public json getCelestialState(CelestialBody celestial)
{
Debug.Log ("Collecting: " + celestial.GetName ());
json buffer = new json ();
buffer.Add ("type", "celestial");
buffer.Add ("name", celestial.GetName ());
buffer.Add ("ref", celestial.referenceBody.GetName ());
if (celestial.orbitDriver != null) {
Orbit orbit = celestial.GetOrbit ();
Vector3d r = orbit.getRelativePositionAtUT (0);
Vector3d v = orbit.getOrbitalVelocityAtUT (0);
List<double> RV = new List<double> ();
// Swap coordinate system
RV.Add (r.y);
RV.Add (r.x);
RV.Add (r.z);
RV.Add (v.y);
RV.Add (v.x);
RV.Add (v.z);
buffer.Add ("rv", RV);
} else {
List<double> RV = new List<double> ();
RV.Add (0.0);
RV.Add (0.0);
RV.Add (0.0);
RV.Add (0.0);
RV.Add (0.0);
RV.Add (0.0);
buffer.Add ("rv", RV);
}
buffer.Add ("mu", celestial.gravParameter);
buffer.Add ("radius", celestial.Radius);
buffer.Add ("soi", celestial.sphereOfInfluence);
if (celestial.atmosphere == true) {
buffer.Add ("alt_atm", celestial.maxAtmosphereAltitude);
} else {
buffer.Add ("alt_atm", 0);
}
// Angular velocity data
buffer.Add ("ang_v", celestial.zUpAngularVelocity.magnitude);
buffer.Add ("initial_rotation", celestial.initialRotation);
buffer.Add ("rotation_angle", celestial.rotationAngle);
buffer.Add ("rotation_t0", Planetarium.GetUniversalTime ());
return buffer;
}
public json GameState()
{
json buffer = new json ();
buffer.Add ("ut", Planetarium.GetUniversalTime());
//buffer.Add ("rotating", Planetarium.FrameIsRotating());
buffer.Add ("frame_angle", Planetarium.InverseRotAngle);
buffer.Add ("active_vessel", FlightGlobals.ActiveVessel.id.ToString());
buffer.Add ("throttle", FlightInputHandler.state.mainThrottle);
return buffer;
}
public void UpdateClients()
{
json state = GameState ();
json buffer = new json ();
buffer.Add ("state", state);
List<json> vessel_buffer = new List<json> ();
vessel_buffer.Add (utilities.getVesselState (FlightGlobals.ActiveVessel));
buffer.Add ("vessels", vessel_buffer);
string msg = buffer.dumps ();
foreach (MissionControlService mcs in subscribed_clients) {
mcs.send (msg);
}
/*
if (RemoteTech.RTGlobals.coreList.ActiveCore != null) {
Debug.Log ("Remote connection:" + RemoteTech.RTGlobals.coreList.ActiveCore.InContact.ToString ());
if (RemoteTech.RTGlobals.coreList.ActiveCore.InContact == true && FlightGlobals.ActiveVessel != null) {
if (RMConn == false) {
RMConn = true;
server.SendAll ("RMCONN TRUE");
}
Vessel ActiveVessel = FlightGlobals.ActiveVessel;
//string pid = ActiveVessel.id.ToString ();
server.SendAll (utils.getStateLine (ActiveVessel));
}
else {
if (RMConn == true) {
RMConn = false;
server.SendAll ("RMCONN FALSE");
}
}
}
*/
// Check for new vessels..
