void doModeScans()
{
switch (iMode)
{
case 0:
current_state = 400;
break;
case 400:
{ // init camera scan for asteroids
ResetMotion();
turnEjectorsOn();
sleepAllSensors();
scaningElapsedMs = 0;
// initialize cameras
scanfrontScanner = new QuadrantCameraScanner(this, cameraForwardList);
scanbackScanner = new QuadrantCameraScanner(this, cameraBackwardList);
scanleftScanner = new QuadrantCameraScanner(this, cameraLeftList);
scanrightScanner = new QuadrantCameraScanner(this, cameraRightList);
scantopScanner = new QuadrantCameraScanner(this, cameraUpList);
scanbottomScanner = new QuadrantCameraScanner(this, cameraDownList);
current_state = 410;
break;
}
case 410:
{
StatusLog("Long Range Scan", textPanelReport);
if (scanfrontScanner == null) // in case we reload/compile in this state..
{
current_state = 400;
}
bWantMedium = true;
scaningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
// use for timeout...
// do camera scans
if (scanfrontScanner.DoScans())
{
if (scanfrontScanner.lastDetectedInfo.Type == MyDetectedEntityType.Asteroid)
{
MinerProcessScan(scanfrontScanner.lastDetectedInfo);
}
}
else if (scanbackScanner.DoScans())
{
MinerProcessScan(scanbackScanner.lastDetectedInfo);
}
else if (scanleftScanner.DoScans())
{
MinerProcessScan(scanleftScanner.lastDetectedInfo);
}
else if (scanrightScanner.DoScans())
{
MinerProcessScan(scanrightScanner.lastDetectedInfo);
}
else if (scantopScanner.DoScans())
{
MinerProcessScan(scantopScanner.lastDetectedInfo);
}
else if (scanbottomScanner.DoScans())
{
MinerProcessScan(scanbottomScanner.lastDetectedInfo);
}
// take the first one found.
// TODO: do all search and then choose 'best' (closest?)
// TODO: Aim at the hit position and not 'CENTER' for more randomized start on asteroid
// TODO: once we find asteroid(s) choose how to find ore intelligently and not just randomly
if (bValidAsteroid)
{
current_state = 120;
}
string s = "";
s += "Front: ";
if (scanfrontScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanfrontScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += "\n";
s += "Back: ";
if (scanbackScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbackScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += "\n";
s += "Left: ";
if (scanleftScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanleftScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += "\n";
s += "Right: ";
if (scanrightScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanrightScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += "\n";
s += "Top: ";
if (scantopScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scantopScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += "\n";
s += "Bottom: ";
if (scanbottomScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbottomScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += "\n";
StatusLog(s, textPanelReport);
if (
scanfrontScanner.DoneScanning() &&
scanbackScanner.DoneScanning() &&
scanleftScanner.DoneScanning() &&
scanrightScanner.DoneScanning() &&
scantopScanner.DoneScanning() &&
scanbottomScanner.DoneScanning()
)
{
// all scans have run and didn't find asteroid..
//
setMode(MODE_ATTENTION);
}
break;
}
}
}
void doModeScans()
{
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":SCAN!", textPanelReport);
Echo("Scan:current_state=" + current_state.ToString());
switch (current_state)
{
case 0:
{ // init camera scan for asteroids/objects
ResetMotion();
scanElapsedMs = 0;
// initialize cameras
scanfrontScanner = new QuadrantCameraScanner(this, cameraForwardList, 5000);
scanbackScanner = new QuadrantCameraScanner(this, cameraBackwardList, 5000);
scanleftScanner = new QuadrantCameraScanner(this, cameraLeftList, 5000);
scanrightScanner = new QuadrantCameraScanner(this, cameraRightList, 5000);
scantopScanner = new QuadrantCameraScanner(this, cameraUpList, 5000);
scanbottomScanner = new QuadrantCameraScanner(this, cameraDownList, 5000);
current_state = 410;
bWantFast = true;
break;
}
case 410:
{
StatusLog("Long Range Scan", textPanelReport);
if (scanfrontScanner == null) // in case we reload/compile in this state..
{
bWantFast = true;
current_state = 0;
return;
}
bWantMedium = true;
scanElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
// use for timeout...
