public IEnumerator <bool> Init()
{
iniSerializer = new INISerializer("DroneControl");
iniSerializer.AddValue("controllerName", x => x, "Controller");
if (Me.CustomData == "")
{
string temp = Me.CustomData;
iniSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
iniSerializer.DeSerialize(Me.CustomData);
}
yield return(true);
time = new IngameTime();
GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
yield return(true);
controller = GTS.GetBlockWithNameOnGrid(controllerName) as IMyShipController;
yield return(true);
entityTracking = new EntityTracking_Module(GTS, controller, null, EntityTracking_Module.refExpSettings.Turret);
autoPilot = new AutoPilot(GTS, controller, time, entityTracking);
yield return(true);
comms = new InterGridComms(IGC, time, Me);
comms.P = this;
yield return(true);
RegisterCommands();
loaded = true;
}
public ACPWrapperV2(GridTerminalSystemUtils GTS, string antennaTag = null)
{
this.GTS = GTS;
GTS.GridTerminalSystem.GetBlocksOfType <IMyFunctionalBlock>(null,
x =>
{
if (antennaTag == null)
{
return(false);
}
else if (!x.CustomName.Contains(antennaTag))
{
return(false);
}
var antenna = x as IMyRadioAntenna;
if (antenna != null)
{
antennas.Add(new Antenna(antenna));
}
else
{
var laserAntenna = x as IMyLaserAntenna;
if (laserAntenna != null)
{
antennas.Add(new Antenna(laserAntenna));
}
}
return(false);
});
listenIds.Add("0");
}
public ControlModule(GridTerminalSystemUtils gts, IMyShipController control)
{
this.control = control;
gts.GetBlocksOfTypeOnGrid(thrusters);
gts.GetBlocksOfTypeOnGrid(gyros);
}
public EntityTracking_Module(GridTerminalSystemUtils GTS, IMyShipController reference, IMyCameraBlock targetingCamera, string ignoreTag = null)
{
Func <IMyTerminalBlock, bool> filter = null;
if (ignoreTag != null)
{
filter = (x => !x.CustomName.Contains(ignoreTag));
}
List <IMyLargeTurretBase> turretList = new List <IMyLargeTurretBase>();
GTS.GridTerminalSystem.GetBlocksOfType(turretList, filter);
ObjectTrackers.Add(new TurretTracking(turretList));
List <IMySensorBlock> sensorList = new List <IMySensorBlock>();
GTS.GridTerminalSystem.GetBlocksOfType(sensorList, filter);
ObjectTrackers.Add(new SensorTracking(sensorList));
List <IMyCameraBlock> cameraList = new List <IMyCameraBlock>();
GTS.GridTerminalSystem.GetBlocksOfType(cameraList, filter);
ObjectTrackers.Add(new LidarTracking(cameraList, reference, known_Objects.LidarEntities));
targetPainter = new TargetPainter(targetingCamera, cameraList);
foreach (var tracker in ObjectTrackers)
{
tracker.OnEntityDetected += OnEntityDetected;
}
}
public MissileTurretGroup(GridTerminalSystemUtils GTS, IMyBlockGroup turretGroup, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
var rotors = new List <IMyMotorStator>();
turretGroup.GetBlocksOfType(rotors);
Setup(GTS, rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag);
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module trackingModule) : this(GTS, controller, ingameTime, trackingModule)
{
thrustPidController = new PID_Controller(thrustPidSettings);
gyroControl = new AdvGyroControl(gyroPidSettings, ingameTime);
}
public IEnumerator <bool> Init()
{
cannonSettings = new INISerializer("CannonSettings");
cannonSettings.AddValue("referenceName", x => x, "RCReference");
cannonSettings.AddValue("speedCap", x => double.Parse(x), 104.38);
cannonSettings.AddValue("launchVelocity", x => double.Parse(x), 100.0);
cannonSettings.AddValue("sourceRotorTName", x => x, "[OrbitalCannonBase]_[Azimuth]");
cannonSettings.AddValue("elevationTag", x => x, "[Elevation]");
cannonSettings.AddValue("timerName", x => x, "CannonTimer");
if (Me.CustomData == "")
{
string temp = Me.CustomData;
cannonSettings.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
