private Vector3D?getCurrentObjective()
{
if (this.Objective == null)
{
List <MyWaypointInfo> route = new List <MyWaypointInfo>();
remotePilot.GetWaypointInfo(route);
if (route.Count > 0)
{
MyWaypointInfo nextWaypoint = route.First();
return(nextWaypoint.Coords);
}
}
return(this.Objective);
}
public void Tick()
{
p.Echo(new Vector3D(0, 0, 0).ToString());
Controller.GetWaypointInfo(Waypoints);
var pos = Controller.GetPosition();
//var target = Vector3D.TransformNormal(new Vector3D(10, 0, 0), MatrixD.Transpose(Controller.WorldMatrix));
p.Echo("Pos: " + pos.ToString());
if (Waypoints.Any())
{
var point = Waypoints.First();
p.Echo("Distance to waypoint: " + Vector3D.Distance(pos, point.Coords).ToString());
}
//p.Echo("test: " + Vector3D.Add(pos, target));
}
public void Main(string argument, UpdateType updateSource)
{
IMyTextPanel lcdWriteScreen = (IMyTextPanel)GridTerminalSystem.GetBlockWithName(lcdName);
IMyRemoteControl remoteControl = (IMyRemoteControl)GridTerminalSystem.GetBlockWithName(remoteControllerName);
List <MyWaypointInfo> mywaypoint = new List <MyWaypointInfo>();
remoteControl.GetWaypointInfo(mywaypoint);
foreach (MyWaypointInfo item in mywaypoint)
{
Echo(item.Coords.ToString());
}
wayPoint = mywaypoint[0];
Echo(wayPoint.ToString());
// If setupcomplete is false, run Setup method.
if (!setupcomplete)
{
Echo("Running setup.");
Setup();
}
else
{
// Create our message. We first make it a string, and then we "box" it as an object type.
string sendCords = lcdWriteScreen.GetText();
// Through the IGC variable we issue the broadcast method. IGC is "pre-made",
// so we don't have to declare it ourselves, just go ahead and use it.
if (sendCords.ToLower() == "send" && wayPoint.Coords != null)
{
IGC.SendBroadcastMessage(broadcastChannel, wayPoint.ToString(), TransmissionDistance.TransmissionDistanceMax);
}
else
{
Echo("Broadcasting failed.");
}
// To create a listener, we use IGC to access the relevant method.
// We pass the same tag argument we used for our message.
IGC.RegisterBroadcastListener(broadcastChannel);
}
}
void CloneWaypoints()
{
if (_patrolEnabled)
{
if (_patrolRoute == null)
{
_patrolRoute = new List <MyWaypointInfo>();
if (_controllerBlock == null)
{
_remoteBlock.GetWaypointInfo(_patrolRoute);
}
else
{
_controllerBlock.GetWaypointInfo(_patrolRoute);
}
}
if (_controllerBlock != null)
{
_remoteBlock.ClearWaypoints();
foreach (var item in _patrolRoute)
{
_remoteBlock.AddWaypoint(item);
}
}
if (_controllerBlock != null)
{
_opMode = OperationMode.RemoteCtrl;
}
else
{
_opMode = OperationMode.SingleCtrl;
}
}
else
{
_opMode = OperationMode.Stationary;
}
}
public void InitializationCheck()
{
CustomData();
error = false;
Echo(errors);
errors = "ERROR\n";
//LCDs
GridTerminalSystem.GetBlocksOfType <IMyTextPanel>(LCDs, filterThis);
if (LCDs.Count > 0)
{
for (int i = 0; i < LCDs.Count; i++)
{
if (LCDs[i].CustomName.IndexOf(mainLCDname) > -1)
{
mainLCD = LCDs[i];
}
if (LCDs[i].CustomName.IndexOf(statusLCDname) > -1)
{
statusLCD = LCDs[i];
}
}
if (mainLCD == null)
{
Echo("no LCD blocks with name including [" + mainLCDname + "]\n");
error = true;
}
if (statusLCD == null)
{
Echo("no LCD blocks with name including [" + statusLCDname + "]\n");
error = true;
}
}
else
{
