schem fixed 2 w/multiturtle

--made by me
--setup() made by orwell

local tArgs = { ... }
if #tArgs < 1 then
  error("Usage: blueprint <gunzipped schematic file>")
end

if not fs.exists("textutilsFIX") then
    shell.run("pastebin get 3wguFBXn textutilsFIX")
end

if not fs.exists("grid") then
    shell.run("pastebin get EjYUEQqx grid")
end

shell.run("grid")
os.loadAPI("textutilsFIX")

local filename = tArgs[1]

if not fs.exists(filename) then
  error("File does not exist.")
end

function save(name,table)
    local h = fs.open(name,"w")
    table = textutils.serialize(table)
    h.write(table)
    h.close()
end

function saveIns(name,table)
    local h = fs.open(name,"w")
    h.writeLine(name.." = {}")
    for i,coord in pairs(table) do
        h.writeLine(name.."["..i.."] = {"..table.concat(coord,",").."}")
        h.flush()
    end
    h.close()
end

function saveBlueprint(reference,slots,instructions,uniqueblocks,nTurtle)
    local fname = filename:gsub("%.(.*)","")..".blueprint"
    if nTurtle then
        fname = fname.."["..tostring(nTurtle).."]"
    end
    local h = fs.open(fname,"w")
    h.writeLine("reference ="..textutils.serialize(reference)..";")
    h.writeLine("slots = "..textutils.serialize(slots)..";")
    h.writeLine("uniqueblocks = "..textutils.serialize(uniqueblocks)..";")
    h.writeLine("instructions = "..textutilsFIX.serialize(instructions)..";")
    h.close()
    return fname
end

