public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
antenna = GridTerminalSystem.GetBlockWithName("Antenna") as IMyRadioAntenna;
up1 = GridTerminalSystem.GetBlockWithName("up1") as IMyPistonBase;
up2 = GridTerminalSystem.GetBlockWithName("up2") as IMyPistonBase;
out1 = GridTerminalSystem.GetBlockWithName("out1") as IMyPistonBase;
out2 = GridTerminalSystem.GetBlockWithName("out2") as IMyPistonBase;
antenna.AttachedProgrammableBlock = Me.EntityId;
IGC.RegisterBroadcastListener(Channel);
IGC.GetBroadcastListeners(listeners);
listeners[0].SetMessageCallback("door");
}
private IEnumerable <IMyBroadcastListener> UpdateBroadcast()
{
var broadcastTag = $"{Me.CubeGrid.EntityId}.NIN.NAME";
if (_broadcastTag != broadcastTag)
{
IGC.UnregisterBroadcastListener(_broadcastTag);
_broadcastTag = broadcastTag;
}
var broadcastListener = IGC.RegisterBroadcastListener(broadcastTag);
yield return(null);
IGC.SendBroadcastMessage(broadcastTag, _priority);
yield return(null);
while (broadcastListener.HasPendingMessage)
{
var message = broadcastListener.AcceptMessage();
var priorityReceived = -1;
try
{
priorityReceived = (int)message.Data;
}
catch
{
EchoManager.Print($"Received an invalid message in broadcast channel: {message.Data}");
}
if (!_ignorePriority && priorityReceived > _priority)
{
Disable();
}
yield return(null);
}
EnableIfReady();
yield return(broadcastListener);
}
// Handler for the test broadcast messages.
void TestBroadcastHandler(MyIGCMessage msg)
{
// NOTE: called on ALL received messages; not just 'our' tag
if (msg.Tag != _broadCastTag)
{
return; // not our message
}
if (msg.Data is string)
{
Echo("Received Test Message");
Echo(" Source=" + msg.Source.ToString("X"));
Echo(" Data=\"" + msg.Data + "\"");
Echo(" Tag=" + msg.Tag);
// Now reply to the sender and let them know we received the message
IGC.SendUnicastMessage(msg.Source, _unicastTag, "Acknowledge by:" + Me.CustomName);
Echo(" Reply Sent");
}
}
public void Main()
{
while (Listener.HasPendingMessage)
{
MyIGCMessage message = Listener.AcceptMessage();
if (message.Data is string)
{
Print("Recieved message: " + document.OuterXml);
}
else
{
Print("Message is not " + typeof(string).FullName + ", but is " + message.Data.GetType().FullName);
}
}
if (count >= 100U)
{
IGC.SendBroadcastMessage(Channel, document.OuterXml, TransmissionDistance.AntennaRelay);
count = 0U;
}
++count;
}
public void Main(string argument, UpdateType updateSource)
{
// Init storage
InitializeStorage();
// Set default data if
if (!IsDataFormatValid() || argument == "reset")
{
SetDefaultData();
return;
}
// Construct & send message.
string message = config.ToString();
IGC.SendBroadcastMessage(AntennaChannel, message);
Echo("Broadcasting on \"" + AntennaChannel + "\"..");
}
public Program()
{
//hardware
_remote = GridTerminalSystem.GetBlockWithName("Remote [t]") as IMyRemoteControl;
_gyro = GridTerminalSystem.GetBlockWithName("Gyroscope [t]") as IMyGyro;
_connector = GridTerminalSystem.GetBlockWithName("Connector [t]") as IMyShipConnector;
_messageBuilder.AppendLine("Hardware located.");
//IGC
IGC.UnicastListener.SetMessageCallback();
_turtleListenerInit = IGC.RegisterBroadcastListener(_turtleInit);
_turtleListenerInit.SetMessageCallback(_turtleInit);
var op = GridTerminalSystem.GetBlockWithName("Operator [t]") as IMyProgrammableBlock;
_turtleOperatorID = op.GetId();
_messageBuilder.AppendLine("IGC loaded.");
// load program state
Load();
// custom data reset - log info
Me.CustomData = "\t\tPROGRAM LOG:\n\n" + _messageBuilder;
Runtime.UpdateFrequency |= UpdateFrequency.Once;
_stateMachine = Idle();
}
public void Main(string argument, UpdateType updateSource)
{
if ((updateSource & UpdateType.IGC) > 0)
{
if (universalListener != null && universalListener.HasPendingMessage)
{
MyIGCMessage message = universalListener.AcceptMessage();
List <IMyTextPanel> panels = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(panels);
if (panels.Count > 0)
{
panels[0].WriteText(message.Tag + " " + message.Source + " " + message.Data + "\n", false);
}
}
}
else
{
universalListener = IGC.RegisterBroadcastListener(argument);
universalListener.SetMessageCallback();
Echo("CURRENT LISTENING CODE: " + argument);
}
}
public Program()
{
// Prioritize the given cockpit name
rc = GetBlock <IMyShipController>(cockpitName, true);
if (rc == null) // Second priority cockpit
{
rc = GetBlock <IMyCockpit>();
}
if (rc == null) // Third priority remote control
{
rc = GetBlock <IMyRemoteControl>();
}
if (rc == null) // No cockpits found.
{
throw new Exception("No cockpit/remote control found. Set the cockpitName field in settings.");
}
wheels = new WheelControl(rc, tickSpeed, GetBlocks <IMyMotorSuspension>());
leaderListener = IGC.RegisterBroadcastListener(transmitTag);
leaderListener.SetMessageCallback("");
commandListener = IGC.RegisterBroadcastListener(transmitCommandTag);
commandListener.SetMessageCallback("");
configurations["default"] = defaultOffset;
offset = defaultOffset;
LoadStorage();
if (tickSpeed == UpdateFrequency.Update10)
{
echoFrequency = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
echoFrequency = 1;
}
Echo("Ready.");
}
private void UpdateSettings()
{
var parser = new MyIni();
if (!parser.TryParse(Me.CustomData))
{
throw new InvalidOperationException("Couldn't parse CustomData as INI!");
}
this.tag = parser.Get(SETTINGS_SECTION, "tag").ToString(MissileCommons.DEFAULT_TAG);
this.statusTag = parser.Get(SETTINGS_SECTION, "statusTag").ToString(MissileCommons.STATUS_TAG);
this.directing = parser.Get(SETTINGS_SECTION, "directing").ToBoolean(true);
if (this.directing)
{
this.directorTurret = GridTerminalSystem.GetBlockOfType <IMyLargeTurretBase>(t => MyIni.HasSection(t.CustomData, DIRECTOR_TURRET_SECTION));
if (this.directorTurret != null)
{
LogLine($"Director mode on, found director turret {directorTurret.CustomName}");
}
else
{
LogLine($"No director turret was found. If you have one, add the [{DIRECTOR_TURRET_SECTION}] line to its Custom Data. Disabling director mode.");
this.directing = false;
}
}
if (missileMsgListener != null)
{
missileMsgListener.DisableMessageCallback();
}
missileMsgListener = IGC.RegisterBroadcastListener(this.tag);
missileMsgListener.SetMessageCallback();
if (missileStatusListener != null)
{
missileStatusListener.DisableMessageCallback();
}
missileStatusListener = IGC.RegisterBroadcastListener(MissileCommons.STATUS_TAG);
missileStatusListener.SetMessageCallback();
}
public void Main(string arg)
{
if (setupcomplete == false)
{
Echo("Running setup.");
Setup();
}
else if (setupcomplete == true && requestSent == false)
{
string messageOut = "Requesting Docking Clearance";
IGC.SendBroadcastMessage(tag1, messageOut, TransmissionDistance.TransmissionDistanceMax);
Echo("Requesting Clearance");
requestSent = true;
}
else if (requestSent == true && clearanceReceived == false)
{
// Now that we've requested clearance, listen for a clearance response.
