+		}
+
+		var store = KVStore.getStoreForClass();
+		store.load();
+
+		var enabled = store.get("enabled", []);
+		enabled.push(name);
+		store.set("enabled", enabled);
+
+		store.save();
+
+		return Success(Noise);
+	}
+
+	/**
+		Remove a service from being automatically started.
+	**/
+	private static function disable(name:String):Outcome<Noise, String> {
+		var store = KVStore.getStoreForClass();
+		store.load();
+
+		var enabled:Array<String> = store.get("enabled");
+		var index = enabled.indexOf(name);
+		if (index == -1) {
+			return Failure("Service not found");
+		}
+
+		enabled.splice(index, 1);
+		store.save();
+
+		return Success(Noise);
+	}
+
+	private static function startAllEnabled() {
+		var store = KVStore.getStoreForClass();
+		store.load();
+
+		var enabled:Array<String> = store.get("enabled", []);
+		for (name in enabled) {
+			start(name);
+		}
+	}
+
+	private static function load(name:String):Null<Service> {
+		var store = new KVStore('service/${name}');
+		store.load();
+		if (!store.exists("service")) {
+			return null;
+		}
+
+		return store.get("service");
+	}
+
+	public static function register(name:String, binName:String, args:Array<String>):Outcome<Noise, String> {
+		if (BinStore.getNameByAlias(binName) == null) {
+			return Failure("bin not found");
+		}
+
+		if (load(name) != null) {
+			return Failure("service already exists");
+		}
+
+		var service = new Service(binName, name, args);
+
+		var store = new KVStore('service/${name}');
+		store.set("service", service);
+		store.save();
+
+		Log.info('Service ${name} registered');
+		return Success(Noise);
+	}
+
+	public static function unregister(name:String):Outcome<Noise, String> {
+		if (services.exists(name)) {
+			return Failure("service is running");
+		}
+
+		KVStore.removeNamespace('service/${name}');
+		Log.info('Service ${name} unregistered');
+		return Success(Noise);
+	}
+
+	public static function start(name:String):Outcome<Noise, String> {
+		var service = load(name);
+		if (service == null) {
+			return Failure("service not found");
+		}
+
+		service.start();
+		services.set(name, service);
+
+		Log.info('Service ${name} started');
+		return Success(Noise);
+	}
+
+	public static function stop(name:String):Outcome<Noise, String> {
+		if (!services.exists(name)) {
+			return Failure("service not found");
+		}
+
+		var service = services.get(name);
+		service.stop();
+		services.remove(name);
+
+		Log.info('Service ${name} stopped');
+		return Success(Noise);
+	}
+
+	public static function listRunning():Array<String> {
+		var running = [];
+		for (name in services.keys()) {
+			running.push(name);
+		}
+		return running;
+	}
+
+	public static function get(name:String):Null<Dynamic> {
+		if (!services.exists(name)) {
+			return null;
+		}
+
+		// TODO: Maybe there is a way to check types here?
+
+		var srv = services.get(name);
+		return srv.ps;
+	}
+}

src/kernel/turtle/Turtle.hx

@@ -1,26 +1,18 @@
 package kernel.turtle;
 
-import kernel.log.Log;
 import kernel.turtle.Types;
+import kernel.gps.INS;
 
 using tink.CoreApi;
 
 class Turtle {
-	public static var instance:Turtle;
 	public static final MAX_SLOTS:Int = 16;
 
-	@:allow(kernel.Init)
-	private function new() {
-		if (!Turtle.isTurtle()) {
-			Log.warn("Tried to initialize Turtle, but it is not available.");
-		}
-	}
-
 	public static function isTurtle():Bool {
-		return true; // TODO: Implement
+		return cc.Turtle != null;
 	}
 
-	private function conterToOutcome(r:cc.Turtle.TurtleActionResult):Outcome<Noise, String> {
+	private static function conterToOutcome(r:cc.Turtle.TurtleActionResult):Outcome<Noise, String> {
 		if (r.successful) {
 			return Outcome.Success(null);
 		} else {
@@ -32,37 +24,60 @@ class Turtle {
 		}
 	}
 
-	public function forward():Outcome<Noise, String> {
+	public static function forward():Outcome<Noise, String> {
 		var r = cc.Turtle.forward();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess())
+			INS.moveForward();
+		return r2;
 	}
 
-	public function back():Outcome<Noise, String> {
+	public static function back():Outcome<Noise, String> {
 		var r = cc.Turtle.back();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess())
+			INS.moveBackward();
+		return r2;
 	}
 
-	public function up():Outcome<Noise, String> {
+	public static function up():Outcome<Noise, String> {
 		var r = cc.Turtle.up();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess())
+			INS.moveUp();
+		return r2;
 	}
 
-	public function down():Outcome<Noise, String> {
+	public static function down():Outcome<Noise, String> {
 		var r = cc.Turtle.down();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess())
+			INS.moveDown();
+		return r2;
 	}
 
-	public function turnLeft():Outcome<Noise, String> {
+	public static function turnLeft():Outcome<Noise, String> {
 		var r = cc.Turtle.turnLeft();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess())
+			INS.turnRight();
+		return r2;
 	}
 
-	public function turnRight():Outcome<Noise, String> {
+	public static function turnRight():Outcome<Noise, String> {
 		var r = cc.Turtle.turnRight();
-		return conterToOutcome(r);
+		var r2 = conterToOutcome(r);
+		if (r2.isSuccess())
+			INS.turnRight();
+		return r2;
 	}
 
