/// <summary>
/// Sets the state of the drone.
/// </summary>
/// <param name="droneState">The state of the drone.</param>
public void SetDroneState(DroneState droneState)
{
this.SetSpeed(droneState.Speed);
this.SetHeight(droneState.Height > 0 ? droneState.Height : droneState.ToF);
this.SetWiFiSnr(droneState.WiFiSnr);
this.SetBatteryLevel(droneState.BatteryPercentage);
}
public DeviceState Deserialize(byte[] payload, ILogger log)
{
DroneState restored = serializer.Deserialize(payload);
log.LogInformation("Deserialize message for device ID {DeviceId}", restored.DeviceId);
var deviceState = new DeviceState();
deviceState.DeviceId = restored.DeviceId;
if (restored.Battery != null)
{
deviceState.Battery = restored.Battery;
}
if (restored.FlightMode != null)
{
deviceState.FlightMode = (int)restored.FlightMode;
}
if (restored.Position != null)
{
deviceState.Latitude = restored.Position.Value.Latitude;
deviceState.Longitude = restored.Position.Value.Longitude;
deviceState.Altitude = restored.Position.Value.Altitude;
}
if (restored.Health != null)
{
deviceState.AccelerometerOK = restored.Health.Value.AccelerometerOK;
deviceState.GyrometerOK = restored.Health.Value.GyrometerOK;
deviceState.MagnetometerOK = restored.Health.Value.MagnetometerOK;
}
return(deviceState);
}
public Drone(string model, DroneState state, double batteryRemaining)
{
this.id = id;
this.model = model;
this.state = state;
this.batteryRemaining = batteryRemaining;
}
private void ReturnToStartPoint()
{
_state = DroneState.RETURN_TO_START_POINT_AFTER_HIT;
_returnToStartPointRoutine = CoroutineManager.StartCoroutine(ReturnToStartPointRoutine(), this);
_iesDebug.Add(_returnToStartPointRoutine);
}
public void DroneHitEnemy()
{
_state = DroneState.HIT_ENEMY;
_hitEnemyRoutine = CoroutineManager.StartCoroutine(HitEnemyRoutine(), this);
_iesDebug.Add(_hitEnemyRoutine);
}
private IEnumerator EnemyDetectedRoutine()
{
_state = DroneState.ENEMY_DETECTED;
yield return(null);
CoroutineManager.StopCoroutine(_blinkLedRoutine);
_ledSprite.alpha = 1;
_ledSprite.SetColor(1, 0, 0);
SoundManager.Instance.PlayFx(7);
Console.WriteLine($"{this.name} EnemyDetectedRoutine | {Time.time}");
if (_hasDroneBehaviourListener)
{
_droneBehaviorListener.OnEnemyDetected(this, _enemy);
}
yield return(new WaitForMilliSeconds(500));
_ledSprite.alpha = 1;
_iesDebug.Remove(_enemyDetectedRoutine);
_chasingRoutine = CoroutineManager.StartCoroutine(ChasingRoutine(_enemy), this);
_iesDebug.Add(_chasingRoutine);
}
void UpdateDrone()
{
switch (_State)
{
case DroneState.DRONE_STATE_IDLE:
break;
case DroneState.DRONE_STATE_START_TAKINGOFF:
_anim.SetBool("TakeOff", true);
_State = DroneState.DRONE_STATE_TAKINGOFF;
break;
case DroneState.DRONE_STATE_TAKINGOFF:
if (_anim.GetBool("TakeOff") == false)
{
_State = DroneState.DRONE_STATE_MOVING_UP;
}
break;
case DroneState.DRONE_STATE_MOVING_UP:
if (_anim.GetBool("MoveUp") == false)
{
_State = DroneState.DRONE_STATE_FLYING;
}
break;
case DroneState.DRONE_STATE_FLYING:
float angleZ = -30.0f * _Speed.x * 60.0f * Time.deltaTime;
float angleX = 30.0f * _Speed.z * 60.0f * Time.deltaTime;
Vector3 rotation = transform.localRotation.eulerAngles;
transform.localPosition += _Speed * Time.deltaTime * _SpeedMultipler;
transform.localRotation = Quaternion.Euler(angleX, rotation.y, angleZ);
break;
case DroneState.DRONE_STATE_START_LANDING:
_anim.SetBool("MoveDown", true);
_State = DroneState.DRONE_STATE_LANDING;
break;
case DroneState.DRONE_STATE_LANDING:
if (_anim.GetBool("MoveDown") == false)
{
_State = DroneState.DRONE_STATE_LANDED;
}
break;
case DroneState.DRONE_STATE_LANDED:
_anim.SetBool("Land", true);
_State = DroneState.DRONE_STATE_WAIT_ENGINE_STOP;
break;
case DroneState.DRONE_STATE_WAIT_ENGINE_STOP:
if (_anim.GetBool("Land") == false)
{
_State = DroneState.DRONE_STATE_IDLE;
}
break;
}
}
/// <summary>
/// Parses the state of the Tello received as a sequence of bytes.
