public bool SensorIsActive(IMySensorBlock s1, ref bool bAsteroidFound, ref bool bLargeFound, ref bool bSmallFound)
{
// bool bAnyFound = false;
bAsteroidFound = false;
bLargeFound = false;
bSmallFound = false;
if (s1 == null)
{
_program.ErrorLog("SensorIsActive: Null sensor");
}
if (s1 != null && s1.IsActive && s1.Enabled && !s1.LastDetectedEntity.IsEmpty())
{
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s1.DetectedEntities(lmyDEI);
for (int j1 = 0; j1 < lmyDEI.Count; j1++)
{
if (lmyDEI[j1].Type == MyDetectedEntityType.Asteroid)
{
// Echo(s1.CustomName + "SIA: Asteroid");
bAsteroidFound = true;
}
else if (lmyDEI[j1].Type == MyDetectedEntityType.LargeGrid)
{
bLargeFound = true;
}
else if (lmyDEI[j1].Type == MyDetectedEntityType.SmallGrid)
{
bSmallFound = true;
}
}
}
// else Echo(s1.CustomName + " SIA() Inactive");
return(bAsteroidFound || bLargeFound || bSmallFound);// bAnyFound;
}
public override void UpdateBeforeSimulation100()
{
Init();
IMySensorBlock sensorBlock = Entity as IMySensorBlock;
if (Target != null && sensorBlock.IsActive && TeleporterNetwork.ContainsKey(Target))
{
PrintDebugMessage($"'{sensorBlock.DisplayNameText}' is an active teleporter to '{Target}'.");
List <MyDetectedEntityInfo> detectedEntityInfos = new List <MyDetectedEntityInfo>();
sensorBlock.DetectedEntities(detectedEntityInfos);
List <IMyPlayer> players = new List <IMyPlayer>();
foreach (MyDetectedEntityInfo entityInfo in detectedEntityInfos)
{
if (entityInfo.Type == MyDetectedEntityType.CharacterHuman)
{
MyAPIGateway.Players.GetPlayers(players, p => p.Character.EntityId == entityInfo.EntityId);
IMyPlayer player = players[0];
PrintDebugMessage($"'{sensorBlock.DisplayNameText}' detected '{player.DisplayName}' and will teleport it to '{TeleporterNetwork[Target].Name}'.");
Teleport(player.Character, TeleporterNetwork[Target]);
}
}
}
}
bool SensorActive(IMySensorBlock s1, ref bool bAsteroidFound, ref bool bLargeFound, ref bool bSmallFound)
{
// bool bAnyFound = false;
bAsteroidFound = false;
bLargeFound = false;
bSmallFound = false;
if (s1 != null && s1.IsActive && s1.Enabled && !s1.LastDetectedEntity.IsEmpty())
{
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s1.DetectedEntities(lmyDEI);
for (int j1 = 0; j1 < lmyDEI.Count; j1++)
{
if (lmyDEI[j1].Type == MyDetectedEntityType.Asteroid)
{
bAsteroidFound = true;
}
else if (lmyDEI[j1].Type == MyDetectedEntityType.LargeGrid)
{
bLargeFound = true;
}
else if (lmyDEI[j1].Type == MyDetectedEntityType.SmallGrid)
{
bSmallFound = true;
}
}
}
return(bAsteroidFound || bLargeFound || bSmallFound);// bAnyFound;
}
// No normal way to get, workaround!
public MyDetectedEntityInfo?GetCharacterInShipControllers()
{
if (cockpitsEmpty(cockpits))
{
sensor.DetectedEntities(entities);
}
else if (!cockpitsEmpty(cockpits))
{
List <MyDetectedEntityInfo> temp = new List <MyDetectedEntityInfo>();
sensor.DetectedEntities(temp);
MyDetectedEntityInfo?lost = GetLostPlayerEntity(entities, temp);
filled = true;
return(lost);
}
return(null);
}
//Scans for targets
private bool Scan()
{
EchoToLCD("Scanning for targets");
if (_sensorBlock.IsActive) //If sensor picks up any targets
{
List <MyDetectedEntityInfo> targetList = new List <MyDetectedEntityInfo>();
_sensorBlock.DetectedEntities(targetList);
EchoToLCD("Targets found by Sensor: " + targetList.Count.ToString());
double detectedGridDist = -1;
double distHolder;
MyDetectedEntityInfo gridHolder = new MyDetectedEntityInfo();
bool foundOne = false;
//Finds the closest target
for (int i = 0; i < targetList.Count; i += 1)
{
if (ValidTarget(targetList[i]))
{
distHolder = Vector3D.DistanceSquared(targetList[i].Position, Me.GetPosition());
if (detectedGridDist < 0 || distHolder < detectedGridDist)
{
detectedGridDist = distHolder;
gridHolder = targetList[i];
foundOne = true;
}
}
}
//if target found then set target grid
if (foundOne)
{
EchoToLCD("Target Locked");
targetGrid = gridHolder;
return(true);
}
else
{
EchoToLCD("No valid targets found.");
}
}
else
{
EchoToLCD("Sensor block disabled");
}
return(false);
}
public void Main()
{
detected_entities.Clear();
sensor.DetectedEntities(detected_entities);
foreach(MyDetectedEntityInfo entity in detected_entities)
{
if (entity.Type == player_type)
{
p = entity.Position - azimuth_rotor.GetPosition();
break;
}
}
block_p = convert_to_block_vector(azimuth_rotor, p);
azimuth_atan2 = (float)Math.Atan2(-block_p.X, block_p.Z);
azimuth_rotor.TargetVelocityRad = get_azimuth(azimuth_rotor.Angle, azimuth_atan2) * azimuth_mult;
}
private void printDetectedObjects(IMySensorBlock sens, IMyTextPanel lcd)
{
var det = new List <MyDetectedEntityInfo>();
sens.DetectedEntities(det);
lcd.WritePublicText("Detected " + det.Count + " entities.\n", false);
foreach (var d in det)
{
lcd.WritePublicText("ID: " + d.EntityId + "\n", true);
lcd.WritePublicText("Name: " + d.Name + "\n", true);
lcd.WritePublicText("Type: " + d.Type + "\n", true);
lcd.WritePublicText("Time(ms): " + d.TimeStamp + "\n", true);
lcd.WritePublicText("Pos: " + d.Position + "\n", true);
lcd.WritePublicText("Relation: " + d.Relationship + "\n", true);
}
}
public void Main()
{
test_panel.WriteText("");
detected_entities.Clear();
sensor.DetectedEntities(detected_entities);
foreach (MyDetectedEntityInfo entity in detected_entities)
{
if (entity.Type == player_type)
{
if (entity.Velocity == new Vector3D(0.0))
{
test_panel.WriteText($"I see: {entity.Type} at {entity.Name}\n", true);
turret.SetTarget(entity.Position);
}
break;
}
}
}
public void Main()
{
if (sensor == null)
{
return;
}
detected.Clear();
sensor.DetectedEntities(detected);
foreach (var entity in detected)
{
if ((entity.Relationship & (MyRelationsBetweenPlayerAndBlock.Enemies | MyRelationsBetweenPlayerAndBlock.Neutral | MyRelationsBetweenPlayerAndBlock.NoOwnership)) != 0)
{
Detonate();
}
}
}
private void UpdatePayload()
{
if (Vector3D.DistanceSquared(_target, _gyros[0].GetPosition()) < _DetonateDistanceSq)
{
Detonate();
return;
}
if (_sensor != null)
{
_sensor.DetectedEntities(_detectedEntities);
foreach (var entity in _detectedEntities)
{
if (entity.Relationship == MyRelationsBetweenPlayerAndBlock.Enemies ||
entity.Relationship == MyRelationsBetweenPlayerAndBlock.Neutral)
{
Detonate();
}
}
}
}
public void Main(string argument, UpdateType updateSource)
{
if (sensor != null)
{
Echo("updateSource: " + updateSource);
Echo("IsActive: " + sensor.IsActive);
entityList.Clear();
sensor.DetectedEntities(entityList);
stringBuilder.Clear();
foreach (var item in entityList)
{
Echo("" + item.Type + ": " + item.Name);
stringBuilder.Append(gpsToString(item.Name, item.Position)).Append("\n");