-	public function dig(dir:InteractDirections, ?toolSide:ToolSide):Outcome<Noise, String> {
+	/**
+		Dig in the provided direction.
+		Keep in mind that digging on a empty space is considerd a failure.
+		Also see `digEmpty`.
+	**/
+	public static function dig(dir:InteractDirections, ?toolSide:ToolSide):Outcome<Noise, String> {
 		var r:cc.Turtle.TurtleActionResult;
 
 		// FIXME: upstream needs to be fixed to accept ToolSide
@@ -77,7 +92,37 @@ class Turtle {
 		return conterToOutcome(r);
 	}
 
-	public function place(dir:InteractDirections):Outcome<Noise, String> {
+	/**
+		Dig in the provided direction.
+		Does not fail if there is nothing to dig.
+		Also see `dig`.
+	**/
+	public static function digEmpty(dir:InteractDirections, ?toolSide:ToolSide):Outcome<Noise, String> {
+		var r:cc.Turtle.TurtleActionResult;
+
+		// FIXME: upstream needs to be fixed to accept ToolSide
+		switch dir {
+			case Front:
+				r = cc.Turtle.dig();
+			case Up:
+				r = cc.Turtle.digUp();
+			case Down:
+				r = cc.Turtle.digDown();
+		}
+		var result = conterToOutcome(r);
+
+		switch (result) {
+			case Success(_):
+				return result;
+			case Failure(failure):
+				if (failure == "Nothing to dig here") {
+					return Success(null);
+				}
+				return result;
+		}
+	}
+
+	public static function place(dir:InteractDirections):Outcome<Noise, String> {
 		var r:cc.Turtle.TurtleActionResult;
 		switch dir {
 			case Front:
@@ -90,7 +135,7 @@ class Turtle {
 		return conterToOutcome(r);
 	}
 
-	public function placeSign(dir:InteractDirections, text:String):Outcome<Noise, String> {
+	public static function placeSign(dir:InteractDirections, text:String):Outcome<Noise, String> {
 		var r:cc.Turtle.TurtleActionResult;
 		switch dir {
 			case Front:
@@ -103,32 +148,26 @@ class Turtle {
 		return conterToOutcome(r);
 	}
 
-	public function drop(dir:InteractDirections, ?count:Int):Outcome<Noise, String> {
+	public static function drop(dir:InteractDirections, ?count:Int):Outcome<Noise, String> {
 		var r = cc.Turtle.drop(count);
 		return conterToOutcome(r);
 	}
 
-	public function selectSlot(slot:TurtleSlot):Outcome<Noise, Noise> {
-		// TODO: slot in bounds?
-
-		var r = cc.Turtle.select(slot + 1);
+	public static function selectSlot(slot:TurtleSlot):Outcome<Noise, Noise> {
+		var r = cc.Turtle.select(slot.toCCSlot());
 
 		return (r) ? Outcome.Success(null) : Outcome.Failure("Slot out of bounds");
 	}
 
-	public function getItemCount(?slot:TurtleSlot):Int {
-		// TODO: slot in bounds?
-
-		return cc.Turtle.getItemCount(slot + 1);
+	public static function getItemCount(?slot:TurtleSlot):Int {
+		return cc.Turtle.getItemCount(slot.toCCSlot());
 	}
 
-	public function getItemSpace(?slot:TurtleSlot):Int {
-		// TODO: slot in bounds?
-
-		return cc.Turtle.getItemSpace(slot + 1);
+	public static function getItemSpace(?slot:TurtleSlot):Int {
+		return cc.Turtle.getItemSpace(slot.toCCSlot());
 	}
 
-	public function detect(dir:InteractDirections):Bool {
+	public static function detect(dir:InteractDirections):Bool {
 		switch dir {
 			case Front:
 				return cc.Turtle.detect();
@@ -139,7 +178,7 @@ class Turtle {
 		}
 	}
 
-	public function compareToSlot(dir:InteractDirections):Bool {
+	public static function compareToSlot(dir:InteractDirections):Bool {
 		switch dir {
 			case Front:
 				return cc.Turtle.compare();
@@ -150,7 +189,7 @@ class Turtle {
 		}
 	}
 
-	public function attack(dir:InteractDirections, ?toolSide:ToolSide):Outcome<Noise, String> {
+	public static function attack(dir:InteractDirections, ?toolSide:ToolSide):Outcome<Noise, String> {
 		var r:cc.Turtle.TurtleActionResult;
 
 		// FIXEM: upstream needs to be fixed to accept ToolSide
@@ -166,7 +205,7 @@ class Turtle {
 		return conterToOutcome(r);
 	}
 
-	public function suckItem(dir:InteractDirections, ?ammount:Int):Outcome<Noise, String> {
+	public static function suckItem(dir:InteractDirections, ?ammount:Int):Outcome<Noise, String> {
 		// TODO: ammount in bounds?
 
 		var r:cc.Turtle.TurtleActionResult;
@@ -182,40 +221,40 @@ class Turtle {
 		return conterToOutcome(r);
 	}
 
-	public function getFuelLevel():Int {
+	public static function getFuelLevel():Int {
 		var r = cc.Turtle.getFuelLevel(); // FIXME: can be a string. Has to be fixed upstream
 		return r;
 	}
 
-	public function refuel(?ammount:Int):Outcome<Noise, String> {
+	public static function refuel(?ammount:Int):Outcome<Noise, String> {
 		var r = cc.Turtle.refuel(ammount);
 		return conterToOutcome(r);
 	}
 
