public DetectedEntity getTarget()
{
DetectedEntity closest = new DetectedEntity();
string[] targetList = { "Asteroid" };
double closestDistance = 999999;
double targetDistance;
foreach (DetectedEntity entity in this.navHandle.nearbyEntities)
{
// Filter out non asteroids.
if (!targetList.Any(entity.name.Contains))
{
continue;
}
targetDistance = this.navHandle.getDistanceFrom(this.navHandle.getShipPosition(), entity.position);
if (targetDistance > 50000 || targetDistance < 0)
{
continue; // Out of antenna range or irregular distance.
}
if (targetDistance < closestDistance)
{
closest = entity;
closestDistance = targetDistance;
}
}
if (closestDistance > 25000) // Not too far
{
return(new DetectedEntity());
}
return(closest);
}
public void sendNearbyEntityList()
{
if (this.lastEntityDataUpdate == 0 || Communication.getTimestamp() - this.lastEntityDataUpdate > 35)
{
this.dataStructure.newPackage();
this.dataStructure.addRawData("drone-data-nearby");
this.dataStructure.addData("id", Communication.currentNode.id.ToString());
DetectedEntity entity;
for (int i = 0; i < Communication.currentNode.navHandle.nearbyEntities.Count; i++)
{
entity = Communication.currentNode.navHandle.nearbyEntities[i];
if (entity.id > 0)
{
this.dataStructure.addRawData(
"Entity=" + entity.name + "=" +
DetectedEntity.getEntityTypeInteger(entity.type).ToString() + "=" +
entity.id.ToString() + "=" + entity.position.X.ToString() + "=" +
entity.position.Y.ToString() + "=" + entity.position.Z.ToString() + "=" +
entity.lastSeen.ToString()
);
}
}
this.broadcastMessage(this.dataStructure.generateOutput());
this.lastEntityDataUpdate = Communication.getTimestamp();
}
}
public void execute()
{
if (Communication.masterDrone == null)
{
this.status = "waiting-for-master";
this.commHandle.sendMasterRequest();
}
if (this.battery < 5)
{
return; // Solar cells need to recharge.
}
this.status = "looking-for-targets";
DetectedEntity target = this.getTarget();
if (target.id > 0)
{
// Move to closest ore.
Vector3D targetPos = target.position;
// Add some random movement.
Random rnd = new Random();
targetPos.X += (int)rnd.Next(-100, 100);
targetPos.Y += (int)rnd.Next(-100, 100);
targetPos.Z += (int)rnd.Next(-100, 100);
// Execute movement
this.navHandle.move(targetPos, "target-position");
this.status = "target-acquired";
}
else
{
this.handleIdle();
}
}
public void updateNearbyCollisionData(IMySensorBlock sensor)
{
if (!sensor.LastDetectedEntity.IsEmpty())
{
MyDetectedEntityInfo entity = sensor.LastDetectedEntity;
if (!this.nearbyEntities.Any(val => val.id == entity.EntityId))
{
DetectedEntity tmp = new DetectedEntity();
tmp.id = entity.EntityId;
tmp.name = entity.Name;
tmp.position = entity.Position;
tmp.lastSeen = Communication.getTimestamp();
tmp.distance = this.getDistanceFrom(entity.Position, sensor.GetPosition());
tmp.type = entity.Type;
this.nearbyEntities.Add(tmp);
}
else
{
for (int i = 0; i < this.nearbyEntities.Count; i++)
{
DetectedEntity nearEntity = this.nearbyEntities[i];
if (nearEntity.id == entity.EntityId)
{
DetectedEntity tmp = new DetectedEntity();
tmp.id = entity.EntityId;
tmp.name = entity.Name;
tmp.position = entity.Position;
tmp.entityInfo = entity;
tmp.lastSeen = Communication.getTimestamp();
tmp.distance = this.getDistanceFrom(entity.Position, sensor.GetPosition());
tmp.type = entity.Type;
this.nearbyEntities[i] = tmp;
break;
}
}
}
}
else
{
List <DetectedEntity> tmp = new List <DetectedEntity>();
for (int i = 0; i < this.nearbyEntities.Count; i++)
{
DetectedEntity nearEntity = this.nearbyEntities[i];
if (Communication.getTimestamp() - nearEntity.lastSeen < 7 * 24 * 60 * 60) // Last seen in 7 days?
