public HoneybeeMiningTask(MyGridProgram program, HoneybeeMiningSystem miningSystem, IAutopilot autopilot, IAgentSubsystem agentSubsystem, Waypoint target, AsteroidIntel host, IIntelProvider intelProvider, IMonitorSubsystem monitorSubsystem, IDockingSubsystem dockingSubsystem, DockTaskGenerator dockTaskGenerator, UndockFirstTaskGenerator undockTaskGenerator)
{
Program = program;
MiningSystem = miningSystem;
Autopilot = autopilot;
AgentSubsystem = agentSubsystem;
MonitorSubsystem = monitorSubsystem;
Host = host;
MiningDepth = MiningSystem.MineDepth;
LowestExpectedOreDist = (float)MiningDepth;
DockingSubsystem = dockingSubsystem;
Status = TaskStatus.Incomplete;
double lDoc, det;
GetSphereLineIntersects(host.Position, host.Radius, target.Position, target.Direction, out lDoc, out det);
Perpendicular = GetPerpendicular(target.Direction);
CoPerp = Perpendicular.Cross(target.Direction);
if (det < 0)
{
Status = TaskStatus.Aborted;
state = -1;
return;
}
SurfaceDist = -lDoc + Math.Sqrt(det);
ApproachPoint = target.Position + target.Direction * SurfaceDist * 0.3;
ExitPoint = ApproachPoint;
EntryPoint = target.Position + target.Direction * miningSystem.CloseDist;
MiningEnd = target.Position - target.Direction * MiningDepth;
SurfacePoint = target.Position;
LeadTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.SmartEnter);
MineTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid);
LeadTask.Destination.Position = ApproachPoint;
LeadTask.Destination.Direction = target.Direction * -1;
LeadTask.Destination.DirectionUp = Perpendicular + CoPerp;
intelProvider.ReportFleetIntelligence(LeadTask.Destination, TimeSpan.FromSeconds(1));
MineTask.Destination.Direction = target.Direction * -1;
MineTask.Destination.DirectionUp = Perpendicular + CoPerp;
MineTask.Destination.Position = EntryPoint;
DockTaskGenerator = dockTaskGenerator;
UndockTaskGenerator = undockTaskGenerator;
}
public HoneybeeMiningTaskGenerator(MyGridProgram program, HoneybeeMiningSystem miningSystem, IAutopilot autopilot, IAgentSubsystem agentSubsystem, IDockingSubsystem dockingSubsystem, DockTaskGenerator dockTaskGenerator, UndockFirstTaskGenerator undockTaskGenerator, IIntelProvider intelProvder, IMonitorSubsystem monitorSubsystem)
{
Program = program;
MiningSystem = miningSystem;
Autopilot = autopilot;
AgentSubsystem = agentSubsystem;
DockTaskGenerator = dockTaskGenerator;
UndockTaskGenerator = undockTaskGenerator;
IntelProvider = intelProvder;
MonitorSubsystem = monitorSubsystem;
DockingSubsystem = dockingSubsystem;
Task = new HoneybeeMiningTask(Program, MiningSystem, Autopilot, AgentSubsystem, new Waypoint(), new AsteroidIntel(), IntelProvider, MonitorSubsystem, DockingSubsystem, DockTaskGenerator, UndockTaskGenerator);
Task.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
}
public Program()
{
Context = new ExecutionContext(this);
subsystemManager = new SubsystemManager(Context);
Runtime.UpdateFrequency = UpdateFrequency.Update1;
AutopilotSubsystem = new AutopilotSubsystem();
IntelSubsystem = new IntelSubsystem();
Context.IntelSystem = IntelSubsystem;
MiningSubsystem = new HoneybeeMiningSystem();
LookingGlassNetwork = new LookingGlassNetworkSubsystem(IntelSubsystem, "LG", false, false);
AgentSubsystem = new AgentSubsystem(IntelSubsystem, AgentClass.Fighter);
MonitorSubsystem = new MonitorSubsystem(IntelSubsystem);
var loader = new CombatLoaderSubsystem("Pascal Cargo", "Base Cargo");
var docking = new DockingSubsystem(IntelSubsystem, loader);
ScannerSubsystem = new ScannerNetworkSubsystem(IntelSubsystem);
LookingGlassNetwork.AddPlugin("combat", new LookingGlass_Pascal(this));
subsystemManager.AddSubsystem("indicator", new StatusIndicatorSubsystem(docking, IntelSubsystem));
subsystemManager.AddSubsystem("autopilot", AutopilotSubsystem);
subsystemManager.AddSubsystem("intel", IntelSubsystem);
subsystemManager.AddSubsystem("mining", MiningSubsystem);
subsystemManager.AddSubsystem("scanner", ScannerSubsystem);
subsystemManager.AddSubsystem("lookingglass", LookingGlassNetwork);
subsystemManager.AddSubsystem("monitor", MonitorSubsystem);
