void Start()
{
gridSystem = GridTerminalSystem;
gridId = Me.CubeGrid.EntityId;
if (string.IsNullOrWhiteSpace(turretGroup))
{
turrets = GetBlocks <IMyLargeTurretBase>(useSubgrids);
}
else
{
turrets = GetBlocks <IMyLargeTurretBase>(turretGroup, useSubgrids);
}
wcTurrets = new WcPbApi();
if (string.IsNullOrWhiteSpace(rcName))
{
rc = GetBlock <IMyRemoteControl>();
}
else
{
rc = GetBlock <IMyRemoteControl>(rcName, useSubgrids);
}
if (rc == null)
{
throw new Exception("Remote control block not found.");
}
origin = rc.GetPosition();
if (receiveHelpMsgs)
{
helpListener = IGC.RegisterBroadcastListener("AttackDrone_" + commsId);
helpListener.SetMessageCallback("");
}
startRuntime = -1;
}
public void AddListener(string channel)
{
IMyBroadcastListener listener = this.p.IGC.RegisterBroadcastListener(channel);
listener.SetMessageCallback(channel);
this.listeners[channel] = listener;
}
string initDockingInfo()
{
string s = "";
_BASE_IGCChannel = IGC.RegisterBroadcastListener("BASE?");
_BASE_IGCChannel.SetMessageCallback(_BASE_IGCChannel.Tag);
_CON_IGCChannel = IGC.RegisterBroadcastListener("CON?");
_CON_IGCChannel.SetMessageCallback(_CON_IGCChannel.Tag);
_COND_IGCChannel = IGC.RegisterBroadcastListener("COND?");
_COND_IGCChannel.SetMessageCallback(_COND_IGCChannel.Tag);
dockingInfo.Clear();
dockingAlllights = GetBlocksContains <IMyLightingBlock>(sBaseConnector);
//GetTargetBlocks<IMyLightingBlock>();
if (localBaseConnectors.Count < 1)
{
s += connectorsInit();
}
Echo(localBaseConnectors.Count + " Base Connectors");
for (int i = 0; i < localBaseConnectors.Count; i++)
{
// IMyShipConnector connector = localBaseConnectors[i] as IMyShipConnector;
addDockingInfo(localBaseConnectors[i]);
}
// load from text panel...
s += "DI:" + dockingInfo.Count;
// Echo("EO:iDI()");
return(s);
}
public Program()
{
Program.MyInstance = this;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
SetRadarController();
SetShipController();
SayMyName(MY_PREFIX);
GetMeTheTurrets();
int i = 0;
try {
string[] data = Storage.Split(';');
AEGISUseRadarData = bool.Parse(data[i++]);
AEGISIsOnline = bool.Parse(data[i++]);
AEGISTargetsNeutrals = bool.Parse(data[i++]);
}
catch (Exception e) {
e.ToString();
int f = 0;
if (++f >= i)
{
AEGISUseRadarData = false;
}
if (++f >= i)
{
AEGISIsOnline = true;
}
if (++f >= i)
{
AEGISTargetsNeutrals = false;
}
}
AEGISListener = IGC.RegisterBroadcastListener(MY_PREFIX);
AEGISListener.SetMessageCallback();
}
public Program()
{
//gets all programmable blocks, where the block's name starts with "Dock"
int hangarCount = GetAllHangars();
Echo(String.Format("Found {0} Hangar Controllers", hangarCount));
antenna = GridTerminalSystem.GetBlockWithName("Dock Request Antenna") as IMyRadioAntenna; //TODO: Remove specific name requrement
if (antenna != null)
{
antenna.AttachedProgrammableBlock = Me.EntityId;
listener = IGC.RegisterBroadcastListener(MESSAGE_TAG);
listener.SetMessageCallback("REQUEST_WAITING");
}
logger = GridTerminalSystem.GetBlockWithName("LCD Logger") as IMyTextPanel;
Echo(string.Format("ANTENNA FOUND: {0}", antenna != null));
Echo(string.Format("LOGGER FOUND: {0}", logger != null));
if (logger == null)
{
logger = Me.GetSurface(0);
}
logger.ContentType = ContentType.TEXT_AND_IMAGE;
logger.FontSize = FONT_SIZE;
string loggerText = logger.GetText();
if (!loggerText.Contains("DOCKING LOG"))
{
Echo("LOGGER TEXT DOES NOT INCLUDE HEADER. Only Found:\n" + loggerText);
logger.WriteText(LOGGER_HEADER);
}
}
public Program()
{
IMyTerminalBlock b = GridTerminalSystem.GetBlockWithName(ScreenName);
Screen = (b as IMyTextSurface) ?? (b as IMyTextSurfaceProvider)?.GetSurface(0);
if (Screen == null)
{
Screen = Me.GetSurface(0);
}
Screen.ContentType = VRage.Game.GUI.TextPanel.ContentType.TEXT_AND_IMAGE;
Listener = IGC.RegisterBroadcastListener(BroadcastTag);
Listener.SetMessageCallback("incoming_message");
if (Listener.IsActive)
{
Echo("Listener registered. Callback set.");
}
else
{
Echo("Listener not registered!");
}
if (!long.TryParse(Storage, out DroneID))
{
DroneID = 0;
}
}
public Program()
{
drill = GridTerminalSystem.GetBlockWithName(drill_name) as IMyShipDrill;
piston = GridTerminalSystem.GetBlockWithName(piston_name) as IMyPistonBase;
broadcast_listener = IGC.RegisterBroadcastListener(broadcast_tag);
broadcast_listener.SetMessageCallback(broadcast_tag);
}
void BaseInitInfo()
{
baseList.Clear();
// load from text panel
BaseDeserialize();
_BASEIGCChannel = IGC.RegisterBroadcastListener("BASE");
_BASEIGCChannel.SetMessageCallback(_BASEIGCChannel.Tag);
}
public Program()
{
// подписываемся на канал
listener = IGC.RegisterBroadcastListener(TAG);
// указываем какой будет приходить argument в метод Main()
listener.SetMessageCallback(TAG);
Echo("Status: init ok");
}
// States
// - OPEN
// - OPENING
// - CLOSED
// - CLOSING
// - UNKNOWN -> stopped in non-closed/open state, or moving to unknown state
// - null -> default, requires init
// Inputs
// - CLOSE
// - OPEN
// - OBSERVE -> default, observes states, locks when available and change state accordingly
// - RESTART -> reruns init
public Program()
{
var config = new Config(Me.CustomData);
var blashDoorChannel = config.Get("blastDoorChannel", "BlastDoor");
broadcastListener = IGC.RegisterBroadcastListener(blashDoorChannel);
broadcastListener.SetMessageCallback("radioCommand");
}
public AntennaHandler(Program _program)
{
parent_program = _program;
_myBroadcastListener = parent_program.IGC.RegisterBroadcastListener(_recallRequestTag);
_myUnicastListener = parent_program.IGC.UnicastListener;
//_myUnicastListener = parent_program.IGC.RegisterBroadcastListener(_responseTag);
_myUnicastListener.SetMessageCallback("UNICAST");
_myBroadcastListener.SetMessageCallback(_recallRequestTag);
}
public Program()
{
settings = new Settings(Me);
settings.Load();
storage = new StorageData(this);
storage.Load();
transmitTag += settings.followerSystemId.Value;
transmitCommandTag += settings.followerSystemId.Value;
// Prioritize the given cockpit name
rc = GetBlock <IMyShipController>(settings.cockpitName.Value, true);
if (rc == null) // Second priority cockpit
{
rc = GetBlock <IMyCockpit>();
}
if (rc == null) // Third priority remote control
{
rc = GetBlock <IMyRemoteControl>();
}
if (rc == null) // No cockpits found.
