public Program()
{
allblocks = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocks(allblocks);
}
public Program()
{
// ======== ======== ======== ======== ======== ======== ======== ========
// SETUP
// ======== ======== ======== ======== ======== ======== ======== ========
// Batteries to observe (group name, single block, or "" for all):
string Batteries = "";
// Name of a cockpit, or "" to use the first one found:
string Cockpit = "Cockpit";
// Display number to use (0 for center panel):
int DisplayNum = 0;
// Display text:
string Format =
"MWh:\n" +
"{0:0.00} of {1:0.00}\n" +
"Charge:\n" +
"{2:0.0}%\n";
// ======== ======== ======== ======== ======== ======== ======== ========
// END OF SETUP
// ======== ======== ======== ======== ======== ======== ======== ========
try {
sFormat = Format;
gBattery = new Battery(this, Batteries);
if (Cockpit == string.Empty)
{
List <IMyCockpit> block_list = new List <IMyCockpit>();
GridTerminalSystem.GetBlocksOfType(block_list, x => x.IsSameConstructAs(Me));
if (block_list.Count > 0)
{
gCockpit = block_list[0];
}
else
{
throw new Exception("No cockpit found.");
}
}
else if ((gCockpit = GridTerminalSystem.GetBlockWithName(Cockpit) as IMyCockpit) == null || !gCockpit.IsSameConstructAs(Me))
{
throw new Exception($"No blocks found with argument: '{Cockpit}'");
}
if (DisplayNum >= 0 && DisplayNum < gCockpit.SurfaceCount)
{
gSurface = gCockpit.GetSurface(DisplayNum);
gSurface.ContentType = ContentType.TEXT_AND_IMAGE;
}
else
{
throw new Exception($"Variable 'DisplayNum' is out of range: 0 - {gCockpit.SurfaceCount - 1}");
}
Runtime.UpdateFrequency = UpdateFrequency.Update100;
}
catch (Exception e) {
Echo(e.Message);
if (gBattery != null)
{
Echo(string.Format(sFormat, gBattery.CurrentPower, gBattery.MaxPower, gBattery.Percentage));
}
}
}
public Program()
{
// fill pistons dictionary
{
string[] strPistonNames = new string[9];
strPistonNames[0] = "Piston_top_down";
strPistonNames[1] = "Piston_top_up";
strPistonNames[2] = "Piston_module_creation_top_1";
strPistonNames[3] = "Piston_module_creation_top_2";
strPistonNames[4] = "Piston_module_grabber_side";
strPistonNames[5] = "Piston_module_grabber_front";
strPistonNames[6] = "Piston_module_grabber_back";
strPistonNames[7] = "Piston_holder_front";
strPistonNames[8] = "Piston_holder_back";
for (int i = 0; i < strPistonNames.Length; i++)
{
if ((GridTerminalSystem.GetBlockWithName(strPistonNames[i]) as IMyPistonBase) == null)
{
throw new Exception("Error - Piston with name: " + strPistonNames[i] + " does not exist!");
}
Pistons.Add(strPistonNames[i], new Piston(strPistonNames[i], this));
}
}
// fill merge blocks dictionary
{
string[] strMergeBlocks = new string[5];
strMergeBlocks[0] = "Merge_module_creation";
strMergeBlocks[1] = "Merge_module_grabber_front";
strMergeBlocks[2] = "Merge_module_grabber_back";
strMergeBlocks[3] = "Merge_holder_front";
strMergeBlocks[4] = "Merge_holder_back";
for (int i = 0; i < strMergeBlocks.Length; i++)
{
if ((GridTerminalSystem.GetBlockWithName(strMergeBlocks[i]) as IMyShipMergeBlock) == null)
{
throw new Exception("Error - Merge Block with name: " + strMergeBlocks[i] + " does not exist!");
}
MergeBlocks.Add(strMergeBlocks[i], new MergeBlock(strMergeBlocks[i], this));
}
}
// fill drills list
GridTerminalSystem.GetBlocksOfType <IMyShipDrill>(Drills);
if (Drills.Count == 0)
{
throw new Exception("No attached drills detected");
}
// initialize connectors
{
string connectorTopName = "Connector_base";
connectorDrillTop = new Connector(connectorTopName, this);
if (!connectorDrillTop.isValid)
{
throw new Exception("Connector with the name " + connectorTopName + " does not exist");
}
// drill connector only needed for first module
// after first module this connector should be replaced with the top connector
// of the last added module - see StateMachine.StatePrepareForNewModule.Perform()
string connectorBottomName = "Connector_drill";
connectorDrillBottom = new Connector(connectorBottomName, this);
if (!connectorDrillBottom.isValid)
{
throw new Exception("Connector with the name " + connectorBottomName + " does not exist");
}
}
// initialize welder
{
Welder = GridTerminalSystem.GetBlockWithName("Welder_module_creation") as IMyShipWelder;
if (Welder == null)
{
throw new Exception("Welder with the name Welder_module_creation does not exist");
}
}
// initialize Rotor
{
string rotorName = "Rotor_drills";
Rotor = GridTerminalSystem.GetBlockWithName(rotorName) as IMyMotorStator;
if (Rotor == null)
{
Echo("Rotor with the name " + rotorName + " not found");
}
}
// initialize states
drillState = new States.DrillState();
moduleBuildState = new States.ModuleBuildState();
// initialize state machine
stateMachine = new StateMachine(this);
// load data
if (!Load())
{
Echo("could not load saved data - set state to default values");
// first start of script
drillState.State = States.eDrillState.eInvalidMax;
moduleBuildState.State = States.eModuleBuildState.eInvalidMax;
connectorDrillBottom = new Connector("Connector_drill", this);
}
}
public void Main(string input)
{
lcds = SearchBlocksWithName <IMyTextPanel>(lcdSearchName);
ClearOutput();
if (input == "start")
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Autopilot = true;
}
IMyShipController controlBlock = (IMyShipController)GridTerminalSystem.GetBlockWithName(ShipControllerName);
double altitude = 0;
bool InsideNaturalGravity = controlBlock.TryGetPlanetElevation(MyPlanetElevation.Surface, out altitude);
Vector3D velocity3D = controlBlock.GetShipVelocities().LinearVelocity;
if (!InsideNaturalGravity)
{
if (Autopilot)
{
WriteLine("Waiting for entering natural gravity");
if (input == "stop")
{
Autopilot = false;
WriteLine("Autopilot deactivated (manually)");
}
}
return;
}
else
{
if (Autopilot && AutoFall)
{
if (!AutoFallUsed)
{
input = "fall";
AutoFallUsed = true;
}
}
}
List <IMyThrust> thrusters = GetBlocksInGroup <IMyThrust>(HydrogenThrustersGroupName);
ThrustController thrustController = new ThrustController(thrusters);
gyros = GetBlocksOfType <IMyGyro>();
gyroController = new GyroController(controlBlock, gyros, Base6Directions.Direction.Down, RotationSpeedLimit);
Vector3D gravity = controlBlock.GetNaturalGravity();
Vector3D position = controlBlock.GetPosition(); // ship coords
double gravityStrength = gravity.Length(); // gravity in m/s^2
double totalMass = controlBlock.CalculateShipMass().TotalMass; // ship total mass including cargo mass
double baseMass = controlBlock.CalculateShipMass().BaseMass; // mass of the ship without cargo
double cargoMass = totalMass - baseMass; // mass of the cargo
double actualMass = baseMass + (cargoMass / InventoryMultiplier); // the mass the game uses for physics calculation
double shipWeight = actualMass * gravityStrength; // weight in newtons of the ship
double velocity = controlBlock.GetShipSpeed(); // ship velocity
double brakeDistance = CalculateBrakeDistance(gravityStrength, actualMass, altitude, thrustController.availableThrust, velocity);
double brakeAltitude = StopAltitude + brakeDistance; // at this altitude the ship will start slowing Down
if (Autopilot)
{
gyroController.Align(gravity);
if (input == "fall")
{
// This is a workaround to a game bug (ship speed greater than speed limit when free falling in natural gravity)
// Pros: your ship will not crash. Cons: you will waste a tiny amount of hydrogen.
thrustController.ApplyThrust(1);
}
if (altitude <= (brakeAltitude + AltitudeMargin))
{
// BRAKE!!!
thrustController.ApplyFullThrust(); // Maybe just enable dampeners
}
if (altitude <= (StopAltitude + DisableMargin + AltitudeMargin))
{
if (velocity < StopSpeed)
{
gyroController.Stop();
WriteLine("Autopilot deactivated (automatically)");
}
if (SmartDeactivation)
{
if (OldVelocity3D.X * velocity3D.X < 0 || OldVelocity3D.Y * velocity3D.Y < 0 || OldVelocity3D.Z * velocity3D.Z < 0)
{
gyroController.Stop();
WriteLine("Autopilot deactivated (automatically)");
}
}
}
}
OldVelocity3D = velocity3D;
if (input == "stop")
{
Runtime.UpdateFrequency = UpdateFrequency.None;
gyroController.Stop();
thrustController.Stop();
WriteLine("Autopilot deactivated (manually)");
}
}
private void UpdateOreStatus(IMyTextSurface surface)
{
List <IMyTerminalBlock> blocks = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocks(blocks);
OreStats stats = new OreStats();
stats.iron = 0;
foreach (var block in blocks)
{
if (block.HasInventory)
{
for (int inv = 0; inv < block.InventoryCount; ++inv)
{
List <MyInventoryItem> items = new List <MyInventoryItem>();
block.GetInventory(inv).GetItems(items);
foreach (var item in items)
{
if (item.Type.TypeId == "MyObjectBuilder_Ingot")
{
switch (item.Type.SubtypeId)
{
case "Iron":
stats.iron += item.Amount.RawValue;
break;
case "Nickel":
stats.nickel += item.Amount.RawValue;
break;
case "Cobalt":
stats.cobalt += item.Amount.RawValue;
break;
case "Magnesium":
stats.magnesium += item.Amount.RawValue;
break;
case "Silicon":
stats.silicon += item.Amount.RawValue;
break;
case "Silver":
stats.silver += item.Amount.RawValue;
break;
case "Gold":
stats.gold += item.Amount.RawValue;
break;
case "Platinum":
stats.platinum += item.Amount.RawValue;
break;
}
}
}
}
}
}
surface.WriteText(String.Format(
"- Ingots\nIron {0}\nNickel {1}\nCrobale {2}\nMagnesium {3}\nSilicon {4}\nSilver {5}\nGold {6}\nPlatinum {7}",
OreStats.Repr(stats.iron),
OreStats.Repr(stats.nickel),
OreStats.Repr(stats.cobalt),
OreStats.Repr(stats.magnesium),
OreStats.Repr(stats.silicon),
OreStats.Repr(stats.silver),
OreStats.Repr(stats.gold),
OreStats.Repr(stats.platinum)
));
}
public IEnumerator <bool> ProgramInit()
{
#region serializer
nameSerializer = new INISerializer("HaE MissileBase");
nameSerializer.AddValue("missileTag", x => x, "[HaE Missile]");
nameSerializer.AddValue("siloDoorTag", x => x, "[HaE SiloDoor]");
nameSerializer.AddValue("missileStatusLCDTag", x => x, "[HaE MissileStatus]");
nameSerializer.AddValue("targetingCameraName", x => x, "TargetingCamera");
nameSerializer.AddValue("controllername", x => x, "controller");
nameSerializer.AddValue("IgnoreTag", x => x, "[IgnoreTracker]");
nameSerializer.AddValue("targetingCastLength", x => double.Parse(x), 3000);
if (Me.CustomData == "")
{
string temp = Me.CustomData;
nameSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
nameSerializer.DeSerialize(Me.CustomData);
}
yield return(true);
#endregion
#region fetchblocks
GridTerminalSystemUtils GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
missiles = new MissileManager(GTS, this, missileTag);
yield return(true);
var antennas = new List <IMyRadioAntenna>();
GTS.GetBlocksOfTypeOnGrid(antennas);
yield return(true);
var camera = GridTerminalSystem.GetBlockWithName(targetingCameraName) as IMyCameraBlock;
var controller = GridTerminalSystem.GetBlockWithName(controllername) as IMyShipController;
yield return(true);
#endregion
#region initModules
if (antennas.Count > 0)
{
commsHandler = new CommsHandler(this, antennas.First());
}
else
{
commsHandler = new CommsHandler(this, null);
}
var commands = new Commands(this, commsHandler);
commands.RegisterCommands();
silos = new MissileSilos(GTS, this, siloDoorTag);
yield return(true);
if (camera != null && controller != null)
{
entityTrackingModule = new EntityTracking_Module(GTS, controller, camera, IgnoreTag);
ITracking cameraTracker = null;
foreach (ITracking tracker in entityTrackingModule.ObjectTrackers)
{
var camT = tracker as LidarTracking;
if (camT != null)
{
cameraTracker = camT;
}
}
entityTrackingModule.ObjectTrackers.Clear();
entityTrackingModule.ObjectTrackers.Add(cameraTracker);
entityTrackingModule.onEntityDetected += OnEntityDetected;
}
else
{
Echo($"camera: {camera != null}\ncontroller: {controller != null}");
}
yield return(true);
var lcds = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(lcds, x => x.CustomName.Contains(missileStatusLCDTag));
statusWriter = new StatusWriter(this, lcds);
#endregion
initialized = true;
}
public IMyEntity GetBlock(String name)
{
return(GridTerminalSystem.GetBlockWithName(name));
}
void doTechnikerCalcsandDisplay()
{
double stoppingDistance = calculateStoppingDistance(thrustBackwardList, velocityShip, 0);
StringBuilder sb = new StringBuilder();
double targetRange = 0; // no target
// StatusLog("clear", textPanelReport);
StatusLog(OurName + " Control", textPanelReport);
string output = "";
output += "Velocity: " + velocityShip.ToString("N0") + "m/s";
Echo(output);
StatusLog(output, textPanelReport);
if (bCreative)
{
Echo("Creative!");
}
// Echo("Cargomult=" + cargoMult);
sb.Clear();
sb.AppendLine();
if (bLongRange)
{
sb.Append("Long Range Scan Active");
}
else
{
sb.Append("Normal Range Scan Active");
}
sb.AppendLine();
string s = "";
if (lastDetectedInfo.IsEmpty())
{
sb.Append("No Target Found");
sb.AppendLine();
sb.Append("Next scanner Range: " + currentScan.ToString("N0") + " m");
sb.AppendLine();
StatusLog("clear", textRangeReport);
StatusLog("No Target found", textRangeReport);
}
else
{
Echo("EntityID: " + lastDetectedInfo.EntityId);
Echo("Name: " + lastDetectedInfo.Name);
sb.Append("Name: " + lastDetectedInfo.Name);
//sb.AppendLine();
sb.Append(" - ");
sb.Append("Type: " + lastDetectedInfo.Type);
sb.AppendLine();
sb.Append("Relationship: " + lastDetectedInfo.Relationship);
if (lastDetectedInfo.HitPosition.HasValue && lastCamera != null)
{
sb.AppendLine();
double distance = Vector3D.Distance(lastCamera.GetPosition(), lastDetectedInfo.HitPosition.Value);
if (lastDetectedInfo.Name == "Asteroid")
{
// calculate range to outter edge of boudning box of asteroid.