}
pbLCD.WriteText(stringBuilder.ToString());
}
else
{
Echo("run ERROR");
}
}
public void Main(string arg)
{
if ((DateTime.Now - last_greetings) < greetings_interval)
{
debug_panel.WriteText($"Last greetings: {DateTime.Now - last_greetings} {((DateTime.Now - last_greetings) < greetings_interval)}");
return;
}
else
{
can_greet = true;
}
if (can_greet)
{
if (!player_is_inside)
{
detected_entities.Clear();
sensor.DetectedEntities(detected_entities);
foreach (MyDetectedEntityInfo entity in detected_entities)
{
if (entity.Type == player_type)
{
player_entity = entity;
player_is_inside = true;
sensor.Enabled = false;
ticks_passed = 0;
break;
}
}
}
else
{
if (ticks_passed < 100)
{
greet_panel.WriteText($"{central_n}{authorization_spaces}\\ Authorization \\");
}
else if (ticks_passed < 200)
{
greet_panel.WriteText($"{central_n}{authorization_spaces}| Authorization. |");
}
else if (ticks_passed < 300)
{
greet_panel.WriteText($"{central_n}{authorization_spaces}/ Authorization.. /");
}
else if (ticks_passed < 400)
{
greet_panel.WriteText($"{central_n}{authorization_spaces}\\ Authorization... \\");
}
else if (ticks_passed < 500)
{
greet_panel.WriteText($"{central_n}{authorization_spaces}| Authorization... |");
}
else if (ticks_passed < 600)
{
greet_panel.WriteText($"{central_n}{authorization_spaces}/ Authorization... /");
}
else if (ticks_passed < 1200)
{
if (player_entity.Name == greeted_player_name)
{
if (!greeting_started)
{
greet_panel.WriteText($"{central_n} Welcome back, commander");
jukebox.ApplyAction("OnOff_On");
greeting_started = true;
}
}
}
else
{
jukebox.ApplyAction("OnOff_Off");
sensor.Enabled = true;
player_is_inside = false;
can_greet = false;
greeting_started = false;
last_greetings = DateTime.Now;
return;
}
ticks_passed = ticks_passed + 100;
}
}
}
void doModeFindOre()
{
List <IMySensorBlock> aSensors = null;
IMySensorBlock sb;
IMySensorBlock sb2;
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":FindOre", textPanelReport);
Echo("current_state=" + current_state.ToString());
double maxThrust = calculateMaxThrust(thrustForwardList);
Echo("maxThrust=" + maxThrust.ToString("N0"));
MyShipMass myMass;
myMass = ((IMyShipController)gpsCenter).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
Echo("effectiveMass=" + effectiveMass.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
Echo("Cargo=" + cargopcent.ToString() + "%");
Echo("velocity=" + velocityShip.ToString("0.00"));
Echo("miningElapsedMs=" + miningElapsedMs.ToString("0.00"));
/*
* Echo("#Sensors=" + sensorsList.Count);
* Echo("width=" + shipDim.WidthInMeters().ToString("0.0"));
* Echo("height=" + shipDim.HeightInMeters().ToString("0.0"));
* Echo("length=" + shipDim.LengthInMeters().ToString("0.0"));
*/
IMyTextPanel txtPanel = getTextBlock("Sensor Report");
StatusLog("clear", txtPanel);
// TODO: Check maxDeltaV. If <0.25, then we can't move..
// so turn around at 0.50 or less.. (and still use cargopcent?)
if (bValidAsteroid)
{
debugGPSOutput("Pre-Valid Ast", vTargetAsteroid);
}
// if(vExpectedExit.AbsMax()>.5)
{
Vector3D vT = gpsCenter.GetPosition() + vExpectedExit * 150;
debugGPSOutput("ExpectedExit", vT);
}
switch (current_state)
{
case 0:
current_state = 10;
bWantFast = true;
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Find Ore: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
}
sensorsList[0].DetectAsteroids = true;
sensorsList[1].DetectAsteroids = true;
bValidAsteroid = false;
bValidExit = false;
ResetMotion();
// turnDrillsOff();
turnEjectorsOff();
break;
case 10:
//sb = sensorsList[0];
sleepAllSensors();
setSensorShip(sensorsList[0], 2, 2, 2, 2, 2, 2);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 11;
break;
case 11:
{
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < 1)
{
return;
}
aSensors = activeSensors();
bool bFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
strbMining.Clear();
strbMining.Append("Sensor Position:" + s.GetPosition().ToString());
strbMining.AppendLine();
for (int j = 0; j < lmyDEI.Count; j++)
{
strbMining.Append("Name: " + lmyDEI[j].Name);
strbMining.AppendLine();
strbMining.Append("Type: " + lmyDEI[j].Type);
strbMining.AppendLine();
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
StatusLog("Found Asteroid!", txtPanel);
bFoundAsteroid = true;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
}
}
StatusLog(strbMining.ToString(), txtPanel);
}
if (bFoundAsteroid)
{
current_state = 20; // inside
}
else
{
current_state = 100;
}
}
break;
case 20:
{
// started find ore while 'inside' asteroid.
// point towards exit
vExpectedExit = gpsCenter.GetPosition() - currentAst.Position;
vExpectedExit.Normalize();
bValidExit = true;
current_state = 31;
}
break;
case 31:
sb = sensorsList[0];
sb2 = sensorsList[1];
sleepAllSensors();
setSensorShip(sb, 0, 0, 0, 0, 45, 0);
setSensorShip(sb2, 5, 5, 5, 5, 0, 15);
current_state = 32;
miningElapsedMs = 0;
break;
case 32:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < 1)
{
return; // delay for sensor settling
}
current_state = 35;
break;
case 35:
{
aSensors = activeSensors();
// bValidAsteroid = false;
bool bLocalAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
for (int j = 0; j < lmyDEI.Count; j++)
{
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
bLocalAsteroid = true;
if (!bValidAsteroid)
{
Echo("Found New Asteroid!");
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
}
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
}
// need to detect other ships and avoid
}
}
if (!bLocalAsteroid)
{ // we have exited the asteroid.
ResetMotion();
// turnDrillsOff();
if (cargopcent > cargopctlowwater || maxDeltaV < (fTargetMiningmps / 2))
{
// we need to dump our contents
turnEjectorsOn();
}
current_state = 300;
bWantFast = true;
}
else
{ // we are inside asteroid
turnEjectorsOn();
GyroMain("forward", vExpectedExit, gpsCenter);
// blockApplyAction(ejectorList, "OnOff_On");
if (maxDeltaV < (fTargetMiningmps / 2) || cargopcent > cargopcthighwater && !bWaitingCargo) //
{
ResetMotion();
// turnDrillsOff();
turnEjectorsOn();
bWaitingCargo = true;
}
if (bWaitingCargo)
{ // continue to wait
// need to check how much stone we have.. if zero(ish), then we're full.. go exit.
doCargoOreCheck();
if (currentStoneAmount() < 15)
{
// we are full and not much stone ore in us...
ResetMotion();
// turnDrillsOff();
turnEjectorsOff();
setMode(MODE_EXITINGASTEROID);
doTriggerMain();
}
// TODO: Needs time-out
Echo("Cargo above low water: Waiting");
if (maxDeltaV > (fTargetMiningmps / 2) && cargopcent < cargopctlowwater)
{
bWaitingCargo = false; // can now move.