cannonSettings.DeSerialize(Me.CustomData);
}
yield return(true);
ingameTime = new IngameTime();
GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
yield return(true);
IMyShipController reference = GridTerminalSystem.GetBlockWithName((string)cannonSettings.GetValue("referenceName")) as IMyShipController;
IMyMotorStator sourceRotor = GridTerminalSystem.GetBlockWithName((string)cannonSettings.GetValue("sourceRotorTName")) as IMyMotorStator;
IMyTimerBlock timer = GridTerminalSystem.GetBlockWithName((string)cannonSettings.GetValue("timerName")) as IMyTimerBlock;
Echo($"Getting blocks status:...\nreference: {reference != null}\nsourceRotor: {sourceRotor != null}");
if (reference == null || sourceRotor == null)
{
throw new Exception("cant get blocks!");
}
yield return(true);
targeter = new Targeter
(
(double)cannonSettings.GetValue("speedCap"),
(double)cannonSettings.GetValue("launchVelocity"),
reference
);
targeter.directionFoundCallback += TargetCalculatedCallback;
yield return(true);
cannon = Cannon.CreateCannon(sourceRotor, GTSUtils, ingameTime, reference, (string)cannonSettings.GetValue("sourceRotorTName"), (string)cannonSettings.GetValue("elevationTag"));
cannon.Timer = timer;
yield return(true);
Echo("Initialized!");
initialized = true;
}
public EntityTracking_Module(GridTerminalSystemUtils GTS, IMyShipController reference, IMyCameraBlock targetingCamera, refExpSettings supportRefExp, string ignoreTag = null) : this(GTS, reference, targetingCamera, ignoreTag)
{
this.supportRefExp = supportRefExp;
foreach (var tracker in ObjectTrackers)
{
tracker.SetRefExpSettings(GTS.Me, supportRefExp);
}
targetPainter.SetRefExpSettings(GTS.Me, supportRefExp);
}
public void Setup(GridTerminalSystemUtils GTS, List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
this.GTS = GTS;
this.deadzoneProvider = deadzoneProvider;
this.ingameTime = ingameTime;
List <IMyMotorStator> elevation = rotors.Where(x => x.CustomName.Contains(elevationTag)).ToList();
IMyMotorStator azimuth = rotors.First(x => x.CustomName.Contains(azimuthTag));
defaultDir = azimuth.WorldMatrix.Forward;
launchers = Select(elevation);
List <RotorControl.RotorReferencePair> elevationPairs = new List <RotorControl.RotorReferencePair>();
for (int i = 0; i < elevation.Count; i++)
{
elevationPairs.Add(new RotorControl.RotorReferencePair {
rotor = elevation[i], reference = launchers[i]
});
}
RotorControl.RotorReferencePair azimuthPair = new RotorControl.RotorReferencePair {
rotor = azimuth, reference = launchers[0]
};
rotorControl = new RotorControl(azimuthPair, elevationPairs);
rotorControl.onTarget = OnTarget;
rotorControl.useForward = true;
#region configuration
turretConfig = new INISerializer("TurretConfig");
turretConfig.AddValue("azimuthMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("elevationMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("salvoSize", x => int.Parse(x), 3);
turretConfig.AddValue("salvoTimeout", x => double.Parse(x), 2.5);
if (rotorControl.azimuth.rotor.CustomData == "")
{
string temp = rotorControl.azimuth.rotor.CustomData;
turretConfig.FirstSerialization(ref temp);
rotorControl.azimuth.rotor.CustomData = temp;
}
else
{
turretConfig.DeSerialize(rotorControl.azimuth.rotor.CustomData);
}
#endregion
}
public Payload(GridTerminalSystemUtils GTS, double backupDetonateEngageDist)
{
this.backupDetonateEngageDistSq = backupDetonateEngageDist * backupDetonateEngageDist;
GTS.GetBlocksOfTypeOnGrid(warheads);
var templist = new List <IMySensorBlock>();
GTS.GetBlocksOfTypeOnGrid(templist);
if (templist.Count > 0)
{
sensor = templist.First();
}
}
public Program()
{
#region serializer
nameSerializer = new INISerializer("Config");