{
throw new Exception("No cockpit/remote control found. Set the cockpitName field in settings.");
}
thrust = new ThrusterControl(rc, settings.tickSpeed.Value, GetBlocks <IMyThrust>());
gyros = new GyroControl(rc, settings.tickSpeed.Value, GetBlocks <IMyGyro>());
if (settings.enableCollisionAvoidence.Value)
{
cameras = GetBlocks <IMyCameraBlock>();
}
if (settings.tickSpeed.Value == UpdateFrequency.Update10)
{
echoFrequency = 10;
}
else if (settings.tickSpeed.Value == UpdateFrequency.Update100)
{
echoFrequency = 1;
}
leaderListener = IGC.RegisterBroadcastListener(transmitTag);
leaderListener.SetMessageCallback("");
commandListener = IGC.RegisterBroadcastListener(transmitCommandTag);
commandListener.SetMessageCallback("");
Echo("Ready.");
if (!storage.IsDisabled)
{
Runtime.UpdateFrequency = settings.tickSpeed.Value;
}
}
protected void AddListener(string subtag, bool withCallback = false)
{
string realTag = ToRealTag(subtag);
IMyBroadcastListener l = p.IGC.RegisterBroadcastListener(realTag);
if (withCallback)
{
l.SetMessageCallback(realTag);
}
listGroupListener.Add(l);
}
public Program()
{
// let them know we are alive
Echo("Creator");
// register a broadcast channel for our tag
_myBroadcastListener = IGC.RegisterBroadcastListener(_broadCastTag);
// Ask to be called back --to Main()-- when a message is received
_myBroadcastListener.SetMessageCallback(_broadCastTag); // the callback agrument does NOT need to be the same as the tag
}
//grid map
public Program()
{
//load program state
if (alreadyRun & _ini.TryParse(Storage))
{
Vector3D.TryParse(_ini.Get("Basis", "A").ToString(), out _basisVecA);
Vector3D.TryParse(_ini.Get("Basis", "B").ToString(), out _basisVecB);
Vector3D.TryParse(_ini.Get("Basis", "Up").ToString(), out _basisVecUp);
Vector3D.TryParse(_ini.Get("Basis", "Origin").ToString(), out _origin);
}
//load config
else
{
MyIniParseResult result;
if (!_ini.TryParse(Me.CustomData, out result))
{
throw new Exception(result.ToString());
}
string nameA = _ini.Get("Basis", "A").ToString("A");
IMyTerminalBlock blockA = GridTerminalSystem.GetBlockWithName(nameA);
Vector3D pointA = blockA.GetPosition();
string nameB = _ini.Get("Basis", "B").ToString("B");
IMyTerminalBlock blockB = GridTerminalSystem.GetBlockWithName(nameB);
Vector3D pointB = blockB.GetPosition();
string nameUp = _ini.Get("Basis", "Up").ToString("Up");
IMyTerminalBlock blockUp = GridTerminalSystem.GetBlockWithName(nameUp);
Vector3D pointUp = blockUp.GetPosition();
string nameOrigin = _ini.Get("Basis", "Origin").ToString("Origin");
IMyTerminalBlock blockOrigin = GridTerminalSystem.GetBlockWithName(nameOrigin);
_origin = blockOrigin.GetPosition();
_basisVecA = Vector3D.Normalize(pointA - _origin);
_basisVecB = Vector3D.Normalize(pointB - _origin);
_basisVecUp = Vector3D.Normalize(pointUp - _origin);
_basisVecA = Me.CubeGrid.WorldMatrix.Forward;
_basisVecB = Me.CubeGrid.WorldMatrix.Right;
_basisVecUp = Me.CubeGrid.WorldMatrix.Up;
alreadyRun = true;
}
//IGC
_turtleListenerInit = IGC.RegisterBroadcastListener(_turtleInit);
_turtleListenerInit.SetMessageCallback(_turtleInit);
Runtime.UpdateFrequency |= UpdateFrequency.Update100;
}
public Spaceship(IMyGridTerminalSystem system, IMyIntergridCommunicationSystem igc)
{
this.system = system;
this.igc = igc;
cpu = FindRunningPB(system);
control = FindBlockOfType <IMyRemoteControl>(system, this, Settings.TAG);
connector = FindBlockOfType <IMyShipConnector>(system, this, Settings.TAG);
debug = FindBlockOfType <IMyTextPanel>(system, this, Settings.TAG);
if (debug == null)
{
IMyCockpit cockpit = FindBlockOfType <IMyCockpit>(system, this, Settings.TAG);