IGC.RegisterBroadcastListener(tag1);
List <IMyBroadcastListener> listeners = new List <IMyBroadcastListener>();
IGC.GetBroadcastListeners(listeners);
Echo("checking messages");
if (listeners[0].HasPendingMessage)
{
Echo("message received");
clearance = listeners[0].AcceptMessage();
clearanceReceived = true;
}
else
{
requestSent = false;
}
}
else if (clearanceReceived == true)
{
Echo(clearance.Data.ToString());
}
}
public void Main(string argument, UpdateType updateSource)
{
// Echo some information aboue 'me' and why we were run
Echo("Source=" + updateSource.ToString());
Echo("Me=" + Me.EntityId.ToString("X"));
Echo(Me.CubeGrid.CustomName);
if (!_areWeInited)
{
InitMessageHandlers();
_areWeInited = true;
}
// use if not setting callbacks for any of the desired channels
// if (bInit) wicoIGC.ProcessIGCMessages();
// always check for IGC messages in case some aren't using callbacks
_wicoIGC.ProcessIGCMessages();
if ((updateSource & UpdateType.IGC) > 0)
{
// we got a callback for an IGC message.
// but we already processed them.
}
else if ((updateSource & _utTriggers) > 0)
{
// if we got a 'trigger' source, send out the received argument
IGC.SendBroadcastMessage(_broadCastTag, argument);
Echo("Sending Message:\n" + argument);
}
else if ((updateSource & _utUpdates) > 0)
{
// it was an automatic update
// this script doens't have anything to do
}
}
void Initalize()
{
var controls = new List <IMyRemoteControl>();
GridTerminalSystem.GetBlocksOfType(controls);
mainControl = controls.Find(control => {
try { return(JSON.Parse(control.CustomData).jsonObject["type"].jsonString == "mainControl"); }
catch { return(false); }
});
name = $"Greedle ID {new Random().Next()}";
target = Vector3.Zero;
directiveListener = IGC.RegisterBroadcastListener("greedle_directive");
directiveListener.SetMessageCallback();
var antennas = new List <IMyRadioAntenna>();
GridTerminalSystem.GetBlocksOfType(antennas);
foreach (var antenna in antennas)
{
antenna.HudText = name;
}
Me.GetSurface(0).ContentType = ContentType.TEXT_AND_IMAGE;
}
int runcount = 0; // used to show running multiple times
public void Main(string argument, UpdateType updateSource)
{
// Echo some information aboue 'me' and why we were run
Echo(updateSource.ToString());
Echo("Me=" + Me.EntityId.ToString());
Echo(Me.CubeGrid.CustomName);
runcount++;
Echo("Runs=" + runcount.ToString());
// if there is a message pending, process it
if (_bListener.HasPendingMessage || _uListener.HasPendingMessage)
{
if (!HandleMessages())
{
return;
}
}
else
{
// if we were run when there's not a pending message, send out a broadcast message
Echo("Sending Broadcast Message");
IGC.SendBroadcastMessage <string>(BroadcastTag, "Me=" + Me.EntityId.ToString() + ":" + Me.CubeGrid.CustomName + "\n" + argument, TransmissionDistance.AntennaRelay);
}
}
public void Main(string argument, UpdateType updateSource)
{
if ((updateSource & UpdateType.Terminal) > 0)
{
// отправляем сообщение
count++;
string message = "test message " + count;
IGC.SendBroadcastMessage <string>(TAG, message, TransmissionDistance.TransmissionDistanceMax);
Echo("send: " + message);
}
else if ((updateSource & UpdateType.IGC) > 0)
{
// получаем ответ
Echo("argument: " + argument);
if (listener.HasPendingMessage)
{
MyIGCMessage message = listener.AcceptMessage();
if (message.Data is string)
{
Echo("result: " + message.Data.ToString());
}
}
}
}
public void Main(string argument, UpdateType updateSource)
{
if (argument == "releaseremote")
{
IGC.SendBroadcastMessage("[PDCFORGE]", "");
}
else if (argument == "save")
{
if (Elevation != null && BaseMerge != null)
{
var list = new List <IMyTerminalBlock>();
list.Add(Elevation);
BaseMerge.CustomData = GridTerminalHelper.BlockListBytePosToBase64(list, BaseMerge);
}
}
else if (argument == "release")
{
while (ReleaseListener.HasPendingMessage)
{
var msg = ReleaseListener.AcceptMessage();
if (msg.Data is string && Me.CustomName.Contains((string)msg.Data))
{
var otherMerge = GridTerminalHelper.OtherMergeBlock(TopMerge);
if (otherMerge != null)
{
otherMerge.Enabled = false;
}
}
}
}
else
{
if (State == 0)
{
foreach (var welder in Welders)
{
welder.Enabled = true;
}
if (Display != null)
{
Display.WriteText("STATE 0: WELDING - WAITING FOR COMPLETION");
}
if (TopProjector.RemainingBlocks == 0 && BaseProjector.RemainingBlocks == 0)
{
GraceTimer = 5;
State = 1;
}
}
else if (State == 1)
{
GraceTimer--;
if (Display != null)
{
Display.WriteText($"STATE 1: WELDING GRACE PERIOD - {GraceTimer}");
}
if (GraceTimer <= 0)
{
foreach (var welder in Welders)
{
welder.Enabled = false;
}
BaseProjector.Enabled = false;
TopProjector.Enabled = false;
State = 2;
}
}
else if (State == 2)
{
ElevationScratchpad.Clear();
var block = GridTerminalHelper.Base64BytePosToBlockList(BaseMerge.CustomData, BaseMerge, ref ElevationScratchpad);
if (ElevationScratchpad.Count == 1)
{
Elevation = ElevationScratchpad[0];
if (Display != null)
{
Display.WriteText($"ELEVATION ROTOR FOUND", true);
}
Elevation.Detach();
var degrees = -90f * Math.PI / 180f;
DriveHinge(SmallHinge, (float)(degrees), 0.3f);
DriveHinge(LargeHinge, (float)(degrees), 1f);
Sweeper.TargetVelocityRPM = -10;
if (Display != null)
{
Display.WriteText($"STATE 2: SWINGING HINGES SMALL - {SmallHinge.Angle * 180 / Math.PI} / -90 | LARGE - {LargeHinge.Angle * 180 / Math.PI} / -90");
}
if (Math.Abs(SmallHinge.Angle - degrees) < 0.01 && Math.Abs(LargeHinge.Angle - degrees) < 0.01)
{
State = 3;
}
}
else
{
if (Display != null)
{
Display.WriteText($"\nCRITICAL ERROR: ELEVATION ROTOR NOT FOUND", true);
}
}
}
else if (State == 3)
{
if (Display != null)
{
Display.WriteText($"STATE 3: ATTEMPTING ATTACH");
}
ElevationScratchpad.Clear();
var block = GridTerminalHelper.Base64BytePosToBlockList(BaseMerge.CustomData, BaseMerge, ref ElevationScratchpad);