/*
foreach (Vessel vessel in FlightGlobals.Vessels) {
if (!all_vessels.Contains (vessel)) {
all_vessels.Add (vessel);
server.SendAll (utils.getStateLine (vessel));
}
}
// Check for changed active vessel
if (active_vessel != FlightGlobals.ActiveVessel) {
active_vessel = FlightGlobals.ActiveVessel;
server.SendAll("AV\t" + active_vessel.id.ToString ());
}
*/
/*
Vessel ActiveVessel = FlightGlobals.ActiveVessel;
double UT = Planetarium.GetUniversalTime ();
bool frame_rotating = Planetarium.FrameIsRotating ();
double frame_angle = Planetarium.InverseRotAngle;
string rotating;
if (frame_rotating) {
rotating = "1";
}
else {
rotating = "0";
}
json buffer = new json ();
buffer.Add ("type", "update");
buffer.Add ("ut", UT);
buffer.Add ("rotating", rotating);
buffer.Add ("frame_angle", frame_angle);
buffer.Add ("active_vessel", ActiveVessel.id.ToString());
*/
//Debug.Log ("Forward: " + active_vessel.GetTransform ().eulerAngles.ToString ());
//Debug.Log ("Forward: " + active_vessel.GetTransform ().eulerAngles.ToString ());
//Debug.Log ("Surface rotation: " + active_vessel.srfRelRotation.ToString ());
//Debug.Log ("Surface eotation: " + active_vessel.srfRelRotation.eulerAngles);
//Transform test = active_vessel.GetTransform ();
//Debug.Log ("Rotation1: " + active_vessel.GetTransform().eulerAngles);
//Debug.Log ("Rotation2: " + active_vessel.GetTransform().rotation.eulerAngles);
//Debug.Log ("Rotation3: " + active_vessel.srfRelRotation.eulerAngles);
// REF: FAR
/*
Vector3 tmpVec = active_vessel.transform.up * Vector3.Dot(active_vessel.transform.up, active_vessel.srf_velocity.normalized) + active_vessel.transform.forward * Vector3.Dot(active_vessel.transform.forward, active_vessel.srf_velocity.normalized); //velocity vector projected onto a plane that divides the airplane into left and right halves
float AoA = Vector3.Dot(tmpVec.normalized, active_vessel.transform.forward);
AoA = Mathf.Rad2Deg * Mathf.Asin(AoA);
if (float.IsNaN(AoA))
AoA = 0;
*/
/*
tmpVec = active_vessel.transform.up * Vector3.Dot(active_vessel.transform.up, active_vessel.srf_velocity.normalized) + active_vessel.transform.right * Vector3.Dot(active_vessel.transform.right, active_vessel.srf_velocity.normalized); //velocity vector projected onto the vehicle-horizontal plane
float yaw = Vector3.Dot(tmpVec.normalized, active_vessel.transform.right);
yaw = Mathf.Rad2Deg * Mathf.Asin(yaw);
if (float.IsNaN(yaw))
yaw = 0;
*/
/*
float pitch = 0;
float yaw = 0;
float roll = 0;
NavBall ball = FlightUIController.fetch.GetComponentInChildren<NavBall>();
if (ball)
{
Quaternion vesselRot = Quaternion.Inverse(ball.relativeGymbal);
float heading = vesselRot.eulerAngles.y;
//vesselRot *= Quaternion.Euler(0, -heading, 0);
//heading = 360 - heading;
pitch = (vesselRot.eulerAngles.x > 180) ? (360 - vesselRot.eulerAngles.x) : -vesselRot.eulerAngles.x;
yaw = vesselRot.eulerAngles.y;
roll = (vesselRot.eulerAngles.z > 180) ? (360 - vesselRot.eulerAngles.z) : -vesselRot.eulerAngles.z;
}
Debug.Log ("AoA: " + AoA);
Debug.Log ("PCH: " + pitch);
Debug.Log ("YAW: " + yaw);
Debug.Log ("ROL: " + roll);
//server.SendAll (buffer.dumps());
//server.SendAll (utils.getStateLine (ActiveVessel));
*/
}
public void Synchronize(MissionControlService client)
{
Debug.Log ("STEP1");
// Retrieve celestial information
List<json> celestial_buffer = new List<json>();
foreach (CelestialBody celestial in FlightGlobals.Bodies) {
celestial_buffer.Add (utilities.getCelestialState (celestial));
}
Debug.Log ("STEP2");
// Retrieve vessel information and add the vessel to known vessels
List<json> vessel_buffer = new List<json>();
foreach (Vessel vessel in FlightGlobals.Vessels) {
vessel_buffer.Add (utilities.getVesselState (vessel));
Debug.Log ("STEP2X");
client.known_vessels.Add (vessel);
}
Debug.Log ("STEP3");
// Compile it into a single json packet
json buffer = new json();
buffer.Add ("state", GameState ());
buffer.Add ("celestials", celestial_buffer);
buffer.Add ("vessels", vessel_buffer);
Debug.Log ("STEP4");
client.send (buffer.dumps ());
Debug.Log ("STEP5");
UpdateClients (); // TODO: not necessary the right way to do it.