if (cockpit.SurfaceCount > 0)
{
debug = cockpit.GetSurface(0);
}
}
debug.Font = "Monospace";
debug.ContentType = ContentType.TEXT_AND_IMAGE;
/*
* screen = cockpit.GetSurface(0);
* screen.ContentType = ContentType.SCRIPT;
* MySpriteDrawFrame frame = screen.DrawFrame();
*
*
* frame.Add(new MySprite(SpriteType.TEXTURE, "SquareSimple", new Vector2(0, 0), new Vector2(512, 512), Color.Black));
* frame.Add(MySprite.CreateText("Ftiaxe Me!!!", "DEBUG", Color.White));
* frame.Dispose();
*/
listener = igc.RegisterBroadcastListener(Settings.COMM_CHANNEL);
listener = igc.RegisterBroadcastListener(Settings.COMM_CHANNEL);
listener.SetMessageCallback(Settings.COMM_CHANNEL);
thrusters = new ThrustersManager(this, control, system);
autopilot = new Autopilot(this, control, FindBlockOfType <IMyGyro>(system, this));
cas = new CollisionAvoidanceSystem(this);
fd = new FlightDirector(this);
if (connector.Status == MyShipConnectorStatus.Connected)
{
flags = SpaceshipFlags.Dock;
}
else
{
flags = SpaceshipFlags.Idle;
}
}
public Program()
{
// Echo some information about 'me' when I'm compiled
Echo("Creator.");
Echo("Me=" + Me.EntityId.ToString());
Echo(Me.CubeGrid.CustomName);
// register a broadcast listener
_bListener = IGC.RegisterBroadcastListener(BroadcastTag); // What it listens for
_bListener.SetMessageCallback(BroadcastTag); // What it will run the PB with once it has a message
// save the unicast listener
_uListener = IGC.UnicastListener;
_uListener.SetMessageCallback(UnicastTag); // set PB callback argument to be used
}
public void setUp()
{
control = GridTerminalSystem.GetBlockWithName("Targetting Ray/Remote") as IMyShipController;
XROT = GridTerminalSystem.GetBlockWithName("Targetting Ray/Yaw Rotor") as IMyMotorStator;
YROT = GridTerminalSystem.GetBlockWithName("Targetting Ray/Pitch Rotor") as IMyMotorStator;
camera = GridTerminalSystem.GetBlockWithName("Targetting Ray/Camera") as IMyCameraBlock;
soundBlock = GridTerminalSystem.GetBlockWithName("Targetting Ray/Sound Block") as IMySoundBlock;
if (camera != null && camera.EnableRaycast == false)
{
camera.EnableRaycast = true;
}
misCMDListener = IGC.RegisterBroadcastListener(misCMDTag);
misCMDListener.SetMessageCallback();
}
void NavInitIGC()
{
_AddNavListener = IGC.RegisterBroadcastListener(WICOB_NAVADDTARGET); // What it listens for
_AddNavListener.SetMessageCallback(WICOB_NAVADDTARGET); // What it will run the PB with once it has a message
_StartNavListener = IGC.RegisterBroadcastListener(WICOB_NAVSTART); // What it listens for
_StartNavListener.SetMessageCallback(WICOB_NAVSTART); // What it will run the PB with once it has a message
_ResetNavListener = IGC.RegisterBroadcastListener(WICOB_NAVRESET); // What it listens for
_ResetNavListener.SetMessageCallback(WICOB_NAVRESET); // What it will run the PB with once it has a message
_LaunchNavListener = IGC.RegisterBroadcastListener(WICOB_NAVLAUNCH); // What it listens for
_LaunchNavListener.SetMessageCallback(WICOB_NAVLAUNCH); // What it will run the PB with once it has a message
_OrbitalNavListener = IGC.RegisterBroadcastListener(WICOB_NAVORBITALLAUNCH); // What it listens for
_OrbitalNavListener.SetMessageCallback(WICOB_NAVORBITALLAUNCH); // What it will run the PB with once it has a message
}
public Program()
{
// Prioritize the given cockpit name
rc = GetBlock <IMyShipController>(cockpitName, true);
if (rc == null) // Second priority cockpit
{
rc = GetBlock <IMyCockpit>();
}
if (rc == null) // Third priority remote control
{
rc = GetBlock <IMyRemoteControl>();
}
if (rc == null) // No cockpits found.