/// After converting the bytes into ASCII characters it has to match the following pattern:
/// “pitch:%d;roll:%d;yaw:%d;vgx:%d;vgy%d;vgz:%d;templ:%d;temph:%d;tof:%d;h:%d;bat:%d;baro:%.2f; time:%d;agx:%.2f;agy:%.2f;agz:%.2f;\r\n”.
/// </summary>
/// <param name="stateData">The Tello's state as a sequence of bytes.</param>
/// <returns>Tello's parsed state information as <see cref="DroneState"/>.</returns>
public DroneState Parse(byte[] stateData)
{
string[] properties = stateData.AsString().Trim().Split(';');
DroneState droneState = new DroneState();
try
{
droneState.Pitch = int.Parse(properties[0].Substring(6));
droneState.Roll = int.Parse(properties[1].Substring(5));
droneState.Yaw = int.Parse(properties[2].Substring(4));
// with Tello X and Y speed is only provided if VPN (visual positioning system) works
droneState.SpeedX = int.Parse(properties[3].Substring(4));
droneState.SpeedY = int.Parse(properties[4].Substring(4));
droneState.SpeedZ = int.Parse(properties[5].Substring(4));
droneState.LowestTemperature = int.Parse(properties[6].Substring(6));
droneState.HighestTemperature = int.Parse(properties[7].Substring(6));
droneState.ToF = int.Parse(properties[8].Substring(4));
droneState.Height = int.Parse(properties[9].Substring(2));
droneState.BatteryPercentage = int.Parse(properties[10].Substring(4));
droneState.Barometer = double.Parse(properties[11].Substring(5));
droneState.Time = int.Parse(properties[12].Substring(5));
// with Tello X and Y acceleration is only provided if VPN (visual positioning system) works
droneState.AccelerationX = double.Parse(properties[13].Substring(4));
droneState.AccelerationY = double.Parse(properties[14].Substring(4));
droneState.AccelerationZ = double.Parse(properties[15].Substring(4));
}
catch (Exception)
{
}
return(droneState);
}
// Update is called once per frame
void UpdateDrone()
{
switch (state)
{
case DroneState.Drone_state_Idle:
break;
case DroneState.Drone_state_start_takingoff:
anime.SetBool("TakeOff", true);
state = DroneState.Drone_state_takingoff;
break;
case DroneState.Drone_state_takingoff:
if (anime.GetBool("TakeOff") == false)
{
state = DroneState.Drone_state_movingup;
}
break;
case DroneState.Drone_state_movingup:
if (anime.GetBool("MoveUp") == false)
{
state = DroneState.Drone_state_flying;
}
break;
case DroneState.Drone_state_flying:
float angleZ = -30.0f * speed.x * 60.0f * Time.deltaTime;
float angleX = -30.0f * speed.z * 60.0f * Time.deltaTime;
Vector3 rotation = transform.localRotation.eulerAngles;
transform.localPosition += speed * movementspeed * Time.deltaTime;
transform.localRotation = Quaternion.Euler(angleX, rotation.y, angleZ);
break;
case DroneState.Drone_state_start_landing:
anime.SetBool("MoveDown", true);
state = DroneState.Drone_state_landing;
break;
case DroneState.Drone_state_landing:
if (anime.GetBool("MoveDown") == false)
{
state = DroneState.Drone_state_landed;
}
break;
case DroneState.Drone_state_landed:
anime.SetBool("Land", true);
state = DroneState.Drone_state_wait_ending_stop;
break;
case DroneState.Drone_state_wait_ending_stop:
if (anime.GetBool("Land") == false)
{
state = DroneState.Drone_state_Idle;
}
break;
}
}