}
}
else
{
// GyroMain("forward", vExpectedExit, gpsCenter);
turnDrillsOn();
mineMoveForward(fTargetMiningmps, fAbortmps);
bWantFast = true;
}
}
}
break;
case 100:
turnDrillsOff();
sleepAllSensors();
sb = sensorsList[0];
setSensorShip(sb, 0, 0, 0, 0, 50, 0);
current_state = 101;
miningElapsedMs = 0;
break;
case 101:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < 1)
{
return; // delay for sensor settling
}
current_state++;
break;
case 102:
{
aSensors = activeSensors();
bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
strbMining.Clear();
strbMining.Append("Sensor Position:" + s.GetPosition().ToString());
strbMining.AppendLine();
for (int j = 0; j < lmyDEI.Count; j++)
{
strbMining.Append("Name: " + lmyDEI[j].Name);
strbMining.AppendLine();
strbMining.Append("Type: " + lmyDEI[j].Type);
strbMining.AppendLine();
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
StatusLog("Found Asteroid!", txtPanel);
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
}
}
StatusLog(strbMining.ToString(), txtPanel);
// else current_state = 100;
}
// if (!bValidAsteroid)
{
// not in sensor range. start checking cameras
double scandist = 500;
/*
* if (bValidAsteroid)
* {
* scandist = (gpsCenter.GetPosition() - vTargetAsteroid).Length();
* }
*/
if (doCameraScan(cameraForwardList, scandist))
{ // we scanned
if (!lastDetectedInfo.IsEmpty())
{ // we hit something
if (lastDetectedInfo.Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lastDetectedInfo);
vTargetAsteroid = (Vector3D)lastDetectedInfo.HitPosition;
bValidAsteroid = true;
vExpectedExit = vTargetAsteroid - gpsCenter.GetPosition();
vExpectedExit.Normalize();
bValidExit = true;
}
}
else
{
// no asteroid detected. Check surroundings for one.
current_state = 110;
bValidExit = false;
}
}
}
if (bValidExit)
{
current_state = 120; //found asteroid ahead
}
}
break;
case 110:
{
sleepAllSensors();
setSensorShip(sensorsList[0], 50, 50, 50, 50, 50, 50);
miningElapsedMs = 0;
current_state = 111;
}
break;
case 111:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < 1)
{
return; // delay for sensor settling
}
current_state++;
break;
case 112:
{
aSensors = activeSensors();
// bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
strbMining.Clear();
strbMining.Append("Sensor Position:" + s.GetPosition().ToString());
strbMining.AppendLine();
for (int j = 0; j < lmyDEI.Count; j++)
{
strbMining.Append("Name: " + lmyDEI[j].Name);
strbMining.AppendLine();
strbMining.Append("Type: " + lmyDEI[j].Type);
strbMining.AppendLine();
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
StatusLog("Found Asteroid!", txtPanel);
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
}
}
StatusLog(strbMining.ToString(), txtPanel);
// else current_state = 100;
}
if (bValidAsteroid)
{
bWantFast = true;
if (GyroMain("forward", vTargetAsteroid - gpsCenter.GetPosition(), gpsCenter))
{
// we are aimed
current_state = 100;
}
}
}
break;
case 120:
{ // approach
if (!bValidAsteroid)
{
current_state = 10;
return;
}
bWantFast = true;
// we should have asteroid in front.
bool bAimed = true;
Echo(bValidExit.ToString() + " " + Vector3DToString(vExpectedExit));
bAimed = GyroMain("forward", vExpectedExit, gpsCenter);
if (bAimed)
{
if (doCameraScan(cameraForwardList, 500))
{
if (!lastDetectedInfo.IsEmpty())
{
// we have a target
// if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
Vector3D vTarget = (Vector3D)lastDetectedInfo.HitPosition;
double distance = (vTarget - lastCamera.GetPosition()).Length();
Echo("Distance=" + distance.ToString());
if (distance < 15)
{
vLastContact = gpsCenter.GetPosition();
if (!bValidInitialContact)
{
vInitialContact = vLastContact;
bValidInitialContact = true;
}
current_state = 31;
ResetMotion();
}
else
{
mineMoveForward(fApproachMps, fApproachAbortMps);
}
}
// bValidExit = true;
// vExpectedExit = vTarget - gpsCenter.GetPosition();
}
else
{
/*
* // we scanned, but didn't hit anything. it's likely a donut
* double distance = (vTargetAsteroid - gpsCenter.GetPosition()).Length();
* Echo("Distance=" + distance.ToString());
* mineMoveForward(fTargetMiningmps,fAbortmps);
* if (distance < 5)
* {
* vExpectedExit = vTargetAsteroid - gpsCenter.GetPosition();
* current_state = 31;
* ResetMotion();
* }
*/
setMode(MODE_ATTENTION);
}
}
// ELSE no scan available.. just wait
else
{
Echo("No Camera SCAN!");
}
}
else
{
Echo("Aiming");
}
// BUG: Gets stuck in state if nothing hit.. (ie, donut)
}
break;
case 300:
{
// we have exitted the asteroid. Prepare for another run or to go dock
Echo("Exitted!");
ResetMotion();
sleepAllSensors();
if (maxDeltaV < (fTargetMiningmps / 2) || cargopcent > cargopctlowwater)
{
setMode(MODE_DOCKING);
}
else
{
vLastExit = gpsCenter.GetPosition();
// dist = (vLastExit - vInitialExit).Length();
if (!bValidInitialExit)
{
vInitialExit = vLastExit;
bValidInitialExit = true;
}
setMode(MODE_SEARCHORIENT);
// prepare for another run.
}
break;
}
}
}
void doModeExitingAsteroid()
{
List <IMySensorBlock> aSensors = null;
IMySensorBlock sb;
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":Exiting!", textPanelReport);
Echo("current_state=" + current_state.ToString());
MyShipMass myMass;
myMass = ((IMyShipController)gpsCenter).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
double maxThrust = calculateMaxThrust(thrustForwardList);
Echo("effectiveMass=" + effectiveMass.ToString("N0"));
Echo("maxThrust=" + maxThrust.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
Echo("Cargo=" + cargopcent.ToString() + "%");
Echo("velocity=" + velocityShip.ToString("0.00"));
Echo("#Sensors=" + sensorsList.Count);
Echo("width=" + shipDim.WidthInMeters().ToString("0.0"));
Echo("height=" + shipDim.HeightInMeters().ToString("0.0"));
Echo("length=" + shipDim.LengthInMeters().ToString("0.0"));
IMyTextPanel txtPanel = getTextBlock("Sensor Report");
StatusLog("clear", txtPanel);
/*
* 0 - Master Init
* 10 - Init sensors, turn drills on
* 11 - await sensor set
* 20 - turn around until aimed ->30
* 30 - move forward (out) until exit asteroid
*
* 40 when out, call for pickup
*
*/
switch (current_state)
{
case 0: //0 - Master Init
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Find Ore: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
}
ResetMotion();
// turnDrillsOff();
turnEjectorsOn();
current_state = 10;
break;
case 10: //10 - Init sensors, turn drills on
sleepAllSensors();
setSensorShip(sensorsList[0], 2, 2, 2, 2, 15, 15);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 11;
break;
case 11: //11 - await sensor set
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < 1)
{
return;
}
current_state = 20;
break;
case 20: //20 - turn around until aimed ->30
{
bWantFast = true;
turnDrillsOn();
// we want to turn on our horizontal axis as that should be the 'wide' one.
