public void Main(string argument)
{
if (argument == "Start")
{
GravOn = true;
}
if (argument == "Stop")
{
foreach (IMyGravityGenerator grav in gravigenlist)
{
grav.ApplyAction("OnOff_Off");
}
foreach (IMyArtificialMassBlock mass in MassList)
{
mass.ApplyAction("OnOff_Off");
}
gyroscope.GyroOverride = false;
gyroscope.ApplyAction("OnOff_Off");
GravOn = false;
}
if (GravOn)
{
UpdateGravDrive();
}
}
void GyroOverride(bool isOverride, Vector3 v, float power = 1)
{
var gyros = new List <IMyTerminalBlock>();
GridTerminalSystem.SearchBlocksOfName("Gyro", gyros);
for (int i = 0; i < gyros.Count; i++)
{
IMyGyro gyro = gyros[i] as IMyGyro;
if (gyro != null)
{
if ((!gyro.GyroOverride && isOverride) || (gyro.GyroOverride && !isOverride))
{
gyro.ApplyAction("Override");
}
gyro.SetValue("Power", power);
gyro.SetValue("Yaw", v.GetDim(0));
gyro.SetValue("Pitch", v.GetDim(1));
gyro.SetValue("Roll", v.GetDim(2));
}
}
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10 | UpdateFrequency.Update100;
ini.TryParse(Storage);
antenna = GridTerminalSystem.GetBlockWithName("Antenna Miner#1") as IMyRadioAntenna;
rc = GridTerminalSystem.GetBlockWithName("rc") as IMyRemoteControl;
gyro = GridTerminalSystem.GetBlockWithName("Gyroscope") as IMyGyro;
connector = GridTerminalSystem.GetBlockWithName("Connector") as IMyShipConnector;
connector.PullStrength = float.PositiveInfinity;
if (connector.Status == MyShipConnectorStatus.Connected)
{
goodsetup = false;
}
shipMass = rc.CalculateShipMass().TotalMass;
if (connector.Orientation.Forward == rc.Orientation.Forward)
{
rcDockingDir = Base6Directions.Direction.Forward;
}
else if (connector.Orientation.Forward == Base6Directions.GetFlippedDirection(rc.Orientation.Forward))
{
rcDockingDir = Base6Directions.Direction.Backward;
}
else if (connector.Orientation.Forward == rc.Orientation.Left)
{
rcDockingDir = Base6Directions.Direction.Left;
}
else if (connector.Orientation.Forward == Base6Directions.GetFlippedDirection(rc.Orientation.Left))
{
rcDockingDir = Base6Directions.Direction.Right;
}
else if (connector.Orientation.Forward == rc.Orientation.Up)
{
rcDockingDir = Base6Directions.Direction.Up;
}
else if (connector.Orientation.Forward == Base6Directions.GetFlippedDirection(rc.Orientation.Up))
{
rcDockingDir = Base6Directions.Direction.Down;
}
else
{
Echo("ERROR: ORIENTATION MATCHING FAILED");
}
BoundingBoxD boundingBox = rc.CubeGrid.WorldAABB;
lengthOfShip = Vector3D.Distance(boundingBox.Max, boundingBox.Min);
gyros = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType(gyros);
foreach (IMyGyro gyro in gyros)
{
gyro.Pitch = 0;
gyro.Yaw = 0;
gyro.GyroOverride = false;
gyro.ApplyAction("OnOff_On");
}
if (ini.ContainsKey("save", "password"))
{
password = ini.Get("save", "password").ToString();
}
else if (customPasswordMode)
{
password = customPassword;
}
else
{
Random r = new Random();
password = r.Next(1000000, 9999999) + "";
}
allThrusters = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType(allThrusters);
allThrustGroups.Add(leftThrusterGroup);
allThrustGroups.Add(rightThrusterGroup);
allThrustGroups.Add(upThrusterGroup);
allThrustGroups.Add(downThrusterGroup);
allThrustGroups.Add(backThrusterGroup);
foreach (IMyThrust thruster in allThrusters)
{
if (thruster.Orientation.Forward == Base6Directions.GetFlippedDirection(connector.Orientation.Up))
{
downThrusterGroup.Add(thruster);