private void OnHandle_SomethingChanged(object o, GattValueChangedEventArgs args)
{
var sender = (GattCharacteristic)o;
var senderData = sender.Uuid;
var byteArray = args.CharacteristicValue.ToArray();
if (senderData == ParrotUuids.Characteristic_B0E_DroneState)
{
if ((byteArray[0] == 4) &&
(byteArray[2] == 2) &&
(byteArray[3] == 3) &&
(byteArray[4] == 1))
{
switch (byteArray[6])
{
case 0:
State = DroneState.Landed;
break;
case 1:
State = DroneState.TakeingOff;
break;
case 2:
State = DroneState.Hovering;
break;
case 3:
State = DroneState.Flying;
break;
case 4:
State = DroneState.Landing;
break;
case 5:
State = DroneState.Emergency;
break;
case 6:
State = DroneState.Rolling;
break;
}
}
SomethingChanged?.Invoke(this, new CustomEventArgs("Drone State: " + State));
return;
}
if (senderData == ParrotUuids.Characteristic_B0F_Battery)
{
SomethingChanged?.Invoke(this, new CustomEventArgs("Battery: " + BitConverter.ToString(byteArray)));
return;
}
var StateString = BitConverter.ToString(byteArray);
SomethingChanged?.Invoke(this, new CustomEventArgs(senderData + ": " + StateString));
}
public DroneData(DroneState state, QuadMotorValues motorValues, SensorData sensor, float batteryVoltage, int wifiRssi)
{
this.State = state;
this.MotorValues = motorValues;
this.Sensor = sensor;
this.BatteryVoltage = batteryVoltage;
this.WifiRssi = wifiRssi;
}
public void GoToClient()
{
_toPort = false;
_canMove = true;
_currentState = DroneState.toClient;
NewTimer();
}
/// <summary>
/// Applies the yaw.
/// </summary>
/// <param name="inputYaw">yaw input</param>
void ApplyYaw(HandlingInput input, DroneState currentState)
{
float targetVelocity = maxYawSpeed * input.yaw;
float velocityOffset = targetVelocity - currentState.angularVelocityLocal.y;
float acceleration = MathHelper.Aserp(velocityOffset, yawAccelerationMultiplier, maxYawTorque);
GetComponent <Rigidbody> ().AddRelativeTorque(0, acceleration, 0);
}
void OnControllerColliderHit(ControllerColliderHit hit)
{
string s = hit.transform.name;
audio.PlayOneShot(hitSound);
state = DroneState.Stop;
MoveToLastCheckPoint();
}
public DroneData(DroneState state, QuadMotorValues motorValues, GyroData gyro, float batteryVoltage, int wifiRssi)
{
this.State = state;
this.MotorValues = motorValues;
this.Gyro = gyro;
this.BatteryVoltage = batteryVoltage;
this.WifiRssi = wifiRssi;
}
private void Update()
{
if (!isServer)
{
return;
}
//Think about what to do
//state transitions? actions
GameObject target = FindUnit(stats.GiveUpDistanceThreshold, u => u.GetComponent <Unit>().Side != this.Side);
float distToClosest = float.PositiveInfinity;
if (target != null)
{
distToClosest = Vector2.Distance(this.transform.position, target.transform.position);
}
switch (state)
{
case DroneState.Wander:
if (distToClosest <= stats.ChaseThreshold)
{
state = DroneState.Chase;
}
else
{
wanderTimer += Time.deltaTime;
if (wanderTimer > stats.WanderTime)
{
wanderTimer = 0;
var newDirection = UnityEngine.Random.insideUnitCircle;
xMove = newDirection.x;
yMove = newDirection.y;
}
}
break;
case DroneState.Chase:
if (distToClosest >= stats.GiveUpDistanceThreshold)
{
state = DroneState.Wander;
break;
}
