public bool parse(IMyTerminalBlock block, out List <Data> cfg)
{
cfg = new List <Data>();
MyIni ini = new MyIni();
if (ini.TryParse(block.CustomData))
{
// read system config
if (ini.ContainsSection("system"))
{
Program.DefaultAirlockTag = getIniString(ini, "system", "tag", "Airlock");
Program.DefaultAirlockInnerTag = getIniString(ini, "system", "innertag", "In");
Program.DefaultAirlockOuterTag = getIniString(ini, "system", "outertag", "Out");
Program.DefaultAirlockDelayTime = TimeSpan.FromSeconds(getIniDouble(ini, "system", "delay", 1.0));
Program.DefaultAutomaticMode = getIniAutomatic(ini, "system", "mode", Automatic.Full);
switch (getIniString(ini, "system", "interval", "10"))
{
case "1":
Program.DefualtUpdateFrequency = UpdateFrequency.Update1;
break;
case "100":
Program.DefualtUpdateFrequency = UpdateFrequency.Update100;
break;
default:
Program.DefualtUpdateFrequency = UpdateFrequency.Update10;
break;
}
}
// read airlock config
List <string> sections = new List <string>();
ini.GetSections(sections);
foreach (var section in sections)
{
if (section != "system")
{
Data data = new Data();
data.name_ = section;
data.delay_ = TimeSpan.FromSeconds(getIniDouble(ini, section, "delay", Program.DefaultAirlockDelayTime.Seconds));
data.automatic_ = getIniAutomatic(ini, section, "automatic", Program.DefaultAutomaticMode);
cfg.Add(data);
}
}
return(true);
}
return(false);
}
void ExtractBlueprints()
{
_blueprints = new Dictionary <string, BlueprintInfo>();
var sections = new List <string>();
_ini.GetSections(sections);
sections.ForEach(section => {
if (section.ToLower() == "general")
{
return;
}
_blueprints.Add(section, BlueprintInfo.FromIni(_ini, section, Echo));
});
}
public AutoConnectionDispatcher(MyGridProgram program, CommandLine command, MyIni ini, Action <string> logger, IProcessManager manager)
{
this.logger = logger;
this.manager = manager;
// Station level initialization
this.stationName = ini.GetThrow(INI_GENERAL_SECTION, INI_NAME_KEY).ToString();
this.referenceName = ini.GetThrow(INI_GENERAL_SECTION, INI_REFERENCE_KEY).ToString();
IMyTerminalBlock reference = program.GridTerminalSystem.GetBlockWithName(this.referenceName);
if (reference == null)
{
throw new ArgumentException($"Could not find reference block '{this.referenceName}'");
}
this.igc = program.IGC;
this.transformer = new CoordinatesTransformer(reference, manager);
this.log("initializing");
// Connectors initialization
var sections = new List <string>();
ini.GetSections(sections);
foreach (string sectionName in sections.Where(s => s.StartsWith(AutoConnector.IniConnectorPrefix)))
{
var connector = new AutoConnector(this.stationName, sectionName, program, this.logger, this.transformer, ini);
this.autoConnectors.Add(new AutoConnectionServer(ini, this.igc, connector, manager, this.logger));
}
this.log($"has {this.autoConnectors.Count} auto connectors");
this.registerCommands(command, program);
IMyBroadcastListener listener = this.igc.RegisterBroadcastListener("StationConnectionRequests");
this.manager.Spawn(p => {
if (listener.HasPendingMessage)
{
MyIGCMessage msg = listener.AcceptMessage();
command.StartCmd($"{msg.As<string>()} {msg.Source}", CommandTrigger.Antenna);
}
}, "ac-dispatcher");
this.manager.AddOnSave(save);
}
void updateData()
{
bool changed = false;
if (!ReferenceEquals(this.prevData, this.remote.CustomData))
{
this.prevData = this.remote.CustomData;
var ini = new MyIni();
ini.Parse(this.remote.CustomData);
ini.GetSections(this.tmpSections);
this.waypoints.Clear();
this.tmpSections.ForEach(s => this.waypoints.Add(s, new APWaypoint(ini, s)));
changed = true;
}
this.remote.GetWaypointInfo(this.tmpWps);
if (this.tmpWps.Count > 0)
{
foreach (MyWaypointInfo wp in this.tmpWps)
{
APWaypoint curWP;
if (this.waypoints.TryGetValue(wp.Name, out curWP))
{
curWP.WP = wp;
}
else
{
this.waypoints.Add(wp.Name, new APWaypoint(wp));
}
}
this.save();
this.remote.ClearWaypoints();
}
if (changed)
{
foreach (APWaypoint wp in this.waypoints.Values)
{
wp.Update(this, this.logger);
}
}
}
public Program()
{
MyIni config = ParseIni();
List <string> sections = new List <string>();
config.GetSections(sections);
List <Role> roles = new List <Role>();
foreach (string section in sections)
{
Echo($"Adding Role: {section}");
//TODO: I'm so sorry...
