public static ScalarValue Multiply(ScalarValue val1, ScalarValue val2)
{
return Create(val1.GetDoubleValue() * val2.GetDoubleValue());
}
public static bool GreaterThan(ScalarValue val1, ScalarValue val2)
{
return val1.GetDoubleValue() > val2.GetDoubleValue();
}
public static ScalarValue Min(ScalarValue val1, ScalarValue val2)
{
return Create(Math.Min(val1.GetDoubleValue(), val2.GetDoubleValue()));
}
public ScalarValue GetMaxThrustAtAtm(ScalarValue atmPressure)
{
return engine.MaxThrustAtAtm(atmPressure);
}
public static ScalarValue Add(ScalarValue val1, ScalarValue val2)
{
return Create(val1.GetDoubleValue() + val2.GetDoubleValue());
}
public ScalarValue GetMaxThrustAt(ScalarValue atmPressure)
{
return VesselUtils.GetMaxThrust(Vessel, atmPressure);
}
public void MoveTo(ScalarValue position, ScalarValue speed)
{
servo.MoveTo(position, speed);
}
public static ScalarValue Divide(ScalarValue val1, ScalarValue val2)
{
return(Create(val1.GetDoubleValue() / val2.GetDoubleValue()));
}
public static ScalarValue Power(ScalarValue val1, ScalarValue val2)
{
return(Create(Math.Pow(val1.GetDoubleValue(), val2.GetDoubleValue())));
}
public static ScalarValue Subtract(ScalarValue val1, ScalarValue val2)
{
return(Create(val1.GetDoubleValue() - val2.GetDoubleValue()));
}
public static ScalarValue Multiply(ScalarValue val1, ScalarValue val2)
{
return(Create(val1.GetDoubleValue() * val2.GetDoubleValue()));
}
public static ScalarValue Add(ScalarValue val1, ScalarValue val2)
{
return(Create(val1.GetDoubleValue() + val2.GetDoubleValue()));
}
public ScalarValue Update(ScalarValue sampleTime, ScalarValue input)
{
double error = Setpoint - input;
if (error > -Epsilon && error < Epsilon)
{
// Pretend there is no error (get everything to zero out)
// because the error is within the epsilon:
error = 0;
input = Setpoint;
Input = input;
Error = error;
}
double pTerm = error * Kp;
double iTerm = 0;
double dTerm = 0;
if (LastSampleTime < sampleTime)
{
double dt = sampleTime - LastSampleTime;
if (Ki != 0)
{
if (ExtraUnwind)
{
if (Math.Sign(error) != Math.Sign(ErrorSum))
{
if (!unWinding)
{
Ki *= 2;
unWinding = true;
}
}
else if (unWinding)
{
Ki /= 2;
unWinding = false;
}
}
iTerm = ITerm + error * dt * Ki;
}
ChangeRate = (input - Input) / dt;
if (Kd != 0)
{
dTerm = -ChangeRate * Kd;
}
}
else
{
dTerm = DTerm;
iTerm = ITerm;
}
Output = pTerm + iTerm + dTerm;
if (Output > MaxOutput)
{
Output = MaxOutput;
if (Ki != 0 && LastSampleTime < sampleTime)
{
iTerm = Output - Math.Min(pTerm + dTerm, MaxOutput);
}
}
if (Output < MinOutput)
{
Output = MinOutput;
if (Ki != 0 && LastSampleTime < sampleTime)
{
iTerm = Output - Math.Max(pTerm + dTerm, MinOutput);
}
}
LastSampleTime = sampleTime;
Input = input;
Error = error;
PTerm = pTerm;
ITerm = iTerm;
DTerm = dTerm;
if (Ki != 0)
{
ErrorSum = iTerm / Ki;
}
else
{
ErrorSum = 0;
}
return(Output);
}
public ScalarValue Update(ScalarValue sampleTime, ScalarValue input)
{
double error = Setpoint - input;
double pTerm = error * Kp;
double iTerm = 0;
double dTerm = 0;
if (LastSampleTime < sampleTime)
{
double dt = sampleTime - LastSampleTime;
