public void StartClient(string fileName)
{
this.fileName = fileName;
bridgeActive = false;
transmittingFloat = 1;
APImanager = gameObject.AddComponent(typeof(APIManager)) as APIManager;
APImanager.CustomAwake(this);
Debug.Log("API Built");
floatFile = gameObject.AddComponent(typeof(FloatFile)) as FloatFile;
floatFile.ConnectToServer(this);
cameraFeeds = new List <CameraFeed>();
vesselControl = gameObject.GetComponent <VesselControl>();
vesselControl.ControlAwake(this);
// Debug.Log("Vessel Control Initialized");
roboticController = gameObject.GetComponent <RoboticController>();
if (roboticController)
{
roboticController.CustomAwake(this);
Debug.Log("Robotics Configured");
}
// debugWriteToSelf = GetComponent<KSPMechs.MechManager>().debugWriteToSelf;
// SetFloat("TestFromClient" + fileName, 4);
SetBool("ClientTransmitting" + fileName, true);
//for (int i = 0; i < 1000; i++)
//{
// SetFloat("test" + i.ToString(), i);
//}
}
public virtual void CustomAwake(MemoryBridge memoryBridge, string limbName, VesselControl vesselControl)
{
Debug.Log("Custom Awake Limb : " + limbName);
this.memoryBridge = memoryBridge;
this.vesselControl = vesselControl;
limbFile = MemoryMappedFile.Open(MapAccess.FileMapAllAccess, limbName);
float byteCount;
float servoCount;
using (Stream mapStream = limbFile.MapView(MapAccess.FileMapAllAccess, 0, 16))
{
var floatBuffer = new byte[4];
mapStream.Read(floatBuffer, 0, 4);
byteCount = BitConverter.ToSingle(floatBuffer, 0);
mapStream.Read(floatBuffer, 0, 4);
servoCount = BitConverter.ToSingle(floatBuffer, 0);
}
var servosMirror = new List <RoboticServoMirror>();
ground = Instantiate(GameObject.Find("Ground")).transform;
using (Stream mapStream = limbFile.MapView(MapAccess.FileMapAllAccess, 0, (int)byteCount))
{
mapStream.Position = 16;
for (int i = 0; i < servoCount; i++)
{
//servo name
var floatBuffer = new byte[4];
mapStream.Read(floatBuffer, 0, 4);
var stringByteLength = BitConverter.ToSingle(floatBuffer, 0);
var stringBuffer = new byte[(int)stringByteLength];
mapStream.Read(stringBuffer, 0, stringBuffer.Length);
string servoName = ASCIIEncoding.ASCII.GetString(stringBuffer);
//servo parent id
mapStream.Read(floatBuffer, 0, 4);
var partID = BitConverter.ToSingle(floatBuffer, 0);
mapStream.Read(floatBuffer, 0, 4);
var parentID = BitConverter.ToSingle(floatBuffer, 0);
foreach (var part in vesselControl.vessel.parts)
{
if (part.ID == partID)
{
var newServo = part.gameObject.AddComponent(typeof(RoboticServoMirror)) as RoboticServoMirror;
newServo.CustomStart(servoName, memoryBridge, this, (int)parentID);
servosMirror.Add(newServo);
}
}
}
}
foreach (var servo in servosMirror)
{
servo.CreateBaseAnchor();
}
CreateRoboticLegs(servosMirror);
}
private bool LaunchAndDocking(out Thread launch_thread)
{
engine_main.ThrustLimit = 0.6f;
//engine_main.GimbalLimit = 0.1f;
engine_north.GimbalLimit = 0.1f;
engine_south.GimbalLimit = 0.1f;
launch_thread = new Thread(() => VesselControl.LaunchAndDocking(
"LOAD", common_data, conn, sc, vessel, 80000,
"Kerbin空间站", "docking_port_2", "docking_port",
ref force_docking));
launch_thread.Start();
new Thread(() =>
{
Thread.Sleep(2000);
vessel.Control.ActivateNextStage();
Thread.Sleep(2000);
vessel.Control.ActivateNextStage();
}).Start();
return(true);
}
// List<LimbControllersIK> IKlimbs;
public void CustomAwake(MemoryBridge memoryBridge, VesselControl vesselControl, ref List <LimbController> limbs)
{
IRFile = MemoryMappedFile.Open(MapAccess.FileMapAllAccess, "IRFile" + memoryBridge.fileName);
limbs = new List <LimbController>();
float byteCount;
float limbCount;
using (Stream mapStream = IRFile.MapView(MapAccess.FileMapAllAccess, 0, 16))
{