if (ElevationScratchpad.Count == 1)
{
Elevation = ElevationScratchpad[0];
if (Display != null)
{
Display.WriteText($"ELEVATION ROTOR FOUND", true);
}
Elevation.Attach();
if (Elevation.IsAttached)
{
GridTerminalHelper.OtherMergeBlock(BaseMerge).Enabled = false;
State = 4;
}
}
else
{
if (Display != null)
{
Display.WriteText($"\nCRITICAL ERROR: ELEVATION ROTOR NOT FOUND", true);
}
}
}
else if (State == 4)
{
var degrees = 90f * Math.PI / 180f;
DriveHinge(SmallHinge, (float)(degrees), 0.3f);
if (Display != null)
{
Display.WriteText($"STATE 4: SWINGING SMALL HINGE - {SmallHinge.Angle * 180 / Math.PI} / 90");
}
if (Math.Abs(SmallHinge.Angle - degrees) < 0.01)
{
State = 5;
}
}
else if (State == 5)
{
if (Display != null)
{
Display.WriteText($"STATE 5: COMPLETE - AWAITING PICKUP");
}
if (GridTerminalHelper.OtherMergeBlock(TopMerge) == null)
{
State = 6;
GraceTimer = 5;
}
}
else if (State == 6)
{
GraceTimer--;
if (Display != null)
{
Display.WriteText($"STATE 6: DETACH GRACE PERIOD - {GraceTimer}");
}
if (GraceTimer <= 0)
{
State = 7;
}
}
else if (State == 7)
{
var degrees = 90f * Math.PI / 180f;
var degrees2 = 0;
DriveHinge(LargeHinge, (float)(degrees), 1f);
DriveHinge(SmallHinge, (float)(degrees2), 1f);
Sweeper.TargetVelocityRPM = 10;
BaseProjector.Enabled = true;
TopProjector.Enabled = true;
if (Display != null)
{
Display.WriteText($"STATE 7: RESETTING SMALL - {SmallHinge.Angle * 180 / Math.PI} / 0 | LARGE - {LargeHinge.Angle * 180 / Math.PI} / 90");
}
if (Math.Abs(SmallHinge.Angle - degrees2) < 0.01 && Math.Abs(LargeHinge.Angle - degrees) < 0.01)
{
State = 0;
}
}
}
}
void TransmitCommand(string target, string data, TransmissionDistance distance = TransmissionDistance.AntennaRelay)
{
MyTuple <string, string> msg = new MyTuple <string, string>(target, data);
IGC.SendBroadcastMessage <MyTuple <string, string> >(transmitCommandTag, msg, distance);
}
public void Main(string argument, UpdateType updateSource)
{
if (updateSource == UpdateType.Update100 || updateSource == UpdateType.Update10 || updateSource == UpdateType.Update1)
{
if (debug || runtime % echoFrequency == 0)
{
WriteEcho();
}
runtime++;
if (target != 0 || targetName != null)
{
MyDetectedEntityInfo?info = null;
foreach (IMySensorBlock s in sensors)
{
if (info.HasValue)
{
break;
}
List <MyDetectedEntityInfo> entites = new List <MyDetectedEntityInfo>();
s.DetectedEntities(entites);
foreach (MyDetectedEntityInfo i in entites)
{
if (target != 0)
{
// target id exists
if (i.EntityId == target)
{
info = i;
break;
}
}
else if (targetName != null)
{
// target id does not exist
if (i.Name == targetName)
{
info = i;
target = i.EntityId;
Save(); // Update save data with the id
break;
}
}
}
}
if (activeRaycasting && target != 0 && !previousHit.IsEmpty() && !info.HasValue)
{
float sec = Math.Abs(runtime - hitRuntime);
if (Runtime.UpdateFrequency == UpdateFrequency.Update10)
{
sec *= 1f / 6;
}
else if (Runtime.UpdateFrequency == UpdateFrequency.Update100)
{
sec *= 5f / 3;
}
else
{
sec *= 1f / 60;
}
Vector3D prediction = previousHit.Position + previousHit.Velocity * sec;
foreach (IMyCameraBlock c in allCameras)
{
if (!c.EnableRaycast)
{
c.EnableRaycast = true;
}
if (c.CanScan(prediction))
{
MyDetectedEntityInfo result = c.Raycast(prediction);
if (result.EntityId == target)
{
info = result;
}
break;
}
}
}
if (info.HasValue)
{
if (activeRaycasting)
{
previousHit = info.Value;
hitRuntime = runtime;
}
Vector3D up = info.Value.Orientation.Up;
if (alignFollowersToGravity)
{
Vector3D gravity = rc.GetNaturalGravity();
if (gravity != Vector3D.Zero)
{
up = -Vector3D.Normalize(gravity);
}
}
MatrixD worldMatrix = MatrixD.CreateWorld(info.Value.Position, info.Value.Orientation.Forward, up);
IGC.SendBroadcastMessage <MyTuple <MatrixD, Vector3D, long> >(transmitTag, new MyTuple <MatrixD, Vector3D, long>(worldMatrix, info.Value.Velocity, info.Value.EntityId));
}
}
else if (allowFollowSelf)
{
MatrixD matrix = rc.WorldMatrix;
if (alignFollowersToGravity)
{
Vector3D gravity = rc.GetNaturalGravity();
if (gravity != Vector3D.Zero)
{
Vector3D up = -Vector3D.Normalize(gravity);
Vector3D right = matrix.Forward.Cross(up);
Vector3D forward = up.Cross(right);
matrix.Up = up;
matrix.Right = right;
matrix.Forward = forward;
}
}
IGC.SendBroadcastMessage <MyTuple <MatrixD, Vector3D, long> >(transmitTag, new MyTuple <MatrixD, Vector3D, long>(matrix, rc.GetShipVelocities().LinearVelocity, Me.CubeGrid.EntityId));
}
}
else
{
ProcessCommand(argument);
}
}
private void SendIGCMessage(long address, string message, string arguments)
{
IGC.SendUnicastMessage(address, fileSystemClientTag, message + " " + arguments);
}
private void SendIGCMessage(long address, string message)
{
IGC.SendUnicastMessage(address, fileSystemClientTag, message);
}
public void Main(string argument, UpdateType updateSource)
{
soundBlock = (IMySoundBlock)GridTerminalSystem.GetBlockWithName(AlarmBlockName);
Runtime.UpdateFrequency = UpdateFrequency.Update100;
IMyTextPanel MessagePanel = (IMyTextPanel)GridTerminalSystem.GetBlockWithName(messagePanelName);
// If setupcomplete is false, run Setup method.
if (!setupcomplete)
{
Echo("Running setup.");
Setup();
SaveData();
}
else
{
// To create a listener, we use IGC to access the relevant method.
// We pass the same tag argument we used for our message.
IGC.RegisterBroadcastListener(broadcastChannel);
// Create a list for broadcast listeners.
List <IMyBroadcastListener> listeners = new List <IMyBroadcastListener>();
// The method argument below is the list we wish IGC to populate with all Listeners we've made.
// Our Listener will be at index 0, since it's the only one we've made so far.
IGC.GetBroadcastListeners(listeners);
foreach (var item in listeners)
{
Echo("Somone listen");
}
if (listeners[0].HasPendingMessage)
{
// Let's create a variable for our new message.
