void drawDrillStatus(Display screen, GeneralStatus status, float loadFactor, float angle, float targetAngle)
{
using (Display.Frame f = screen.DrawFrame()) {
if (status.AreFrontLightsOn)
{
f.DrawCollection("drillLights", translation: LIGHTS_OFFSET);
}
if (status.AreArmLightsOn)
{
f.DrawCollection("drillLights", translation: DRILL_ARM_CENTER, rotation: angle);
}
f.DrawCollection("drillsShapesBackground");
f.Draw(new Shape("SquareSimple", this.scheme.MedDark, position: new Vector2(32, 93), size: new Vector2(loadFactor * 108, 45)));
f.DrawCollection("drillsShapesForeground");
if (!float.IsNaN(angle))
{
if (!float.IsNaN(targetAngle))
{
f.DrawCollection("drillShapesArm", translation: DRILL_ARM_CENTER, rotation: targetAngle, color: this.scheme.MedDark);
}
f.DrawCollection("drillShapesArm", translation: DRILL_ARM_CENTER, rotation: angle);
}
f.DrawText($"Full at {loadFactor * 100:000}%", INV_TEXT_POS, scale: 0.5f, alignment: TextAlignment.LEFT);
f.DrawText(this.conStatus(), CON_TEXT_POS, scale: 0.5f, alignment: TextAlignment.LEFT);
}
}
void _updateScreens(GeneralStatus status, InventoriesController inventoryController)
{
if (this._drillSurface != null)
{
this._drawDrillStatus(this._drillSurface, status, inventoryController.LoadFactor, -status.ArmAngle, -status.ArmTarget);
}
}
void updateScreens(GeneralStatus status, InventoryWatcher invWatcher)
{
foreach (Display display in this.drillDisplays)
{
this.drawDrillStatus(display, status, invWatcher.LoadFactor, -status.ArmAngle, -status.ArmTarget);
}
}
//readonly List<Display> wheelDisplays;
public ScreensController(GeneralStatus status, InventoryWatcher invWatcher, IEnumerable <IMyTextSurface> drillStatusSurfaces,
IEnumerable <IMyTextSurface> wheelStatusSurfaces, ColorScheme scheme, string sprites, IProcessSpawner spawner)
{
this.scheme = scheme;
var sprts = new ShapeCollections(this.scheme);
sprts.Parse(sprites);
this.drillDisplays = drillStatusSurfaces.Select(s => new Display(s, new Vector2(2, 25), scheme: this.scheme, sprites: sprts)).ToList();
//this.wheelDisplays = wheelStatusSurfaces.Select(s => new Display(s, new Vector2(2, 25), scheme: this.scheme)).ToList();
this.status = status;
spawner.Spawn(p => this.updateScreens(status, invWatcher), "screens-update", period: 20);
}
public ErrorCode GetGeneralStatus(out int state, out int currentMode, out int calibrationError, out int bCalIsBooting, out float tempC, out int upTimeSec, out int noMotionBiasCount, out int tempCompensationCount, out ErrorCode lastError)
{
GeneralStatus statusToFill = new GeneralStatus();
ErrorCode errCode = GetGeneralStatus(statusToFill);
state = (int)statusToFill.state;
currentMode = (int)statusToFill.currentMode;
calibrationError = statusToFill.calibrationError;
bCalIsBooting = statusToFill.bCalIsBooting ? 1 : 0;
tempC = statusToFill.tempC;
upTimeSec = statusToFill.upTimeSec;
noMotionBiasCount = statusToFill.noMotionBiasCount;
tempCompensationCount = statusToFill.tempCompensationCount;
lastError = statusToFill.lastError;
return(SetLastError(errCode));
}
public ScreensController(GeneralStatus status, InventoriesController inventoryController, IMyTextSurface drillStatusSurface,
IMyTextSurface wheelStatusSurface, ColorScheme scheme, string sprites, IProcessSpawner spawner)
{
this._scheme = scheme;
if (drillStatusSurface != null)
{
var offset = new Vector2(2, 25);
var sprts = new ShapeCollections(this._scheme);
