public Sensors(IMyTerminalBlock reference, List <IMyTerminalBlock> blocks)
: base(reference)
{
UpdateSensors(blocks);
if (sensorBlocks.Count > 0)
{
IMySensorBlock sensor = sensorBlocks[0];
Min = sensor.GetMininum <float>("Back");
Max = sensor.GetMaximum <float>("Back");
Default = sensor.GetDefaultValue <float>("Back");
}
}
/// <summary>
/// initialize the travel movement module.
/// </summary>
/// <param name="vTargetLocation"></param>
/// <param name="maxSpeed"></param>
/// <param name="myShipController"></param>
/// <param name="iThrustType"></param>
void InitDoTravelMovement(Vector3D vTargetLocation, double maxSpeed, IMyTerminalBlock myShipController, int iThrustType = WicoThrusters.thrustAll)
{
tmMaxSpeed = maxSpeed;
if (tmMaxSpeed > thisProgram.wicoControl.fMaxWorldMps)
{
tmMaxSpeed = thisProgram.wicoControl.fMaxWorldMps;
}
tmShipController = myShipController as IMyShipController;
//TODO: add grav gen support
if (thisProgram.wicoWheels.HasSledWheels())
{
btmSled = true;
// if (shipSpeedMax > 45) shipSpeedMax = 45;
// sStartupError += "\nI am a SLED!";
thisProgram.wicoWheels.PrepareSledTravel();
}
else
{
btmSled = false;
}
if (thisProgram.wicoWheels.HasWheels())
{
btmWheels = true;
// TODO: Turn brakes OFF
if (tmShipController is IMyShipController)
{
tmShipController.HandBrake = false;
}
}
else
{
btmWheels = false;
}
if (thisProgram.wicoGyros.GyrosAvailable() > 0)
{
btmHasGyros = true;
}
else
{
btmHasGyros = false;
}
if (thisProgram.wicoNavRotors.NavRotorCount() > 0)
{
btmRotor = true;
// if (shipSpeedMax > 15) shipSpeedMax = 15;
}
else
{
btmRotor = false;
}
tmShipController = myShipController as IMyShipController;
Vector3D vVec = vTargetLocation - tmShipController.CenterOfMass;
double distance = vVec.Length();
thisProgram.wicoThrusters.ThrustersCalculateOrientation(tmShipController, ref thrustTmForwardList, ref thrustTmBackwardList,
ref thrustTmDownList, ref thrustTmUpList,
ref thrustTmLeftList, ref thrustTmRightList);//, iThrustType);
thisProgram.wicoSensors.SensorsSleepAll();
if (thisProgram.wicoSensors.GetCount() > 0)
{
tmSB = thisProgram.wicoSensors.GetForwardSensor();
// tmSB = sensorsList[0];
if (btmRotor || btmSled)
{
tmSB.DetectAsteroids = false;
}
else
{
tmSB.DetectAsteroids = true;
}
tmSB.DetectEnemy = true;
tmSB.DetectLargeShips = true;
tmSB.DetectSmallShips = true;
tmSB.DetectStations = true;
tmSB.DetectPlayers = false; // run them over!
tmMaxSensorM = tmSB.GetMaximum <float>("Front");
if (!thisProgram.wicoCameras.HasForwardCameras()) // cameraForwardList.Count < 1)
{
// sensors, but no cameras.
// if (!AllowBlindNav)
tmMaxSpeed = tmMaxSensorM / 2;
// if (dTMUseCameraCollision) sStartupError += "\nNo Cameras for collision detection";
}
}
else
{
// no sensors...
tmSB = null;
tmMaxSensorM = 0;
if (!thisProgram.wicoCameras.HasForwardCameras())// cameraForwardList.Count < 1)
{
// if (dTMUseCameraCollision || dTMUseSensorCollision) sStartupError += "\nNo Sensor nor cameras\n for collision detection";
// if (!AllowBlindNav)
tmMaxSpeed = 5;
}
else
{
// if (dTMUseSensorCollision) sStartupError += "\nNo Sensor for collision detection";
}
}
btmApproach = false; // we have reached approach range
btmPrecision = false; // we have reached precision range
btmClose = false; // we have reached close range
double optimalV = tmMaxSpeed;
// need to check other propulsion flags..
if (!btmSled && !btmRotor)
{
optimalV = CalculateOptimalSpeed(thrustTmBackwardList, distance);
}
if (optimalV < tmMaxSpeed)
{
tmMaxSpeed = optimalV;
}
// if (dTMDebug) sInitResults += "\nDistance=" + niceDoubleMeters(distance) + " OptimalV=" + niceDoubleMeters(optimalV);
dtmFarSpeed = tmMaxSpeed;
dtmApproachSpeed = tmMaxSpeed * 0.50;
dtmPrecisionSpeed = tmMaxSpeed * 0.25;
// minimum speeds.