// Remember, messages have the type MyIGCMessage.
MyIGCMessage message = new MyIGCMessage();
// Time to get our message from our Listener (at index 0 of our Listener list).
// We do this with the following method:
message = listeners[0].AcceptMessage();
// A message is a struct of 3 variables. To read the actual data,
// we access the Data field, convert it to type string (unboxing),
// and store it in the variable messagetext.
string messagetext = message.Data.ToString();
// We can also access the tag that the message was sent with.
string messagetag = message.Tag;
//Here we store the "address" to the Programmable Block (our friend's) that sent the message.
long sender = message.Source;
//Do something with the information!
Echo("Message received with tag" + messagetag + "\n\r");
Echo("from address " + sender.ToString() + ": \n\r");
Echo(messagetext);
MessagePanel.WriteText("Error");
if (knownIp.Contains(sender.ToString()))
{
Echo("Here222");
Gates("y");
MessagePanel.WriteText(messagetext);
}
else if (messagetext.Contains(acceptCode))
{
MessagePanel.WriteText("Err33or");
soundBlock.Play();
MessagePanel.WriteText("accepted part 2");
Echo("Accepted");
Gates("y");
if (knownIp.Contains(sender.ToString()))
{
MessagePanel.WriteText("accepted part 3");
}
else
{
knownIp.Add(sender.ToString());
MessagePanel.WriteText(messagetext);
}
TextMessage = "";
for (int i = 0; i < knownIp.Count; i++)
{
TextMessage += $"{knownIp[i]}\n";
}
userIpPanel.WriteText(TextMessage);
}
else
{
Echo("Im here");
MessagePanel.WriteText("Acces denied" + "\n" + TextMessage);
Gates("n");
}
}
}
}
public void SendMessage(string message)
{
IGC.SendBroadcastMessage(ILSAntennaChannel, message, TransmissionDistance.TransmissionDistanceMax);
}
void Start()
{
gridSystem = GridTerminalSystem;
gridId = Me.CubeGrid.EntityId;
turrets = GetBlocks <IMyLargeTurretBase>(turretGroup, useSubgrids);
wcTurrets = new WcPbApi();
try
{
if (!wcTurrets.Activate(Me))
{
wcTurrets = null;
}
}
catch
{
wcTurrets = null;
}
if (string.IsNullOrWhiteSpace(rcName))
{
rc = GetBlock <IMyRemoteControl>();
}
else
{
rc = GetBlock <IMyRemoteControl>(rcName, useSubgrids);
}
if (rc == null)
{
throw new Exception("Remote control block not found.");
}
gyros = new GyroControl(rc);
origin = rc.GetPosition();
this.guns = new List <IMyUserControllableGun>();
List <IMyUserControllableGun> guns = GetBlocks <IMyUserControllableGun>(gunsGroup, useSubgrids);
foreach (IMyUserControllableGun g in guns)
{
if (!(g is IMyLargeTurretBase))
{
g.SetValueBool("Shoot", false);
if (rocketMode != RocketMode.None)
{
IMySmallMissileLauncher m = g as IMySmallMissileLauncher;
if (m != null)
{
rockets.Add(m);
continue;
}
}
this.guns.Add(g);
}
}
if (receiveHelpMsgs)
{
helpListener = IGC.RegisterBroadcastListener("AttackDrone_" + commsId);
helpListener.SetMessageCallback("");
}
thrust = new ThrusterControl(rc, GetBlocks <IMyThrust>(thrustGroup));
maxAngle *= Math.PI / 180;
startRuntime = -1;
}
public Program()
{
try
{
UpdateSettings();
ResetDisplay();
this.remote = GridTerminalSystem.GetBlockOfType <IMyRemoteControl>(rm => rm.CubeGrid == Me.CubeGrid && MyIni.HasSection(rm.CustomData, REFERENCE_RM));
if (remote == null)
{
throw new InvalidOperationException("Missile MUST have a remote. (That is forward facing)");
}
LogLine($"Found remote {remote.CustomName}");
this.separator = GridTerminalSystem.GetBlockOfType <IMyShipMergeBlock>(mb => mb.CubeGrid == Me.CubeGrid && MyIni.HasSection(mb.CustomData, SEPARATOR_MARKER));
if (this.separator != null)
{
LogLine($"Found separator merge-block {separator.CustomName}");
}
else
{
LogLine($"Warning: No separator block found. Missile can launch without one, but if you do have a separator, add a [{SEPARATOR_MARKER}] line to its custom data.");
}
this.statusLogger = new Logger(this, STATUS_DISPLAY_SECTION, true);
GridTerminalSystem.GetBlocksOfType(allThrusters, th => th.CubeGrid == Me.CubeGrid);
foreach (var thruster in allThrusters)
{
if (thruster.WorldMatrix.Forward == remote.WorldMatrix.Backward)
{
fwdThrusters.Add(thruster);
LogLine($"Found forward thruster {thruster.CustomName}");
}
if (thruster.WorldMatrix.Forward == remote.WorldMatrix.Up)
{
downThrusters.Add(thruster);
LogLine($"Found down thruster {thruster.CustomName}");
}
thruster.Enabled = false;
thruster.ThrustOverridePercentage = 0;
}
GridTerminalSystem.GetBlocksOfType(warheads, b => b.CubeGrid == Me.CubeGrid);
LogLine($"Found {warheads.Count} warheads.");
foreach (var warhead in warheads)
{
warhead.IsArmed = false;
}
GridTerminalSystem.GetBlocksOfType(gyros, b => b.CubeGrid == Me.CubeGrid);
foreach (var gyro in gyros)
{
gyro.Enabled = false;
}
GridTerminalSystem.GetBlocksOfType(antennas, b => b.CubeGrid == Me.CubeGrid && MyIni.HasSection(b.CustomData, MISSILE_ANTENNA));
foreach (var ant in antennas)
{
ant.Enabled = false;
ant.Radius = 50000f;
ant.CustomName = $"{uuid} Antenna";
}
LogLine("Missile is ready to launch");
LogStatus("Missile: Pre-flight");
this.msgHandler = CreateMessageHandler();
IGC.SendBroadcast(new RegisterMissileCommand()
{
UUID = uuid
});
}
catch (Exception ex)
{
LogLine($"[{uuid}] Program() expection: {ex}\nStacktrace: \n{ex.StackTrace}");
}
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update100;
GridTerminalSystem.GetBlocksOfType <IMyTerminalBlock>(null, CollectParts);
StatusBuilder.Clear();
var AOK = true;
if (SmallHinge == null)
{
AOK = false;
StatusBuilder.AppendLine("SMALL HINGE NOT FOUND!");
}
if (LargeHinge == null)
{
AOK = false;
StatusBuilder.AppendLine("LARGE HINGE NOT FOUND!");
}
if (Sweeper == null)
{
AOK = false;
StatusBuilder.AppendLine("SWEEPER NOT FOUND!");
}
if (BaseProjector == null)
{
AOK = false;
StatusBuilder.AppendLine("BASE PROJECTOR NOT FOUND!");
}
if (TopProjector == null)
{
AOK = false;
StatusBuilder.AppendLine("TOP PROJECTOR NOT FOUND!");
}
if (TopMerge == null)
{
AOK = false;
StatusBuilder.AppendLine("TOP MERGE NOT FOUND!");
}
if (BaseMerge == null)
{
AOK = false;
StatusBuilder.AppendLine("BASE MERGE NOT FOUND!");
}
if (Welders.Count < 5)
{
AOK = false;
StatusBuilder.AppendLine("NOT ENOUGH WELDERS!");
