public static SpinnerInfo FromIni(MyIni ini, string sectionName, LookupHelper lookupHelper)
{
var drillGroupNames = GetNamesWithPrefix(ini, sectionName, "DrillGroupName");
var pistonGroupNames = GetNamesWithPrefix(ini, sectionName, "PistonGroupName");
var rotorNames = GetNamesWithPrefix(ini, sectionName, "RotorName");
var spinner = new SpinnerInfo()
{
Arms = ini.Get(sectionName, "Arms").ToInt32(),
Drills = lookupHelper.GetBlocksInFirstGroup <IMyShipDrill>(drillGroupNames),
Pistons = lookupHelper.GetBlocksInFirstGroup <IMyPistonBase>(pistonGroupNames),
Rotor = lookupHelper.GetFirstBlockWithName <IMyMotorAdvancedStator>(rotorNames),
};
spinner.StartAngle = Utils.RadiansToDegrees(spinner.Rotor.Angle);
return(spinner);
}
public void Main(string argumentString)
{
_output.Clear();
var arguments = argumentString.ToUpper().Split(';');
_output.Add($"Mode: {(_isFast ? "Fast" : "Slow")}");
switch (arguments[0])
{
case "":
foreach (var entry in _spinners)
{
var spinner = entry.Value;
var cycleStatus = spinner.CalculateCycleStatus();
var maxPosition = spinner.Pistons.Sum(piston => piston.HighestPosition);
var currentPosition = spinner.Pistons.Sum(piston => piston.CurrentPosition);
_output.Add($"{entry.Key}:");
_output.Add($" {Math.Round(currentPosition, 2)} m/{Math.Round(maxPosition, 2)} m");
_output.Add($" Change in angle: {Math.Round(cycleStatus.ChangeInAngle)}°");
if (!cycleStatus.CycleFinished)
{
continue;
}
if (spinner.Pistons.All(piston => piston.CurrentPosition == piston.HighestPosition))
{
spinner.Rotor.Enabled = false;
spinner.Drills.ForEach(drill => drill.Enabled = false);
}
var extendTotalBy = _isFast ? _pistonExtendFast : _pistonExtendSlow;
foreach (var piston in spinner.Pistons)
{
var extendBy = Math.Min(piston.HighestPosition - piston.CurrentPosition, extendTotalBy);
extendTotalBy -= extendBy;
piston.MaxLimit = piston.CurrentPosition + extendBy;
}
}
;
break;
case "LOWER":
foreach (var spinner in _spinners.Values)
{
spinner.Rotor.RotorLock = true;
spinner.Pistons.ForEach(piston => {
piston.MaxLimit = piston.HighestPosition;
piston.Velocity = _pistonLowerSpeed / spinner.Pistons.Count();
});
}
break;
case "PARSE":
MyIniParseResult result;
if (!_ini.TryParse(Me.CustomData, out result))
{
_output.Add($"CustomData parsing error: \nLine {result.LineNo}\nError: {result.Error}");
return;
}
var lookup = new LookupHelper {
GridTerminalSystem = GridTerminalSystem,
};
_pistonLowerSpeed = (float)_ini
.Get("general", "PistonLowerSpeed")
.ToDouble(_pistonLowerSpeed);
_drillSpeedMetersPerSecond = (float)_ini
.Get("general", "DrillSpeedMeterPerSecond")
.ToDouble(_drillSpeedMetersPerSecond);
var lcdInfoName = _ini.Get("general", "LcdInfo").ToString(_lcdInfoName);
_lcdInfo = lookup.GetBlockWithName <IMyTextPanel>(lcdInfoName);
_spinners = new Dictionary <string, SpinnerInfo>();
var sections = new List <string>();
_ini.GetSections(sections);
sections.ForEach(section => {
if (section.ToLower() == "general")
{
return;
}
var spinnerInfo = SpinnerInfo.FromIni(_ini, section, lookup);
_spinners.Add(section, spinnerInfo);
});
break;
case "PERSIST_PISTON_POSITION":
foreach (var entry in _spinners)
{
entry.Value.Pistons.ForEach(piston => piston.MaxLimit = piston.CurrentPosition);
}
break;
case "RETRACT":
foreach (var spinner in _spinners.Values)
{
var velocity = -3f / spinner.Pistons.Count;
spinner.Pistons.ForEach(piston => piston.Velocity = velocity);
}
