public bool Perform()
{
switch (this.State)
{
case 0:
//Next Waypoint
if (Waypoints.Count == 0)
{
return(true);
}
CurrentWaypoint = Waypoints.Dequeue();
if (Align)
{
this.State = 1;
}
else
{
this.State = 2;
}
break;
case 1:
Drone.Log("Rotating");
if (Drone.ManeuverService.AlignBlockTo(CurrentWaypoint, ReferenceBlock))
{
this.State = 2;
}
break;
case 2:
Drone.Log("Translating");
if (Drone.FlyTo(CurrentWaypoint, ReferenceBlock, Align, SpeedLimit))
{
this.State = 3;
}
break;
case 3:
Drone.AllStop();
this.State = 0;
break;
}
return(false);
}
public bool Mine()
{
switch (this.State)
{
//Mining Tunnel
case 0:
Drone.ManeuverService.AlignBlockTo(EndPoint, Drone.Remote);
if (Drone.FlyTo(EndPoint, Drone.Remote, false, 0.3))
{
State = 1;
}
else if (Drone.CurrentCargo() > MyFixedPoint.MultiplySafe(Drone.MaxCargo, 0.9f))
{
Drone.AllStop();
State = 2;
}
break;
//Tunnel complete
case 1:
Drone.Program.IGC.SendUnicastMessage(ParentAddress, "tunnel_complete", TunnelIndex);
State = 3;
break;
//Unable to continue
case 2:
State = 3;
break;
//Backing out
case 3:
//Calculate backout point
Vector3D BackOutPoint = (EndPoint - StartingPoint) * 2;
if (Drone.FlyTo(StartingPoint, Drone.DockingConnector, false, 1))
{
return(true);
}
break;
}
return(false);
}
public bool Perform()
{
switch (State)
{
case "Initial":
State = "Requesting Clearance";
break;
case "Requesting Clearance":
SendRequest();
State = "Waiting for Clearance";
break;
case "Waiting for Clearance":
Drone.Log("Waiting for clearance");
break;
case "Approaching Dock":
if (Move == null)
{
Move = new Move(Drone, new Queue <Vector3D>(new[] { ApproachPath[0] }), Drone.Remote, true);
}
if (Move.Perform())
{
Move = null;
State = "Docking";
}
break;
case "Docking":
DockingPort.Enabled = true;
Vector3D nearDock = ApproachPath[1] + Vector3D.Normalize(ApproachPath[0] - ApproachPath[1]) * 2.5;
if (Move == null)
{
Move = new Move(Drone, new Queue <Vector3D>(new[] { nearDock }), DockingPort, true);
}
if (Move.Perform())
{
Move = null;
Drone.AllStop();
State = "Final Approach";
}
break;
case "Final Approach":
if (Move == null)
{
Move = new Move(Drone, new Queue <Vector3D>(new[] { ApproachPath[1] }), DockingPort, true, 0.25);
}
if (Move.Perform() || DockingPort.Status == MyShipConnectorStatus.Connected)
{
Move = null;
Drone.AllStop();
State = "Connecting";
}
DockingPort.Connect();
break;
case "Connecting":
if (DockingPort.Status == MyShipConnectorStatus.Connected)
{
Drone.AllStop();
State = "Final";
}
DockingPort.Connect();
break;
case "Final":
return(true);
}
return(false);
}