}
if (Display != null)
{
Display.ContentType = ContentType.TEXT_AND_IMAGE;
Display.WriteText(StatusBuilder.ToString());
}
if (!AOK)
{
Echo(StatusBuilder.ToString());
Runtime.UpdateFrequency = UpdateFrequency.None;
}
else
{
var baseOtherMerge = GridTerminalHelper.OtherMergeBlock(BaseMerge);
var topOtherMerge = GridTerminalHelper.OtherMergeBlock(TopMerge);
if (topOtherMerge != null && baseOtherMerge == null)
{
State = 4;
}
}
ReleaseListener = IGC.RegisterBroadcastListener("[PDCFORGE]");
ReleaseListener.SetMessageCallback("release");
}
public Program()
{
universalListener = IGC.RegisterBroadcastListener("CODE");
universalListener.SetMessageCallback();
}
public void Main(string argument, UpdateType updateSource)
{
IGC.SendUnicastMessage(_navID, TAG, "R;" + run);
Echo("unicast sent " + run);
run = run++ % 4;
}
/// <summary>
/// Should be ran with Tracking output as argument
/// </summary>
/// <param name="argument"></param>
public void Main(string argument)
{
Echo(argument);
if (argument.StartsWith("SwitchTarget"))
{
Echo("Switching to next target");
if (!mdeis.ContainsKey(selectedEntityId))
{
if (mdeis.Count > 0)
{
selectedEntityId = mdeis.First().Key;
}
Echo("resetting " + selectedEntityId);
}
else
{
bool found = false;
foreach (var entId in mdeis.Keys)
{
if (found)
{
Echo("setting " + entId);
selectedEntityId = entId;
found = false;
break;
}
else if (entId == selectedEntityId)
{
found = true;
Echo("found " + entId);
}
}
if (found)
{
if (mdeis.Count > 0)
{
selectedEntityId = mdeis.First().Key;
}
}
}
}
else if (argument.StartsWith("Lock"))
{
if (mdeis.ContainsKey(selectedEntityId))
{
string weaponClass = argument.Substring(5);
List <IMyProgrammableBlock> pbs = new List <IMyProgrammableBlock>();
GridTerminalSystem.GetBlocksOfType <IMyProgrammableBlock>(pbs, x => x.CustomName.Contains(weaponClass));
if (pbs.Count > 0)
{
pbs.First().TryRun("SelectTarget " + selectedEntityId);
}
}
}
else if (argument.StartsWith("Broadcast"))
{
IGC.SendBroadcastMessage("tag", "Navigate HIT " + selectedEntityId, TransmissionDistance.AntennaRelay);
}
else
{
//read all inputs
foreach (var mdei in StringToMDEIs(argument))
{
if (!mdeis.ContainsKey(mdei.EntityId) || mdeis[mdei.EntityId].TimeStamp < mdei.TimeStamp)
{
mdeis[mdei.EntityId] = mdei;
}
}
StringBuilder outString = new StringBuilder();
foreach (long entID in mdeis.Keys)
{
outString.AppendFormat("{0} {1,-15} {2,6:N1}\n", entID == selectedEntityId ? "X" : " ", mdeis[entID].Name, Vector3.Distance(Me.CubeGrid.GridIntegerToWorld(Me.Position), mdeis[entID].Position));
}
string resultStr = outString.ToString();
List <IMyTextPanel> outPanels = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType <IMyTextPanel>(outPanels, x => { return(x.CustomName.Contains("[TC]")); });
foreach (var panel in outPanels)
{
panel.WritePublicText(resultStr);
}
}
}
void doModeDocking()
{
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":DOCKING!", textPanelReport);
// StatusLog(moduleName + ":Docking: current_state=" + current_state, textPanelReport);
// StatusLog(moduleName + ":Docking: current_state=" + current_state, textLongStatus, true);
// bWantFast = true;
Echo("DOCKING: state=" + current_state);
bWantSlow = true;
IMySensorBlock sb;
if (dockingConnector == null)
{
current_state = 0;
}
// sInitResults += "DOCKING: state=" + current_state+"\n";
if (current_state == 0)
{
// sInitResults = "DOCKING: state=" + current_state+"\n";
if (AnyConnectorIsConnected())
{
setMode(MODE_DOCKED);
return;
}
// these will replace any existing channel
_CONDIGCChannel = IGC.RegisterBroadcastListener("COND"); // What it listens for
_CONDIGCChannel.SetMessageCallback("COND"); // What it will run the PB with once it has a message
_ACONDIGCChannel = IGC.RegisterBroadcastListener("ACOND"); // What it listens for
_ACONDIGCChannel.SetMessageCallback("ACOND"); // What it will run the PB with once it has a message
_CONAIGCChannel = IGC.RegisterBroadcastListener("CONA"); // What it listens for
_CONAIGCChannel.SetMessageCallback("CONA"); // What it will run the PB with once it has a message
doSubModuleTimerTriggers("[DOCKING]");
dockingConnector = getDockingConnector();
if (dockingConnector == null)// || getAvailableRemoteConnector(out targetConnector))
{
Echo("No local connector for docking");
StatusLog(moduleName + ":No local Docking Connector Available!", textLongStatus, true);
// we could check for merge blocks.. or landing gears..
sStartupError += "\nNo local Docking Connector Available!";
setMode(MODE_ATTENTION);
bWantFast = false;
return;
}
else
{
ResetMotion();
turnDrillsOff();
thrustersInit(dockingConnector, ref thrustDockForwardList, ref thrustDockBackwardList,
ref thrustDockDownList, ref thrustDockUpList,
ref thrustDockLeftList, ref thrustDockRightList);
current_state = 100;
}
lTargetBase = 0;// iTargetBase = -1;
}
Vector3D vPos = dockingConnector.GetPosition();
if (!AnyConnectorIsConnected() && AnyConnectorIsLocked())
{
ConnectAnyConnectors();
ResetMotion();
setMode(MODE_DOCKED);
powerDownThrusters(thrustAllList, thrustAll, true);
return;
}
if (current_state == 100)
{
// TODO: allow for relay ships that are NOT bases..
// TODO: if memory docking, don't need to adjust antenna
// TODO: if stealth mode, don't mess with antenna
float range = RangeToNearestBase() + 100f + (float)velocityShip * 5f;
antennaMaxPower(false, range);
if (sensorsList.Count > 0)
{
sb = sensorsList[0];
// setSensorShip(sb, 1, 1, 1, 1, 50, 1);
}
current_state = 110;
}
else if (current_state == 110)
{ // wait for slow
if (velocityShip < 10)
{
if (lTargetBase <= 0)
{
lTargetBase = BaseFindBest();
}
// sInitResults += "110: Base=" + iTargetBase;
dtDockingActionStart = DateTime.Now;
if (lTargetBase > 0)
{
calculateGridBBPosition(dockingConnector);
Vector3D[] points = new Vector3D[4];
_obbf.GetFaceCorners(5, points); // 5 = front
// front output order is BL, BR, TL, TR
double width = (points[0] - points[1]).Length();
double height = (points[0] - points[2]).Length();
_obbf.GetFaceCorners(0, points);
// face 0=right output order is BL, TL, BR, TR ???
