public void Main(string _argument, UpdateType updateSource)
{
counter++;
if (updateSource == UpdateType.Terminal || firstRun)
{
argument = _argument;
Initialise();
}
if (!test)
{
switch (ConnectorFront.Status)
{
case MyShipConnectorStatus.Unconnected:
ExtendPistons();
break;
case MyShipConnectorStatus.Connectable:
if (PistonBack1.Status == PistonStatus.Extended)
{
ConnectorFront.Connect();
ConnectorBack.Disconnect();
}
break;
case MyShipConnectorStatus.Connected:
break;
}
switch (ConnectorBack.Status)
{
case MyShipConnectorStatus.Unconnected:
RetractPistons();
break;
case MyShipConnectorStatus.Connectable:
if (PistonBack1.Status == PistonStatus.Retracted)
{
ConnectorBack.Connect();
ConnectorFront.Disconnect();
}
break;
case MyShipConnectorStatus.Connected:
if (ConnectorFront.Status == MyShipConnectorStatus.Connected)
{
ConnectorBack.Disconnect();
RetractPistons();
}
break;
}
}
UpdateAssemblers();
PrintStatus();
}
public void Update()
{
MyShipConnectorStatus ship_connector_status = shipConnector.Status;
if (lastShipConnectorStatus != ship_connector_status)
{
switch (ship_connector_status)
{
case MyShipConnectorStatus.Unconnected:
case MyShipConnectorStatus.Connectable:
if (lastShipConnectorStatus == MyShipConnectorStatus.Connected)
{
if (registeredShipIGC == null)
{
OnForeignGridDisconnected?.Invoke(lastConnectedEntityID);
}
else if (lastConnectedEntityID == registeredShipIGC.ShipID)
{
OnRegisteredShipDisconnected?.Invoke(registeredShipIGC);
}
else
{
OnForeignGridDisconnected?.Invoke(lastConnectedEntityID);
}
}
break;
case MyShipConnectorStatus.Connected:
lastConnectedEntityID = shipConnector.OtherConnector.CubeGrid.EntityId;
if (registeredShipIGC == null)
{
shipConnector.Disconnect();
OnForeignGridConnected?.Invoke(lastConnectedEntityID);
}
else if (shipConnector.OtherConnector.CubeGrid.EntityId == registeredShipIGC.ShipID)
{
OnRegisteredShipConnected?.Invoke(registeredShipIGC);
}
else
{
shipConnector.Disconnect();
OnForeignGridConnected?.Invoke(lastConnectedEntityID);
}
break;
}
lastShipConnectorStatus = ship_connector_status;
}
}
public void MoveX() // step 1, release and move piston
{
_PistonX.Enabled = true;
if (xDir == Dir.forward || xDir == Dir.backward)
{
_MoveConX.Connect();
if (_MoveConX.Status == MyShipConnectorStatus.Connected)
{
_ConnectorX.Disconnect();
_MergeX.Enabled = false;
if (xPosMerge < xTar)
{
_PistonX.Velocity = -1 * maxMovementSpeed;
xDir = Dir.movingForward;
}
else if (xPosMerge > xTar)
{
_PistonX.Velocity = maxMovementSpeed;
xDir = Dir.movingBackward;
}
}
}
else if (xDir == Dir.movingForward || xDir == Dir.movingBackward) // step 2, merge and continue
{
_MergeX.Enabled = true;
if (_MergeX.IsConnected)
{
moveReady = true;
_ConnectorX.Connect();
_MoveConX.Disconnect();
if (xDir == Dir.movingForward)
{
xDir = Dir.forward;
if (autoMode)
{
_PistonX.Velocity = maxToolSpeed;
}
else
{
_PistonX.Velocity = maxMovementSpeed;
}
}
if (xDir == Dir.movingBackward)
{
xDir = Dir.backward;
if (autoMode)
{
_PistonX.Velocity = -1 * maxToolSpeed;
}
else
{
_PistonX.Velocity = -1 * maxMovementSpeed;
}
}
}
}
}
// TODO надо переработать
public void ActionUndock()
{
PrintLine($"Do Action <ActionUndock>");
PrintLine("Undocking...");
switch (State["stage"])
{
case STAGE_DOCKED:
if (Events[0] == EVENT_MOVING_DOWN && bottom_connector.Status == CONNECTED)
{
PrintLine("Disconnect TOP, MID.");
top_connector.Disconnect();
middle_connector.Disconnect();
}
else if (Events[0] == EVENT_MOVING_UP && top_connector.Status == CONNECTED)
{
middle_connector.Disconnect();
bottom_connector.Disconnect();
}
else
{
PrintLine("<Error while Trying undock>");
}
break;
case STAGE_DOCKED_BETWEEN:
if (Events[0] == EVENT_MOVING_DOWN && top_connector.Status == CONNECTED)
{
PrintLine("Disconnect MID, BOT.");
bottom_connector.Disconnect();
}
else if (Events[0] == EVENT_MOVING_UP && bottom_connector.Status == CONNECTED)
{
top_connector.Disconnect();
}
else
{
PrintLine("<Error while Trying undock>");
}
break;
}
}