}
public void Add(string key, json value)
{
keys.Add ('"' + key + '"');
values.Add (value.dumps());
}
public json getVesselState(Vessel vessel)
{
Debug.Log ("STEP_XXX_1");
Orbit orbit = vessel.GetOrbit ();
//string referenceBody = FlightGlobals.Bodies.IndexOf (orbit.referenceBody).ToString ();
string referenceBody = orbit.referenceBody.GetName ();
//List<string> buffer = new List<string>();
json buffer = new json ();
buffer.Add ("type", "vessel");
if (vessel.situation == Vessel.Situations.LANDED) {
buffer.Add ("state", "landed");
}
else if (vessel.situation == Vessel.Situations.SPLASHED) {
buffer.Add ("state", "splashed");
}
else if (vessel.situation == Vessel.Situations.PRELAUNCH) {
buffer.Add ("state", "prelaunch");
}
else if (vessel.situation == Vessel.Situations.FLYING) {
buffer.Add ("state", "flying");
}
else if (vessel.situation == Vessel.Situations.ORBITING) {
buffer.Add ("state", "orbiting");
}
else if (vessel.situation == Vessel.Situations.DOCKED) {
buffer.Add ("state", "docked");
}
else if (vessel.situation == Vessel.Situations.SUB_ORBITAL) {
buffer.Add ("state", "suborbital");
}
else if (vessel.situation == Vessel.Situations.ESCAPING) {
buffer.Add ("state", "escaping");
}
else {
Debug.Log ("Unknown vessel situation");
buffer.Add ("state", "unknown");
} // # 1
Debug.Log ("STEP_XXX_2");
buffer.Add ("uid", vessel.id.ToString ());
buffer.Add ("name", vessel.vesselName); // # 3
buffer.Add ("ut", Planetarium.GetUniversalTime ()); // # 4
buffer.Add ("ref", referenceBody); // # 5
buffer.Add ("lon", vessel.longitude); // # 6
buffer.Add ("lat", vessel.latitude); // # 7
buffer.Add ("apo_t", vessel.orbit.timeToAp);
buffer.Add ("per_t", vessel.orbit.timeToPe);
// Why was this zero?
Vector3d r = orbit.getRelativePositionAtUT (Planetarium.GetUniversalTime ());
Vector3d v = orbit.getOrbitalVelocityAtUT (Planetarium.GetUniversalTime ());
//Vector3d r = orbit.pos.xzy;
//Vector3d v = orbit.vel.xzy;
List<double> RV = new List<double> ();
Debug.Log ("STEP_XXX_3");
// TODO explain the coordinate system further
RV.Add(r.y);
RV.Add(r.x);
RV.Add(r.z);
RV.Add(v.y);
RV.Add(v.x);
RV.Add(v.z);
buffer.Add ("rv", RV); // # 8
Vector3d forward = vessel.ReferenceTransform.forward;
Vector3d up = vessel.ReferenceTransform.up;
List<double> fwup = new List<double> ();
fwup.Add (forward.y);
fwup.Add (forward.x);
fwup.Add (forward.z);
fwup.Add (up.y);
fwup.Add (up.x);
fwup.Add (up.z);
Debug.Log ("STEP_XXX_4");
buffer.Add ("fwup", fwup);
//Debug.Log ("SPEED1: " + orbit.getOrbitalVelocityAtUT (Planetarium.GetUniversalTime ()).ToString ()); // Tis is currently used velocity
//Debug.Log ("SPEED2: " + orbit.GetFrameVelAtUT (Planetarium.GetUniversalTime ()).ToString ());
//Debug.Log ("SPEED3: " + orbit.GetRelativeVel ().ToString () );
// GetRelativeVel seems to be OK to get the correct position