break;
case "START":
foreach (var spinner in _spinners.Values)
{
spinner.Drills.ForEach(drill => drill.Enabled = true);
spinner.Pistons.ForEach(piston => {
piston.MaxLimit = piston.CurrentPosition;
piston.Enabled = true;
piston.Velocity = 0.5f;
});
spinner.Rotor.RotorLock = false;
spinner.Rotor.Enabled = true;
spinner.Rotor.TargetVelocityRad = spinner.GetTargetVelocityRotorRad(_isFast, _drillSpeedMetersPerSecond);
}
Runtime.UpdateFrequency = UpdateFrequency.Update100;
break;
case "STOP":
foreach (var spinner in _spinners.Values)
{
spinner.Rotor.Enabled = false;
spinner.Drills.ForEach(drill => drill.Enabled = false);
}
Runtime.UpdateFrequency = UpdateFrequency.None;
break;
case "STOP_EMERGENCY":
foreach (var spinner in _spinners.Values)
{
spinner.Rotor.Enabled = false;
spinner.Drills.ForEach(drill => drill.Enabled = false);
spinner.Pistons.ForEach(piston => piston.Enabled = false);
}
Runtime.UpdateFrequency = UpdateFrequency.None;
break;
case "TOGGLE_SPEED":
_isFast = !_isFast;
foreach (var spinner in _spinners.Values)
{
spinner.Drills.ForEach(drill => drill.Enabled = !_isFast);
spinner.Rotor.TargetVelocityRad = spinner.GetTargetVelocityRotorRad(_isFast, _drillSpeedMetersPerSecond);
}
break;
}
_output.ForEach(line => Echo(line));
_lcdInfo?.WriteText(String.Join("\n", _output.ToArray()));
}
public void Main(string argumentString = "CHECK")
{
var arguments = argumentString.Split(' ');
var argument = arguments[0] == "" ? "CHECK" : arguments[0];
Echo((executionCounter++).ToString());
if (argument != "CHECK" || _state != _previousState)
{
// Keep previous output on check
_output.Clear();
}
_previousState = _state;
if (argument == "PARSE")
{
Runtime.UpdateFrequency = UpdateFrequency.None;
MyIniParseResult result;
if (!_ini.TryParse(Me.CustomData, out result))
{
Echo($"CustomData parsing error: \nLine {result.LineNo}");
return;
}
var calculatorAssemblerName = _ini.Get("general", "CalculatorAssembler").ToString(_calculatorAssemblerName);
var lcdBlueprintInfoName = _ini.Get("general", "LcdBlueprintInfo").ToString(_lcdBlueprintInfoName);
var lcdComponentStatusName = _ini.Get("general", "LcdComponentStatus").ToString(_lcdComponentStatusName);
var lcdWeldStatusName = _ini.Get("general", "LcdWeldStatus").ToString(_lcdWeldStatusName);
var pistonGroupName = _ini.Get("general", "PistonGroup").ToString(_pistonGroupName);
var productionAssemblerName = _ini.Get("general", "ProductionAssembler").ToString(_productionAssemblerName);
var projectors = _ini.Get("general", "Projectors").ToString("Large:WeldWallLargeProjector");
var retractVelocity = _ini.Get("general", "RetractVelocity").ToDouble(_retractVelocity);
var weldEndedTimerName = _ini.Get("general", "WeldEndedTimer").ToString(_weldEndedTimerName);
var weldReadyTimerName = _ini.Get("general", "WeldReadyTimer").ToString(_weldReadyTimerName);
var weldVelocity = _ini.Get("general", "WeldVelocity").ToDouble(_weldVelocity);
var welderGroupName = _ini.Get("general", "WelderGroup").ToString(_welderGroupName);
var lookup = new LookupHelper {
GridTerminalSystem = GridTerminalSystem,
};
_calculatorAssembler = lookup.GetBlockWithName <IMyAssembler>(calculatorAssemblerName, true);
_lcdBlueprintInfo = lookup.GetBlockWithName <IMyTextPanel>(lcdBlueprintInfoName, true);
_lcdComponentStatus = lookup.GetBlockWithName <IMyTextPanel>(lcdComponentStatusName, true);
_lcdWeldStatus = lookup.GetBlockWithName <IMyTextPanel>(lcdWeldStatusName);
