/// <summary>
/// Waits for the grid to stop.
/// </summary>
public override void Move()
{
if (LinearSlowdown() || AngularSlowdown())
{
Log.DebugLog("linear: " + m_mover.Block.Physics.LinearVelocity + ", angular: " + m_mover.Block.Physics.AngularVelocity);
return;
}
INavigatorRotator rotator = m_navSet.Settings_Current.NavigatorRotator;
if (rotator != null && !m_navSet.DirectionMatched())
{
Log.DebugLog("waiting for rotator to match");
return;
}
m_mover.MoveAndRotateStop();
Log.DebugLog("stopped");
m_navSet.OnTaskComplete_NavRot();
if (m_exitAfter)
{
Log.DebugLog("setting disable", Logger.severity.DEBUG);
m_mover.SetControl(false);
}
}
private bool MoveAndRotate()
{
INavigatorMover navM = m_navSet.Settings_Current.NavigatorMover;
if (navM != null)
{
Profiler.Profile(navM.Move);
INavigatorRotator navR = m_navSet.Settings_Current.NavigatorRotator; // fetched here because mover might remove it
if (navR != null)
{
Profiler.Profile(navR.Rotate);
}
else
{
navR = m_navSet.Settings_Current.NavigatorMover as INavigatorRotator; // fetch again in case it was removed
if (navR != null)
{
Profiler.Profile(navR.Rotate);
}
}
Profiler.Profile(m_mover.MoveAndRotate);
return(true);
}
return(false);
}
/// <summary>
/// run the rotator by itself until direction is matched
/// </summary>
private bool RotateOnly()
{
INavigatorRotator navR = m_navSet.Settings_Current.NavigatorRotator;
if (navR != null)
{
// direction might have been matched by another rotator, so run it first
Profiler.Profile(navR.Rotate);
Profiler.Profile(m_mover.MoveAndRotate);
if (m_navSet.DirectionMatched())
{
m_mover.StopRotate();
m_mover.MoveAndRotate();
}
else
{
return(true);
}
}
return(false);
}
private void UpdateCustomInfo()
{
AutopilotTerminal ApTerm = m_block.AutopilotTerminal;
AllNavigationSettings.SettingsLevel Settings_Current = m_navSet.Settings_Current;
ApTerm.m_autopilotStatus = m_state;
if (m_state == State.Halted)
{
return;
}
AutopilotTerminal.AutopilotFlags flags = AutopilotTerminal.AutopilotFlags.None;
if (m_controlledGrid != null)
{
flags |= AutopilotTerminal.AutopilotFlags.HasControl;
}
if (m_pathfinder.ReportedObstruction != null)
{
ApTerm.m_blockedBy = m_pathfinder.ReportedObstruction.EntityId;
if (m_pathfinder.RotateCheck.ObstructingEntity != null)
{
flags |= AutopilotTerminal.AutopilotFlags.RotationBlocked;
}
}
else if (m_pathfinder.RotateCheck.ObstructingEntity != null)
{
flags |= AutopilotTerminal.AutopilotFlags.RotationBlocked;
ApTerm.m_blockedBy = m_pathfinder.RotateCheck.ObstructingEntity.EntityId;
}
EnemyFinder ef = Settings_Current.EnemyFinder;
if (ef != null && ef.Grid == null)
{
flags |= AutopilotTerminal.AutopilotFlags.EnemyFinderIssue;
ApTerm.m_reasonCannotTarget = ef.m_reason;
if (ef.m_bestGrid != null)
{
ApTerm.m_enemyFinderBestTarget = ef.m_bestGrid.Entity.EntityId;
}
}
INavigatorMover navM = Settings_Current.NavigatorMover;
if (navM != null)
{
flags |= AutopilotTerminal.AutopilotFlags.HasNavigatorMover;
ApTerm.m_prevNavMover = navM.GetType().Name;
AutopilotTerminal.Static.prevNavMoverInfo.Update((IMyTerminalBlock)m_block.CubeBlock, navM.AppendCustomInfo);
}
INavigatorRotator navR = Settings_Current.NavigatorRotator;
if (navR != null && navR != navM)
{
flags |= AutopilotTerminal.AutopilotFlags.HasNavigatorRotator;
ApTerm.m_prevNavRotator = navR.GetType().Name;
AutopilotTerminal.Static.prevNavRotatorInfo.Update((IMyTerminalBlock)m_block.CubeBlock, navR.AppendCustomInfo);
}
ApTerm.m_autopilotFlags = flags;
ApTerm.m_pathfinderState = m_pathfinder.CurrentState;
ApTerm.SetWaitUntil(Settings_Current.WaitUntil);
ApTerm.SetDistance(Settings_Current.Distance, Settings_Current.DistanceAngle);
ApTerm.m_welderUnfinishedBlocks = m_navSet.WelderUnfinishedBlocks;
ApTerm.m_complaint = Settings_Current.Complaint;
ApTerm.m_jumpComplaint = m_pathfinder.JumpComplaint;
}