private void Staging(ActionMachine action)
{
bool closed = true;
float position_target = 0f;
float velocity = 0f;
switch (action)
{
case ActionMachine.LockBottom:
velocity = -MyProperty.locker_velocity;
position_target = MyProperty.locker_position_min;
bottom_mergers.On();
bottom_pistons.Velocity(velocity);
WriteText($"Bottom mergers: On", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
bottom_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (bottom_pistons.IsLessPosition(position_target))
{
Stage++;
}
break;
case ActionMachine.UnlockBottom:
closed = true;
top_mergers.ForEach(delegate(IMyShipMergeBlock block) {
if (!block.IsConnected)
{
closed = false;
}
});
if (!closed)
{
WriteText($"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!", true);
WriteText($"Security: Top mergers is Off", true);
}
else
{
velocity = MyProperty.locker_velocity;
position_target = MyProperty.locker_position_max;
bottom_mergers.Off();
bottom_pistons.Velocity(velocity);
WriteText($"Bottom mergers: Off", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
bottom_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (bottom_pistons.IsMorePosition(position_target))
{
Stage++;
}
}
break;
case ActionMachine.LockTop:
velocity = -MyProperty.locker_velocity;
position_target = MyProperty.locker_position_min;
top_mergers.On();
top_pistons.Velocity(velocity);
WriteText($"Bottom mergers: On", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
top_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (top_pistons.IsLessPosition(position_target))
{
connector.Lock();
Stage++;
}
break;
case ActionMachine.UnlockTop:
closed = true;
bottom_mergers.ForEach(delegate(IMyShipMergeBlock block) {
if (!block.IsConnected)
{
closed = false;
}
});
if (!closed)
{
WriteText($"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!", true);
WriteText($"Security: Bottom mergers is Off", true);
}
else
{
velocity = MyProperty.locker_velocity;
position_target = MyProperty.locker_position_max;
top_mergers.Off();
top_pistons.Velocity(velocity);
connector.Unlock();
WriteText($"Top mergers: Off", true);
WriteText($"Connector: Unlock", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
top_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (top_pistons.IsMorePosition(position_target))
{
Stage++;
}
}
break;
case ActionMachine.Down:
levage_pistons.On();
WriteText($"Piston Levage: On", true);
velocity = MyProperty.elevator_velocity_min;
if (Mode == ModeMachine.Up)
{
velocity = MyProperty.elevator_velocity_max;
}
WriteText($"Piston Velocity: {velocity}", true);
levage_pistons.Velocity(velocity);
position_target = MyProperty.elevator_position_max;
WriteText($"Target Position={position_target}", true);
levage_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
//projector_count = projector.List[0].RemainingBlocks;
if (levage_pistons.IsMorePosition(position_target))
{
Stage++;
}
break;
case ActionMachine.Up:
levage_pistons.On();
WriteText($"Piston Levage: On", true);
velocity = -MyProperty.elevator_velocity_max;
if (Mode == ModeMachine.Up)
{
velocity = -MyProperty.elevator_velocity_min;
}
WriteText($"Piston Velocity: {velocity}", true);
levage_pistons.Velocity(velocity);
position_target = MyProperty.elevator_position_min;
WriteText($"Target Position={position_target}", true);
levage_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
//projector_count = projector.List[0].RemainingBlocks;
if (levage_pistons.IsLessPosition(position_target + 0.1f))
{
Stage++;
}
break;
case ActionMachine.StartWelder:
projector.On();
welders.On();
WriteText($"Welders: On", true);
Stage++;
break;
case ActionMachine.StopWelder:
welders.Off();
projector.Off();
WriteText($"Welders: Off", true);
Stage++;
break;
case ActionMachine.StartGrinder:
grinders.On();
//projector.On();
WriteText($"Grinders: On", true);
Stage++;
break;
case ActionMachine.StopGrinder:
grinders.Off();
//projector.Off();
WriteText($"Grinders: Off", true);
Stage++;
break;
case ActionMachine.Terminated:
Cycle -= 1;
if (Cycle == 0)
{
Mode = ModeMachine.Stop;
}
Stage = 0;
break;
case ActionMachine.Start:
MyProperty.Load();
light.On();
drills.On();
Stage++;
break;
case ActionMachine.Stop:
projector.Off();
light.Off();
drills.Off();
Stage++;
break;
}
}
public void RunCommand(string argument)
{
if (argument != null)
{
commandLine.TryParse(argument);
var command = commandLine.Argument(0);
if (command != null)
{
switch (command.ToLower())
{
case "open":
Stage = 0;
Mode = ModeMachine.Open;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.Close);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Depressure);
Sequences.Add(ActionMachine.UnlockExt);
Sequences.Add(ActionMachine.OpenExt);
Sequences.Add(ActionMachine.SleepInit);
Sequences.Add(ActionMachine.Sleep);
Sequences.Add(ActionMachine.CloseExt);