sprts.Parse(sprites);
this._drillSurface = new Display(drillStatusSurface, offset, scheme: this._scheme, sprites: sprts);
}
if (wheelStatusSurface != null)
{
this._wheelSurface = new Display(wheelStatusSurface, scheme: this._scheme);
}
this._status = status;
spawner.Spawn(p => this._updateScreens(status, inventoryController), "screens-update", period: 20);
}
public Program()
{
this.Runtime.UpdateFrequency = UpdateFrequency.Update1;
var topLefts = new List <IMyTextSurface>();
var topRights = new List <IMyTextSurface>();
IMyTextSurface keyboard;
IMyCockpit cockpit;
this.manager = Process.CreateManager(this.Echo);
this.initCockpit(out cockpit, topLefts, topRights, out keyboard);
var ct = new CoordinatesTransformer(cockpit, this.manager);
var logger = new Logger(this.manager, keyboard, new Color(0, 39, 15), new Color(27, 228, 33), this.Echo, 1.0f);
this.cmd = new CommandLine("Boring machine", logger.Log, this.manager);
var ini = new IniWatcher(this.Me, this.manager);
var wc = new WheelsController(this.cmd, cockpit, this.GridTerminalSystem, ini, this.manager, ct);
var ac = new ArmController(ini, this, this.cmd, cockpit, wc, this.manager);
var iw = new InventoryWatcher(this.cmd, this.GridTerminalSystem, cockpit);
var cc = new ConnectionClient(ini, this.GridTerminalSystem, this.IGC, this.cmd, this.manager, logger.Log);
var rcs = new List <IMyRemoteControl>();
this.GridTerminalSystem.GetBlocksOfType(rcs, r => r.CubeGrid == this.Me.CubeGrid);
IMyRemoteControl frc = rcs.First(r => r.DisplayNameText.Contains("Forward"));
IMyRemoteControl brc = rcs.First(r => r.DisplayNameText.Contains("Backward"));
var ap = new Autopilot(ini, wc, this.cmd, frc, logger.Log, this.manager);
var ah = new PilotAssist(this.GridTerminalSystem, ini, logger.Log, this.manager, wc);
ah.AddBraker(cc);
ah.AddDeactivator(ap);
var ar = new AutoRoutineHandler(this.cmd);
// TODO parse routines
new MiningRoutines(ini, this.cmd, ap, this.manager);
var progs = new List <IMyProgrammableBlock>();
this.GridTerminalSystem.GetBlocksOfType(progs, pr => pr.CubeGrid == this.Me.CubeGrid);
var genStatus = new GeneralStatus(this, ac, cc);
new ScreensController(genStatus, iw, topLefts, topRights, this.scheme, cockpit.CustomData, this.manager);
}
public Program()
{
this.Runtime.UpdateFrequency = UpdateFrequency.Update1;
IMyTextSurface topLeft, topRight, keyboard;
IMyCockpit cockpit;
this.manager = Process.CreateManager(this.Echo);
this.initCockpit(out cockpit, out topLeft, out topRight, out keyboard);
var ct = new CoordinatesTransformer(cockpit, this.manager);
var logger = new Logger(this.manager, keyboard, this.scheme.Light, this.scheme.Dark, this.Echo);
logger.Log("Booting up...");
this.cmd = new CommandLine("Boring machine", logger.Log, this.manager);
var genStatus = new GeneralStatus(this, this.cmd);
var wb = new WheelBase();
var wheels = new List <IMyMotorSuspension>();
this.GridTerminalSystem.GetBlocksOfType(wheels, w => w.CubeGrid == this.Me.CubeGrid && w.DisplayNameText.Contains("Power"));
wheels.ForEach(w => wb.AddWheel(new PowerWheel(w, wb, ct)));
var ic = new InventoriesController(ct, this.GridTerminalSystem, cockpit, wb.CenterOfTurnZ + 2, this.manager);
new ScreensController(genStatus, ic, topLeft, topRight, this.scheme, cockpit.CustomData, this.manager);
}
/**
* Get the status of the current (or previousley complete) calibration.
