IEnumerable <string> CaptureTarget()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
foreach (IMySensorBlock sensor in Sensors)
{
sensor.Enabled = true;
}
yield return(null);
MyDetectedEntityInfo entity = new MyDetectedEntityInfo();
foreach (IMySensorBlock sensor in Sensors)
{
sensor.DetectedEntities(Entities);
foreach (MyDetectedEntityInfo ent in Entities)
{
if (ent.EntityId == TargetEntityID)
{
entity = ent;
break;
}
}
}
if (entity.IsEmpty())
{
Message($"Failed to detect target with ID={TargetEntityID}");
yield return("ReturnHome");
}
Timeout = ActionTimeout;
Message("Capturing target...");
Pilot.Tasks.Clear();
var goal = new Waypoint(entity);
Vector3D approach = entity.Position - Clamp.GetPosition();
var strategy = new DockingStrategy(goal, Clamp, approach);
strategy.AutoLockDistance = 2 * entity.BoundingBox.HalfExtents.Max();
Pilot.Tasks.Add(strategy);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (ActionTimeout > 0)
{
Timeout -= Runtime.TimeSinceLastRun.TotalSeconds;
}
if (!goal.UpdateEntity(Sensors))
{
Message("Aborting: target left sensor range.");
yield return("ReturnHome");
}
else if (HasToAbort())
{
yield return("ReturnHome");
}
else
{
yield return(null);
}
}
Message("Target captured.");
yield return("ReturnHome");
}
private void PerformDocking()
{
if (Pilot.Tasks.Count > 0)
{
QuickHalt();
}
Vector3D dock, approach, orientation;
if (!Front.EnableRaycast)
{
Front.EnableRaycast = true;
}
if (!Connector.IsFunctional || !GetApproachFromScan(Front, out dock, out approach, out orientation))
{
Echo("Can't dock.");
}
else
{
var task = new DockingStrategy(dock, Connector, approach, orientation);
task.PositionEpsilon = 0.25;
Pilot.Tasks.Add(task);
}
}
void Configure(string data, bool runtime)
{
MyIniParseResult result;
ini.Clear();
if (!ini.TryParse(data, out result))
{
throw new FormatException($"Failed to parse configuration:\n{result.Error}\nLine: {result.LineNo}");
}
AbortDistance = ini.Get("General", "AbortDistance").ToDouble(3000.0);
ScanningDistance = ini.Get("General", "ScanningDistance").ToDouble(40.0);
MaxSpeed = ini.Get("General", "MaxSpeed").ToDouble(100.0);
ActionTimeout = ini.Get("General", "ActionTimeout").ToDouble(120.0);
TransmitTag = ini.Get("General", "TransmitTag").ToString("");
DisableAntenna = ini.Get("General", "DisableAntenna").ToBoolean(false);
if (!string.IsNullOrEmpty(TransmitTag))
{
IGC.UnicastListener.SetMessageCallback("process_message");
}
if (ini.ContainsKey("General", "Dock") && ini.ContainsKey("General", "DockApproach"))
{
if (!Vector3D.TryParse(ini.Get("General", "Dock").ToString(), out DockLocation))
{
throw new FormatException("Dock location information is not correct.");
}
if (!Vector3D.TryParse(ini.Get("General", "DockApproach").ToString(), out DockApproachVector))
{
throw new FormatException("Dock approach information is not correct.");
}
}
else if (Connector.Status == MyShipConnectorStatus.Connected)
{
DockingStrategy.CalculateApproach(Connector.OtherConnector, out DockLocation, out DockApproachVector);
}
if (Vector3D.IsZero(DockLocation) && Vector3D.IsZero(DockApproachVector))
{
throw new Exception("Dock is not configured");
}
GrinderGroup = ini.Get("General", "GrinderGroup").ToString();
if (!Vector3D.TryParse(ini.Get("General", "GrinderLocation").ToString(), out GrinderLocation) ||
!Vector3D.TryParse(ini.Get("General", "GrinderApproach").ToString(), out GrinderApproach) ||
Vector3D.IsZero(GrinderApproach))
{
IMyBlockGroup grinders = GridTerminalSystem.GetBlockGroupWithName(GrinderGroup);
if (grinders != null)
{
AnalyzeGrinders(grinders);
}
else
{
GrinderLocation = Vector3D.Zero;
GrinderApproach = Vector3D.Zero;
}
}
else
{
GrinderApproach.Normalize();
}
#region Parse approach vectors
List <MyIniKey> keys = new List <MyIniKey>();
List <string> lines = new List <string>();
string _;
Vector3D vec;
Approaches.Clear();
ini.GetKeys("Approach", keys);
foreach (MyIniKey key in keys)
{
List <Vector3D> approach = new List <Vector3D>();
ini.Get(key).GetLines(lines);
foreach (string line in lines)
{
if (Waypoint.TryParseGPS(line, out vec, out _))
{
approach.Add(vec);
}
else
{
throw new FormatException($"Approach {key.Name} waypoint not in GPS format:\n{line}");
}
}
Approaches.Add(key.Name, approach);
}
if (Approaches.Count == 0)
{
throw new Exception("No approaches configured!");
}
Timeout = ActionTimeout;
#endregion
#region Runtime items - restoring a saved state
if (runtime)
{
string state = ini.Get("Runtime", "CurrentState").ToString("");
if (string.IsNullOrEmpty(state))
{
TargetLocation = Vector3D.Zero;
ChosenApproach = "";
ApproachIndex = -1;
TargetEntityID = 0;
State_Machine = new StateMachine(StateMaker, "");
Runtime.UpdateFrequency = UpdateFrequency.None;
}
else
{
Vector3D loc;
if (!Vector3D.TryParse(ini.Get("Runtime", "TargetLocation").ToString(""), out loc))
{
throw new Exception("Failed to restore target location");
}
else
{
TargetLocation = new Waypoint(loc, Vector3D.Zero, "Target");
}
ChosenApproach = ini.Get("Runtime", "ChosenApproach").ToString("");
ApproachIndex = ini.Get("Runtime", "ApproachIndex").ToInt32(-1);
TargetEntityID = ini.Get("Runtime", "TargetEntityID").ToInt64(0);
State_Machine = new StateMachine(StateMaker, state);
Runtime.UpdateFrequency = UpdateFrequency.Update10;
}
}
else
{
TargetLocation = Vector3D.Zero;
ChosenApproach = "";
ApproachIndex = -1;
TargetEntityID = 0;
State_Machine = new StateMachine(StateMaker, "");
Runtime.UpdateFrequency = UpdateFrequency.None;
}
#endregion
}
