public IEnumerator <bool> Init()
{
iniSerializer = new INISerializer("DroneControl");
iniSerializer.AddValue("controllerName", x => x, "Controller");
if (Me.CustomData == "")
{
string temp = Me.CustomData;
iniSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
iniSerializer.DeSerialize(Me.CustomData);
}
yield return(true);
time = new IngameTime();
GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
yield return(true);
controller = GTS.GetBlockWithNameOnGrid(controllerName) as IMyShipController;
yield return(true);
entityTracking = new EntityTracking_Module(GTS, controller, null, EntityTracking_Module.refExpSettings.Turret);
autoPilot = new AutoPilot(GTS, controller, time, entityTracking);
yield return(true);
comms = new InterGridComms(IGC, time, Me);
comms.P = this;
yield return(true);
RegisterCommands();
loaded = true;
}
public RotorTurretGroup(IMyBlockGroup turretGroup, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
var rotors = new List <IMyMotorStator>();
turretGroup.GetBlocksOfType(rotors);
Setup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag);
}
public AdvGyroControl(PID_Controller.PIDSettings pidSettings, IngameTime ingameTime)
{
yawPid = new PID_Controller(pidSettings);
pitchPid = new PID_Controller(pidSettings);
rollPid = new PID_Controller(pidSettings);
this.ingameTime = ingameTime;
}
public Program()
{
time = new IngameTime();
droneManagement = new DroneManagement(time, IGC);
droneManagement.P = this;
Runtime.UpdateFrequency = UpdateFrequency.Update1 | UpdateFrequency.Update100;
}
public AdvThrustControl(IMyShipController controller, List <IMyThrust> thrusters, IngameTime ingameTime)
{
this.controller = controller;
this.ingameTime = ingameTime;
SortThrustersByDirection(thrusters, controller);
CountThrustersPerDirection();
}
public IEnumerator <bool> Init()
{
cannonSettings = new INISerializer("CannonSettings");
cannonSettings.AddValue("referenceName", x => x, "RCReference");
cannonSettings.AddValue("speedCap", x => double.Parse(x), 104.38);
cannonSettings.AddValue("launchVelocity", x => double.Parse(x), 100.0);
cannonSettings.AddValue("sourceRotorTName", x => x, "[OrbitalCannonBase]_[Azimuth]");
cannonSettings.AddValue("elevationTag", x => x, "[Elevation]");
cannonSettings.AddValue("timerName", x => x, "CannonTimer");
if (Me.CustomData == "")
{
string temp = Me.CustomData;
cannonSettings.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
cannonSettings.DeSerialize(Me.CustomData);
}
yield return(true);
ingameTime = new IngameTime();
GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
yield return(true);
IMyShipController reference = GridTerminalSystem.GetBlockWithName((string)cannonSettings.GetValue("referenceName")) as IMyShipController;
IMyMotorStator sourceRotor = GridTerminalSystem.GetBlockWithName((string)cannonSettings.GetValue("sourceRotorTName")) as IMyMotorStator;
IMyTimerBlock timer = GridTerminalSystem.GetBlockWithName((string)cannonSettings.GetValue("timerName")) as IMyTimerBlock;
Echo($"Getting blocks status:...\nreference: {reference != null}\nsourceRotor: {sourceRotor != null}");
if (reference == null || sourceRotor == null)
{
throw new Exception("cant get blocks!");
}
yield return(true);
targeter = new Targeter
(
(double)cannonSettings.GetValue("speedCap"),
(double)cannonSettings.GetValue("launchVelocity"),
reference
);
targeter.directionFoundCallback += TargetCalculatedCallback;
yield return(true);
cannon = Cannon.CreateCannon(sourceRotor, GTSUtils, ingameTime, reference, (string)cannonSettings.GetValue("sourceRotorTName"), (string)cannonSettings.GetValue("elevationTag"));
cannon.Timer = timer;
yield return(true);
Echo("Initialized!");
