public void handleDockingRequest(string data)
{
if (Communication.currentNode.type != "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 2)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int slaveId = int.Parse(dataSplitted[1]);
int nodeIndex = this.getNodeIndexById(slaveId);
if (nodeIndex == -1)
{
Communication.connectedNodes.Add(slaveId);
Drone node = new Drone(slaveId);
node.initNavigation(this.myGrid);
Communication.connectedNodesData.Add(node);
nodeIndex = this.getNodeIndexById(slaveId);
}
AnchoredConnector available = AnchoredConnector.getAvailableAnchoredConnector();
if (available == null)
{
Display.print("Docking request denied (Connectors full).");
}
else
{
if (Docking.dockingWithDrone(slaveId))
{
Display.print("Already accepted, continue on docking.");
this.sendDockingAccepted(slaveId);
this.sendConnectorData(slaveId);
}
else
{
Display.print("Assigning a proper connector.");
DockingProcedure dock = new DockingProcedure(slaveId);
dock.setNavHandle(Communication.currentNode.navHandle);
dock.myConnector = available;
dock.initDocking();
Docking.activeDockingProcedures.Add(dock);
this.sendDockingAccepted(slaveId);
this.sendConnectorData(slaveId);
}
}
}
else
{
Display.print("[ERROR] Docking request invalid. (" + data + ")");
}
}
public void handleDockingStep(List <CommunicationDataStructureValue> responseData)
{
if (Communication.currentNode.type != "mothership")
{
return;
}
int id = 0, slaveId = 0, step = 0, connectorId = 0;
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "slaveId")
{
slaveId = int.Parse(data.getValue());
}
else if (data.getName() == "step")
{
step = int.Parse(data.getValue());
}
else if (data.getName() == "connectorId")
{
connectorId = int.Parse(data.getValue());
}
}
if (id == Communication.currentNode.id)
{
if (slaveId != 0 && !Docking.dockingWithDrone(slaveId))
{
this.sendStopDocking("out-of-order", slaveId);
}
else
{
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure == null || procedure.myConnector.connectorId != connectorId)
{
this.sendStopDocking("out-of-order", slaveId);
}
}
}
}
public void handleDockingAccepted(string data)
{
if (Communication.currentNode.type == "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 2)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int masterId = int.Parse(dataSplitted[1]);
int nodeIndex = this.getNodeIndexById(masterId);
if (nodeIndex == -1)
{
Communication.connectedNodes.Add(masterId);
Drone node = new Drone(masterId);
node.initNavigation(this.myGrid);
Communication.connectedNodesData.Add(node);
nodeIndex = this.getNodeIndexById(masterId);
}
if (Docking.dockingWithDrone(masterId))
{
DockingProcedure procedure = Docking.getDroneDockingProcedure(masterId);
procedure.haltDocking("docking-already-in-progress");
}
DockingProcedure dock = new DockingProcedure(masterId);
dock.initDocking();
dock.approveDocking();
dock.setNavHandle(Communication.currentNode.navHandle);
Docking.activeDockingProcedures.Add(dock);
Communication.currentNode.navHandle.activeDockingProcedure = dock;
}
}