IEnumerable <string> ReachTargetArea()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Waypoint wp = new Waypoint(TargetLocation.CurrentPosition, TargetLocation.Velocity, TargetLocation.Name);
wp.TargetDistance = ScanningDistance;
if ((TargetLocation.CurrentPosition - Pilot.Controller.GetPosition()).LengthSquared() < (wp.TargetDistance * wp.TargetDistance))
{
yield return("FindTarget");
}
Message("Proceeding to target area.");
double rotangle = 0;
double scandistance = 190.0;
MyDetectedEntityInfo obstacle;
var task = new AimedFlightStrategy(wp, Pilot.Controller);
task.MaxLinearSpeed = MaxSpeed;
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (HasToAbort())
{
yield return("ReturnHome");
}
else
{
Vector3D scanvector =
Clamp.GetPosition() +
Clamp.WorldMatrix.Forward * 1.5 * Me.CubeGrid.WorldVolume.Radius * Math.Sin(rotangle) +
Clamp.WorldMatrix.Left * 1.5 * Me.CubeGrid.WorldVolume.Radius * Math.Cos(rotangle) +
Clamp.WorldMatrix.Down * scandistance;
foreach (var cam in Cameras)
{
if (cam.CanScan(scanvector))
{
rotangle += 0.8;
if (rotangle > 2 * Math.PI)
{
rotangle -= 2 * Math.PI;
}
obstacle = cam.Raycast(scanvector);
if (!obstacle.IsEmpty() && (!TargetSelector(obstacle) || (obstacle.HitPosition.Value - TargetLocation.CurrentPosition).LengthSquared() > ScanningDistance * ScanningDistance))
{
Message($"Obstacle detected, aborting. {obstacle.Name} @ {obstacle.Position}");
yield return("FullStop");
}
}
}
}
yield return(null);
}
yield return("FindTarget");
}