}
else if (thruster.Orientation.Forward == connector.Orientation.Up)
{
upThrusterGroup.Add(thruster);
}
else if (thruster.Orientation.Forward == connector.Orientation.Left)
{
leftThrusterGroup.Add(thruster);
}
else if (thruster.Orientation.Forward == Base6Directions.GetFlippedDirection(connector.Orientation.Left))
{
rightThrusterGroup.Add(thruster);
}
else if (thruster.Orientation.Forward == Base6Directions.GetFlippedDirection(connector.Orientation.Forward))
{
backThrusterGroup.Add(thruster);
totalBackForce += thruster.MaxEffectiveThrust;
}
}
if (ini.ContainsKey("save", "linkedConnectorName"))
{
linkedConnectorName = ini.Get("save", "linkedConnectorName").ToString();
}
if (ini.ContainsKey("save", "groupName"))
{
linkedConnectorName = ini.Get("save", "groupName").ToString();
}
if (ini.ContainsKey("save", "dockingConnectorPos"))
{
Vector3D.TryParse(ini.Get("save", "dockingConnectorPos").ToString(), out dockingConnectorPos);
}
if (ini.ContainsKey("save", "dockingDir"))
{
Vector3D.TryParse(ini.Get("save", "dockingDir").ToString(), out dockingDir);
}
if (ini.ContainsKey("save", "mode"))
{
Int32.TryParse(ini.Get("save", "mode").ToString(), out mode);
}
var k = 0;
MyWaypointInfo element;
globalPath.Clear();
while (ini.ContainsKey("save", "globalPath_" + k))
{
MyWaypointInfo.TryParse(ini.Get("save", "globalPath_" + k).ToString(), out element);
globalPath.Add(element);
k++;
}
reversePath.Clear();
reversePath = globalPath;
reversePath.Reverse();
}
Boolean Dock3()
{
mode = 3;
foreach (IMyThrust thruster in allThrusters)
{
thruster.ThrustOverridePercentage = 0;
}
rc.SetAutoPilotEnabled(false);
foreach (IMyGyro gyro in gyros)
{
gyro.ApplyAction("OnOff_On");
}
double yaw;
double pitch;
Boolean yawLock = false;
Boolean pitchLock = false;
GetRotationAngles(Vector3D.Negate(dockingDir), connector, out yaw, out pitch);
ApplyGyroOverride(pitch, yaw, 0, gyros, connector);
if (yaw < 0.01)
{
yawLock = true;
}
if (pitch < 0.01)
{
pitchLock = true;
}
Echo("yawLock:" + yawLock);
Echo("pitchLock" + pitchLock);
if (pitchLock && yawLock)
{
Vector3D closestPoint;
double distanceFromDockingVector = DistanceFromVector(dockingConnectorPos, dockingDir, connector.GetPosition(), out closestPoint);
Echo("Distance from docking vector:" + distanceFromDockingVector);
if (distanceFromDockingVector > 0.35)
{
NewAdjustTest(closestPoint, connector, distanceFromDockingVector);
}
else if (distanceFromDockingVector == -1)
{
Echo("Error in docking vector distance calculation");
}
else
{
float shipmass = rc.CalculateShipMass().TotalMass;
if (rc.GetShipSpeed() < 1.5)
{
foreach (IMyThrust thruster in backThrusterGroup)
{
thruster.ThrustOverride = shipmass;
}
}
else
{
foreach (IMyThrust thruster in backThrusterGroup)
{
thruster.ThrustOverridePercentage = 0;
}
}
if (Vector3D.Distance(dockingConnectorPos, rc.GetPosition()) > errorDistance)
{
Storage = "";
dockingConnectorPos = new Vector3D();
dockingDir = new Vector3D();
mode = 0;
globalPath.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);
}
antenna.CustomName += " ERROR";
}
}
}
if (connector.Status == MyShipConnectorStatus.Connectable)
{
connector.Connect(); mode = 5;
globalPath.Clear();
foreach (IMyThrust thruster in allThrusters)
{
thruster.ThrustOverridePercentage = 0;
}
foreach (IMyGyro gyro in gyros)
{
gyro.Pitch = 0;
gyro.Yaw = 0;
gyro.Roll = 0;
}
return(true);
}
return(false);
}