bool bAimed = false;
double yawangle = -999;
Echo("vTarget=" + Vector3DToString(vLastContact));
yawangle = CalculateYaw(vLastContact, gpsCenter);
Echo("yawangle=" + yawangle.ToString());
double aYawAngle = Math.Abs(yawangle);
bAimed = aYawAngle < .05;
float maxYPR = GyroControl.MaxYPR;
if (aYawAngle > 1.0)
{
maxYPR = maxYPR / 2;
}
DoRotate(yawangle, "Yaw", maxYPR);
/*
* //minAngleRad = 0.1f;
* bAimed=GyroMain("backward", vExpectedExit, gpsCenter);
*
* // minAngleRad = 0.01f;
* // GyroMain("backward", vExpectedExit, gpsCenter);
*/
if (bAimed)
{
mineMoveForward(fTargetMiningmps, fAbortmps);
}
bool bLocalAsteroid = false;
aSensors = activeSensors();
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
strbMining.Clear();
strbMining.Append("Sensor Position:" + s.GetPosition().ToString());
strbMining.AppendLine();
for (int j = 0; j < lmyDEI.Count; j++)
{
strbMining.Append("Name: " + lmyDEI[j].Name);
strbMining.AppendLine();
strbMining.Append("Type: " + lmyDEI[j].Type);
strbMining.AppendLine();
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
StatusLog("Found Asteroid!", txtPanel);
bLocalAsteroid = true;
}
}
StatusLog(strbMining.ToString(), txtPanel);
}
if (!bLocalAsteroid)
{
ResetMotion();
// turnDrillsOff();
sleepAllSensors();
current_state = 40;
}
}
break;
case 30: //30 - move forward (out) until exit asteroid
break;
case 40: //40 when out, call for pickup
{
turnDrillsOff();
// we should probably give hint to docking as to WHY we want to dock..
setMode(MODE_DOCKING);
}
break;
}
}
void doModeSearchShift()
{
List <IMySensorBlock> aSensors = null;
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":SearchShift", textPanelReport);
Echo("Search Shift: current_state=" + current_state.ToString());
double maxThrust = calculateMaxThrust(thrustForwardList);
Echo("maxThrust=" + maxThrust.ToString("N0"));
MyShipMass myMass;
myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
Echo("effectiveMass=" + effectiveMass.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
Echo("Cargo=" + cargopcent.ToString() + "%");
Echo("velocity=" + velocityShip.ToString("0.00"));
Echo("shiftElapsedMs=" + shiftElapsedMs.ToString("0.00"));
bool bLocalFoundAsteroid = false;
IMySensorBlock sb;
IMySensorBlock sb2;
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Search Shift: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
return;
}
sb = sensorsList[0];
sb2 = sensorsList[1];
switch (current_state)
{
case 0:
ResetMotion();
sleepAllSensors();
sb2.DetectAsteroids = true;
sb.DetectAsteroids = true;
setSensorShip(sb, 0, 0, 0, 0, 45, 0);
current_state = 10;
shiftElapsedMs = 0;
break;
case 10:
Echo("Check for front");
shiftElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (shiftElapsedMs < 1)
{
return; // delay for sensors
}
if (velocityShip > 0.2f)
{
return;
}
Echo("Checking");
aSensors = activeSensors();
bLocalFoundAsteroid = false;
Echo(aSensors.Count + ": Sensors active");
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
Echo("Found Asteroid");
bLocalFoundAsteroid = true;
}
else
{
Echo("Did NOT find asteroid");
}
}
if (bLocalFoundAsteroid)
{
current_state = 20;
}
else
{
current_state = 100;
}
break;
case 20:
setMode(MODE_FINDORE);
break;
case 100:
// asteroid not in sensor range
// check 'down' for asteroid.
setSensorShip(sb, 0, 0, 0, 0, 45, 0);
setSensorShip(sb2, 0, 0, 0, 45, 45, 0);
current_state = 110;
shiftElapsedMs = 0;
break;
case 110:
{
// search 'down'
shiftElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (shiftElapsedMs < 1)
{
return;
}
if (velocityShip > 0.2f)
{
return;
}
bool bDownAsteroid = false;
bool bForwardAsteroid = false;
bool bLarge = false;
bool bSmall = false;
SensorActive(sb2, ref bDownAsteroid, ref bLarge, ref bSmall);
SensorActive(sb, ref bForwardAsteroid, ref bLarge, ref bSmall);
if (bDownAsteroid || bForwardAsteroid)
{
current_state = 120;
}
else
{
current_state = 130;
}
break;
}
case 120:
{
// we found asteroid 'below'. Move down
// check 'down' for asteroid.
// setSensorShip(sb, 0, 0, 0, 0, 45, 0);
// don't need to change sensors
current_state = 122;
// shiftElapsedMs = 0;
break;
}
case 122:
{
Echo("Move Down");
// if (shiftElapsedMs < 1) return;
// if (velocityShip > 0.2f) return;
// move down until sensor sees asteroid
bool bDownAsteroid = false;
bool bForwardAsteroid = false;
bool bLarge = false;
bool bSmall = false;
SensorActive(sb2, ref bDownAsteroid, ref bLarge, ref bSmall);
SensorActive(sb, ref bForwardAsteroid, ref bLarge, ref bSmall);
Echo(bForwardAsteroid + ":" + bDownAsteroid);
if (bForwardAsteroid)
{
Echo("Forward");
ResetMotion();
// we have it right in front of us.
setMode(MODE_FINDORE);
// current_state = 120;
}
else if (bDownAsteroid)
{
Echo("Down");
if (velocityShip < 0.5)
{
powerUpThrusters(thrustDownList, 100f);
}
else if (velocityShip > fTargetMiningMps)
{
powerDownThrusters();
}
else
{
powerUpThrusters(thrustDownList, 1f);
}
}
else
{
Echo("Neither");
// we ran out of asteroid.
ResetMotion();
current_state = 130;
}
break;
}
case 130:
{
// No asteroid 'below'.
// need to shift (left) (old state 2)
Echo("Shift Left");
break;
}
}
}
void doModeMine()
{
List <IMySensorBlock> aSensors = null;
IMySensorBlock sb;
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":Mine!", textPanelReport);
Echo("current_state=" + current_state.ToString());
MyShipMass myMass;
myMass = ((IMyShipController)gpsCenter).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
double maxThrust = calculateMaxThrust(thrustForwardList);
Echo("effectiveMass=" + effectiveMass.ToString("N0"));
Echo("maxThrust=" + maxThrust.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
Echo("Cargo=" + cargopcent.ToString() + "%");
Echo("velocity=" + velocityShip.ToString("0.00"));
Echo("#Sensors=" + sensorsList.Count);
Echo("width=" + shipDim.WidthInMeters().ToString("0.0"));
Echo("height=" + shipDim.HeightInMeters().ToString("0.0"));
Echo("length=" + shipDim.LengthInMeters().ToString("0.0"));
IMyTextPanel txtPanel = getTextBlock("Sensor Report");
StatusLog("clear", txtPanel);
// TODO: Check maxDeltaV. If <0.25, then we can't move..
// so turn around at 0.50 or less.. (and still use cargopcent?)
switch (current_state)
{
case 0:
current_state = 10;
bWantFast = true;
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Find Ore: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
}
ResetMotion();
break;
case 10:
//sb = sensorsList[0];
sleepAllSensors();
setSensorShip(sensorsList[0], 2, 2, 2, 2, 2, 0);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
current_state = 11;
break;
case 11:
{
aSensors = activeSensors();
bool bFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
strb.Clear();
strb.Append("Sensor Position:" + s.GetPosition().ToString());
strb.AppendLine();
for (int j = 0; j < lmyDEI.Count; j++)
{
strb.Append("Name: " + lmyDEI[j].Name);
strb.AppendLine();
strb.Append("Type: " + lmyDEI[j].Type);
strb.AppendLine();
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
StatusLog("Found Asteroid!", txtPanel);
bFoundAsteroid = true;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
}
}
StatusLog(strb.ToString(), txtPanel);
}
if (bFoundAsteroid)
{
current_state = 20; // inside
}
// should search using cameras..