{
throw new Exception("No cockpit/remote control found. Set the cockpitName field in settings.");
}
wheels = new WheelControl(rc, tickSpeed, GetBlocks <IMyMotorSuspension>());
leaderListener = IGC.RegisterBroadcastListener(transmitTag);
leaderListener.SetMessageCallback("");
commandListener = IGC.RegisterBroadcastListener(transmitCommandTag);
commandListener.SetMessageCallback("");
configurations["default"] = defaultOffset;
offset = defaultOffset;
LoadStorage();
if (tickSpeed == UpdateFrequency.Update10)
{
echoFrequency = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
echoFrequency = 1;
}
Echo("Ready.");
}
public void Main(string argument, UpdateType updateSource)
{
if ((updateSource & UpdateType.IGC) > 0)
{
if (universalListener != null && universalListener.HasPendingMessage)
{
MyIGCMessage message = universalListener.AcceptMessage();
List <IMyTextPanel> panels = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(panels);
if (panels.Count > 0)
{
panels[0].WriteText(message.Tag + " " + message.Source + " " + message.Data + "\n", false);
}
}
}
else
{
universalListener = IGC.RegisterBroadcastListener(argument);
universalListener.SetMessageCallback();
Echo("CURRENT LISTENING CODE: " + argument);
}
}
public Program()
{
//hardware
_remote = GridTerminalSystem.GetBlockWithName("Remote [t]") as IMyRemoteControl;
_gyro = GridTerminalSystem.GetBlockWithName("Gyroscope [t]") as IMyGyro;
_connector = GridTerminalSystem.GetBlockWithName("Connector [t]") as IMyShipConnector;
_messageBuilder.AppendLine("Hardware located.");
//IGC
IGC.UnicastListener.SetMessageCallback();
_turtleListenerInit = IGC.RegisterBroadcastListener(_turtleInit);
_turtleListenerInit.SetMessageCallback(_turtleInit);
var op = GridTerminalSystem.GetBlockWithName("Operator [t]") as IMyProgrammableBlock;
_turtleOperatorID = op.GetId();
_messageBuilder.AppendLine("IGC loaded.");
// load program state
Load();
// custom data reset - log info
Me.CustomData = "\t\tPROGRAM LOG:\n\n" + _messageBuilder;
Runtime.UpdateFrequency |= UpdateFrequency.Once;
_stateMachine = Idle();
}
private void UpdateSettings()
{
var parser = new MyIni();
if (!parser.TryParse(Me.CustomData))
{
throw new InvalidOperationException("Couldn't parse CustomData as INI!");
}
this.tag = parser.Get(SETTINGS_SECTION, "tag").ToString(MissileCommons.DEFAULT_TAG);
this.statusTag = parser.Get(SETTINGS_SECTION, "statusTag").ToString(MissileCommons.STATUS_TAG);
this.directing = parser.Get(SETTINGS_SECTION, "directing").ToBoolean(true);
if (this.directing)
{
this.directorTurret = GridTerminalSystem.GetBlockOfType <IMyLargeTurretBase>(t => MyIni.HasSection(t.CustomData, DIRECTOR_TURRET_SECTION));
if (this.directorTurret != null)
{
LogLine($"Director mode on, found director turret {directorTurret.CustomName}");
}
else
{
LogLine($"No director turret was found. If you have one, add the [{DIRECTOR_TURRET_SECTION}] line to its Custom Data. Disabling director mode.");
this.directing = false;
}
}
if (missileMsgListener != null)
{
missileMsgListener.DisableMessageCallback();
}
missileMsgListener = IGC.RegisterBroadcastListener(this.tag);
missileMsgListener.SetMessageCallback();
if (missileStatusListener != null)
{
missileStatusListener.DisableMessageCallback();
}
missileStatusListener = IGC.RegisterBroadcastListener(MissileCommons.STATUS_TAG);
missileStatusListener.SetMessageCallback();
}
void Initalize()
{
var controls = new List <IMyRemoteControl>();
GridTerminalSystem.GetBlocksOfType(controls);
mainControl = controls.Find(control => {
try { return(JSON.Parse(control.CustomData).jsonObject["type"].jsonString == "mainControl"); }
catch { return(false); }
});
name = $"Greedle ID {new Random().Next()}";
target = Vector3.Zero;
directiveListener = IGC.RegisterBroadcastListener("greedle_directive");
directiveListener.SetMessageCallback();
var antennas = new List <IMyRadioAntenna>();
GridTerminalSystem.GetBlocksOfType(antennas);
foreach (var antenna in antennas)
{
antenna.HudText = name;
}
Me.GetSurface(0).ContentType = ContentType.TEXT_AND_IMAGE;
}
void Start()
{
gridSystem = GridTerminalSystem;
gridId = Me.CubeGrid.EntityId;
turrets = GetBlocks <IMyLargeTurretBase>(turretGroup, useSubgrids);
wcTurrets = new WcPbApi();
try
{
if (!wcTurrets.Activate(Me))
{
wcTurrets = null;
}
}
catch
{
wcTurrets = null;
}
if (string.IsNullOrWhiteSpace(rcName))
{
rc = GetBlock <IMyRemoteControl>();
}
else
{
rc = GetBlock <IMyRemoteControl>(rcName, useSubgrids);
}
if (rc == null)
{
throw new Exception("Remote control block not found.");
}
gyros = new GyroControl(rc);
origin = rc.GetPosition();
this.guns = new List <IMyUserControllableGun>();
List <IMyUserControllableGun> guns = GetBlocks <IMyUserControllableGun>(gunsGroup, useSubgrids);
foreach (IMyUserControllableGun g in guns)
{
if (!(g is IMyLargeTurretBase))
{
g.SetValueBool("Shoot", false);
if (rocketMode != RocketMode.None)
{
IMySmallMissileLauncher m = g as IMySmallMissileLauncher;
if (m != null)
{
rockets.Add(m);
continue;
}
}
this.guns.Add(g);
}
}
if (receiveHelpMsgs)
{
helpListener = IGC.RegisterBroadcastListener("AttackDrone_" + commsId);
helpListener.SetMessageCallback("");
}
thrust = new ThrusterControl(rc, GetBlocks <IMyThrust>(thrustGroup));
maxAngle *= Math.PI / 180;
startRuntime = -1;
}
void doModeDocking()
{
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":DOCKING!", textPanelReport);
// StatusLog(moduleName + ":Docking: current_state=" + current_state, textPanelReport);
// StatusLog(moduleName + ":Docking: current_state=" + current_state, textLongStatus, true);
// bWantFast = true;
Echo("DOCKING: state=" + current_state);
bWantSlow = true;
IMySensorBlock sb;
if (dockingConnector == null)
{
current_state = 0;
}
// sInitResults += "DOCKING: state=" + current_state+"\n";
if (current_state == 0)
{
// sInitResults = "DOCKING: state=" + current_state+"\n";
if (AnyConnectorIsConnected())
{
setMode(MODE_DOCKED);
return;
}
// these will replace any existing channel
_CONDIGCChannel = IGC.RegisterBroadcastListener("COND"); // What it listens for
_CONDIGCChannel.SetMessageCallback("COND"); // What it will run the PB with once it has a message
_ACONDIGCChannel = IGC.RegisterBroadcastListener("ACOND"); // What it listens for
_ACONDIGCChannel.SetMessageCallback("ACOND"); // What it will run the PB with once it has a message
_CONAIGCChannel = IGC.RegisterBroadcastListener("CONA"); // What it listens for
_CONAIGCChannel.SetMessageCallback("CONA"); // What it will run the PB with once it has a message
doSubModuleTimerTriggers("[DOCKING]");
dockingConnector = getDockingConnector();
if (dockingConnector == null)// || getAvailableRemoteConnector(out targetConnector))
{
Echo("No local connector for docking");
StatusLog(moduleName + ":No local Docking Connector Available!", textLongStatus, true);
// we could check for merge blocks.. or landing gears..