double length = (points[0] - points[2]).Length();
string sMessage = "";// = "WICO:CON?:";
string sTag = "CON?";
sMessage += lTargetBase.ToString() + ":";
//$"{height:N1},{width:N1},{length:N1}:";
sMessage += height.ToString("0.0") + "," + width.ToString("0.0") + "," + length.ToString("0.0") + ":";
// sMessage += shipDim.HeightInMeters() + "," + shipDim.WidthInMeters() + "," + shipDim.LengthInMeters() + ":";
sMessage += shipOrientationBlock.CubeGrid.CustomName + ":";
sMessage += SaveFile.EntityId.ToString() + ":";
sMessage += Vector3DToString(shipOrientationBlock.GetPosition());
antSend(sTag, sMessage); // antSend(sMessage);
// antSend("WICO:CON?:" + baseIdOf(iTargetBase).ToString() + ":" + "mini" + ":" + shipOrientationBlock.CubeGrid.CustomName + ":" + SaveFile.EntityId.ToString() + ":" + Vector3DToString(shipOrientationBlock.GetPosition()));
current_state = 120;
}
else // No available base
{
// try to get a base to respond
checkBases(true);
current_state = 130;
// setMode(MODE_ATTENTION);
}
}
else
{
ResetMotion();
}
}
else if (current_state == 120)
{ // wait for reply from base
StatusLog("Awaiting Response from Base", textPanelReport);
bWantFast = false;
DateTime dtMaxWait = dtDockingActionStart.AddSeconds(5.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
sStartupError += "\nTime out awaiting CONA";
current_state = 125;
return;
}
// if (sReceivedMessage != "")
if (_CONAIGCChannel.HasPendingMessage)
{
var igcMessage = _CONAIGCChannel.AcceptMessage();
string sMessage = (string)igcMessage.Data;
// Echo("Received Message=\n" + sMessage);
string[] aMessage = sMessage.Trim().Split(':');
Echo(aMessage.Length + ": Length");
for (int i = 0; i < aMessage.Length; i++)
{
Echo(i + ":" + aMessage[i]);
}
if (aMessage.Length > 1)
{
/*
* if (aMessage[0] != "WICO")
* {
* Echo("not wico system message");
* return;
* }
* if (aMessage.Length > 2)
* {
* if (aMessage[1] == "CONA")
* {
*/
Echo("Approach answer!");
//antSend("WICO:CONA:" + droneId +":" + SaveFile.EntityId.ToString(), +":"+Vector3DToString(vApproachPosition))
int iOffset = 0;
long id = 0;
long.TryParse(aMessage[iOffset++], out id);
if (id == SaveFile.EntityId)
{
// it's a message for us.
// sReceivedMessage = ""; // we processed it.
long.TryParse(aMessage[iOffset++], out id);
double x, y, z;
// int iOff = iOffset++;
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
Vector3D vPosition = new Vector3D(x, y, z);
vHome = vPosition;
bValidHome = true;
// StatusLog("clear", gpsPanel);
// debugGPSOutput("Home", vHome);
current_state = 150;
}
}
// TODO: need to process CONF
/*
* }
* }
*/
}
else
{ // uses timeout from above
Echo("Awaiting reply message");
}
}
else if (current_state == 125)
{ // timeout waiting for reply from base..
// move closer to the chosen base's last known position.
if (lTargetBase <= 0)
{
// TODO: remove base from list and try again. ATTENTION if no remaining bases
sStartupError += "\nNo Base in range";
setMode(MODE_ATTENTION);
return;
}
else if (RangeToNearestBase() < 3000)
{
// we think we are close enough
// force recheck
// sStartupError += "\nForce Recheck";
lTargetBase = -1;
checkBases(true);
current_state = 110;
}
else
{
// get closer
// sStartupError += "\nGet Closer";
NavGoTarget(BasePositionOf(lTargetBase), iMode, 110, 3100, "DOCK Base Proximity");
current_state = 126;
}
// doTravelMovement(BasePositionOf(lTargetBase), 3100, 110, 106);
}
else if (current_state == 126)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 130)
{
// no known bases. requested response. wait for a while to see if we get one
StatusLog("Trying to find a base", textPanelReport);
bWantFast = false;
DateTime dtMaxWait = dtDockingActionStart.AddSeconds(2.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
sStartupError += "\nTimeout finding base";
setMode(MODE_ATTENTION);
return;
}
if (BaseFindBest() >= 0)
{
current_state = 110;
}
}
else if (current_state == 150)
{ //150 Move to 'approach' location (or current location) ?request 'wait' location?
current_state = 175;
/*
* if (bValidHome)
* {
* double distancesqHome = Vector3D.DistanceSquared(vHome, shipOrientationBlock.GetPosition());
* if (distancesqHome > 25000) // max SG antenna range //TODO: get max from antenna module
* {
* current_state = 175;
* }
* else current_state = 200;
* }
* else current_state = 200;
*/
}
else if (current_state == 175)
{ // get closer to approach location
NavGoTarget(vHome, iMode, 200, 5, "DOCK Base Approach");
current_state = 176;
}
else if (current_state == 176)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 200)
{//200 Arrived at approach location
// request available docking connector
StatusLog("Requsting Docking Connector", textPanelReport);
if (velocityShip < 1)
{
calculateGridBBPosition(dockingConnector);
Vector3D[] points = new Vector3D[4];
_obbf.GetFaceCorners(5, points); // 5 = front
// front output order is BL, BR, TL, TR
double width = (points[0] - points[1]).Length();
double height = (points[0] - points[2]).Length();
_obbf.GetFaceCorners(0, points);
// face 0=right output order is BL, TL, BR, TR ???
double length = (points[0] - points[2]).Length();
string sMessage = "";// "WICO:COND?:";
string sTag = "COND?";
sMessage += lTargetBase.ToString() + ":";
sMessage += height.ToString("0.0") + "," + width.ToString("0.0") + "," + length.ToString("0.0") + ":";
// sMessage += shipDim.HeightInMeters() + "," + shipDim.WidthInMeters() + "," + shipDim.LengthInMeters() + ":";
sMessage += shipOrientationBlock.CubeGrid.CustomName + ":";
sMessage += SaveFile.EntityId.ToString() + ":";
sMessage += Vector3DToString(shipOrientationBlock.GetPosition());
antSend(sTag, sMessage);// antSend(sMessage);
// antSend("WICO:COND?:" + baseIdOf(iTargetBase) + ":" + "mini" + ":" + shipOrientationBlock.CubeGrid.CustomName + ":" + SaveFile.EntityId.ToString() + ":" + Vector3DToString(shipOrientationBlock.GetPosition()));
{
dtDockingActionStart = DateTime.Now;
current_state = 210;
}
}
else
{
ResetMotion();
}
}
else if (current_state == 210)
{ //210 wait for available connector
StatusLog("Awaiting reply with Docking Connector", textPanelReport);
bWantFast = false;
DateTime dtMaxWait = dtDockingActionStart.AddSeconds(5.0f);
DateTime dtNow = DateTime.Now;
if (DateTime.Compare(dtNow, dtMaxWait) > 0)
{
sStartupError += "\nTime out awaiting COND";
current_state = 100;
return;
}
if (getAvailableRemoteConnector(out targetConnector))
{
current_state = 250;
}
else
{
if (_CONDIGCChannel.HasPendingMessage || _ACONDIGCChannel.HasPendingMessage)
// if (sReceivedMessage != "")
{
// sStartupError += "\nCOND received:";
string sMessage = "";
bool bAlignMessage = false;
if (_CONDIGCChannel.HasPendingMessage)
{
var igcMessage = _CONDIGCChannel.AcceptMessage();
sMessage = (string)igcMessage.Data;
}
else
{
var igcMessage = _ACONDIGCChannel.AcceptMessage();
sMessage = (string)igcMessage.Data;
bAlignMessage = true;
}
// Echo("Received Message=\n" + sReceivedMessage);
string[] aMessage = sMessage.Trim().Split(':');
Echo(aMessage.Length + ": Length");
for (int i = 0; i < aMessage.Length; i++)
{
Echo(i + ":" + aMessage[i]);
}
int iOffset = 0;
/*
* if (aMessage.Length > 1)
* {
* if (aMessage[0] != "WICO")
* {
* Echo("not wico system message");
* return;
* }
* if (aMessage.Length > 2)
* {
*/
// if (aMessage[1] == "DOCK" || aMessage[1] == "ADOCK")
// if (aMessage[1] == "COND" || aMessage[1] == "ACOND")
{
Echo("Docking answer!");
// FORMAT: antSend("WICO:DOCK:" + aMessage[3] + ":" + connector.EntityId + ":" + connector.CustomName + ":" + Vector3DToString(vPosition) + ":" + Vector3DToString(vVec));
// antSend("WICO:ADOCK:" + incomingID + ":" + connector.EntityId + ":" + connector.CustomName + ":" + Vector3DToString(vPosition) + ":" + Vector3DToString(vVec)+":" + Vector3DToString(vAlign));
long id = 0;
long.TryParse(aMessage[iOffset++], out id);
if (id == SaveFile.EntityId)
{
// it's a message for us.
