public void handleHaltDocking(List <CommunicationDataStructureValue> responseData) { int id = 0; int dockingWithId = 0; string reason = "unknown-connection"; foreach (CommunicationDataStructureValue data in responseData) { if (data.getName() == "id") { id = int.Parse(data.getValue()); } else if (data.getName() == "reason") { reason = data.getValue(); } else if (data.getName() == "dockingWithId") { dockingWithId = int.Parse(data.getValue()); } } if (id != 0 && id == Communication.currentNode.id) { Display.printDebug("[Incoming] Halt docking reason " + reason); DockingProcedure procedure = Docking.getDroneDockingProcedure(dockingWithId); if (procedure != null) { procedure.haltDocking(reason, false); } Communication.currentNode.navHandle.activeDockingProcedure = null; } }
public void handleDockingStep(List <CommunicationDataStructureValue> responseData) { if (Communication.currentNode.type != "mothership") { return; } int id = 0, slaveId = 0, step = 0, connectorId = 0; foreach (CommunicationDataStructureValue data in responseData) { if (data.getName() == "id") { id = int.Parse(data.getValue()); } else if (data.getName() == "slaveId") { slaveId = int.Parse(data.getValue()); } else if (data.getName() == "step") { step = int.Parse(data.getValue()); } else if (data.getName() == "connectorId") { connectorId = int.Parse(data.getValue()); } } if (id == Communication.currentNode.id) { if (slaveId != 0 && !Docking.dockingWithDrone(slaveId)) { this.sendStopDocking("out-of-order", slaveId); } else { DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId); if (procedure == null || procedure.myConnector.connectorId != connectorId) { this.sendStopDocking("out-of-order", slaveId); } } } }
public void sendConnectorData(int slaveId) { Display.printDebug("Sending connector info."); DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId); if (procedure != null) { AnchoredConnector connector = procedure.myConnector; if (connector != null && connector.isAnchored) { procedure.lastConnectorPing = Communication.getTimestamp(); Vector3D pos; this.dataStructure.newPackage(); this.dataStructure.addRawData("drone-connector-data"); this.dataStructure.addData("id", Communication.currentNode.id.ToString()); this.dataStructure.addData("slaveId", slaveId.ToString()); this.dataStructure.addData("masterConnectorId", connector.connectorId.ToString()); pos = connector.anchorTop.block.GetPosition(); this.dataStructure.addData("connectorAnchorTopX", pos.X.ToString()); this.dataStructure.addData("connectorAnchorTopY", pos.Y.ToString()); this.dataStructure.addData("connectorAnchorTopZ", pos.Z.ToString()); pos = connector.anchorBottom.block.GetPosition(); this.dataStructure.addData("connectorAnchorBottomX", pos.X.ToString()); this.dataStructure.addData("connectorAnchorBottomY", pos.Y.ToString()); this.dataStructure.addData("connectorAnchorBottomZ", pos.Z.ToString()); this.broadcastMessage(this.dataStructure.generateOutput()); procedure.approveDocking(); } else { Display.printDebug("[Error] No working connectors found. (Connectors: " + AnchoredConnector.anchoredConnectors.Count + ")"); } } else { Display.printDebug("[Error] No docking procedure found."); } }
public void handleDockingAccepted(string data) { if (Communication.currentNode.type == "mothership") { return; // Motherships handle docking requests } string[] dataSplitted = data.Split('_'); if (dataSplitted.Count() == 2) { int id = int.Parse(dataSplitted[0]); if (Communication.currentNode.id != id) { return; // If not my id } int masterId = int.Parse(dataSplitted[1]); int nodeIndex = this.getNodeIndexById(masterId); if (nodeIndex == -1) { Communication.connectedNodes.Add(masterId); Drone node = new Drone(masterId); node.initNavigation(this.myGrid); Communication.connectedNodesData.Add(node); nodeIndex = this.getNodeIndexById(masterId); } if (Docking.dockingWithDrone(masterId)) { DockingProcedure procedure = Docking.getDroneDockingProcedure(masterId); procedure.haltDocking("docking-already-in-progress"); } DockingProcedure dock = new DockingProcedure(masterId); dock.initDocking(); dock.approveDocking(); dock.setNavHandle(Communication.currentNode.navHandle); Docking.activeDockingProcedures.Add(dock); Communication.currentNode.navHandle.activeDockingProcedure = dock; } }
public void handleDockLockRequest(string data) { if (Communication.currentNode.type != "mothership") { return; // Motherships handle docking requests } string[] dataSplitted = data.Split('_'); if (dataSplitted.Count() == 3) { int id = int.Parse(dataSplitted[0]); if (Communication.currentNode.id != id) { return; // If not my id } int status = int.Parse(dataSplitted[1]); int slaveId = int.Parse(dataSplitted[2]); DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId); if (procedure != null) { if (procedure.myConnector != null) { if (procedure.myConnector.piston != null) { Display.printDebug("[INFO] Changing piston state to " + (bool)(status == 1) + ", ConnectorID: " + procedure.myConnector.connectorId + "."); procedure.myConnector.piston.setPistonState((bool)(status == 1)); } Display.printDebug("[INFO] Changing connector state to " + (bool)(status == 1) + ", ConnectorID: " + procedure.myConnector.connectorId + "."); AnchoredConnector.setConnectorState(procedure.myConnector.connectorId, (bool)(status == 1)); } } else { Display.printDebug("[WARN] Docking procedure not found."); } } }