// TODO:
else
{
current_state = 100;
}
}
break;
case 20:
// started find ore while 'inside' asteroid.
// point towards exit
vExpectedExit = gpsCenter.GetPosition() - currentAst.Position;
current_state = 31;
break;
case 31:
sb = sensorsList[0];
sleepAllSensors();
setSensorShip(sb, 0, 0, 0, 0, 25, 4);
current_state = 35;
break;
case 35:
{
aSensors = activeSensors();
bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
for (int j = 0; j < lmyDEI.Count; j++)
{
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
Echo("Found Asteroid!");
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
}
// need to detect other ships and avoid
}
}
if (!bValidAsteroid)
{ // we have exited the asteroid.
ResetMotion();
if (cargopcent > cargopctlowwater || maxDeltaV < fTargetMiningmps)
{
// we need to dump our contents
}
current_state = 10;
bWantFast = true;
}
else
{ // we are inside asteroid
turnEjectorsOn();
// blockApplyAction(ejectorList, "OnOff_On");
if (cargopcent > cargopcthighwater && !bWaitingCargo) //maxDeltaV<fTargetMiningmps ||
{
// need to check how much stone we have.. if zero, then we're full.. go exit.
// TODO:
ResetMotion();
turnDrillsOff();
// blockApplyAction(drillList, "OnOff_Off");
bWaitingCargo = true;
}
if (bWaitingCargo && cargopcent > cargopctlowwater)
{ // continue to wait
// TODO: Needs time-out
Echo("Cargo above highwater: Waiting");
// should check for stone amount...
}
else
{
bWaitingCargo = false;
GyroMain("forward", vExpectedExit, gpsCenter);
turnDrillsOn();
// blockApplyAction(drillList, "OnOff_On");
mineMoveForward();
bWantFast = true;
}
}
}
break;
case 100:
turnDrillsOff();
// blockApplyAction(drillList, "OnOff_Off");
sb = sensorsList[0];
setSensorShip(sb, 0, 0, 0, 0, 50, 0);
current_state = 101;
break;
case 101:
{
aSensors = activeSensors();
bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
strb.Clear();
strb.Append("Sensor Position:" + s.GetPosition().ToString());
strb.AppendLine();
for (int j = 0; j < lmyDEI.Count; j++)
{
strb.Append("Name: " + lmyDEI[j].Name);
strb.AppendLine();
strb.Append("Type: " + lmyDEI[j].Type);
strb.AppendLine();
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
StatusLog("Found Asteroid!", txtPanel);
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
}
}
StatusLog(strb.ToString(), txtPanel);
// else current_state = 100;
}
// if (!bValidAsteroid)
{
// not in sensor range. start checking cameras
if (doCameraScan(cameraForwardList, 5000))
{ // we scanned
if (!lastDetectedInfo.IsEmpty())
{ // we hit something
if (lastDetectedInfo.Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lastDetectedInfo);
vTargetAsteroid = (Vector3D)lastDetectedInfo.HitPosition;
bValidAsteroid = true;
vExpectedExit = vTargetAsteroid - gpsCenter.GetPosition();
}
}
}
}
if (bValidAsteroid)
{
current_state = 120; //found asteroid ahead
}
}
break;
case 120:
{
bWantFast = true;
// we should have asteroid in front.
bool bAimed = false;
Vector3D vVec = vTargetAsteroid - gpsCenter.GetPosition();
bAimed = GyroMain("forward", vVec, gpsCenter);
if (bAimed)
{
if (doCameraScan(cameraForwardList, 5000))
{
if (!lastDetectedInfo.IsEmpty())
{
// we have a target
Vector3D vTarget = (Vector3D)lastDetectedInfo.HitPosition;
double distance = (vTarget - gpsCenter.GetPosition()).Length();
Echo("Distance=" + distance.ToString());
mineMoveForward();
if (distance < 5)
{
current_state = 31;
ResetMotion();
}
}
else
{
// we scanned, but didn't hit anything. it's likely a donut
double distance = (vTargetAsteroid - gpsCenter.GetPosition()).Length();
Echo("Distance=" + distance.ToString());
mineMoveForward();
if (distance < 5)
{
current_state = 31;
ResetMotion();
}
}
}
else
{
Echo("No Camera SCAN!");
}
}
else
{
Echo("Aiming");
}
// BUG: Gets stuck in state if nothing hit.. (ie, donut)
// ELSE no scan available.. just wait
}
break;
}
}
void doModeFindOre()
{
List <IMySensorBlock> aSensors = null;
IMySensorBlock sb;
IMySensorBlock sb2;
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":FindOre", textPanelReport);
Echo("FIND ORE:current_state=" + current_state.ToString());
double maxThrust = calculateMaxThrust(thrustForwardList);
// Echo("maxThrust=" + maxThrust.ToString("N0"));
MyShipMass myMass;
myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
// Echo("effectiveMass=" + effectiveMass.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
// Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
// Echo("Cargo=" + cargopcent.ToString() + "%");
// Echo("velocity=" + velocityShip.ToString("0.00"));
// Echo("miningElapsedMs=" + miningElapsedMs.ToString("0.00"));
// IMyTextPanel txtPanel = getTextBlock("Sensor Report");
// StatusLog("clear", txtPanel);
if (bValidAsteroid)
{
debugGPSOutput("Pre-Valid Ast", vTargetAsteroid);
}
// if (miningAsteroidID > 0)
Echo("Our Asteroid=" + miningAsteroidID.ToString());
// if(vExpectedExit.AbsMax()>.5)
{
// Vector3D vT = shipOrientationBlock.GetPosition() + vExpectedExit * 150;
// debugGPSOutput("ExpectedExit", vT);
}
switch (current_state)
{
case 0:
if (fMiningMinThrust < fTargetMiningMps * 1.1f)
{
fMiningMinThrust = fTargetMiningMps * 1.1f;
}
bValidAsteroid = false; /// really? shouuldn't we be keepint this?
bValidExit = false;
bWaitingCargo = false;
ResetMotion();
// turnDrillsOff();
turnEjectorsOff();
current_state = 10;
bWantFast = true;
if (!HasDrills())
{
current_state = 400;
return;
}
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Find Ore: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
}
sensorsList[0].DetectAsteroids = true;
sensorsList[1].DetectAsteroids = true;
if (miningAsteroidID > 0) // return to a known asteroid
{
bValidAsteroid = true;
vTargetAsteroid = AsteroidGetPosition(miningAsteroidID);
vExpectedAsteroidExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
vExpectedAsteroidExit.Normalize();
current_state = 120;
}
break;
case 10:
//sb = sensorsList[0];
sleepAllSensors();
setSensorShip(sensorsList[0], 2, 2, 2, 2, 2, 2);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 11;
break;
case 11:
{
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return;
}
aSensors = activeSensors();
bool bFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bFoundAsteroid = true;
}
/*
* StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
*
* strbMining.Clear();
* strbMining.Append("Sensor Position:" + s.GetPosition().ToString());
* strbMining.AppendLine();
*
*
* for (int j = 0; j < lmyDEI.Count; j++)
* {
*
* strbMining.Append("Name: " + lmyDEI[j].Name);
* strbMining.AppendLine();
* strbMining.Append("Type: " + lmyDEI[j].Type);
* strbMining.AppendLine();
* if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
* {
* addDetectedEntity(lmyDEI[j]);
* StatusLog("Found Asteroid!", txtPanel);
* bFoundAsteroid = true;
* currentAst.EntityId = lmyDEI[j].EntityId;
* currentAst.BoundingBox = lmyDEI[j].BoundingBox;
* bValidAsteroid = true;
* vTargetAsteroid = lmyDEI[j].Position;
* }
* }
* StatusLog(strbMining.ToString(), txtPanel);
*/
}
if (bFoundAsteroid)
{
current_state = 100;
}
else
{
// no asteroid in sensor range. Try cameras
current_state = 400;
}
}
break;
case 20:
{
// started find ore while 'inside' asteroid.