// sReceivedMessage = ""; // we processed it.
long.TryParse(aMessage[iOffset++], out id);
string sName = aMessage[iOffset++];
double x, y, z;
// int iOff = 5;
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
Vector3D vPosition = new Vector3D(x, y, z);
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
Vector3D vVec = new Vector3D(x, y, z);
// if (aMessage[1] == "ACOND")
if (bAlignMessage)
{
x = Convert.ToDouble(aMessage[iOffset++]);
y = Convert.ToDouble(aMessage[iOffset++]);
z = Convert.ToDouble(aMessage[iOffset++]);
vDockAlign = new Vector3D(x, y, z);
bDoDockAlign = true;
}
vDock = vPosition;
vLaunch1 = vDock + vVec * (shipDim.LengthInMeters() * 1.5);
vHome = vDock + vVec * (shipDim.LengthInMeters() * 3);
bValidDock = true;
bValidLaunch1 = true;
bValidHome = true;
StatusLog("clear", gpsPanel);
debugGPSOutput("dock", vDock);
debugGPSOutput("launch1", vLaunch1);
debugGPSOutput("Home", vHome);
current_state = 300;
}
// else sStartupError += "\nCOND, but not my boat";
}
// TODO handle CONF
/*
* }
* }
*/
}
else
{ // uses timeout from above
Echo("Awaiting reply message");
}
}
}
else if (current_state == 250)
{ //250 when available, calculate approach locations from a saved targetconnector
vDock = targetConnector.vPosition;
vLaunch1 = vDock + targetConnector.vVector * (shipDim.LengthInMeters() * 1.5);
vHome = vDock + targetConnector.vVector * (shipDim.LengthInMeters() * 3);
bValidDock = true;
bValidLaunch1 = true;
bValidHome = true;
current_state = 300;
StatusLog("clear", gpsPanel);
debugGPSOutput("dock", vDock);
debugGPSOutput("launch1", vLaunch1);
debugGPSOutput("Home", vHome);
MoveForwardSlowReset();
bWantFast = true;
}
else if (current_state == 300)
{ //300 Start: Move through locations
current_state = 310;
MoveForwardSlowReset();
// iDockingPushCount = 0;
bWantFast = true;
}
else if (current_state == 310)
{ // 310 move to home
Echo("Moving to Home");
// if(iPushCount<60) iPushCount++;
// else
NavGoTarget(vHome, iMode, 340, 3, "DOCK Approach");
// doTravelMovement(vHome, 3.0f, 350, 161);
current_state = 311;
}
else if (current_state == 311)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 340)
{ // arrived at 'home' from NAV
ResetMotion();
Echo("Waiting for ship to stop");
turnEjectorsOff();
MoveForwardSlowReset();
// iDockingPushCount = 0;
if (velocityShip < 0.1f)
{
bWantFast = true;
current_state = 350;
}
else
{
bWantMedium = true;
// bWantFast = false;
}
}
else if (current_state == 350)
{
// move connector closer to home
double distanceSQ = (vHome - ((IMyShipController)shipOrientationBlock).CenterOfMass).LengthSquared();
Echo("DistanceSQ=" + distanceSQ.ToString("0.0"));
double stoppingDistance = calculateStoppingDistance(thrustBackwardList, velocityShip, 0);
if (distanceSQ > shipDim.BlockMultiplier() * 3)
{
MoveForwardSlow(3, 5, thrustForwardList, thrustBackwardList);
bWantMedium = true;
}
else
{
ResetMotion();
doSubModuleTimerTriggers("[DOCKING:APPROACH]");
MoveForwardSlowReset();
current_state = 400;
bWantFast = true;
}
}
else if (current_state == 400)
{
// move to Launch1
Echo("Moving to Launch1");
NavGoTarget(vLaunch1, iMode, 410, 3, "DOCK Connector Entry");
current_state = 401;
}
else if (current_state == 401)
{
// we are waiting for NAV module to get message and start
Echo("Waiting for NAV to start");
}
else if (current_state == 410)
{
// move closer to Launch1
double distanceSQ = (vLaunch1 - ((IMyShipController)shipOrientationBlock).CenterOfMass).LengthSquared();
Echo("DistanceSQ=" + distanceSQ.ToString("0.0"));
double stoppingDistance = calculateStoppingDistance(thrustBackwardList, velocityShip, 0);
if (distanceSQ > shipDim.BlockMultiplier() * 3)
{
MoveForwardSlow(3, 5, thrustForwardList, thrustBackwardList);
bWantMedium = true;
}
else
{
ResetMotion();
MoveForwardSlowReset();
current_state = 430;
bWantFast = true;
}
}
else if (current_state == 430)
{
// arrived at launch1
bWantFast = true;
dockingLastDistance = -1;
current_state = 450;
// TODO: do/waitfor mechanical changes needed for docking
}
else if (current_state == 450 || current_state == 452)
{ //450 452 'reverse' to dock, aiming connector at dock location
// align to docking alignment if needed
StatusLog("Align Up to Docking Connector", textPanelReport);
bWantFast = true;
// turnEjectorsOff();
if (!bDoDockAlign)
{
current_state = 500;
return;
}
Echo("Aligning to dock");
bool bAimed = false;
minAngleRad = 0.03f;
// TODO: need to change direction if non- 'back' connector
bAimed = GyroMain("up", vDockAlign, shipOrientationBlock);
bWantFast = true;
if (current_state == 452)
{
current_state = 500;
}
else if (bAimed)
{
current_state++; // 450->451
}
}
else if (current_state == 451)
{ //451 align to dock
StatusLog("Align to Docking Connector", textPanelReport);
bWantFast = true;
Vector3D vTargetLocation = vDock;
Vector3D vVec = vTargetLocation - dockingConnector.GetPosition();
if (!bDoDockAlign)
{
current_state = 452;
}
// Vector3D vTargetLocation = shipOrientationBlock.GetPosition() +vDockAlign;
// Vector3D vVec = vTargetLocation - shipOrientationBlock.GetPosition();
Echo("Aligning to dock");
bool bAimed = false;
minAngleRad = 0.03f;
bAimed = GyroMain("forward", vVec, dockingConnector);
if (bAimed)
{
current_state = 452;
}
else
{
bWantFast = true;
}
}
else if (current_state == 500)
{ //500 'reverse' to dock, aiming connector at dock location (really it's connector-forward)
// TODO: needs a time-out for when misaligned or base connector moves.