sStartupError += "\nNo local Docking Connector Available!";
setMode(MODE_ATTENTION);
bWantFast = false;
return;
}
else
{
ResetMotion();
turnDrillsOff();
thrustersInit(dockingConnector, ref thrustDockForwardList, ref thrustDockBackwardList,
ref thrustDockDownList, ref thrustDockUpList,
ref thrustDockLeftList, ref thrustDockRightList);
current_state = 100;
}
lTargetBase = 0;// iTargetBase = -1;
}
Vector3D vPos = dockingConnector.GetPosition();
if (!AnyConnectorIsConnected() && AnyConnectorIsLocked())
{
ConnectAnyConnectors();
ResetMotion();
setMode(MODE_DOCKED);
powerDownThrusters(thrustAllList, thrustAll, true);
return;
}
if (current_state == 100)
{
// TODO: allow for relay ships that are NOT bases..
// TODO: if memory docking, don't need to adjust antenna
// TODO: if stealth mode, don't mess with antenna
float range = RangeToNearestBase() + 100f + (float)velocityShip * 5f;
antennaMaxPower(false, range);
if (sensorsList.Count > 0)
{
sb = sensorsList[0];
// setSensorShip(sb, 1, 1, 1, 1, 50, 1);
}
current_state = 110;
}
else if (current_state == 110)
{ // wait for slow
if (velocityShip < 10)
{
if (lTargetBase <= 0)
{
lTargetBase = BaseFindBest();
}
// sInitResults += "110: Base=" + iTargetBase;
dtDockingActionStart = DateTime.Now;
if (lTargetBase > 0)
{
calculateGridBBPosition(dockingConnector);
Vector3D[] points = new Vector3D[4];
_obbf.GetFaceCorners(5, points); // 5 = front
// front output order is BL, BR, TL, TR
double width = (points[0] - points[1]).Length();
double height = (points[0] - points[2]).Length();
_obbf.GetFaceCorners(0, points);
// face 0=right output order is BL, TL, BR, TR ???
double length = (points[0] - points[2]).Length();
string sMessage = "";// = "WICO:CON?:";
string sTag = "CON?";
sMessage += lTargetBase.ToString() + ":";
//$"{height:N1},{width:N1},{length:N1}:";
sMessage += height.ToString("0.0") + "," + width.ToString("0.0") + "," + length.ToString("0.0") + ":";
// sMessage += shipDim.HeightInMeters() + "," + shipDim.WidthInMeters() + "," + shipDim.LengthInMeters() + ":";
sMessage += shipOrientationBlock.CubeGrid.CustomName + ":";
sMessage += SaveFile.EntityId.ToString() + ":";
sMessage += Vector3DToString(shipOrientationBlock.GetPosition());
antSend(sTag, sMessage); // antSend(sMessage);
// antSend("WICO:CON?:" + baseIdOf(iTargetBase).ToString() + ":" + "mini" + ":" + shipOrientationBlock.CubeGrid.CustomName + ":" + SaveFile.EntityId.ToString() + ":" + Vector3DToString(shipOrientationBlock.GetPosition()));
current_state = 120;
}
else // No available base
{
// try to get a base to respond
checkBases(true);
current_state = 130;
// setMode(MODE_ATTENTION);
}
}
else
{
ResetMotion();
}
}
else if (current_state == 120)
{ // wait for reply from base
StatusLog("Awaiting Response from Base", textPanelReport);
bWantFast = false;
DateTime dtMaxWait = dtDockingActionStart.AddSeconds(5.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
sStartupError += "\nTime out awaiting CONA";
current_state = 125;
return;
}
// if (sReceivedMessage != "")
if (_CONAIGCChannel.HasPendingMessage)
{
var igcMessage = _CONAIGCChannel.AcceptMessage();
string sMessage = (string)igcMessage.Data;
// Echo("Received Message=\n" + sMessage);
string[] aMessage = sMessage.Trim().Split(':');
Echo(aMessage.Length + ": Length");
for (int i = 0; i < aMessage.Length; i++)
{
Echo(i + ":" + aMessage[i]);
}
if (aMessage.Length > 1)
{
/*
* if (aMessage[0] != "WICO")
* {
* Echo("not wico system message");
* return;
* }
* if (aMessage.Length > 2)
* {
* if (aMessage[1] == "CONA")
* {
*/
Echo("Approach answer!");
//antSend("WICO:CONA:" + droneId +":" + SaveFile.EntityId.ToString(), +":"+Vector3DToString(vApproachPosition))
int iOffset = 0;
long id = 0;
long.TryParse(aMessage[iOffset++], out id);
if (id == SaveFile.EntityId)
{
// it's a message for us.
// sReceivedMessage = ""; // we processed it.
long.TryParse(aMessage[iOffset++], out id);
double x, y, z;
// int iOff = iOffset++;
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
Vector3D vPosition = new Vector3D(x, y, z);
vHome = vPosition;
bValidHome = true;
// StatusLog("clear", gpsPanel);
// debugGPSOutput("Home", vHome);
current_state = 150;
}
}
// TODO: need to process CONF
/*
* }
* }
*/
}
else
{ // uses timeout from above
Echo("Awaiting reply message");
}
}
else if (current_state == 125)
{ // timeout waiting for reply from base..