{
tmp.Add(nearEntity);
}
}
this.nearbyEntities = tmp;
}
}
public void AddGPSPosition(string name, Vector3 position)
{
var celestialBody = CelestialBodies.Find(obj => obj.Name == name);
if (celestialBody == null)
{
celestialBody = new DetectedEntity();
CelestialBodies.Add(celestialBody);
}
celestialBody.Name = name;
celestialBody.Position = position;
celestialBody.Type = CelestialType.GPS;
}
public void handleDataNearby(List <CommunicationDataStructureValue> responseData)
{
int id, entityType;
long entityId, lastSeen;
Vector3D position;
string entityName;
Drone myDrone = Communication.currentNode;
DetectedEntity nearbyEntity;
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "Entity")
{
entityName = data.getValue();
entityType = int.Parse(data.getAdditional(0).getValue());
entityId = long.Parse(data.getAdditional(1).getValue());
position = new Vector3D(
double.Parse(data.getAdditional(2).getValue()),
double.Parse(data.getAdditional(3).getValue()),
double.Parse(data.getAdditional(4).getValue())
);
lastSeen = long.Parse(data.getAdditional(5).getValue());
nearbyEntity = new DetectedEntity();
nearbyEntity.id = entityId;
nearbyEntity.name = entityName;
nearbyEntity.distance = myDrone.navHandle.getDistanceFrom(myDrone.navHandle.getShipPosition(), position);
nearbyEntity.type = DetectedEntity.getEntityType(entityType);
nearbyEntity.position = position;
nearbyEntity.lastSeen = lastSeen;
Communication.currentNode.navHandle.addNearbyEntity(nearbyEntity);
}
}
}
public void addNearbyEntity(DetectedEntity entity)
{
bool found = false;
long lastSeenByMe = 0;
DetectedEntity myEnt;
for (int i = 0; i < this.nearbyEntities.Count; i++)
{
myEnt = this.nearbyEntities[i];
if (myEnt.id == entity.id)
{
if (myEnt.lastSeen > entity.lastSeen)
{
entity.lastSeen = myEnt.lastSeen;
}
this.nearbyEntities[i] = entity;
found = true;
}
}
if (found == false)
{
this.nearbyEntities.Add(entity);
}
}
public DetectedEntity getTarget()
{
DetectedEntity closest = new DetectedEntity();
string[] targetList = { "Small Grid", "Large Grid", "Character Human", "Character Other" };
double closestDistance = 3000;
double targetDistance;
foreach (DetectedEntity entity in this.navHandle.nearbyEntities)
{
// Filter out non asteroids.
if (!targetList.Any(entity.name.Contains))
{
continue;
}
targetDistance = this.navHandle.getDistanceFrom(this.navHandle.getShipPosition(), entity.position);
if (targetDistance < closestDistance)
{
closest = entity;
closestDistance = targetDistance;
}
}
return(closest);
}
public void mainLogic()
{
if (this.usedInventorySpace < 95 && this.navHandle.activeDockingProcedure == null && this.playerCommand != "recall")
{
this.navHandle.setCollisionStatus(false);
this.navHandle.thrusterStatus(true);
DetectedEntity target = this.getTarget();
if (target.id != 0 && target.id != null && target.position.X != 0 && target.position != null)
{
double targetDistance = this.navHandle.getDistanceFrom(this.navHandle.getShipPosition(), target.position);
if (targetDistance > 300)
{
this.navHandle.setCollisionStatus(true);
}
if (targetDistance > 1)
{
Vector3D targetPos = target.position;
if (target.entityInfo.BoundingBox.Min.X != 0 && target.entityInfo.BoundingBox.Min.Y != 0 && target.entityInfo.BoundingBox.Min.Z != 0)
{
this.status = "target-acquired-box";
// Add some random movement.
Random rnd = new Random();
targetPos.X = (double)rnd.Next((int)target.entityInfo.BoundingBox.Min.X, (int)target.entityInfo.BoundingBox.Max.X);
targetPos.Y = (double)rnd.Next((int)target.entityInfo.BoundingBox.Min.Y, (int)target.entityInfo.BoundingBox.Max.Y);
targetPos.Z = (double)rnd.Next((int)target.entityInfo.BoundingBox.Min.Z, (int)target.entityInfo.BoundingBox.Max.Z);
}
else
{
this.status = "target-acquired-relative";
Display.printDebug("Setting new drilling destination based on coordinates. (" + Math.Round(targetPos.X, 2) + ", " + Math.Round(targetPos.Y, 2) + ", " + Math.Round(targetPos.Z, 2) + ")");
Random rnd = new Random();
targetPos.X += (double)rnd.Next((int)-300, (int)300);
targetPos.Y += (double)rnd.Next((int)-300, (int)300);
targetPos.Z += (double)rnd.Next((int)-300, (int)300);
}
this.navHandle.move(targetPos, "navigate-to-ore");
if (targetDistance > 500)
{
this.haltDrills();
this.navHandle.setCollisionStatus(true);
}
else
{
this.navHandle.setCollisionStatus(false);
this.startDrills();
}
this.navHandle.overrideThruster("Forward", 10);
}
else
{
Display.printDebug("Already at target destination.");
}
}
else
{
Display.printDebug("No target found.");
this.navHandle.overrideThruster("Forward", 10);
this.haltDrills();
this.handleIdle();
}
}
else
{
if (this.navHandle.activeDockingProcedure != null && this.navHandle.activeDockingProcedure.dockingStep < 2)
{
Display.printDebug("Returning to master.");
this.haltDrills();
this.navHandle.returnToMaster();
}
else
{
this.startDrills();
Display.printDebug("Returning to master.");
this.navHandle.returnToMaster();
}
}
}