var floatBuffer = new byte[4];
mapStream.Read(floatBuffer, 0, 4);
byteCount = BitConverter.ToInt32(floatBuffer, 0);
mapStream.Read(floatBuffer, 0, 4);
limbCount = BitConverter.ToInt32(floatBuffer, 0);
}
Debug.Log("vessel has limbs " + limbCount);
using (Stream mapStream = IRFile.MapView(MapAccess.FileMapAllAccess, 0, (int)byteCount))
{
mapStream.Position = 16;
for (int i = 0; i < limbCount; i++)
{
var floatBuffer = new byte[4];
mapStream.Read(floatBuffer, 0, 4);
var stringByteLength = BitConverter.ToSingle(floatBuffer, 0);
var stringBuffer = new byte[(int)stringByteLength];
mapStream.Read(stringBuffer, 0, stringBuffer.Length);
string limbName = ASCIIEncoding.ASCII.GetString(stringBuffer);
var newLimbObject = new GameObject();
newLimbObject.name = limbName;
newLimbObject.transform.SetParent(vesselControl.vessel.transform);
var newLimb = newLimbObject.AddComponent(typeof(LimbController)) as LimbController;
newLimb.CustomAwake(memoryBridge, limbName, vesselControl);
limbs.Add(newLimb);
// Debug.Log("Add limb " + limbName);
}
}
}
private bool RecycleFirstStage(out Thread recycle_main_thread)
{
recycle_main_thread = new Thread(() =>
{
LandingAdjustBurnStatus landingAdjustBurnStatusMain = LandingAdjustBurnStatus.UNAVAILABEL;
bool landingAdjustBurnMain = true;
VesselControl.Recycle(
vessel_name: "MAIN",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel_main,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.TOP,
tar_pos: new Vector3d(sc.Vessels.Where(v => v.Name == "landing_ship").First().Position(body.ReferenceFrame)),
tar_altitude: LANDING_FIRST_STAGE_ALTITUDE,
landing_min_velocity: LANDING_MIN_VELOCITY,
heading: 0d,
landing_adjust_burn_status: ref landingAdjustBurnStatusMain,
landing_adjust_could_burn: ref landingAdjustBurnMain);
});
recycle_main_thread.Start();
return(true);
}
public void Start(
double tar_altitude,
double landing_min_velocity)
{
bool running = true;
Connection conn = new Connection(
name: "My Example Program",
address: IPAddress.Parse("127.0.0.1"),
rpcPort: 50000,
streamPort: 50001);
Service sc = conn.SpaceCenter();
Vessel vessel = sc.ActiveVessel;
Orbit orbit = vessel.Orbit;
CelestialBody body = orbit.Body;
KrpcAutoPilot.CommonData common_data = new KrpcAutoPilot.CommonData(conn, sc, body);
Thread common_data_thread = new Thread(() =>
{
while (running)
{
if (!common_data.Update())
{
break;
}
Thread.Sleep(100);
}
common_data.Dispose();
});
common_data_thread.Start();
KrpcAutoPilot.Control control = new KrpcAutoPilot.Control("1", common_data, conn, sc, vessel);
Thread recycle_thread = new Thread(() =>
{
LandingAdjustBurnStatus landingAdjustBurnStatusMain = LandingAdjustBurnStatus.UNAVAILABEL;
bool landingAdjustBurnMain = true;
VesselControl.Recycle(
vessel_name: "MAIN",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.SYMMETRICAL,
tar_pos: new Vector3d(body.PositionAtAltitude(
KrpcAutoPilot.Constants.Position.KERBAL_CENTER_LAUNCH_PAD.Lat,
KrpcAutoPilot.Constants.Position.KERBAL_CENTER_LAUNCH_PAD.Lng,
tar_altitude, body.ReferenceFrame)),
tar_altitude: tar_altitude,
landing_min_velocity: landing_min_velocity,
heading: 0d,
landing_adjust_burn_status: ref landingAdjustBurnStatusMain,
landing_adjust_could_burn: ref landingAdjustBurnMain);
});
recycle_thread.Start();
recycle_thread.Join();
running = false;
common_data_thread.Join();
conn.Dispose();
}
//public AnimationCurve myCurve;
public void CustomAwake(MemoryBridge memoryBridge)
{
this.memoryBridge = memoryBridge;
vesselControl = memoryBridge.vesselControl;
IRmanager = gameObject.GetComponent <IR_Manager>();
//convert IR parts on this vessel to robotic servos and create limbcontroller/limbs