// move closer to the chosen base's last known position.
if (lTargetBase <= 0)
{
// TODO: remove base from list and try again. ATTENTION if no remaining bases
sStartupError += "\nNo Base in range";
setMode(MODE_ATTENTION);
return;
}
else if (RangeToNearestBase() < 3000)
{
// we think we are close enough
// force recheck
// sStartupError += "\nForce Recheck";
lTargetBase = -1;
checkBases(true);
current_state = 110;
}
else
{
// get closer
// sStartupError += "\nGet Closer";
NavGoTarget(BasePositionOf(lTargetBase), iMode, 110, 3100, "DOCK Base Proximity");
current_state = 126;
}
// doTravelMovement(BasePositionOf(lTargetBase), 3100, 110, 106);
}
else if (current_state == 126)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 130)
{
// no known bases. requested response. wait for a while to see if we get one
StatusLog("Trying to find a base", textPanelReport);
bWantFast = false;
DateTime dtMaxWait = dtDockingActionStart.AddSeconds(2.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
sStartupError += "\nTimeout finding base";
setMode(MODE_ATTENTION);
return;
}
if (BaseFindBest() >= 0)
{
current_state = 110;
}
}
else if (current_state == 150)
{ //150 Move to 'approach' location (or current location) ?request 'wait' location?
current_state = 175;
/*
* if (bValidHome)
* {
* double distancesqHome = Vector3D.DistanceSquared(vHome, shipOrientationBlock.GetPosition());
* if (distancesqHome > 25000) // max SG antenna range //TODO: get max from antenna module
* {
* current_state = 175;
* }
* else current_state = 200;
* }
* else current_state = 200;
*/
}
else if (current_state == 175)
{ // get closer to approach location
NavGoTarget(vHome, iMode, 200, 5, "DOCK Base Approach");
current_state = 176;
}
else if (current_state == 176)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 200)
{//200 Arrived at approach location
// request available docking connector
StatusLog("Requsting Docking Connector", textPanelReport);
if (velocityShip < 1)
{
calculateGridBBPosition(dockingConnector);
Vector3D[] points = new Vector3D[4];
_obbf.GetFaceCorners(5, points); // 5 = front
// front output order is BL, BR, TL, TR
double width = (points[0] - points[1]).Length();
double height = (points[0] - points[2]).Length();
_obbf.GetFaceCorners(0, points);
// face 0=right output order is BL, TL, BR, TR ???
double length = (points[0] - points[2]).Length();
string sMessage = "";// "WICO:COND?:";
string sTag = "COND?";
sMessage += lTargetBase.ToString() + ":";
sMessage += height.ToString("0.0") + "," + width.ToString("0.0") + "," + length.ToString("0.0") + ":";
// sMessage += shipDim.HeightInMeters() + "," + shipDim.WidthInMeters() + "," + shipDim.LengthInMeters() + ":";
sMessage += shipOrientationBlock.CubeGrid.CustomName + ":";
sMessage += SaveFile.EntityId.ToString() + ":";
sMessage += Vector3DToString(shipOrientationBlock.GetPosition());
antSend(sTag, sMessage);// antSend(sMessage);
// antSend("WICO:COND?:" + baseIdOf(iTargetBase) + ":" + "mini" + ":" + shipOrientationBlock.CubeGrid.CustomName + ":" + SaveFile.EntityId.ToString() + ":" + Vector3DToString(shipOrientationBlock.GetPosition()));
{
dtDockingActionStart = DateTime.Now;
current_state = 210;
}
}
else
{
ResetMotion();
}
}
else if (current_state == 210)
{ //210 wait for available connector
StatusLog("Awaiting reply with Docking Connector", textPanelReport);
bWantFast = false;
DateTime dtMaxWait = dtDockingActionStart.AddSeconds(5.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
sStartupError += "\nTime out awaiting COND";
current_state = 100;
return;
}
if (getAvailableRemoteConnector(out targetConnector))
{
current_state = 250;
}
else
{
if (_CONDIGCChannel.HasPendingMessage || _ACONDIGCChannel.HasPendingMessage)
// if (sReceivedMessage != "")
{
// sStartupError += "\nCOND received:";
string sMessage = "";
bool bAlignMessage = false;
if (_CONDIGCChannel.HasPendingMessage)
{
var igcMessage = _CONDIGCChannel.AcceptMessage();
sMessage = (string)igcMessage.Data;
}
else
{
var igcMessage = _ACONDIGCChannel.AcceptMessage();
sMessage = (string)igcMessage.Data;
bAlignMessage = true;
}
// Echo("Received Message=\n" + sReceivedMessage);
string[] aMessage = sMessage.Trim().Split(':');
Echo(aMessage.Length + ": Length");
for (int i = 0; i < aMessage.Length; i++)
{
Echo(i + ":" + aMessage[i]);
}
int iOffset = 0;
/*
* if (aMessage.Length > 1)
* {
* if (aMessage[0] != "WICO")
* {
* Echo("not wico system message");
* return;
* }
* if (aMessage.Length > 2)
* {
*/
// if (aMessage[1] == "DOCK" || aMessage[1] == "ADOCK")
// if (aMessage[1] == "COND" || aMessage[1] == "ACOND")
{
Echo("Docking answer!");
// FORMAT: antSend("WICO:DOCK:" + aMessage[3] + ":" + connector.EntityId + ":" + connector.CustomName + ":" + Vector3DToString(vPosition) + ":" + Vector3DToString(vVec));
// antSend("WICO:ADOCK:" + incomingID + ":" + connector.EntityId + ":" + connector.CustomName + ":" + Vector3DToString(vPosition) + ":" + Vector3DToString(vVec)+":" + Vector3DToString(vAlign));
long id = 0;
long.TryParse(aMessage[iOffset++], out id);
if (id == SaveFile.EntityId)
{
// it's a message for us.