static void Connect(IMyShipConnector connector, bool value)
{
if (value)
{
connector.Connect();
}
else
{
connector.Disconnect();
}
}
void ToggleConnector(bool connect = true)
{
if (_connectorBlock != null)
{
if (connect)
{
_connectorBlock.Connect();
}
else
{
_connectorBlock.Disconnect();
}
}
}
public void CheckHummingbird()
{
status = releaseStage.ToString();
if (releaseStage == 0)
{
// Check for completeness
if (!Hummingbird.CheckHummingbirdComponents(ChasisMerge, ref hummingbirdConnector, ref turretRotor, ref PartScratchpad, ref status))
{
return;
}
if (!Hummingbird.CheckHummingbirdComponents(TurretMerge, ref hummingbirdConnector, ref turretRotor, ref PartScratchpad, ref status))
{
return;
}
if (turretRotor == null || hummingbirdConnector == null)
{
return;
}
turretRotor.Detach();
Connector.Connect();
var inventoryItem = Host.AmmoBox?.GetItemAt(0);
if (inventoryItem != null)
{
Host.AmmoBox.TransferItemTo(Connector.OtherConnector.GetInventory(0), (MyInventoryItem)inventoryItem);
}
Connector.Disconnect();
releaseStage = 1;
Piston.Velocity = -0.2f;
}
else if (releaseStage == 1)
{
// Move pistons
if (Piston.CurrentPosition == Piston.MinLimit)
{
releaseStage = 2;
}
}
else if (releaseStage < 0)
{
releaseStage++;
}
}
void CheckConnector()
{
if ((flags & SpaceshipFlags.Dock) == SpaceshipFlags.Dock)
{
if (connector.Status == MyShipConnectorStatus.Connectable)
{
connector.Connect();
}
}
else if ((flags & SpaceshipFlags.Undock) == SpaceshipFlags.Undock)
{
if (connector.Status == MyShipConnectorStatus.Connected)
{
connector.Disconnect();
}
}
}
void queueConnectionRoute(Vector3D target, Vector3D orientation)
{
this.waypoints.Clear();
ConnectionType connectionType = Math.Abs(orientation.Dot(UP)) > 0.8 ? ConnectionType.Down : ConnectionType.Front;
float angle = connectionType == ConnectionType.Front ? this.getTargetAngle(orientation) : 0;
IMyShipConnector con = this.getCurrentConnected();
Vector3D curPos = this.transformer.Pos((con ?? this.stator ?? this.frontConnector ?? this.downConnector as IMyTerminalBlock).GetPosition());
ConnectionType firstType = ConnectionType.None;
if (con != null)
{
con.Disconnect();
Vector3D firstPos = curPos + (this.transformer.Dir(con.WorldMatrix.Backward) * CONNECTION_SAFETY_OFFSET);
// we give a connection type to have the correct connector positioned
this.waypoints.Enqueue(new Waypoint(
firstPos,
angle: this.stator?.Angle ?? 0,
needPrecision: true
));
firstType = con == this.frontConnector ? ConnectionType.Front : ConnectionType.Down;
curPos = firstPos;
}
Vector3D safetyTarget = target + (orientation * CONNECTION_SAFETY_OFFSET);
// we give a connection type to have the correct connector positioned for the first points
this.waypoints.Enqueue(new Waypoint(
new Vector3D(curPos.X, this.max.Y, curPos.Z),
connection: firstType
)).Enqueue(new Waypoint(
new Vector3D(safetyTarget.X, this.max.Y, safetyTarget.Z)
)).Enqueue(new Waypoint(
new Vector3D(safetyTarget.X, this.max.Y - 3, safetyTarget.Z)
)).Enqueue(new Waypoint(
new Vector3D(safetyTarget.X, safetyTarget.Y, safetyTarget.Z),
angle
)).Enqueue(new Waypoint(
new Vector3D(target.X, target.Y, target.Z),
angle,
connectionType,
needPrecision: true
));
}
private void PreFlightPreparations()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Clamp.AutoLock = false;
foreach (IMyBatteryBlock battery in Batteries)
{
battery.ChargeMode = ChargeMode.Auto;
}
foreach (IMyThrust thruster in Thrusters)
{
thruster.Enabled = true;
}
foreach (IMyGyro gyro in Gyros)
{
gyro.Enabled = true;
}
Connector.Disconnect();
Connector.Enabled = false;
Antenna.Enabled = true;
}
/// <summary>Requests the autoconnector to disconnect</summary>
public void Disconnect()
{
this.waypoints.Clear();
IMyShipConnector connector = this.getCurrentConnected()
?? this.getConnector(this.lastConnectionType)
?? this.frontConnector
?? this.downConnector;
Vector3D curPos = this.transformer.Pos(connector.GetPosition());
Vector3D curOrientation = this.transformer.Dir(connector.WorldMatrix.Backward);