if (section.StartsWith("deposit"))
{
continue;
}
roles.Add(RoleFactory.Build(section, config, this));
}
this.drone = new Drone(this, roles);
}
public Tunnel(MyIni asteroidCatalogue)
{
//go into the asteroid catalogue, look at available deposits and assign StartingPoint, EndPoint and TunnelIndex
List <string> sections = new List <string>();
asteroidCatalogue.GetSections(sections);
IEnumerable <string> deposits = sections.Where(record => record.StartsWith("deposit"));
//Assume one entry for now
string rawValue, deposit;
double depth;
int index;
if (deposits != null && deposits.Count() != 0)
{
deposit = deposits.First();
}
else
{
throw new Exception("No deposit data found!");
}
if (!asteroidCatalogue.Get(deposit, "deposit_depth").TryGetDouble(out depth))
{
throw new Exception("deposit_depth is missing");
}
if (!asteroidCatalogue.Get(deposit, "index").TryGetInt32(out index))
{
throw new Exception("index is missing");
}
//Convert config data into usable vectors
Vector3D TopLeftCorner;
if (asteroidCatalogue.Get(deposits.First(), "top_left_corner").TryGetString(out rawValue))
{
Vector3D.TryParse(rawValue, out TopLeftCorner);
}
else
{
throw new Exception("top_left_corner is missing");
}
Vector3D TopRightCorner;
if (asteroidCatalogue.Get(deposits.First(), "top_right_corner").TryGetString(out rawValue))
{
Vector3D.TryParse(rawValue, out TopRightCorner);
}
else
{
throw new Exception("top_right_corner is missing");
}
Vector3D BottomLeftCorner;
if (asteroidCatalogue.Get(deposits.First(), "bottom_left_corner").TryGetString(out rawValue))
{
Vector3D.TryParse(rawValue, out BottomLeftCorner);
}
else
{
throw new Exception("bottom_left_corner is missing");
}
SetPointsFromDeposit(index, TopLeftCorner, TopRightCorner, BottomLeftCorner, depth);
}
public override void HandleCallback(string callback)
{
switch (callback)
{
case "unicast":
MyIGCMessage message = Drone.NetworkService.GetUnicastListener().AcceptMessage();
if (message.Data == null)
{
Drone.LogToLcd($"\nNo Message");
}
if (message.Tag == DockingRequestChannel)
{
Drone.LogToLcd("\nReceived Docking Request");
IMyShipConnector dockingPort = GetFreeDockingPort();
if (dockingPort == null)
{
Drone.LogToLcd("\nNo Free Docking Port");
}
else
{
MyTuple <Vector3D, Vector3D, Vector3D> payload = new MyTuple <Vector3D, Vector3D, Vector3D>();
payload.Item1 = dockingPort.GetPosition() + dockingPort.WorldMatrix.Forward * 40;
payload.Item2 = dockingPort.GetPosition() + 1.5 * dockingPort.WorldMatrix.Forward;
Drone.LogToLcd($"\nClearance granted: {message.Source}");
Drone.LogToLcd($"\nApproach: {payload.Item1.ToString()}");
Drone.LogToLcd($"\nDocking Port: { payload.Item2.ToString()}");
Drone.Program.IGC.SendUnicastMessage(message.Source, DockingRequestChannel, payload);
}
}
else if (message.Tag == "Notifications")
{
Drone.LogToLcd($"Received notification:{message.Data.ToString()}");
DroneKlaxon.LoopPeriod = 2f;
DroneKlaxon.Play();
}
else if (message.Tag == "survey_reports")
{
MyTuple <long, string, double, Vector3D, Vector3D, Vector3D> report = (MyTuple <long, string, double, Vector3D, Vector3D, Vector3D>)message.Data;
Drone.LogToLcd($"Received survey_report: {report.ToString()}");
//TODO: This needs to be in a persistence layer, not the CustomData
MyIni ini = new MyIni();
MyIniParseResult config;
if (!ini.TryParse(Drone.Program.Me.CustomData, out config))
{
throw new Exception($"Error parsing config: {config.ToString()}");
}
//TODO: what about multiple deposits?