// point towards exit
/*
* vExpectedExit = shipOrientationBlock.GetPosition() - currentAst.Position;
* vExpectedExit.Normalize();
* bValidExit = true;
*/
current_state = 31;
}
break;
case 31:
sb = sensorsList[0];
sb2 = sensorsList[1];
sleepAllSensors();
setSensorShip(sb, 0, 0, 0, 0, 45, 0);
setSensorShip(sb2, 5, 5, 5, 5, 0, 15);
current_state = 32;
miningElapsedMs = 0;
break;
case 32:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return; // delay for sensor settling
}
current_state = 35;
break;
case 35:
{ // active mining
// TODO: check just the front sensor and we are 'exiting' if no asteroid active.
//
sb = sensorsList[0];
sb2 = sensorsList[1];
bool bLocalAsteroid = false;
bool bForwardAsteroid = false;
bool bSourroundAsteroid = false;
bool bLarge = false;
bool bSmall = false;
SensorActive(sb, ref bForwardAsteroid, ref bLarge, ref bSmall);
SensorActive(sb2, ref bSourroundAsteroid, ref bLarge, ref bSmall);
aSensors = activeSensors();
Echo(aSensors.Count + " Active Sensors");
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bLocalAsteroid = true;
}
}
if (!bLocalAsteroid)
{ // we have exited the asteroid.
Echo("No Local Asteroid found");
ResetMotion();
if (cargopcent > cargopctlowwater || maxDeltaV < (fMiningMinThrust))
{
// we need to dump our contents
turnEjectorsOn();
}
current_state = 300;
bWantFast = true;
}
else if (bSourroundAsteroid)
{ // we are inside asteroid
turnEjectorsOn();
// blockApplyAction(ejectorList, "OnOff_On");
if (maxDeltaV < fMiningMinThrust || cargopcent > cargopcthighwater && !bWaitingCargo) //
{
ResetMotion();
turnEjectorsOn();
bWaitingCargo = true;
}
if (bWaitingCargo)
{ // continue to wait
ResetMotion();
// need to check how much stone we have.. if zero(ish), then we're full.. go exit.
OreDoCargoCheck();
if (currentStoneAmount() < 15)
{
// we are full and not much stone ore in us...
ResetMotion();
turnEjectorsOff();
setMode(MODE_EXITINGASTEROID);
}
// TODO: Needs time-out
Echo("Cargo above low water: Waiting");
if (maxDeltaV > fMiningMinThrust && cargopcent < cargopctlowwater)
{
bWaitingCargo = false; // can now move.
}
}
else
{
GyroMain("forward", vExpectedAsteroidExit, shipOrientationBlock);
// GyroMain("forward", vExpectedExit, shipOrientationBlock);
turnDrillsOn();
mineMoveForward(fTargetMiningMps, fMiningAbortMps);
// bWantFast = true;
bWantMedium = true;
}
}
else
{
// we have nothing in front, but are still close
turnDrillsOff();
mineMoveForward(fAsteroidApproachMps, fAsteroidApproachAbortMps);
bWantMedium = true;
}
}
break;
case 100:
turnDrillsOff();
sleepAllSensors();
sb = sensorsList[0];
setSensorShip(sb, 0, 0, 0, 0, 50, 0);
current_state = 101;
miningElapsedMs = 0;
break;
case 101:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return; // delay for sensor settling
}
current_state++;
break;
case 102:
{
aSensors = activeSensors();
bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
AsteroidProcessLDEI(lmyDEI);
}
// if (!bValidAsteroid)
{
// not in sensor range. start checking cameras
double scandist = 500;
/*
* if (bValidAsteroid)
* {
* scandist = (shipOrientationBlock.GetPosition() - vTargetAsteroid).Length();
* }
*/
if (doCameraScan(cameraForwardList, scandist))
{ // we scanned
if (!lastDetectedInfo.IsEmpty())
{ // we hit something
if (lastDetectedInfo.Type == MyDetectedEntityType.Asteroid)
{
MinerProcessScan(lastDetectedInfo);
/*
* addDetectedEntity(lastDetectedInfo);
* vTargetAsteroid = (Vector3D)lastDetectedInfo.HitPosition;
* bValidAsteroid = true;
* vExpectedExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
* vExpectedExit.Normalize();
* bValidExit = true;
*/
}
}
else
{
// no asteroid detected. Check surroundings for one.
current_state = 110;
bValidExit = false;
}
}
}
if (bValidExit)
{
current_state = 120; //found asteroid ahead
}
}
break;
case 110:
{ // asteroid NOT in front. big sensor search for asteroids in area
sleepAllSensors();
setSensorShip(sensorsList[0], 50, 50, 50, 50, 50, 50);
miningElapsedMs = 0;
current_state = 111;
}
break;
case 111:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return; // delay for sensor settling
}
current_state++;
break;
case 112:
{ // asteroid not in front. Check sensors
aSensors = activeSensors();
// bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
AsteroidProcessLDEI(lmyDEI);
}
if (bValidAsteroid)
{
bWantFast = true;
if (GyroMain("forward", vTargetAsteroid - shipOrientationBlock.GetPosition(), shipOrientationBlock))
{
// we are aimed
current_state = 100;
}
}
}
break;
case 120:
sleepAllSensors();
setSensorShip(sensorsList[0], 5, 5, 5, 5, 25, 0);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 121;
break;
case 121:
{ // approach
if (!bValidAsteroid)
{
current_state = 10;
return;
}
bWantFast = true;
// we should have asteroid in front.
bool bAimed = true;
Echo(bValidExit.ToString() + " " + Vector3DToString(vExpectedAsteroidExit));
bAimed = GyroMain("forward", vExpectedAsteroidExit, shipOrientationBlock);
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return;
}
if (bAimed)
{
double scandist;
double distanceSQ = 0;
if (bValidAsteroid)
{
distanceSQ = (vTargetAsteroid - shipOrientationBlock.GetPosition()).LengthSquared();
scandist = distanceSQ;
Echo("distanceSQ=" + distanceSQ.ToString("0.00"));
// TODO: we need to keep the radius/BB of the target asteroid..
// if (lastDetectedInfo.BoundingBox.Contains(vTargetLocation) != ContainmentType.Disjoint)
if (distanceSQ > 512 * 512)
{
current_state = 130;
bWantFast = true;
return;
}
}
else
{
scandist = 500; // unknown scan distance
}
bWantFast = false;
bWantMedium = true;
if (doCameraScan(cameraForwardList, scandist))
{
if (!lastDetectedInfo.IsEmpty())
{
// we have a target
// if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
Vector3D vTarget = (Vector3D)lastDetectedInfo.HitPosition;
double distance = (vTarget - lastCamera.GetPosition()).Length();
Echo("Distance=" + distance.ToString());
if (distance < 15)
{
vLastAsteroidContact = shipOrientationBlock.GetPosition();
if (!bValidInitialAsteroidContact)
{
vInitialAsteroidContact = vLastAsteroidContact;
bValidInitialAsteroidContact = true;
}
current_state = 31;
ResetMotion();
}
else if (distance > 100)
{
vInitialAsteroidContact = (Vector3D)lastDetectedInfo.HitPosition;
current_state = 130;// do faster travel
}
else
{
mineMoveForward(fAsteroidApproachMps, fAsteroidApproachAbortMps);
}
}
// bValidExit = true;
// vExpectedExit = vTarget - shipOrientationBlock.GetPosition();
}
else
{
/*
* // we scanned, but didn't hit anything. it's likely a donut
* double distance = (vTargetAsteroid - shipOrientationBlock.GetPosition()).Length();
* Echo("Distance=" + distance.ToString());
* mineMoveForward(fTargetMiningmps,fAbortmps);
* if (distance < 5)
* {
* vExpectedExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
* current_state = 31;
* ResetMotion();
* }
*/
// setMode(MODE_ATTENTION);
// or we made a whole there..