-	public function canRefultWithSlot():Bool {
+	public static function canRefultWithSlot():Bool {
 		var r = cc.Turtle.refuel(0);
 		return r.successful;
 	}
 
-	public function compareSlot(otherSlot:TurtleSlot):Bool {
-		return cc.Turtle.compareTo(otherSlot + 1);
+	public static function compareSlot(otherSlot:TurtleSlot):Bool {
+		return cc.Turtle.compareTo(otherSlot.toCCSlot());
 	}
 
-	public function transfer(from:TurtleSlot, to:TurtleSlot, ?count:Int):Outcome<Noise, Noise> {
-		this.selectSlot(from);
-		var r = cc.Turtle.transferTo(to + 1, count);
+	public static function transfer(from:TurtleSlot, to:TurtleSlot, ?count:Int):Outcome<Noise, Noise> {
+		selectSlot(from);
+		var r = cc.Turtle.transferTo(to.toCCSlot(), count);
 		return r ? Outcome.Success(null) : Outcome.Failure(null);
 	}
 
-	public function getSelectedSlot():TurtleSlot {
+	public static function getSelectedSlot():TurtleSlot {
 		return cc.Turtle.getSelectedSlot() - 1;
 	}
 
-	public function getFuelLimit():Int {
+	public static function getFuelLimit():Int {
 		return cc.Turtle.getFuelLimit(); // FIXME: can be a string. Has to be fixed upstream
 	}
 
-	public function equip(side:ToolSide):Outcome<Noise, String> {
+	public static function equip(side:ToolSide):Outcome<Noise, String> {
 		switch side {
 			case Left:
 				return conterToOutcome(cc.Turtle.equipLeft());
@@ -224,7 +263,7 @@ class Turtle {
 		}
 	}
 
-	public function inspect(dir:InteractDirections):Outcome<BlockInspect, String> {
+	public static function inspect(dir:InteractDirections):Outcome<BlockInspect, String> {
 		var r:cc.Turtle.TurtleInspectResult;
 		switch dir {
 			case Front:
@@ -247,8 +286,8 @@ class Turtle {
 		});
 	}
 
-	public function getItemDetail(?detailed:Bool = false, ?slot:TurtleSlot):Option<ItemInspect> {
-		var r = cc.Turtle.getItemDetail(slot + 1); // FIXME: can take detailed as flag. Has to be fixed upstream
+	public static function getItemDetail(slot:TurtleSlot, ?detailed:Bool = false):Option<ItemInspect> {
+		var r = cc.Turtle.getItemDetail(slot.toCCSlot()); // FIXME: can take detailed as flag. Has to be fixed upstream
 
 		if (r == null) {
 			return None;
@@ -262,7 +301,7 @@ class Turtle {
 		});
 	}
 
-	public function craft(?limit:Int = 64):Outcome<Noise, String> {
+	public static function craft(?limit:Int = 64):Outcome<Noise, String> {
 		if (limit < 1 || limit > 64) {
 			return Outcome.Failure("Crafting limit out of bounds");
 		}

src/kernel/turtle/TurtleMutex.hx

@@ -0,0 +1,52 @@
+package kernel.turtle;
+
+import kernel.log.Log;
+import cc.OS;
+import kernel.ps.ProcessManager.PID;
+
+/**
+	Make sure only one process can access the turtle at a time.
+**/
+class TurtleMutex {
+	private static var claimedPid:PID = -1;
+	public static var threadFunc:() -> Void;
+
+	@:allow(kernel.ps.ProcessHandle)
+	private static function claim(pid:PID):Bool {
+		if (claimedPid == -1) {
+			claimedPid = pid;
+			return true;
+		}
+		return false;
+	}
+
+	@:allow(kernel.ps.ProcessHandle)
+	private static function release(pid:PID) {
+		if (claimedPid == pid) {
+			claimedPid = -1;
+			stopTurtleThread();
+		}
+	}
+
+	@:allow(kernel.KernelEvents)
+	private static function runThreadFunc() {
+		if (threadFunc != null) {
+			try {
+				threadFunc();
+			} catch (e) {
+				Log.error("Error in tthread: " + e);
+			}
+			threadFunc = null;
+		}
+	}
+
+	public static function runInTThread(func:() -> Void) {
+		threadFunc = func;
+		OS.queueEvent("tthread");
+	}
+
+	public static function stopTurtleThread() {
+		threadFunc = null;
+		KernelEvents.startTurtleCoroutine();
+	}
+}

src/kernel/turtle/TurtleSlot.hx

@@ -0,0 +1,26 @@
+package kernel.turtle;
+
+using tink.CoreApi;
+
+/**
+	The slot nummber for turtle inventory. 0 based. Assured to be in range.
+**/
+abstract TurtleSlot(Int) to Int {
+	public function new(i:Int) {
+		if (i >= 0 && i < Turtle.MAX_SLOTS) {
+			this = i;
+		} else {
+			throw new Error("Slot not in range: " + i);
+		}
+	}
+
+	@:from
+	public static function fromInt(i:Int) {
+		return new TurtleSlot(i);
+	}
+
+	@:allow(kernel.turtle)
+	private inline function toCCSlot():Int {
+		return this + 1;
+	}
+}

src/kernel/turtle/Types.hx

@@ -22,5 +22,3 @@ typedef ItemInspect = {
 	public var damage:Int;
 	public var count:Int;
 }
-
-typedef TurtleSlot = Int;

src/kernel/ui/BufferedVirtualTermWriter.hx

@@ -1,9 +1,9 @@
 package kernel.ui;
 