ini.Set($"deposit {report.Item1.ToString()}", "deposit_type", report.Item2.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "deposit_depth", report.Item3.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "top_left_corner", report.Item4.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "top_right_corner", report.Item5.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "bottom_left_corner", report.Item6.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "index", 0);
Drone.Program.Me.CustomData = ini.ToString();
}
else if (message.Tag == "tunnel_complete")
{
MyIni ini = new MyIni();
MyIniParseResult config;
if (!ini.TryParse(Drone.Program.Me.CustomData, out config))
{
throw new Exception($"Error parsing config: {config.ToString()}");
}
int completedIndex = (int)message.Data;
List <string> sections = new List <string>();
ini.GetSections(sections);
IEnumerable <string> deposits = sections.Where(record => record.StartsWith("deposit"));
string deposit;
if (deposits != null && deposits.Count() != 0)
{
deposit = deposits.First();
}
else
{
throw new Exception("No deposit data found!");
}
ini.Set(deposit, "index", completedIndex + 1);
Drone.Program.Me.CustomData = ini.ToString();
}
break;
case "docking_request_pending":
ProcessDockingRequest();
break;
case "recall_miner":
Drone.LogToLcd("Recalling miner");
Drone.Program.IGC.SendUnicastMessage(MinerAddress, "recall", "recall");
break;
case "recall_surveyor":
Drone.LogToLcd("Recalling surveyor");
Drone.Program.IGC.SendUnicastMessage(SurveyorAddress, "recall", "recall");
break;
case "deploy_miner":
Drone.LogToLcd("Launching miner");
List <IMyProgrammableBlock> miners = new List <IMyProgrammableBlock>();
Drone.Grid().GetBlocksOfType(miners, pb => MyIni.HasSection(pb.CustomData, "miner"));
//We only support one miner for now
// Set the deposit details in the miners config
IMyProgrammableBlock miner = miners.First();
MyIni minerConfig = new MyIni();
MyIniParseResult result;
if (!minerConfig.TryParse(miner.CustomData, out result))
{
Drone.LogToLcd(miner.CustomData);
throw new Exception($"Error parsing config: {result.ToString()}");
}
//Vector3D MiningSite = DepositCentre + 10 * Vector3D.Normalize(DepositNormal);
//Vector3D TunnelEnd = DepositCentre - DepositDepth * Vector3D.Normalize(DepositNormal);
//get deposit data from catalogue
//calculate mining_site for next tunnel
//calculate tunnel_end from mining_site and depth
MyIni asteroidCatalogue = new MyIni();
asteroidCatalogue.TryParse(Drone.Program.Me.CustomData);
Tunnel tunnel = new Tunnel(asteroidCatalogue);
minerConfig.Set("miner", "mining_site", tunnel.StartingPoint.ToString());
minerConfig.Set("miner", "tunnel_end", tunnel.EndPoint.ToString());
minerConfig.Set("miner", "index", tunnel.TunnelIndex);
miner.CustomData = minerConfig.ToString();
miner.TryRun("launch");
break;
case "deploy_surveyor":
Drone.LogToLcd("Launching surveyor");
List <IMyProgrammableBlock> surveyors = new List <IMyProgrammableBlock>();
Drone.Grid().GetBlocksOfType(surveyors, pb => MyIni.HasSection(pb.CustomData, "surveyor"));
IMyProgrammableBlock surveyor = surveyors.First();
surveyor.TryRun("launch");
break;
case "echo":
Drone.LogToLcd("Echo");
DroneKlaxon.Play();
break;
case "":
// Just Ignore empty arguments
break;
default:
Drone.LogToLcd($"\nDrone received unrecognized callback: {callback}");
break;
}
}
public void Main(string argumentString)
{
_output.Clear();
var arguments = argumentString.ToUpper().Split(';');
_output.Add($"Mode: {(_isFast ? "Fast" : "Slow")}");
switch (arguments[0])
{
case "":
foreach (var entry in _spinners)
{
var spinner = entry.Value;
var cycleStatus = spinner.CalculateCycleStatus();
