public void Start(
string vessel_name,
string port_tag,
string control_node_tag,
double distance)
{
bool running = true;
Connection conn = new Connection(
name: "My Example Program",
address: IPAddress.Parse("127.0.0.1"),
rpcPort: 50000,
streamPort: 50001);
Service sc = conn.SpaceCenter();
Vessel vessel = sc.ActiveVessel;
Orbit orbit = vessel.Orbit;
CelestialBody body = orbit.Body;
KrpcAutoPilot.CommonData common_data = new KrpcAutoPilot.CommonData(conn, sc, body);
Thread common_data_thread = new Thread(() =>
{
while (running)
{
if (!common_data.Update())
{
break;
}
Thread.Sleep(100);
}
common_data.Dispose();
});
common_data_thread.Start();
KrpcAutoPilot.Control control = new KrpcAutoPilot.Control("1", common_data, conn, sc, vessel);
control.UpdateData();
control.ApproachInit(
ship_name: vessel_name,
dock_tag: port_tag,
control_node_tag: control_node_tag,
distance: distance);
Thread approach_thread = new Thread(() =>
{
while (true)
{
control.UpdateData();
if (control.Approach(out _) == KrpcAutoPilot.Control.Status.FINISHED)
{
break;
}
if (control.Execute() == KrpcAutoPilot.Control.Status.FAIL)
{
break;
}
Thread.Sleep(100);
}
});
approach_thread.Start();
approach_thread.Join();
control.ApproachDeinit();
running = false;
common_data_thread.Join();
conn.Dispose();
}
public static void LaunchAndDocking(
string vessel_name,
CommonData common_data,
Connection connection,
Service space_center,
Vessel vessel,
double apoapsis,
string target_vessel_name,
string target_port_tag,
string control_node_tag,
ref bool force_docking)
{
KrpcAutoPilot.Control control = new KrpcAutoPilot.Control(vessel_name, common_data, connection, space_center, vessel);
control.UpdateData();
control.Engage();
vessel.Control.RCS = false;
while (!force_docking)
{
if (!control.UpdateData())
{
break;
}
if (control.LaunchIntoApoapsis(apoapsis, 0d))
{
break;
}
if (control.Execute() == KrpcAutoPilot.Control.Status.FAIL)
{
break;
}
Thread.Sleep(100);
}
vessel.Control.RCS = true;
control.LaunchIntoPeriapsisInit();
SwitchRcsEngines(vessel, true);
bool fairing_separated = false;
while (!force_docking)
{
if (!control.UpdateData())
{
break;
}
if (control.LaunchIntoPeriapsis(apoapsis))
{
break;
}
if (control.Execute() == KrpcAutoPilot.Control.Status.FAIL)
{
break;
}
if (!fairing_separated &&
(!common_data.Body.HasAtmosphere ||
control.State.Vessel.Altitude > common_data.Body.AtmosphereDepth))
{
fairing_separated = true;
try
{
vessel.Control.ActivateNextStage();
}
catch (Exception)
{
break;
}
}
Thread.Sleep(100);
}
control.ApproachInit(
ship_name: target_vessel_name,
dock_tag: target_port_tag,
control_node_tag: control_node_tag);
bool shroud_opened = false;
while (true)
{
if (!control.UpdateData())
{
break;
}
double distance;
if (control.Approach(out distance) == KrpcAutoPilot.Control.Status.FINISHED)
{
break;
}
if (!shroud_opened && distance < 20d)
{
shroud_opened = true;
vessel.Control.ToggleActionGroup(2);
}
if (control.Execute() == KrpcAutoPilot.Control.Status.FAIL)
{
break;
}
Thread.Sleep(100);
}
control.DisEngage();
control.Dispose();
}