connector.Disconnect();
Vector3D safetyTarget = curPos + (curOrientation * CONNECTION_SAFETY_OFFSET);
this.waypoints.Enqueue(new Waypoint(
new Vector3D(safetyTarget.X, safetyTarget.Y, safetyTarget.Z),
this.stator?.Angle ?? 0,
needPrecision: true
)).Enqueue(new Waypoint(
new Vector3D(safetyTarget.X, this.max.Y, safetyTarget.Z)
)).Enqueue(new Waypoint(
this.restPosition
));
}
public void Main(string argument, UpdateType updateSource)
{
write_settings();
if (updateSource.Equals(UpdateType.Update100))
{
drill_pistons_command("status");
//pistons at max, connector connected
condition1 = drill_pistons_group_current_distance == drill_pistons_group_max_distance;
condition2 = drill_connector_status == "Connected";
if (condition1 & condition2)
{
drill_status = "wait";
drill_drills_command("stop");
drill_landing_gears_command("status");
if (drill_landing_gears_locked == true)
{
Runtime.UpdateFrequency = UpdateFrequency.None;
drill_connector.Disconnect();
drill_connector_status = "Unconnected";
drill_pistons_command("retract");
}
write_settings();
}
//drill connected and ready
condition1 = drill_status == "ready";
condition2 = drill_connector_status == "Connected";
if (condition1 & condition2)
{
drill_status = "stopped";
drill_drills_command("start");
drill_status = "running";
write_settings();
}
}
else if (updateSource.Equals(UpdateType.Update1))
{
//drill wait but unconnected
condition1 = drill_status == "wait";
condition2 = drill_connector_status == "reconnecting";
if (condition1 & condition2)
{
drill_connector.Connect();
if (drill_connector.Status.ToString() == "Connected")
{
drill_status = "ready";
drill_connector_status = "Connected";
Runtime.UpdateFrequency = UpdateFrequency.Update100;
write_settings();
}
}
}
else if (updateSource.Equals(UpdateType.Trigger) | updateSource.Equals(UpdateType.Terminal))
{
write_settings();
if (argument != "")
{
drill_status = argument;
}
verify_availability();
//switch running state
if (drill_status == "running")
{
drill_drills_command("stop");
drill_status = "stopped";
}
else if (drill_status == "stopped")
{
drill_drills_command("start");
drill_status = "running";
}
else if (drill_status == "wait")
{
drill_pistons_command("reconnect");
drill_connector_status = "reconnecting";
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
else
{
drill_status = "stopped";
drill_drills_command("stop");
drill_status = "stopped";
}
}
//write settings to Programmable block Custom Data field and LCD
write_settings();
}
Vector3D dockPos3 = new Vector3D(); //Straight Up And Forward Location
private void DockingIterator(bool Docking, List <Vector3D> COORDINATES, IMyGyro GYRO, IMyShipConnector CONNECTOR, IMyRemoteControl RC)
{
if (COORDINATES.Count < 3)
{
return;
}
int TargetID = 0;
int CurrentID = 0;
int iter_er = 0;
if (Docking == true)
{
TargetID = 1; CurrentID = 0; iter_er = +1;
}
if (Docking == false)
{
TargetID = 0; CurrentID = 1; iter_er = -1;
}
if (Docking == true)
{
CONNECTOR.Connect();
}
if (Docking == true && CONNECTOR.IsWorking == false)
{
CONNECTOR.Enabled = true;
}
if (Docking == false && CONNECTOR.IsWorking == true)
{
CONNECTOR.Disconnect(); CONNECTOR.Enabled = true;
}
if (CONNECTOR.Status == MyShipConnectorStatus.Connected && Docking == true)
{
for (int j = 0; j < CAF2_THRUST.Count; j++)
{
(CAF2_THRUST[j] as IMyThrust).Enabled = false;
}
GYRO.GyroOverride = false;
return;
}
Vector3D RollOrienter = Vector3D.Normalize(COORDINATES[COORDINATES.Count - 1] - COORDINATES[COORDINATES.Count - 2]);
Vector3D Connector_Direction = -1 * ReturnConnectorDirection(CONNECTOR, RC);
double RollReqt = (float)(0.6 * (Vector3D.Dot(RollOrienter, Connector_Direction)));
//垂直运动在码头
if (COORD_ID == COORDINATES.Count - 1)
{
Vector3D DockingHeading = Vector3D.Normalize(COORDINATES[COORDINATES.Count - 3] - COORDINATES[COORDINATES.Count - 2]) * 9000000; //Heading
GyroTurn6(DockingHeading, RotationalSensitvity, GYRO, RC, RollReqt, PrecisionMaxAngularVel); //Turn to heading