-import lib.Pos;
+import lib.ScreenPos;
 import lib.Vec.Vec2;
 import lib.Color;
-import kernel.ui.TermWriteable;
+import kernel.ui.ITermWriteable;
 
 using tink.CoreApi;
 
@@ -11,15 +11,15 @@ using tink.CoreApi;
 	A term writer that can switch beetween its internal buffer and another termwriter.
 	The other target is most of the time a real screen
 **/
-class BufferedVirtualTermWriter implements VirtualTermWriter extends TermBuffer {
+class BufferedVirtualTermWriter implements IVirtualTermWriter extends TermBuffer {
 	private static final defaultSize:Vec2<Int> = {x: 50, y: 50};
 
-	private var target:TermWriteable;
+	private var target:ITermWriteable;
 	private var enabled:Bool = false;
 	private var onResizeLink:CallbackLink;
 
 	@:allow(kernel.ui)
-	private function new(?target:TermWriteable) {
+	private function new(?target:ITermWriteable) {
 		setTarget(target);
 
 		if (enabled) {
@@ -44,7 +44,7 @@ class BufferedVirtualTermWriter implements VirtualTermWriter extends TermBuffer
 		return enabled;
 	}
 
-	public function setTarget(newTarget:TermWriteable) {
+	public function setTarget(newTarget:ITermWriteable) {
 		if (newTarget != null) {
 			super.setSize(newTarget.getSize());
 
@@ -86,7 +86,7 @@ class BufferedVirtualTermWriter implements VirtualTermWriter extends TermBuffer
 		super.scroll(y);
 	}
 
-	public override function getCursorPos():Pos {
+	public override function getCursorPos():ScreenPos {
 		if (isEnabled()) {
 			return target.getCursorPos();
 		} else {

src/kernel/ui/ITermWriteable.hx

@@ -1,6 +1,6 @@
 package kernel.ui;
 
-import lib.Pos;
+import lib.ScreenPos;
 import lib.Color;
 import lib.Vec.Vec2;
 
@@ -9,7 +9,7 @@ using tink.CoreApi;
 /**
 	Interface describing a terminal. E.g. the main computer screen or a external screen.
 **/
-interface TermWriteable {
+interface ITermWriteable {
 	public var onResize(default, null):Signal<Vec2<Int>>;
 
 	public function write(text:String):Void;
@@ -18,7 +18,7 @@ interface TermWriteable {
 	/**
 		Even though CC is 1 based we use a 0 based index.
 	**/
-	public function getCursorPos():Pos;
+	public function getCursorPos():ScreenPos;
 
 	/**
 		Even though CC is 1 based we use a 0 based index.
@@ -35,6 +35,7 @@ interface TermWriteable {
 	public function getBackgroundColor():Color;
 	public function setBackgroundColor(color:Color):Void;
 	public function isColor():Bool;
+
 	// public function setPaletteColor(...);
 	// public function getPaletteColor(color);
 

src/kernel/ui/IVirtualTermWriter.hx

@@ -4,9 +4,9 @@ package kernel.ui;
 	A VirtualTermWriter is a TermWriteable that can be enabled or disabled.
 	When disabled, it will not write to its target. When enabled, it will.
 **/
-interface VirtualTermWriter extends TermWriteable {
+interface IVirtualTermWriter extends ITermWriteable {
 	public function enable():Void;
 	public function disable():Void;
 	public function isEnabled():Bool;
-	public function setTarget(newTarget:TermWriteable):Void;
+	public function setTarget(newTarget:ITermWriteable):Void;
 }

src/kernel/ui/StatelessVirtualTermWriter.hx

@@ -1,7 +1,7 @@
 package kernel.ui;
 
 import kernel.log.Log;
-import lib.Pos;
+import lib.ScreenPos;
 import lib.Vec.Vec2;
 import lib.Color;
 
@@ -13,18 +13,18 @@ using tink.CoreApi;
 	The render function is only called when needed.
 	You can also request a re-render by calling `requestRender`.
 **/
-class StatelessVirtualTermWriter implements VirtualTermWriter {
+class StatelessVirtualTermWriter implements IVirtualTermWriter {
 	public var onResize(default, null):Signal<Vec2<Int>>;
 
 	private var onResizeTrigger:SignalTrigger<Vec2<Int>> = Signal.trigger();
-	private var target:TermWriteable;
+	private var target:ITermWriteable;
 	private var enabled:Bool = false;
 	private var renderFunc:Null<Void->Void> = null;
 	private var renderRequested:Bool = false;
 	private var onResizeLink:CallbackLink;
 
 	@:allow(kernel.ui)
-	private function new(?target:TermWriteable) {
+	private function new(?target:ITermWriteable) {
 		onResize = onResizeTrigger.asSignal();
 		setTarget(target);
 	}
@@ -40,6 +40,7 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 		}
 
 		if (enabled) {
+			target.reset();
 			renderFunc();
 			renderRequested = false;
 		} else {
@@ -69,7 +70,7 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 		enabled = false;
 	}
 