if (Ki != 0)
{
if (ExtraUnwind)
{
if (Math.Sign(error) != Math.Sign(ErrorSum))
{
if (!unWinding)
{
Ki *= 2;
unWinding = true;
}
}
else if (unWinding)
{
Ki /= 2;
unWinding = false;
}
}
iTerm = ITerm + error * dt * Ki;
}
ChangeRate = (input - Input) / dt;
if (Kd != 0)
{
dTerm = -ChangeRate * Kd;
}
}
else
{
dTerm = DTerm;
iTerm = ITerm;
}
Output = pTerm + iTerm + dTerm;
if (Output > MaxOutput)
{
Output = MaxOutput;
if (Ki != 0 && LastSampleTime < sampleTime)
{
iTerm = Output - Math.Min(pTerm + dTerm, MaxOutput);
}
}
if (Output < MinOutput)
{
Output = MinOutput;
if (Ki != 0 && LastSampleTime < sampleTime)
{
iTerm = Output - Math.Max(pTerm + dTerm, MinOutput);
}
}
LastSampleTime = sampleTime;
Input = input;
Error = error;
PTerm = pTerm;
ITerm = iTerm;
DTerm = dTerm;
if (Ki != 0)
{
ErrorSum = iTerm / Ki;
}
else
{
ErrorSum = 0;
}
return(Output);
}
public static ScalarValue Subtract(ScalarValue val1, ScalarValue val2)
{
return Create(val1.GetDoubleValue() - val2.GetDoubleValue());
}
public static bool GreaterThan(ScalarValue val1, ScalarValue val2)
{
return(val1.GetDoubleValue() > val2.GetDoubleValue());
}
public static bool TryParseDouble(string str, out ScalarValue result)
{
result = null; // default the out value to null
str = trimPattern.Replace(str, "E"); // remove white space around "e"
double val;
if (double.TryParse(str, out val))
{
// use Create instead of new ScalarDoubleValue so doubles that
// represent integers will output a ScalarIntValue instead
result = Create(val);
return true;
}
return false;
}
public static bool LessThan(ScalarValue val1, ScalarValue val2)
{
return(val1.GetDoubleValue() < val2.GetDoubleValue());
}
/// <summary>
/// The pair of velocities representing this spot's velocity due to
/// planetary rotation, at this (sea level) altitude:
/// </summary>
/// <returns>velocities pair </returns>
public OrbitableVelocity GetAltitudeVelocities(ScalarValue altitude)
{
Vector3d pos = Body.GetWorldSurfacePosition(Latitude, Longitude, altitude);
Vector3d vel = Body.getRFrmVel(pos);
CelestialBody shipBody = Shared.Vessel.orbit.referenceBody;
if (shipBody == null)
return new OrbitableVelocity(new Vector(vel), new Vector(vel));
Vector3d srfVel = vel - shipBody.getRFrmVel(Shared.Vessel.CoMD);
return new OrbitableVelocity(new Vector(vel), new Vector(srfVel));
}
public static ScalarValue Min(ScalarValue val1, ScalarValue val2)
{
return(Create(Math.Min(val1.GetDoubleValue(), val2.GetDoubleValue())));
}
public ScalarValue GetIspAtAtm(ScalarValue atmPressure)
{
return engine.IspAtAtm(atmPressure);
}
public static ScalarValue Abs(ScalarValue val)
{
return(Create(Math.Abs(val.GetDoubleValue())));
}
public static ScalarValue Abs(ScalarValue val)
{
return Create(Math.Abs(val.GetDoubleValue()));
}
public string Substring(ScalarValue start, ScalarValue count)
{
return(internalString.Substring(start, count));
}
public static ScalarValue Divide(ScalarValue val1, ScalarValue val2)
{
return Create(val1.GetDoubleValue() / val2.GetDoubleValue());
}
// IndexOf with a start position.
// This was named FindAt because IndexOfAt made little sense.