// do camera scans
if (scanfrontScanner.DoScans())
{
AsteroidProcessLDEI(scanfrontScanner.myLDEI);
}
if (scanbackScanner.DoScans())
{
AsteroidProcessLDEI(scanbackScanner.myLDEI);
}
if (scanleftScanner.DoScans())
{
AsteroidProcessLDEI(scanleftScanner.myLDEI);
}
if (scanrightScanner.DoScans())
{
AsteroidProcessLDEI(scanrightScanner.myLDEI);
}
if (scantopScanner.DoScans())
{
AsteroidProcessLDEI(scantopScanner.myLDEI);
}
if (scanbottomScanner.DoScans())
{
AsteroidProcessLDEI(scanbottomScanner.myLDEI);
}
// TODO: if missing cameras on a side(s), rotate ship to point cameras at that side
// TODO: Flags for other options (TBD)
// TODO: scan range
// TODO: stop on first hit (by type?)
// TODO: all sides or specific sides?
string s = "";
s += "Front: ";
if (scanfrontScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanfrontScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanfrontScanner.myLDEI.Count + " objects";
s += "\n";
s += "Back: ";
if (scanbackScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbackScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanbackScanner.myLDEI.Count + " objects";
s += "\n";
s += "Left: ";
if (scanleftScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanleftScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanleftScanner.myLDEI.Count + " objects";
s += "\n";
s += "Right: ";
if (scanrightScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanrightScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanrightScanner.myLDEI.Count + " objects";
s += "\n";
s += "Top: ";
if (scantopScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scantopScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scantopScanner.myLDEI.Count + " objects";
s += "\n";
s += "Bottom: ";
if (scanbottomScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbottomScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanbottomScanner.myLDEI.Count + " objects";
s += "\n";
if (AsteroidFindNearest() < 0)
{
s += "No Known Asteroid";
}
else
{
s += "FOUND at least one asteroid!";
}
StatusLog(s, textPanelReport);
Echo(s);
if (
scanfrontScanner.DoneScanning() &&
scanbackScanner.DoneScanning() &&
scanleftScanner.DoneScanning() &&
scanrightScanner.DoneScanning() &&
scantopScanner.DoneScanning() &&
scanbottomScanner.DoneScanning()
)
{
setMode(ScansDoneMode);
current_state = ScansDoneState;
// reset to default for possible next run
ScansDoneMode = MODE_SCANCOMPLETED;
ScansDoneState = 0;
}
break;
}
}
}
void doModeScans()
{
int iMode = _wicoControl.IMode;
int iState = _wicoControl.IState;
// StatusLog("clear", textPanelReport);
// StatusLog(moduleName + ":SCAN!", textPanelReport);
_program.Echo("Scan:iState=" + iState.ToString());
switch (iState)
{
case 0:
{ // init camera scan for asteroids/objects
_program.ResetMotion();
scanElapsedMs = 0;
// initialize cameras
scanfrontScanner = new QuadrantCameraScanner(_program, _cameras.GetForwardCameras(), 5000);
scanbackScanner = new QuadrantCameraScanner(_program, _cameras.GetBackwardCameras(), 5000);
scanleftScanner = new QuadrantCameraScanner(_program, _cameras.GetLeftCameras(), 5000);
scanrightScanner = new QuadrantCameraScanner(_program, _cameras.GetRightCameras(), 5000);
scantopScanner = new QuadrantCameraScanner(_program, _cameras.GetUpCameras(), 5000);
scanbottomScanner = new QuadrantCameraScanner(_program, _cameras.GetDownwardCameras(), 5000);
_wicoControl.SetState(410); // iState = 410;
_wicoControl.WantFast();
break;
}
case 410:
{
// StatusLog("Long Range Scan", textPanelReport);
if (scanfrontScanner == null) // in case we reload/compile in this state..
{
_wicoControl.WantFast();
iState = 0;
return;
}
_wicoControl.WantMedium();
scanElapsedMs += _program.Runtime.TimeSinceLastRun.TotalMilliseconds;
// use for timeout...
// do camera scans
if (scanfrontScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanfrontScanner.myLDEI);
}
if (scanbackScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanbackScanner.myLDEI);
}
if (scanleftScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanleftScanner.myLDEI);
}
if (scanrightScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanrightScanner.myLDEI);
}
if (scantopScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scantopScanner.myLDEI);
}
if (scanbottomScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanbottomScanner.myLDEI);
}
// TODO: if missing cameras on a side(s), rotate ship to point cameras at that side
// TODO: Flags for other options (TBD)
// TODO: scan range
// TODO: stop on first hit (by type?)