if (Vector3D.Dot(RC.WorldMatrix.Forward, Vector3D.Normalize(DockingHeading)) > 0.98) //Error check for small rotational velocity
{
Vector_Thrust_Manager(COORDINATES[COORD_ID - TargetID], COORDINATES[COORD_ID - CurrentID], CONNECTOR.GetPosition(), 5, 0.7, RC);
} //Thrusts to point
}
//在码头上的最后/第一个外部Coord
else if (COORD_ID == 0)
{
print($"启动自动驾驶\n距离目标:{Vector3D.Distance(COORDINATES[0], RC.GetPosition())}");
RC_Manager(COORDINATES[0], RC, false);
}
//水平和迭代语句
else
{
var HEADING = Vector3D.Normalize(COORDINATES[COORD_ID - CurrentID] - COORDINATES[COORD_ID - TargetID]) * 9000000;
Vector_Thrust_Manager(COORDINATES[COORD_ID - TargetID], COORDINATES[COORD_ID - CurrentID], CONNECTOR.GetPosition(), 8, 1, RC); //Runs docking sequence
GyroTurn6(HEADING, RotationalSensitvity, GYRO, RC, RollReqt, PrecisionMaxAngularVel);
}
//逻辑检查和迭代
if (Docking == false && COORD_ID == 0)
{
}
else if ((CONNECTOR.GetPosition() - COORDINATES[COORD_ID - CurrentID]).Length() < 1 || ((RC.GetPosition() - COORDINATES[COORD_ID - CurrentID]).Length() < 10 && COORD_ID == 0))
{
COORD_ID = COORD_ID + iter_er;
if (COORD_ID == COORDINATES.Count)
{
COORD_ID = COORDINATES.Count - 1;
}
if (COORD_ID < 0)
{
COORD_ID = 0;
}
}
}
public void Main(string argument, UpdateType updateSource)
{
Echo(IsPaused ? "System paused" : "System working");
if (argument == "Pause")
{
IsPaused = true;
}
else if (argument == "Resume")
{
IsPaused = false;
}
if (IsPaused)
{
return;
}
//While connector is connected, move stone while at it
if (Far_Right_Connector.Status == MyShipConnectorStatus.Connected)
{
//Move all stones out of drill
if (GetAnyCargo())
{
//Move all stone
foreach (var drill in Far_Array_Drills)
{
if (drill.GetInventory(0).ItemCount > 0)
{
//Move stone
var inv = drill.GetInventory(0);
List <MyInventoryItem> items = new List <MyInventoryItem>();
inv.GetItems(items);
foreach (var item in items)
{
inv.TransferItemTo(AnyCargo.GetInventory(0), item);
}
}
}
}
}
//Check connector can connect now
bool isAllExtended = IsAllPistonExtended(Far_Top_Pistons);
bool isAllRetracted = IsAllPistonRetracted(Far_Top_Pistons);
bool isMidPush = IsPistonMidPush(Far_Top_Pistons);
bool isPistonMergeOn = Far_PistonEnd_Merge_Top.GetValueBool("OnOff");
bool isAnyDrillHasStone = IsAnyDrillHasStone(Far_Array_Drills);
Echo($"Currently all piston: {(isAllExtended ? "Extended" : "")}{(isAllRetracted ? "Retracted" : "")}");
//Assuming this already push to it fullest
if (isAllExtended && !isPistonMergeOn && Far_Right_Connector.Status == MyShipConnectorStatus.Connectable && !isMidPush)
{
//If it can connect, connect it and turn on side merge block, and turn off top merge block
Far_Right_Connector.Connect();
Far_PistonEnd_Merge_Side.SetValueBool("OnOff", true);
Far_PistonEnd_Merge_Top.SetValueBool("OnOff", false);
Echo("Connector connected, turn on side merge block, and turn on top merge block");
}
else if (!isAllExtended && isPistonMergeOn)
{
//Merge block at the tip of piston is off. Time to pull it up
foreach (var piston in Far_Top_Pistons)
{
piston.SetValueFloat("Velocity", -0.3f);
}
}
//All piston retracted, turn on projector merge block and all welders
else if (isAllRetracted && !Far_Projector_Merge.GetValueBool("OnOff"))
{
Far_Projector_Merge.SetValueBool("OnOff", true);
//Turn on all welder
var welders = Far_Top_Welders.Concat(Far_Left_Welders).Concat(Far_Right_Welders).ToList();
foreach (var welder in welders)
{
welder.SetValueBool("OnOff", true);
}
//Extend a piston to build the other side of crane
Far_Piston_Side_Welders.SetValueFloat("Velocity", 0.3f);
}
//Check projector status
else if (isAllRetracted && Far_Projector.RemainingBlocks < 1 && !isPistonMergeOn)
{
//All done and welded. Turn off all welders and retract side welder
var welders = Far_Top_Welders.Concat(Far_Left_Welders).Concat(Far_Right_Welders).ToList();
foreach (var welder in welders)
{
welder.SetValueBool("OnOff", false);
}
Far_Piston_Side_Welders.SetValueFloat("Velocity", -0.3f);
//Then extend top piston!