errors += "no LCD blocks found\n";
error = true;
}
//Cockpit
GridTerminalSystem.GetBlocksOfType <IMyCockpit>(Cockpits, filterThis);
if (Cockpits.Count > 0)
{
for (int i = 0; i < Cockpits.Count; i++)
{
if (Cockpits[i].CustomName.IndexOf(cockpitName) > -1)
{
cockpit = Cockpits[i];
}
}
if (cockpit == null)
{
errors += "no Cockpit blocks with name including [" + cockpitName + "]\n";
error = true;
}
}
else
{
errors += "no Cockpit blocks found\n";
error = true;
}
//Jump drives
GridTerminalSystem.GetBlocksOfType <IMyJumpDrive>(Jumpers, filterThis);
if (Jumpers.Count > 0)
{
for (int i = 0; i < Jumpers.Count; i++)
{
if (Jumpers[i].CustomName.IndexOf(jumperName) > -1)
{
jumper = Jumpers[i];
}
}
if (jumper == null)
{
errors += "no Jump drive blocks with name including [" + jumperName + "]\n";
error = true;
}
}
else
{
errors += "no Jump drive blocks found\n";
error = true;
}
//Remote
GridTerminalSystem.GetBlocksOfType <IMyRemoteControl>(Remotes, filterThis);
if (Remotes.Count > 0)
{
for (int i = 0; i < Remotes.Count; i++)
{
if (Remotes[i].CustomName.IndexOf(remoteName) > -1)
{
remote = Remotes[i];
}
}
if (remote == null)
{
errors += "no Remote Control blocks with name including [" + remoteName + "]\n";
error = true;
}
}
else
{
errors += "no Remote Control blocks found\n";
error = true;
}
//Gyros
GridTerminalSystem.GetBlocksOfType <IMyGyro>(Allgyros, filterThis);
if (Allgyros.Count > 0)
{
for (int i = 0; i < Allgyros.Count; i++)
{
if (Allgyros[i].CustomName.IndexOf(gyroName) > -1)
{
gyros.Add(Allgyros[i]);
}
}
if (Allgyros.Count == 0)
{
errors += "no Gyroscope blocks with name including [" + gyroName + "]\n";
error = true;
}
}
else
{
errors += "no Gyroscope blocks found\n";
error = true;
}
statusLCD.Alignment = TextAlignment.CENTER;
statusLCD.ContentType = ContentType.TEXT_AND_IMAGE;
statusLCD.FontColor = Color.Gray;
statusLCD.BackgroundColor = Color.Black;
remote.GetWaypointInfo(waypoints);
if (error && (GridTerminalSystem.GetBlockWithName(mainLCDname) as IMyTextPanel != null) && (GridTerminalSystem.GetBlockWithName(statusLCDname) as IMyTextPanel != null))
{
mainLCD.WriteText(errors);
systemStatus = "ERROR";
Echo(errors);
statusLCD.WriteText(systemStatus);
statusLCD.BackgroundColor = Color.Red;
}
}
public void Main(string argument)
{
if (!started)
{
//initialize
control = GetBlockOfType <IMyRemoteControl>();
timer = GetBlockOfType <IMyTimerBlock>();
string[] parse = argument.Split(':'); // two GPS points
target = new Vector3(float.Parse(parse[2]), float.Parse(parse[3]), float.Parse(parse[4]));
approach = new Vector3(float.Parse(parse[7]), float.Parse(parse[8]), float.Parse(parse[9]));
CreateCoordSystem();
started = true;
mode = 0; //approach
lastPos = Me.CubeGrid.GridIntegerToWorld(control.Position);
speed = new Vector3(0, 0, 0);
}
else
{
Vector3 pos = Me.CubeGrid.GridIntegerToWorld(control.Position);
speed = ((pos - lastPos) / Runtime.TimeSinceLastRun.Milliseconds) * 1000;
}
if (mode == 0) //approach mode
{
Echo("approach");
if (Vector3.Distance(Me.CubeGrid.GridIntegerToWorld(control.Position), approach) > 0.1)
{
List <MyWaypointInfo> waypoints = new List <MyWaypointInfo>();
control.GetWaypointInfo(waypoints);
if (waypoints.Count != 1 || !waypoints[0].Coords.Equals(approach))
{
Echo("clearing approach " + approach);