local block_id = {}

block_id[0] = "Air"
block_id[1] = "Stone"
block_id[2] = "Grass"
block_id[3] = "Dirt"
block_id[4] = "Cobblestone"
block_id[5] = "Wood Planks"
block_id[6] = "Sapling"
block_id[7] = "Bedrock"
block_id[8] = "Water"
block_id[9] = "Stationary water"
block_id[10] = "Lava"
block_id[11] = "Stationary lava"
block_id[12] = "Sand"
block_id[13] = "Gravel"
block_id[14] = "Gold Ore"
block_id[15] = "Iron (Ore)"
block_id[16] = "Coal Ore"
block_id[17] = "Wood"
block_id[18] = "Leaves"
block_id[19] = "Sponge"
block_id[20] = "Glass"
block_id[21] = "Lapis Lazuli (Ore)"
block_id[22] = "Lapis Lazuli (Block)"
block_id[23] = "Dispenser"
block_id[24] = "Sandstone"
block_id[25] = "Note Block Tile entity"
block_id[26] = "Bed"
block_id[27] = "Powered Rail "
block_id[28] = "Detector Rail "
block_id[29] = "Sticky Piston"
block_id[30] = "Cobweb"
block_id[31] = "Tall Grass"
block_id[32] = "Dead Bush"
block_id[33] = "Piston"
block_id[34] = "Piston Extension"
block_id[35] = "Wool"
block_id[36] = "Block moved by Piston"
block_id[37] = "Dandelionandelion"
block_id[38] = "Rose"
block_id[39] = "Brown Mushroom"
block_id[40] = "Red Mushroom"
block_id[41] = "Block of Gold"
block_id[42] = "Block of Iron"
block_id[43] = "Double Slabs"
block_id[44] = "Slabs"
block_id[45] = "Brick Block"
block_id[46] = "TNT"
block_id[47] = "Bookshelf"
block_id[48] = "Moss Stone"
block_id[49] = "Obsidian"
block_id[50] = "Torch"
block_id[51] = "Fire"
block_id[52] = "Monster Spawner"
block_id[53] = "Wooden Stairs"
block_id[54] = "Chest"
block_id[55] = "Redstone (Wire)"
block_id[56] = "Diamond (Ore)"
block_id[57] = "Block of Diamond"
block_id[58] = "Crafting Table"
block_id[59] = "Seeds"
block_id[60] = "Farland"
block_id[61] = "Furnace"
block_id[62] = "Burning Furnace"
block_id[63] = "Sign Post"
block_id[64] = "Wooden Door"
block_id[65] = "Ladders"
block_id[66] = "Rails"
block_id[67] = "Cobblestone Stairs"
block_id[68] = "Wall Sign"
block_id[69] = "Lever"
block_id[70] = "Stone Pressure Plate"
block_id[71] = "Iron Door"
block_id[72] = "Wooden Pressure Plates"
block_id[73] = "Redstone Ore"
block_id[74] = "Glowing Redstone Ore"
block_id[75] = "Redstone Torch"
block_id[76] = "Redstone Torch"
block_id[77] = "Stone Button "
block_id[78] = "Snow"
block_id[79] = "Ice"
block_id[80] = "Snow Block"
block_id[81] = "Cactus"
block_id[82] = "Clay (Block)"
block_id[83] = "Sugar Cane"
block_id[84] = "Jukebox"
block_id[85] = "Fence"
block_id[86] = "Pumpkin"
block_id[87] = "Netherrack"
block_id[88] = "Soul Sand"
block_id[89] = "Glowstone"
block_id[90] = "Portal"
block_id[91] = "Jack-O-Lantern"
block_id[92] = "Cake Block"
block_id[93] = "Redstone Repeater"
block_id[94] = "Redstone Repeater"
block_id[95] = "Stained Glass"
block_id[96] = "Trapdoors"
block_id[97] = "Hidden Silverfish"
block_id[98] = "Stone Bricks"
block_id[99] = "Huge brown and red mushroom"
block_id[100] = "Huge brown and red mushroom"
block_id[101] = "Iron Bars"
block_id[102] = "Glass Pane"
block_id[103] = "Melon"
block_id[104] = "Pumpkin Stem"
block_id[105] = "Melon Stem"
block_id[106] = "Vines"
block_id[107] = "Fence Gate"
block_id[108] = "Brick Stairs"
block_id[109] = "Stone Brick Stairs"
block_id[110] = "Mycelium"
block_id[111] = "Lily Pad"
block_id[112] = "Nether Brick"
block_id[113] = "Nether Brick Fence"
block_id[114] = "Nether Brick Stairs"
block_id[115] = "Nether Wart"
block_id[116] = "Enchantment Table"
block_id[117] = "Brewing Stand"
block_id[118] = "Cauldron"
block_id[119] = "End Portal"
block_id[120] = "End Portal Frame"
block_id[121] = "End Stone "
block_id[126] = "Wood Slabs"
block_id[128] = "Sandstone Stairs"
block_id[134] = "Spruce Wood Stairs"
block_id[135] = "Birch Wood Stairs"
block_id[136] = "Jungle Wood Stairs"
block_id[156] = "Quartz Stairs"
block_id[159] = "Stained Clay"
block_id[160] = "Stained Glass Pane"
block_id[163] = "Acacia Wood Stairs"
block_id[164] = "Dark Oak Wood Stairs"
block_id[171] = "Carpet"
block_id[172] = "Hardened Clay"
block_id[256] = "Iron Ingotron Shovel"
block_id[257] = "Iron Pickaxe"
block_id[258] = "Iron Axe"
block_id[259] = "Flint and Steel"
block_id[260] = "Red Apple"
block_id[261] = "Bow"
block_id[262] = "Arrow"
block_id[263] = "Coal"

local woolColors = {}
woolColors[0] = "White"
woolColors[1] = "Orange"
woolColors[2] = "Magenta"
woolColors[3] = "Light Blue"
woolColors[4] = "Yellow"
woolColors[5] = "Lime"
woolColors[6] = "Pink"
woolColors[7] = "Gray"
woolColors[8] = "Light Gray"
woolColors[9] = "Cyan"
woolColors[10] = "Purple"
woolColors[11] = "Blue"
woolColors[12] = "Brown"
woolColors[13] = "Green"
woolColors[14] = "Red"
woolColors[15] = "Black"

local woodTypes = {}
woodTypes[0] = "Oak"
woodTypes[1] = "Spruce"
woodTypes[2] = "Birch"
woodTypes[3] = "Jungle"
woodTypes[4] = "Acacia"
woodTypes[5] = "Dark Oak"

local stairOrientation = {}
stairOrientation[0] = "East"
stairOrientation[1] = "West"
stairOrientation[2] = "South"
stairOrientation[3] = "North"
stairOrientation[4] = "East Inverted"
stairOrientation[5] = "West Inverted"
stairOrientation[6] = "South Inverted"
stairOrientation[7] = "North Inverted"