-	public function setTarget(newTarget:TermWriteable) {
+	public function setTarget(newTarget:ITermWriteable) {
 		if (newTarget == null) {
 			return;
 		}
@@ -84,6 +85,8 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 		});
 
 		target = newTarget;
+
+		target.reset();
 	}
 
 	public function isEnabled():Bool {
@@ -98,19 +101,22 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 	//
 
 	public inline function write(text:String) {
-		if (enabled) target.write(text);
+		if (enabled)
+			target.write(text);
 	}
 
 	public inline function scroll(y:Int) {
-		if (enabled) target.scroll(y);
+		if (enabled)
+			target.scroll(y);
 	}
 
-	public inline function getCursorPos():Pos {
-		return enabled ? target.getCursorPos() : new Pos({x: 0, y: 0});
+	public inline function getCursorPos():ScreenPos {
+		return enabled ? target.getCursorPos() : new ScreenPos({x: 0, y: 0});
 	}
 
 	public inline function setCursorPos(x:Int, y:Int) {
-		if (enabled) target.setCursorPos(x, y);
+		if (enabled)
+			target.setCursorPos(x, y);
 	}
 
 	public inline function getCursorBlink():Bool {
@@ -118,7 +124,8 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 	}
 
 	public inline function setCursorBlink(blink:Bool) {
-		if (enabled) target.setCursorBlink(blink);
+		if (enabled)
+			target.setCursorBlink(blink);
 	}
 
 	public inline function getSize():Vec2<Int> {
@@ -126,11 +133,13 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 	}
 
 	public inline function clear() {
-		if (enabled) target.clear();
+		if (enabled)
+			target.clear();
 	}
 
 	public inline function clearLine() {
-		if (enabled) target.clearLine();
+		if (enabled)
+			target.clearLine();
 	}
 
 	public inline function getTextColor():Color {
@@ -138,7 +147,8 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 	}
 
 	public inline function setTextColor(color:Color) {
-		if (enabled) target.setTextColor(color);
+		if (enabled)
+			target.setTextColor(color);
 	}
 
 	public inline function getBackgroundColor():Color {
@@ -146,7 +156,8 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 	}
 
 	public inline function setBackgroundColor(color:Color) {
-		if (enabled) target.setBackgroundColor(color);
+		if (enabled)
+			target.setBackgroundColor(color);
 	}
 
 	public inline function isColor():Bool {
@@ -154,6 +165,7 @@ class StatelessVirtualTermWriter implements VirtualTermWriter {
 	}
 
 	public inline function reset() {
-		if (enabled) target.reset();
+		if (enabled)
+			target.reset();
 	}
 }

src/kernel/ui/TermBuffer.hx

@@ -1,9 +1,9 @@
 package kernel.ui;
 
-import lib.Pos;
+import lib.ScreenPos;
 import lib.Vec.Vec2;
 import lib.Color;
-import kernel.ui.TermWriteable;
+import kernel.ui.ITermWriteable;
 
 using tink.CoreApi;
 
@@ -12,13 +12,13 @@ using tink.CoreApi;
 	even if its not displayed right now. When the GUI gets displayed again
 	this buffer will be written to the screen.
 **/
-class TermBuffer implements TermWriteable {
+class TermBuffer implements ITermWriteable {
 	/**
 		format [y][x]. First index is the line. Second index the char in the line.
 	**/
 	private var screenBuffer:Array<Array<Pixel>>;
 
-	private var cursorPos:Pos = {x: 0, y: 0};
+	private var cursorPos:ScreenPos = {x: 0, y: 0};
 	private var currentTextColor:Color = White;
 	private var currentBgColor:Color = Black;
 	private var cursorBlink:Bool = false;
@@ -60,7 +60,7 @@ class TermBuffer implements TermWriteable {
 		}
 	}
 
-	private function copyBufferToTarget(target:TermWriteable) {
+	private function copyBufferToTarget(target:ITermWriteable) {
 		target.setCursorPos(0, 0);
 		target.setBackgroundColor(Black);
 		target.setTextColor(White);
@@ -91,7 +91,7 @@ class TermBuffer implements TermWriteable {
 		target.setCursorBlink(cursorBlink);
 	}
 
-	private function safeWriteScreenBuffer(pos:Pos, char:String) {
+	private function safeWriteScreenBuffer(pos:ScreenPos, char:String) {
 		if (screenBuffer.length > pos.y && screenBuffer[pos.y].length > pos.x) {
 			screenBuffer[pos.y][pos.x].char = char;
 			screenBuffer[pos.y][pos.x].bg = currentBgColor;
@@ -121,7 +121,7 @@ class TermBuffer implements TermWriteable {
 		]);
 	}
 
-	public function getCursorPos():Pos {
+	public function getCursorPos():ScreenPos {
 		return cursorPos;
 	}
 

src/kernel/ui/WindowContext.hx

@@ -1,42 +1,42 @@
 package kernel.ui;
 
-import lib.ui.rendere.UIEventDelegate;
-import lib.Pos;
+import lib.ui.rendere.IUIEventDelegate;
+import lib.ScreenPos;
 import lib.Color;
 import kernel.ButtonType;
 import lib.Vec.Vec2;
-import kernel.ui.TermWriteable;
+import kernel.ui.ITermWriteable;
 
 using tink.CoreApi;
 
 /**
 	The main object you interact with when writing anything to the screen.
 **/
-class WindowContext implements TermWriteable {
-	private final writer:VirtualTermWriter;
+class WindowContext implements ITermWriteable {
+	private final writer:IVirtualTermWriter;
 
-	@:allow(kernel.ui.WindowManager) private var eventDelegate: Null<UIEventDelegate>;
+	@:allow(kernel.ui.WindowManager) private var eventDelegate:Null<IUIEventDelegate>;
 