targetRange = Vector3D.Distance(lastCamera.GetPosition(), lastDetectedInfo.Position);
targetRange -= lastDetectedInfo.BoundingBox.Size.X / 2; // half of bounding box.
Echo("adjTargetRange=" + targetRange.ToString("0.0"));
}
else
{
targetRange = distance;
}
if (distance > 1000)
{
s += (distance / 1000).ToString("RANGE: 0000.0km");
}
else
{
s += (distance).ToString("RANGE: 00000m ");
}
StatusLog("clear", textRangeReport);
StatusLog(s, textRangeReport);
sb.Append("Distance: " + niceDoubleMeters(distance));
sb.AppendLine();
sb.Append("Safe Range: " + niceDoubleMeters(targetRange));
sb.AppendLine();
}
// sb.AppendLine();
// sb.Append("TimeStamp: " + lastDetectedInfo.TimeStamp.ToString());
}
s = "";
if (stoppingDistance > 1000)
{
s += (stoppingDistance / 1000).ToString("STOP DIST: 000.0km");
}
else
{
s += (stoppingDistance).ToString("STOP DIST: 00000m ");
}
StatusLog(s, textRangeReport);
double maxRange = findMaxCameraRange(cameraForwardList);
if (maxRange < currentScan)
{
sb.AppendLine();
sb.Append("Awaiting Available Range");
sb.AppendLine();
sb.Append(progressBar(maxRange / currentScan * 100));
sb.AppendLine();
}
sb.AppendLine();
sb.Append(detectedEntities.Count.ToString() + " detected items");
if (dGravity > 0)
{
StatusLog("GRAVITY WELL", textPanelReport);
}
if (AnyConnectorIsConnected())
{
StatusLog("Docked!", textPanelReport);
}
else
{
StatusLog(doEStopCheck(targetRange, stoppingDistance), textPanelReport);
}
// rotor status code for Techniker
output = "";
IMyMotorStator drillrotor;
drillrotor = (IMyMotorStator)GridTerminalSystem.GetBlockWithName("Advanced Rotor L Drills");
if (drillrotor != null)
{
output += "\nDrill Arm -";
double angle = MathHelper.ToDegrees(drillrotor.Angle);
if (angle > 178)
{
output += " Stowed";
}
else if (angle < 1)
{
output += " Deployed";
}
else
{
output += " Moving";
}
/*
* if (drillrotor.SafetyLock)
* output += " - (Locked)";
* else
* output += " - Unlocked";
*/
}
IMyMotorStator toolrotor;
toolrotor = (IMyMotorStator)GridTerminalSystem.GetBlockWithName("Advanced Rotor R Tools");
if (toolrotor != null)
{
output += "\nTool Arm -";
double angle = MathHelper.ToDegrees(toolrotor.Angle);
if (angle > 178)
{
output += " Deployed";
}
else if (angle < 1)
{
output += " Stowed";
}
else
{
output += " Moving";
}
/*
* if (toolrotor.SafetyLock)
* output += " - (Locked)";
* else
* output += " - Unlocked";
*/
}
// output = "Drill rotor=" + angle.ToString("0.0");
if (output != "")
{
Echo(output);
StatusLog(output, textPanelReport);
}
// output main status.
StatusLog(sb.ToString(), textPanelReport);
// Echo(sb.ToString());
sb.Clear();
}
public void Main(string argument)
{
// Calculate Power Storage
List <IMyBatteryBlock> batteries = new List <IMyBatteryBlock>();
GridTerminalSystem.GetBlocksOfType(batteries);
float maxVal = 0;
float val = 0;
foreach (IMyBatteryBlock battery in batteries)
{
maxVal += battery.MaxStoredPower;
val += battery.CurrentStoredPower;
}
// p = A * 100 / G
float pBatteries = val * 100 / maxVal;
// Calculate Hydrogen Storage
List <IMyGasTank> gasTanks = new List <IMyGasTank>();
GridTerminalSystem.GetBlocksOfType(gasTanks);
maxVal = 0;
val = 0;
foreach (IMyGasTank tank in gasTanks)
{
if (tank.BlockDefinition.SubtypeId.ToLower().Contains("hydrogentank"))
{
maxVal += tank.Capacity;
val += tank.FilledRatio * tank.Capacity;
}
}
// p = A * 100 / G
float pHydrogen = val * 100 / maxVal;
// Calculate Storage Capacity
List <IMyCargoContainer> cargoContainers = new List <IMyCargoContainer>();
GridTerminalSystem.GetBlocksOfType(cargoContainers);
MyFixedPoint cargoMaxVal = 0;
MyFixedPoint cargoVal = 0;
foreach (IMyCargoContainer cargoContainer in cargoContainers)
{
cargoMaxVal += cargoContainer.GetInventory().MaxVolume;
cargoVal += cargoContainer.GetInventory().CurrentVolume;
}
// p = A * 100 / G
float pCargo = cargoVal.RawValue * 100 / cargoMaxVal.RawValue;
// Build string to show
string supplyString = "SUPPLY" + '\n'
+ "Energy: [";
for (int i = 0; i < 20; i++)
{
if (i < pBatteries / 5)
{
supplyString += '#';
}
else
{
supplyString += '-';
}
}
supplyString += "] " + (int)pBatteries + "%" + '\n';
supplyString += "Hydrogen: [";
for (int i = 0; i < 20; i++)
{
if (i < pHydrogen / 5)
{
supplyString += '#';
}
else
{
supplyString += '-';
}
}
supplyString += "] " + (int)pHydrogen + "%" + '\n';
supplyString += "Cargo: [";
for (int i = 0; i < 20; i++)
{
if (i < pCargo / 5)
{
supplyString += '#';
}
else
{
supplyString += '-';
}
}
supplyString += "] " + (int)pCargo + "%" + '\n';
supplyString += "" + cargoVal + '/' + cargoMaxVal + " L" + '\n';
List <IMyTextPanel> panels = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(panels);
foreach (IMyTextPanel panel in panels)
{
if (panel.CustomData.ToLower().Equals("supply"))
{
panel.WritePublicText(supplyString);
}
}
}
// void Main(string sArgument)
void Main(string sArgument, UpdateType ut)
{
Echo(sBanner + tick());
if (bDebugUpdate)
{
Echo(ut.ToString() + " : " + (int)ut);
}
bWantFast = false;
bWantMedium = false;
//ProfilerGraph();
if (dProjectorCheckLast > dProjectorCheckWait)
{
dProjectorCheckLast = 0;
bWorkingProjector = false;
var list = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyProjector>(list, localGridFilter);
for (int i = 0; i < list.Count; i++)
{
if (list[i].IsWorking)
{
if (list[i].CustomName.Contains("!WCC") || list[i].CustomData.Contains("!WCC"))
{
continue; // ignore
}
Echo("Working local Projector found!");
// init = false;
// sInitResults = "";
bWorkingProjector = true;
}
}
}
else
{
// Echo("Delay Projector Check");
if (dProjectorCheckLast < 0)
{
// first-time init
// dProjectorCheckLast = Me.EntityId % dProjectorCheckWait; // randomize initial check
dProjectorCheckLast = dProjectorCheckWait + 5; // force check
}
dProjectorCheckLast += Runtime.TimeSinceLastRun.TotalSeconds;
}
sPassedArgument = "";
double newgridBaseMass = 0;
if (shipOrientationBlock is IMyShipController)
{
if (dGridCheckLast > dGridCheckWait || !init)
{
// Echo("DO Grid Check");
dGridCheckLast = 0;
MyShipMass myMass;
myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
newgridBaseMass = myMass.BaseMass;
// Echo("New=" + newgridBaseMass + " CurrentM=" + gridBaseMass);
// if (myMass.BaseMass == 0) Echo("No Mass--Station?");
if (newgridBaseMass != gridBaseMass && gridBaseMass > 0)
{
Echo("MASS CHANGE");
StatusLog(OurName + ":" + moduleName + ":MASS CHANGE", textLongStatus, true);
// check for an error and retry
// if (bStartupError && !bWasInit)
{
// keep trying
init = false;
sInitResults = "";
dErrorGridReInitLast = 0;
}
}
}
else
{
// Echo("Delay Grid Check");
if (dGridCheckLast < 0)
{
// first-time init
// dGridCheckLast = Me.EntityId % dGridCheckWait; // randomize initial check
dGridCheckLast = dGridCheckWait + 5; // force check
}
dGridCheckLast += Runtime.TimeSinceLastRun.TotalSeconds;
newgridBaseMass = gridBaseMass; // assume it's the old mass for now
}
}
else
{
// Echo("No anchorPosition to check");
gridBaseMass = newgridBaseMass = -1;
// check for an error and retry
if (bStartupError && !bWasInit)
{
// keep trying
init = false;
sInitResults = "";
dErrorGridReInitLast = 0;
}
}
if (dErrorGridReInitLast > dErrorGridReInitWait)
{
dErrorGridReInitLast = 0;
if (bStartupError)
{
sArgument = "init";
Echo("RESCAN!");
dErrorGridReInitLast = 0;
}
}
else
{
if (bStartupError)
{
Echo("Waiting for Rescan:" + dErrorGridReInitLast.ToString("0.0") + "(" + dErrorGridReInitWait.ToString("0.0") + ")");
dErrorGridReInitLast += Runtime.TimeSinceLastRun.TotalSeconds;
}
}
if (
(sArgument == "init" && currentInit == 0) ||
(Math.Abs(newgridBaseMass - gridBaseMass) > 1 && gridBaseMass > 0 && currentInit == 0)
// || (currentInit == 0 && calcGridSystemChanged())
)
{
Log("INIT or GRID/MASS CHANGE!");
Echo("Arg init or grid/mass change!");
sInitResults = "";
dErrorGridReInitLast = dErrorGridReInitWait + 5;
init = false;
currentInit = 0;
sStartupError = "";
sPassedArgument = "init";
}
Log("clear");
if (!init)
{
if (bWorkingProjector)
{
Log("Construction in Progress\nTurn off projector to continue");
StatusLog("Construction in Progress\nTurn off projector to continue", textPanelReport);
}
else
{
}
bWantFast = true;
if (currentInit == 0)
{
bStartupError = false;
sStartupError = "";
}
doInit();
if (bStartupError)
{
bWantFast = false;
}
bWasInit = true;
if (init)
{
sArgument = "";
dErrorGridReInitLast = 0;
}
}
else
{
if (bSupportSubModules)
{
Deserialize();
}
sPassedArgument = sArgument;
if (bWasInit)
{
StatusLog(DateTime.Now.ToString() + " " + sInitResults, textLongStatus, true);
}
// IMyTerminalBlock anchorOrientation = shipOrientationBlock;
if (shipOrientationBlock != null)
{
// vCurrentPos = shipOrientationBlock.GetPosition();
}
// calculate(get) ship velocity and natural gravity
if (shipOrientationBlock is IMyShipController)
{
velocityShip = ((IMyShipController)shipOrientationBlock).GetShipSpeed();
Vector3D vNG = ((IMyShipController)shipOrientationBlock).GetNaturalGravity();
double dLength = vNG.Length();
dGravity = dLength / 9.81;
}
else
{
dGravity = -1.0;
}
if (
(ut & (UpdateType.Trigger | UpdateType.Terminal)) > 0 ||
(ut & (UpdateType.Trigger)) > 0 || // script run by a mod
(ut & (UpdateType.Terminal)) > 0 || // script run by a mod
(ut & (UpdateType.Mod)) > 0 || // script run by a mod
(ut & (UpdateType.Script)) > 0 // this pb run by another script (PB)
)
{
// pay attention to argument
if (moduleProcessArguments(sArgument))
{
Serialize();
UpdateAllPanels();
return;
}
}
else if ((ut & (UpdateType.IGC)) > 0)
{
// antenna message
if (!moduleProcessAntennaMessage(sArgument))
{
antReceive(sArgument);
}
Serialize();
doTriggerMain(); // run ourselves again
UpdateAllPanels();
return;
}
else
{
// it should be one of the update types...