local nonWoodenSlabs = {
    [0] = "Stone",
    [1] = "Sandstone",
    [2] = "Wooden",
    [3] = "Cobblestone",
    [4] = "Bricks",
    [5] = "Stone Bricks",
    [6] = "Nether Brick",
    [7] = "Quartz",
    [8] = "Inverted Stone",
    [9] = "Inverted Sandstone",
    [10] = "Inverted Wooden",
    [11] = "Inverted Cobblestone",
    [12] = "Inverted Bricks",
    [13] = "Inverted Stone Bricks",
    [14] = "Inverted Nether Brick",
    [15] = "Inverted Quartz",
}

local length = 0
local height = 0
local width = 0
local blocks = {}
local data = {}

function getBlockName(id, blockData)
    blockData = blockData or nil
    local str = nil
    if(block_id[id] == nil) then
        return tostring(id)..", "..tostring(blockData)
    else
        if(blockData) then
            if(id == 35) or (id == 159) or (id == 95) or (id == 160) or (id == 171) then
                str = tostring(woolColors[blockData]) .. " " .. tostring(block_id[id])
                return str
            elseif id == 5 or id==17 or id==126 then
                str = tostring(woodTypes[blockData]).." "..tostring(block_id[id])
                return str
            elseif id == 44 or id == 43 then
                str = tostring(nonWoodenSlabs[blockData]).." "..tostring(block_id[id])
                return str
            end
        return block_id[id]
        end
    end
end

function getBlockId(x,y,z)
  return blocks[y + z*width + x*length*width + 1]
end

function getData(x,y,z)
  return data[y + z*width + x*length*width + 1]
end

function readbytes(h, n)
  for i=1,n do
    h.read()
  end
end

function readname(h)
  local n1 = h.read()
  local n2 = h.read()

  if(n1 == nil or n2 == nil) then
    return ""
  end

  local n = n1*256 + n2

  local str = ""
  for i=1,n do
    local c = h.read()
    if c == nil then
      return
    end
    str = str .. string.char(c)
  end
  return str
end

function parse(a, h, containsName)
  local containsName = containsName or true
  local i,i1,i2,i3,i4
  if a==0 then
    return
  end
  if containsName then
    name = readname(h)
  end

  if a==1 then
    readbytes(h,1)
  elseif a==2 then
    i1 = h.read()
    i2 = h.read()
    i = i1*256 + i2
    if(name=="Height") then
      height = i
    elseif (name=="Length") then
      length = i
    elseif (name=="Width") then
      width = i
    end
  elseif a==3 then
    readbytes(h,4)
  elseif a==4 then
    readbytes(h,8)
  elseif a==5 then
    readbytes(h,4)
  elseif a==6 then
    readbytes(h,8)
  elseif a==7 then
    i1 = h.read()
    i2 = h.read()
    i3 = h.read()
    i4 = h.read()
    i = i1*256*256*256 + i2*256*256 + i3*256 + i4
    if name == "Blocks" then
      for i=1,i do
        table.insert(blocks, h.read())
      end
    elseif name == "Data" then
      for i=1,i do
        table.insert(data, h.read())
      end
    else
      readbytes(h,i)
    end
  elseif a==8 then
    i1 = h.read()
    i2 = h.read()
    i = i1*256 + i2
    readbytes(h,i)
  elseif a==9 then
    --readbytes(h,5)
    local type = h.read()
    i1 = h.read()
    i2 = h.read()
    i3 = h.read()
    i4 = h.read()
    i = i1*256*256*256 + i2*256*256 + i3*256 + i4
    for j=1,i do
      parse(h.read(), h, false)
    end
  end
end

function forward()
  while not turtle.forward() do
    turtle.dig()
  end
end

function up()
  while not turtle.up() do
    turtle.digUp()
  end
end

function down()
  while not turtle.down() do
    turtle.digDown()
  end
end

function place()
  while not turtle.placeDown() do
    turtle.digDown()
  end
end

local function show_selected_slot(n)
    local w,h = term.getCursorPos()
    local itemData = turtle.getItemDetail(newSelect)
    if itemData then
        term.clearLine()
        term.setCursorPos(1,h)
        write("    "..itemData.name..", "..itemData.damage)
    else
        term.clearLine()
        term.setCursorPos(1,h)
        write("    ")
    end
    return itemData
end

