public void Main(string argument, UpdateType updateSource)
{
if (!ModuleInited())
{
return;
}
if (init_error)
{
Echo(init_message);
ProgBlockLCD.WriteText(init_message);
if (LCD != null)
{
LCD.WriteText(init_message);
}
return;
}
ToLog("", false, false);
if (!string.IsNullOrEmpty(argument))
{
string cmd, cmd_param;
string argument_norm = argument.Trim().ToLower();
int spc_idx = argument_norm.IndexOf(" ");
if (spc_idx == -1)
{
cmd = argument_norm;
cmd_param = string.Empty;
}
else
{
cmd = argument_norm.Substring(0, spc_idx);
cmd_param = argument_norm.Substring(spc_idx + 1).TrimStart();
}
switch (cmd)
{
case "on":
{
HardwareOn();
break;
}
case "off":
{
HardwareOff();
break;
}
case "begin":
{
GotoStartPos();
break;
}
case "drill":
{
StartDrill();
break;
}
case "home":
{
GotoHome();
break;
}
case "pause":
{
PauseWork();
break;
}
case "continue":
{
ContinueWork();
break;
}
case "save":
{
switch (cmd_param)
{
case "l":
case "left":
{
FullStop();
angle_min = CurrentAngle();
break;
}
case "r":
case "right":
{
FullStop();
angle_max = CurrentAngle();
break;
}
case "b":
case "back":
{
FullStop();
radius_min = CurrentRadius();
break;
}
case "f":
case "forward":
{
FullStop();
radius_max = CurrentRadius();
break;
}
case "u":
case "up":
{
FullStop();
depth_min = CurrentDepth();
break;
}
case "d":
case "down":
{
FullStop();
depth_max = CurrentDepth();
break;
}
default:
break;
}
break;
}
case "move":
{
switch (cmd_param)
{
case "l":
case "left":
{
FullStop();
MoveLeft();
break;
}
case "r":
case "right":
{
FullStop();
MoveRight();
break;
}
case "f":
case "forward":
{
FullStop();
MoveForward();
break;
}
case "b":
case "back":
{
FullStop();
MoveBack();
break;
}
case "u":
case "up":
{
FullStop();
MoveUp();
break;
}
case "d":
case "down":
{
FullStop();
MoveDown();
break;
}
default:
{
FullStop();
break;
}
}
break;
}
case "clear":
FullStop();
ClearPrgSettings();
break;
case "stop":
FullStop();
break;
case "chdir":
{
switch (cmd_param)
{
case "r":
case "radius":
{
radius_direction = !radius_direction;
break;
}
case "a":
case "angle":
{
turn_direction = !turn_direction;
break;
}
default:
{
break;
}
}
break;
}
default:
break;
}
return;
}
if ((updateSource & UpdateType.Update10) == 0)
{
return;
}
//if (control_locked && Cockpit != null)
//{
// if (Cockpit.MoveIndicator.X > 0f)
// {
// DesiredAngle = MAX_ANGLE;
// SetAngleSpeed(FREE_VELOCITY);
// }
// else if (Cockpit.MoveIndicator.X < 0f)
// {
// DesiredAngle = -MAX_ANGLE;
// SetAngleSpeed(FREE_VELOCITY);
// }
// else
// {
// SetAngleSpeed(0f);
// }
//}
cargo_check_counter += 1;
if (cargo_check_counter >= CARGO_CHECK_INTERVAL)
{
cargo_check_counter = 0;
CheckCargo();
if (CurrentProgramm == DrillProgrammEnum.Drill)
{
if (cargo_fullness_percentage >= STOP_PERCENTAGE)
{
WaitCargoFull();
}
}
else if (CurrentProgramm == DrillProgrammEnum.WaitFull)
{
if (cargo_fullness_percentage <= CONTINUE_PERCENTAGE)
{
ContinueWork();
}
}
}