* @param statusToFill
*/
public ErrorCode GetGeneralStatus(GeneralStatus statusToFill)
{
ErrorCode errCode = (ErrorCode)ReceiveCAN(COND_STATUS_1 | (int)_baseArbId);
byte b3 = (byte)(_cache >> 0x18);
byte b5 = (byte)(_cache >> 0x28);
byte iCurrMode = (byte)((b5 >> 4) & 0xF);
CalibrationMode currentMode = (CalibrationMode)(iCurrMode);
/* shift up bottom nibble, and back down with sign-extension */
int calibrationErr = b5 & 0xF;
calibrationErr <<= (32 - 4);
calibrationErr >>= (32 - 4);
int noMotionBiasCount = (byte)(_cache >> 0x24) & 0xF;
int tempCompensationCount = (byte)(_cache >> 0x20) & 0xF;
int upTimSec = (byte)(_cache >> 0x38);
statusToFill.currentMode = currentMode;
statusToFill.calibrationError = calibrationErr;
statusToFill.bCalIsBooting = ((b3 & 1) == 1);
statusToFill.state = GetState((int)errCode, _cache);
statusToFill.tempC = (float)GetTemp(_cache);
statusToFill.noMotionBiasCount = noMotionBiasCount;
statusToFill.tempCompensationCount = tempCompensationCount;
statusToFill.upTimeSec = upTimSec;
statusToFill.lastError = errCode;
/* build description string */
if (errCode != 0)
{ // same as NoComm
statusToFill.description = "Status frame was not received, check wired connections and web-based config.";
}
else if (statusToFill.bCalIsBooting)
{
statusToFill.description = "Pigeon is boot-caling to properly bias accel and gyro. Do not move Pigeon. When finished biasing, calibration mode will start.";
}
else if (statusToFill.state == PigeonState.UserCalibration)
{
/* mode specific descriptions */
switch (currentMode)
{
case CalibrationMode.BootTareGyroAccel:
statusToFill.description = "Boot-Calibration: Gyro and Accelerometer are being biased.";
break;
case CalibrationMode.Temperature:
statusToFill.description = "Temperature-Calibration: Pigeon is collecting temp data and will finish when temp range is reached. Do not move Pigeon.";
break;
case CalibrationMode.Magnetometer12Pt:
statusToFill.description = "Magnetometer Level 1 calibration: Orient the Pigeon PCB in the 12 positions documented in the User's Manual.";
break;
case CalibrationMode.Magnetometer360:
statusToFill.description = "Magnetometer Level 2 calibration: Spin robot slowly in 360' fashion. ";
break;
case CalibrationMode.Accelerometer:
statusToFill.description = "Accelerometer Calibration: Pigeon PCB must be placed on a level source. Follow User's Guide for how to level surfacee. ";
break;
}
}
else if (statusToFill.state == PigeonState.Ready)
{
/* definitely not doing anything cal-related. So just instrument the motion driver state */
statusToFill.description = "Pigeon is running normally. Last CAL error code was ";
statusToFill.description += calibrationErr;
statusToFill.description += ".";
}
else if (statusToFill.state == PigeonState.Initializing)
{
/* definitely not doing anything cal-related. So just instrument the motion driver state */
statusToFill.description = "Pigeon is boot-caling to properly bias accel and gyro. Do not move Pigeon.";
}
else
{
statusToFill.description = "Not enough data to determine status.";
}
return(SetLastError(errCode));
}
protected override object this[string index]
{
get
{
#region
switch (index)
{
case "UserID": return UserID;
case "GeneralID": return GeneralID;
case "GeneralName": return GeneralName;
case "HeadID": return HeadID;
case "PicturesID": return PicturesID;
case "GeneralLv": return GeneralLv;
case "LifeNum": return LifeNum;
case "GeneralType": return GeneralType;