subsystemManager.AddSubsystem("loader", loader);
subsystemManager.AddSubsystem("docking", docking);
var MiningTaskGenerator = new HoneybeeMiningTaskGenerator(this, MiningSubsystem, AutopilotSubsystem, AgentSubsystem, null, null, null, IntelSubsystem, MonitorSubsystem);
var HomingTaskGenerator = new SetHomeTaskGenerator(this, docking);
var DockingTaskGenerator = new DockTaskGenerator(this, AutopilotSubsystem, docking);
AgentSubsystem.AddTaskGenerator(MiningTaskGenerator);
AgentSubsystem.AddTaskGenerator(HomingTaskGenerator);
AgentSubsystem.AddTaskGenerator(DockingTaskGenerator);
subsystemManager.AddSubsystem("agent", AgentSubsystem);
subsystemManager.DeserializeManager(Storage);
}
public Program()
{
Context = new ExecutionContext(this);
subsystemManager = new SubsystemManager(Context);
Runtime.UpdateFrequency = UpdateFrequency.Update1;
// Add subsystems
AutopilotSubsystem autopilotSubsystem = new AutopilotSubsystem();
IntelSubsystem intelSubsystem = new IntelSubsystem();
Context.IntelSystem = intelSubsystem;
DockingSubsystem dockingSubsystem = new DockingSubsystem(intelSubsystem);
HoneybeeMiningSystem miningSubsystem = new HoneybeeMiningSystem();
MonitorSubsystem monitorSubsystem = new MonitorSubsystem(intelSubsystem);
subsystemManager.AddSubsystem("autopilot", autopilotSubsystem);
subsystemManager.AddSubsystem("docking", dockingSubsystem);
subsystemManager.AddSubsystem("intel", intelSubsystem);
subsystemManager.AddSubsystem("mining", miningSubsystem);
subsystemManager.AddSubsystem("monitor", monitorSubsystem);
AgentSubsystem agentSubsystem = new AgentSubsystem(intelSubsystem, AgentClass.Miner);
UndockFirstTaskGenerator undockingTaskGenerator = new UndockFirstTaskGenerator(this, autopilotSubsystem, dockingSubsystem);
undockingTaskGenerator.AddTaskGenerator(new WaypointTaskGenerator(this, autopilotSubsystem));
DockTaskGenerator dockTaskGenerator = new DockTaskGenerator(this, autopilotSubsystem, dockingSubsystem);
undockingTaskGenerator.AddTaskGenerator(dockTaskGenerator);
agentSubsystem.AddTaskGenerator(undockingTaskGenerator);
agentSubsystem.AddTaskGenerator(new SetHomeTaskGenerator(this, dockingSubsystem));
agentSubsystem.AddTaskGenerator(new HoneybeeMiningTaskGenerator(this, miningSubsystem, autopilotSubsystem, agentSubsystem, dockingSubsystem, dockTaskGenerator, undockingTaskGenerator, intelSubsystem, monitorSubsystem));
subsystemManager.AddSubsystem("agent", agentSubsystem);
subsystemManager.AddSubsystem("indicator", new StatusIndicatorSubsystem(dockingSubsystem, intelSubsystem));
subsystemManager.DeserializeManager(Storage);
}
public void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
if (canonicalTime == TimeSpan.Zero)
{
return;
}
if (MiningSystem.Recalling > 0 || currentPosition > 120)
{
Recalling = true;
}
if (Recalling && state < 3)
{
state = 3;
}
if (state == 1) // Diving to surface of asteroid
{
MineTask.Do(IntelItems, canonicalTime, profiler);
MineTask.Destination.MaxSpeed = Autopilot.GetMaxSpeedFromBrakingDistance(kFarSensorDist);
if (MineTask.Status == TaskStatus.Complete || !MiningSystem.SensorsFarClear())
{
EntryPoint = Autopilot.Reference.WorldMatrix.Translation + MineTask.Destination.Direction * (kFarSensorDist - 10);
MineTask.Destination.MaxSpeed = 1f;
state = 2;
}
}
else if (state == 2) // Boring tunnel
{
bool sampleHome = false;
double distToMiningEnd = (Autopilot.Reference.WorldMatrix.Translation - MiningEnd).Length();
if (MiningSystem.SensorsClear())
{
MineTask.Destination.Position = MiningEnd;
}
else if (MiningSystem.SensorsBack())
{
MineTask.Destination.Position = EntryPoint;
}
else
{
MineTask.Destination.Position = Vector3D.Zero;
if (SampleCount <= 0)
{
SampleCount = kSampleFrequency;
var cargoPercentage = MonitorSubsystem.GetPercentage(MonitorOptions.Cargo);
if (LastSampleCargoPercentages.Count >= kMaxSampleCount)
{
LastSampleCargoPercentages.Enqueue(cargoPercentage);
var sampleGreater = 0;
var sampleLesser = 0;
var comparePercentage = LastSampleCargoPercentages.Dequeue() + 0.00001;
foreach (var percentage in LastSampleCargoPercentages)
{
if (percentage > comparePercentage)