Sequences.Add(ActionMachine.LockExt);
Sequences.Add(ActionMachine.Pressure);
Sequences.Add(ActionMachine.UnlockInt);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.Terminated);
break;
case "simpleopenclose":
Stage = 0;
Mode = ModeMachine.SimpleOpen;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.Open);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.Terminated);
break;
case "simpleopen":
Stage = 0;
Mode = ModeMachine.SimpleOpen;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.Open);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.Terminated);
break;
case "simpleclose":
Stage = 0;
Mode = ModeMachine.SimpleClose;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.SleepInit);
Sequences.Add(ActionMachine.Sleep);
Sequences.Add(ActionMachine.Close);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.Terminated);
break;
case "openint":
if (State != StateMachine.OpenInt)
{
Stage = 0;
Mode = ModeMachine.Open;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.Close);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Pressure);
Sequences.Add(ActionMachine.UnlockInt);
Sequences.Add(ActionMachine.OpenInt);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.TerminatedInt);
}
break;
case "openext":
if (State != StateMachine.OpenExt)
{
Stage = 0;
Mode = ModeMachine.Open;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.Close);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Depressure);
Sequences.Add(ActionMachine.UnlockExt);
Sequences.Add(ActionMachine.OpenExt);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.TerminatedExt);
}
break;
case "close":
Stage = 0;
Mode = ModeMachine.Open;
Sequences = new List <ActionMachine>();
Sequences.Add(ActionMachine.Start);
Sequences.Add(ActionMachine.Unlock);
Sequences.Add(ActionMachine.Close);
Sequences.Add(ActionMachine.Lock);
Sequences.Add(ActionMachine.Pressure);
Sequences.Add(ActionMachine.UnlockInt);
Sequences.Add(ActionMachine.Stop);
Sequences.Add(ActionMachine.Terminated);
break;
}
}
else
{
Init();
Search();
}
}
}
private void RunCommand(string argument)
{
if (argument != null)
{
commandLine.TryParse(argument);
var command = commandLine.Argument(0);
if (commandLine.ArgumentCount > 1)
{
string cycle = commandLine.Argument(1);
int.TryParse(cycle, out Cycle);
}
else
{
Cycle = 1;
}
switch (command.ToLower())
{
case "init":
Init();
break;
case "stop":
LastMode = Mode;
drills.Off();
Mode = ModeMachine.Stop;
break;
case "start":
drills.On();
Mode = LastMode;
if (Mode == ModeMachine.Down)
{
projector.On();
}
break;
case "lock":
Stage = 0;
Mode = ModeMachine.Lock;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.LockBottom);
Sequence.Add(ActionMachine.LockTop);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "lockbottom":
Stage = 0;
Mode = ModeMachine.LockBottom;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.LockBottom);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "unlockbottom":
Stage = 0;
Mode = ModeMachine.UnlockBottom;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.UnlockBottom);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "locktop":
Stage = 0;
Mode = ModeMachine.LockTop;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.LockTop);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "unlocktop":
Stage = 0;
Mode = ModeMachine.UnlockTop;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.UnlockTop);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "startwelder":
Stage = 0;
Mode = ModeMachine.LockTop;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.StartWelder);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "stopwelder":
Stage = 0;
Mode = ModeMachine.UnlockTop;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.StopWelder);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "down":
Stage = 0;
Mode = ModeMachine.Down;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.UnlockBottom);
Sequence.Add(ActionMachine.StartWelder);
Sequence.Add(ActionMachine.Down);
Sequence.Add(ActionMachine.StopWelder);
Sequence.Add(ActionMachine.LockBottom);
Sequence.Add(ActionMachine.UnlockTop);
Sequence.Add(ActionMachine.Up);
Sequence.Add(ActionMachine.LockTop);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "up":
Stage = 0;
Mode = ModeMachine.Up;
Sequence = new List <ActionMachine>();
Sequence.Add(ActionMachine.Start);
Sequence.Add(ActionMachine.UnlockTop);
Sequence.Add(ActionMachine.Down);
Sequence.Add(ActionMachine.LockTop);
Sequence.Add(ActionMachine.UnlockBottom);
Sequence.Add(ActionMachine.StartGrinder);
Sequence.Add(ActionMachine.Up);
Sequence.Add(ActionMachine.StopGrinder);
Sequence.Add(ActionMachine.LockBottom);
Sequence.Add(ActionMachine.Stop);
Sequence.Add(ActionMachine.Terminated);
break;
case "reset":
Mode = ModeMachine.Reset;
Stage = 0;
break;
}
}
}
