/// <summary>Creates a new Autopilot</summary>
/// <param name="ini"></param>
/// <param name="wheels"></param>
/// <param name="cmd"></param>
/// <param name="remote"></param>
/// <param name="logger"></param>
/// <param name="manager"></param>
public Autopilot(MyIni ini, WheelsController wheels, CommandLine cmd, IMyRemoteControl remote, Action <string> logger, ISaveManager manager)
{
this.activated = ini.Get("auto-pilot", "activated").ToBoolean();
this.logger = logger;
Process p = manager.Spawn(this.handle, "ap-handle");
this.Network = new WPNetwork(remote, logger, p);
this.remote = remote;
this.transformer = new CoordinatesTransformer(remote, p);
this.wheels = wheels;
cmd.RegisterCommand(new Command("ap-move", Command.Wrap(this.move), "Move forward", minArgs: 1, maxArgs: 2));
cmd.RegisterCommand(new Command("ap-goto", Command.Wrap(this.GoTo), "Go to the waypoint", nArgs: 1));
cmd.RegisterCommand(new Command("ap-switch", Command.Wrap(this.Switch), "Switches the autopilot on/off", nArgs: 1));
cmd.RegisterCommand(new Command("ap-save", Command.Wrap(this.Save), "Save the current position", nArgs: 1));
manager.AddOnSave(this.save);
}
/// <summary>Translates the list of waypoint names from the ini string to a list of actual <see cref="APWaypoint"/></summary>
/// <param name="network">Network that contains all the waypoints</param>
/// <param name="logger">Optional logger</param>
public void Update(WPNetwork network, Action <string> logger)
{
if (this.waypointsNames != null)
{
int notFound = 0;
foreach (string wpName in this.waypointsNames)
{
APWaypoint wp = network.GetWaypoint(wpName);
if (wp == null)
{
++notFound;
}
else
{
this.LinkedWps.Add(wp);
}
}
if (notFound != 0)
{
logger?.Invoke($"Waypoint '{this.Name}' links to {notFound} unknown waypoints");
}
}
}