nameSerializer.AddValue("rotorTurretGroupTag", x => x, "[HaE RotorTurret]");
nameSerializer.AddValue("gatlingTurretGroupTag", x => x, "[HaE GatlingTurret]");
nameSerializer.AddValue("missileTurretGroupTag", x => x, "[HaE MissileTurret]");
nameSerializer.AddValue("azimuthTag", x => x, "[Azimuth]");
nameSerializer.AddValue("elevationTag", x => x, "[Elevation]");
nameSerializer.AddValue("controllerName", x => x, "Controller");
nameSerializer.AddValue("groupType", x => x, "Any");
nameSerializer.AddValue("lcdStatusTag", x => x, "[GridcannonStatus]");
nameSerializer.AddValue("maxProjectileVel", x => double.Parse(x), 104.45);
nameSerializer.AddValue("maxActiveRotorGunVel", x => double.Parse(x), 30.0);
nameSerializer.AddValue("maxGatlingBulletVel", x => double.Parse(x), 400.0);
nameSerializer.AddValue("maxMissileAccel", x => double.Parse(x), 600.0);
nameSerializer.AddValue("maxMissileVel", x => double.Parse(x), 200.0);
nameSerializer.AddValue("maxGatlingBulletVel", x => double.Parse(x), 400.0);
nameSerializer.AddValue("enableAutoDeadzoning", x => bool.Parse(x), true);
if (Me.CustomData == "")
{
string temp = Me.CustomData;
nameSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
nameSerializer.DeSerialize(Me.CustomData);
}
#endregion
GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
mainScheduler = new Scheduler();
ingameTime = new IngameTime();
rotorTurretGroups = new List <RotorTurretGroup>();
missileTurretGroups = new List <MissileTurretGroup>();
gatlingTurretGroups = new List <GatlingTurretGroup>();
deadzoneProvider = new DeadzoneProvider(GTSUtils);
deadzoneProvider.Enabled = enableAutoDeadzoning;
mainScheduler.AddTask(Init());
Runtime.UpdateFrequency = UpdateFrequency.Update1 | UpdateFrequency.Update10 | UpdateFrequency.Update100;
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module trackingModule)
{
GTS.GridTerminalSystem.GetBlocksOfType(allThrusters);
GTS.GridTerminalSystem.GetBlocksOfType(gyros);
this.controller = controller;
this.ingameTime = ingameTime;
thrustPidController = new PID_Controller(thrustPidSettings);
gyroControl = new AdvGyroControl(gyroPidSettings, ingameTime);
thrustControl = new AdvThrustControl(controller, allThrusters, ingameTime);
collisionAvoidance = new CollisionAvoidance(controller, trackingModule, 10, 10);
trackingModule.onEntityDetected += collisionAvoidance.OnEntityDetected;
}
public static Cannon CreateCannon
(
IMyMotorStator sourceRotor, GridTerminalSystemUtils GTS,
IngameTime ingameTime, IMyShipController control,
string azimuthTag, string elevationTag
)
{
List <IMyMotorStator> rotors = new List <IMyMotorStator>();
List <IMyMotorStator> cache = new List <IMyMotorStator>();
List <IMyMotorStator> prevTop = new List <IMyMotorStator>();
List <IMyMotorStator> currentTop = new List <IMyMotorStator>();
DeadzoneProvider deadzoneProvider = new DeadzoneProvider(GTS);
rotors.Add(sourceRotor);
prevTop.AddRange(rotors);
while (prevTop.Count > 0)
{
foreach (var rotor in prevTop)
{
cache.Clear();
rotor.TopGrid?.GetCubesOfType(GTS.GridTerminalSystem, cache);
currentTop.AddRange(cache);
}
rotors.AddRange(currentTop);
prevTop.Clear();
prevTop.AddRange(currentTop);
currentTop.Clear();
}
var turretGroup = new RotorTurretGroup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag, GTS);
turretGroup.TargetDirection(ref Vector3D.Zero);
turretGroup.defaultDir = control.WorldMatrix.Forward;
if (turretGroup.CheckGroupStatus() != TurretGroupUtils.TurretGroupStatus.MajorDMG)
{
return(new Cannon(turretGroup, deadzoneProvider, control));
}
return(null);
}
public void Init()
{
#region fetchblocks
GridTerminalSystemUtils GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
control = GTS.GetBlockWithNameOnGrid(controllerName) as IMyShipController;