_pistons = lookup.GetBlocksInGroup <IMyExtendedPistonBase>(pistonGroupName, true);
_productionAssembler = lookup.GetBlockWithName <IMyAssembler>(productionAssemblerName, true);
_weldEndedTimer = lookup.GetBlockWithName <IMyTimerBlock>(weldEndedTimerName);
_weldReadyTimer = lookup.GetBlockWithName <IMyTimerBlock>(weldReadyTimerName);
_welders = lookup.GetBlocksInGroup <IMyShipWelder>(welderGroupName, true);
_projectors = projectors
.Split(' ')
.Select(part => part.Split(':'))
.ToDictionary(split => split[0], split => lookup.GetBlockWithName <IMyProjector>(split[1], true));
var firstProjectorEntry = _projectors.FirstOrDefault();
_projector = firstProjectorEntry.Value;
if (_projector == null)
{
Echo("No projector found");
return;
}
else
{
_projector.Enabled = true;
_projectorName = firstProjectorEntry.Key;
}
ExtractBlueprints();
Runtime.UpdateFrequency = UpdateFrequency.Update100;
}
if (_projector == null)
{
Echo("No projector found");
return;
}
var currentBpId = _state == "Preparing" || _state == "Welding"
? _previousBlueprint.ID
: GetProjectorBlueprintId(_projector);
var currentBlueprint = _blueprints.GetValueOrDefault(currentBpId);
if (currentBlueprint != _previousBlueprint && currentBlueprint != null)
{
_state = "CheckBlueprint";
_projector.ProjectionOffset = currentBlueprint.ProjectionOffset;
_projector.ProjectionRotation = currentBlueprint.ProjectionRotation;
_projector.UpdateOffsetAndRotation();
UpdateComponentList(currentBlueprint);
}
_previousBlueprint = currentBlueprint;
switch (argument)
{
case "CHECK":
if (currentBlueprint == null)
{
break;
}
if (_state == "Preparing")
{
if (_lcdComponentStatus.GetText().Trim() == "")
{
if (_weldReadyTimer == null)
{
Main("Weld");
}
else
{
_weldReadyTimer.ApplyAction("TriggerNow");
}
}
}
else if (_state == "Welding")
{
if (_pistons.TrueForAll(p => p.MaxLimit == p.CurrentPosition))
{
_welders.ForEach(w => w.Enabled = false);
_weldEndedTimer?.ApplyAction("TriggerNow");
_state = "CheckBlueprint";
}
}
var buildProgress = _projector.DetailedInfo.Substring(_projector.DetailedInfo.IndexOf("Build progress"));
if (_lcdWeldStatus != null)
{
_lcdWeldStatus.CustomData = Utils.ToMmasterLcd(buildProgress);
}
break;
case "PREPARE":
if (currentBlueprint == null)
{
_output.Add("Can't prepare when no blueprint is loaded");
break;
}
UpdateComponentList(currentBlueprint);
AssembleMissing();
_output.Add("Assembly of missing items in progress");
_state = "Preparing";
break;
case "SAVE_OFFSET":
if (currentBlueprint == null)
{
currentBlueprint = new BlueprintInfo()
{
ID = currentBpId,
Name = currentBpId,
};
UpdateComponentList(currentBlueprint);
_blueprints.Add(currentBpId, currentBlueprint);
}
currentBlueprint.ProjectionOffset = _projector.ProjectionOffset;
currentBlueprint.ProjectionRotation = _projector.ProjectionRotation;
currentBlueprint.Save(_ini);
Me.CustomData = _ini.ToString();
break;
case "SET_ACTIVE":
IMyProjector newActiveProjector = _projectors.GetValueOrDefault(arguments[1]);
if (newActiveProjector == null)
{
_output.Add($"Projector {arguments[1]} not found");
}
else
{
_projectors.Values.ToList().ForEach(projector => projector.Enabled = false);
_projector = newActiveProjector;
_projectorName = arguments[1];
_projector.Enabled = true;
}
break;
case "STOP":
Stop();
break;
case "RETRACT":
_pistons.ForEach(p => p.Enabled = true);
DistributePistonVelocity(-_retractVelocity);
break;
