private bool RecycleFirstStage(out Thread recycle_main_thread)
{
recycle_main_thread = new Thread(() =>
{
LandingAdjustBurnStatus landingAdjustBurnStatusMain = LandingAdjustBurnStatus.UNAVAILABEL;
bool landingAdjustBurnMain = true;
VesselControl.Recycle(
vessel_name: "MAIN",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel_main,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.TOP,
tar_pos: new Vector3d(sc.Vessels.Where(v => v.Name == "landing_ship").First().Position(body.ReferenceFrame)),
tar_altitude: LANDING_FIRST_STAGE_ALTITUDE,
landing_min_velocity: LANDING_MIN_VELOCITY,
heading: 0d,
landing_adjust_burn_status: ref landingAdjustBurnStatusMain,
landing_adjust_could_burn: ref landingAdjustBurnMain);
});
recycle_main_thread.Start();
return(true);
}
public void Start(
double tar_altitude,
double landing_min_velocity)
{
bool running = true;
Connection conn = new Connection(
name: "My Example Program",
address: IPAddress.Parse("127.0.0.1"),
rpcPort: 50000,
streamPort: 50001);
Service sc = conn.SpaceCenter();
Vessel vessel = sc.ActiveVessel;
Orbit orbit = vessel.Orbit;
CelestialBody body = orbit.Body;
KrpcAutoPilot.CommonData common_data = new KrpcAutoPilot.CommonData(conn, sc, body);
Thread common_data_thread = new Thread(() =>
{
while (running)
{
if (!common_data.Update())
{
break;
}
Thread.Sleep(100);
}
common_data.Dispose();
});
common_data_thread.Start();
KrpcAutoPilot.Control control = new KrpcAutoPilot.Control("1", common_data, conn, sc, vessel);
Thread recycle_thread = new Thread(() =>
{
LandingAdjustBurnStatus landingAdjustBurnStatusMain = LandingAdjustBurnStatus.UNAVAILABEL;
bool landingAdjustBurnMain = true;
VesselControl.Recycle(
vessel_name: "MAIN",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.SYMMETRICAL,
tar_pos: new Vector3d(body.PositionAtAltitude(
KrpcAutoPilot.Constants.Position.KERBAL_CENTER_LAUNCH_PAD.Lat,
KrpcAutoPilot.Constants.Position.KERBAL_CENTER_LAUNCH_PAD.Lng,
tar_altitude, body.ReferenceFrame)),
tar_altitude: tar_altitude,
landing_min_velocity: landing_min_velocity,
heading: 0d,
landing_adjust_burn_status: ref landingAdjustBurnStatusMain,
landing_adjust_could_burn: ref landingAdjustBurnMain);
});
recycle_thread.Start();
recycle_thread.Join();
running = false;
common_data_thread.Join();
conn.Dispose();
}
private bool RecycleBoosters(
out Thread recycle_north_thread,
out Thread recycle_south_thread)
{
LandingAdjustBurnStatus landingAdjustBurnStatusNorth = LandingAdjustBurnStatus.UNAVAILABEL;
LandingAdjustBurnStatus landingAdjustBurnStatusSouth = LandingAdjustBurnStatus.UNAVAILABEL;
bool landingAdjustBurn = false;
recycle_north_thread = new Thread(() => VesselControl.Recycle(
vessel_name: "NORTH",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel_north,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.TOP,
tar_pos: new Vector3d(body.PositionAtAltitude(
KrpcAutoPilot.Constants.Position.VAB_TOP_EAST.Lat,
KrpcAutoPilot.Constants.Position.VAB_TOP_EAST.Lng,
LANDING_BOOSTERS_ALTITUDE, body.ReferenceFrame)),
tar_altitude: LANDING_BOOSTERS_ALTITUDE,
landing_min_velocity: LANDING_MIN_VELOCITY,
heading: 0d,
landing_adjust_burn_status: ref landingAdjustBurnStatusNorth,
landing_adjust_could_burn: ref landingAdjustBurn));
recycle_south_thread = new Thread(() => VesselControl.Recycle(
vessel_name: "SOUTH",
common_data: common_data,
connection: conn,
space_center: sc,
vessel: vessel_south,
rcs_layout: KrpcAutoPilot.Control.RcsLayout.TOP,
tar_pos: new Vector3d(body.PositionAtAltitude(
KrpcAutoPilot.Constants.Position.VAB_TOP_WEST.Lat,
KrpcAutoPilot.Constants.Position.VAB_TOP_WEST.Lng,
LANDING_BOOSTERS_ALTITUDE, body.ReferenceFrame)),
tar_altitude: LANDING_BOOSTERS_ALTITUDE,
landing_min_velocity: LANDING_MIN_VELOCITY,
heading: Math.PI,
landing_adjust_burn_status: ref landingAdjustBurnStatusSouth,
landing_adjust_could_burn: ref landingAdjustBurn));
recycle_north_thread.Start();
recycle_south_thread.Start();
new Thread(o =>
{
while (true)
{
Thread.Sleep(100);
if (landingAdjustBurnStatusNorth == LandingAdjustBurnStatus.ABANDON ||
landingAdjustBurnStatusSouth == LandingAdjustBurnStatus.ABANDON)
{
return;
}
if (landingAdjustBurnStatusNorth == LandingAdjustBurnStatus.WAITING &&
landingAdjustBurnStatusSouth == LandingAdjustBurnStatus.WAITING)
{
break;
}
}
landingAdjustBurn = true;
}).Start();
return(true);
}
public static void Recycle(
string vessel_name,
CommonData common_data,
Connection connection,
Service space_center,
Vessel vessel,
KrpcAutoPilot.Control.RcsLayout rcs_layout,
Vector3d tar_pos, double tar_altitude, double landing_min_velocity, double heading,
ref KrpcAutoPilot.Control.LandingAdjustBurnStatus landing_adjust_burn_status,
ref bool landing_adjust_could_burn)
{
KrpcAutoPilot.Control control = new KrpcAutoPilot.Control(vessel_name, common_data, connection, space_center, vessel);
control.UpdateData();
control.Command.SetHeadingAngle(Math.PI);
control.Engage();
SwitchRcsEngines(vessel, true);
vessel.Control.RCS = true;
vessel.Control.Brakes = true;
SwitchEngineMode(vessel);
Thread.Sleep(1000);
control.Trajectory.ReCacheAvailableThrust();
SwitchEngineMode(vessel);
Console.WriteLine("Landing init");
control.LandingInit(tar_altitude, landing_min_velocity);
Console.WriteLine("Adjust landing position");
while (true)
{
if (!control.UpdateData())
{
break;
}
landing_adjust_burn_status = control.AdjustLandingPosition(tar_pos, tar_altitude, landing_adjust_could_burn);
if (landing_adjust_burn_status == KrpcAutoPilot.Control.LandingAdjustBurnStatus.FINISHED)
{
break;
}
if (control.Execute() == KrpcAutoPilot.Control.Status.FAIL)
{
break;
}
Thread.Sleep(100);
}
SwitchEngineMode(vessel);
while (true)
{
if (!control.UpdateData())
{
break;
}
if (control.Landing(tar_pos, tar_altitude, rcs_layout, 5d, heading))
{
break;
}
if (control.Execute() == KrpcAutoPilot.Control.Status.FAIL)
{
break;
}
Thread.Sleep(100);
}
control.DisEngage();
control.Dispose();
vessel.Control.Brakes = false;
landing_adjust_burn_status = KrpcAutoPilot.Control.LandingAdjustBurnStatus.ABANDON;
}