if (CheckProgramm())
{
switch (CurrentProgramm)
{
case DrillProgrammEnum.Drill:
{
GotoHome();
break;
}
case DrillProgrammEnum.GotoHome:
{
HardwareOff();
break;
}
case DrillProgrammEnum.GotoBegin:
case DrillProgrammEnum.Move:
{
FullStop();
break;
}
}
}
ToLog(string.Format("Тек.верт {0:#0.00} / {1:#0.00}", CurrentDepth(), DesiredDepth));
ToLog(string.Format("Отклонение {0:#0.00}", DepthDeviation()));
ToLog(string.Format("Верт.скорость {0:#0.00}", vert_spd));
ToLog(string.Format("Скорость поршня {0:#0.00}", VerticalPistons[0].Velocity));
ToLog(string.Format("Поз. поршня {0:#0.00}", VerticalPistons[0].CurrentPosition));
VerticalPistons.ForEach(b => ToLog(string.Format("Длина/скор {0:#0.00000} / {1:#0.00000}", b.CurrentPosition, b.Velocity)));
ToLog(string.Format("Поз. ротора {0:#0.00000}", CurrentAngle()));
DisplayUpdateCounter += 1;
if (DisplayUpdateCounter >= DisplayUpdateInterval)
{
ProgBlockLCD.WriteText("Cycle time, µs: " + (runTime * DisplayUpdateFreq).ToString("#0.0") + "\n");
Echo("Cycle time, µs: " + (runTime * DisplayUpdateFreq).ToString("#0.0") + "\n" + init_message);
DisplayUpdateCounter = 0;
runTime = 0d;
ProgBlockLCD.WriteText("Программа: " + ProgramToString() + "\n", true);
ProgBlockLCD.WriteText("Состояние: " + StateToString() + "\n", true);
ProgBlockLCD.WriteText(string.Format("Инвентарь: {0:#0.0}%\n", cargo_fullness_percentage), true);
ProgBlockLCD.WriteText("=== Задано ===\n", true);
ProgBlockLCD.WriteText(string.Format("Радиус: {0:#0.0} / {1:#0.0}\n", radius_min, radius_max), true);
ProgBlockLCD.WriteText(string.Format("Глубина: {0:#0.0} / {1:#0.0}\n", depth_min, depth_max), true);
ProgBlockLCD.WriteText(string.Format("Угол: {0:#0} / {1:#0}\n", MathHelper.ToDegrees(angle_min), MathHelper.ToDegrees(angle_max)), true);
ProgBlockLCD.WriteText(string.Format("Направление: {0} / {1}\n", (turn_direction ? "вправо" : "влево"), (radius_direction ? "вперёд" : "назад")), true);
ProgBlockLCD.WriteText("=== Положение ===\n", true);
ProgBlockLCD.WriteText(string.Format("Радиус: {0:#0.0} / {1:#0.0}\n", CurrentRadius(), DesiredRadius), true);
ProgBlockLCD.WriteText(string.Format("Глубина: {0:#0.0} / {1:#0.0}\n", CurrentDepth(), DesiredDepth), true);
ProgBlockLCD.WriteText(string.Format("Угол: {0:#0} / {1:#0}\n", MathHelper.ToDegrees(CurrentAngle()), MathHelper.ToDegrees(DesiredAngle)), true);
if (LCD != null)
{
string t = ProgBlockLCD.GetText();
LCD.WriteText(t);
}
}
runTime += Runtime.LastRunTimeMs;
}
public void Main(string argument, UpdateType updateSource)
{
if (!ModuleInited())
{
return;
}
if (init_error)
{
Echo(init_message);
ProgBlockLCD.WriteText(init_message);
if (LCD != null)
{
LCD.WriteText(init_message);
}
return;
}
ToLog("", false, false);
Vector3D GravityVector = Cockpit.GetNaturalGravity();
Vector3D GravityNorm = Vector3D.Normalize(GravityVector);
Vector3D VelocityVector = Cockpit.GetShipVelocities().LinearVelocity;