foreach (var piston in Far_Top_Pistons)
{
piston.SetValueFloat("Velocity", 0.1f);
Far_PistonEnd_Merge_Top.SetValueBool("OnOff", true);
}
}
else if (isPistonMergeOn && Far_PistonEnd_Merge_Top.IsConnected)
{
//If top merge block is connected, then disable projector merge block
//Letting it push down
//Disable side merger, if it connected
Far_Projector_Merge.SetValueBool("OnOff", false);
Far_PistonEnd_Merge_Side.SetValueBool("OnOff", false);
}
//After it push down for a while
else if (isPistonMergeOn && isMidPush)
{
//Disconnect connector
Far_Right_Connector.Disconnect();
}
}
public void Main(string argument, UpdateType updateSource)
{
if (goodsetup)
{
Echo("LastR: " + lastReversePath);
Echo("Mode: " + mode);
Echo("DockingDir: " + rcDockingDir.ToString());
Echo("Password: "******"Argument: " + argument);
string[] info = argument.Split(new string[] { "," }, StringSplitOptions.None);
if (updateSource != UpdateType.Antenna)
{
if (info[0].ToLower() == "dock")
{
if (info.Length == 1)
{
Boolean sent = antenna.TransmitMessage("requestdock," + password + ",default");
if (!sent)
{
messageQue.Add("requestdock," + password + ",default");
}
}
else if (info.Length == 2)
{
Boolean sent = antenna.TransmitMessage("requestdock," + password + "," + info[1]);
if (!sent)
{
messageQue.Add("requestdock," + password + "," + info[1]);
}
groupName = info[1];
}
else if (info.Length == 3)
{
Boolean sent = antenna.TransmitMessage("requestdock," + password + "," + groupName + "," + info[2]);
if (!sent)
{
messageQue.Add("requestdock," + password + "," + groupName + "," + info[2]);
}
}
else
{
Echo("ERROR, ARGUMENT SIZE INVALID");
}
}
else if (info[0].ToLower() == "stop")
{
Storage = "";
dockingConnectorPos = new Vector3D();
dockingDir = new Vector3D();
mode = 0;
globalPath.Clear();
reversePath.Clear();
rc.ClearWaypoints();
foreach (IMyThrust thrust in allThrusters)
{
thrust.ThrustOverridePercentage = 0;
}
foreach (IMyGyro gyro in gyros)
{
gyro.GyroOverride = false;
gyro.Pitch = 0;
gyro.Yaw = 0;
gyro.Roll = 0;
}
Boolean sent = antenna.TransmitMessage("canceldock," + password);
if (!sent)
{
messageQue.Add("canceldock," + password);
}
}
else if (info[0] == "depart")
{
if (mode == 5 && connector.Status == MyShipConnectorStatus.Connected)
{
Main("dock," + groupName + ",leaving", UpdateType.Mod);
}
else
{
Echo("ERROR, WRONG MODE OR ALREADY DISCONNECTED");
}
}
else if (info[0].ToLower() == "newpassword")
{
Random r = new Random();
password = r.Next(1000000, 9999999) + "";
}
}
else if (updateSource == UpdateType.Antenna && info[0] == password)
{
Echo("Message Received: " + argument);
if (info[1] == "received" && info.Length == 3) //info[2] is name of spaceport
{
Echo("Request to '" + info[2] + "' was received, awaiting further instruction.");
}
else if (info[1] == "fail")
{
Echo("Request to '" + info[3] + "' failed.");
}
else if (info[1] == "rejected")
{
Echo("TOOK TO LONG, DOCKING PERMISSION REJECTED");
mode = 0;
rc.SetAutoPilotEnabled(false);
antenna.CustomName += " ERROR";
}
else if (info[1] == "wait")
{
Echo("Request to '" + info[3] + "' success, but placed into waiting que");
waiting = true;
}
else if (info[1] == "dockinginfo")
{
if (mode == 5)
{
connector.Disconnect();
List <MyWaypointInfo> path = new List <MyWaypointInfo>();
string[] strWaypoints = new string[info.Length - 5];
for (int i = 0; i < strWaypoints.Length; i++)
{
strWaypoints[i] = info[i + 5];
}
foreach (string waypoint in strWaypoints)
{
MyWaypointInfo newPoint;
Boolean pass = MyWaypointInfo.TryParse(waypoint, out newPoint);
if (pass)
{
path.Add(newPoint);
}
else
{
break;
}
}
path.Reverse();
reversePath = path;
EnableRC(reversePath, out path);
mode = 6;
}
else if (info.Length == 5)
{
linkedConnectorName = info[2];
string strConnectorPos = info[3];
string strDockingDir = info[4];
//parse str's into their proper values
Boolean pass1 = Vector3D.TryParse(strConnectorPos, out dockingConnectorPos);
Boolean pass2 = Vector3D.TryParse(strDockingDir, out dockingDir);
Dock2(dockingConnectorPos, dockingDir); mode = 2;
}
else if (info.Length > 5)
{
linkedConnectorName = info[2];
string strConnectorPos = info[3];