// TODO: all sides or specific sides?
string s = "";
s += "Front: ";
if (scanfrontScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanfrontScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanfrontScanner.myLDEI.Count + " objects";
s += "\n";
s += "Back: ";
if (scanbackScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbackScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanbackScanner.myLDEI.Count + " objects";
s += "\n";
s += "Left: ";
if (scanleftScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanleftScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanleftScanner.myLDEI.Count + " objects";
s += "\n";
s += "Right: ";
if (scanrightScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanrightScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanrightScanner.myLDEI.Count + " objects";
s += "\n";
s += "Top: ";
if (scantopScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scantopScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scantopScanner.myLDEI.Count + " objects";
s += "\n";
s += "Bottom: ";
if (scanbottomScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbottomScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanbottomScanner.myLDEI.Count + " objects";
s += "\n";
if (_asteroids.AsteroidFindNearest() < 0)
{
s += "No Known Asteroid";
}
else
{
s += "FOUND at least one asteroid!";
}
// StatusLog(s, textPanelReport);
_program.Echo(s);
if (
scanfrontScanner.DoneScanning() &&
scanbackScanner.DoneScanning() &&
scanleftScanner.DoneScanning() &&
scanrightScanner.DoneScanning() &&
scantopScanner.DoneScanning() &&
scanbottomScanner.DoneScanning()
)
{
_wicoControl.SetMode(ScansDoneMode, ScansDoneState);
// reset to default for possible next run
ScansDoneMode = WicoControl.MODE_NAVNEXTTARGET;
ScansDoneState = 0;
}
break;
}
}
}
void doModeFindOre()
{
List <IMySensorBlock> aSensors = null;
IMySensorBlock sb;
IMySensorBlock sb2;
StatusLog("clear", textPanelReport);
StatusLog(moduleName + ":FindOre", textPanelReport);
Echo("FIND ORE:current_state=" + current_state.ToString());
double maxThrust = calculateMaxThrust(thrustForwardList);
// Echo("maxThrust=" + maxThrust.ToString("N0"));
MyShipMass myMass;
myMass = ((IMyShipController)shipOrientationBlock).CalculateShipMass();
double effectiveMass = myMass.PhysicalMass;
// Echo("effectiveMass=" + effectiveMass.ToString("N0"));
double maxDeltaV = (maxThrust) / effectiveMass;
// Echo("maxDeltaV=" + maxDeltaV.ToString("0.00"));
// Echo("Cargo=" + cargopcent.ToString() + "%");
// Echo("velocity=" + velocityShip.ToString("0.00"));
// Echo("miningElapsedMs=" + miningElapsedMs.ToString("0.00"));
// IMyTextPanel txtPanel = getTextBlock("Sensor Report");
// StatusLog("clear", txtPanel);
if (bValidAsteroid)
{
debugGPSOutput("Pre-Valid Ast", vTargetAsteroid);
}
// if (miningAsteroidID > 0)
Echo("Our Asteroid=" + miningAsteroidID.ToString());
// if(vExpectedExit.AbsMax()>.5)
{
// Vector3D vT = shipOrientationBlock.GetPosition() + vExpectedExit * 150;
// debugGPSOutput("ExpectedExit", vT);
}
switch (current_state)
{
case 0:
if (fMiningMinThrust < fTargetMiningMps * 1.1f)
{
fMiningMinThrust = fTargetMiningMps * 1.1f;
}
bValidAsteroid = false; /// really? shouuldn't we be keepint this?
