public void handleHaltDocking(List <CommunicationDataStructureValue> responseData)
{
int id = 0;
int dockingWithId = 0;
string reason = "unknown-connection";
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "reason")
{
reason = data.getValue();
}
else if (data.getName() == "dockingWithId")
{
dockingWithId = int.Parse(data.getValue());
}
}
if (id != 0 && id == Communication.currentNode.id)
{
Display.printDebug("[Incoming] Halt docking reason " + reason);
DockingProcedure procedure = Docking.getDroneDockingProcedure(dockingWithId);
if (procedure != null)
{
procedure.haltDocking(reason, false);
}
Communication.currentNode.navHandle.activeDockingProcedure = null;
}
}
public void handleDockingStep(List <CommunicationDataStructureValue> responseData)
{
if (Communication.currentNode.type != "mothership")
{
return;
}
int id = 0, slaveId = 0, step = 0, connectorId = 0;
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "slaveId")
{
slaveId = int.Parse(data.getValue());
}
else if (data.getName() == "step")
{
step = int.Parse(data.getValue());
}
else if (data.getName() == "connectorId")
{
connectorId = int.Parse(data.getValue());
}
}
if (id == Communication.currentNode.id)
{
if (slaveId != 0 && !Docking.dockingWithDrone(slaveId))
{
this.sendStopDocking("out-of-order", slaveId);
}
else
{
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure == null || procedure.myConnector.connectorId != connectorId)
{
this.sendStopDocking("out-of-order", slaveId);
}
}
}
}
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 handleDockingAccepted(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 masterId = int.Parse(dataSplitted[1]);
int nodeIndex = this.getNodeIndexById(masterId);
if (nodeIndex == -1)
{
Communication.connectedNodes.Add(masterId);
Drone node = new Drone(masterId);
node.initNavigation(this.myGrid);
Communication.connectedNodesData.Add(node);
nodeIndex = this.getNodeIndexById(masterId);
}
if (Docking.dockingWithDrone(masterId))
{
DockingProcedure procedure = Docking.getDroneDockingProcedure(masterId);
procedure.haltDocking("docking-already-in-progress");
}
DockingProcedure dock = new DockingProcedure(masterId);
dock.initDocking();
dock.approveDocking();
dock.setNavHandle(Communication.currentNode.navHandle);
Docking.activeDockingProcedures.Add(dock);
Communication.currentNode.navHandle.activeDockingProcedure = dock;
}
}
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.");
}
}
}
