public override void HandleCallback(string callback)
{
switch (callback)
{
case "unicast":
MyIGCMessage message = Drone.NetworkService.GetUnicastListener().AcceptMessage();
if (message.Data == null)
{
Drone.LogToLcd($"\nNo Message");
}
if (message.Tag == DockingRequestChannel)
{
Drone.LogToLcd("\nReceived Docking Request");
IMyShipConnector dockingPort = GetFreeDockingPort();
if (dockingPort == null)
{
Drone.LogToLcd("\nNo Free Docking Port");
}
else
{
MyTuple <Vector3D, Vector3D, Vector3D> payload = new MyTuple <Vector3D, Vector3D, Vector3D>();
payload.Item1 = dockingPort.GetPosition() + dockingPort.WorldMatrix.Forward * 40;
payload.Item2 = dockingPort.GetPosition() + 1.5 * dockingPort.WorldMatrix.Forward;
Drone.LogToLcd($"\nClearance granted: {message.Source}");
Drone.LogToLcd($"\nApproach: {payload.Item1.ToString()}");
Drone.LogToLcd($"\nDocking Port: { payload.Item2.ToString()}");
Drone.Program.IGC.SendUnicastMessage(message.Source, DockingRequestChannel, payload);
}
}
else if (message.Tag == "Notifications")
{
Drone.LogToLcd($"Received notification:{message.Data.ToString()}");
DroneKlaxon.LoopPeriod = 2f;
DroneKlaxon.Play();
}
else if (message.Tag == "survey_reports")
{
MyTuple <long, string, double, Vector3D, Vector3D, Vector3D> report = (MyTuple <long, string, double, Vector3D, Vector3D, Vector3D>)message.Data;
Drone.LogToLcd($"Received survey_report: {report.ToString()}");
//TODO: This needs to be in a persistence layer, not the CustomData
MyIni ini = new MyIni();
MyIniParseResult config;
if (!ini.TryParse(Drone.Program.Me.CustomData, out config))
{
throw new Exception($"Error parsing config: {config.ToString()}");
}
//TODO: what about multiple deposits?
ini.Set($"deposit {report.Item1.ToString()}", "deposit_type", report.Item2.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "deposit_depth", report.Item3.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "top_left_corner", report.Item4.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "top_right_corner", report.Item5.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "bottom_left_corner", report.Item6.ToString());
ini.Set($"deposit {report.Item1.ToString()}", "index", 0);
Drone.Program.Me.CustomData = ini.ToString();
}
else if (message.Tag == "tunnel_complete")
{
MyIni ini = new MyIni();
MyIniParseResult config;
if (!ini.TryParse(Drone.Program.Me.CustomData, out config))
{
throw new Exception($"Error parsing config: {config.ToString()}");
}
int completedIndex = (int)message.Data;
List <string> sections = new List <string>();
ini.GetSections(sections);
IEnumerable <string> deposits = sections.Where(record => record.StartsWith("deposit"));
string deposit;
if (deposits != null && deposits.Count() != 0)
{
deposit = deposits.First();
}
else
{
throw new Exception("No deposit data found!");
}
ini.Set(deposit, "index", completedIndex + 1);
Drone.Program.Me.CustomData = ini.ToString();
}
break;
case "docking_request_pending":
ProcessDockingRequest();
break;
case "recall_miner":
Drone.LogToLcd("Recalling miner");
Drone.Program.IGC.SendUnicastMessage(MinerAddress, "recall", "recall");
break;
case "recall_surveyor":
Drone.LogToLcd("Recalling surveyor");
Drone.Program.IGC.SendUnicastMessage(SurveyorAddress, "recall", "recall");
break;
case "deploy_miner":
Drone.LogToLcd("Launching miner");
List <IMyProgrammableBlock> miners = new List <IMyProgrammableBlock>();
Drone.Grid().GetBlocksOfType(miners, pb => MyIni.HasSection(pb.CustomData, "miner"));
//We only support one miner for now
// Set the deposit details in the miners config
IMyProgrammableBlock miner = miners.First();
MyIni minerConfig = new MyIni();
MyIniParseResult result;
if (!minerConfig.TryParse(miner.CustomData, out result))
{
Drone.LogToLcd(miner.CustomData);
throw new Exception($"Error parsing config: {result.ToString()}");
}
//Vector3D MiningSite = DepositCentre + 10 * Vector3D.Normalize(DepositNormal);
//Vector3D TunnelEnd = DepositCentre - DepositDepth * Vector3D.Normalize(DepositNormal);
//get deposit data from catalogue
//calculate mining_site for next tunnel
//calculate tunnel_end from mining_site and depth
MyIni asteroidCatalogue = new MyIni();
asteroidCatalogue.TryParse(Drone.Program.Me.CustomData);
Tunnel tunnel = new Tunnel(asteroidCatalogue);
minerConfig.Set("miner", "mining_site", tunnel.StartingPoint.ToString());
minerConfig.Set("miner", "tunnel_end", tunnel.EndPoint.ToString());
minerConfig.Set("miner", "index", tunnel.TunnelIndex);
miner.CustomData = minerConfig.ToString();
miner.TryRun("launch");
break;
case "deploy_surveyor":
Drone.LogToLcd("Launching surveyor");
List <IMyProgrammableBlock> surveyors = new List <IMyProgrammableBlock>();
Drone.Grid().GetBlocksOfType(surveyors, pb => MyIni.HasSection(pb.CustomData, "surveyor"));
IMyProgrammableBlock surveyor = surveyors.First();
surveyor.TryRun("launch");
break;
case "echo":
Drone.LogToLcd("Echo");
DroneKlaxon.Play();
break;
case "":
// Just Ignore empty arguments
break;
default:
Drone.LogToLcd($"\nDrone received unrecognized callback: {callback}");
break;
}
}