var dirToPlayer = (target.transform.position - this.transform.position).normalized;
xMove = dirToPlayer.x;
yMove = dirToPlayer.y;
break;
}
//actually move
xMove = Mathf.Clamp(xMove, -1, 1);
yMove = Mathf.Clamp(yMove, -1, 1);
rb.AddForce(new Vector2(xMove, yMove) * stats.Speed * Time.deltaTime, ForceMode2D.Force);
}
public void checkEscape()
{
if (AIHealth.isEscape && AIHealth.escapeEnemyName == this.transform.name)
{
PlayerFind.playerFinded = false;
_currentState = DroneState.Escape;
//_currentState = DroneState.Saerch;
}
}
public void GoToPort()
{
_toPort = true;
GetPathToPort();
_canMove = true;
_currentState = DroneState.toWarehouse;
NewTimer();
}
/// <summary>
/// Creates a new Drone - Implements a new event dispatcher
/// </summary>
public Drone(string name)
{
_hasOrder = false;
_name = name;
_currentState = DroneState.off;
_gridPositionId = 0;
NewTimer();
}
public override void updateme(GameTime gt)
{
base.updateme(gt);
if (m_rect.Right < 0)
{
m_state = DroneState.dead;
}
}
void GetBreakTilt(out float targetRoll,
out float targetPitch,
DroneState currentState)
{
Vector3 rotatedVelocityWorld = Quaternion.AngleAxis(-currentState.rotation.y, Vector3.up) * currentState.velocityWorld;
targetRoll = MathHelper.Aserp(rotatedVelocityWorld.x, breakTiltMultiplier, maxBreakTiltAngle);
targetPitch = MathHelper.Aserp(-rotatedVelocityWorld.z, breakTiltMultiplier, maxBreakTiltAngle);
}
private void Update()
{
switch (_currentState)
{
case DroneState.Wander:
if (NeddsDestination())
{
GetDestination();
}
transform.rotation = _desiredRotation;
transform.Translate(Vector3.forward * Time.deltaTime * 5f);
var rayColor = IsPathBlocked() ? Color.red : Color.green;
Debug.DrawRay(transform.position, _direction * _rayDistance, rayColor);
while (IsPathBlocked())
{
Debug.Log("Path Blocked");
GetDestination();
}
var targetToAggro = CheckForAggro();
if (targetToAggro != null)
{
_target = targetToAggro.GetComponent <Drone>();
_currentState = DroneState.Chase;
}
break;
case DroneState.Chase:
if (_target == null)
{
_currentState = DroneState.Wander;
return;
}
transform.LookAt(_target.transform);
transform.Translate(Vector3.forward * Time.deltaTime * 5f);
if (Vector3.Distance(transform.position, _target.transform.position) < _attackRange)
{
_currentState = DroneState.Attack;
}
break;
case DroneState.Attack:
if (_target == null)
{
Destroy(_target.gameObject);
}
_currentState = DroneState.Wander;
break;
}
}
private IEnumerator HitEnemyRoutine()
{
_state = DroneState.HIT_ENEMY;
yield return(new WaitForMilliSeconds(500));
ReturnToStartPoint();
_iesDebug.Remove(_hitEnemyRoutine);
}
public void EndLevel()
{
_state = DroneState.END_LEVEL;
DroneBehaviorListener = null;
CoroutineManager.StopAllCoroutines(this);
CoroutineManager.StartCoroutine(GoToPoint(_startPosition), this);
}
public async Task Initialize()
{
State = DroneState.Landed;
motorCommandsCounter = 1;
simpleCommandsCounter = 1;
emergencyCommandsCounter = 1;
Network = new NetworkAl();
await Network.Initialize();
Network.SomethingChanged += OnHandle_SomethingChanged;
}
// Update is called once per frame
void FixedUpdate()
{
HandlingInput input = GetInput();
DroneState currentState = GetCurrentState();
// apply forces