local function setColor(color)
    if term.isColor() then
        term.setTextColor(color)
    end
end

function setup(filename)
--input file
--returns blocks,data
--requires parse, getBlockName

    if not fs.exists(filename) then
        error("File "..tostring(filename).." does not exist.")
    end
    h = fs.open(filename, "rb")

    local a = 0
    while (a ~= nil) do
        a = h.read()
        parse(a, h)
    end

    write("length: " .. length)
    write("   width: " .. width)
    write("   height: " .. height .. "\n")

    uniqueblocks={}
    for i,v in ipairs(blocks) do
        found = false
        for j,w in ipairs(uniqueblocks) do

            --[[if (w.blockID==v and (w.data==data[i] or w.blockID ~= 35)) then
                found = true
                w.amount = w.amount + 1
                break
            end]]--

            --for now, data is only accounted for when the block is whool
            if (w.blockID==v) and (w.data==data[i]) then
                found = true
                w.amount = w.amount + 1
                break
            end
        end

        if found==false then
            uniqueblocks[#uniqueblocks+1] = {}
            uniqueblocks[#uniqueblocks].blockID = v
            uniqueblocks[#uniqueblocks].data = data[i]
            uniqueblocks[#uniqueblocks].amount = 1
        end
    end

    if fs.exists("slots") then
        print("slots file discovered...")
        print("skipping setup")
        h.close()
        return
    end

    print("number of block types: " .. #uniqueblocks)
    for i,v in ipairs(uniqueblocks) do
        if (i%9)==0 then
            read()
        end

        local stacks = math.ceil( (v.amount/64) )
        setColor(colors.white)
        write(" -" .. getBlockName(v.blockID, v.data))
        setColor(colors.lightGray)
        write("("..v.blockID..","..v.data..")")
        setColor(colors.white)
        write(": ")

        if v.amount > 64 then
            setColor(colors.magenta)
            print(stacks.." stacks")
        else
            setColor(colors.cyan)
            print(v.amount)
        end
    end

    setColor(colors.white)

    read()


    print("Use arrowKeys and enter to select slots containing block the turtle will use for the printed blockType")
    setColor(colors.gray)
    print("press x to skip(not use) the specified blockType")
    setColor(colors.white)
    slots={}
    for i,block in ipairs(uniqueblocks) do
        local n = nil
        blockData = block.data

        setColor(colors.lightGray)
        write(" -in which slots is ")
        setColor(colors.lime)
        write(getBlockName(block.blockID, blockData))
        setColor(colors.lightGray)
        print("("..block.blockID..","..blockData .. ") ?")
        setColor(colors.white)
        if not slots[block.blockID] then
            slots[block.blockID] = {}
        end
        slots[block.blockID][blockData] = {}
        show_selected_slot(turtle.getSelectedSlot())
        --input none
        --output(n)

        --(oldWay)
        if tArgs[2] == "sim" or tArgs[2] == "simulate" then
            write("   ")
            str = read()
            n = tonumber(str)
        else
            n = numberSelector()
        end

        local itemData = show_selected_slot(n)
        if(n and itemData) then
            print()
            slots[block.blockID][blockData] = {itemData.name,itemData.damage}
        else
            local w,h = term.getCursorPos()
            term.clearLine()
            term.setCursorPos(1,h)
            print("    SKIPPING")
            slots[block.blockID][blockData] = {}
        end
    end

    h.close()
    save("slots",slots)
end

function numberSelector()

    local function selectNext(newSelect)
        if newSelect >= 1 and newSelect <= 16 then
            turtle.select(newSelect)
            show_selected_slot(newSelect)
        end
    end

    local function ifKey(events,nKey,fn,...)
        if events[1] == "key" and events[2] == tonumber(nKey) then
            fn(...)
        end
    end

    local bRunning = true
    local bNothing = false
    while bRunning do
        local events = { os.pullEvent("key") }
        local newSelect
        local selected = turtle.getSelectedSlot()