}
}
// ELSE no scan available.. just wait
else
{
Echo("No Camera SCAN!");
}
// check sensors for one in front of us
aSensors = activeSensors();
bool bFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
// Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bFoundAsteroid = true;
}
}
if (bFoundAsteroid)
{
current_state = 31;
}
}
else
{
Echo("Aiming");
}
// BUG: Gets stuck in state if nothing hit.. (ie, donut)
}
break;
case 130:
{ // far travel to asteroid. use doTravelMovement
Echo("Far travel to asteroid");
doTravelMovement(vTargetAsteroid, 45, 135, 140, true);
break;
}
case 135:
{ // we have 'arrived' from far travel
// wait for motion to slow
if (velocityShip < fAsteroidApproachMps)
{
current_state = 120;
}
ResetMotion();
break;
}
case 140:
{
ResetTravelMovement();
ResetMotion();
calcCollisionAvoid(vInitialAsteroidContact);
current_state = 150;
break;
}
case 150:
{
doTravelMovement(vAvoid, 5.0f, 130, 160);
break;
}
case 160:
{
ResetTravelMovement();
ResetMotion();
setMode(MODE_ATTENTION);
break;
}
case 300:
{
// we have exitted the asteroid. Prepare for another run or to go dock
Echo("Exitted!");
ResetMotion();
sleepAllSensors();
if (maxDeltaV < fMiningMinThrust || cargopcent > cargopctlowwater)
{
setMode(MODE_DOCKING);
}
else
{
vLastAsteroidExit = shipOrientationBlock.GetPosition();
// dist = (vLastExit - vInitialExit).Length();
if (!bValidInitialAsteroidExit)
{
vInitialAsteroidExit = vLastAsteroidExit;
bValidInitialAsteroidExit = true;
}
setMode(MODE_SEARCHORIENT);
// prepare for another run.
}
break;
}
case 400:
{ // init camera scan for asteroids
ResetMotion();
turnEjectorsOn();
sleepAllSensors();
miningElapsedMs = 0;
// initialize cameras
miningfrontScanner = new QuadrantCameraScanner(this, cameraForwardList, 5000);
miningbackScanner = new QuadrantCameraScanner(this, cameraBackwardList, 5000);
miningleftScanner = new QuadrantCameraScanner(this, cameraLeftList, 5000);
miningrightScanner = new QuadrantCameraScanner(this, cameraRightList, 5000);
miningtopScanner = new QuadrantCameraScanner(this, cameraUpList, 5000);
miningbottomScanner = new QuadrantCameraScanner(this, cameraDownList, 5000);
current_state = 410;
break;
}
case 410:
{
StatusLog("Long Range Scan", textPanelReport);
if (miningfrontScanner == null) // in case we reload/compile in this state..
{
current_state = 400;
}
bWantMedium = true;
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
// use for timeout...
// do camera scans
if (miningfrontScanner.DoScans())
{
AsteroidProcessLDEI(miningfrontScanner.myLDEI);
}
if (miningbackScanner.DoScans())
{
AsteroidProcessLDEI(miningbackScanner.myLDEI);
}
if (miningleftScanner.DoScans())
{
AsteroidProcessLDEI(miningleftScanner.myLDEI);
}
if (miningrightScanner.DoScans())
{
AsteroidProcessLDEI(miningrightScanner.myLDEI);
}
if (miningtopScanner.DoScans())
{
AsteroidProcessLDEI(miningtopScanner.myLDEI);
}
if (miningbottomScanner.DoScans())
{
AsteroidProcessLDEI(miningbottomScanner.myLDEI);
}
// take the first one found.
// TODO: do all search and then choose 'best' (closest?)
// TODO: Aim at the hit position and not 'CENTER' for more randomized start on asteroid
// TODO: once we find asteroid(s) choose how to find ore intelligently and not just randomly
/*
* if (bValidAsteroid)
* current_state = 120;
*/
string s = "";
s += "Front: ";
if (miningfrontScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningfrontScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningfrontScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Back: ";
if (miningbackScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningbackScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningbackScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Left: ";
if (miningleftScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningleftScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningleftScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Right: ";
if (miningrightScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningrightScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningrightScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Top: ";
if (miningtopScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningtopScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningtopScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Bottom: ";
if (miningbottomScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningbottomScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningbottomScanner.myLDEI.Count + " asteroids";
s += "\n";
if (AsteroidFindNearest() < 0)
{
s += "No Known Asteroid";
}
else
{
s += "FOUND at least one asteroid!";
}
StatusLog(s, textPanelReport);
Echo(s);
if (
miningfrontScanner.DoneScanning() &&
miningbackScanner.DoneScanning() &&
miningleftScanner.DoneScanning() &&
miningrightScanner.DoneScanning() &&
miningtopScanner.DoneScanning() &&
miningbottomScanner.DoneScanning()
)
{
// long asteroidID = -1;
if (HasDrills())
{
miningAsteroidID = AsteroidFindNearest();
if (miningAsteroidID < 0)
{
// all scans have run and didn't find asteroid..
setMode(MODE_ATTENTION);
}
else
{
bValidAsteroid = true;
vTargetAsteroid = AsteroidGetPosition(miningAsteroidID);
vExpectedAsteroidExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
vExpectedAsteroidExit.Normalize();
current_state = 120;
}
}
else
{ // if no drills, we are done.
