Multi tasking at shell level

os.run = "fail"
os.queueEvent("key",1)
os.shutdown = function()
    function os.version()
	    if turtle then
		    return "Custom Turtle Shell ver 0.1"
	    end
	    return "Custom shell ver 0.1"
    end
    os.shutdown = function()
	    while true do
		    coroutine.yield()
	    end
    end
    os.run = function( _tEnv, _sPath, ... )
	    local tArgs = { ... }
	    local fnFile, err = loadfile( _sPath )
	    if fnFile then
		    local tEnv = _tEnv
		    setmetatable( tEnv, { __index = _G } )
		    setfenv( fnFile, tEnv )
		    local ok, err = pcall( function()
			    fnFile( unpack( tArgs ) )
		    end )
		    if not ok then
			    if err and err ~= "" then
				    print( err )
			    end
			    return false
		    end
		    return true
	    end
	    if err and err ~= "" then
		    print( err )
	    end
	    return false
    end
    term.clear()
    term.setCursorPos(1,1)
    term.write("test")
    local ProgENV = {}
    if fs.exists("rom/programs/shell") then
	    local file = fs.open("rom/programs/shell", "r" )
	    local fFunction = loadstring(file.readAll())
	    -- local fFunction = loadstring(file.readAll(),"frandom")
	    file.close()
	    setmetatable( ProgENV, { __index = _G } ) -- no idear wtf this does but it works
	    setfenv(fFunction,ProgENV)
	    cProgram = coroutine.create(fFunction)
    end
    term.clear()
    term.setCursorPos(1,1)
    coroutine.resume(cProgram)
    while true do
	    local e,e1,e2,e3,e4,e5 = coroutine.yield()
	    coroutine.resume(cProgram,e,e1,e2,e3,e4,e5)
    end
end

term.clear()
term.setCursorPos(1,1)
if not turtle then
    print("Not a turtle")
    return
end
-- Indexes	  --
local tFaces = {"north","south","west","east"}
-- varibles	 --
local machineID = os.getComputerID()
local modemOn
local turX,turY,turZ,turF = nil,nil,nil,1
local tThreads = {}
local tRequest = {}
-- Functions    --
local netWork = {}
netWork.open = function()
    local listOfSides = rs.getSides()
    for i = 1,6 do
	    if peripheral.isPresent(listOfSides[i]) and peripheral.getType(listOfSides[i]) == "modem" then
		    rednet.open(listOfSides[i])
		    return listOfSides[i]
	    end
    end
    return false
end
local move = {}
move.up = function()
    if turtle.up() then
	    turZ = turZ + 1
	    return true
    else
	    return false
    end
end
move.down = function()
    if turtle.down() then
	    turZ = turZ - 1
	    return true
    else
	    return false
    end
end
move.forward = function()
    if turtle.forward() then
	    if turF == 1 then
		    turY = turY + 1
	    elseif turF == 2 then
		    turX = turX + 1
	    elseif turF == 3 then
		    turY = turY - 1
	    elseif turF == 4 then
		    turX = turX - 1
	    end
	    return true
    else
	    return false
    end
end
move.back = function()
    if turtle.back() then
	    if turF == 1 then
		    turY = turY - 1
	    elseif turF == 2 then
		    turX = turX - 1
	    elseif turF == 3 then
		    turY = turY + 1
	    elseif turF == 4 then
		    turX = turX + 1
	    end
	    return true
    else
	    return false
    end
end
move.pos = function()
    return turX,turY,turZ,turF
end
local turn = {}
turn.left = function()
    if turtle.turnLeft() then
	    turF = turF - 1
	    if turF < 1 then
		    turF = 4
	    end
	    return true
    else
	    return false
    end
end
turn.right = function()
    if turtle.turnRight() then
	    turF = turF + 1
	    if turF > 4 then
		    turF = 1
	    end
	    return true
    else
	    return false
    end
end
-- sub programs --
-- netALPHA	 --
local tPrograms = {}
tPrograms["netALPHA"] = function()
    netALPHA = true --  so programs can test for NetALPHA
    --local
    local ver = 0.2
    local Status = "unstable"
    local off = false -- debug Mode
    local MachineID = os.getComputerID()
    local bSendMode = false
    local tNodes = {} -- stores all avalible routes
    local adressBook = {}
    local maxHop = 5
    -- functions
    local function sPrint(Input)
	    if off then
		    return
	    end
	    if type(Input) == "table" then
		    print(tostring(Input).." "..#Input)
	    elseif type(Input) == "string" then
		    print(tostring(Input))
	    elseif Input == nil then
		    print("Nil Value fucked up here lol XD")
	    elseif type(Input) == "number" then
		    print(tostring(Input))
	    elseif type(Input) == "function" then
		    print(tostring(Input))
	    elseif type(Input) == "thread" then
		    print(tostring(Input))
	    else
		    print("Unknown Print request")
	    end
    end
    local function DistanceMesure(set1X,set1Y,set1Z,set2X,set2Y,set2Z)
	    local iMeters = math.sqrt((math.sqrt(((set1X - set2X)^2) + ((set1Y - set2Y)^2)))^2 + (set1Z - set2Z)^2)
	    return iMeters
    end
    local function findRoute(DesID,DesX,DesY,DesZ) -- find clostest router to destination.