mergeBlock = GTS.GetBlockWithNameOnGrid(mergeBlockName) as IMyShipMergeBlock;
var antennas = new List <IMyRadioAntenna>();
GTS.GetBlocksOfTypeOnGrid(antennas);
#endregion
#region initModules
if (antennas.Count > 0)
{
commsHandler = new CommsHandler(this, antennas.First());
}
else
{
commsHandler = new CommsHandler(this, null);
}
var commands = new Commands(this, commsHandler);
commands.RegisterCommands();
EntityTracking_Module.refExpSettings refExp = EntityTracking_Module.refExpSettings.Sensor | EntityTracking_Module.refExpSettings.Turret;
targetTracker = new EntityTracking_Module(GTS, control, null, refExp);
targetTracker.onEntityDetected += OnTargetFound;
controlModule = new ControlModule(GTS, control);
proNav = new ProNav(controlModule, 30);
missionScheduler = new Scheduler();
payload = new Payload(GTS, backupDetonationEngageDist);
#endregion
mode = CurrentMode.Idle;
initialized = true;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
public DeadzoneProvider(GridTerminalSystemUtils gtsUtils)
{
var subgridEnablers = new List <IMyMechanicalConnectionBlock>();
gtsUtils.GridTerminalSystem.GetBlocksOfType(subgridEnablers);
var myCubeGrid = gtsUtils.Me.CubeGrid;
grids[myCubeGrid.EntityId] = new GridDeadzone(myCubeGrid);
foreach (var subgridEnabler in subgridEnablers)
{
var topGrid = subgridEnabler.TopGrid;
if (topGrid == null)
{
continue;
}
if (!grids.ContainsKey(topGrid.EntityId))
{
grids[topGrid.EntityId] = new GridDeadzone(topGrid);
}
}
}
public void SubConstructor()
{
//DEBUG ATTACHMENTS
P = this;
//Timing
Runtime.UpdateFrequency = UpdateFrequency.Update1 | UpdateFrequency.Update100;
ingameTime = new IngameTime();
//Generic Inits
gridTerminalSystemUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
reference = GridTerminalSystem.GetBlockWithName(REFERENCENAME) as IMyShipController;
targetingCamera = GridTerminalSystem.GetBlockWithName(TARGETCAMNAME) as IMyCameraBlock;
textOut = GridTerminalSystem.GetBlockWithName(TEXTOUTNAME) as IMyTextPanel;
monoOut = GridTerminalSystem.GetBlockWithName(MonoLCDName) as IMyTextPanel;
//Module Inits
//entityTracking = new EntityTracking_Module(gridTerminalSystemUtils, reference, targetingCamera);
//autopilotModule = new Autopilot_Module(gridTerminalSystemUtils, reference, ingameTime, gyroPidSettings, thrustPidSettings, entityTracking);
scheduler = new Scheduler();
drawingLib = new MonospaceDrawingLib(175, 175, Color.Black);
drawingLib.onRenderDone = OnRenderDone;
drawingLib.AddRenderTask(drawingLib.Generate(), OnRenderDone);
}
public EntityTracking_Module(GridTerminalSystemUtils GTS, IMyShipController reference, IMyCameraBlock targetingCamera)
{
List <IMyLargeTurretBase> turretList = new List <IMyLargeTurretBase>();
GTS.GridTerminalSystem.GetBlocksOfType(turretList);
ObjectTrackers.Add(new TurretTracking(turretList));
List <IMySensorBlock> sensorList = new List <IMySensorBlock>();
GTS.GridTerminalSystem.GetBlocksOfType(sensorList);
ObjectTrackers.Add(new SensorTracking(sensorList));
List <IMyCameraBlock> cameraList = new List <IMyCameraBlock>();
GTS.GridTerminalSystem.GetBlocksOfType(cameraList);
ObjectTrackers.Add(new LidarTracking(cameraList, reference, known_Objects.LidarEntities));
targetPainter = new TargetPainter(targetingCamera, cameraList);
foreach (var tracker in ObjectTrackers)
{
tracker.OnEntityDetected += OnEntityDetected;
}
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
EntityTracking_Module trackingModule)
{
GTS.GridTerminalSystem.GetBlocksOfType(allThrusters);
GTS.GridTerminalSystem.GetBlocksOfType(gyros);
this.controller = controller;
this.ingameTime = ingameTime;
thrustControl = new AdvThrustControl(controller, allThrusters, ingameTime);