string strDockingDir = info[4];
string[] strWaypoints = new string[info.Length - 5];
for (int i = 0; i < strWaypoints.Length; i++)
{
strWaypoints[i] = info[i + 5];
}
//parse str's into their proper values
Boolean pass1 = Vector3D.TryParse(strConnectorPos, out dockingConnectorPos);
Boolean pass2 = Vector3D.TryParse(strDockingDir, out dockingDir);
pass2 = false;
List <MyWaypointInfo> path = new List <MyWaypointInfo>();
Boolean pass3 = true;
foreach (string waypoint in strWaypoints)
{
pass2 = true;
MyWaypointInfo newPoint;
pass3 = MyWaypointInfo.TryParse(waypoint, out newPoint);
if (pass3)
{
path.Add(newPoint);
}
else
{
break;
}
}
if (pass1 && pass2 && pass3)
{
EnableRC(path, out globalPath);
reversePath.Reverse();
mode = 1;
}
else
{
Echo(pass1 + " " + pass2 + " " + pass3);
}
}
}
}
else if (info[0] == "antennapos" && info.Length == 2)
{
Boolean updated = Vector3D.TryParse(info[1], out antennaPos);
if (updated)
{
antenna.Radius = (float)(Vector3D.Distance(rc.GetPosition(), antennaPos) + 10);
}
else
{
Echo("Failed to update antenna position");
}
}
else if (mode == 2 && !rc.IsAutoPilotEnabled && Vector3D.Distance(rc.GetPosition(), rc.CurrentWaypoint.Coords) >= 5)
{
rc.SetAutoPilotEnabled(true);
}
else if (mode == 1 && globalPath.Count != 0)
{
FollowPath(globalPath, true);
}
}
else if (mode == 1)
{
FollowPath(globalPath, true);
}
else if (mode == 2 && rc.IsAutoPilotEnabled && Vector3D.Distance(rc.GetPosition(), rc.CurrentWaypoint.Coords) < 5)
{
Dock3();
Boolean sent = antenna.TransmitMessage("freepath," + groupName);
if (!sent)
{
messageQue.Add("freepath," + groupName);
}
}
else if (mode == 2 && !rc.IsAutoPilotEnabled && Vector3D.Distance(rc.GetPosition(), rc.CurrentWaypoint.Coords) >= 5)
{
rc.SetAutoPilotEnabled(true);
}
else if (mode == 3 && Dock3())
{
Echo("DOCKED!");
}
else if (mode == 6)
{
FollowPath(reversePath, false);
}
else if (updateSource == UpdateType.Update100)
{
shipMass = rc.CalculateShipMass().TotalMass;
}
if (waiting)
{
Echo("Waiting for clearance");
}
}
else
{
Echo("SETUP FAILED. DO NOT SETUP WHILE CONNECTED TO ANOTHER GRID");
}
}
internal void Main()
{
ProgramInstance.Echo("Status: " + _status);
ProgramInstance.Echo("Route length: " + _routeLength);
ProgramInstance.Echo("Current node: " + _currentNodeNum);
_gridCenterPosition = _controller.CubeGrid.GetPosition();
_currentSpeed = _controller.GetShipSpeed() * 3.7d;
RadioInput();
switch (_status)
{
case State.STANDBY:
if (_commands.Count != 0)
{
NextCommand();
}
break;
case State.MOVE:
MovementControl(_route[_currentNodeNum].Direction);
break;
case State.CLEARCOMM:
_commands.Clear();
_currentNodeNum = 0;
NextCommand();
break;
case State.CLEARROUTE: //TODO
_currentNodeNum = 0;
_route.Clear();
NextCommand();
break;
case State.READROUTE:
_currentNodeNum = 0;
ReadRouteData();
NextCommand();
break;
case State.UNDOCKING:
if (_connector.Status == MyShipConnectorStatus.Connected)
{
_connector.Disconnect();
_connector.Enabled = false;
}
else
{
NextCommand();
}
break;
case State.DOCKING:
GetForwardAxels();
float angle; double distance;
CalculatePlanarAngleAndDistanceTo(_route[_currentNodeNum].Position, out angle, out distance);
WheelsControl(angle, 1, _route[_currentNodeNum - 1].Speed);
if (_currentNodeNum == _routeLength)
{
if (_connector.Status == MyShipConnectorStatus.Connectable)
{
_connector.Connect();
}
if (_connector.Status == MyShipConnectorStatus.Connected)
{
NextCommand();
}
}
else if (distance < _route[_currentNodeNum].CheckDistance)
{
_currentNodeNum++;
_connector.Enabled = false;
if (_currentNodeNum == _routeLength)
{
_connector.Enabled = true;
}
WriteData();
}
break;
case State.RADIOCALL:
ProgramInstance.IGC.SendBroadcastMessage(_radio, "DELIVERY " + _sender + " " + _mode + " " + _recipient);
NextCommand();
break;
}
}
protected override void OnExecuting(IMyShipConnector connector) => connector.Disconnect();
void UnlockConnector()
{
IMyShipConnector clamp = Reference as IMyShipConnector;
clamp.Disconnect();
}
public void Main(string argument)
{
//THIS STEP IS IMPORTANT BECAUSE THE TIMER RUNS THE PB WITH DEFAULT PARAMETER, WICH IS EMPTY.
