public void AttitudeGUI(int windowID)
{
if (core.Wheel
&&
GUILayout.Button(_RM ? "Rover" : "Attitude", GUI.skin.textField)
)
{
_RM = !_RM;
if (_RM)
{
RoverState r = new RoverState();
r.Steer = false;
r.Target = -0;
r.Steering = 0;
r.ActTime = Planetarium.GetUniversalTime() + (core.localControl ? 0 : core.path.ControlDelay);
rover.states.Enqueue(r);
}
}
if (roverMode)
{
attitudeButtons[0].Draw();
rover.draw();
}
else
{
foreach (AttitudeStateButton b in attitudeButtons)
{
b.Draw();
}
}
GUI.DragWindow();
}
public void setRover(RoverState StateIn)
{
throttlePID = new RoverPidController(10, 1e-5F, 1e-5F, 50, 1);
this.roverState = StateIn;
altitude = Vector3d.Distance(core.vessel.mainBody.position, core.vessel.transform.position);
roverActive = true;
core.vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
public void update()
{
if (sending && states.Peek().ActTime <= Planetarium.GetUniversalTime())
{
state = states.Dequeue();
state.longitude = computer.core.vessel.longitude;
state.latitude = computer.core.vessel.latitude;
state.roverRotation = computer.core.vessel.ReferenceTransform.rotation;
computer.core.computer.setRover(state);
}
}
public void setRover(RoverState StateIn)
{
throttlePID = new RoverPidController(10, 1e-5F, 1e-5F, 50, 1);
this.roverState = StateIn;
altitude = Vector3d.Distance(core.vessel.mainBody.position, core.vessel.transform.position);
roverActive = true;
core.vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
public void draw()
{
GUILayout.Label((SteeringBar >= 0 ? "Right: " : "Left: ") + Math.Abs(Mathf.RoundToInt(SteeringBar * 100)) + "%", GUI.skin.textField);
SteeringBar = GUILayout.HorizontalSlider(SteeringBar, -1, 1);
reverse = GUILayout.Toggle(reverse, reverse ? "Reverse" : "Forward");
GUILayout.BeginHorizontal();
GUILayout.Label("Speed (m/s):", GUI.skin.textField, GUILayout.Width(100));
SpeedS = GUILayout.TextField(SpeedS, GUILayout.Width(50));
SpeedS = RTUtils.FormatNumString(SpeedS);
if (SpeedS == "")
{
SpeedS = "0";
}
if (GUILayout.Button("+", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(SpeedS);
tmp += 1;
SpeedS = Mathf.RoundToInt(tmp).ToString();
}
if (GUILayout.Button("-", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(SpeedS);
tmp -= 1;
SpeedS = Mathf.RoundToInt(tmp).ToString();
}
Speed = Mathf.Clamp(Convert.ToSingle(SpeedS), 0, float.MaxValue);
SpeedS = Speed.ToString();
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Drive (m):", GUI.skin.textField, GUILayout.Width(100));
DistS = GUILayout.TextField(DistS, GUILayout.Width(50));
DistS = RTUtils.FormatNumString(DistS);
if (DistS == "")
{
DistS = "0";
}
if (GUILayout.Button("+", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DistS);
tmp += 1;
DistS = Mathf.RoundToInt(tmp).ToString();
}
if (GUILayout.Button("-", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DistS);
tmp -= 1;
DistS = Mathf.RoundToInt(tmp).ToString();
}
Distance = Mathf.Clamp(Convert.ToSingle(DistS), 0, float.MaxValue);
DistS = Distance.ToString();
if (GUILayout.Button("Send", GUI.skin.textField))
{
RoverState r = new RoverState();
r.Steer = false;
r.Target = Distance;
r.Speed = Speed;
r.reverse = reverse;
r.Steering = 0;
lastActTime = r.ActTime = Planetarium.GetUniversalTime() + (computer.core.localControl ? 0 : computer.core.path.ControlDelay);
states.Enqueue(r);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Turn (°):", GUI.skin.textField, GUILayout.Width(100));
DegS = GUILayout.TextField(DegS, GUILayout.Width(50));
DegS = RTUtils.FormatNumString(DegS);
if (DegS == "")
{
DegS = "0";
}
if (GUILayout.Button("+", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DegS);
tmp += 1;
DegS = Mathf.RoundToInt(tmp).ToString();
}
if (GUILayout.Button("-", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DegS);
tmp -= 1;
DegS = Mathf.RoundToInt(tmp).ToString();
}
Degrees = Mathf.Clamp(Convert.ToSingle(DegS), 0, 90);
DegS = Degrees.ToString();
if (GUILayout.Button("Send", GUI.skin.textField))
{
RoverState r = new RoverState();
r.Steer = true;
r.Target = Degrees;
r.Speed = Speed;
r.reverse = reverse;
r.Steering = Mathf.RoundToInt(SteeringBar * 100) == 0 ? 0 : -SteeringBar;
lastActTime = r.ActTime = Planetarium.GetUniversalTime() + (computer.core.localControl ? 0 : computer.core.path.ControlDelay);
states.Enqueue(r);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(sending ? "Sending " + computer.arrows :