// sReceivedMessage = ""; // we processed it.
long.TryParse(aMessage[iOffset++], out id);
string sName = aMessage[iOffset++];
double x, y, z;
// int iOff = 5;
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
Vector3D vPosition = new Vector3D(x, y, z);
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
Vector3D vVec = new Vector3D(x, y, z);
// if (aMessage[1] == "ACOND")
if (bAlignMessage)
{
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
vDockAlign = new Vector3D(x, y, z);
bDoDockAlign = true;
}
vDock = vPosition;
vLaunch1 = vDock + vVec * (shipDim.LengthInMeters() * 1.5);
vHome = vDock + vVec * (shipDim.LengthInMeters() * 3);
bValidDock = true;
bValidLaunch1 = true;
bValidHome = true;
StatusLog("clear", gpsPanel);
debugGPSOutput("dock", vDock);
debugGPSOutput("launch1", vLaunch1);
debugGPSOutput("Home", vHome);
current_state = 300;
}
// else sStartupError += "\nCOND, but not my boat";
}
// TODO handle CONF
/*
* }
* }
*/
}
else
{ // uses timeout from above
Echo("Awaiting reply message");
}
}
}
else if (current_state == 250)
{ //250 when available, calculate approach locations from a saved targetconnector
vDock = targetConnector.vPosition;
vLaunch1 = vDock + targetConnector.vVector * (shipDim.LengthInMeters() * 1.5);
vHome = vDock + targetConnector.vVector * (shipDim.LengthInMeters() * 3);
bValidDock = true;
bValidLaunch1 = true;
bValidHome = true;
current_state = 300;
StatusLog("clear", gpsPanel);
debugGPSOutput("dock", vDock);
debugGPSOutput("launch1", vLaunch1);
debugGPSOutput("Home", vHome);
MoveForwardSlowReset();
bWantFast = true;
}
else if (current_state == 300)
{ //300 Start: Move through locations
current_state = 310;
MoveForwardSlowReset();
// iDockingPushCount = 0;
bWantFast = true;
}
else if (current_state == 310)
{ // 310 move to home
Echo("Moving to Home");
// if(iPushCount<60) iPushCount++;
// else
NavGoTarget(vHome, iMode, 340, 3, "DOCK Approach");
// doTravelMovement(vHome, 3.0f, 350, 161);
current_state = 311;
}
else if (current_state == 311)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 340)
{ // arrived at 'home' from NAV
ResetMotion();
Echo("Waiting for ship to stop");
turnEjectorsOff();
MoveForwardSlowReset();
// iDockingPushCount = 0;
if (velocityShip < 0.1f)
{
bWantFast = true;
current_state = 350;
}
else
{
bWantMedium = true;
// bWantFast = false;
}
}
else if (current_state == 350)
{
// move connector closer to home
double distanceSQ = (vHome - ((IMyShipController)shipOrientationBlock).CenterOfMass).LengthSquared();
Echo("DistanceSQ=" + distanceSQ.ToString("0.0"));
double stoppingDistance = calculateStoppingDistance(thrustBackwardList, velocityShip, 0);
if (distanceSQ > shipDim.BlockMultiplier() * 3)
{
MoveForwardSlow(3, 5, thrustForwardList, thrustBackwardList);
bWantMedium = true;
}
else
{
ResetMotion();
doSubModuleTimerTriggers("[DOCKING:APPROACH]");
MoveForwardSlowReset();
current_state = 400;
bWantFast = true;
}
}
else if (current_state == 400)
{
// move to Launch1
Echo("Moving to Launch1");
NavGoTarget(vLaunch1, iMode, 410, 3, "DOCK Connector Entry");
current_state = 401;
}
else if (current_state == 401)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 410)
{
// move closer to Launch1
double distanceSQ = (vLaunch1 - ((IMyShipController)shipOrientationBlock).CenterOfMass).LengthSquared();
Echo("DistanceSQ=" + distanceSQ.ToString("0.0"));
double stoppingDistance = calculateStoppingDistance(thrustBackwardList, velocityShip, 0);
if (distanceSQ > shipDim.BlockMultiplier() * 3)
{
MoveForwardSlow(3, 5, thrustForwardList, thrustBackwardList);
bWantMedium = true;
}
else
{
ResetMotion();
MoveForwardSlowReset();
current_state = 430;
bWantFast = true;
}
}
else if (current_state == 430)
{
// arrived at launch1
bWantFast = true;
dockingLastDistance = -1;
current_state = 450;
// TODO: do/waitfor mechanical changes needed for docking
}
else if (current_state == 450 || current_state == 452)
{ //450 452 'reverse' to dock, aiming connector at dock location
// align to docking alignment if needed
StatusLog("Align Up to Docking Connector", textPanelReport);
bWantFast = true;
// turnEjectorsOff();
if (!bDoDockAlign)
{
current_state = 500;
return;
}
Echo("Aligning to dock");
bool bAimed = false;
minAngleRad = 0.03f;
// TODO: need to change direction if non- 'back' connector
bAimed = GyroMain("up", vDockAlign, shipOrientationBlock);
bWantFast = true;
if (current_state == 452)
{
current_state = 500;
}
else if (bAimed)
{
current_state++; // 450->451
}
}
else if (current_state == 451)
{ //451 align to dock
StatusLog("Align to Docking Connector", textPanelReport);
bWantFast = true;
Vector3D vTargetLocation = vDock;
Vector3D vVec = vTargetLocation - dockingConnector.GetPosition();
if (!bDoDockAlign)
{
current_state = 452;
}
// Vector3D vTargetLocation = shipOrientationBlock.GetPosition() +vDockAlign;
// Vector3D vVec = vTargetLocation - shipOrientationBlock.GetPosition();
Echo("Aligning to dock");
bool bAimed = false;
minAngleRad = 0.03f;
bAimed = GyroMain("forward", vVec, dockingConnector);
if (bAimed)
{
current_state = 452;
}
else
{
bWantFast = true;
}
}
else if (current_state == 500)
{ //500 'reverse' to dock, aiming connector at dock location (really it's connector-forward)
// TODO: needs a time-out for when misaligned or base connector moves.