// if ((ut & (UpdateType.Once | UpdateType.Update1 | UpdateType.Update10 | UpdateType.Update100)) > 0)
sArgument = ""; // else ignore argument
/*
* // check for an error and retry
* if(bStartupError && !bWasInit)
* {
* // keep trying
* init = false;
* sInitResults = "";
* }
*/
}
/*
* if (processArguments(sArgument))
* {
* UpdateAllPanels();
* return;
* }
*/
processPendingReceives();
processPendingSends();
moduleDoPreModes();
doModes();
}
if (bSupportSubModules)
{
Serialize();
}
// if ((anchorPosition == null || SaveFile == null ))
if (bSupportSubModules)
{
if ((SaveFile == null))
{
// Echo("Cannot use sub-modules; missing controller and/or SaveFile");
}
else
{
if (
(ut & (UpdateType.Trigger | UpdateType.Terminal)) > 0 || // Timer or toolbar or 'run'
(ut & (UpdateType.Mod)) > 0 || // script run by a mod
(ut & (UpdateType.Script)) > 0 || // this pb run by another script (PB)
dSubmoduleTriggerLast > dSubmoduleTriggerWait
// || init // always run after init done
|| bWasInit // run first time after init
)
{
// Echo("Trigger sub-module!");
dSubmoduleTriggerLast = 0;
doSubModuleTimerTriggers(sSubModuleTimer);
}
else
{
// Echo("Delay for sub-module trigger");
dSubmoduleTriggerLast += Runtime.TimeSinceLastRun.TotalSeconds;
}
}
}
else
{
Echo("Submodules turned off");
}
if (bWantFast)
{
Echo("FAST!");
Runtime.UpdateFrequency |= ufFast;
}
else
{
Runtime.UpdateFrequency &= ~(ufFast);
}
if (bWantMedium)
{
Echo("MEDIUM");
Runtime.UpdateFrequency |= UpdateFrequency.Update10;
}
else
{
Runtime.UpdateFrequency &= ~(UpdateFrequency.Update10);
}
if (bCraftOperation)
{
Echo(craftOperation());
}
modulePostProcessing();
UpdateAllPanels();
bWasInit = false;
}
void Main()
{
IMyTextSurface screen = GridTerminalSystem.GetBlockWithName("LCD Solar Array") as IMyTextSurface;
IMyMotorStator rotorRight = GridTerminalSystem.GetBlockWithName("Rotor Solar Right") as IMyMotorStator;
IMyMotorStator rotorLeft = GridTerminalSystem.GetBlockWithName("Rotor Solar Left") as IMyMotorStator;
IMyBlockGroup solarArrayRightBlocks = GridTerminalSystem.GetBlockGroupWithName("Solar Array Right");
IMyBlockGroup solarArrayLeftBlocks = GridTerminalSystem.GetBlockGroupWithName("Solar Array Left");
if (solarArrayRightBlocks == null)
{
Echo("[Error] Right Solar Array Group Null");
}
if (solarArrayLeftBlocks == null)
{
Echo("[Error] Left Solar Array Group Null");
}
//IMyTextSurface surface = GridTerminalSystem.GetBlockWithName("LCD Panel") as IMyTextSurface;
IMyBatteryBlock battery = GridTerminalSystem.GetBlockWithName("Battery") as IMyBatteryBlock;
//float pwrNow;
//float pwrLast;
double rotorRightAngle = Math.Round((rotorRight.Angle * 180) / 3.14, 2); //1rad × 180/π = 57.296°
double rotorLeftAngle = Math.Round((rotorLeft.Angle * 180) / 3.14); //1rad × 180/π = 57.296°
List <IMySolarPanel> solarArrayRight = new List <IMySolarPanel>();
List <IMySolarPanel> solarArrayLeft = new List <IMySolarPanel>();
solarArrayRightBlocks.GetBlocksOfType <IMySolarPanel>(solarArrayRight);
solarArrayLeftBlocks.GetBlocksOfType <IMySolarPanel>(solarArrayLeft);
float solarRightInPower = (float)Math.Round(solarArrayRight[0].CurrentOutput * 1000, 2); //kW
float solarLeftInPower = (float)Math.Round(solarArrayLeft[0].CurrentOutput * 1000); //kW
float lastPowerReadingLeft = 0;
float lastPowerReadingRight = 0;
bool leftRotating = false;
bool rightRotating = true;
StringBuilder sb = new StringBuilder();
sb.AppendLine($"Total Power Generated: {GetTotalPower(solarArrayLeft, solarArrayRight)} kW");
//sb.AppendLine($"Right Array Solar Count: {solarArrayRight.Count}");
sb.AppendLine($"Left Array Solar Count: {solarArrayLeft.Count}");
//sb.AppendLine($"Right Panel Sample Charge: {Math.Round(solarRightInPower, 2)} kw");
sb.AppendLine($"Left Panel Sample Charge: {Math.Round(solarLeftInPower, 2)} kw");
sb.AppendLine($"Left Rotor Angle: {rotorLeftAngle}");
sb.AppendLine($"Left Rotor Angle Rounded: {Math.Round(rotorLeftAngle)}");
if (Storage == null)
{
sb.AppendLine("Storage Empty");
lastPowerReadingLeft = 0;
lastPowerReadingRight = 0;
}
else
{
string[] retrievedFromStorage = Storage.Split(',');
sb.AppendLine($"Length Of Storage: {retrievedFromStorage.Length}");
sb.AppendLine($"StorageLeft Reading: {retrievedFromStorage[0]} isRotatingLeft: {retrievedFromStorage[2]}");
if (retrievedFromStorage.Length < 4)
{
sb.AppendLine("Storage String Cannot be Parsed");
}
else
{
sb.AppendLine($"{retrievedFromStorage[0]} {retrievedFromStorage[1]} {retrievedFromStorage[2]} {retrievedFromStorage[3]}");
lastPowerReadingLeft = float.Parse(retrievedFromStorage[0]);
lastPowerReadingRight = float.Parse(retrievedFromStorage[1]);
leftRotating = bool.Parse(retrievedFromStorage[2]);
rightRotating = bool.Parse(retrievedFromStorage[3]);
}
}
//If no sun return to 0 degrees
if (solarLeftInPower == 0)
{
sb.AppendLine("Setting Left Array");
if (rotorLeftAngle == 45)
{
rotorLeft.TargetVelocityRPM = 0;
leftRotating = false;
}
else if (rotorLeftAngle > 180)
{
rotorLeft.TargetVelocityRPM = 1;
}
else
{
rotorLeft.TargetVelocityRPM = -1;
}
}
else if (solarLeftInPower < lastPowerReadingLeft)
{
sb.AppendLine($"LeftIn Power < lastPower Reading");
if (leftRotating)
{
rotorLeft.ApplyAction("Reverse");
}
else
{
rotorLeft.TargetVelocityRPM = -.25f;
}
}
else
{
sb.AppendLine($"LeftIn Power >= lastPower Reading");
sb.AppendLine("Stopped Left Array");
rotorLeft.TargetVelocityRPM = 0;
}
string storageString = $"{solarLeftInPower},{solarRightInPower},{leftRotating.ToString()},{rightRotating.ToString()}";
Storage = storageString;
screen.WriteText(sb.ToString());
}
public void Main()
{
double elev;
var myCurrentCockpit = GridTerminalSystem.GetBlockWithName("Cockpit") as IMyCockpit;
myCurrentCockpit.TryGetPlanetElevation(MyPlanetElevation.Surface, out elev);
y_t = elev;
Echo("y_t:" + y_t.ToString());
e_t = r_t - y_t;
//integral
//first approach from 0 to now (bad results, assume the settings would never change)
//i_t += e_t;
if (i_t_list_points.Count < i_t_num_points)
{
i_t_list_points.Add(e_t);
}
else
{
i_t_list_points.RemoveAt(0);
i_t_list_points.Add(e_t);
}
i_t = 0;
foreach (var it in i_t_list_points)
{
i_t += it;
}
i_t = i_t / 10;
Echo("i_t:" + i_t.ToString());
//derivative
//TODO: figure the time delta
var dts = Runtime.TimeSinceLastRun.TotalSeconds;
Echo("dts:" + dts.ToString());
d_t = (d_t_m_1 - e_t) / dts;
d_t_m_1 = e_t;
Echo("d_t:" + d_t.ToString());
//TODO:need update for i and d
u_t = K_p * e_t + T_i * i_t + T_d * d_t;
Echo("u_t:" + u_t.ToString());
//applying what the pid processed
var cs = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType(cs);
foreach (var c in cs)
{
//Echo(c.CustomName + " " + c.GridThrustDirection);
//Vector3I upVect = new
if (c.GridThrustDirection.Y == -1)
{
//c.ThrustOverridePercentage += Convert.ToSingle(Math.Pow(Convert.ToSingle(Math.Abs(minAlt - elev)),2));
c.ThrustOverridePercentage += Convert.ToSingle(u_t);
}
/*
* //disabled by default, prone to ship crashes !!!