initialized = true;
}
public InterGridComms(IMyIntergridCommunicationSystem comms, IngameTime time, IMyProgrammableBlock me)
{
commands = new Dictionary <string, Action <object> >();
keepaliveChann = comms.RegisterBroadcastListener("ServerKeepAlive");
this.comms = comms;
this.time = time;
this.me = me;
}
public DroneManagement(IngameTime time, IMyIntergridCommunicationSystem comms)
{
dronesByPosition = new PositionOctree <Drone>();
drones = new Dictionary <long, Drone>();
commands = new Dictionary <string, Action <object> >();
this.time = time;
this.comms = comms;
}
public PhysicsTargeting(IMyShipController control, IngameTime ingameTime, double maxProjectileVel, double targetTimeout = 2.5)
{
this.targetTimeout = targetTimeout;
this.control = control;
this.maxProjectileVel = maxProjectileVel;
this.keepRunning = true;
this.ingameTime = ingameTime;
internalScheduler = new Scheduler();
}
public void Setup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
this.deadzoneProvider = deadzoneProvider;
this.ingameTime = ingameTime;
List <IMyMotorStator> elevation = rotors.Where(x => x.CustomName.Contains(elevationTag)).ToList();
IMyMotorStator azimuth = rotors.First(x => x.CustomName.Contains(azimuthTag));
defaultDir = azimuth.WorldMatrix.Forward;
List <IMyMotorStator> cannonBases = Select(elevation);
List <RotorControl.RotorReferencePair> elevationPairs = new List <RotorControl.RotorReferencePair>();
for (int i = 0; i < elevation.Count; i++)
{
elevationPairs.Add(new RotorControl.RotorReferencePair {
rotor = elevation[i], reference = cannonBases[i]
});
}
RotorControl.RotorReferencePair azimuthPair = new RotorControl.RotorReferencePair {
rotor = azimuth, reference = cannonBases[0]
};
rotorControl = new RotorControl(azimuthPair, elevationPairs);
rotorControl.onTarget = OnTarget;
#region configuration
turretConfig = new INISerializer("TurretConfig");
turretConfig.AddValue("azimuthMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("elevationMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("salvoSize", x => int.Parse(x), 3);
turretConfig.AddValue("salvoTimeout", x => double.Parse(x), 2.5);
if (rotorControl.azimuth.rotor.CustomData == "")
{
string temp = rotorControl.azimuth.rotor.CustomData;
turretConfig.FirstSerialization(ref temp);
rotorControl.azimuth.rotor.CustomData = temp;
}
else
{
turretConfig.DeSerialize(rotorControl.azimuth.rotor.CustomData);
}
#endregion
foreach (var cannonbase in cannonBases)
{
var launcher = new RotorLauncher(cannonbase, ingameTime, salvoTimeout);
launchers.Add(launcher);
}
}
public void Setup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag, GridTerminalSystemUtils GTS)
{
this.deadzoneProvider = deadzoneProvider;
this.ingameTime = ingameTime;
List <IMyMotorStator> elevation = rotors.Where(x => x.CustomName.Contains(elevationTag)).ToList();
IMyMotorStator azimuth = rotors.First(x => x.CustomName.Contains(azimuthTag));
defaultDir = azimuth.WorldMatrix.Forward;
#region configuration
turretConfig = new INISerializer("TurretConfig");
turretConfig.AddValue("azimuthMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("elevationMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("referenceName", x => x, "TurretReference");
if (azimuth.CustomData == "")
{
string temp = azimuth.CustomData;
turretConfig.FirstSerialization(ref temp);
azimuth.CustomData = temp;
}
else
{
turretConfig.DeSerialize(azimuth.CustomData);
}
#endregion
IMyTerminalBlock cannonref = GTS.GridTerminalSystem.GetBlockWithName(referenceName);
if (cannonref == null)
{
throw new Exception($"referenceName ({referenceName}) resolves to NULL!");
}