-	public var onClick(default, null):Signal<{button:ButtonType, pos:Pos}>;
+	public var onClick(default, null):Signal<{button:ButtonType, pos:ScreenPos}>;
 	public var onKey(default, null):Signal<{keyCode:Int, isHeld:Bool}>;
 	public var onKeyUp(default, null):Signal<Int>;
-	public var onMouseDrag(default, null):Signal<{button:ButtonType, pos:Pos}>;
-	public var onMouseScroll(default, null):Signal<{dir:Int, pos:Pos}>;
-	public var onMouseUp(default, null):Signal<{button:ButtonType, pos:Pos}>;
+	public var onMouseDrag(default, null):Signal<{button:ButtonType, pos:ScreenPos}>;
+	public var onMouseScroll(default, null):Signal<{dir:Int, pos:ScreenPos}>;
+	public var onMouseUp(default, null):Signal<{button:ButtonType, pos:ScreenPos}>;
 	public var onPaste(default, null):Signal<String>;
 	public var onChar(default, null):Signal<String>;
 
-	@:allow(kernel.ui.WindowManager) private final onClickTrigger:SignalTrigger<{button:ButtonType, pos:Pos}>;
+	@:allow(kernel.ui.WindowManager) private final onClickTrigger:SignalTrigger<{button:ButtonType, pos:ScreenPos}>;
 	@:allow(kernel.ui.WindowManager) private final onKeyTrigger:SignalTrigger<{keyCode:Int, isHeld:Bool}>;
 	@:allow(kernel.ui.WindowManager) private final onKeyUpTrigger:SignalTrigger<Int>;
-	@:allow(kernel.ui.WindowManager) private final onMouseDragTrigger:SignalTrigger<{button:ButtonType, pos:Pos}>;
-	@:allow(kernel.ui.WindowManager) private final onMouseScrollTrigger:SignalTrigger<{dir:Int, pos:Pos}>;
-	@:allow(kernel.ui.WindowManager) private final onMouseUpTrigger:SignalTrigger<{button:ButtonType, pos:Pos}>;
+	@:allow(kernel.ui.WindowManager) private final onMouseDragTrigger:SignalTrigger<{button:ButtonType, pos:ScreenPos}>;
+	@:allow(kernel.ui.WindowManager) private final onMouseScrollTrigger:SignalTrigger<{dir:Int, pos:ScreenPos}>;
+	@:allow(kernel.ui.WindowManager) private final onMouseUpTrigger:SignalTrigger<{button:ButtonType, pos:ScreenPos}>;
 	@:allow(kernel.ui.WindowManager) private final onPasteTrigger:SignalTrigger<String>;
 	@:allow(kernel.ui.WindowManager) private final onCharTrigger:SignalTrigger<String>;
 
 	@:allow(kernel.ui.WindowManager)
-	private function new(writer:VirtualTermWriter) {
+	private function new(writer:IVirtualTermWriter) {
 		this.writer = writer;
 		this.onResize = writer.onResize;
 
@@ -62,7 +62,7 @@ class WindowContext implements TermWriteable {
 	public var onResize(default, null):Signal<Vec2<Int>>;
 
 	@:allow(kernel.ui)
-	private inline function setTarget(target:TermWriteable) {
+	private inline function setTarget(target:ITermWriteable) {
 		writer.setTarget(target);
 	}
 
@@ -89,7 +89,7 @@ class WindowContext implements TermWriteable {
 		writer.scroll(y);
 	}
 
-	public inline function getCursorPos():Pos {
+	public inline function getCursorPos():ScreenPos {
 		return writer.getCursorPos();
 	}
 
@@ -145,7 +145,7 @@ class WindowContext implements TermWriteable {
 		Delegate events to an UIEventDelegate.
 		Set to null to stop delegating events.
 	**/
-	public inline function delegateEvents(delegate: Null<UIEventDelegate>){
+	public inline function delegateEvents(delegate:Null<IUIEventDelegate>) {
 		this.eventDelegate = delegate;
 	}
 }

src/kernel/ui/WindowManager.hx

@@ -1,7 +1,9 @@
 package kernel.ui;
 
+import kernel.ps.ProcessManager;
+import kernel.ps.ProcessManager.PID;
 import haxe.ds.ReadOnlyArray;
-import kernel.ui.TermWriteable;
+import kernel.ui.ITermWriteable;
 import kernel.peripherals.Peripherals.Peripheral;
 
 /**
@@ -12,13 +14,13 @@ class WindowManager {
 	/**
 		Depends on: KernelEvents, Peripheral
 	**/
-	public static var instance:WindowManager;
-	private var currentMainContext:WindowContext;
-	private final outputMap:Map<String, WindowContext> = new Map();
+	private static var currentMainContext:WindowContext;
+
+	private static final outputMap:Map<String, WindowContext> = new Map();
 
 	@:allow(kernel.Init)
-	private function new() {
-		KernelEvents.instance.onKey.handle(params -> {
+	private static function init() {
+		KernelEvents.onKey.handle(params -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -29,7 +31,7 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onKeyUp.handle(keyCode -> {
+		KernelEvents.onKeyUp.handle(keyCode -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -40,7 +42,7 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onMouseClick.handle(params -> {
+		KernelEvents.onMouseClick.handle(params -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -51,7 +53,7 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onMouseDrag.handle(params -> {
+		KernelEvents.onMouseDrag.handle(params -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -62,7 +64,7 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onMouseScroll.handle(params -> {
+		KernelEvents.onMouseScroll.handle(params -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -73,7 +75,7 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onMouseUp.handle(params -> {
+		KernelEvents.onMouseUp.handle(params -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -84,7 +86,7 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onPaste.handle(text -> {
+		KernelEvents.onPaste.handle(text -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -95,11 +97,11 @@ class WindowManager {
 			}
 		});
 