* if (c.GridThrustDirection.Y == 1)
* {
* c.ThrustOverridePercentage -= Convert.ToSingle(u_t);
* }
*/
}
}
public void Main(string argument, UpdateType updateSource)
{
IList <string> splitargs = argument.Split().Select(s => s.Trim()).ToList();
if (panel == null)
{
IMyCockpit seat = (IMyCockpit)GridTerminalSystem.GetBlockWithName("Rld Control Seat");
initDiagPanel(seat.GetSurface(0));
}
if (angleHinges == null)
{
initHinges();
}
if (angleHinges.Count > 0)
{
StringBuilder output = new StringBuilder();
int count = 0;
bool allAtTarget = true;
angleHinges.ForEach(i =>
{
float angleDegrees = i.Angle / radiansPerDegree;
float angleTarget = 0;
if (i.TargetVelocityRPM > 0)
{
angleTarget = i.UpperLimitDeg;
}
else if (i.TargetVelocityRPM < 0)
{
angleTarget = i.LowerLimitDeg;
}
float delta = Math.Abs(angleDegrees - angleTarget);
if (delta > epsilon)
{
allAtTarget = false;
}
output.Append($"{i.CustomName} : {Math.Round(angleDegrees, 3)} / {Math.Round(angleTarget, 3)} - {delta}");
count++;
if (count < angleHinges.Count)
{
output.Append("\n");
}
});
if (allAtTarget)
{
angleHinges.ForEach(i =>
{
i.TargetVelocityRPM *= -1;
});
}
panel.WriteText(output.ToString());
}
}
public void Main(string argument, UpdateType updateSource)
{
// The main entry point of the script, invoked every time
// one of the programmable block's Run actions are invoked,
// or the script updates itself. The updateSource argument
// describes where the update came from. Be aware that the
// updateSource is a bitfield and might contain more than
// one update type.
//
// The method itself is required, but the arguments above
// can be removed if not needed.
// Define the variables
var LCD = GetBlocksFromGroup("Oxygen LCD Panels"); // lcd group name: Oxygen LCD Panels
var airVents = SearchBlocksByName("Air Vent"); // Air vents name: Air Vent
var timer = GridTerminalSystem.GetBlockWithName("Timer Block Oxygen") as IMyTimerBlock; //nameoftimerblock
var alarm = GridTerminalSystem.GetBlockWithName("Oxygen Alarm") as IMyFunctionalBlock; //nameofsoundblock
var alarma = GridTerminalSystem.GetBlockWithName("Emergency Lights") as IMyInteriorLight; //nameoflight
var pressureStatus = "Pressurized";
string LCDText = " Life Support System:\r\n\r\n";
var LCDColour = Color.White;
// Check the air vents
for (int i = 0; i < airVents.Count; i++)
{
string pressureInfo = airVents[i].DetailedInfo;
if (pressureInfo.IndexOf("Not pressurized") != -1)
{
if (pressureStatus == "Pressurized")
{
LCDText += " ----------- ALERT ----------- \r\n\r\n";
}
LCDText += airVents[i].CustomName.Substring(8) + " depressurised \r\n";
LCDColour = Color.Red;
pressureStatus = "Depressurized";
}
}//plays sound on sound blocks named Oxygen Alarm
if (pressureStatus == "Depressurized")
{
alarm.GetActionWithName("PlaySound").Apply(alarm);
List <IMyTerminalBlock> allDoors = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyDoor>(allDoors);
for (int i = 0; i < allDoors.Count; i++)
{
allDoors[i].GetActionWithName("Open_Off").Apply(allDoors[i]);
}
}
else
{
LCDText += " All " + airVents.Count + " zones are currently pressurised";
//set lights to off
//alarma.GetActionWithName("OnOff_Off").Apply(alarma);
}
SetText(LCD, LCDText, LCDColour);
// Restart the event handler
timer.GetActionWithName("Start").Apply(timer);
}
void Main(string arguments)
{
GridTerminalSystem.GetBlockGroups(BlockGroups);
GridTerminalSystem.GetBlocks(Blocks);
Ores = new Dictionary <string, float>();
Ingots = new Dictionary <string, float>();
Components = new Dictionary <string, float>();
Ammo = new Dictionary <string, float>();
foreach (var block in Blocks)
{
if (block.HasInventory)
{
for (int j = 0; j < block.InventoryCount; j++)
{
var inv = block.GetInventory(j);
EvaluateInv(inv);
}
}
}
AllPanels = new List <List <List <IMyTextPanel> > >();
RessourcesPanels = new List <List <IMyTextPanel> >();
AllPanels.Add(RessourcesPanels);
OrePanels = new List <List <IMyTextPanel> >();
AllPanels.Add(OrePanels);
IngotPanels = new List <List <IMyTextPanel> >();
AllPanels.Add(IngotPanels);
ComponentPanels = new List <List <IMyTextPanel> >();
AllPanels.Add(ComponentPanels);
AmmoPanels = new List <List <IMyTextPanel> >();
AllPanels.Add(AmmoPanels);
StatusPanels = new List <List <IMyTextPanel> >();
AllPanels.Add(StatusPanels);
SortPanels();
EvaluateBlockInvPanels(GetTextPanels());
int panelCount = 0;
//clear all panels first
for (int i = 0; i < AllPanels.Count; i++)
{
for (int j = 0; j < AllPanels[i].Count; j++)
{
for (int k = 0; k < AllPanels[i][j].Count; k++)
{
IMyTextPanel panel = AllPanels[i][j][k];
panel.WriteText("");
panelCount++;
}
}
}
List <IMyTerminalBlock> keys = new List <IMyTerminalBlock>(BlockInvPanels.Keys);
for (int i = 0; i < keys.Count; i++)
{
for (int j = 0; j < BlockInvPanels[keys[i]].Count; j++)
{
for (int k = 0; k < BlockInvPanels[keys[i]][j].Count; k++)
{
IMyTextPanel panel = BlockInvPanels[keys[i]][j][k];
panel.WriteText("");
panelCount++;
}
}
}
if (panelCount == 0)
{
Echo("No Panels found. :(");
return;
}
DebugString.AppendLine(string.Format("Counts -> Ore: {0}, Ing: {1}, Com: {2}, Amm: {3}", OrePanels.Count, IngotPanels.Count, ComponentPanels.Count, AmmoPanels.Count));
if (Ores.Count > 0)
{
Dictionary <string, float> sortedOres = new Dictionary <string, float>(Ores);
OreText.Add("Ores -:");
OreText.Add("");
List <string> oreKeys = new List <string>(sortedOres.OrderBy(x => x.Value).Select(x => x.Key).ToArray());
for (int i = 0; i < oreKeys.Count; i++)
{
string key = oreKeys[i];
OreText.Add(formatDisplay(key, sortedOres[key].ToString(NumberFormat)));
}
}
else
{
OreText.Add("No ores found.");
}
if (Ingots.Count > 0)
{
Dictionary <string, float> sortedIngots = new Dictionary <string, float>(Ingots);
IngotText.Add("Ingots:");
IngotText.Add("");
List <string> ingotKeys = new List <string>(sortedIngots.OrderBy(x => x.Value).Select(x => x.Key).ToArray());
for (int i = 0; i < ingotKeys.Count; i++)
{
string key = ingotKeys[i];
IngotText.Add(formatDisplay(key, sortedIngots[key].ToString(NumberFormat)));
}
}
else
{
IngotText.Add("No ingots found.");
}
if (Components.Count > 0)
{
Dictionary <string, float> sortedComponents = new Dictionary <string, float>(Components);
ComponentText.Add("Components:");
ComponentText.Add("");
List <string> componentKeys = new List <string>(sortedComponents.OrderBy(x => x.Value).Select(x => x.Key).ToArray());
for (int i = 0; i < componentKeys.Count; i++)
{
string key = componentKeys[i];
ComponentText.Add(formatDisplay(key, sortedComponents[key].ToString(IntFormat)));
}
}
else
{
ComponentText.Add("No components found.");
}
if (Ammo.Count > 0)
{
SortedDictionary <string, float> sortedAmmo = new SortedDictionary <string, float>(Ammo);
AmmoText.Add("Ammo:");
AmmoText.Add("");
List <string> ammoKeys = new List <string>(sortedAmmo.Keys);
for (int i = 0; i < ammoKeys.Count; i++)
{
string key = ammoKeys[i];
AmmoText.Add(formatDisplay(key, sortedAmmo[key].ToString(NumberFormat)));
}
}
else
{
AmmoText.Add("No ammo found.");
}
StatusText.Add(string.Format("[{0:000.00%}] Oxygen tanks", GetStockpiledOxygen()));
StatusText.Add(string.Format("[{0:000.00%}] Batteries", GetBatteryPower()));
StatusText.Add(string.Format("[{0:000.00%}] Container", GetCargoSpace()));
Display();
if (Debug)
{
Echo(DebugString.ToString());
DebugString.Clear();
}
OreText.Clear();
IngotText.Clear();
ComponentText.Clear();
AmmoText.Clear();
StatusText.Clear();
}
public void Main(string argument)
{
//Variables
var info = new Dictionary <string, Dictionary <string, object> >();
List <IMyTerminalBlock> crates = new List <IMyTerminalBlock>();
IMyTextPanel oreDisplay;
IMyTextPanel matDisplay;
IMyTextPanel cmpDisplay;
IMyTextPanel allDisplay;
IMyTextPanel debugDisplay;
string debugStr = "";
//Get display instances
oreDisplay = GetTextPanelWithName("lcdOreDisplay");
matDisplay = GetTextPanelWithName("lcdMaterialDisplay");
cmpDisplay = GetTextPanelWithName("lcdComponentDisplay");
allDisplay = GetTextPanelWithName("lcdAllItemsDisplay");
debugDisplay = GetTextPanelWithName("lctDebugDisplay");
//Fill Cargo Container List
GridTerminalSystem.GetBlocksOfType <IMyCargoContainer>(crates);
//Get inventories
foreach (IMyCargoContainer cc in crates)
{
if (cc.CubeGrid.CustomName != Me.CubeGrid.CustomName)
{
continue;
}
IMyInventory inv = cc.GetInventory(0);
var items = inv.GetItems();
items.Sort(SortItems);
foreach (IMyInventoryItem item in items)
{
var uid = item.Content.SubtypeId.ToString();
if (!info.ContainsKey(uid))
{
info.Add(uid, new Dictionary <string, object>()
{
{ "name", item.Content.SubtypeId },
{ "iqty", item.Amount.RawValue / INVQTY_MUTIPLIER },
});
}
else
{
info[uid]["iqty"] = ((double)info[uid]["iqty"]) + (item.Amount.RawValue / INVQTY_MUTIPLIER);
}
}
}
string sHeader = "Available ".PadLeft(AVAILABLE_AMOUNT_LENGTH, ' ') + " Resource Name";
string s = "", sAll =
$"All Items\n{sHeader}\n",
sOre = $"Ores\n{sHeader}\n",
sMat = $"Materials\n{sHeader}\n",
sCmp = $"Components\n{sHeader}\n";
var sorted = info.ToList();
sorted.Sort((a, b) => (double)a.Value["iqty"] > (double)b.Value["iqty"] ? 1 : (double)a.Value["iqty"] < (double)b.Value["iqty"] ? -1 : 0);
foreach (var kvp in sorted)
{
String name = FormatItemDisplayName($"{kvp.Value["name"]}");
s = $"{FormatItemQty((double)kvp.Value["iqty"]).PadLeft(AVAILABLE_AMOUNT_LENGTH, ' ')} {name} ({kvp.Key})" + $"\n";
if (IsOre(kvp.Key))
{
sOre += s;
}
else if (IsMaterial(kvp.Key))
{
sMat += s;
}
else if (IsComponent(kvp.Key))
{
sCmp += s;
}
if (!IsOre(kvp.Key) && !IsMaterial(kvp.Key) && !IsComponent(kvp.Key))
{
sAll += s;
}
}
foreach (var id in matDisplayIds.Where(a => !info.ContainsKey(a)))
{
var name = FormatItemDisplayName($"{id}");
sMat += $"{"NONE".PadLeft(AVAILABLE_AMOUNT_LENGTH, ' ')} {name} ({id})" + $"\n";
}
if (oreDisplay != null)
{
oreDisplay.WritePublicText(sOre, false);
}
if (matDisplay != null)
{
matDisplay.WritePublicText(sMat, false);
}
if (cmpDisplay != null)
{
cmpDisplay.WritePublicText(sCmp, false);
}
if (allDisplay != null)
{
allDisplay.WritePublicText(sAll, false);
}
if (debugDisplay != null)
{
debugDisplay.WritePublicText(debugStr, false);
}
}
public void Main(string arg)
{
RController = GridTerminalSystem.GetBlockWithName(RC) as IMyShipController;
if (RController == null)
{
Echo(RCFailedMSG);