var maxPosition = spinner.Pistons.Sum(piston => piston.HighestPosition);
var currentPosition = spinner.Pistons.Sum(piston => piston.CurrentPosition);
_output.Add($"{entry.Key}:");
_output.Add($" {Math.Round(currentPosition, 2)} m/{Math.Round(maxPosition, 2)} m");
_output.Add($" Change in angle: {Math.Round(cycleStatus.ChangeInAngle)}°");
if (!cycleStatus.CycleFinished)
{
continue;
}
if (spinner.Pistons.All(piston => piston.CurrentPosition == piston.HighestPosition))
{
spinner.Rotor.Enabled = false;
spinner.Drills.ForEach(drill => drill.Enabled = false);
}
var extendTotalBy = _isFast ? _pistonExtendFast : _pistonExtendSlow;
foreach (var piston in spinner.Pistons)
{
var extendBy = Math.Min(piston.HighestPosition - piston.CurrentPosition, extendTotalBy);
extendTotalBy -= extendBy;
piston.MaxLimit = piston.CurrentPosition + extendBy;
}
}
;
break;
case "LOWER":
foreach (var spinner in _spinners.Values)
{
spinner.Rotor.RotorLock = true;
spinner.Pistons.ForEach(piston => {
piston.MaxLimit = piston.HighestPosition;
piston.Velocity = _pistonLowerSpeed / spinner.Pistons.Count();
});
}
break;
case "PARSE":
MyIniParseResult result;
if (!_ini.TryParse(Me.CustomData, out result))
{
_output.Add($"CustomData parsing error: \nLine {result.LineNo}\nError: {result.Error}");
return;
}
var lookup = new LookupHelper {
GridTerminalSystem = GridTerminalSystem,
};
_pistonLowerSpeed = (float)_ini
.Get("general", "PistonLowerSpeed")
.ToDouble(_pistonLowerSpeed);
_drillSpeedMetersPerSecond = (float)_ini
.Get("general", "DrillSpeedMeterPerSecond")
.ToDouble(_drillSpeedMetersPerSecond);
var lcdInfoName = _ini.Get("general", "LcdInfo").ToString(_lcdInfoName);
_lcdInfo = lookup.GetBlockWithName <IMyTextPanel>(lcdInfoName);
_spinners = new Dictionary <string, SpinnerInfo>();
var sections = new List <string>();
_ini.GetSections(sections);
sections.ForEach(section => {
if (section.ToLower() == "general")
{
return;
}
var spinnerInfo = SpinnerInfo.FromIni(_ini, section, lookup);
_spinners.Add(section, spinnerInfo);
});
break;
case "PERSIST_PISTON_POSITION":
foreach (var entry in _spinners)
{
entry.Value.Pistons.ForEach(piston => piston.MaxLimit = piston.CurrentPosition);
}
break;
case "RETRACT":
foreach (var spinner in _spinners.Values)
{
var velocity = -3f / spinner.Pistons.Count;
spinner.Pistons.ForEach(piston => piston.Velocity = velocity);
}
break;
case "START":
foreach (var spinner in _spinners.Values)
{
spinner.Drills.ForEach(drill => drill.Enabled = true);
spinner.Pistons.ForEach(piston => {
piston.MaxLimit = piston.CurrentPosition;
piston.Enabled = true;
piston.Velocity = 0.5f;
});
spinner.Rotor.RotorLock = false;
spinner.Rotor.Enabled = true;
spinner.Rotor.TargetVelocityRad = spinner.GetTargetVelocityRotorRad(_isFast, _drillSpeedMetersPerSecond);
}
Runtime.UpdateFrequency = UpdateFrequency.Update100;
break;
case "STOP":
foreach (var spinner in _spinners.Values)
{
spinner.Rotor.Enabled = false;
spinner.Drills.ForEach(drill => drill.Enabled = false);
}
Runtime.UpdateFrequency = UpdateFrequency.None;
break;
case "STOP_EMERGENCY":
foreach (var spinner in _spinners.Values)
{
spinner.Rotor.Enabled = false;
spinner.Drills.ForEach(drill => drill.Enabled = false);
spinner.Pistons.ForEach(piston => piston.Enabled = false);
}
Runtime.UpdateFrequency = UpdateFrequency.None;
break;
case "TOGGLE_SPEED":
_isFast = !_isFast;
foreach (var spinner in _spinners.Values)
{
spinner.Drills.ForEach(drill => drill.Enabled = !_isFast);
spinner.Rotor.TargetVelocityRad = spinner.GetTargetVelocityRotorRad(_isFast, _drillSpeedMetersPerSecond);
}
break;
}
_output.ForEach(line => Echo(line));
_lcdInfo?.WriteText(String.Join("\n", _output.ToArray()));
}