(computer.core.computer.roverActive ? DriveDescript : "")
, GUI.skin.textField);
GUILayout.Label(sending ? RTUtils.time(lastActTime - Planetarium.GetUniversalTime()) : (computer.core.computer.roverActive ? TargetDescript : "")
, GUI.skin.textField, GUILayout.Width(100));
GUILayout.EndHorizontal();
}
public void update()
{
if (sending && states.Peek().ActTime <= Planetarium.GetUniversalTime())
{
state = states.Dequeue();
state.longitude = computer.core.vessel.longitude;
state.latitude = computer.core.vessel.latitude;
state.roverRotation = computer.core.vessel.ReferenceTransform.rotation;
computer.core.computer.setRover(state);
}
}
public void draw()
{
GUILayout.Label((SteeringBar >= 0 ? "Right: " : "Left: ") + Math.Abs(Mathf.RoundToInt(SteeringBar * 100)) + "%", GUI.skin.textField);
SteeringBar = GUILayout.HorizontalSlider(SteeringBar, -1, 1);
reverse = GUILayout.Toggle(reverse, reverse ? "Reverse" : "Forward");
GUILayout.BeginHorizontal();
GUILayout.Label("Speed (m/s):", GUI.skin.textField, GUILayout.Width(100));
SpeedS = GUILayout.TextField(SpeedS, GUILayout.Width(50));
SpeedS = RTUtils.FormatNumString(SpeedS);
if (SpeedS == "")
SpeedS = "0";
if (GUILayout.Button("+", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(SpeedS);
tmp += 1;
SpeedS = Mathf.RoundToInt(tmp).ToString();
}
if (GUILayout.Button("-", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(SpeedS);
tmp -= 1;
SpeedS = Mathf.RoundToInt(tmp).ToString();
}
Speed = Mathf.Clamp(Convert.ToSingle(SpeedS), 0, float.MaxValue);
SpeedS = Speed.ToString();
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Drive (m):", GUI.skin.textField, GUILayout.Width(100));
DistS = GUILayout.TextField(DistS, GUILayout.Width(50));
DistS = RTUtils.FormatNumString(DistS);
if (DistS == "")
DistS = "0";
if (GUILayout.Button("+", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DistS);
tmp += 1;
DistS = Mathf.RoundToInt(tmp).ToString();
}
if (GUILayout.Button("-", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DistS);
tmp -= 1;
DistS = Mathf.RoundToInt(tmp).ToString();
}
Distance = Mathf.Clamp(Convert.ToSingle(DistS), 0, float.MaxValue);
DistS = Distance.ToString();
if (GUILayout.Button("Send", GUI.skin.textField))
{
RoverState r = new RoverState();
r.Steer = false;
r.Target = Distance;
r.Speed = Speed;
r.reverse = reverse;
r.Steering = 0;
lastActTime = r.ActTime = Planetarium.GetUniversalTime() + (computer.core.localControl ? 0 : computer.core.path.ControlDelay);
states.Enqueue(r);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Turn (°):", GUI.skin.textField, GUILayout.Width(100));
DegS = GUILayout.TextField(DegS, GUILayout.Width(50));
DegS = RTUtils.FormatNumString(DegS);
if (DegS == "")
DegS = "0";
if (GUILayout.Button("+", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DegS);
tmp += 1;
DegS = Mathf.RoundToInt(tmp).ToString();
}
if (GUILayout.Button("-", GUI.skin.textField, GUILayout.Width(21.0F)))
{
float tmp = Convert.ToSingle(DegS);
tmp -= 1;
DegS = Mathf.RoundToInt(tmp).ToString();
}
Degrees = Mathf.Clamp(Convert.ToSingle(DegS), 0, 90);
DegS = Degrees.ToString();
if (GUILayout.Button("Send", GUI.skin.textField))
{
RoverState r = new RoverState();
r.Steer = true;
r.Target = Degrees;
r.Speed = Speed;
r.reverse = reverse;
r.Steering = Mathf.RoundToInt(SteeringBar * 100) == 0 ? 0 : -SteeringBar;
lastActTime = r.ActTime = Planetarium.GetUniversalTime() + (computer.core.localControl ? 0 : computer.core.path.ControlDelay);
states.Enqueue(r);
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(sending ? "Sending " + computer.arrows :
(computer.core.computer.roverActive ? DriveDescript : "")
, GUI.skin.textField);
GUILayout.Label(sending ? RTUtils.time(lastActTime - Planetarium.GetUniversalTime()) : (computer.core.computer.roverActive ? TargetDescript : "")
, GUI.skin.textField, GUILayout.Width(100));
GUILayout.EndHorizontal();
}
public void AttitudeGUI(int windowID)
{
if (core.Wheel
&&
GUILayout.Button(_RM ? "Rover" : "Attitude", GUI.skin.textField)
)
{
_RM = !_RM;
if (_RM)
{
RoverState r = new RoverState();
r.Steer = false;
r.Target = -0;
r.Steering = 0;
r.ActTime = Planetarium.GetUniversalTime() + (core.localControl ? 0 : core.path.ControlDelay);
rover.states.Enqueue(r);
}
}
if (roverMode)
{
attitudeButtons[0].Draw();
rover.draw();
}
else
foreach (AttitudeStateButton b in attitudeButtons)
{
b.Draw();
}
GUI.DragWindow();
}