ApplyTilt(input, currentState);
ApplyYaw(input, currentState);
ApplyThrust(input, currentState);
}
public Drone(Texture2D txr, Rectangle rect, int fps, GameTime gt, int screenHeight, int screenWidth) : base(txr, fps, rect)
{
m_scale = (float)Game1.RNG.NextDouble() + 0.5f;
m_rect.Width = (int)(27 * m_scale);
m_rect.Height = (int)(13 * m_scale);
m_position.X = screenWidth;
m_position.Y = Game1.RNG.Next(0, screenHeight - rect.Height);
m_velocity.X = -(Game1.RNG.Next(50, 200) * (float)gt.ElapsedGameTime.TotalSeconds);
m_state = DroneState.live;
m_tint = new Color(1.0f, 1.0f, (float)Game1.RNG.NextDouble());
}
public async Task Initialize()
{
State = DroneState.Landed;
motorCommandsCounter = 1;
simpleCommandsCounter = 1;
emergencyCommandsCounter = 1;
Network = new NetworkAl();
await Network.Initialize();
Network.SomethingChanged += OnHandle_SomethingChanged;
}
private void _DroneUpdateService_StatusUpdateReceivedFromDrone(DroneState newState)
{
DispatchService.Invoke(() =>
{
if (_DroneStateHistory != null)
{
_DroneStateHistory.Add(new DroneStateViewModel(newState));
}
});
// todo: add to list, thread safe
}
private void Update()
{
switch (_currentState)
{
case DroneState.Wander:
{
var rayColor = IsPathBlocked() ? Color.red : Color.green;
Debug.DrawRay(transform.position, _direction * _rayDistance, rayColor);
while (IsPathBlocked())
{
Debug.Log("Path Blocked");
}
var targetToAggro = CheckForAggro();
if (targetToAggro != null)
{
_target = targetToAggro.GetComponent <Drone>();
_currentState = DroneState.Chase;
}
break;
}
case DroneState.Chase:
{
if (_target == null)
{
_currentState = DroneState.Wander;
return;
}
if (Vector3.Distance(transform.position, _target.transform.position) < _attackRange)
{
_currentState = DroneState.Attack;
}
break;
}
case DroneState.Attack:
{
if (_target != null)
{
Destroy(_target.gameObject);
}
// play laser beam
_currentState = DroneState.Wander;
break;
}
}
}
public static string getMessageTextFromState(DroneState state)
{
return(formatStringForMessage(
state.getPitch(), state.getRoll(), state.getYaw(),
state.getSpeedX(), state.getSpeedY(), state.getSpeedZ(),
state.getLowTemperature(), state.getHighTemperature(),
state.getFlightDistance(), state.getHeight(),
state.getBatteryPercentage(), state.getBarometerMeasurement(),
state.getMotorTime(), state.getAccelerationX(),
state.getAccelerationY(), state.getAccelerationZ()
));
}
public void backupstates()
{
backuptravel = _States.TravelerState;
backupmining = _States.MiningState;
backupdrone = _States.DroneState;
backupfitting = _States.fittingstate;
backuplogin = _States.LoginState;
backupskill = _States.SkillState;
backuptut = _States.tutstates;
}
public void ProcessState()
{
if (!Settings.Instance.UseDrones)
return;
switch (State)
{
case DroneState.WaitingForTargets:
// Are we in the right state ?
if (Cache.Instance.ActiveDrones.Count() > 0)
{
// Apparently not, we have drones out, go into fight mode
State = DroneState.Fighting;
break;
}
// Should we launch drones?
var launch = true;
// Always launch if we're scrambled
if (!Cache.Instance.PriorityTargets.Any(pt => pt.IsWarpScramblingMe))
{
// Are we done with this mission pocket?