RCFailed = true;
Status = "Failed";
return;
}
RControllers = GridTerminalSystem.GetBlockWithName(RC) as IMyRemoteControl;
if (RControllers == null)
{
Echo(RCFailedMSG);
RCFailed = true;
Status = "Failed";
return;
}
var CCruise = GridTerminalSystem.GetBlockWithName(CC) as IMyProgrammableBlock;
if (CCruise == null)
{
Echo(CCFailedMSG);
CCFailed = true;
Status = "Failed";
return;
}
RGyro = GridTerminalSystem.GetBlockWithName(Gyro) as IMyGyro;
if (RGyro == null)
{
Echo(GyroFailedMSG);
GyroFailed = true;
Status = "Failed";
return;
}
RGyros = GridTerminalSystem.GetBlockWithName(Gyro) as IMyFunctionalBlock;
if (RGyros == null)
{
Echo(GyroFailedMSG);
GyroFailed = true;
Status = "Failed";
return;
}
RCon = GridTerminalSystem.GetBlockWithName(Cargo) as IMyCargoContainer;
if (RCon == null)
{
Echo(RConFailedMSG);
RConFailed = true;
Status = "Failed";
return;
}
LAntenna = GridTerminalSystem.GetBlockWithName(LA) as IMyLaserAntenna;
if (LAntenna == null)
{
Echo(LAFailedMSG);
LAFailed = true;
Status = "Failed";
return;
}
LGear = GridTerminalSystem.GetBlockWithName(LG) as IMyTimerBlock;
if (LGear == null)
{
Echo(LGFailedMSG);
LGFailed = true;
Status = "Failed";
return;
}
CCUp = GridTerminalSystem.GetBlockWithName(CCU) as IMyTimerBlock;
if (CCUp == null)
{
Echo(CCTsFailedMSG);
CCTsFailed = true;
Status = "Failed";
return;
}
CCOff = GridTerminalSystem.GetBlockWithName(CCO) as IMyTimerBlock;
if (CCOff == null)
{
Echo(CCTsFailedMSG);
CCTsFailed = true;
Status = "Failed";
return;
}
CCDown = GridTerminalSystem.GetBlockWithName(CCD) as IMyTimerBlock;
if (CCDown == null)
{
Echo(CCTsFailedMSG);
CCTsFailed = true;
Status = "Failed";
return;
}
GridTerminalSystem.GetBlocksOfType(thrustersUP, x => x.WorldMatrix.Forward == RControllers.WorldMatrix.Up);
if (thrustersUP.Count == 0)
{
Echo($"Error: No lift-off thrusters were found!");
}
GridTerminalSystem.GetBlocksOfType(thrustersDOWN, x => x.WorldMatrix.Forward == RControllers.WorldMatrix.Down);
if (thrustersDOWN.Count == 0)
{
Echo($"Error: No lift-off thrusters were found!");
}
var shipMass = RController.CalculateShipMass();
TotalMass = shipMass.TotalMass;
AutoEnable = RControllers.IsAutoPilotEnabled;
RController.TryGetPlanetElevation(MyPlanetElevation.Sealevel, out Elev);
velo = RController.GetShipSpeed();
Position = RController.GetPosition();
Gravity = (RController.GetNaturalGravity().Length());
GravityG = (RController.GetNaturalGravity().Length() / 9.81);
thrustSumUP = 0;
thrustSumDOWN = 0;
foreach (var block in thrustersUP)
{
thrustSumUP += block.MaxEffectiveThrust;
}
foreach (var block in thrustersDOWN)
{
thrustSumDOWN += block.MaxEffectiveThrust;
}
if (Status == "Launched")
{
TargetGravity = (PlanetGravity * (Math.Pow((MaxR / (TargetAltitude + MinR)), 7)));
Accel = ((thrustSumUP / TotalMass) + TargetGravity); //Stopping force
AccelTime = ((0 - velo) / -Accel); //Seconds to stop
stopDistance = ((velo * AccelTime) + ((-Accel * (AccelTime * AccelTime)) / 2));
}
if (Status == "Return")
{
Accel = ((thrustSumDOWN / TotalMass) - PlanetGravity); //Stopping force
AccelTime = ((0 - velo) / -Accel); //Seconds to stop
stopDistance = ((velo * AccelTime) + ((-Accel * (AccelTime * AccelTime)) / 2));
}
Echo(Ship + " Control Pro");
Echo("Status: " + Status);
Echo("Altitude: " + Math.Round(Elev, 2) + "/" + TargetAltitude);
Echo("Speed: " + Math.Round(velo, 2));
Echo("Total Weight: " + TotalMass);
Echo("Gravity: " + Math.Round(GravityG, 2) + "G");
string msg = ("Ship" + ":" + Ship + "," + "Status" + ":" + Status + "," + "Elevation" + ":" + Elev + "," + "Position" + ":" + Position + "," + "Speed" + ":" + velo + "," + "Target" + ":" + TargetAltitude + ",");
LAntenna.TransmitMessage(msg);
var keyValuePairs = arg.Split(',').Select(x => x.Split(':')).Where(x => x.Length == 2).ToDictionary(x => x.First(), x => x.Last());
//Echo(thrustSumDOWN.ToString());
//Echo(thrustersDOWN.Count.ToString());
//Echo(thrustSumUP.ToString());
//Echo(thrustersUP.Count.ToString());
if (Status == "Failed")
{
if (RCFailed == true)
{
Echo(RCFailedMSG); return;
}
if (CCFailed == true)
{
Echo(CCFailedMSG); return;
}
if (GyroFailed == true)
{
Echo(GyroFailedMSG); return;
}
if (LAFailed == true)
{
Echo(LAFailedMSG); return;
}
if (LGFailed == true)
{
Echo(LGFailedMSG); return;
}
if (RConFailed == true)
{
Echo(RConFailedMSG); return;
}
if (CCTsFailed == true)
{
Echo(CCTsFailedMSG); return;
}
Status = "Failed";
return;
}
if (arg.Contains("Target"))
{
TargetAltitudeSetter = keyValuePairs["Target"];
TargetAltitude = int.Parse(TargetAltitudeSetter);
NotReady();
}
if (!Init)
{
Status = "Initalizing..."; NotReady();
}
if (arg == "Reset")
{
Status = "Not Ready"; NotReady();
}
if (arg == "Ready")
{
Status = "Ready"; Ready();
}
if (arg == "Launch")
{
Status = "Launching"; Launch();
}
if (arg == "Launched")
{
Status = "Launched"; Climb();
}
if (arg == "Seperate")
{
Status = "Seperation"; Seperation();
}
if (arg == "Return")
{
Status = "Return"; Return();
}
if (arg == "Approach")
{
Status = "Approaching"; Approach();
}
if (arg == "Land")
{
Status = "Landing"; Land();
}
if (arg == "Landed")
{
Status = "Landed";
}
if (Status == "Launching")
{
Launch();
}
if (Status == "Launched")
{
Climb();
}
if (Status == "Seperation")
{
Seperation();
}
if (Status == "Return")
{
Return();
}
if (Status == "Approaching")
{
Approach();
}
if (Status == "Landing")
{
Land();
}
if (Status == "Landed")
{
Status = "Landed";
}
}
bool Init()
{
#region controller and settings
var controllers = new List <IMyShipController>();
GridTerminalSystem.GetBlocksOfType(controllers, x => x.IsSameConstructAs(Me));
bool cruiseEnabledInSettings = false;
bool alignEnabledInSettings = false;
Settings = new MyIni();
if (Settings.TryParse(Storage))
{
if (Settings.ContainsSection(SettingsHeader))
{
targetSpeed = Settings.Get(SettingsHeader, SettingsTargetSpeed).ToSingle(targetSpeed);
thrustDirection = (Base6Directions.Direction)Settings.Get(SettingsHeader, SettingsSelectedThrusters).ToInt32((int)thrustDirection);
targetAltAscending = Settings.Get(SettingsHeader, SettingsTargetAltAscending).ToDouble(targetAltAscending);
targetAltDescending = Settings.Get(SettingsHeader, SettingsTargetAltDescending).ToDouble(targetAltDescending);
disableCruiseExitingGravity = Settings.Get(SettingsHeader, SettingsDisableCruiseExitingGravity).ToBoolean(disableCruiseExitingGravity);
disableAlignExitingGravity = Settings.Get(SettingsHeader, SettingsDisableAlignExitingGravity).ToBoolean(disableAlignExitingGravity);
useSeaLevel = Settings.Get(SettingsHeader, SettingsUseSeaLevel).ToBoolean(useSeaLevel);
worldTopSpeed = Settings.Get(SettingsHeader, SettingsWorldTopSpeed).ToSingle(worldTopSpeed);
cruiseEnabledInSettings = Settings.Get(SettingsHeader, SettingsCruiseEnabled).ToBoolean();
alignEnabledInSettings = Settings.Get(SettingsHeader, SettingsCruiseEnabled).ToBoolean();
var parts = Settings.Get(SettingsHeader, SettingsController).ToString().Split(';');
if (parts.Length == 3)
{
GetController(controllers, new Vector3I(int.Parse(parts[0]), int.Parse(parts[1]), int.Parse(parts[2])));
}
}
}
//If fetching controller from storage failed, try to set up a new.
if (MainController == null)
{
if (!GetController(controllers))
{
Errors["no controller"] = "No ship controller found. Can't resume. Sit in one for a few seconds.";
return(false);
}
}
if (MainController != null)
{
Errors.Remove("no controller");
}
Settings.Set(SettingsHeader, SettingsController, $"{MainController.Position.X};{MainController.Position.Y};{MainController.Position.Z}");
SaveSettings();
//screen = (MainController as IMyTextSurfaceProvider).GetSurface(0);
//screen.ContentType = ContentType.TEXT_AND_IMAGE;
//var sprites = new List<string>();
//screen.GetSprites(sprites);
//Me.CustomData = "";
//foreach (var item in sprites)
//{
// Me.CustomData += item + "\n";
//}
#endregion
var allBlocks = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType(allBlocks, x => x.IsSameConstructAs(Me));
List <IMyGyro> gyros = new List <IMyGyro>();
List <IMyThrust> thrusters = new List <IMyThrust>();
List <IMyTextSurface> screens = new List <IMyTextSurface>();
foreach (var item in allBlocks)
{
//if(item is IMyProjector)
//{
// proj = new ProjectorVisualization(item as IMyProjector, Vector3I.Zero);
//}
if (item is IMyGyro)
{
gyros.Add(item as IMyGyro);
}
if (item is IMyThrust)
{
thrusters.Add(item as IMyThrust);
}
if (item as IMyTextSurfaceProvider != null)
{
if (item.CustomName.Contains("#ACC"))
{
int screennr = 0;
var parts = item.CustomName.Split('@');
if (parts.Length > 1)
{
for (int i = 0; i < parts.Length; i++)
{
if (parts[i].EndsWith("#ACC") && parts.Length > i + 1)
{
int.TryParse(new string(parts[i + 1].TakeWhile(char.IsDigit).ToArray()), out screennr);
}
}
}
screens.Add((item as IMyTextSurfaceProvider).GetSurface(screennr));
screens[screens.Count - 1].ContentType = ContentType.SCRIPT;
screens[screens.Count - 1].Script = "";
}
}
}
if (screens.Count > 0)
{
LCDs = new Screens(screens);
}
if (gyros.Count > 0)
{
Align = new Aligner(MainController, gyros);
if (alignEnabledInSettings)
{
StartAlign(true);
}
}
if (thrusters.Count > 0)
{
Cruise = new CruiseControl(MainController, thrusters);
if (cruiseEnabledInSettings)
{
StartCruiseControl(true);
}
}
return(true);
}
void Main()
{
// Get blocks
var blocks = new List <IMyTerminalBlock>();
// Get the antenna
GridTerminalSystem.GetBlocksOfType <IMyRadioAntenna>(blocks);
if (blocks.Count > 0)
{
IMyTerminalBlock Block = blocks[0];
// Get time now
var Time1 = System.DateTime.Now;
long OldTime = 0;
// We pull this here to prevent conversions being *too* weird
long CurrentTime = Time1.ToBinary();
// Store the current name
String CurrentName = Block.CustomName;
// Get the fragments (or get one fragment)
String[] Fragments = CurrentName.Split('|');
// Get coordinates (VRageMath.Vector3D, so pull it in the ugly way)
double x = Math.Round(Block.GetPosition().GetDim(0), 4);
double y = Math.Round(Block.GetPosition().GetDim(1), 4);
double z = Math.Round(Block.GetPosition().GetDim(2), 4);
// Allocate this here
double X = 0;
double Y = 0;
double Z = 0;
// Start with "the unknown" speed, stored in m/s
double Speed = 0.0;
// Total distance moved
double Distance = 0;
// Do we actually have fragments?
if (Fragments.Length == 3)
{
// Yes? Excellent.