collisionAvoidance = new CollisionAvoidance(controller, trackingModule, 10, 10);
trackingModule.onEntityDetected += collisionAvoidance.OnEntityDetected;
PID_Controller.PIDSettings onePid = new PID_Controller.PIDSettings
{
PGain = 1,
DerivativeGain = 0,
IntegralGain = 0,
};
thrustPidController = new PID_Controller(onePid);
gyroControl = new AdvGyroControl(onePid, ingameTime);
}
public void Setup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag, GridTerminalSystemUtils GTS)
{
this.deadzoneProvider = deadzoneProvider;
this.ingameTime = ingameTime;
List <IMyMotorStator> elevation = rotors.Where(x => x.CustomName.Contains(elevationTag)).ToList();
IMyMotorStator azimuth = rotors.First(x => x.CustomName.Contains(azimuthTag));
defaultDir = azimuth.WorldMatrix.Forward;
#region configuration
turretConfig = new INISerializer("TurretConfig");
turretConfig.AddValue("azimuthMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("elevationMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("referenceName", x => x, "TurretReference");
if (azimuth.CustomData == "")
{
string temp = azimuth.CustomData;
turretConfig.FirstSerialization(ref temp);
azimuth.CustomData = temp;
}
else
{
turretConfig.DeSerialize(azimuth.CustomData);
}
#endregion
IMyTerminalBlock cannonref = GTS.GridTerminalSystem.GetBlockWithName(referenceName);
if (cannonref == null)
{
throw new Exception($"referenceName ({referenceName}) resolves to NULL!");
}
List <RotorControl.RotorReferencePair> elevationPairs = new List <RotorControl.RotorReferencePair>();
for (int i = 0; i < elevation.Count; i++)
{
elevationPairs.Add(new RotorControl.RotorReferencePair {
rotor = elevation[i], reference = cannonref
});
}
RotorControl.RotorReferencePair azimuthPair = new RotorControl.RotorReferencePair {
rotor = azimuth, reference = cannonref
};
rotorControl = new RotorControl(azimuthPair, elevationPairs);
rotorControl.onTarget += OnTarget;
rotorControl.useForward = true;
}
public Cannon(List <IMyMotorStator> rotors, IMyShipController reference, IngameTime ingameTime, GridTerminalSystemUtils GTSUtils, string azimuthTag, string elevationTag)
{
this.reference = reference;
deadzoneProvider = new DeadzoneProvider(GTSUtils);
rotorTurretGroup = new RotorTurretGroup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag, GTSUtils);
}
public MissileSilos(GridTerminalSystemUtils GTS, Program P, string SiloDoorTag)
{
GTS.GridTerminalSystem.GetBlocksOfType(siloDoors, x => x.CustomName.Contains(SiloDoorTag));
this.P = P;
}
public MissileManager(GridTerminalSystemUtils GTS, Program P, string missileTag)
{
this.GTS = GTS;
this.missileTag = missileTag;
this.P = P;
}
public IEnumerator <bool> ProgramInit()
{
#region serializer
nameSerializer = new INISerializer("HaE MissileBase");
nameSerializer.AddValue("missileTag", x => x, "[HaE Missile]");
nameSerializer.AddValue("siloDoorTag", x => x, "[HaE SiloDoor]");
nameSerializer.AddValue("missileStatusLCDTag", x => x, "[HaE MissileStatus]");
nameSerializer.AddValue("targetingCameraName", x => x, "TargetingCamera");
nameSerializer.AddValue("controllername", x => x, "controller");
nameSerializer.AddValue("IgnoreTag", x => x, "[IgnoreTracker]");
nameSerializer.AddValue("targetingCastLength", x => double.Parse(x), 3000);
if (Me.CustomData == "")
{
string temp = Me.CustomData;
nameSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
nameSerializer.DeSerialize(Me.CustomData);
}
yield return(true);
#endregion
#region fetchblocks
GridTerminalSystemUtils GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
missiles = new MissileManager(GTS, this, missileTag);
yield return(true);
var antennas = new List <IMyRadioAntenna>();
GTS.GetBlocksOfTypeOnGrid(antennas);
yield return(true);
