public void haltDocking(string reason = "unknown", bool sendSignal = true)
{
if (Communication.currentNode.playerCommand == "recall")
{
Display.printDebug("Cannot halt docking, drones are recalled.");
return;
}
Display.printDebug("[INFO] Halting docking, reason: " + reason);
this.dockingInProgress = false;
this.hasDockingPermission = false;
this.enableLock = false;
this.dockingStart = 0;
this.connectionStart = 0;
this.dockingStep = 2;
if (this.myConnector != null)
{
if (this.myConnector.block != null && this.myConnector.block.Status == MyShipConnectorStatus.Connected)
{
this.myConnector.block.Disconnect();
}
if (this.myConnector.connectorId != null)
{
AnchoredConnector.setConnectorState(this.myConnector.connectorId, false);
if (this.myConnector.piston != null)
{
this.myConnector.piston.setPistonState(false);
}
}
}
if (this.dockingWithDrone != 0 && sendSignal)
{
// Send halt dock signal.
this.navHandle.commHandle.sendStopDocking(reason, this.dockingWithDrone);
this.dockingWithDrone = 0;
}
if (Communication.masterDrone != null && Communication.masterDrone.masterConnectorId != 0)
{
Communication.masterDrone.masterConnectorId = 0;
}
if (Communication.currentNode.navHandle.activeDockingProcedure != null)
{
Communication.currentNode.navHandle.activeDockingProcedure = null;
}
// Remove from active procedure list
for (int i = 0; i < Docking.activeDockingProcedures.Count; i++)
{
if (Docking.activeDockingProcedures[i] == this)
{
Docking.activeDockingProcedures.RemoveAt(i);
}
}
}
public void handleDockingRequest(string data)
{
if (Communication.currentNode.type != "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 2)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int slaveId = int.Parse(dataSplitted[1]);
int nodeIndex = this.getNodeIndexById(slaveId);
if (nodeIndex == -1)
{
Communication.connectedNodes.Add(slaveId);
Drone node = new Drone(slaveId);
node.initNavigation(this.myGrid);
Communication.connectedNodesData.Add(node);
nodeIndex = this.getNodeIndexById(slaveId);
}
AnchoredConnector available = AnchoredConnector.getAvailableAnchoredConnector();
if (available == null)
{
Display.print("Docking request denied (Connectors full).");
}
else
{
if (Docking.dockingWithDrone(slaveId))
{
Display.print("Already accepted, continue on docking.");
this.sendDockingAccepted(slaveId);
this.sendConnectorData(slaveId);
}
else
{
Display.print("Assigning a proper connector.");
DockingProcedure dock = new DockingProcedure(slaveId);
dock.setNavHandle(Communication.currentNode.navHandle);
dock.myConnector = available;
dock.initDocking();
Docking.activeDockingProcedures.Add(dock);
this.sendDockingAccepted(slaveId);
this.sendConnectorData(slaveId);
}
}
}
else
{
Display.print("[ERROR] Docking request invalid. (" + data + ")");
}
}
public void handleProcedure()
{
if (this.dockingInProgress == true)
{
if (this.dockingWithDrone != 0)
{
int nodeIndex = this.navHandle.commHandle.getNodeIndexById(this.dockingWithDrone);
if (nodeIndex == -1)
{
this.haltDocking("drone-not-found");
}
}
else
{
this.haltDocking("drone-not-found");
}
if (Communication.getTimestamp() - this.dockingStart > 600 && this.connectionStart == 0)
{
this.haltDocking("last-resort-timeout");
}
if (this.dockingStart != 0 && Communication.getTimestamp() - this.dockingStart > 10)
{
if (this.connectionStart != 0 && Communication.getTimestamp() - this.connectionStart > 10)
{
AnchoredConnector connector = this.myConnector;
if (connector != null && connector.block.Status != MyShipConnectorStatus.Connected)
{
this.haltDocking("no-connection");
}
}
}
}
else
{
if (this.myConnector != null)
{
IMyShipConnector connector = this.myConnector.block;
if (this.connectionStart > 0 && Communication.getTimestamp() - this.connectionStart > 15)
{
this.haltDocking("docking-not-in-progress");
}
if (connector.Status == MyShipConnectorStatus.Connected)
{
this.haltDocking("docking-has-ended");
}
}
else
{
this.haltDocking("connector-is-missing");
}
}
}
public void handleIdleConnectors()
{
for (int i = 0; i < AnchoredConnector.anchoredConnectors.Count; i++)
{
if (AnchoredConnector.anchoredConnectors[i].inUse == false)
{
AnchoredConnector.setConnectorState(AnchoredConnector.anchoredConnectors[i].connectorId, false);
if (AnchoredConnector.anchoredConnectors[i].piston != null)
{
AnchoredConnector.anchoredConnectors[i].piston.setPistonState(false);
}
}
}
}
public void sendConnectorData(int slaveId)
{
Display.printDebug("Sending connector info.");
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure != null)
{
AnchoredConnector connector = procedure.myConnector;
if (connector != null && connector.isAnchored)
{
procedure.lastConnectorPing = Communication.getTimestamp();
Vector3D pos;
this.dataStructure.newPackage();
this.dataStructure.addRawData("drone-connector-data");