case "CareerID": return CareerID;
case "PowerNum": return PowerNum;
case "SoulNum": return SoulNum;
case "IntellectNum": return IntellectNum;
case "TrainingPower": return TrainingPower;
case "TrainingSoul": return TrainingSoul;
case "TrainingIntellect": return TrainingIntellect;
case "HitProbability": return HitProbability;
case "AbilityID": return AbilityID;
case "Momentum": return Momentum;
case "Description": return Description;
case "GeneralStatus": return GeneralStatus;
case "CurrExperience": return CurrExperience;
case "Experience1": return Experience1;
case "Experience2": return Experience2;
case "HeritageType": return HeritageType;
case "FeelLv": return FeelLv;
case "FeelExperience": return FeelExperience;
case "SaturationNum": return SaturationNum;
case "HungerDate": return HungerDate;
case "AtmanNum": return AtmanNum;
case "Potential": return Potential;
case "Attribute": return Attribute;
case "AbilityNum": return AbilityNum;
default: throw new ArgumentException(string.Format("UserGeneral index[{0}] isn't exist.", index));
}
#endregion
}
set
{
#region
switch (index)
{
case "UserID":
_UserID = value.ToNotNullString();
break;
case "GeneralID":
_GeneralID = value.ToInt();
break;
case "GeneralName":
_GeneralName = value.ToNotNullString();
break;
case "HeadID":
_HeadID = value.ToNotNullString();
break;
case "PicturesID":
_PicturesID = value.ToNotNullString();
break;
case "GeneralLv":
_GeneralLv = value.ToShort();
break;
case "LifeNum":
_LifeNum = value.ToInt();
break;
case "GeneralType":
_GeneralType = value.ToEnum<GeneralType>();
break;
case "CareerID":
_CareerID = value.ToShort();
break;
case "PowerNum":
_PowerNum = value.ToShort();
break;
case "SoulNum":
_SoulNum = value.ToShort();
break;
case "IntellectNum":
_IntellectNum = value.ToShort();
break;
case "TrainingPower":
_TrainingPower = value.ToShort();
break;
case "TrainingSoul":
_TrainingSoul = value.ToShort();
break;
case "TrainingIntellect":
_TrainingIntellect = value.ToShort();
break;
case "HitProbability":
_HitProbability = value.ToDecimal();
break;
case "AbilityID":
_AbilityID = value.ToInt();
break;
case "Momentum":
_Momentum = value.ToShort();
break;
case "Description":
_Description = value.ToNotNullString();
break;
case "GeneralStatus":
_GeneralStatus = value.ToEnum<GeneralStatus>();
break;
case "CurrExperience":
_CurrExperience = value.ToInt();
break;
case "Experience1":
_Experience1 = value.ToInt();
break;
case "Experience2":
_Experience2 = value.ToInt();
break;
case "HeritageType":
_HeritageType = value.ToEnum<HeritageType>();
break;
case "FeelLv":
_FeelLv = value.ToShort();
break;
case "FeelExperience":
_FeelExperience = value.ToInt();
break;
case "SaturationNum":
_SaturationNum = value.ToShort();
break;
case "HungerDate":
_HungerDate = value.ToDateTime();
break;
case "AtmanNum":
_AtmanNum = value.ToInt();
break;
case "Potential":
_Potential = value.ToInt();
break;
case "Attribute":
_Attribute = ConvertCustomField<CacheList<GeneralProperty>>(value, index);
break;
case "AbilityNum":
_AbilityNum = value.ToInt();
break;
default: throw new ArgumentException(string.Format("UserGeneral index[{0}] isn't exist.", index));
}
#endregion
}
}
public object Get(GeneralStatus request)
{
return(new HttpError(HttpStatusCode.OK, "All services are functional."));
}
protected override object this[string index]
{
get
{
#region
switch (index)
{
case "UserID": return(UserID);
case "GeneralID": return(GeneralID);