var camera = GridTerminalSystem.GetBlockWithName(targetingCameraName) as IMyCameraBlock;
var controller = GridTerminalSystem.GetBlockWithName(controllername) as IMyShipController;
yield return(true);
#endregion
#region initModules
if (antennas.Count > 0)
{
commsHandler = new CommsHandler(this, antennas.First());
}
else
{
commsHandler = new CommsHandler(this, null);
}
var commands = new Commands(this, commsHandler);
commands.RegisterCommands();
silos = new MissileSilos(GTS, this, siloDoorTag);
yield return(true);
if (camera != null && controller != null)
{
entityTrackingModule = new EntityTracking_Module(GTS, controller, camera, IgnoreTag);
ITracking cameraTracker = null;
foreach (ITracking tracker in entityTrackingModule.ObjectTrackers)
{
var camT = tracker as LidarTracking;
if (camT != null)
{
cameraTracker = camT;
}
}
entityTrackingModule.ObjectTrackers.Clear();
entityTrackingModule.ObjectTrackers.Add(cameraTracker);
entityTrackingModule.onEntityDetected += OnEntityDetected;
}
else
{
Echo($"camera: {camera != null}\ncontroller: {controller != null}");
}
yield return(true);
var lcds = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(lcds, x => x.CustomName.Contains(missileStatusLCDTag));
statusWriter = new StatusWriter(this, lcds);
#endregion
initialized = true;
}
public RotorTurretGroup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag, GridTerminalSystemUtils GTS)
{
Setup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag, GTS);
}
public MissileTurretGroup(GridTerminalSystemUtils GTS, List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
Setup(GTS, rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag);
}
public AutoPilot(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime time,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module entityTracking)
{
autopilotModule = new Autopilot_Module(GTS, controller, time, gyroPidSettings, thrustPidSettings, entityTracking);
}
public AutoPilot(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime time, EntityTracking_Module entityTracking)
{
autopilotModule = new Autopilot_Module(GTS, controller, time, entityTracking);
}
IEnumerator <bool> Initialize()
{
cameras = new List <IMyCameraBlock>();
GridTerminalSystem.GetBlocksOfType(cameras, x => x.CubeGrid == Me.CubeGrid);
foreach (var cam in cameras)
{
cam.EnableRaycast = true;
}
yield return(true);
gyros = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType(gyros, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
antennaComms = new ACPWrapper(this, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
thrusters = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType(thrusters, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
rc = GetBlockWithNameOnGrid(RCNAME) as IMyRemoteControl;
yield return(true);
mainCam = GetBlockWithNameOnGrid(MAINCAM) as IMyCameraBlock;
yield return(true);
var GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
ingameTime = new IngameTime();
yield return(true);
entityTracking = new EntityTracking_Module(GTSUtils, rc, mainCam);
yield return(true);
var pid = new PID_Controller.PIDSettings
{
PGain = 1
};
autopilot = new Autopilot_Module(GTSUtils, rc, ingameTime, pid, pid, entityTracking);
yield return(true);
flightControl = new FlightControl(rc, gyros, thrusters, autopilot);
yield return(true);
guidance = new TargetGuidance(rc);
yield return(true);
clientSystem = new MissileManagementClient(antennaComms, rc, Me.EntityId, missileType);
yield return(true);
turretMonitor = new TurretMonitor(this);
turretMonitor.OnTargetDetected += OnTargetDetected;
yield return(true);
proximityFuse = new ProximityFuse(rc, DETONATIONDIST, this);
proximityFuse.OnEnemyInRange += proximityFuse.Detonate;
DebugEcho("Initialized!");
}