launch &= !Cache.Instance.IsMissionPocketDone;
// If above minimums
launch &= Cache.Instance.DirectEve.ActiveShip.ShieldPercentage >= Settings.Instance.DroneMinimumShieldPct;
launch &= Cache.Instance.DirectEve.ActiveShip.ArmorPercentage >= Settings.Instance.DroneMinimumArmorPct;
launch &= Cache.Instance.DirectEve.ActiveShip.CapacitorPercentage >= Settings.Instance.DroneMinimumCapacitorPct;
// yes if there are targets to kill
launch &= Cache.Instance.TargetedBy.Count(e => !e.IsSentry && e.CategoryId == (int)CategoryID.Entity && e.IsNpc && !e.IsContainer && e.GroupId != (int)Group.LargeCollidableStructure && e.Distance < Settings.Instance.DroneControlRange) > 0;
// If drones get agro'd within 30 seconds, then wait (5 * _recallCount + 5) seconds since the last recall
if (_lastLaunch < _lastRecall && _lastRecall.Subtract(_lastLaunch).TotalSeconds < 30)
{
if (_lastRecall.AddSeconds(5 * _recallCount + 5) < DateTime.Now)
{
// Increase recall count and allow the launch
_recallCount++;
// Never let _recallCount go above 5
if (_recallCount > 5)
_recallCount = 5;
}
else
{
// Do not launch the drones until the delay has passed
launch = false;
}
}
else // Drones have been out for more then 30s
_recallCount = 0;
}
if (launch)
{
// Reset launch tries
_launchTries = 0;
_lastLaunch = DateTime.Now;
State = DroneState.Launch;
}
break;
case DroneState.Launch:
// Launch all drones
_launchTimeout = DateTime.Now;
Cache.Instance.DirectEve.ActiveShip.LaunchAllDrones();
State = DroneState.Launching;
break;
case DroneState.Launching:
// We haven't launched anything yet, keep waiting
if (Cache.Instance.ActiveDrones.Count() == 0)
{
if (DateTime.Now.Subtract(_launchTimeout).TotalSeconds > 10)
{
// Relaunch if tries < 10
if (_launchTries < 10)
{
_launchTries++;
State = DroneState.Launch;
break;
}
else
State = DroneState.OutOfDrones;
}
break;
}
// Are we done launching?
if (_lastDroneCount == Cache.Instance.ActiveDrones.Count())
State = DroneState.Fighting;
break;
case DroneState.Fighting:
// Should we recall our drones? This is a possible list of reasons why we should
var recall = false;
// Are we done (for now) ?
if (Cache.Instance.TargetedBy.Count(e => !e.IsSentry && e.IsNpc && e.Distance < Settings.Instance.DroneControlRange) == 0)
{
Logging.Log("Drones: Recalling drones because no NPC is targeting us within dronerange");
recall = true;
}
if (Cache.Instance.IsMissionPocketDone)
{
Logging.Log("Drones: Recalling drones because we are done with this pocket.");
recall = true;
}
else if (_shieldPctTotal > GetShieldPctTotal())
{
Logging.Log("Drones: Recalling drones because we have lost shields! [Old: " + _shieldPctTotal.ToString("N2") + "][New: " + GetShieldPctTotal().ToString("N2") + "]");
recall = true;
}
else if (_armorPctTotal > GetArmorPctTotal())
{
Logging.Log("Drones: Recalling drones because we have lost armor! [Old:" + _armorPctTotal.ToString("N2") + "][New: " + GetArmorPctTotal().ToString("N2") + "]");
recall = true;
}
else if (_structurePctTotal > GetStructurePctTotal())
{
Logging.Log("Drones: Recalling drones because we have lost structure! [Old:" + _structurePctTotal.ToString("N2") + "][New: " + GetStructurePctTotal().ToString("N2") + "]");
recall = true;
}
else if (Cache.Instance.ActiveDrones.Count() < _lastDroneCount)
{
// Did we lose a drone? (this should be covered by total's as well though)
Logging.Log("Drones: Recalling drones because we have lost a drone! [Old:" + _lastDroneCount + "][New: " + Cache.Instance.ActiveDrones.Count() + "]");
recall = true;
}
else
{
// Default to long range recall
var lowShieldWarning = Settings.Instance.LongRangeDroneRecallShieldPct;
var lowArmorWarning = Settings.Instance.LongRangeDroneRecallArmorPct;
var lowCapWarning = Settings.Instance.LongRangeDroneRecallCapacitorPct;