//IF YOU WERE TO REMOVE THIS, THE FOLLOWING SWITCH WOULDN'T WORK
if (!String.IsNullOrEmpty(argument))
{
timer.CustomData = argument.ToLower() + "1"; //the ToLower method makes argument case not matter
}
//DIFFERENT PHASES ARE REGULATED VIA TIMER'S CUSTOM DATA
//notice that extend and retract processes are not the same in reverse because I found out that it would bump into obstacles
switch (timer.CustomData)
{
case "extend1":
piston1.Extend();
piston2.Extend();
Sleep(1f);
timer.CustomData = "extend2"; //timer's customData gets updated so next time it runs the PB the next phase gets executed
break;
case "extend2":
if (rotor1.TargetVelocityRPM > 0) //just to be sure it doesn't reverse in the wrong way
{
rotor1.TargetVelocityRPM *= -1;
}
Sleep(2f);
timer.CustomData = "extend3";
break;
case "extend3":
piston3.Extend();
if (rotor2.TargetVelocityRPM > 0)
{
rotor2.TargetVelocityRPM *= -1;
}
Sleep(2f);
timer.CustomData = "extend4";
break;
case "extend4":
piston4.Extend();
Sleep(1.5f);
timer.CustomData = "extend5";
break;
case "extend5":
connector.Connect();
timer.CustomData = "";
break;
case "retract1":
connector.Disconnect();
piston4.Retract();
if (rotor2.TargetVelocityRPM < 0)
{
rotor2.TargetVelocityRPM *= -1;
}
piston3.Retract();
piston2.Retract();
if (rotor1.TargetVelocityRPM < 0)
{
rotor1.TargetVelocityRPM *= -1;
}
Sleep(1f);
timer.CustomData = "retract2";
break;
case "retract2":
piston1.Retract();
timer.CustomData = "";
break;
default:
Echo("unknown timer customdata");
break;
}
}
public void Main(string argument, UpdateType updateSource)
{
// SETUP
craneCabin = GridTerminalSystem.GetBlockWithName(cabinName) as IMyCockpit;
craneRotor = GridTerminalSystem.GetBlockWithName(rotorName) as IMyMotorAdvancedStator;
craneConnector = GridTerminalSystem.GetBlockWithName(connectorName) as IMyShipConnector;
cranePiston = GridTerminalSystem.GetBlockWithName(pistonName) as IMyPistonBase;
if (callPanels.Count == 0)
{
List <IMyButtonPanel> tempPanels = new List <IMyButtonPanel>();
GridTerminalSystem.GetBlocksOfType(tempPanels, tempPanel => tempPanel.CustomName.Contains(callPanelName));
for (int key = 0; key < tempPanels.Count; key++)
{
IMyTextSurfaceProvider panelLCD = (IMyTextSurfaceProvider)tempPanels[key];
if (panelLCD.GetSurface(0) != null)
{
callPanels.Add(tempPanels[key]);
}
}
}
if (areaStatusPanels.Count == 0)
{
GridTerminalSystem.GetBlocksOfType(areaStatusPanels, tempPanel => tempPanel.CustomName.Contains(areaStatusPanelName));
}
if (craneCabin != null)
{
pistonMonitor = craneCabin.GetSurface(1);
connectorMonitor = craneCabin.GetSurface(2);
rotorMonitor = craneCabin.GetSurface(3);
}
// END SETUP
if (argument != "" && callOverride == null)
{
if (craneConnector == null || cranePiston == null || craneRotor == null)
{
return;
}
callOverride = Math.Min(Math.Max((int.Parse(argument) * 45) - 180, -135), 135);
UpdateCallPanels();
lastRotorInput = 0;
rotorMultiplier = 0;
craneConnector.Disconnect();
if (Math.Floor((craneRotor.Angle * (180 / Math.PI)) + 0.5) < callOverride)
{
craneRotor.UpperLimitDeg = (float)callOverride;
craneRotor.TargetVelocityRPM = 1;
}
else
{
craneRotor.LowerLimitDeg = (float)callOverride;
craneRotor.TargetVelocityRPM = -1;
}
}
if ((updateSource & UpdateType.Update100) != 0)
{
Runtime.UpdateFrequency = craneCabin.IsUnderControl || rotorMultiplier != 0 || callOverride != null ? UpdateFrequency.Update1 | UpdateFrequency.Update100 : UpdateFrequency.Update100;
UpdateCallPanels();
}
if (callOverride == null)
{
if ((updateSource & UpdateType.Update1) != 0 && craneCabin != null)
{
pistonOutput.Length = 0;
connectorOutput.Length = 0;
rotorOutput.Length = 0;
connectorOutput.Append("\n\n\n\n");
if (craneCabin.IsUnderControl)
{
pistonOutput.Append("\n\n\n\nPISTON\n");
rotorOutput.Append("\n\n\nROTOR\n");
if (craneConnector != null)
{