        ifKey(events,203,function() newSelect = selected - 1 ; selectNext(newSelect) ; end)
        ifKey(events,205,function() newSelect = selected + 1 ; selectNext(newSelect) ; end)
        ifKey(events,200,function() newSelect = selected - 4 ; selectNext(newSelect) ; end)
        ifKey(events,208,function() newSelect = selected + 4 ; selectNext(newSelect) ; end)
        ifKey(events,28,function() bRunning = false ; end)
        ifKey(events,45,function() bNothing = true ; bRunning = false ; end)
        ifKey(events,15,function() bNothing = true ; bRunning = false; end)

        for i = 2,13 do
            ifKey(events,i,function() selectNext(i-1) end)
        end
        for i = 26,27 do
            ifKey(events,i,function() selectNext(i-13) end)
        end
        for i = 39,40 do
            ifKey(events,i,function() selectNext(i-24) end)
        end
    end
    if bNothing then
        return nil
    else
        return turtle.getSelectedSlot()
    end
end

-- [[ Iterators ]] --

function checkIfAir()
    --finds the location to place the next block
    while true do
    x,y,z = iterate(x,y,z,startx,starty,startz,height-1,width-1,length-1)
        --makes the turtle build faster by having to travel less
        blockID2 = getBlockId(x,y,z)    -- temporary variable
        blockData2 = getData(x,y,z)     -- temporary variable
        if slots[blockID2] then
            -- makes sure the next block to place at location is not air
            slot_2nd = slots[blockID2][blockData2]
            if slot_2nd then
                if #slot_2nd > 0 then
                    recordObj(x,y,z)
                    break
                end
            end
        end
    end
end

function check(x,y,z,startx,starty,startz)
    if x%2==startx%2 then
        oddx = true
        if y%2==starty%2 then
            oddy = true
        else
            oddy = false
        end
    else
        oddx = false
        if y%2==starty%2 then
            oddy = false
        else
            oddy = true
        end
    end
    return oddx,oddy
end


function Yiterate(x,y,z,startx,starty,startz,finalx,finaly,finalz)

    local height = finalx
    local width = finaly
    local length = finalz

    if oddx then
        if y < width then
            y = y + 1
        elseif y == width then
            if x < height then
                x = x + 1
            --elseif x == height then
                --x,y,z = "max","max","max"
            end
        end
    else
        if y <= starty then
            if x < height then
                x = x + 1
            elseif x == height then
                x = "max"
                y = "max"
                z = "max"
            end
        else
            y=y-1
        end
    end
    return x,y,z
end

function iterate(x,y,z,startx,starty,startz,finalx,finaly,finalz)

    local height = finalx
    local width = finaly
    local length = finalz


    local oddx,oddy = check(x,y,z,startx,starty,startz)
    if z == length and oddy then
        x,y,z = Yiterate(x,y,z,startx,starty,startz,finalx,finaly,finalz)
    elseif z == startz and oddy then
        z = z + 1
    elseif z == startz and (not oddy) then
        x,y,z = Yiterate(x,y,z,startx,starty,startz,finalx,finaly,finalz)
    elseif z==length and (not oddy) then
        z = z - 1

    elseif z < length then
        if oddy then
            z = z + 1
        else
            z = z - 1
        end
    end
    return x,y,z
 end

-- [[ TSP_algorithm API ]] --

local w,h = term.getSize()

local function calculateDistance(tNode1,tNode2)
    local turnCost = 0
    local deltaY,deltaZ
    local y1 = tNode1[2]
    local z1 = tNode1[3]
    local y2 = tNode2[2]
    local z2 = tNode2[3]

    deltaZ = z2-z1
    deltaY = y2-y1

    if deltaZ == 0 or deltaY == 0 then
        turnCost = 0
    else
        turnCost = 1
    end

    return math.abs(deltaZ) + math.abs(deltaY) + turnCost
    --return math.sqrt( (z2-z1)^2 + (y2-y1)^2 )
end

local function twoOptSwap(route, i, k)
    local new_route = {}
    for c = 1,i-1 do
        table.insert(new_route,route[c])
    end
    for c = k,i,-1 do
        table.insert(new_route,route[c])
    end
    for c = k+1,#route do
        table.insert(new_route,route[c])
    end
    return new_route
end

local function calculateTotalDistance(route)
    local total = 0
    for i = 1,#route-1 do
        total = total + calculateDistance(route[i],route[i+1])
    end
    return total
end