	    local shortestM = nil
	    local shortestID = nil
	    for i = 1,#tNodes do
		    local Distance = math.sqrt((math.sqrt(((DesX - tNodes[i][2])^2) + ((DesY - tNodes[i][3])^2)))^2 + (DesZ - tNodes[i][4])^2)
		    if shortestID == DesID then
			    shortestM = Distance
			    shortestID = tNodes[i][1]
			    return  shortestID , shortestM
		    elseif shortestM == nil then
			    shortestM = Distance
			    shortestID = tNodes[i][1]
		    elseif Distance < shortestM then
			    shortestM = Distance
			    shortestID = tNodes[i][1]
		    end
	    end
	    if shortestM then
		    return shortestID , shortestM
	    else
		    return false
	    end
    end
    local function PacketDecode(sPacket)
	    if string.sub(sPacket,1,8) == "netALPHA" then
		    local sTemp = string.find(sPacket,"{")
		    --sPrint(sTemp)
		    local sTemp3 = string.sub(sPacket,9,sTemp-1)
		    --sPrint(sTemp3)
		    local sTemp2 = tonumber(sTemp3)
		    --sPrint(sTemp2)
		    local tOutput = textutils.unserialize(string.sub(sPacket,sTemp,sTemp2+8+#sTemp3))
		    --sPrint(tOutput)
		    local sOutput = string.sub(sPacket,sTemp2+9+#sTemp3,#sPacket)
		    --sPrint(sOutput)
		    if type(tOutput) == "table" and type(sOutput) == "string" then
			    if sOutput == "" then
				    return tOutput
			    else
				    return tOutput,sOutput
			    end
		    end
	    end
	    error()
    end
    local function printD(...)
	    if off then
		    return
	    else
	    print(...)   
	    end
    end
    local function addRoutBook(tAddress)
	    for i = 1,#tNodes do
		    if tNodes[i][1] == tAddress[1] then
			    tNodes[i] = tAddress
			    return
		    end
	    end
	    table.insert(tNodes,tAddress)
	    printD(type(tAddress))
    end
    local function PacketBuilder(tInput,sInput)
	    if sInput == nil then
		    sInput = ""
	    end
	    if type(tInput) == "table" and type(sInput) == "string" then
		    local temp = textutils.serialize(tInput)
		    printD(temp)
		    local sOut = "netALPHA"..tostring(#temp)..temp..sInput
		    return sOut
	    else
		    return false
	    end
    end
    local function sendPing()
	    rednet.broadcast(PacketBuilder({"INS","PING",MachineID,turX,turY,turZ}))
    end
    os.startTimer(120+math.random(1,30)) -- 2 mins +- 15 secs
    sendPing()
    -- main function
    local function netALPHACore()
	    while true do
		    local sEvent,isendID,sMessage,iDistance = coroutine.yield()
		    if sEvent == "rednet_message" then
			    local bStatus,tPacket,sPacket = pcall(PacketDecode,sMessage)
			    if bStatus then
				    if tPacket[1] == "PKT" and #tPacket == 10 then
					    if tPacket[7] == MachineID then
						    printD("Packet form me")
						    printD("From ID: "..tPacket[3].." loc X: "..tPacket[4].." Y: "..tPacket[5].." Z: "..tPacket[6])
						    printD("sent To: "..tPacket[7].." loc X: "..tPacket[8].." Y: "..tPacket[9].." Z: "..tPacket[10])
						    os.queueEvent("netALPHA",tPacket[3],sMessage,DistanceMesure())
					    else
						    printD("packet to forward")
						    printD("From ID: "..tPacket[3].." loc X: "..tPacket[4].." Y: "..tPacket[5].." Z: "..tPacket[6])
						    printD("sent To: "..tPacket[7].." loc X: "..tPacket[8].." Y: "..tPacket[9].." Z: "..tPacket[10])
						    if tPacket[2] <= maxHop then
							    local forwardID,forwardM = findRoute(tPacket[7],tPacket[8],tPacket[9],tPacket[10])
							    sPrint("forwded to")
							    sPrint(forwardID)
							    sPrint(forwardM)
							    tPacket[2] = tPacket[2]+1 -- incrementing hop