case "WELD":
if (currentBlueprint == null)
{
_output.Add("Can't start welding when no blueprint is loaded");
break;
}
_welders.ForEach(w => w.Enabled = true);
_pistons.ForEach(p => p.Enabled = true);
DistributePistonVelocity(_weldVelocity);
_state = "Welding";
break;
}
_lcdBlueprintInfo.WriteText($@"
{(currentBlueprint == null ? "Unknown blueprint" : (currentBlueprint.Name ?? "Unnamed blueprint"))}
Blueprint ID: {currentBpId}
State: {_state}
Active projector: {_projectorName}
{String.Join("\n", _output.ToArray())}
".Trim());
}
public void Main(string input, UpdateType updateSource)
{
input = input == "" ? "OBSERVE" : input;
if (input == "RESTART" || state == null)
{
var config = new Config(Me.CustomData);
config.Set(ref closeConnectorName, "closeConnectorName");
config.Set(ref grabberGroupName, "grabberGroupName");
config.Set(ref grabberVelocity, "grabberVelocity");
config.Set(ref grinderGroupName, "grinderGroupName");
config.Set(ref namePrefix, "namePrefix");
config.Set(ref openConnectorName, "openConnectorName");
config.Set(ref rotorGroupName, "rotorGroupName");
config.Set(ref rotorVelocity, "rotorVelocity");
config.Set(ref welderGroupName, "welderGroupName");
var lookup = new LookupHelper {
GridTerminalSystem = GridTerminalSystem,
NamePrefix = namePrefix,
};
// init
accessCodes = new List <string>(config.Get("accessCodes", "").Split(','));
closeConnector = lookup.GetBlockWithName <IMyShipConnector>(closeConnectorName);
closeConnector.Enabled = true;
openConnector = lookup.GetBlockWithName <IMyShipConnector>(openConnectorName);
openConnector.Enabled = true;
grinders = lookup.GetBlocksInGroup <IMyShipGrinder>(grinderGroupName);
grinders.ForEach(grinder => grinder.Enabled = false);
welders = lookup.GetBlocksInGroup <IMyShipWelder>(welderGroupName);
welders.ForEach(welder => welder.Enabled = false);
rotorController = new RotorController(lookup.GetBlocksInGroup <IMyMotorStator>(rotorGroupName), rotorVelocity);
rotorController.Stop();
grabberController = new RotorController(lookup.GetBlocksInGroup <IMyMotorStator>(grabberGroupName), grabberVelocity);
grabberController.Go("BACKWARD"); // Open grabber
state = "UNKNOWN";
Runtime.UpdateFrequency = UpdateFrequency.Update100;
Observe();
}
if (input == "radioCommand" && broadcastListener.HasPendingMessage)
{
var message = broadcastListener.AcceptMessage();
while (broadcastListener.HasPendingMessage)
{
message = broadcastListener.AcceptMessage();
}
var data = BlastDoorRadioMessage.Deserialize(message.Data as string);
if (!accessCodes.Contains(data.AccessCode))
{
return;
}
input = data.Command;
}
if (input == "OBSERVE")
{
Observe();
}
else if (input == "CLOSE" && state != "CLOSING" && state != "CLOSED")
{
openConnector.Enabled = false;
closeConnector.Enabled = true;
grinders.ForEach(grinder => grinder.Enabled = false);
welders.ForEach(welder => welder.Enabled = true);
rotorController.Go("FORWARD");
grabberController.Go("FORWARD"); // Grab
state = "CLOSING";
Runtime.UpdateFrequency = UpdateFrequency.Update100;
}
else if (input == "OPEN" && state != "OPENING" && state != "OPEN")
{
openConnector.Enabled = true;
closeConnector.Enabled = false;
welders.ForEach(welder => welder.Enabled = false);
grinders.ForEach(grinder => grinder.Enabled = true);
rotorController.Go("BACKWARD");
grabberController.Go("FORWARD"); // Grab
state = "OPENING";
Runtime.UpdateFrequency = UpdateFrequency.Update100;
}
}