Vector3D VelocityVectorNorm = Vector3D.Normalize(VelocityVector);
Vector3D ForwardVectorNorm = Vector3D.Normalize(Vector3D.Reject(Cockpit.WorldMatrix.Forward, GravityNorm));
Vector3D LeftVectorNorm = Vector3D.Normalize(Vector3D.Reject(Cockpit.WorldMatrix.Left, GravityNorm));
Vector3D ForwardInput = ForwardVectorNorm * Cockpit.MoveIndicator.Z;
Vector3D LeftInput = LeftVectorNorm * Cockpit.MoveIndicator.X;
Vector3D ForwardVelocity = Vector3D.ProjectOnVector(ref VelocityVector, ref ForwardVectorNorm);
Vector3D LeftVelocity = Vector3D.ProjectOnVector(ref VelocityVector, ref LeftVectorNorm);
float UpInput = Cockpit.MoveIndicator.Y / 10;
Vector3D AlignVector = Vector3D.Zero;
/*if (!string.IsNullOrEmpty(argument))
* {
* string cmd, cmd_param;
* string argument_norm = argument.Trim().ToLower();
* int spc_idx = argument_norm.IndexOf(" ");
* if (spc_idx == -1)
* {
* cmd = argument_norm;
* cmd_param = string.Empty;
* }
* else
* {
* cmd = argument_norm.Substring(0, spc_idx);
* cmd_param = argument_norm.Substring(spc_idx + 1).TrimStart();
* }*/
switch (argument)
{
case "Dampeners":
{
PilotMode = PilotModeEnum.Dampeners;
break;
}
case "Cruise":
{
PilotMode = PilotModeEnum.Cruise;
if (ForwardVectorNorm == Vector3D.Normalize(ForwardVelocity))
{
cruisespeed = -(float)ForwardVelocity.Length();
}
else
{
cruisespeed = (float)ForwardVelocity.Length();
}
break;
}
case "FreeMove":
{
PilotMode = PilotModeEnum.FreeMove;
break;
}
case "Drill":
{
PilotMode = PilotModeEnum.Cruise;
cruisespeed = 3f;
altitude = 4f;
foreach (IMyThrust hover in HoverList)
{
hover.SetValue <float>("altitudemin_slider_L", altitude);
}
break;
}
case "Down":
{
PilotMode = PilotModeEnum.Cruise;
cruisespeed = 5f;
altitude = 5f;
foreach (IMyThrust hover in HoverList)
{
hover.SetValue <float>("altitudemin_slider_L", altitude);
}
break;
}
default:
break;
}
//}
if (!Vector3D.IsZero(LeftInput))
{
AlignVector += LeftInput * KI;
}
else
if (PilotMode != PilotModeEnum.FreeMove)
{
AlignVector += LeftVelocity * KV;
}
if (!Vector3D.IsZero(ForwardInput))
{
if (PilotMode == PilotModeEnum.Cruise)
{
cruisespeed += -Cockpit.MoveIndicator.Z / 10;
AlignVector += (ForwardVelocity - ForwardVectorNorm * cruisespeed) * KV;
}
else
{
AlignVector += ForwardInput * KI;
}
}
else
if (PilotMode == PilotModeEnum.Cruise)
{
AlignVector += (ForwardVelocity - ForwardVectorNorm * cruisespeed) * KV;
}
else
if (PilotMode != PilotModeEnum.FreeMove)
{
AlignVector += ForwardVelocity * KV;
}
AlignVector += GravityNorm;
float PitchInput = -(float)AlignVector.Dot(Cockpit.WorldMatrix.Forward);
float RollInput = (float)AlignVector.Dot(Cockpit.WorldMatrix.Left);
float YawInput = Cockpit.RollIndicator;
foreach (IMyThrust hover in HoverList)
{
altitude = hover.GetValue <float>("altitudemin_slider_L");
altitude += UpInput;
hover.SetValue <float>("altitudemin_slider_L", altitude);
}
foreach (IMyGyro gyro in GyroList)
{
gyro.GyroOverride = true;
gyro.Yaw = YawInput;