OldTime = Convert.ToInt64(Fragments[1]);
// Vomit a bit here because this is how we have to store variables at the moment ...
string[] Coords = Fragments[2].Split(',');
X = Math.Round(Convert.ToDouble(Coords[0]), 4);
Y = Math.Round(Convert.ToDouble(Coords[1]), 4);
Z = Math.Round(Convert.ToDouble(Coords[2]), 4);
// Nothing fancy here
Distance = System.Math.Sqrt(
((x - X) * (x - X)) + ((y - Y) * (y - Y)) + ((z - Z) * (z - Z))
);
}
// If the base coordinates
if (Distance != 0 && X != 0 && Y != 0 && Z != 0 && OldTime != 0)
{
// Update time
var Time0 = System.DateTime.FromBinary(OldTime);
// We have 's' for m/s.
var TimeDelta = (Time1 - Time0).TotalSeconds;
// We have our distance
Speed = Distance / TimeDelta;
Speed = Math.Round(Convert.ToDouble(Speed), 4);
}
// Speed|Time|X,Y,Z
String NewName = Speed.ToString() + "|" +
CurrentTime.ToString() + "|" +
x.ToString() + "," + y.ToString() + "," + z.ToString();
// Store it
Block.CustomName = NewName;
// Show it on the HUD so we can check it
Block.ShowOnHUD = true;
}
}
//MyFunctions,Methods
//ФУНКЦИИ УПРАВЛЕНИЯ ДВИЖЕНИЕМ
//Управление тягой движков.
public void ThrustOverride(string groupName, bool on_off)
{
//Берём все движки из "Engines" и закидываем их в thrustList.
thrustGroup = GridTerminalSystem.GetBlockGroupWithName(groupName);
thrustGroup.GetBlocksOfType <IMyThrust>(thrustList);
gyroList = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType <IMyGyro>(gyroList);
//Поиск блока Remote Control, получение массы, вектора движения и гравитации.
if (FindBlockByPartOfName(nameRemCon).Count == 1)
{
remCon = FindBlockByPartOfName(nameRemCon)[0] as IMyShipController;
MyShipMass rawMass = remCon.CalculateShipMass();
mass = rawMass.PhysicalMass;
gravityVector = remCon.GetNaturalGravity();
Display("GravityVector:\r\n" + gravityVector.ToString(), nameStateLCD);
Vector3D gravityNorm = Vector3D.Normalize(gravityVector);
double gravityNormDouble = gravityVector.Normalize();
Display("GravityNorm: " + gravityNormDouble.ToString(), nameStateLCD);
gravity = Convert.ToSingle(gravityNormDouble);
velocityVector = remCon.GetShipVelocities().LinearVelocity;
verticalVelocity = -(float)gravityNorm.Dot(velocityVector);
}
else if (FindBlockByPartOfName(nameRemCon).Count > 1)
{
Display("Warning! \r\n We find more than \r\n 1 blocks Remote control:", nameDebugLCD);
foreach (IMyRemoteControl remCon in FindBlockByPartOfName(nameRemCon))
{
string data = remCon.CustomName;
Display(data, nameDebugLCD);
}
}
else
{
Display("Warning! \r\n You don't have remote control blocks!", nameDebugLCD);
}
if (on_off)
{
Display("EnginesElevating - on", nameStateLCD);
GetMyPos();
/*В последний раз я переписал парсер, такое ощещение, что в предыдущий раз я вообще не понимал как он должен работать. =)
* Сейчас пытаюсь выяснить как правильно найти разницу в координатах платформы и структуры, для управления тягой движков.
* Получилось получить направление вектора вверх, но пока непонятно как это можно использовать.
* Update: Вероятно, можно получить вектор расстояния (координаты структуры - координаты платформы) и с помощью скалярного произведения
* на вектор вверх, получить нужное значение, для управления высотой.
*/
//Достаём из панели и записываем координаты в переменные.
string floorPos = GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+");
string PlatformPos = GetTextValueMultiline(namePlatformPosStorage, sensorName + @"](?>\S+\s)+\S+");
//Парсим строки с координатам.(Достаём оттуда числовые значения XYZ)
List <float> floorPosParsed = new List <float>();
floorPosParsed = CoordParser(GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+"));
List <float> platformPosParsed = new List <float>();
platformPosParsed = CoordParser(GetTextValueMultiline(namePlatformPosStorage, sensorName + @"](?>\S+\s)+\S+"));
//Получаем вектор вверх и сразу парсим его.
List <float> upVectorParsed = new List <float>();
upVectorParsed = CoordParser(remCon.WorldMatrix.Up.ToString()); Display("RemConVectorUp: " + remCon.WorldMatrix.Up.ToString(), nameParserLCD);
//Объявляем вектор расстояния и присваиваем ему нужные значения.
Vector3D distanceVector;
distanceVector.X = floorPosParsed[0] - platformPosParsed[0];
distanceVector.Y = floorPosParsed[1] - platformPosParsed[1];
distanceVector.Z = floorPosParsed[2] - platformPosParsed[2];
//Объявляем вектор вверх и присваиваем ему уже полученный.
Vector3D vectorUp = remCon.WorldMatrix.Up;
//С помощью скалярного произведения, получаем вертикальную проекцию для управления двигателями.
verticalProject = (float)distanceVector.Dot(vectorUp);
Display(verticalProject.ToString(), nameParserLCD);
//Расчёт необходимой силы для подъёма. - данной силы недостаточно даже для удерживания платформы на месте
force = (float)((1 + (verticalProject - verticalVelocity) * kA) * gravityVector.Length() * mass);
/*"Эксперимент с батарейкой"
* string BatVectorUP = "X:0.880934000015259 Y:-0.431211113929749 Z:0.194967776536942}";
* List<float> BatVectorUPParsed = new List<float>();
* BatVectorUPParsed = CoordParser(BatVectorUP);
* string BatPos = "X:53535.6127123895 Y:-26681.3688097174 Z:12106.9409922019}";
* //string PlPos = "X: 53534.4160012206 Y: -26683.558898142 Z: 12107.9450289915}";
* //BatPos - PlPos = X-1.2 Y-2.2 Z1
* //(BatPos - PlPos)*BatVectorUP = X - 0.96 Y 0,88 Z0,1
* List<float> BatPosParsed = new List<float>();
* BatPosParsed = CoordParser(BatPos);
* string BatPosNorm = "X: " + (BatPosParsed[0] / BatVectorUPParsed[0]).ToString() + " Y: " + (BatPosParsed[1] / BatVectorUPParsed[1]).ToString() + " Z: " + (BatPosParsed[2] / BatVectorUPParsed[2]).ToString();
* Display("BatVectorUP: " + BatVectorUP, nameParserLCD);
* Display("BatPos: " + BatPos, nameParserLCD);
* Display("BatPosNorm: " + BatPosNorm, nameParserLCD);
*
*
* foreach (IMyGyro gyro in gyroList)
* {
* Display("Gyro1VectorUp: " + gyro.WorldMatrix.Up.ToString(), nameParserLCD);
* List<float> gyroUpVectorParsed = new List<float>();
* gyroUpVectorParsed = CoordParser(gyro.WorldMatrix.Up.ToString());
* string differenceUpVectors = "X: " + (gyroUpVectorParsed[0] - upVectorParsed[0]).ToString() + " Y: " + (gyroUpVectorParsed[1] - upVectorParsed[1]).ToString() + " Z: " + (gyroUpVectorParsed[2] - upVectorParsed[2]).ToString();
* Display("DifferenceUpVectors: " + differenceUpVectors, nameParserLCD);
* }*/
engineState = "FloorNum: " + GetTextValueInline("SetFloorLevel", nameLCDfloorLevel) + "\n";
engineState = engineState + "FloorNum: " + GetFloorNumber() + "\n";
engineState = engineState + "FloorCoords: " + floorPos + "\n";
engineState = engineState + "PlatformCoords: " + PlatformPos + "\n";
engineState = engineState + "CoordParser: " + floorPosParsed.Count + "\n";
engineState = engineState + "CoordParsedY: " + floorPosParsed[1] + "\n";
foreach (IMyThrust thrust in thrustList)
{
//Управление двигателями.
float correction = ((force / thrustList.Count) / 100f) * (thrust.MaxThrust - thrust.MaxEffectiveThrust) / (thrust.MaxThrust / 100f); //Поправка на высоту, для атмо двигателей. 20640
//correction = correction - ((correction / 10000f) * 15);
thrust.ThrustOverride = (force / thrustList.Count);
if (thrust.ThrustOverride == 0)
{
thrust.ThrustOverride = 1;
}
//Выводим состояние движков на панель.
remCon = FindBlockByPartOfName(nameRemCon)[0] as IMyShipController;
float g = (float)remCon.GetNaturalGravity().Length();
float octopusGravityData = thrust.MaxEffectiveThrust / mass - g;
/*for (int i = 0; i < CoordParser(GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+")).Count; i++)
* {
* coordParsed += CoordParser(GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+"))[i].ToString();
* }*/
engineState = engineState + "MET: " + thrust.MaxEffectiveThrust.ToString() + "\n";
engineState = engineState + "MT: " + thrust.MaxThrust.ToString() + "\n";
engineState = engineState + "CORR: " + correction.ToString() + "\n";
engineState = engineState + "OCTOP_G_DATA: " + g.ToString() + "\n";
engineState = engineState + "TO: " + thrust.ThrustOverride.ToString() + "\n";
//engineState = engineState + "FM: " + ForceMultiply(CoordParser(GetTextValueMultiline(floorSensorName + GetFloorNumber(), nameFloorPosStorage))[1], CoordParser(GetTextValueMultiline(sensorName, namePlatformPosStorage))[1]).ToString();
}
Display(engineState, nameStateLCD);
}
else if (!on_off)
{
Display("EnginesElevating - off", nameStateLCD);
foreach (IMyThrust thrust in thrustList)
{
//Управление двигателями.
thrust.ThrustOverride = 0;
//Выводим состояние движков на панель.
string text = thrust.ThrustOverride.ToString();
Display(text, nameStateLCD);
}
}
}
public void Main()
{
var debugString = "";
double elev;
/*
* var myCurrentCockpit = GridTerminalSystem.GetBlockWithName("Cockpit") as IMyCockpit;
* var listShipController = new List<IMyShipController>();
* if (listShipController == null)
* { Echo("nope"); return; }
* var myCurrentCockpit = listShipController[0];
*/
//var listRemoteController = new List<IMyRemoteControl>();
//IMyRemoteControl
List <IMyShipController> listRemoteController = new List <IMyShipController>();
GridTerminalSystem.GetBlocksOfType <IMyShipController>(listRemoteController);
if (listRemoteController == null)
{
Echo("no IMyShipController available"); return;
}
var myCurrentCockpit = listRemoteController[0];
myCurrentCockpit.TryGetPlanetElevation(MyPlanetElevation.Surface, out elev);
double altitudeError = wantedAltitude - elev;
double dts = Runtime.TimeSinceLastRun.TotalSeconds;
//public double Control(double error, double timeStep)
//todo change this
//double dir = altRegulator.Control(altitudeError, dts);
Echo("elev:" + elev);
//PhysicalMass Gets the physical mass of the ship, which accounts for inventory multiplier.
var physMass_kg = myCurrentCockpit.CalculateShipMass().PhysicalMass;
debugString += " " + "physMass_kg:" + physMass_kg;
debugString += "\n" + "elev:" + elev;
//figuring out the available thrust
//IMyThrust.MaxEffectiveThrust
//IMyThrust.CurrentThrust_N
double maxEffectiveThrust_N = 0;
double currentThrust_N = 0;
var cs = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType(cs);
foreach (var c in cs)
{
maxEffectiveThrust_N += c.MaxEffectiveThrust; currentThrust_N += c.CurrentThrust;
}
debugString += "\n" + "maxEffectiveThrust_N:" + maxEffectiveThrust_N;
debugString += "\n" + "currentThrust_N:" + currentThrust_N;
debugString += "\n" + "physMass_kg:" + physMass_kg;
double physMass_N = physMass_kg * g_constant;
debugString += "\n" + "physMass_N:" + physMass_N;
//BaseMass Gets the base mass of the ship.