List <RotorControl.RotorReferencePair> elevationPairs = new List <RotorControl.RotorReferencePair>();
for (int i = 0; i < elevation.Count; i++)
{
elevationPairs.Add(new RotorControl.RotorReferencePair {
rotor = elevation[i], reference = cannonref
});
}
RotorControl.RotorReferencePair azimuthPair = new RotorControl.RotorReferencePair {
rotor = azimuth, reference = cannonref
};
rotorControl = new RotorControl(azimuthPair, elevationPairs);
rotorControl.onTarget += OnTarget;
rotorControl.useForward = true;
}
public RotorLauncher(IMyMotorStator baseRotor, IngameTime ingameTime, double timeoutS)
{
this.ingameTime = ingameTime;
this.timeoutS = timeoutS;
var currentrotor = baseRotor;
while (currentrotor != null)
{
propellingRotors.Add(currentrotor);
currentrotor = Selector(currentrotor.TopGrid);
}
launchRotor = propellingRotors[propellingRotors.Count - 1];
}
public void Setup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
this.deadzoneProvider = deadzoneProvider;
this.ingameTime = ingameTime;
List <IMyMotorStator> elevation = rotors.Where(x => x.CustomName.Contains(elevationTag)).ToList();
IMyMotorStator azimuth = rotors.First(x => x.CustomName.Contains(azimuthTag));
defaultDir = azimuth.WorldMatrix.Forward;
List <IMyUserControllableGun> gatlingGunsList = new List <IMyUserControllableGun>();
List <RotorControl.RotorReferencePair> elevationPairs = Select(elevation, gatlingGunsList);
RotorControl.RotorReferencePair azimuthPair = new RotorControl.RotorReferencePair {
rotor = azimuth, reference = gatlingGunsList[0]
};
gatlingGuns = new IMyUserControllableGun[gatlingGunsList.Count];
for (int i = 0; i < gatlingGunsList.Count; i++)
{
gatlingGuns[i] = gatlingGunsList[i];
}
gatlingGunsList = null;
rotorControl = new RotorControl(azimuthPair, elevationPairs);
rotorControl.onTarget = OnTarget;
rotorControl.useForward = true;
#region configuration
turretConfig = new INISerializer("TurretConfig");
turretConfig.AddValue("azimuthMultiplier", x => double.Parse(x), -1.0);
turretConfig.AddValue("elevationMultiplier", x => double.Parse(x), -1.0);
if (rotorControl.azimuth.rotor.CustomData == "")
{
string temp = rotorControl.azimuth.rotor.CustomData;
turretConfig.FirstSerialization(ref temp);
rotorControl.azimuth.rotor.CustomData = temp;
}
else
{
turretConfig.DeSerialize(rotorControl.azimuth.rotor.CustomData);
}
#endregion
}
public Program()
{
#region serializer
nameSerializer = new INISerializer("Config");
nameSerializer.AddValue("rotorTurretGroupTag", x => x, "[HaE RotorTurret]");
nameSerializer.AddValue("gatlingTurretGroupTag", x => x, "[HaE GatlingTurret]");
nameSerializer.AddValue("missileTurretGroupTag", x => x, "[HaE MissileTurret]");
nameSerializer.AddValue("azimuthTag", x => x, "[Azimuth]");
nameSerializer.AddValue("elevationTag", x => x, "[Elevation]");
nameSerializer.AddValue("controllerName", x => x, "Controller");
nameSerializer.AddValue("groupType", x => x, "Any");
nameSerializer.AddValue("lcdStatusTag", x => x, "[GridcannonStatus]");
nameSerializer.AddValue("maxProjectileVel", x => double.Parse(x), 104.45);
nameSerializer.AddValue("maxActiveRotorGunVel", x => double.Parse(x), 30.0);
nameSerializer.AddValue("maxGatlingBulletVel", x => double.Parse(x), 400.0);
nameSerializer.AddValue("maxMissileAccel", x => double.Parse(x), 600.0);
nameSerializer.AddValue("maxMissileVel", x => double.Parse(x), 200.0);
nameSerializer.AddValue("maxGatlingBulletVel", x => double.Parse(x), 400.0);
nameSerializer.AddValue("enableAutoDeadzoning", x => bool.Parse(x), true);
if (Me.CustomData == "")
{
string temp = Me.CustomData;
nameSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
nameSerializer.DeSerialize(Me.CustomData);
}
#endregion
GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
mainScheduler = new Scheduler();
ingameTime = new IngameTime();
rotorTurretGroups = new List <RotorTurretGroup>();
missileTurretGroups = new List <MissileTurretGroup>();
gatlingTurretGroups = new List <GatlingTurretGroup>();
deadzoneProvider = new DeadzoneProvider(GTSUtils);
deadzoneProvider.Enabled = enableAutoDeadzoning;
mainScheduler.AddTask(Init());
Runtime.UpdateFrequency = UpdateFrequency.Update1 | UpdateFrequency.Update10 | UpdateFrequency.Update100;
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module trackingModule)
{
GTS.GridTerminalSystem.GetBlocksOfType(allThrusters);
GTS.GridTerminalSystem.GetBlocksOfType(gyros);
this.controller = controller;
this.ingameTime = ingameTime;
thrustPidController = new PID_Controller(thrustPidSettings);
gyroControl = new AdvGyroControl(gyroPidSettings, ingameTime);
thrustControl = new AdvThrustControl(controller, allThrusters, ingameTime);
collisionAvoidance = new CollisionAvoidance(controller, trackingModule, 10, 10);
trackingModule.onEntityDetected += collisionAvoidance.OnEntityDetected;
}
public static Cannon CreateCannon
(
IMyMotorStator sourceRotor, GridTerminalSystemUtils GTS,
IngameTime ingameTime, IMyShipController control,
string azimuthTag, string elevationTag
)
{
List <IMyMotorStator> rotors = new List <IMyMotorStator>();
List <IMyMotorStator> cache = new List <IMyMotorStator>();
List <IMyMotorStator> prevTop = new List <IMyMotorStator>();
List <IMyMotorStator> currentTop = new List <IMyMotorStator>();
DeadzoneProvider deadzoneProvider = new DeadzoneProvider(GTS);
rotors.Add(sourceRotor);
prevTop.AddRange(rotors);
while (prevTop.Count > 0)
{
foreach (var rotor in prevTop)
{
cache.Clear();
rotor.TopGrid?.GetCubesOfType(GTS.GridTerminalSystem, cache);
currentTop.AddRange(cache);
}
rotors.AddRange(currentTop);
prevTop.Clear();
prevTop.AddRange(currentTop);
currentTop.Clear();
}
var turretGroup = new RotorTurretGroup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag, GTS);
turretGroup.TargetDirection(ref Vector3D.Zero);
turretGroup.defaultDir = control.WorldMatrix.Forward;
if (turretGroup.CheckGroupStatus() != TurretGroupUtils.TurretGroupStatus.MajorDMG)
{
return(new Cannon(turretGroup, deadzoneProvider, control));
}
return(null);
}
public void SubConstructor()
{
//DEBUG ATTACHMENTS
P = this;
//Timing
Runtime.UpdateFrequency = UpdateFrequency.Update1 | UpdateFrequency.Update100;
ingameTime = new IngameTime();
//Generic Inits
gridTerminalSystemUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
reference = GridTerminalSystem.GetBlockWithName(REFERENCENAME) as IMyShipController;
targetingCamera = GridTerminalSystem.GetBlockWithName(TARGETCAMNAME) as IMyCameraBlock;
textOut = GridTerminalSystem.GetBlockWithName(TEXTOUTNAME) as IMyTextPanel;
monoOut = GridTerminalSystem.GetBlockWithName(MonoLCDName) as IMyTextPanel;
//Module Inits
//entityTracking = new EntityTracking_Module(gridTerminalSystemUtils, reference, targetingCamera);
//autopilotModule = new Autopilot_Module(gridTerminalSystemUtils, reference, ingameTime, gyroPidSettings, thrustPidSettings, entityTracking);
scheduler = new Scheduler();
drawingLib = new MonospaceDrawingLib(175, 175, Color.Black);
drawingLib.onRenderDone = OnRenderDone;
drawingLib.AddRenderTask(drawingLib.Generate(), OnRenderDone);
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
EntityTracking_Module trackingModule)
{
GTS.GridTerminalSystem.GetBlocksOfType(allThrusters);
GTS.GridTerminalSystem.GetBlocksOfType(gyros);
this.controller = controller;
this.ingameTime = ingameTime;
thrustControl = new AdvThrustControl(controller, allThrusters, ingameTime);