case "GeneralName": return(GeneralName);
case "HeadID": return(HeadID);
case "PicturesID": return(PicturesID);
case "GeneralLv": return(GeneralLv);
case "LifeNum": return(LifeNum);
case "GeneralType": return(GeneralType);
case "CareerID": return(CareerID);
case "PowerNum": return(PowerNum);
case "SoulNum": return(SoulNum);
case "IntellectNum": return(IntellectNum);
case "TrainingPower": return(TrainingPower);
case "TrainingSoul": return(TrainingSoul);
case "TrainingIntellect": return(TrainingIntellect);
case "HitProbability": return(HitProbability);
case "AbilityID": return(AbilityID);
case "Momentum": return(Momentum);
case "Description": return(Description);
case "GeneralStatus": return(GeneralStatus);
case "CurrExperience": return(CurrExperience);
case "Experience1": return(Experience1);
case "Experience2": return(Experience2);
case "HeritageType": return(HeritageType);
case "FeelLv": return(FeelLv);
case "FeelExperience": return(FeelExperience);
case "SaturationNum": return(SaturationNum);
case "HungerDate": return(HungerDate);
case "AtmanNum": return(AtmanNum);
case "Potential": return(Potential);
case "Attribute": return(Attribute);
case "AbilityNum": return(AbilityNum);
default: throw new ArgumentException(string.Format("UserGeneral index[{0}] isn't exist.", index));
}
#endregion
}
set
{
#region
switch (index)
{
case "UserID":
_UserID = value.ToNotNullString();
break;
case "GeneralID":
_GeneralID = value.ToInt();
break;
case "GeneralName":
_GeneralName = value.ToNotNullString();
break;
case "HeadID":
_HeadID = value.ToNotNullString();
break;
case "PicturesID":
_PicturesID = value.ToNotNullString();
break;
case "GeneralLv":
_GeneralLv = value.ToShort();
break;
case "LifeNum":
_LifeNum = value.ToInt();
break;
case "GeneralType":
_GeneralType = value.ToEnum <GeneralType>();
break;
case "CareerID":
_CareerID = value.ToShort();
break;
case "PowerNum":
_PowerNum = value.ToShort();
break;
case "SoulNum":
_SoulNum = value.ToShort();
break;
case "IntellectNum":
_IntellectNum = value.ToShort();
break;
case "TrainingPower":
_TrainingPower = value.ToShort();
break;
case "TrainingSoul":
_TrainingSoul = value.ToShort();
break;
case "TrainingIntellect":
_TrainingIntellect = value.ToShort();
break;
case "HitProbability":
_HitProbability = value.ToDecimal();
break;
case "AbilityID":
_AbilityID = value.ToInt();
break;
case "Momentum":
_Momentum = value.ToShort();
break;
case "Description":
_Description = value.ToNotNullString();
break;
case "GeneralStatus":
_GeneralStatus = value.ToEnum <GeneralStatus>();
break;
case "CurrExperience":
_CurrExperience = value.ToInt();
break;
case "Experience1":
_Experience1 = value.ToInt();
break;
case "Experience2":
_Experience2 = value.ToInt();
break;
case "HeritageType":
_HeritageType = value.ToEnum <HeritageType>();
break;
case "FeelLv":
_FeelLv = value.ToShort();
break;
case "FeelExperience":
_FeelExperience = value.ToInt();
break;
case "SaturationNum":
_SaturationNum = value.ToShort();
break;
case "HungerDate":
_HungerDate = value.ToDateTime();
break;
case "AtmanNum":
_AtmanNum = value.ToInt();
break;
case "Potential":
_Potential = value.ToInt();
break;
case "Attribute":
_Attribute = ConvertCustomField <CacheList <GeneralProperty> >(value, index);
break;
case "AbilityNum":
_AbilityNum = value.ToInt();
break;
default: throw new ArgumentException(string.Format("UserGeneral index[{0}] isn't exist.", index));
}
#endregion
}
}