//totalMass Gets the total mass of the ship, including cargo.
//PhysicalMass Gets the physical mass of the ship, which accounts for inventory multiplier.
var totalMass_kg = myCurrentCockpit.CalculateShipMass().TotalMass;
debugString += "\n" + "totalMass_kg:" + totalMass_kg;
var thr_to_weight_ratio = maxEffectiveThrust_N / physMass_N;
debugString += "\n" + "thr_to_weight_ratio:" + thr_to_weight_ratio;
double thrustLeft_N = currentThrust_N - physMass_N;
debugString += "\n" + "thrustLeft_N:" + thrustLeft_N;
double a_z_ms_2 = thrustLeft_N / physMass_kg;
debugString += "\n" + "a_z_ms_2:" + a_z_ms_2;
alt = elev;
debugString += "\n" + "dts:" + dts;
//errorDerivative = (error - lastError) / timeStep;
alt_speed_ms_1 = (alt - last_alt) / dts;
debugString += "\n" + "alt_speed_ms_1:" + alt_speed_ms_1;
alt_acc_ms_2 = (alt_speed_ms_1 - last_alt_speed_ms_1) / dts;
debugString += "\n" + "alt_acc_ms_2:" + alt_acc_ms_2;
last_alt = alt;
last_alt_speed_ms_1 = alt_speed_ms_1;
//TODO code here
//public double Control(double error, double timeStep)
// double speedError = 0;
double speedError = alt_speed_ms_1 - 0;
double controlSpeed = altRegulator.Control(speedError, dts);
debugString += "\n" + "controlSpeed:" + controlSpeed;
var massOfShip = myCurrentCockpit.CalculateShipMass().PhysicalMass;
debugString += "\n" + "massOfShip:" + massOfShip;
var control = altRegulator.Control(altitudeError, dts);
debugString += "\n" + "control:" + control;
//applying what the pid processed
//var cs = new List<IMyThrust>();
GridTerminalSystem.GetBlocksOfType(cs);
Echo(cs.ToString());
foreach (var c in cs)
{
//Echo("c.GridThrustDirection:"+ c.GridThrustDirection);
double temp_thr_n = .5f * physMass_N * c.MaxThrust / c.MaxEffectiveThrust + physMass_N * control;
c.ThrustOverride = Convert.ToSingle(temp_thr_n);
//that will balance the f_mass and f_thusters
//c.ThrustOverride = Convert.ToSingle(.5f * physMass_N * c.MaxThrust / c.MaxEffectiveThrust + control * 100);
//debugString += "\n" + "1f * physMass_N * c.MaxEffectiveThrust / c.MaxThrust\n:" + (.5f * physMass_N * c.MaxThrust / c.MaxEffectiveThrust + physMass_N * control / physMass_kg);
//debugString += "\n" + "c.ThrustOverride:" + c.ThrustOverride;
if (c.GridThrustDirection.Y == -1)
{
/*
* //c.ThrustOverride = Convert.ToSingle(0.25f * physMass_N);
* //debugString += "\n" + "0.25f * physMass_N:" + 0.25f * physMass_N;
* //debugString += "\n" + "c.ThrustOverride:" + c.ThrustOverride;
*
* //c.MaxThrust / c.MaxEffectiveThrust is needed because you need to the thrusters efficiency
* //MaxEffectiveThrust is the current max thrust / MaxThrust is the max thrust at sea level
* //c.ThrustOverride = Convert.ToSingle(0.25f * physMass_N * c.MaxThrust / c.MaxEffectiveTQhrust);
* c.ThrustOverride = Convert.ToSingle(.5f * physMass_N * c.MaxThrust / c.MaxEffectiveThrust + control*100);
* debugString += "\n" + "1f * physMass_N * c.MaxEffectiveThrust / c.MaxThrust\n:" + (.5f * physMass_N * c.MaxThrust / c.MaxEffectiveThrust + control *100);
* debugString += "\n" + "c.ThrustOverride:" + c.ThrustOverride;
*/
}
}
//debugString += "\n" + "c.ThrustOverride:" + c.ThrustOverride;
//lcd display
var textPanel = GridTerminalSystem.GetBlockWithName("textPanel") as IMyTextPanel;
if (textPanel == null)
{
Echo("no lcd panel named textPanel");
}
else
{
//textPanel.FontSize = 1.2f;
//textPanel.FontSize = 1f;
textPanel.WriteText(debugString, false);
}
List <IMyRadioAntenna> listRadioAntenna = new List <IMyRadioAntenna>();
GridTerminalSystem.GetBlocksOfType <IMyRadioAntenna>(listRadioAntenna);
if (listRadioAntenna == null)
{
Echo("no IMyRadioAntenna available");
}
else
{
listRadioAntenna[0].HudText = "altitude is:" + elev.ToString();
}
//IMyTerminalBlock.CustomName and IMyCubeGrid.CustomName are what you want
}
public void startMining(List <IMyTerminalBlock> drillList, List <IMyTerminalBlock> pistonList, List <IMyTerminalBlock> rotorList)
{
if (!isMiningDown && !workFinished)
{
//Piston settings
float maxPistonExtend = getMaxPistonExtend(pistonList, false);
float pistonSpeed = 0.003f;
//Rotor settings
float rotorTorque = 33599988f;
float rotorVelocityArm = 1f;
float rotorVelocityHead = 3f;
isMiningDown = true;
//Pasting drill settings & enabling them
for (int i = 0; i < drillList.Count; i++)
{
IMyShipDrill drillList_X = GridTerminalSystem.GetBlockWithName(drillList[i].CustomName) as IMyShipDrill;
if (drillList_X.CustomName.Contains(drillNameTag))
{
drillList_X.Enabled = true;
}
}
//Pasting piston settings & enabling them
for (int i = 0; i < pistonList.Count; i++)
{
IMyPistonBase pistonList_X = GridTerminalSystem.GetBlockWithName(pistonList[i].CustomName) as IMyPistonBase;
if (pistonList_X.CustomName.Contains(pistonNameTag) && !pistonList_X.CustomName.Contains("Extender"))
{
pistonList_X.SetValue("Velocity", pistonSpeed);
pistonList_X.Enabled = true;
}
}
//Pasting advanced rotor settings & enabling them
for (int i = 0; i < rotorList.Count; i++)
{
IMyMotorAdvancedStator rotorList_X = GridTerminalSystem.GetBlockWithName(rotorList[i].CustomName) as IMyMotorAdvancedStator;
if (rotorList_X.CustomName.Contains(rotorNameTag))
{
if (rotorList_X.CustomName.Contains("Arm"))
{
rotorList_X.TargetVelocityRPM = rotorVelocityArm;
rotorList_X.Torque = rotorTorque;
rotorList_X.BrakingTorque = rotorTorque;
rotorList_X.Enabled = true;
}
if (rotorList_X.CustomName.Contains("Head"))
{
rotorList_X.Torque = rotorTorque;
rotorList_X.BrakingTorque = rotorTorque;
rotorList_X.TargetVelocityRPM = rotorVelocityHead;
rotorList_X.Enabled = true;
}
Echo("Rotor: " + i.ToString());
}
}
}
}
private void UpdateGasStatus(IMyTextSurface surface)
{
// Hydrogen
List <IMyGasTank> gasTanks = new List <IMyGasTank>();
GridTerminalSystem.GetBlockGroupWithName("Hydrogen Tanks").GetBlocksOfType(gasTanks);
float hydrogen_max = 0.0f;
float hydrogen_stored = 0.0f;
foreach (var tank in gasTanks)
{
hydrogen_max += tank.Capacity;
hydrogen_stored += (float)tank.FilledRatio * tank.Capacity;
}
hydrogen_max /= 1000;
hydrogen_stored /= 1000;
int hydrogen_percentage = Convert.ToInt32(100 * hydrogen_stored / hydrogen_max);
int num_bars = (hydrogen_percentage * 20) / 100;
string hydrogen_bars = new string('|', num_bars);
if (num_bars < 20)
{
hydrogen_bars += new string(' ', 20 - num_bars);
}
// Oxygen
List <IMyGasTank> oxygenTanks = new List <IMyGasTank>();
GridTerminalSystem.GetBlockGroupWithName("Oxygen Tanks").GetBlocksOfType(oxygenTanks);
float oxygen_max = 0.0f;
float oxygen_stored = 0.0f;
foreach (var tank in oxygenTanks)
{
oxygen_max += tank.Capacity;
oxygen_stored += (float)tank.FilledRatio * tank.Capacity;
}
oxygen_max /= 1000;
oxygen_stored /= 1000;
int oxygen_percentage = Convert.ToInt32(100 * oxygen_stored / oxygen_max);
num_bars = (oxygen_percentage * 20) / 100;
string oxygen_bars = new string('|', num_bars);
if (num_bars < 20)
{
oxygen_bars += new string(' ', 20 - num_bars);
}
surface.WriteText(String.Format(
"- Hydrogen\nStored: {0:0.##} m³\nMax: {1:0.##} m³\n[{2}] {3} %\n- Oxygen\nStored: {4:0.##} m³\nMax: {5:0.##} m³\n[{6}] {7} %",
hydrogen_stored,
hydrogen_max,
hydrogen_bars,
hydrogen_percentage,
oxygen_stored,
oxygen_max,
oxygen_bars,
oxygen_percentage
));
}
public void Main(string argument, UpdateType updateSource)
{
bool no_battery = true;
blocks.Clear();
textPanels.Clear();
GridTerminalSystem.GetBlocks(blocks);
foreach (IMyTerminalBlock block in blocks)
{
if (block is IMyTextPanel)
{
IMyTextPanel text_panel = (IMyTextPanel)block;
if (text_panel.CustomData.Trim() == "showBatteryStates")
{
textPanels.Add(text_panel);
}
}
else if (block is IMyBatteryBlock)
{
IMyBatteryBlock battery = (IMyBatteryBlock)block;
bool has_flag = false;
textBuilder.Append(battery.CustomName);
textBuilder.Append(": ");
textBuilder.Append(Math.Round((battery.CurrentStoredPower * 100.0f) / battery.MaxStoredPower).ToString());
textBuilder.Append("% ( ");
textBuilder.Append(GetWattString(battery.CurrentStoredPower * 1000.0f));
textBuilder.Append("h");
textBuilder.Append(" / ");
textBuilder.Append(GetWattString(battery.MaxStoredPower * 1000.0f));
textBuilder.AppendLine("h )");
textBuilder.Append("\tOutput: ");
textBuilder.Append(GetWattString(battery.CurrentOutput * 1000.0f));
textBuilder.Append(" / ");
textBuilder.AppendLine(GetWattString(battery.MaxOutput * 1000.0f));
textBuilder.Append("\tInput: ");
textBuilder.Append(GetWattString(battery.CurrentInput * 1000.0f));
textBuilder.Append(" / ");
textBuilder.AppendLine(GetWattString(battery.MaxInput * 1000.0f));
textBuilder.Append("Flags: ");
AppendFlag("W", battery.IsWorking, ref has_flag);
AppendFlag("C", battery.IsCharging, ref has_flag);
AppendFlag("H", battery.IsBeingHacked, ref has_flag);
if (has_flag)
{
textBuilder.Append(" )");
}
textBuilder.AppendLine();
no_battery = false;
}
}
if (no_battery)
{
textBuilder.Append("No battery found!");
}
string text = textBuilder.ToString();
textBuilder.Clear();
foreach (IMyTextPanel text_panel in textPanels)
{
text_panel.WriteText(text);
}
}
private void UpdateBatteryStatus(IMyTextSurface surface)
{
List <IMyBatteryBlock> batteries = new List <IMyBatteryBlock>();
GridTerminalSystem.GetBlockGroupWithName("Base Batteries").GetBlocksOfType <IMyBatteryBlock>(batteries);
float max_stored = 0.0f;
float current_stored = 0.0f;
float current_input = 0.0f;
float current_output = 0.0f;
foreach (var battery in batteries)
{
max_stored += battery.MaxStoredPower;
current_stored += battery.CurrentStoredPower;
current_input += battery.CurrentInput;
current_output += battery.CurrentOutput;
}
float change = current_input - current_output;
float hours = 0.0f;
string battery_life = "";
if (change > 0)
{
// Towards full charge
float remaining_MWh = max_stored - current_stored;
hours = remaining_MWh / change;
battery_life = "Recharged in: ";
}
else
{
// Towards empty
hours = current_stored / (-change);
battery_life = "Depleted in: ";
}
if (hours >= 1)
{
battery_life += Convert.ToInt32(hours).ToString() + " h";
}
else
{
float minutes = hours * 60;
if (minutes >= 1)
{
battery_life += Convert.ToInt32(minutes).ToString() + " m";
}
else
{
battery_life += Convert.ToInt32(minutes * 60).ToString() + " s";
}
}
string input_unit = "MW";
if (current_input < 1.0f)
{
current_input *= 1000.0f;
input_unit = "kW";
}
string output_unit = "MW";
if (current_output < 1.0f)
{
current_output *= 1000.0f;
output_unit = "kW";
}
int percentage = Convert.ToInt32(100 * current_stored / max_stored);
int num_bars = (percentage * 20) / 100;
string bars = new string('|', num_bars);
if (num_bars < 20)
{
bars += new string(' ', 20 - num_bars);
}
surface.WriteText(String.Format(
"- Power\nIn: {0:0.##} {1}\nOut: {2:0.##} {3}\nStored: {4:0.##} MWh\nMax: {5:0.##} MWh\n\n{6}\n[{7}] {8} %",
current_input,
input_unit,
current_output,
output_unit,
current_stored,
max_stored,
battery_life,
bars,
percentage
));
}
public void Main(string argument, UpdateType updateSource)
{
Runtime.UpdateFrequency = UpdateFrequency.Update100 | UpdateFrequency.Update10;
IMyTextPanel textPanel = (IMyTextPanel)GridTerminalSystem.GetBlockWithName(lcdName);
IMyRemoteControl remoteControl = (IMyRemoteControl)GridTerminalSystem.GetBlockWithName(remoteControllerName);
// If setupcomplete is false, run Setup method.