collisionAvoidance = new CollisionAvoidance(controller, trackingModule, 10, 10);
trackingModule.onEntityDetected += collisionAvoidance.OnEntityDetected;
PID_Controller.PIDSettings onePid = new PID_Controller.PIDSettings
{
PGain = 1,
DerivativeGain = 0,
IntegralGain = 0,
};
thrustPidController = new PID_Controller(onePid);
gyroControl = new AdvGyroControl(onePid, ingameTime);
}
public RotorLauncher(IMyMotorStator baseRotor, IngameTime ingameTime, double timeoutS)
{
var propellingRotors = new List <IMyMotorStator>();
this.ingameTime = ingameTime;
this.timeoutS = timeoutS;
var currentrotor = baseRotor;
while (currentrotor != null)
{
propellingRotors.Add(currentrotor);
currentrotor = Selector(currentrotor.TopGrid);
}
launchRotor = propellingRotors[propellingRotors.Count - 1];
propellingRotorArray = new IMyMotorStator[propellingRotors.Count];
for (int i = 0; i < propellingRotors.Count; i++)
{
propellingRotorArray[i] = propellingRotors[i];
}
propellingRotors = null;
}
public MissileTurretGroup(GridTerminalSystemUtils GTS, List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
Setup(GTS, rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag);
}
public Cannon(List <IMyMotorStator> rotors, IMyShipController reference, IngameTime ingameTime, GridTerminalSystemUtils GTSUtils, string azimuthTag, string elevationTag)
{
this.reference = reference;
deadzoneProvider = new DeadzoneProvider(GTSUtils);
rotorTurretGroup = new RotorTurretGroup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag, GTSUtils);
}
public LapData(IMyShipController controller, IngameTime ingameTime)
{
this.controller = controller;
this.ingameTime = ingameTime;
}
public AutoPilot(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime time,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module entityTracking)
{
autopilotModule = new Autopilot_Module(GTS, controller, time, gyroPidSettings, thrustPidSettings, entityTracking);
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module trackingModule) : this(GTS, controller, ingameTime, trackingModule)
{
thrustPidController = new PID_Controller(thrustPidSettings);
gyroControl = new AdvGyroControl(gyroPidSettings, ingameTime);
}
public RotorTurretGroup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag, GridTerminalSystemUtils GTS)
{
Setup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag, GTS);
}
public MissileTurretGroup(GridTerminalSystemUtils GTS, IMyBlockGroup turretGroup, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
var rotors = new List <IMyMotorStator>();
turretGroup.GetBlocksOfType(rotors);
Setup(GTS, rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag);
}
public AutoPilot(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime time, EntityTracking_Module entityTracking)
{
autopilotModule = new Autopilot_Module(GTS, controller, time, entityTracking);
}
public RotorTurretGroup(List <IMyMotorStator> rotors, IngameTime ingameTime, DeadzoneProvider deadzoneProvider, string azimuthTag, string elevationTag)
{
Setup(rotors, ingameTime, deadzoneProvider, azimuthTag, elevationTag);
}
private int CurYear()
{
IngameTime time = GetCurTime();
return(time.year);
}
public AdvancedSimTargeting(ProjectileInfo projectileInfo, MyDetectedEntityInfo target, IMyShipController control, IngameTime ingameTime, double tolerance, bool continuous, double speedlimit = 100, double timescale = 1)
{
this.tolerance = tolerance;
this.continuous = continuous;
this.target = target;
this.speedlimit = speedlimit;
this.timescale = timescale;
this.control = control;
this.projectileInfo = projectileInfo;
targetInfo = new TargetInfo(target, timescale);
tolerance = target.BoundingBox.Size.Length();
}