if (dtmApproachSpeed < 5)
{
dtmApproachSpeed = 5;
}
if (dtmPrecisionSpeed < 5)
{
dtmPrecisionSpeed = 5;
}
if (dtmPrecisionSpeed > dtmApproachSpeed)
{
dtmApproachSpeed = dtmPrecisionSpeed;
}
if (dtmPrecisionSpeed > dtmFarSpeed)
{
dtmFarSpeed = dtmPrecisionSpeed;
}
// dtmPrecision =calculateStoppingDistance(thrustTmBackwardList, dtmPrecisionSpeed*1.1, 0);
// dtmApproach = calculateStoppingDistance(thrustTmBackwardList, dtmApproachSpeed*1.1, 0);
if (!(btmWheels || btmRotor))
{
dtmPrecision = thisProgram.wicoThrusters.calculateStoppingDistance(tmShipController, thrustTmBackwardList, dtmPrecisionSpeed + (dtmApproachSpeed - dtmPrecisionSpeed) / 2, 0);
dtmApproach = thisProgram.wicoThrusters.calculateStoppingDistance(tmShipController, thrustTmBackwardList, dtmApproachSpeed + (dtmFarSpeed - dtmApproachSpeed) / 2, 0);
dtmFar = thisProgram.wicoThrusters.calculateStoppingDistance(tmShipController, thrustTmBackwardList, dtmFarSpeed, 0); // calculate maximum stopping distance at full speed }
}
// if (dTMDebug) sInitResults += "\nFarSpeed==" + niceDoubleMeters(dtmFarSpeed) + " ASpeed=" + niceDoubleMeters(dtmApproachSpeed);
// if (dTMDebug) sInitResults += "\nFar==" + niceDoubleMeters(dtmFar) + " A=" + niceDoubleMeters(dtmApproach) + " P=" + niceDoubleMeters(dtmPrecision);
bCollisionWasSensor = false;
tmCameraElapsedMs = -1; // no delay for next check
tmScanElapsedMs = 0; // do delay until check
dtmRayCastQuadrant = 0;
thisProgram.wicoGyros.SetMinAngle(0.01f);// minAngleRad = 0.01f; // reset Gyro aim tolerance to default
}
/// <summary>
/// initialize the travel movement module.
/// </summary>
/// <param name="vTargetLocation"></param>
/// <param name="maxSpeed"></param>
/// <param name="myShipController"></param>
/// <param name="iThrustType"></param>
void InitDoTravelMovement(Vector3D vTargetLocation, double maxSpeed, IMyTerminalBlock myShipController, int iThrustType = thrustAll)
{
tmMaxSpeed = maxSpeed;
if (tmMaxSpeed > fMaxWorldMps)
{
tmMaxSpeed = fMaxWorldMps;
}
if ((craft_operation & CRAFT_MODE_SLED) > 0)
{
btmSled = true;
// if (shipSpeedMax > 45) shipSpeedMax = 45;
PrepareSledTravel();
}
else
{
btmSled = false;
}
if ((craft_operation & CRAFT_MODE_ROTOR) > 0)
{
btmRotor = true;
// if (shipSpeedMax > 15) shipSpeedMax = 15;
}
else
{
btmRotor = false;
}
tmShipController = myShipController as IMyShipController;
Vector3D vVec = vTargetLocation - tmShipController.CenterOfMass;
double distance = vVec.Length();
thrustersInit(tmShipController, ref thrustTmForwardList, ref thrustTmBackwardList,
ref thrustTmDownList, ref thrustTmUpList,
ref thrustTmLeftList, ref thrustTmRightList, iThrustType);
sleepAllSensors();
if (sensorsList.Count > 0)
{
tmSB = sensorsList[0];
if (btmRotor || btmSled)
{
tmSB.DetectAsteroids = false;
}
else
{
tmSB.DetectAsteroids = true;
}
tmSB.DetectEnemy = true;
tmSB.DetectLargeShips = true;
tmSB.DetectSmallShips = true;
tmSB.DetectStations = true;
tmSB.DetectPlayers = false; // run them over!
tmMaxSensorM = tmSB.GetMaximum <float>("Front");
}
else
{
tmSB = null;
tmMaxSensorM = 0;
}
btmApproach = false; // we have reached approach range
btmPrecision = false; // we have reached precision range
btmClose = false; // we have reached close range
double optimalV = tmMaxSpeed;
if (!btmSled && !btmRotor)
{
optimalV = CalculateOptimalSpeed(thrustTmBackwardList, distance);
}
if (optimalV < tmMaxSpeed)
{
tmMaxSpeed = optimalV;
}
sInitResults += "\nDistance=" + niceDoubleMeters(distance) + " OptimalV=" + optimalV;
dtmFarSpeed = tmMaxSpeed;
dtmApproachSpeed = tmMaxSpeed * 0.50;
dtmPrecisionSpeed = tmMaxSpeed * 0.25;
if (dtmPrecisionSpeed < 5)
{
dtmPrecisionSpeed = 5;
}
if (dtmPrecisionSpeed > dtmApproachSpeed)
{
dtmApproachSpeed = dtmPrecisionSpeed;
}
if (dtmPrecisionSpeed > dtmFarSpeed)
{
dtmFarSpeed = dtmPrecisionSpeed;
}
// dtmPrecision =calculateStoppingDistance(thrustTmBackwardList, dtmPrecisionSpeed*1.1, 0);
// dtmApproach = calculateStoppingDistance(thrustTmBackwardList, dtmApproachSpeed*1.1, 0);
dtmPrecision = calculateStoppingDistance(thrustTmBackwardList, dtmPrecisionSpeed + (dtmApproachSpeed - dtmPrecisionSpeed) / 2, 0);
dtmApproach = calculateStoppingDistance(thrustTmBackwardList, dtmApproachSpeed + (dtmFarSpeed - dtmApproachSpeed) / 2, 0);
dtmFar = calculateStoppingDistance(thrustTmBackwardList, dtmFarSpeed, 0); // calculate maximum stopping distance at full speed
// sInitResults += "\nFarSpeed=="+niceDoubleMeters(dtmFarSpeed)+" ASpeed=" + niceDoubleMeters(dtmApproachSpeed);
// sInitResults += "\nFar=="+niceDoubleMeters(dtmFar)+" A=" + niceDoubleMeters(dtmApproach) + " P="+niceDoubleMeters(dtmPrecision);
tmCameraElapsedMs = -1; // no delay for next check
tmScanElapsedMs = 0; // do delay until check
minAngleRad = 0.01f; // reset Gyro aim tolerance to default
}