gyro.Roll = RollInput;
gyro.Pitch = PitchInput;
}
DisplayUpdateCounter += 1;
if (DisplayUpdateCounter >= DisplayUpdateInterval)
{
ProgBlockLCD.WriteText("Cycle time, µs: " + (runTime * DisplayUpdateFreq).ToString("#0.0") + "\n");
Echo("Cycle time, µs: " + (runTime * DisplayUpdateFreq).ToString("#0.0") + "\n" + init_message);
DisplayUpdateCounter = 0;
runTime = 0d;
Cockpit.TryGetPlanetElevation(MyPlanetElevation.Sealevel, out SealevelAlt);
Cockpit.TryGetPlanetElevation(MyPlanetElevation.Surface, out SurfaceAlt);
ProgBlockLCD.WriteText("Режим: " + PilotModeToString() + "\n", true);
ProgBlockLCD.WriteText(string.Format("cruisespeed: {0:#0.0}\n", cruisespeed), true);
ProgBlockLCD.WriteText(string.Format("FV: {0:#0.0} / LV: {1:#0.0} / V: {2:#0.0}\n", ForwardVelocity.Length(), LeftVelocity.Length(), VelocityVector.Length()), true);
ProgBlockLCD.WriteText(string.Format("Alt: {0:#0.0} / SLA: {1:#0.0} / SFA: {2:#0.0}\n", altitude, SealevelAlt, SurfaceAlt), true);
if (LCD != null)
{
string t = ProgBlockLCD.GetText();
LCD.WriteText(t);
}
}
runTime += Runtime.LastRunTimeMs;
}
public void Main(string argument, UpdateType updateSource)
{
if (!ModuleInited())
{
return;
}
if (init_error)
{
Echo(init_message);
ProgBlockLCD.WriteText(init_message);
if (LCD != null)
{
LCD.WriteText(init_message);
}
return;
}
ToLog("", false, false);
Vector3D GravityVector = Cockpit.GetNaturalGravity();
Vector3D GravityNorm = Vector3D.Normalize(GravityVector);
Vector3D VelocityVector = Cockpit.GetShipVelocities().LinearVelocity;
Vector3D VelocityVectorNorm = Vector3D.Normalize(VelocityVector);
Vector3D ForwardVectorNorm = Vector3D.Normalize(Vector3D.Reject(Cockpit.WorldMatrix.Forward, GravityNorm));
Vector3D LeftVectorNorm = Vector3D.Normalize(ForwardVectorNorm.Cross(GravityNorm));
Vector3D ForwardInput = ForwardVectorNorm * Cockpit.MoveIndicator.Z;
Vector3D LeftInput = LeftVectorNorm * Cockpit.MoveIndicator.X;
Vector3D ForwardVelocity = Vector3D.ProjectOnVector(ref VelocityVector, ref ForwardVectorNorm);
Vector3D LeftVelocity = Vector3D.ProjectOnVector(ref VelocityVector, ref LeftVectorNorm);
float UpInput = Cockpit.RollIndicator / 10;
Vector3D AlignVector = Vector3D.Zero;
switch (argument)
{
case "Dampeners":
{
PilotMode = PilotModeEnum.Dampeners;
break;
}
case "Cruise":
{
PilotMode = PilotModeEnum.Cruise;
if ((ForwardVectorNorm + ForwardVelocity).Length() > ForwardVelocity.Length())
{
cruisespeed = (float)ForwardVelocity.Length();
}
else
{
cruisespeed = -(float)ForwardVelocity.Length();
}
break;
}
case "FreeMove":
{
PilotMode = PilotModeEnum.FreeMove;
break;
}
default:
break;
}
if (!Vector3D.IsZero(LeftInput))
{
AlignVector += LeftInput * KI;
}
else
if (PilotMode != PilotModeEnum.FreeMove)
{
AlignVector += LeftVelocity * KV;
}
if (!Vector3D.IsZero(ForwardInput))
{
if (PilotMode == PilotModeEnum.Cruise)
{
cruisespeed += -Cockpit.MoveIndicator.Z / 10;
AlignVector += (ForwardVelocity - ForwardVectorNorm * cruisespeed) * KV;