setMode(MODE_IDLE);
}
}
break;
}
case 425:
{
// aim at asteroid location
if (!bValidExit)
{
setMode(MODE_ATTENTION);
}
{
bWantFast = true;
if (GyroMain("forward", vExpectedAsteroidExit - shipOrientationBlock.GetPosition(), shipOrientationBlock))
{
// we are aimed
current_state = 120;
}
}
break;
}
}
}
public void Main(string argument, UpdateType updateSource)
{
mySensor.DetectedEntities(detectedEntityInfos);
text.WritePublicText("");
foreach (var item in detectedEntityInfos)
{
WriteText(item.Name + ":" + item.Position.ToString() + "\n");
}
if (detectedEntityInfos.Count == 0 || Me.CustomData == StaticCmd)
{
NowTargetEntityInfoID = 0;
Settledlist = new List <long>();
getTarget = false;
var vector = mySensor.GetPosition() + (mySensor.WorldMatrix.Forward * 500);
mySensor.CustomData = vector.X + "," + vector.Y + "," + vector.Z;
}
else
{
if (Me.CustomData == ChageCmd)
{
Me.CustomData = "";
foreach (var item in detectedEntityInfos)
{
if (!Settledlist.Contains(item.EntityId))
{
NowTargetEntityInfoID = item.EntityId;
Settledlist.Add(item.EntityId);
mySensor.CustomData = item.Position.X + "," + item.Position.Y + "," + item.Position.Z;
return;
}
}
NowTargetEntityInfoID = new long();
Settledlist = new List <long>();
getTarget = false;
var vector = mySensor.GetPosition() + (mySensor.WorldMatrix.Forward * 500);
mySensor.CustomData = vector.X + "," + vector.Y + "," + vector.Z;
return;
}
foreach (var item in detectedEntityInfos)
{
if (item.EntityId == NowTargetEntityInfoID)
{
mySensor.CustomData = item.Position.X + "," + item.Position.Y + "," + item.Position.Z;
return;
}
}
NowTargetEntityInfoID = new long();
Settledlist = new List <long>();
getTarget = false;
var vectorDi = mySensor.GetPosition() + (mySensor.WorldMatrix.Forward * 500);
mySensor.CustomData = vectorDi.X + "," + vectorDi.Y + "," + vectorDi.Z;
return;
}
}
private void FindTargetsList()
{
Echo("Sensor Range: " + sensor.MaxRange);
//Echo("Running");
sensor.DetectedEntities(entities);
foreach (MyDetectedEntityInfo entity in entities)
{
Target t = new Target(entity, Me.GetPosition());
targets.Add(t);
}
Echo("Entities: " + entities.Count);
Echo("Screens: " + screens.Count);
Echo("Used Screens: " + usedScreens.Count);
targets.Sort((x, y) => x.Distance.CompareTo(y.Distance));
foreach (IMyTextPanel screen in usedScreens)
{
using (var frame = screen.DrawFrame()) {
float point = 10;
foreach (Target target in targets)
{
Echo("start");
Echo("sensor: " + sensor.ToString());
Vector2 pos2 = new Vector2(256, 256);
Vector2 size = new Vector2(512, 512);
var background = MySprite.CreateSprite("SquareSimple", pos2, size);
background.Color = Color.Black;
frame.Add(background);
if (point == 10)
{
target.Selected = true;
}
StringBuilder textEnt = new StringBuilder();
if (target.Selected)
{
textEnt.Append("*| ");
}
else
{
textEnt.Append(" | ");
}
textEnt.Append(target.Info.Name + " " + target.Distance.ToString("0.00") + "m");
//string textEnt = target.Info.Name + ": " + target.Distance.ToString("0.00");
Echo("textent: " + textEnt);
Vector2 pos = new Vector2(10, point);
var text = MySprite.CreateText(textEnt.ToString(), "Monospace", Color.White, 0.8f, TextAlignment.LEFT);
if (target.Info.Relationship.Equals(MyRelationsBetweenPlayerAndBlock.Enemies))
{
text.Color = Color.Red;
}
text.Position = pos;
frame.Add(text);
point += 25;
}
}
}
targets.Clear();
}
void doModeSearchShift()
{
bool bLocalFoundAsteroid = false;
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Search Shift: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
return;
}
List <IMySensorBlock> aSensors = null;
IMySensorBlock sb;
IMySensorBlock sb2;
sb = sensorsList[0];
sb2 = sensorsList[1];
switch (current_state)
{
case 0:
ResetMotion();
sleepAllSensors();
sensorsList[0].DetectAsteroids = true;
sensorsList[1].DetectAsteroids = true;
setSensorShip(sb, 0, 0, 0, 0, 45, 0);
current_state = 10;
shiftElapsedMs = 0;
break;
case 10: // delay for sensors
shiftElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (shiftElapsedMs < 1)
{
return;
}
if (velocityShip < 0.2f)
{
return;
}
aSensors = activeSensors();
bLocalFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
for (int j = 0; j < lmyDEI.Count; j++)
{
if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
addDetectedEntity(lmyDEI[j]);
bLocalFoundAsteroid = true;
currentAst.EntityId = lmyDEI[j].EntityId;
currentAst.BoundingBox = lmyDEI[j].BoundingBox;
if (!bValidAsteroid)
{
bValidAsteroid = true;
vTargetAsteroid = lmyDEI[j].Position;
}
}
}
}
if (bLocalFoundAsteroid)
{
current_state = 20;
}
else
{
current_state = 100;
}
break;
}
}
void doModeExitingAsteroid()
{
List <IMySensorBlock> aSensors = null;
/*
* IMySensorBlock sb;
*/
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":Exiting!", textPanelReport);
Echo("Exiting: current_state=" + current_state.ToString());
MyShipMass myMass;
myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
double maxThrust = calculateMaxThrust(thrustForwardList);
Echo("effectiveMass=" + effectiveMass.ToString("N0"));
Echo("maxThrust=" + maxThrust.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
Echo("Cargo=" + cargopcent.ToString() + "%");
Echo("velocity=" + velocityShip.ToString("0.00"));
Echo("#Sensors=" + sensorsList.Count);
Echo("width=" + shipDim.WidthInMeters().ToString("0.0"));
Echo("height=" + shipDim.HeightInMeters().ToString("0.0"));
Echo("length=" + shipDim.LengthInMeters().ToString("0.0"));
// IMyTextPanel txtPanel = getTextBlock("Sensor Report");
// StatusLog("clear", txtPanel);
/*
* 0 - Master Init
* 10 - Init sensors, turn drills on
* 11 - await sensor set
* Turn by quarters. Left, then Left until about 180
* 20 - turn around until aimed
* and them move forward until exittedasteroid ->40
*
* 40 when out, call for pickup
*
*/
switch (current_state)
{
case 0: //0 - Master Init
current_state = 10;
ResetMotion();
// turnDrillsOff();
turnEjectorsOn();
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Find Ore: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
}
break;
case 10: //10 - Init sensors,
sleepAllSensors();
setSensorShip(sensorsList[0], 2, 2, 2, 2, 15, 15);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 11;
break;
case 11: //11 - await sensor set
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return;
}
current_state = 20;
break;
case 20: //20 - turn around until aimed ->30
{
bWantFast = true;
turnDrillsOn();
// we want to turn on our horizontal axis as that should be the 'wide' one.
bool bAimed = false;
double yawangle = -999;
Echo("vTarget=" + Vector3DToString(vLastAsteroidContact));
yawangle = CalculateYaw(vLastAsteroidContact, shipOrientationBlock);
Echo("yawangle=" + yawangle.ToString());
double aYawAngle = Math.Abs(yawangle);
bAimed = aYawAngle < .05;
// turn slower when >180 since we are in tunnel and drills are cutting a path
float maxYPR = GyroControl.MaxYPR;
Echo("maxYPR=" + maxYPR.ToString("0.00"));
if (aYawAngle > 1.0)
{
maxYPR = maxYPR / 3;
}
DoRotate(yawangle, "Yaw", maxYPR, 0.33f);
/*
* //minAngleRad = 0.1f;
* bAimed=GyroMain("backward", vExpectedExit, shipOrientationBlock);
*
* // minAngleRad = 0.01f;
* // GyroMain("backward", vExpectedExit, shipOrientationBlock);
*/
if (bAimed)
{
current_state = 30;
//mineMoveForward(fTargetMiningmps,fAbortmps);
}
}
break;
case 30:
{
bool bAimed = false;
bAimed = GyroMain("backward", vExpectedAsteroidExit, shipOrientationBlock);
if (bAimed)
{
bWantMedium = true;
mineMoveForward(fTargetMiningMps, fMiningAbortMps);
}
else
{
bWantFast = true;
}
bool bLocalAsteroid = false;
aSensors = activeSensors();
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bLocalAsteroid = true;
}
}
if (!bLocalAsteroid)
{
ResetMotion();
// turnDrillsOff();
sleepAllSensors();
current_state = 40;
}
break;
}
case 40: //40 when out, call for pickup
{
turnDrillsOff();
// we should probably give hint to docking as to WHY we want to dock..
setMode(MODE_DOCKING);
}
break;
default:
{
Echo("UNKNOWN STATE!");
break;
}
}
}