if (Cache.Instance.ActiveDrones.Average(d => d.Distance) < (Settings.Instance.DroneControlRange/2d))
{
lowShieldWarning = Settings.Instance.DroneRecallShieldPct;
lowArmorWarning = Settings.Instance.DroneRecallArmorPct;
lowCapWarning = Settings.Instance.DroneRecallCapacitorPct;
}
if (Cache.Instance.DirectEve.ActiveShip.ShieldPercentage < lowShieldWarning)
{
Logging.Log("Drones: Recalling drones due to shield [" + Cache.Instance.DirectEve.ActiveShip.ShieldPercentage + "%] below [" + lowShieldWarning + "%] minimum");
recall = true;
}
else if (Cache.Instance.DirectEve.ActiveShip.ArmorPercentage < lowArmorWarning)
{
Logging.Log("Drones: Recalling drones due to armor [" + Cache.Instance.DirectEve.ActiveShip.ArmorPercentage + "%] below [" + lowArmorWarning + "%] minimum");
recall = true;
}
else if (Cache.Instance.DirectEve.ActiveShip.CapacitorPercentage < lowCapWarning)
{
Logging.Log("Drones: Recalling drones due to capacitor [" + Cache.Instance.DirectEve.ActiveShip.CapacitorPercentage + "%] below [" + lowCapWarning + "%] minimum");
recall = true;
}
}
if (Cache.Instance.ActiveDrones.Count() == 0)
{
Logging.Log("Drones: Apparently we have lost all our drones");
recall = true;
}
else
{
var isPanicking = false;
isPanicking |= Cache.Instance.DirectEve.ActiveShip.ShieldPercentage < Settings.Instance.MinimumShieldPct;
isPanicking |= Cache.Instance.DirectEve.ActiveShip.ArmorPercentage < Settings.Instance.MinimumArmorPct;
isPanicking |= Cache.Instance.DirectEve.ActiveShip.CapacitorPercentage < Settings.Instance.MinimumCapacitorPct;
if (Cache.Instance.PriorityTargets.Any(pt => pt.IsWarpScramblingMe) && recall)
{
Logging.Log("Drones: Overriding drone recall, we are scrambled!");
recall = false;
}
}
// Recall or engage
if (recall)
State = DroneState.Recalling;
else
{
EngageTarget();
// We lost a drone and did not recall, assume panicking and launch (if any) additional drones
if (Cache.Instance.ActiveDrones.Count() < _lastDroneCount)
State = DroneState.Launch;
}
break;
case DroneState.Recalling:
// Are we done?
if (Cache.Instance.ActiveDrones.Count() == 0)
{
_lastRecall = DateTime.Now;
State = DroneState.WaitingForTargets;
break;
}
// Give recall command every 5 seconds
if (DateTime.Now.Subtract(_lastRecallCommand).TotalSeconds > 5)
{
Cache.Instance.DirectEve.ExecuteCommand(DirectCmd.CmdDronesReturnToBay);
_lastRecallCommand = DateTime.Now;
}
break;
}
// Update health values
_shieldPctTotal = GetShieldPctTotal();
_armorPctTotal = GetArmorPctTotal();
_structurePctTotal = GetStructurePctTotal();
_lastDroneCount = Cache.Instance.ActiveDrones.Count();
}
private void OnHandle_SomethingChanged(object o, GattValueChangedEventArgs args)
{
var sender = (GattCharacteristic) o;
var senderData = sender.Uuid;
var byteArray = args.CharacteristicValue.ToArray();
if (senderData == ParrotUuids.Characteristic_B0E_DroneState)
{
if ((byteArray[0] == 4)
&& (byteArray[2] == 2)
&& (byteArray[3] == 3)
&& (byteArray[4] == 1))
{
switch (byteArray[6])
{
case 0:
State = DroneState.Landed;
break;
case 1:
State = DroneState.TakeingOff;
break;
case 2:
State = DroneState.Hovering;
break;
case 3:
State = DroneState.Flying;
break;
case 4:
State = DroneState.Landing;
break;
case 5:
State = DroneState.Emergency;
break;
case 6:
State = DroneState.Rolling;
break;
}
}
SomethingChanged?.Invoke(this, new CustomEventArgs("Drone State: " + State));
return;
}
if (senderData == ParrotUuids.Characteristic_B0F_Battery)
{
SomethingChanged?.Invoke(this, new CustomEventArgs("Battery: " + BitConverter.ToString(byteArray)));
return;
}
var StateString = BitConverter.ToString(byteArray);
SomethingChanged?.Invoke(this, new CustomEventArgs(senderData + ": " + StateString));
}
private void UpdateEnabled(DroneState state)
{
UpdateEnabled(state == DroneState.Armed, state != DroneState.Flying);
}