public override void Perform()
{
Drone.Program.Echo($"Miner: {this.State}");
switch (this.State)
{
case 0:
// Startup and Depart
Drone.Wake();
Drone.Startup();
Drone.DockingConnector.Disconnect();
Drone.DockingConnector.Enabled = false;
Drone.OpenFuelTanks();
InitializeMiningRun();
if (ComputeDeparturePoint)
{
DeparturePoint = Drone.DockingConnector.GetPosition() + 15 * Drone.DockingConnector.WorldMatrix.Backward;
}
State = 1;
break;
case 1:
if (Move == null)
{
Move = new Move(Drone, new Queue <Vector3D>(new[] { DeparturePoint }), Drone.Remote, false);
}
// Departing
if (Move.Perform())
{
Move = null;
State = 2;
}
break;
case 2:
if (ManualSiteApproach)
{
Drone.Sleep();
return;
}
if (Move == null)
{
Move = new Move(Drone, new Queue <Vector3D>(new[] { MiningSite }), Drone.Remote, true);
}
if (Move.Perform())
{
Move = null;
State = 3;
}
break;
case 3:
if (ManualMining)
{
Drone.Program.IGC.SendUnicastMessage(ForemanAddress, "Notifications", "I have arrived at the mining site");
Drone.Sleep();
return;
}
else
{
Drone.Log("Automated");
ActivateDrills();
if (Tunnel.Mine())
{
State = 4;
DeactivateDrills();
}
}
break;
case 4:
Drone.Wake();
if (DockingAttempt == null)
{
DockingAttempt = new DockingAttempt(Drone, Drone.DockingConnector, ForemanAddress, DockingRequestChannel);
}
if (DockingAttempt.Perform())
{
State = 5;
}
break;
case 5:
DockingAttempt = null;
Drone.LogToLcd("Miner Shutting Down");
Drone.Shutdown();
Drone.Sleep();
break;
}
}
public override void Perform()
{
Drone.Log($"Performing surveyor: {State}");
switch (this.State)
{
case "initial":
// Startup and Depart
Drone.Wake();
Drone.Startup();
Drone.DockingConnector.Disconnect();
Drone.DockingConnector.Enabled = false;
Drone.OpenFuelTanks();
Drone.Eye.EnableRaycast = true;
DeparturePoint = Drone.DockingConnector.GetPosition() + 15 * Drone.DockingConnector.WorldMatrix.Backward;
State = "departing";
break;
case "departing":
if (Move == null)
{
Move = new Move(Drone, new Queue <Vector3D>(new[] { DeparturePoint }), Drone.Remote, false);
}
// Departing
if (Move.Perform())
{
Move = null;
State = "point";
}
break;
case "point":
// Waiting to be oriented by the player
Drone.Sleep();
break;
case "preparing to move":
// fly to obstacle immediately in front and stop on the nearest bounding box corner
Drone.Eye.EnableRaycast = true;
Drone.Log($"Scan Range: {Drone.Eye.AvailableScanRange}");
if (Drone.Eye.CanScan(20000))
{
Obstacle = Drone.Eye.Raycast(20000, 0, 0);
if (!Obstacle.IsEmpty())
{
StringBuilder sb = new StringBuilder();
sb.Clear();
sb.Append("EntityID: " + Obstacle.EntityId);
sb.AppendLine();
sb.Append("Name: " + Obstacle.Name);
sb.AppendLine();
sb.Append("Type: " + Obstacle.Type);
sb.AppendLine();
sb.Append("Velocity: " + Obstacle.Velocity.ToString("0.000"));
sb.AppendLine();
sb.Append("Relationship: " + Obstacle.Relationship);
sb.AppendLine();
sb.Append("Size: " + Obstacle.BoundingBox.Size.ToString("0.000"));
sb.AppendLine();
sb.Append("Position: " + Obstacle.Position.ToString("0.000"));
Drone.LogToLcd($"Found Obstacle: \n{sb}");
State = "shoot";
}
}
break;
case "shoot":
MyTuple <double, Vector3D> candidate = new MyTuple <double, Vector3D>(
(Obstacle.BoundingBox.GetCorners().First() - Drone.Remote.GetPosition()).Length(),
Obstacle.BoundingBox.GetCorners().First()
);
foreach (Vector3D corner in Obstacle.BoundingBox.GetCorners())
{
double distance = (corner - Drone.Remote.GetPosition()).Length();
if (distance < candidate.Item1)
{
candidate.Item1 = distance;
candidate.Item2 = corner;
}
}
Move = new Move(Drone, new Queue <Vector3D>(new[] { candidate.Item2 }), Drone.Remote, true);
State = "flying";
break;
case "flying":
if (Move.Perform())
{
State = "arrived";
}
break;
case "arrived":
Drone.Program.IGC.SendUnicastMessage(ParentAddress, "Notifications", "I have arrived at the survey site");
Drone.Sleep();
return;
case "surveying":
Drone.Sleep();
break;
case "returning":
Drone.Wake();
if (DockingAttempt == null)
{
DockingAttempt = new DockingAttempt(Drone, Drone.DockingConnector, ParentAddress, DockingRequestChannel);
}
if (DockingAttempt.Perform())
{
State = "shutting down";
}
;
break;
case "shutting down":
DockingAttempt = null;
Drone.Shutdown();
Drone.Sleep();
break;
}
}