this.dataStructure.addData("id", Communication.currentNode.id.ToString());
this.dataStructure.addData("slaveId", slaveId.ToString());
this.dataStructure.addData("masterConnectorId", connector.connectorId.ToString());
pos = connector.anchorTop.block.GetPosition();
this.dataStructure.addData("connectorAnchorTopX", pos.X.ToString());
this.dataStructure.addData("connectorAnchorTopY", pos.Y.ToString());
this.dataStructure.addData("connectorAnchorTopZ", pos.Z.ToString());
pos = connector.anchorBottom.block.GetPosition();
this.dataStructure.addData("connectorAnchorBottomX", pos.X.ToString());
this.dataStructure.addData("connectorAnchorBottomY", pos.Y.ToString());
this.dataStructure.addData("connectorAnchorBottomZ", pos.Z.ToString());
this.broadcastMessage(this.dataStructure.generateOutput());
procedure.approveDocking();
}
else
{
Display.printDebug("[Error] No working connectors found. (Connectors: " + AnchoredConnector.anchoredConnectors.Count + ")");
}
}
else
{
Display.printDebug("[Error] No docking procedure found.");
}
}
public void handleFinalStep(DockingProcedure procedure) {
Communication.currentNode.status = "docking-step-final";
this.navHandle.setAutopilotStatus(false);
if (procedure.connectionStart > 0) {
this.handleDockedStep(procedure);
} else {
AnchoredConnector connector = procedure.myConnector;
if (connector != null) {
if (connector.block.Status != MyShipConnectorStatus.Connected) {
if (connector.block.Status == MyShipConnectorStatus.Connectable) {
this.navHandle.gyroHandle.disableOverride();
connector.block.Connect();
this.navHandle.thrusterStatus(false);
} else {
Vector3D targetPos = this.getDockingPosition(1, procedure);
double distance = this.getDistanceFrom(this.navHandle.getShipPosition(), targetPos);
if (distance > 3) {
this.navHandle.setAutopilotStatus(true);
this.navHandle.move(targetPos, "docking-realign");
this.navHandle.setCollisionStatus(false);
} else {
this.navHandle.setAutopilotStatus(false);
AnchoredConnector.setConnectorState(connector.connectorId, true);
this.navHandle.commHandle.sendDockingLockRequest(1);
this.navHandle.gyroHandle.rotateShip(2); // Rotate near connector.
}
}
} else {
this.navHandle.thrusterStatus(false);
procedure.connectionStart = Communication.getTimestamp();
Communication.currentNode.status = "docking-step-connected";
}
} else {
Display.printDebug("No connectors found, total connectors: " + AnchoredConnector.anchoredConnectors.Count);
Communication.currentNode.status = "error-connector-not-found";
}
}
}
public void initDocking()
{
this.dockingInProgress = true;
this.enableLock = true;
this.hasDockingPermission = false;
this.dockingStep = 2;
this.queuePos = 0;
this.procedureId = Core.generateRandomId();
this.connectionStart = 0;
this.dockingStart = Communication.getTimestamp();
if (this.myConnector == null)
{
this.myConnector = AnchoredConnector.getAvailableConnector();
}
if (this.myConnector != null)
{
AnchoredConnector.setConnectorState(this.myConnector.connectorId, true);
}
else
{
Display.printDebug("[ERROR] No available connector found for docking.");
}
}
public void handleDockLockRequest(string data)
{
if (Communication.currentNode.type != "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 3)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int status = int.Parse(dataSplitted[1]);
int slaveId = int.Parse(dataSplitted[2]);
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure != null)
{
if (procedure.myConnector != null)
{
if (procedure.myConnector.piston != null)
{
Display.printDebug("[INFO] Changing piston state to " + (bool)(status == 1) + ", ConnectorID: " + procedure.myConnector.connectorId + ".");
procedure.myConnector.piston.setPistonState((bool)(status == 1));
}
Display.printDebug("[INFO] Changing connector state to " + (bool)(status == 1) + ", ConnectorID: " + procedure.myConnector.connectorId + ".");
AnchoredConnector.setConnectorState(procedure.myConnector.connectorId, (bool)(status == 1));
}
}
else
{
Display.printDebug("[WARN] Docking procedure not found.");
}
}
}
public static void initConnectors(MyGridProgram myGrid)
{
List <IMyShipConnector> blocks = new List <IMyShipConnector>();
List <CustomData> customData;
AnchoredConnector tmpAnchoredConnector;
myGrid.GridTerminalSystem.GetBlocksOfType <IMyShipConnector>(blocks);
foreach (IMyShipConnector block in blocks)
{
if (block.CustomName.Contains("[Drone]"))
{
customData = CustomData.getCustomData(block.CustomData);
if (customData.Count > 0)
{
tmpAnchoredConnector = new AnchoredConnector(block, customData);
tmpAnchoredConnector.assignAnchorsToConnector();
if (tmpAnchoredConnector.connectorId != null)
{
AnchoredConnector.anchoredConnectors.Add(tmpAnchoredConnector);
}
}
}
}
}
public void initiate()
{
AnchoredConnector.setAllConnectorState(false);
Piston.setAllPistonState(false);
this.type = "mothership";
}