							    rednet.send(forwardID,PacketBuilder(tPacket,sPacket))
						    else
							    print("MaxHop Ignore Packet")
						    end
					    end
				    elseif tPacket[1] == "INS" then
					    printD("instruction "..tPacket[2])
					    if tPacket[2] == "PING" and #tPacket == 6 then
						    addRoutBook({tPacket[3],tPacket[4],tPacket[5],tPacket[6]})
						    rednet.send(isendID,PacketBuilder({"INS","PONG",MachineID,turX,turY,turZ}))
					    elseif tPacket[2] == "PONG" and #tPacket == 6 then
						    addRoutBook({tPacket[3],tPacket[4],tPacket[5],tPacket[6]})
					    elseif tPacket[2] == "CHK-" and #tPacket == 10 then
					    elseif tPacket[2] == "RPL-" and #tPacket == 10 then
					    end
				    end
			    end
		    elseif sEvent == "timer" then
			    os.startTimer(120+math.random(1,30))
			    tNodes = {}
			    sendPing()
		    end
		    if #tNodes >= 1 then
			    for i = 1,#tNodes do
				    printD("T "..i.." of "..#tNodes.." ID "..tNodes[i][1].." X"..tNodes[i][2].." Y"..tNodes[i][3].." Z"..tNodes[i][4])
			    end
		    end
	    end
    end
    netALPHACore()
end
tPrograms["Command"] = function()
    while true do
	    local e,e1,e2,e3 = os.pullEvent()
	    if e == "netALPHA" then
		    print(tostring(e1).." "..tostring(e2).." "..tostring(e3))
	    end
    end
end
-- task mangment--
local task = {} -- needs work
task.run = function(program)
    tThreads[#tThreads+1] = {}
    tThreads[#tThreads]["thread"] = coroutine.create(tPrograms[program])
    tThreads[#tThreads]["req"] = nil
end
-- boot process --
print("Booting turtle NO: "..machineID)
modemOn = netWork.open()
if not modemOn then
    print("No WIFI ModemnPress any key to exit")
    os.pullEvent("key")
    return
else
    print("Opened wifi on "..modemOn.." side")
end
turX,turY,turZ = gps.locate(2,true)
if not turX then
    print("GPS locate failednPress any key to exit")
    os.pullEvent("key")
    return
end
print("Starting Networking")
task.run("netALPHA")
print("netPLPHA ID :".." "..machineID.." "..turX.." "..turY..""..turZ)
print("boot compleet")
-- main loop    --
while true do
    local tEvent = {os.pullEvent()}
    print(tEvent[1])
    local loop = 1
    while true do
	    if loop == #tThreads + 1 then
		    break
	    end
	    if coroutine.status(tThreads[loop]["thread"]) ~= "dead" then
		    if tThreads[loop]["req"] == nil or tEvent[1] == tThreads[loop]["req"] then
			    test,tThreads[loop]["req"] = coroutine.resume(tThreads[loop]["thread"],unpack(tEvent)) -- fix
		    end
		    loop = loop + 1
	    else
		    print("Thread Crash")
		    table.remove(tThreads,loop)
	    end
    end
    local oldX,oldY = term.getCursorPos()
    term.setCursorPos(1,1)
    write("threds: "..#tThreads..tostring(tThreads[1]["req"]))
    term.setCursorPos(oldX,oldY)
end

while true do
    local tEvent = {os.pullEvent()}
    print(tEvent[1])
    local loop = 1
    while true do
	    if loop == #tThreads + 1 then
		    break
	    end
	    if coroutine.status(tThreads[loop]["thread"]) ~= "dead" then
		    if tThreads[loop]["req"] == nil or tEvent[1] == tThreads[loop]["req"] then
			    test,tThreads[loop]["req"] = coroutine.resume(tThreads[loop]["thread"],unpack(tEvent)) -- fix
		    end
		    loop = loop + 1
	    else
		    print("Thread Crash")
		    table.remove(tThreads,loop)
	    end
    end
    local oldX,oldY = term.getCursorPos()
    term.setCursorPos(1,1)
    write("threds: "..#tThreads..tostring(tThreads[1]["req"]))
    term.setCursorPos(oldX,oldY)
end