}
else
{
AlignVector += ForwardInput * KI;
}
}
else
if (PilotMode == PilotModeEnum.Cruise)
{
AlignVector += (ForwardVelocity - ForwardVectorNorm * cruisespeed) * KV;
}
else
if (PilotMode != PilotModeEnum.FreeMove)
{
AlignVector += ForwardVelocity * KV;
}
AlignVector += GravityNorm;
float PitchInput = -(float)AlignVector.Dot(Cockpit.WorldMatrix.Forward);
float RollInput = (float)AlignVector.Dot(Cockpit.WorldMatrix.Left);
float YawInput = Cockpit.RotationIndicator.Y;
foreach (IMyThrust hover in HoverList)
{
altitude = hover.GetValue <float>("altitudemin_slider_L");
altitude += UpInput;
hover.SetValue <float>("altitudemin_slider_L", altitude);
}
foreach (IMyGyro gyro in GyroList)
{
gyro.GyroOverride = true;
gyro.Yaw = YawInput;
gyro.Roll = RollInput;
gyro.Pitch = PitchInput;
}
DisplayUpdateCounter += 1;
if (DisplayUpdateCounter >= DisplayUpdateInterval)
{
ProgBlockLCD.WriteText("\n" + "\n" + "\n" + "Cycle time, µs: " + (runTime * DisplayUpdateFreq).ToString("#0.0") + "\n");
Echo("Cycle time, µs: " + (runTime * DisplayUpdateFreq).ToString("#0.0") + "\n" + init_message);
DisplayUpdateCounter = 0;
runTime = 0d;
ProgBlockLCD.WriteText(PilotModeToString(), true);
string speed = string.Format("Скорость: {0:#0.0} / ", VelocityVector.Length());
if ((ForwardVectorNorm + ForwardVelocity).Length() > ForwardVelocity.Length())
{
speed += string.Format("Вперед: {0:#0.0} / ", ForwardVelocity.Length());
}
else
{
speed += string.Format("Назад: {0:#0.0} / ", ForwardVelocity.Length());
}
if ((LeftVectorNorm + LeftVelocity).Length() > LeftVelocity.Length())
{
speed += string.Format("Влево: {0:#0.0}\n", LeftVelocity.Length());
}
else
{
speed += string.Format("Вправо: {0:#0.0}\n", LeftVelocity.Length());
}
ProgBlockLCD.WriteText(speed, true);
double sla;
double sfa;
Cockpit.TryGetPlanetElevation(MyPlanetElevation.Sealevel, out sla);
Cockpit.TryGetPlanetElevation(MyPlanetElevation.Surface, out sfa);
ProgBlockLCD.WriteText(string.Format("Высота: пар. {0:#0.0} / ур. м. {1:#0.0} / пов. {2:#0.0}\n", altitude, sla, sfa), true);
float thrust = 0;
foreach (IMyThrust hover in HoverList)
{
thrust += hover.MaxThrust;
}
float curmass = Cockpit.CalculateShipMass().PhysicalMass;
float maxmass = thrust / (float)Cockpit.GetNaturalGravity().Length() * 3f;
ProgBlockLCD.WriteText(string.Format("Груз: {0:# ### ###} кг из {1:# ### ###} кг / {2: ##.# %}\n", curmass, maxmass, curmass / maxmass), true);
float curvol = 0;
float maxvol = 0;
IMyInventory inv;
foreach (IMyCargoContainer cargo in CargoList)
{
inv = cargo.GetInventory();
curvol += (float)inv.CurrentVolume;
maxvol += (float)inv.MaxVolume;
}
ProgBlockLCD.WriteText(string.Format("Трюм: {0:# ### ###} л из {1:# ### ###} л / {2: ##.# %}\n", curvol * 1000, maxvol * 1000, curvol / maxvol), true);
if (LCD != null)
{
string t = ProgBlockLCD.GetText();
LCD.WriteText(t);
}
}
runTime += Runtime.LastRunTimeMs;
}