-		KernelEvents.instance.onMonitorTouch.handle(params -> {
+		KernelEvents.onMonitorTouch.handle(params -> {
 			// TODO
 		});
 
-		KernelEvents.instance.onChar.handle(char -> {
+		KernelEvents.onChar.handle(char -> {
 			if (currentMainContext != null) {
 				if (currentMainContext.eventDelegate != null) {
 					var foo = currentMainContext.eventDelegate.getEventHandlers();
@@ -114,25 +116,25 @@ class WindowManager {
 	/**
 		Same as createNewBufferedContext because it is the most simple context.
 	**/
-	public function createNewContext():WindowContext {
+	public static function createNewContext():WindowContext {
 		return createNewBufferedContext();
 	}
 
-	public function createNewBufferedContext():WindowContext {
+	public static function createNewBufferedContext():WindowContext {
 		var newContext = new WindowContext(new BufferedVirtualTermWriter());
 
 		return newContext;
 	}
 
-	public function createNewStatelessContext():{ctx:WindowContext, setRenderFunc:(() -> Void) -> Void, requestRender:Void->Void} {
+	public static function createNewStatelessContext():{ctx:WindowContext, setRenderFunc:(() -> Void)->Void, requestRender:Void->Void} {
 		var writer = new StatelessVirtualTermWriter();
 		var newContext = new WindowContext(writer);
 
 		return {ctx: newContext, setRenderFunc: writer.setRenderFunc, requestRender: writer.requestRender};
 	}
 
-	public function getOutputs():ReadOnlyArray<String> {
-		var arr = Peripheral.instance.getScreens().map(screen -> return screen.getAddr());
+	public static function getOutputs():ReadOnlyArray<String> {
+		var arr = Peripheral.getAllScreens().map(screen -> return screen.getAddr());
 		arr.push("main");
 		return arr;
 	}
@@ -140,13 +142,13 @@ class WindowManager {
 	/**
 		Move context to output. If output is "main", context will be moved to main screen.
 	**/
-	public function focusContextToOutput(context:WindowContext, output:String) {
-		var target:TermWriteable;
+	public static function focusContextToOutput(context:WindowContext, output:String) {
+		var target:ITermWriteable;
 		if (output == "main") {
 			target = MainTerm.instance;
 			currentMainContext = context;
 		} else {
-			target = Peripheral.instance.getScreen(output);
+			target = Peripheral.getScreen(output);
 
 			if (target == null) {
 				// output target not found
@@ -162,4 +164,13 @@ class WindowManager {
 		context.setTarget(target);
 		context.enable();
 	}
+
+	public static function getContextByPID(pid:PID):ReadOnlyArray<WindowContext> {
+		var handle = ProcessManager.getProcess(pid);
+		if (handle == null) {
+			return [];
+		}
+
+		return handle.getWindowContexts();
+	}
 }

src/lib/Block.hx

@@ -0,0 +1,12 @@
+package lib;
+
+@:structInit
+class Block {
+	public final name:PaN;
+	public final tags:Tags;
+
+	public function new(name:String, tags:Tags) {
+		this.name = name;
+		this.tags = tags;
+	}
+}

src/lib/BlockBlockMap.hx

@@ -0,0 +1,114 @@
+package lib;
+
+import kernel.peripherals.GeoScanner.ScanBlock;
+import lib.BlockMap;
+
+@:forward
+abstract BlockBlockMap(BlockMap<Block>) {
+	public inline function new() {
+		this = new BlockMap<Block>();
+	}
+
+	public static function fromScan(scan:Array<ScanBlock>):BlockBlockMap {
+		var map:BlockBlockMap = new BlockBlockMap();
+
+		for (block in scan) {
+			map.set(block.pos, new Block(block.name, block.tags));
+		}
+
+		return map;
+	}
+
+	/**
+		Navigate from one point into another.
+		Returns the path to take. 
+		Based on A*
+	**/
+	public function nav(from:BlockPos, to:BlockPos):Array<BlockPos> {
+		if (!canPass(to)) {
+			trace("End is blocked");
+			return [];
+		}
+
+		var openSet = new PriorityQueue();
+		openSet.insert(from, 0);
+
+		var cameFrom:BlockMap<BlockPos> = new BlockMap();
+
+		var gCost:BlockMap<Int> = new BlockMap(); // G cost is the distance from start
+		gCost.set(from, 0);
+
+		var fCost:BlockMap<Float> = new BlockMap(); // F cost is the combines cost of moving to this pos (G cost) + the distnace to the end
+		fCost.set(from, from.distance(to));
+
+		while (!openSet.isEmpty()) {
+			var current = openSet.extractMin(); // Check the pos with the lowest F cost
+
+			if (current.equals(to)) {
+				var totalPath = [];
+				var currentPathPos = to;
+
+				while (cameFrom.exists(currentPathPos)) {
+					totalPath.unshift(currentPathPos);
+					currentPathPos = cameFrom.get(currentPathPos);
+				}
+				totalPath.unshift(from);
+
+				return totalPath;
+			}
+
+			for (neighbor in current.neighbors()) {
+				if (!canPass(neighbor)) {
+					continue;
+				}
+
+				var newGCost = gCost.get(current) + 1; // Movment cost to neighbor is always 1 as we can't move diagonally
+
+				if (newGCost < (gCost.get(neighbor) ?? 9999)) {
+					cameFrom.set(neighbor, current);
+					gCost.set(neighbor, newGCost);
+					fCost.set(neighbor, newGCost + neighbor.distance(to));
+
+					if (!openSet.containsElement(neighbor)) {
+						openSet.insert(neighbor, fCost.get(neighbor));
+					}
+				}
+			}
+		}
+
+		return [];
+	}
+
+	/**
+		Some block can be passed by the turtle.
+		Some blocks get destroyed by it.
+	**/
+	public function canPass(k:BlockPos):Bool {
+		var block = this.get(k);
+		if (block == null) {
+			return true;
+		}
+
+		switch block.name {
+			case "minecraft:water":
+				return true;
+			case "minecaft:lava":
+			case "mimecraft:grass":
+			case "minecraft:hanging_roots":
+			case "minecraft:warped_roots":
+			case "minecraft:dead_bush":
+			case "minecraft:fern":
+			case "minecraft:vine":
+			case "minecraft:glow_lichen":
+			case "minecraft:seagrass":
+			case "minecraft:crimson_roots":
+			case "minecraft:nether_sprouts":
+			case "minecraft:snow":
+			case "minecraft:rose_bush":
+			case "minecraft:fire":
+				return true;
+		}
+
+		return false;
+	}
+}