local function display(route,distance)
    local l,h = term.getSize()
    shell.run("clear")

    for i = 1,#route-1 do
        paintutils.drawLine(route[i][2],route[i][3],route[i+1][2],route[i+1][3],colors.lime)
    end
    for i,coord in pairs(route) do
        term.setBackgroundColor(colors.yellow)
        term.setTextColor(colors.magenta)
        if coord[2] < l and coord[2] >= 1 and coord[3] >= 1 and coord[3] < h then
            term.setCursorPos(coord[2],coord[3])
            local char = i + 64
            if char > 190 then
                char = char - 190
            end
            if char > 380 then
                char = char - 380
            end
            term.write(string.char(char))
        end
    end
    term.setBackgroundColor(colors.black)
    term.setTextColor(colors.white)
    term.setCursorPos(1,h)
    term.write(distance)
end

local route = {}
route[1] = {1,28,3}
route[2] = {1,36,13}
route[3] = {1,20,8}
route[4] = {1,8,8}
route[5] = {1,44,5}
route[6] = {1,32,13}
route[7] = {1,20,17}
--route[8] = {1,28,3}

function tsp_algorithm(existing_route)
    local improve = 0
    while improve < 3 do
        local best_distance = calculateTotalDistance(existing_route)
        for i = 2,#existing_route-1 do
            for k = i + 1, #existing_route do
                new_route = twoOptSwap(existing_route, i, k)
                new_distance = calculateTotalDistance(new_route)
                if new_distance < best_distance then
                    improve = 0
                    existing_route = new_route
                    best_distance = calculateTotalDistance(existing_route)
                    display(existing_route,best_distance)
                    sleep(0)
                end
            end
        end
        improve = improve + 1
    end
    return existing_route, best_distance
end

-- [[ schematic --> blueprint ]] --

--turtles[i].instructions[n] = {x,y,z,id,data}
--i = multiturtle ie 1,2,3,4 ; n = step ie 1 - 256 (no air)

--fn splits 16x16 grid between 4 turtles returning startx,y,z and endx,y,z of 4 4x4 grids
--fn takes each 4x4 grid and turns them into instructions[n] = {x,y,z,id,data}
--fn for master turtle to setup all slave turtles with the instructions[n] table and goto/find/place functions

function blueprint(startx,starty,startz,finalx,finaly,finalz)
    --uses iterator to make instructions[n] table
    local x,y,z = startx,starty,startz
    local instructions = {}
    local nTimes = (finalx+1-startx)*(finaly+1-starty)*(finalz+1-startz)
    for i=1,nTimes do
        if x == "max" then
            break
        end
        local id = getBlockId(x,y,z)
        local data = getData(x,y,z)
        if id > 0 then
            table.insert(instructions,{x,y,z,id,data})
        end
        x,y,z = iterate(x,y,z,startx,starty,startz,finalx,finaly,finalz)
    end
    return instructions
end

function improveBlueprint(instructions,startx,starty,startz,finalx,finaly,finalz)
    local function instructions2layers(instructions)
        local layers = {}
        for x = startx,finalx do
            layers[x] = {}
            for n=1,#instructions do
                if instructions[n][1] == x then
                    table.insert(layers[x],{unpack(instructions[n],1,3)})
                end
            end
        end
        return layers
    end
    local function organize(layers)
        local startingPosition = {startx,starty,startz}
        for x = startx,finalx do
            table.insert(layers[x],1,startingPosition)
            layers[x] = tsp_algorithm(layers[x])
            startingPosition = layers[x][#layers[x]]
        end
        return layers
    end

    local function layers2instructions(layers)
        local instructions = {}
        --organizedlayers only
        for x = startx,finalx do
            for i = 2,#layers[x] do
                table.insert(instructions,layers[x][i])
            end
        end
        return instructions
    end

    local function add_id_and_data(instructions)
        for n = 1,#instructions do
            instructions[n][4] = getBlockId(unpack(instructions[n],1,3))
            instructions[n][5] = getData(unpack(instructions[n],1,3))
        end
        return instructions
    end

    local layers = instructions2layers(instructions)
    layers = organize(layers)
    local new_instructions = layers2instructions(layers)
    new_instructions = add_id_and_data(new_instructions)
    return new_instructions
end