IRmanager.CustomAwake(memoryBridge, memoryBridge.vesselControl, ref limbs);
steeringPID = new PidController(1, 0, .3f, .3, -.3f);
steeringPID.SetPoint = 0;
Debug.Log("IR Manager Enabled, Limb Count : " + limbs.Count);
if (limbs.Count == 6)
{
Debug.Log("robot is a hexapod");
groupLeft = new HexapodLimbGroup();
groupLeft.limbs = new List <LimbController>();
groupRight = new HexapodLimbGroup();
groupRight.limbs = new List <LimbController>();
group0 = new HexapodLimbGroup();
group0.limbs = new List <LimbController>();
group1 = new HexapodLimbGroup();
group1.limbs = new List <LimbController>();
foreach (var limb in limbs)
{
limb.roboticController = this;
var offset = memoryBridge.vesselControl.vessel.transform.InverseTransformPoint(limb.transform.position);
Debug.Log(limb.name);
var group = groupRight;
if (offset.x < 0)
{
Debug.Log("left leg found");
group = groupLeft;
}
group.limbs.Add(limb);
if (limb.name.Contains("1"))
{
Debug.Log("limb one found");
group.limb0 = limb;
}
if (limb.name.Contains("2"))
{
Debug.Log("limb two found");
group.limb1 = limb;
}
if (limb.name.Contains("3"))
{
Debug.Log("limb three found");
group.limb2 = limb;
}
if (offset.x < 0)
{
groupLeft = group;
}
else
{
groupRight = group;
}
}
foreach (var item in groupRight.limbs)
{
Debug.Log(item.name);
}
group0.limbs.Add(groupLeft.limb0);
group0.limbs.Add(groupLeft.limb2);
group0.limbs.Add(groupRight.limb1);
group1.limbs.Add(groupRight.limb0);
group1.limbs.Add(groupRight.limb2);
group1.limbs.Add(groupLeft.limb1);
foreach (var limb in groupLeft.limbs)
{
Debug.Log("Group Left Limb : " + limb.name);
}
foreach (var limb in groupRight.limbs)
{
Debug.Log("Group Right Limb : " + limb.name);
}
}
}
private bool RecycleBoosters(
out Thread recycle_north_thread,
out Thread recycle_south_thread)
{
LandingAdjustBurnStatus landingAdjustBurnStatusNorth = LandingAdjustBurnStatus.UNAVAILABEL;
LandingAdjustBurnStatus landingAdjustBurnStatusSouth = LandingAdjustBurnStatus.UNAVAILABEL;
bool landingAdjustBurn = false;
recycle_north_thread = new Thread(() => VesselControl.Recycle(
vessel_name: "NORTH",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel_north,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.TOP,
tar_pos: new Vector3d(body.PositionAtAltitude(
KrpcAutoPilot.Constants.Position.VAB_TOP_EAST.Lat,
KrpcAutoPilot.Constants.Position.VAB_TOP_EAST.Lng,
LANDING_BOOSTERS_ALTITUDE, body.ReferenceFrame)),
tar_altitude: LANDING_BOOSTERS_ALTITUDE,
landing_min_velocity: LANDING_MIN_VELOCITY,
heading: 0d,
landing_adjust_burn_status: ref landingAdjustBurnStatusNorth,
landing_adjust_could_burn: ref landingAdjustBurn));
recycle_south_thread = new Thread(() => VesselControl.Recycle(
vessel_name: "SOUTH",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel_south,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.TOP,
tar_pos: new Vector3d(body.PositionAtAltitude(
KrpcAutoPilot.Constants.Position.VAB_TOP_WEST.Lat,
KrpcAutoPilot.Constants.Position.VAB_TOP_WEST.Lng,
LANDING_BOOSTERS_ALTITUDE, body.ReferenceFrame)),
tar_altitude: LANDING_BOOSTERS_ALTITUDE,
landing_min_velocity: LANDING_MIN_VELOCITY,
heading: Math.PI,
landing_adjust_burn_status: ref landingAdjustBurnStatusSouth,
landing_adjust_could_burn: ref landingAdjustBurn));
recycle_north_thread.Start();
recycle_south_thread.Start();
new Thread(o =>
{
while (true)
{
Thread.Sleep(100);
if (landingAdjustBurnStatusNorth == LandingAdjustBurnStatus.ABANDON ||
landingAdjustBurnStatusSouth == LandingAdjustBurnStatus.ABANDON)
{
return;
}
if (landingAdjustBurnStatusNorth == LandingAdjustBurnStatus.WAITING &&
landingAdjustBurnStatusSouth == LandingAdjustBurnStatus.WAITING)
{
break;
}
}
landingAdjustBurn = true;
}).Start();
return(true);
}