src/lib/BlockMap.hx

@@ -0,0 +1,48 @@
+package lib;
+
+import haxe.ds.IntMap;
+
+/**
+	Map values to positions in 3D space. For representing blocks from a scan see `BlockBlockMap`.
+
+	The only reason this exsists is that the abstract class for BlockPos does not
+	satisfy the constraint of HashMap. The hashCode function needs to be on a real class and not on 
+	an abstract class. Thanks Obama.
+**/
+@:forward(iterator, clear)
+abstract BlockMap<T>(IntMap<T>) {
+	/**
+		Creates a new HashMap.
+	**/
+	public inline function new() {
+		this = new IntMap();
+	}
+
+	/**
+		See `Map.set`
+	**/
+	@:arrayAccess public inline function set(k:BlockPos, v:T) {
+		this.set(k.hashCode(), v);
+	}
+
+	/**
+		See `Map.get`
+	**/
+	@:arrayAccess public inline function get(k:BlockPos) {
+		return this.get(k.hashCode());
+	}
+
+	/**
+		See `Map.exists`
+	**/
+	public inline function exists(k:BlockPos) {
+		return this.exists(k.hashCode());
+	}
+
+	/**
+		See `Map.remove`
+	**/
+	public inline function remove(k:BlockPos) {
+		return this.remove(k.hashCode());
+	}
+}

src/lib/BlockPos.hx

@@ -0,0 +1,78 @@
+package lib;
+
+import lib.Vec.Vec2;
+import lib.Vec.Vec3;
+
+/**
+	Represents a Point in a 3D `Int` System.
+	Basicly a wrapper for Vec3<Int> with some extra functions.
+	`Y` represents the height of the point.
+**/
+@:forward
+abstract BlockPos(Vec3<Int>) from Vec3<Int> to Vec3<Int> {
+	public inline function new(x:Int, y:Int, z:Int) {
+		this = new Vec3(x, y, z);
+	}
+
+	@:op(A + B)
+	public inline function add(rhs:BlockPos):BlockPos {
+		return this.add(rhs);
+	}
+
+	@:op(A - B)
+	public inline function sub(rhs:BlockPos):BlockPos {
+		return this.sub(rhs);
+	}
+
+	@:op(A * B)
+	public inline function multiplyScalar(rhs:Int):BlockPos {
+		return this.multiplyScalar(rhs);
+	}
+
+	@:op(-A)
+	public inline function negate():BlockPos {
+		return this.negate();
+	}
+
+	@:op(A == B)
+	public function equals(rhs:BlockPos):Bool {
+		return this.x == rhs.x && this.y == rhs.y && this.z == rhs.z;
+	}
+
+	@:op(A != B)
+	public function notEquals(rhs:BlockPos):Bool {
+		return !equals(rhs);
+	}
+
+	public function hashCode():Int {
+		return (this.x * 73856093) ^ (this.y * 19349663) ^ (this.z * 83492791);
+	}
+
+	public function toString():String {
+		return 'BlockPos(${this.x}, ${this.y}, ${this.z})';
+	}
+
+	/**
+		Returns the chunk the position is in.
+	**/
+	public function chunk():Vec2<Int> {
+		var x = Math.floor(this.x / 16);
+		var z = Math.floor(this.z / 16);
+
+		return new Vec2(x, z);
+	}
+
+	/**
+		Returns a list of positions neighboring the block. No Diagonal.
+	**/
+	public function neighbors():Array<BlockPos> {
+		return [
+			new BlockPos(this.x + 1, this.y + 0, this.z + 0), // Front
+			new BlockPos(this.x - 1, this.y + 0, this.z + 0), // Back
+			new BlockPos(this.x + 0, this.y + 0, this.z - 1), // Left
+			new BlockPos(this.x + 0, this.y + 0, this.z + 1), // Right
+			new BlockPos(this.x + 0, this.y - 1, this.z + 0), // Bot
+			new BlockPos(this.x + 0, this.y + 1, this.z + 0), // Top
+		];
+	}
+}