// bWantFast = true;
StatusLog("Reversing to Docking Connector", textPanelReport);
Echo("bDoDockAlign=" + bDoDockAlign);
// StatusLog(moduleName + ":Docking: Reversing to dock! Velocity=" + velocityShip.ToString("0.00"), textPanelReport);
Echo("Reversing to Dock");
CTRL_COEFF = 0.75;
minAngleRad = 0.01f;
Vector3D vTargetLocation = vDock;
Vector3D vVec = vTargetLocation - dockingConnector.GetPosition();
double distance = vVec.Length();
Echo("distance=" + niceDoubleMeters(distance));
Echo("velocity=" + velocityShip.ToString("0.00"));
StatusLog("Distance=" + niceDoubleMeters(distance), textPanelReport);
StatusLog("Velocity=" + niceDoubleMeters(velocityShip) + "/s", textPanelReport);
if (dockingLastDistance < 0)
{
dockingLastDistance = distance;
}
if (dockingLastDistance < distance)
{
// we are farther away than last time... something is wrong..
// sStartupError += "\nLast=" + niceDoubleMeters(dockingLastDistance) + " Cur=" + niceDoubleMeters(distance);
current_state = 590;
}
if (distance > 10)
{
minAngleRad = 0.03f;
}
else
{
minAngleRad = 0.05f;
}
// debugGPSOutput("DockLocation", vTargetLocation);
bool bAimed = false;
/*
* if ((craft_operation & CRAFT_MODE_SLED) > 0)
* {
* double yawangle = CalculateYaw(vTargetLocation, dockingConnector);
* DoRotate(yawangle, "Yaw");
* if (Math.Abs(yawangle) < .05) bAimed = true;
* }
* else
*/
if (distance > 15)
{
bAimed = BeamRider(vLaunch1, vDock, dockingConnector);
}
else
{
bAimed = GyroMain("forward", vVec, dockingConnector);
}
/*
* double maxThrust = calculateMaxThrust(thrustDockForwardList);
* MyShipMass myMass;
* myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
* double effectiveMass = myMass.PhysicalMass;
* double maxDeltaV = (maxThrust) / effectiveMass;
* if (iDockingPushCount < 1)
* {
* if (maxDeltaV < 2)
* iDockingPushCount = 75;
* else if (maxDeltaV < 5)
* iDockingPushCount = 25;
* }
*/
// Echo("dockingPushCount=" + iDockingPushCount);
// TODO: if we aren't moving and dockingpushcount>100, then we need to wiggle.
if (bAimed)
{
// we are aimed at location
Echo("Aimed");
if (distance > 15)
{
bWantMedium = true;
Echo(">15");
MoveForwardSlow(5, 10, thrustDockForwardList, thrustDockBackwardList);
/*
* if (velocityShip < .5)
* {
* iDockingPushCount++;
* powerUpThrusters(thrustDockForwardList, 25 + iDockingPushCount);
* }
* else if (velocityShip < 5)
* {
* powerUpThrusters(thrustDockForwardList, 1);
* }
* else
* powerDownThrusters(thrustAllList);
*/
}
else
{
Echo("<=15");
bWantFast = true;
MoveForwardSlow(.5f, 1.5f, thrustDockForwardList, thrustDockBackwardList);
/*
* if (velocityShip < .5)
* {
* iDockingPushCount++;
* powerUpThrusters(thrustDockForwardList, 25 + iDockingPushCount);
* }
* else if (velocityShip < 1.4)
* {
* powerUpThrusters(thrustDockForwardList, 1);
* if (iDockingPushCount > 0) iDockingPushCount--;
* }
* else
* powerDownThrusters(thrustAllList);
*/
}
}
else
{
Echo("Aiming");
powerDownThrusters(thrustAllList);
bWantFast = true;
}
}
else if (current_state == 590)
{
// abort dock and try again
ResetMotion();
Vector3D vVec = vDock - dockingConnector.GetPosition();
double distance = vVec.Length();
if (distance > shipDim.LengthInMeters() * 1.25)
{
// we are far enough away. Try again
current_state = 0;
bWantFast = true;
return;
}
bool bAimed = GyroMain("forward", vVec, dockingConnector);
if (!bAimed)
{
bWantFast = true;
}
else
{
bWantMedium = true;
}
MoveForwardSlow(5, 10, thrustDockBackwardList, thrustDockForwardList);
}
}
public Program()
{
universalListener = IGC.RegisterBroadcastListener("CODE");
universalListener.SetMessageCallback();
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
SayMyName(MY_PREFIX);
ErrorOutput("", false);
GetRadars();
GetControllingBlock();
GetTurretController();
int i = 0;
try {
string[] args = Storage.Split(';');
currExt = float.Parse(args[i++]);
currRPM = float.Parse(args[i++]);
DetectPlayers = bool.Parse(args[i++]);
DetectFloatingObjects = bool.Parse(args[i++]);
DetectSmallShips = bool.Parse(args[i++]);
DetectLargeShips = bool.Parse(args[i++]);
DetectStations = bool.Parse(args[i++]);
DetectSubgrids = bool.Parse(args[i++]);
DetectAsteroids = bool.Parse(args[i++]);
DetectOwner = bool.Parse(args[i++]);
DetectFriendly = bool.Parse(args[i++]);
DetectNeutral = bool.Parse(args[i++]);
DetectEnemy = bool.Parse(args[i++]);
AEGIS = bool.Parse(args[i++]);
}
catch (Exception e) {
e.ToString();
int f = 0;
if (++f >= i)
{
currExt = 8000f;
}
if (++f >= i)
{
currRPM = 3f;
}
if (++f >= i)
{
DetectPlayers = false;
}
if (++f >= i)
{
DetectFloatingObjects = false;
}
if (++f >= i)
{
DetectSmallShips = true;
}
if (++f >= i)
{
DetectLargeShips = true;
}
if (++f >= i)
{
DetectStations = true;
}
if (++f >= i)
{
DetectSubgrids = false;
}
if (++f >= i)
{
DetectAsteroids = false;
}
if (++f >= i)
{
DetectOwner = false;
}
if (++f >= i)
{
DetectFriendly = false;
}
if (++f >= i)
{
DetectNeutral = true;
}
if (++f >= i)
{
DetectEnemy = true;
}
if (++f >= i)
{
AEGIS = true;
}
}
SetRadars(currExt, currRPM);
GetScreens();
misCMDListener = IGC.RegisterBroadcastListener(misCMDTag);
misCMDListener.SetMessageCallback();
}