function simulateIns(instructions)
    local w,h = term.getSize()
    local lastx = 0
    shell.run("clr")
    for n = 1,#instructions do
        if lastx~=instructions[n][1] then
            term.setBackgroundColor(colors.black)
            shell.run("clr")
        end
        if instructions[n][2]+1 >= 1 and instructions[n][3]+1 >= 1 and instructions[n][2]+1 < w and instructions[n][3]+1 <  h then
            term.setCursorPos(instructions[n][2]+1,instructions[n][3]+1)
            term.setBackgroundColor(2^instructions[n][5])
            term.write(" ")
        end
        lastx = instructions[n][1]
        sleep(0)
    end
end

function orientation_check(reference,slots)
    for id,table in pairs(slots) do
        for data,table2 in pairs(table) do
            if table2 and table2[1] then
                if (table2[1]:find("stairs") or table2[1]:find("chest") or table2[1]:find("furnace")) then
                    for n = 1,5 do
                        term.scroll(1)
                        sleep(0)
                    end
                    print("orientation required")
                    print("what direction is the turtle facing?")
                    local r
                    while true do
                        write("    ")
                        if term.isColor() then
                            term.setTextColor(colors.yellow)
                        end
                        r = read()
                        r = tostring(r):lower()
                        term.setTextColor(colors.white)
                        if r ~= "south" and r~= "north" and r~= "west" and r~= "east" then
                            print(r.. " not recognized, north/south/east/west?")
                        else
                            break
                        end
                    end

                    reference.relativeDirection = r
                    print("don't forget to include wrench in turtle!")
                    reference.wrench = true
                    return reference
                end
            end
        end
    end
    return reference
end

function multiturtle_check(reference)
    write("How many Turtles?: ")
    local n = read()
    n = tonumber(n)
    if n then
        if n == 1 then
            reference.multiturtle = false
        else
            reference.multiturtle = n
        end
    end
    print()
    return reference
end

local function Main()
    setup(filename)

    --save("blocks",blocks)
    --save("data",data)
    --save("uniqueblocks",uniqueblocks)

    reference = {
        startx = 0,
        starty = 0,
        startz = 0,
        finalx = height-1,
        finaly = width-1,
        finalz = length-1,
        height = height,
        width = width,
        length = length,
        wrench = false,
        multiturtle = false, -- otherwise its a number (1,2,4,8,12,etc),
        relativeDirection = "south",
        numChests = false,
        filename = false,
        returnx = 0,
        returny = 0,
        returnz = -1,
    }

    if not slots then
        slots = textutils.unserialize( fs.open("slots","r").readAll() )
    end

    reference = orientation_check(reference,slots)
    reference = multiturtle_check(reference)

    local instructions = blueprint(reference.startx,reference.starty,reference.startz,reference.finalx,reference.finaly,reference.finalz)
    if reference.multiturtle then
        local A1 = Class_Grid(instructions,reference.starty,reference.startz,reference.finaly,reference.finalz)
        local startLocations = {nTurtleSplit(reference.multiturtle,A1)}
        for i,v in pairs(startLocations) do
            local nTurtle = i
            local ref = reference
            ref.starty = v.starty
            ref.startz = v.startz
            ref.finaly = v.finaly
            ref.finalz = v.finalz
            local ins = blueprint(ref.startx,v.starty,v.startz,ref.finalx,v.finaly,v.finalz)
            if tArgs[2] == "tsp" then
                ins = improveBlueprint(ins,ref.startx,ref.starty,ref.startz,ref.finalx,ref.finaly,ref.finalz)
            end

            local fname = saveBlueprint(ref,slots,ins,uniqueblocks,nTurtle)
            print(ref.starty," ",ref.startz," ",ref.finaly," ",ref.finalz)
            print(fname," saved")
        end
    else

        if tArgs[2] == "tsp" then
            instructions = improveBlueprint(instructions,reference.startx,reference.starty,reference.startz,reference.finalx,reference.finaly,reference.finalz)
        end
    --textutils.pagedPrint(textutils.serialize(ins))
    --saveIns("instructions",ins)
        local fname = saveBlueprint(reference,slots,instructions,uniqueblocks)
        print(fname," saved")
    --delete slots,reference,ins,uniqueblocks files
    end
end

Main()