if (!setupcomplete)
{
Echo("Running setup.");
Setup();
}
else
{
// To create a listener, we use IGC to access the relevant method.
// We pass the same tag argument we used for our message.
IGC.RegisterBroadcastListener(broadcastChannel);
// Create a list for broadcast listeners.
List <IMyBroadcastListener> listeners = new List <IMyBroadcastListener>();
// The method argument below is the list we wish IGC to populate with all Listeners we've made.
// Our Listener will be at index 0, since it's the only one we've made so far.
IGC.GetBroadcastListeners(listeners);
if (listeners[0].HasPendingMessage)
{
// Let's create a variable for our new message.
// Remember, messages have the type MyIGCMessage.
MyIGCMessage message = new MyIGCMessage();
// Time to get our message from our Listener (at index 0 of our Listener list).
// We do this with the following method:
message = listeners[0].AcceptMessage();
// A message is a struct of 3 variables. To read the actual data,
// we access the Data field, convert it to type string (unboxing),
// and store it in the variable messagetext.
string messagetext = message.Data.ToString();
// We can also access the tag that the message was sent with.
string messagetag = message.Tag;
//Here we store the "address" to the Programmable Block (our friend's) that sent the message.
long sender = message.Source;
//Do something with the information!
Echo("Message received with tag" + messagetag + "\n\r");
Echo("from address " + sender.ToString() + ": \n\r");
Echo(messagetext);
allmessage += $"\n new message \n {messagetext}\n{messagetext.Split(':')[2]}";
textPanel.WriteText(allmessage);
List <MyWaypointInfo> myWaypoints = new List <MyWaypointInfo>();
string gpsname = messagetext.Split(':')[1];
double x = 0;
double y = 0;
double z = 0;
try
{
x = Convert.ToDouble(messagetext.Split(':')[2]);
y = Convert.ToDouble(messagetext.Split(':')[3]);
z = Convert.ToDouble(messagetext.Split(':')[4]);
}
catch (Exception e)
{
Echo(e.Message);
}
Echo(messagetext.Split('1')[0]);
myWaypoints.Add(new MyWaypointInfo(gpsname, x, y, z));
remoteControl.ClearWaypoints();
remoteControl.AddWaypoint(myWaypoints[0]);
remoteControl.SetCollisionAvoidance(true);
remoteControl.SetAutoPilotEnabled(true);
}
}
int textlength = textPanel.GetText().Length;
if (textlength > 100)
{
allmessage = "";
}
}
public Program()
{
Help();
GridTerminalSystem.GetBlocks(LastKnownBlocks);
}
void AddLockRoom(string[] args)
{
string key = args[0];
// init
if (!_configs.ContainsKey(key))
{
Configuration config = new Configuration();
config.airVent = GridTerminalSystem.GetBlockWithName(args[0]) as IMyAirVent;
config.outerDoor = GridTerminalSystem.GetBlockWithName(args[1]) as IMyDoor;
config.innerDoor = GridTerminalSystem.GetBlockWithName(args[2]) as IMyDoor;
config.timer = GridTerminalSystem.GetBlockWithName(args[3]) as IMyTimerBlock;
bool error = false;
if (config.airVent == null)
{
Echo("Could not find Air Vent with name '" + args[0] + "'.");
error = true;
}
if (config.outerDoor == null)
{
Echo("Could not find Door with name '" + args[1] + "'.");
error = true;
}
if (config.innerDoor == null)
{
Echo("Could not find Door with name '" + args[2] + "'.");
error = true;
}
if (config.timer == null)
{
Echo("Could not find Timer Block with name '" + args[3] + "'.");
error = true;
}
if (error)
{
return;
}
// every thing fine
config.State = OuterClosingEnter;
_configs.Add(key, config);
_lastKey = key;
_openPosition = Command.CloseOutside;
UpdateStorage();
Echo("Added new Air Lock Room.");
PrintOpenInnerUsage();
PrintOpenOuterUsage();
// execute for initial setup
_configs[key].State(key);
}
else
{
Configuration config = _configs[key];
Echo("This Air Lock Room has already been saved and is ready to use.");
PrintOpenInnerUsage();
PrintOpenOuterUsage();
GetLockRoom(key);
}
}
void Main()
{
var blocks = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMySensorBlock>(blocks);
if (blocks.Count == 0)
{
throw new Exception();
}
var block = blocks[0] as IMySensorBlock;
debug.Append("LeftExtend = ").Append(block.LeftExtend).AppendLine();
debug.Append("RightExtend = ").Append(block.RightExtend).AppendLine();
debug.Append("TopExtend = ").Append(block.TopExtend).AppendLine();
debug.Append("BottomExtend = ").Append(block.BottomExtend).AppendLine();
debug.Append("FrontExtend = ").Append(block.FrontExtend).AppendLine();
debug.Append("BackExtend = ").Append(block.BackExtend).AppendLine();
debug.Append("DetectPlayers = ").Append(block.DetectPlayers).AppendLine();
debug.Append("DetectFloatingObjects = ").Append(block.DetectFloatingObjects).AppendLine();
debug.Append("DetectSmallShips = ").Append(block.DetectSmallShips).AppendLine();
debug.Append("DetectLargeShips = ").Append(block.DetectLargeShips).AppendLine();
debug.Append("DetectStations = ").Append(block.DetectStations).AppendLine();
debug.Append("DetectAsteroids = ").Append(block.DetectAsteroids).AppendLine();
debug.Append("DetectOwner = ").Append(block.DetectOwner).AppendLine();
debug.Append("DetectFriendly = ").Append(block.DetectFriendly).AppendLine();
debug.Append("DetectNeutral = ").Append(block.DetectNeutral).AppendLine();
debug.Append("DetectEnemy = ").Append(block.DetectEnemy).AppendLine();
var properties = new List <ITerminalProperty>();
block.GetProperties(properties);
for (int i = 0; i < properties.Count; ++i)
{
var property = properties[i];
debug.Append(property.Id);
debug.Append(" (").Append(block.GetDefaultValue <float>(property.Id)).Append(") [");
debug.Append(block.GetMininum <float>(property.Id)).Append(',').Append(block.GetMaximum <float>(property.Id)).Append("] : ");
debug.Append(property.TypeName);
if (i < properties.Count - 1)
{
debug.Append(", ");
}
if (i % 10 == 9)
{
debug.AppendLine();
}
}
debug.AppendLine();
var actions = new List <ITerminalAction>();
block.GetActions(actions);
debug.Append("Actions:").AppendLine();
List <string> actionNames = new List <string>();
for (int i = 0; i < actions.Count; ++i)
{
var action = actions[i];
debug.Append(action.Id);
actionNames.Add(action.Id);
if (i < actions.Count - 1)
{
debug.Append(", ");
}
if (i % 10 == 9)
{
debug.AppendLine();
}
}
for (int i = 0; i < actionNames.Count; ++i)
{
block.GetActionWithName(actionNames[i]);
}
HashSet <Sensors.Action> .Enumerator enumerator = Sensors.Action.GetEnumerator();
while (enumerator.MoveNext())
{
block.GetActionWithName(enumerator.Current.Name);
}
Debug(debug.ToString());
debug.Clear();
}
public void UpdateStatusPanels()
{
for (int key = 0; key < areaStatusPanels.Count; key++)
{
string areaPrefix = areaStatusPanels[key].CustomName.Substring(0, areaStatusPanels[key].CustomName.Length - areaStatusPanelName.Length);
IMyShipConnector areaConnector = GridTerminalSystem.GetBlockWithName(areaPrefix + "Connector") as IMyShipConnector;
StringBuilder panelOut = new StringBuilder();
float totalHydrogen = 0;
float totalOxygen = 0;
panelOut.Append(areaPrefix.Substring(0, areaPrefix.Length - 1).ToUpper());
panelOut.Append("\n\n");
if (areaConnector != null && areaConnector.Status == MyShipConnectorStatus.Connected && areaConnector.OtherConnector == craneConnector)
{
panelOut.Append("ARM DOCKED\n\n");
}
else
{
panelOut.Append("ARM NOT DOCKED\n\n");
}
List <IMyGasTank> hydrogenTanks = new List <IMyGasTank>();
GridTerminalSystem.GetBlocksOfType(hydrogenTanks, hydrogenTank => hydrogenTank.CustomName.Contains(areaPrefix + "Pad Hydrogen"));
if (hydrogenTanks.Count > 0)
{
for (int hKey = 0; hKey < hydrogenTanks.Count; hKey++)
{
totalHydrogen += (float)hydrogenTanks[hKey].FilledRatio;
}
panelOut.Append(hydrogenTanks.Count.ToString());
panelOut.Append("x H2 | ");
panelOut.Append(Math.Floor((totalHydrogen / hydrogenTanks.Count) * 100).ToString("000.##"));
panelOut.Append("%\n");
}
else
{
panelOut.Append("0x H2 | ERR!\n");
}
List <IMyGasTank> oxygenTanks = new List <IMyGasTank>();
GridTerminalSystem.GetBlocksOfType(oxygenTanks, oxygenTank => oxygenTank.CustomName.Contains(areaPrefix + "Pad Oxygen"));
if (oxygenTanks.Count > 0)
{
for (int oKey = 0; oKey < oxygenTanks.Count; oKey++)
{
totalOxygen += (float)oxygenTanks[oKey].FilledRatio;
}
panelOut.Append(oxygenTanks.Count.ToString());
panelOut.Append("x O2 | ");
panelOut.Append(Math.Floor((totalOxygen / oxygenTanks.Count) * 100).ToString("000.##"));
panelOut.Append("%");
}
else
{
panelOut.Append("0x O2 | ERR!");
}
areaStatusPanels[key].WriteText(panelOut, false);
}
}