//Debug.Log ("SPEED4: " + orbit.GetRotFrameVel ( ().ToString () );
//Debug.Log ("POSIT1: " + orbit.getPositionAtUT(Planetarium.GetUniversalTime ()).ToString ());
//Debug.Log ("POSIT2: " + orbit.getRelativePositionAtUT(Planetarium.GetUniversalTime ()).ToString ()); // Tis is currently used pos
//Debug.Log ("POSIT3: " + orbit.getTruePositionAtUT (Planetarium.GetUniversalTime ()).ToString ());
//Debug.Log ("POSIT4: " + orbit.pos.xzy.ToString ());
//Debug.Log ("FRAMEROT: " + Planetarium.FrameIsRotating ().ToString ());
//Debug.Log ("FRAMEROT: " + Planetarium.ZupRotation.ToString ());
//Debug.Log ("FRAMEROT: " + Planetarium.Rotation.ToString ());
//Debug.Log ("Framerot: " + Planetarium.InverseRotAngle.ToString ());
//buffer.Add (orbit.epoch.ToString ());
List<double> elements = new List<double> ();
elements.Add (orbit.semiMajorAxis);
elements.Add (orbit.eccentricity);
elements.Add (orbit.inclination);
elements.Add (orbit.LAN);
elements.Add (orbit.argumentOfPeriapsis); // # 9
//buffer.Add (orbit.meanAnomalyAtEpoch.ToString ());
buffer.Add ("elements", elements);
buffer.Add ("mt", vessel.missionTime); // # 10
buffer.Add ("atm_density", vessel.atmDensity); // # 11
buffer.Add ("geeforce", vessel.geeForce); // # 12
buffer.Add ("obt_v", vessel.obt_velocity.magnitude); // # 13
buffer.Add ("srf_v", vessel.srf_velocity.magnitude); // # 14
buffer.Add ("vrt_v", vessel.verticalSpeed); // # 15
buffer.Add ("pressure_s", vessel.staticPressure); // # 16
Debug.Log ("STEP_XXX_5");
if (vessel.Parts.Count () > 0) {
Part part = vessel.Parts [0];
buffer.Add ("pressure_d", part.dynamicPressureAtm); // # 17
buffer.Add ("temperature", part.temperature); // # 18
} else {
buffer.Add ("pressure_d", 0);
buffer.Add ("temperature", 0);
}
buffer.Add ("alt", vessel.altitude); // # 19
buffer.Add ("alt_srf", vessel.heightFromSurface); // # 20
buffer.Add ("alt_ter", vessel.heightFromTerrain); // # 21
buffer.Add ("alt_per", orbit.PeA);
buffer.Add ("alt_apo", orbit.ApA);
//vessel.GetTransform().rotation
Vector3 roteul = vessel.GetTransform ().rotation.eulerAngles;
Vector3 rotinv = Quaternion.Inverse(vessel.GetTransform ().rotation).eulerAngles;
List<double> rot = new List<double> ();
rot.Add (roteul.y);
rot.Add (roteul.x);
rot.Add (roteul.z);
rot.Add (rotinv.y);
rot.Add (rotinv.x);
rot.Add (rotinv.z);
buffer.Add ("rot", rot);
//buffer.Add (vessel.acceleration.magnitude.ToString ());
//buffer.Add (vessel.angularMomentum.magnitude.ToString ());
//buffer.Add (vessel.angularVelocity.magnitude.ToString ());
//buffer.Add (vessel.geeForce_immediate.ToString ());
//buffer.Add (vessel.horizontalSrfSpeed.ToString ());
//buffer.Add (vessel.pqsAltitude.ToString ());
//buffer.Add (vessel.rb_velocity.magnitude.ToString ());
//buffer.Add (vessel.specificAcceleration.ToString ());
//buffer.Add (vessel.terrainAltitude.ToString ());
Debug.Log ("STEP_XXX_6");
return buffer;
}