control.ClearWaypoints();
control.AddWaypoint(approach, "[AUTO]approach");
}
SwitchFlyMode(true);
if (!control.IsAutoPilotEnabled)
{
control.SetAutoPilotEnabled(true);
}
}
else
{
mode = 1;
}
}
if (mode == 1) //find column
{
Random rnd = new Random();
column = new Vector2I(rnd.Next(-5, 5), rnd.Next(-5, 5));
mode = 2;
}
if (mode == 2) //initalize mining
{
if (TurnForward())
{
if (MoveTo(approach + column.X * left + column.Y * up))
{
mode = 3;
}
}
}
if (mode == 3) //run the column
{
if (TurnForward())
{
Vector3 currentPos = Me.CubeGrid.GridIntegerToWorld(control.Position);
float progressAlongLine = Vector3.Dot(currentPos - approach, forward);
if (progressAlongLine < 200)
{
MoveTo(approach + column.X * left + column.Y * up + (progressAlongLine + 2) * forward);
}
else
{
mode = 4;
}
}
}
if (mode == 4) //back out
{
Vector3 currentPos = Me.CubeGrid.GridIntegerToWorld(control.Position);
float progressAlongLine = Vector3.Dot(currentPos - approach, forward);
if (progressAlongLine > 0)
{
MoveTo(approach + column.X * left + column.Y * up + (progressAlongLine - 2) * forward);
}
else
{
mode = 5;
}
}
if (mode == 5) //return home
{
}
timer.ApplyAction("Start");
}
public void Main(string args)
{
// Get Text Panels
IMyTextPanel panel1 = GridTerminalSystem.GetBlockWithName("Donkey Panel Front 1") as IMyTextPanel;
IMyTextPanel panel2 = GridTerminalSystem.GetBlockWithName("Donkey Panel Front 2") as IMyTextPanel;
IMyTextPanel panel3 = GridTerminalSystem.GetBlockWithName("Donkey Panel Front 3") as IMyTextPanel;
Echo("Screen connected: " + panel1.CustomName);
Echo("Screen connected: " + panel2.CustomName);
Echo("Screen connected: " + panel3.CustomName);
// Get Sensor [0]
List <IMySensorBlock> sensors = new List <IMySensorBlock>();
GridTerminalSystem.GetBlocksOfType <IMySensorBlock>(sensors);
IMySensorBlock sensor = sensors[0];
Echo("Sensor: " + sensor.CustomName);
// Get Remote Control [0]
List <IMyRemoteControl> remotes = new List <IMyRemoteControl>();
GridTerminalSystem.GetBlocksOfType <IMyRemoteControl>(remotes);
IMyRemoteControl remote = remotes[0];
Echo("Remote: " + remote.CustomName);
// Main
// Write Detection to Panel 1
panel1.WriteText("Last detected:");
panel1.WriteText("\n" + sensor.LastDetectedEntity.Name);
panel1.WriteText("\n" + sensor.LastDetectedEntity.TimeStamp.ToString(), true);
panel1.WriteText("\n" + sensor.LastDetectedEntity.Relationship.ToString(), true);
panel1.WriteText("\n" + sensor.LastDetectedEntity.Position.ToString(), true);
// Write Remote to Panel 2
panel2.WriteText("Flight mode: " + remote.FlightMode);
// Get properties
List <ITerminalProperty> remote_props = new List <ITerminalProperty>();
remote.GetProperties(remote_props);
foreach (ITerminalProperty property in remote_props)
{
panel2.WriteText("\n" + property.Id + " : " + property.TypeName, true);
}
// Write Waypoints to Panel 3
List <MyWaypointInfo> waypoints = new List <MyWaypointInfo>();
remote.GetWaypointInfo(waypoints);
foreach (MyWaypointInfo waypoint in waypoints)
{
panel2.WriteText(waypoint.Name + " - " + waypoint.Coords);
}
// Add waypoint
remote.ClearWaypoints();
remote.AddWaypoint(sensor.LastDetectedEntity.Position, sensor.LastDetectedEntity.Name + " " + sensor.LastDetectedEntity.TimeStamp);
}