public ScalarValue FindAt(string s, ScalarValue start)
{
return(internalString.IndexOf(s, start, StringComparison.OrdinalIgnoreCase));
}
public static bool LessThan(ScalarValue val1, ScalarValue val2)
{
return val1.GetDoubleValue() < val2.GetDoubleValue();
}
public string Insert(ScalarValue location, string s)
{
return(internalString.Insert(location, s));
}
public static ScalarValue Modulus(ScalarValue val1, ScalarValue val2)
{
if (val1.IsInt && val2.IsInt)
{
return Create(val1.GetIntValue() % val2.GetIntValue());
}
return Create(val1.GetDoubleValue() % val2.GetDoubleValue());
}
// Set the rate to the nearest rate to the value given that the user interface
// normally allows. (i.e. if you tell it to set the rate to 90x, it will round
// to 100x) Note that the underlying API allows any in-between warp value, but
// in keeping with the philosophy that kOS should only allow the user to do things
// they could have done manually, we'll clamp it to the user interface's allowed
// rates:
public void SetRate(ScalarValue desiredRate)
{
float wantRate = desiredRate;
float[] rateArray = GetRateArrayForMode(TimeWarp.WarpMode);
// Walk the list of possible rates, settling on the one
// that is closest to the desired rate (has smallest error
// difference):
float error = float.MaxValue;
int index;
for (index = 0; index < rateArray.Length; ++index)
{
float nextError = Mathf.Abs(wantRate - rateArray[index]);
if (nextError > error)
break;
error = nextError;
}
SetWarpRate(index - 1, rateArray.Length - 1);
}
public static ScalarValue Power(ScalarValue val1, ScalarValue val2)
{
return Create(Math.Pow(val1.GetDoubleValue(), val2.GetDoubleValue()));
}
public void WarpTo(ScalarValue timeStamp)
{
TimeWarp.fetch.WarpTo(timeStamp.GetDoubleValue());
}
public static bool TryParse(string str, out ScalarValue result)
{
result = null; // default the out value to null
bool needsDoubleParse = str.IndexOfAny(doubleCharacters) >= 0;
if (needsDoubleParse)
{
return TryParseDouble(str, out result);
}
else
{
return TryParseInt(str, out result);
}
}
private PartModuleFields GetModuleIndex(ScalarValue moduleIndex)
{
if (moduleIndex < Part.Modules.Count)
{
return PartModuleFieldsFactory.Construct(Part.Modules.GetModule(moduleIndex), Shared);
}
throw new KOSLookupFailException("module", string.Format("MODULEINDEX[{0}]", moduleIndex), this);
}
public static bool TryParseInt(string str, out ScalarValue result)
{
result = null; // default the out value to null
int val;
if (int.TryParse(str, out val))
{
result = new ScalarIntValue(val);
return true;
}
return false;
}
public void MoveTo(ScalarValue position, ScalarValue speed)
{
partValue.ThrowIfNotCPUVessel();
servo.MoveTo(position, speed);
}
/// <summary>
/// The point above or below the surface of this LAT/LONG from where
/// the current CPU vessel is now.
/// </summary>
/// <param name="altitude">The (sea level) altitude to get a position for</param>>
/// <returns>position vector</returns>
public Vector GetAltitudePosition(ScalarValue altitude)
{
Vector3d latLongCoords = Body.GetWorldSurfacePosition(Latitude, Longitude, altitude);
Vector3d hereCoords = Shared.Vessel.CoMD;
return new Vector(latLongCoords - hereCoords);
}
public ScalarValue GetAvailableThrustAtAtm(ScalarValue atmPressure)
{
return engine.AvailableThrustAtAtm(atmPressure);
}
public ScalarValue Update(ScalarValue sampleTime, ScalarValue input)
{
double error = Setpoint - input;
double pTerm = error * Kp;
double iTerm = 0;
double dTerm = 0;
if (LastSampleTime < sampleTime)
{
double dt = sampleTime - LastSampleTime;
if (Ki != 0)
{
if (ExtraUnwind)
{
if (Math.Sign(error) != Math.Sign(ErrorSum))
{
if (!unWinding)
{
Ki *= 2;
unWinding = true;
}
}
else if (unWinding)
{
Ki /= 2;
unWinding = false;
}
}
iTerm = ITerm + error * dt * Ki;
}
ChangeRate = (input - Input) / dt;
if (Kd != 0)
{
dTerm = -ChangeRate * Kd;
}
}
else
{
dTerm = DTerm;
iTerm = ITerm;
}
Output = pTerm + iTerm + dTerm;
if (Output > MaxOutput)
{
Output = MaxOutput;
if (Ki != 0 && LastSampleTime < sampleTime)
{
iTerm = Output - Math.Min(pTerm + dTerm, MaxOutput);
}
}
if (Output < MinOutput)
{
Output = MinOutput;
if (Ki != 0 && LastSampleTime < sampleTime)
{
iTerm = Output - Math.Max(pTerm + dTerm, MinOutput);
}
}
LastSampleTime = sampleTime;
Input = input;
Error = error;
PTerm = pTerm;
ITerm = iTerm;
DTerm = dTerm;
if (Ki != 0) ErrorSum = iTerm / Ki;
else ErrorSum = 0;
return Output;
}
private void CannotSetWidth(ScalarValue newWidth)
{
throw new kOS.Safe.Exceptions.KOSTermWidthObsoletionException("1.1");
}
