private static void RescindClaim(IMyMotorStator stator, MotorTurret turret)
{
lock (claimedStator)
{
List <MotorTurret> users;
if (claimedStator.TryGetValue(stator, out users))
{
int index = users.IndexOf(turret);
if (index < 0)
{
Logger.DebugLog("Cannot remove claim on " + stator.nameWithId() + " by " + turret.FaceBlock.nameWithId() + ", not in users list");
return;
}
SetClaim(stator, turret, false);
if (users.Count == 1)
{
Logger.DebugLog("removing only claim: " + stator.nameWithId() + "/" + turret.FaceBlock.nameWithId());
claimedStator.Remove(stator);
return;
}
users.RemoveAtFast(index);
UpdateClaim(stator);
}
else
{
Logger.DebugLog("Cannot remove claim on " + stator.nameWithId() + " by " + turret.FaceBlock.nameWithId() + ", no users list");
return;
}
}
}
private static void UpdateClaim(IMyMotorStator stator)
{
List <MotorTurret> users = claimedStator[stator];
MotorTurret currentClaimant = users[0];
if (currentClaimant.StatorEl == stator)
{
if (!currentClaimant.m_claimedElevation)
{
currentClaimant = null;
}
}
else if (currentClaimant.StatorAz == stator)
{
if (!currentClaimant.m_claimedAzimuth)
{
currentClaimant = null;
}
}
else
{
throw new Exception(currentClaimant.FaceBlock.nameWithId() + " does not have " + stator.nameWithId());
}
int middle = GetMiddle(users);
MotorTurret middleClaimant = users[middle];
if (currentClaimant == middleClaimant)
{
Logger.DebugLog("Claim for " + stator.nameWithId() + " is up-to-date. Claimed by " + currentClaimant.FaceBlock.nameWithId());
return;
}
Logger.DebugLog("claim of " + stator.nameWithId() + " changed from " + currentClaimant?.FaceBlock.nameWithId() + " to " + middleClaimant.FaceBlock.nameWithId());
if (middle != 0)
{
users.Swap(0, middle);
}
if (currentClaimant != null)
{
SetClaim(stator, currentClaimant, false);
}
SetClaim(stator, middleClaimant, true);
}
private static void RegisterClaim(IMyMotorStator stator, MotorTurret turret)
{
lock (claimedStator)
{
List <MotorTurret> users;
if (claimedStator.TryGetValue(stator, out users))
{
Debug.Assert(!users.Contains(turret), turret.FaceBlock.nameWithId() + " is already in users list");
Logger.DebugLog("registered claim: " + stator.nameWithId() + "/" + turret.FaceBlock.nameWithId());
users.Add(turret);
UpdateClaim(stator);
}
else
{
Logger.DebugLog("first claim: " + stator.nameWithId() + "/" + turret.FaceBlock.nameWithId());
users = new List <MotorTurret>();
claimedStator.Add(stator, users);
users.Add(turret);
SetClaim(stator, turret, true);
}
}
}
private bool GetStatorRotor(IMyCubeGrid grid, out IMyMotorStator Stator, IMyMotorStator IgnoreStator = null)
{
CubeGridCache cache = CubeGridCache.GetFor(grid);
// first stator that are found that are not working
// returned if a working set is not found
IMyMotorStator offStator = null;
foreach (MyObjectBuilderType type in types_Rotor)
{
foreach (IMyMotorRotor rotor in cache.BlocksOfType(type))
{
if (!FaceBlock.canControlBlock(rotor))
{
Log.DebugLog("Cannot control: " + rotor.nameWithId());
continue;
}
Stator = (IMyMotorStator)rotor.Base;
if (Stator == null || Stator == IgnoreStator)
{
continue;
}
if (IgnoreStator != null && !ArePerpendicular(IgnoreStator, Stator))
{
Log.DebugLog("Not perpendicular: " + IgnoreStator.nameWithId() + " & " + Stator.nameWithId());
continue;
}
if (Stator.IsWorking)
{
return(true);
}
else if (offStator == null)
{
offStator = Stator;
}
}
}
if (offStator != null)
{
Stator = offStator;
return(true);
}
Stator = null;
return(false);
}
private static void SetClaim(IMyMotorStator stator, MotorTurret turret, bool claimed)
{
Logger.DebugLog(nameof(stator) + ": " + stator.nameWithId() + ", " + nameof(turret) + ": " + turret.FaceBlock.nameWithId() + ", " + nameof(claimed) + ": " + claimed);
if (turret.StatorEl == stator)
{
turret.m_claimedElevation = claimed;
}
else if (turret.StatorAz == stator)
{
turret.m_claimedAzimuth = claimed;
}
else
{
throw new Exception(turret.FaceBlock.nameWithId() + " does not have " + stator.nameWithId());
}
}
public void SetTarget(float targetAngle)
{
if (Flipped)
{
targetAngle = -targetAngle;
}
float targetVelocity = (targetAngle - Stator.Angle) * 60f;
float currentVelocity = ((MyMotorStator)Stator).TargetVelocity;
if (((targetVelocity == 0f) != (currentVelocity == 0f)) || Math.Abs(targetVelocity - currentVelocity) > 0.1f)
{
VelocityProperty.SetValue(Stator, targetVelocity);
}
Logger.TraceLog("target acceleration: " + targetAngle + ", target angle: " + targetAngle + ", stator angle: " + Stator.Angle + ", target velocity: " + targetVelocity + ", current velocity: " + currentVelocity,
context: Stator.CubeGrid.nameWithId(), primaryState: Stator.nameWithId());
}
private static bool ArePerpendicular(IMyMotorStator statorOne, IMyMotorStator statorTwo)
{
Logger.TraceLog(nameof(statorOne) + ": " + statorOne.nameWithId() + ", Up: " + statorOne.WorldMatrix.Up + ", " + nameof(statorTwo) + ": " + statorTwo.nameWithId() + ", Up: " + statorTwo.WorldMatrix.Up + ", dot: " + statorOne.WorldMatrix.Up.Dot(statorTwo.WorldMatrix.Up));
return(Math.Abs(statorOne.WorldMatrix.Up.Dot(statorTwo.WorldMatrix.Up)) < 0.1f);
}