if (craneCabin.MoveIndicator.Z > 0)
{
craneConnector.Disconnect();
}
if (craneConnector.Status == MyShipConnectorStatus.Unconnected)
{
connectorOutput.Append("DISCONNECTED");
connectorMonitor.FontColor = Color.Red;
}
else if (craneConnector.Status == MyShipConnectorStatus.Connected)
{
connectorOutput.Append("CONNECTED\n");
connectorMonitor.FontColor = Color.Green;
string otherName = craneConnector.OtherConnector.CustomName;
connectorOutput.Append(otherName.Substring(0, otherName.Length - 10));
}
else
{
connectorOutput.Append("READY");
connectorMonitor.FontColor = Color.Yellow;
}
}
if (cranePiston != null)
{
cranePiston.Velocity = (float)ClampVelocity(-craneCabin.MoveIndicator.Z, 1);
pistonOutput.Append("[ ");
pistonOutput.Append((Math.Floor(cranePiston.CurrentPosition * 10) / 10).ToString("F1"));
pistonOutput.Append("m ]");
}
if (craneRotor != null)
{
if (craneConnector.Status != MyShipConnectorStatus.Connected)
{
if (craneCabin.MoveIndicator.X != 0 && Math.Sign(craneCabin.MoveIndicator.X) != Math.Sign(lastRotorInput))
{
rotorMultiplier *= -1;
}
lastRotorInput = (craneCabin.MoveIndicator.X == 0 ? lastRotorInput : craneCabin.MoveIndicator.X);
if (craneCabin.MoveIndicator.X != 0)
{
rotorMultiplier = Math.Min(Math.Max(rotorMultiplier + (Math.Abs(craneCabin.MoveIndicator.X) * 0.02f), -1), 1);
}
else
{
rotorMultiplier += Math.Max(Math.Min(Math.Abs(0 - rotorMultiplier), 0.02f), 0) * -Math.Sign(rotorMultiplier);
}
craneRotor.TargetVelocityRPM = (float)ClampVelocity(lastRotorInput, 1) * rotorMultiplier;
}
rotorOutput.Append("[ ");
rotorOutput.Append(Math.Floor((craneRotor.Angle * (180 / Math.PI)) + 0.5).ToString("000.##"));
rotorOutput.Append("° ]");
}
}
else
{
connectorOutput.Append("STANDING BY");
connectorMonitor.FontColor = Color.White;
if (rotorMultiplier > 0)
{
rotorMultiplier = Math.Max(rotorMultiplier - 0.02f, 0);
}
else if (rotorMultiplier < 0)
{
rotorMultiplier = Math.Min(rotorMultiplier + 0.02f, 0);
}
else
{
lastRotorInput = 0;
}
craneRotor.TargetVelocityRPM = (float)ClampVelocity(lastRotorInput, 1) * rotorMultiplier;
}
pistonMonitor.WriteText(pistonOutput, false);
connectorMonitor.WriteText(connectorOutput, false);
rotorMonitor.WriteText(rotorOutput, false);
}
else if (craneCabin == null)
{
lastRotorInput = 0;
rotorMultiplier = 0;
if (cranePiston != null)
{
cranePiston.Velocity = 0;
}
if (craneRotor != null)
{
craneRotor.TargetVelocityRPM = 0;
}
}
}
else
{
if (craneConnector == null || cranePiston == null || craneRotor == null)
{
callOverride = null;
UpdateCallPanels();
return;
}
if (Math.Abs((craneRotor.Angle * (180 / Math.PI)) - (float)callOverride) < 0.25)
{
craneRotor.TargetVelocityRPM = 0;
craneRotor.UpperLimitDeg = 135;
craneRotor.LowerLimitDeg = -135;
cranePiston.Velocity = 1;
if (Math.Abs(cranePiston.CurrentPosition - cranePiston.MaxLimit) < 0.1 && craneConnector.Status == MyShipConnectorStatus.Connectable)
{
cranePiston.Velocity = 0;
craneConnector.Connect();
callOverride = null;
UpdateCallPanels();
return;
}
}
else
{
cranePiston.Velocity = -1;
}
if (craneCabin != null)
{
connectorOutput.Length = 0;
rotorOutput.Length = 0;
pistonOutput.Length = 0;
connectorOutput.Append("\n\n\n\nAUTO-DOCKING\n");
connectorOutput.Append(((float)callOverride).ToString("000.##"));
connectorOutput.Append("°");
connectorMonitor.FontColor = Color.Blue;
pistonOutput.Append("\n\n\n\nPISTON\n");
pistonOutput.Append("[ ");
pistonOutput.Append((Math.Floor(cranePiston.CurrentPosition * 10) / 10).ToString("F1"));
pistonOutput.Append("m ]");
rotorOutput.Append("\n\n\nROTOR\n");
rotorOutput.Append("[ ");
rotorOutput.Append(Math.Floor((craneRotor.Angle * (180 / Math.PI)) + 0.5).ToString("000.##"));
rotorOutput.Append("° ]");
pistonMonitor.WriteText(pistonOutput, false);
connectorMonitor.WriteText(connectorOutput, false);
rotorMonitor.WriteText(rotorOutput, false);
}
}
}