public Status ApproachFindDockingPort(double distance)
{
if (approach_target_stage_ != ApproachTargetStage.SHIP)
{
return(Status.FINISHED);
}
if (distance > TARGET_HAS_DETAILS_DISTANCE_THRESHOLD)
{
return(Status.UNFINISHED);
}
var ports = approach_vessel_.Parts.DockingPorts.Where(p => p.Part.Tag == approach_dock_tag_);
if (ports.Count() == 0)
{
return(Status.UNFINISHED);
}
DockingPort port = ports.First();
approach_tar_pos_stream_.Remove();
approach_tar_vel_stream_.Remove();
SpaceCenter.TargetDockingPort = port;
approach_tar_pos_stream_ = Conn.AddStream(() => port.Position(OrbitBodyFrame));
approach_tar_vel_stream_ = Conn.AddStream(() => port.Part.Velocity(OrbitBodyFrame));
approach_tar_dir_stream_ = Conn.AddStream(() => port.Direction(OrbitBodyFrame));
approach_target_stage_ = ApproachTargetStage.PORT;
return(Status.SUCCESS);
}
public Status ApproachInit(
string ship_name,
string dock_tag = null,
string control_node_tag = null,
double distance = 50d)
{
approach_dock_tag_ = dock_tag;
approach_control_node_tag_ = control_node_tag;
approach_distance_max_ = distance;
IEnumerable <Vessel> vessels = SpaceCenter.Vessels.Where(v => v.Name == ship_name);
if (vessels.Count() == 0)
{
return(Status.FAIL);
}
approach_vessel_ = vessels.First();
SpaceCenter.TargetVessel = approach_vessel_;
approach_tar_pos_stream_ = Conn.AddStream(() => approach_vessel_.Position(OrbitBodyFrame));
approach_tar_vel_stream_ = Conn.AddStream(() => approach_vessel_.Velocity(OrbitBodyFrame));
approach_tar_dir_stream_ = null;
Vector3d tar_pos = new Vector3d(approach_tar_pos_stream_.Get());
Vector3d tar_vel = new Vector3d(approach_tar_vel_stream_.Get());
double tar_distance = (tar_pos - State.Vessel.Position).Length();
double tar_rel_vel = (tar_vel - State.Vessel.Velocity).Length();
if (tar_distance < 1000d && tar_rel_vel < Math.Max(10d, Math.Sqrt(tar_distance)))
{
approach_stage_ = ApproachStage.DOCKING;
}
else
{
approach_stage_ = ApproachStage.ENGINE;
}
if (string.IsNullOrEmpty(dock_tag))
{
approach_target_stage_ = ApproachTargetStage.PORT;
}
else
{
approach_target_stage_ = ApproachTargetStage.SHIP;
}
return(Status.SUCCESS);
}
