IEnumerable <string> MoveToGrind()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
Message("Start grinding on " + GrinderGroup);
Vector3D target = GrinderLocation + GrinderApproach * Clamp.WorldMatrix.Scale.Y / 2;
var task = new AimedFlightStrategy(target, Clamp, Base6Directions.Direction.Down, Base6Directions.Direction.Forward);
task.MaxLinearSpeed = 0.5;
task.DampenersOverride = true;
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (Clamp.LockMode != LandingGearMode.Locked)
{
Message("Lost contact with the object.");
yield return("BackOffFromGrinders");
}
else if (HasToAbort())
{
break;
}
else
{
yield return(null);
}
}
yield return("BackOffFromGrinders");
}
IEnumerable <string> LeaveDockForGrinders()
{
Message("Leaving dock via route " + ChosenApproach);
while (ApproachIndex >= 0)
{
var task = new AimedFlightStrategy(Approaches[ChosenApproach][ApproachIndex], Pilot.Controller);
task.MaxLinearSpeed = MaxSpeed;
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (HasToAbort())
{
yield return("ReturnHome");
}
else
{
yield return(null);
}
}
ApproachIndex--;
}
ChosenApproach = "";
ApproachIndex = -1;
yield return("GoToGrinderApproachVector");
}
IEnumerable <string> ReachTargetArea()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Waypoint wp = new Waypoint(TargetLocation.CurrentPosition, TargetLocation.Velocity, TargetLocation.Name);
wp.TargetDistance = ScanningDistance;
if ((TargetLocation.CurrentPosition - Pilot.Controller.GetPosition()).LengthSquared() < (wp.TargetDistance * wp.TargetDistance))
{
yield return("FindTarget");
}
Message("Proceeding to target area.");
double rotangle = 0;
double scandistance = 190.0;
MyDetectedEntityInfo obstacle;
var task = new AimedFlightStrategy(wp, Pilot.Controller);
task.MaxLinearSpeed = MaxSpeed;
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (HasToAbort())
{
yield return("ReturnHome");
}
else
{
Vector3D scanvector =
Clamp.GetPosition() +
Clamp.WorldMatrix.Forward * 1.5 * Me.CubeGrid.WorldVolume.Radius * Math.Sin(rotangle) +
Clamp.WorldMatrix.Left * 1.5 * Me.CubeGrid.WorldVolume.Radius * Math.Cos(rotangle) +
Clamp.WorldMatrix.Down * scandistance;
foreach (var cam in Cameras)
{
if (cam.CanScan(scanvector))
{
rotangle += 0.8;
if (rotangle > 2 * Math.PI)
{
rotangle -= 2 * Math.PI;
}
obstacle = cam.Raycast(scanvector);
if (!obstacle.IsEmpty() && (!TargetSelector(obstacle) || (obstacle.HitPosition.Value - TargetLocation.CurrentPosition).LengthSquared() > ScanningDistance * ScanningDistance))
{
Message($"Obstacle detected, aborting. {obstacle.Name} @ {obstacle.Position}");
yield return("FullStop");
}
}
}
}
yield return(null);
}
yield return("FindTarget");
}
IEnumerable <string> FindTarget()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
foreach (IMySensorBlock sensor in Sensors)
{
sensor.Enabled = true;
}
yield return(null);
foreach (IMySensorBlock sensor in Sensors)
{
sensor.DetectedEntities(Entities);
foreach (MyDetectedEntityInfo ent in Entities)
{
if (ent.Type == MyDetectedEntityType.SmallGrid ||
ent.Type == MyDetectedEntityType.LargeGrid)
{
TargetEntityID = ent.EntityId;
Message($"Target: {ent.Name} #{ent.EntityId}");
yield return("CaptureTarget");
}
}
}
var strategy = new AimedFlightStrategy(TargetLocation, Pilot.Controller);
strategy.MaxLinearSpeed = MaxSpeed / 10;
Pilot.Tasks.Add(strategy);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
foreach (IMySensorBlock sensor in Sensors)
{
sensor.DetectedEntities(Entities);
foreach (MyDetectedEntityInfo ent in Entities)
{
if (TargetSelector(ent))
{
TargetEntityID = ent.EntityId;
Message($"Target: {ent.Name} #{ent.EntityId}");
yield return("CaptureTarget");
}
}
}
if (HasToAbort())
{
yield return("ReturnHome");
}
else
{
yield return(null);
}
}
//we didn't find the target - abort mission
Message("Aborting: no targets found.");
yield return("ReturnHome");
}
IEnumerable <string> ReturnHome()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Pilot.Tasks.Clear();
foreach (IMySensorBlock sensor in Sensors)
{
sensor.Enabled = false;
}
foreach (IMyThrust thruster in Thrusters)
{
thruster.Enabled = true;
}
if (ApproachIndex < 0)
{
var minkv = Approaches.MinBy((kv) => (float)(Pilot.Controller.GetPosition() - kv.Value[0]).Length());
ChosenApproach = minkv.Key;
ApproachIndex = 0;
}
Message("Returning to base via route " + ChosenApproach);
while (ApproachIndex < Approaches[ChosenApproach].Count)
{
Timeout = ActionTimeout;
var strategy = new AimedFlightStrategy(Approaches[ChosenApproach][ApproachIndex], Pilot.Controller);
strategy.PositionEpsilon = 1.0;
Pilot.Tasks.Add(strategy);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (ActionTimeout > 0)
{
Timeout -= Runtime.TimeSinceLastRun.TotalSeconds;
}
if (TooFar() || (Timeout <= 0 && ActionTimeout > 0))
{
Clamp.Unlock();
}
yield return(null);
}
ApproachIndex++;
}
Timeout = ActionTimeout;
ChosenApproach = "";
ApproachIndex = -1;
yield return("Dock");
}