// bWantFast = true;
StatusLog("Reversing to Docking Connector", textPanelReport);
Echo("bDoDockAlign=" + bDoDockAlign);
// StatusLog(moduleName + ":Docking: Reversing to dock! Velocity=" + velocityShip.ToString("0.00"), textPanelReport);
Echo("Reversing to Dock");
CTRL_COEFF = 0.75;
minAngleRad = 0.01f;
Vector3D vTargetLocation = vDock;
Vector3D vVec = vTargetLocation - dockingConnector.GetPosition();
double distance = vVec.Length();
Echo("distance=" + niceDoubleMeters(distance));
Echo("velocity=" + velocityShip.ToString("0.00"));
StatusLog("Distance=" + niceDoubleMeters(distance), textPanelReport);
StatusLog("Velocity=" + niceDoubleMeters(velocityShip) + "/s", textPanelReport);
if (dockingLastDistance < 0)
{
dockingLastDistance = distance;
}
if (dockingLastDistance < distance)
{
// we are farther away than last time... something is wrong..
// sStartupError += "\nLast=" + niceDoubleMeters(dockingLastDistance) + " Cur=" + niceDoubleMeters(distance);
current_state = 590;
}
if (distance > 10)
{
minAngleRad = 0.03f;
}
else
{
minAngleRad = 0.05f;
}
// debugGPSOutput("DockLocation", vTargetLocation);
bool bAimed = false;
/*
* if ((craft_operation & CRAFT_MODE_SLED) > 0)
* {
* double yawangle = CalculateYaw(vTargetLocation, dockingConnector);
* DoRotate(yawangle, "Yaw");
* if (Math.Abs(yawangle) < .05) bAimed = true;
* }
* else
*/
if (distance > 15)
{
bAimed = BeamRider(vLaunch1, vDock, dockingConnector);
}
else
{
bAimed = GyroMain("forward", vVec, dockingConnector);
}
/*
* double maxThrust = calculateMaxThrust(thrustDockForwardList);
* MyShipMass myMass;
* myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
* double effectiveMass = myMass.PhysicalMass;
* double maxDeltaV = (maxThrust) / effectiveMass;
* if (iDockingPushCount < 1)
* {
* if (maxDeltaV < 2)
* iDockingPushCount = 75;
* else if (maxDeltaV < 5)
* iDockingPushCount = 25;
* }
*/
// Echo("dockingPushCount=" + iDockingPushCount);
// TODO: if we aren't moving and dockingpushcount>100, then we need to wiggle.
if (bAimed)
{
// we are aimed at location
Echo("Aimed");
if (distance > 15)
{
bWantMedium = true;
Echo(">15");
MoveForwardSlow(5, 10, thrustDockForwardList, thrustDockBackwardList);
/*
* if (velocityShip < .5)
* {
* iDockingPushCount++;
* powerUpThrusters(thrustDockForwardList, 25 + iDockingPushCount);
* }
* else if (velocityShip < 5)
* {
* powerUpThrusters(thrustDockForwardList, 1);
* }
* else
* powerDownThrusters(thrustAllList);
*/
}
else
{
Echo("<=15");
bWantFast = true;
MoveForwardSlow(.5f, 1.5f, thrustDockForwardList, thrustDockBackwardList);
/*
* if (velocityShip < .5)
* {
* iDockingPushCount++;
* powerUpThrusters(thrustDockForwardList, 25 + iDockingPushCount);
* }
* else if (velocityShip < 1.4)
* {
* powerUpThrusters(thrustDockForwardList, 1);
* if (iDockingPushCount > 0) iDockingPushCount--;
* }
* else
* powerDownThrusters(thrustAllList);
*/
}
}
else
{
Echo("Aiming");
powerDownThrusters(thrustAllList);
bWantFast = true;
}
}
else if (current_state == 590)
{
// abort dock and try again
ResetMotion();
Vector3D vVec = vDock - dockingConnector.GetPosition();
double distance = vVec.Length();
if (distance > shipDim.LengthInMeters() * 1.25)
{
// we are far enough away. Try again
current_state = 0;
bWantFast = true;
return;
}
bool bAimed = GyroMain("forward", vVec, dockingConnector);
if (!bAimed)
{
bWantFast = true;
}
else
{
bWantMedium = true;
}
MoveForwardSlow(5, 10, thrustDockBackwardList, thrustDockForwardList);
}
}
void SendToAEGIS(string tag, string message)
{
IGC.SendBroadcastMessage(tag, message);
}
public void Main(string argument, UpdateType updateSource)
{
Runtime.UpdateFrequency = UpdateFrequency.Update100 | UpdateFrequency.Update10;
IMyTextPanel textPanel = (IMyTextPanel)GridTerminalSystem.GetBlockWithName("LCD");
IMySensorBlock mySensorBlock = (IMySensorBlock)GridTerminalSystem.GetBlockWithName("EraserSensor");
if (mySensorBlock.IsActive)
{
allmessage = "";
textPanel.WriteText("");
}
// If setupcomplete is false, run Setup method.
if (!setupcomplete)
{
Echo("Running setup.");
Setup();
}
else
{
string tag1 = "Channel-1";
// To create a listener, we use IGC to access the relevant method.
// We pass the same tag argument we used for our message.
IGC.RegisterBroadcastListener(tag1);
// Create a list for broadcast listeners.
List <IMyBroadcastListener> listeners = new List <IMyBroadcastListener>();
// The method argument below is the list we wish IGC to populate with all Listeners we've made.
// Our Listener will be at index 0, since it's the only one we've made so far.
IGC.GetBroadcastListeners(listeners);
if (listeners[0].HasPendingMessage)
{
// Let's create a variable for our new message.
// Remember, messages have the type MyIGCMessage.
MyIGCMessage message = new MyIGCMessage();
// Time to get our message from our Listener (at index 0 of our Listener list).
// We do this with the following method:
message = listeners[0].AcceptMessage();
// A message is a struct of 3 variables. To read the actual data,
// we access the Data field, convert it to type string (unboxing),
// and store it in the variable messagetext.
string messagetext = message.Data.ToString();
// We can also access the tag that the message was sent with.
string messagetag = message.Tag;
//Here we store the "address" to the Programmable Block (our friend's) that sent the message.
long sender = message.Source;
//Do something with the information!
Echo("Message received with tag" + messagetag + "\n\r");
Echo("from address " + sender.ToString() + ": \n\r");
Echo(messagetext);
allmessage += $"\n new message \n {messagetext}";
textPanel.WriteText(allmessage);
}
}
int textlength = textPanel.GetText().Length;
if (textlength > 100)
{
allmessage = "";
}
}