{
sampleGreater++;
}
else
{
sampleLesser++;
}
}
if (sampleGreater > sampleLesser)
{
if (!HitOre)
{
HitOre = true;
var currentCoords = GetMiningPosition(currentPosition);
miningMatrix[currentCoords.X + 5, currentCoords.Y + 5] = 1;
}
if (LowestExpectedOreDist == -1)
{
LowestExpectedOreDist = (float)distToMiningEnd - 5;
}
}
else
{
if (HitOre || distToMiningEnd < LowestExpectedOreDist)
{
sampleHome = true;
if (!HitOre)
{
var currentCoords = GetMiningPosition(currentPosition);
miningMatrix[currentCoords.X + 5, currentCoords.Y + 5] = 2;
}
}
}
}
else
{
LastSampleCargoPercentages.Enqueue(cargoPercentage);
}
}
else
{
SampleCount--;
}
}
MiningSystem.Drill();
MineTask.Do(IntelItems, canonicalTime, profiler);
if (GoHomeCheck() || MiningSystem.SensorsFarClear() || distToMiningEnd < 4 || sampleHome)
{
if (MiningSystem.SensorsFarClear() || distToMiningEnd < 4 || sampleHome)
{
UpdateMiningMatrix(currentPosition);
IncrementCurrentPosition();
HitOre = false;
}
state = 3;
MineTask.Destination.MaxSpeed = 2;
LastSampleCargoPercentages.Clear();
}
}
else if (state == 3) // Exiting tunnel
{
MiningSystem.StopDrill();
if (MineTask.Destination.Position != ExitPoint)
{
MineTask.Destination.Position = EntryPoint;
}
MineTask.Do(IntelItems, canonicalTime, profiler);
if (MineTask.Status == TaskStatus.Complete)
{
if (MineTask.Destination.Position == EntryPoint)
{
MineTask.Destination.Position = ExitPoint;
MineTask.Destination.MaxSpeed = 100;
}
else
{
state = 10;
}
}
}
else if (state == 10) // Resuming to approach point
{
if (GoHomeCheck() || Recalling)
{
state = 4;
}
else
{
LeadTask.Destination.Position = ApproachPoint;
LeadTask.Do(IntelItems, canonicalTime, profiler);
if (LeadTask.Status == TaskStatus.Complete)
{
var position = GetMiningPosition(currentPosition);
LeadTask.Destination.Position = ApproachPoint + (Perpendicular * position.X * MiningSystem.OffsetDist + Perpendicular.Cross(MineTask.Destination.Direction) * position.Y * MiningSystem.OffsetDist);
LeadTask.Destination.MaxSpeed = 10;
ExitPoint = LeadTask.Destination.Position;
state = 11;
}
}
}
else if (state == 11) // Search for the digging spot
{
if (GoHomeCheck() || Recalling)
{
state = 4;
}
else
{
LeadTask.Do(IntelItems, canonicalTime, profiler);
if (LeadTask.Status == TaskStatus.Complete)
{
state = 1;
MiningSystem.SensorsOn();
var position = GetMiningPosition(currentPosition);
MineTask.Destination.Position = SurfacePoint + (Perpendicular * position.X * MiningSystem.OffsetDist + Perpendicular.Cross(MineTask.Destination.Direction) * position.Y * MiningSystem.OffsetDist) - MineTask.Destination.Direction * MiningSystem.CloseDist;
MiningEnd = SurfacePoint + (Perpendicular * position.X * MiningSystem.OffsetDist + Perpendicular.Cross(MineTask.Destination.Direction) * position.Y * MiningSystem.OffsetDist) + MineTask.Destination.Direction * MiningDepth;
}
}
}
else if (state == 4) // Going home
{
if (DockingSubsystem == null || DockingSubsystem.HomeID == -1 || DockTaskGenerator == null || UndockTaskGenerator == null)
{
state = 9999;
}
else
{
if (HomeTask == null)
{
HomeTask = DockTaskGenerator.GenerateMoveToAndDockTask(MyTuple.Create(IntelItemType.NONE, (long)0), IntelItems, 40);
}
HomeTask.Do(IntelItems, canonicalTime, profiler);
if (HomeTask.Status != TaskStatus.Incomplete)
{
HomeTask = null;
homeCheck = false;
state = 5;
}
}
}
else if (state == 5) // Waiting for refuel/unload
{
if (Recalling)
{
state = 9999;
}
if ((Program.Me.WorldMatrix.Translation - EntryPoint).LengthSquared() > MiningSystem.CancelDist * MiningSystem.CancelDist)
{
state = 9999;
}
if (LeaveHomeCheck())
{
state = 6;
}
}
else if (state == 6) // Undocking
{
if (DockingSubsystem != null && DockingSubsystem.Connector.Status == MyShipConnectorStatus.Connected)
{
if (UndockTask == null)
{
UndockTask = UndockTaskGenerator.GenerateUndockTask(canonicalTime);
}
}
if (UndockTask != null)
{
UndockTask.Do(IntelItems, canonicalTime, profiler);
if (UndockTask.Status != TaskStatus.Incomplete)
{
UndockTask = null;
state = 10;
}
}
else
{
state = 10;
}
}
else if (state == 9999)
{
Status = TaskStatus.Complete;
}
}