bValidExit = false;
bWaitingCargo = false;
ResetMotion();
// turnDrillsOff();
turnEjectorsOff();
current_state = 10;
bWantFast = true;
if (!HasDrills())
{
current_state = 400;
return;
}
if (sensorsList.Count < 2)
{
StatusLog(OurName + ":" + moduleName + " Find Ore: Not Enough Sensors!", textLongStatus, true);
setMode(MODE_ATTENTION);
}
sensorsList[0].DetectAsteroids = true;
sensorsList[1].DetectAsteroids = true;
if (miningAsteroidID > 0) // return to a known asteroid
{
bValidAsteroid = true;
vTargetAsteroid = AsteroidGetPosition(miningAsteroidID);
vExpectedAsteroidExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
vExpectedAsteroidExit.Normalize();
current_state = 120;
}
break;
case 10:
//sb = sensorsList[0];
sleepAllSensors();
setSensorShip(sensorsList[0], 2, 2, 2, 2, 2, 2);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 11;
break;
case 11:
{
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return;
}
aSensors = activeSensors();
bool bFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bFoundAsteroid = true;
}
/*
* StatusLog("#DetectedEntities=" + lmyDEI.Count, txtPanel);
*
* strbMining.Clear();
* strbMining.Append("Sensor Position:" + s.GetPosition().ToString());
* strbMining.AppendLine();
*
*
* for (int j = 0; j < lmyDEI.Count; j++)
* {
*
* strbMining.Append("Name: " + lmyDEI[j].Name);
* strbMining.AppendLine();
* strbMining.Append("Type: " + lmyDEI[j].Type);
* strbMining.AppendLine();
* if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
* {
* addDetectedEntity(lmyDEI[j]);
* StatusLog("Found Asteroid!", txtPanel);
* bFoundAsteroid = true;
* currentAst.EntityId = lmyDEI[j].EntityId;
* currentAst.BoundingBox = lmyDEI[j].BoundingBox;
* bValidAsteroid = true;
* vTargetAsteroid = lmyDEI[j].Position;
* }
* }
* StatusLog(strbMining.ToString(), txtPanel);
*/
}
if (bFoundAsteroid)
{
current_state = 100;
}
else
{
// no asteroid in sensor range. Try cameras
current_state = 400;
}
}
break;
case 20:
{
// started find ore while 'inside' asteroid.
// point towards exit
/*
* vExpectedExit = shipOrientationBlock.GetPosition() - currentAst.Position;
* vExpectedExit.Normalize();
* bValidExit = true;
*/
current_state = 31;
}
break;
case 31:
sb = sensorsList[0];
sb2 = sensorsList[1];
sleepAllSensors();
setSensorShip(sb, 0, 0, 0, 0, 45, 0);
setSensorShip(sb2, 5, 5, 5, 5, 0, 15);
current_state = 32;
miningElapsedMs = 0;
break;
case 32:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return; // delay for sensor settling
}
current_state = 35;
break;
case 35:
{ // active mining
// TODO: check just the front sensor and we are 'exiting' if no asteroid active.
//
sb = sensorsList[0];
sb2 = sensorsList[1];
bool bLocalAsteroid = false;
bool bForwardAsteroid = false;
bool bSourroundAsteroid = false;
bool bLarge = false;
bool bSmall = false;
SensorActive(sb, ref bForwardAsteroid, ref bLarge, ref bSmall);
SensorActive(sb2, ref bSourroundAsteroid, ref bLarge, ref bSmall);
aSensors = activeSensors();
Echo(aSensors.Count + " Active Sensors");
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bLocalAsteroid = true;
}
}
if (!bLocalAsteroid)
{ // we have exited the asteroid.
Echo("No Local Asteroid found");
ResetMotion();
if (cargopcent > cargopctlowwater || maxDeltaV < (fMiningMinThrust))
{
// we need to dump our contents
turnEjectorsOn();
}
current_state = 300;
bWantFast = true;
}
else if (bSourroundAsteroid)
{ // we are inside asteroid
turnEjectorsOn();
// blockApplyAction(ejectorList, "OnOff_On");
if (maxDeltaV < fMiningMinThrust || cargopcent > cargopcthighwater && !bWaitingCargo) //
{
ResetMotion();
turnEjectorsOn();
bWaitingCargo = true;
}
if (bWaitingCargo)
{ // continue to wait
ResetMotion();
// need to check how much stone we have.. if zero(ish), then we're full.. go exit.
OreDoCargoCheck();
if (currentStoneAmount() < 15)
{
// we are full and not much stone ore in us...
ResetMotion();
turnEjectorsOff();
setMode(MODE_EXITINGASTEROID);
}
// TODO: Needs time-out
Echo("Cargo above low water: Waiting");
if (maxDeltaV > fMiningMinThrust && cargopcent < cargopctlowwater)
{
bWaitingCargo = false; // can now move.
}
}
else
{
GyroMain("forward", vExpectedAsteroidExit, shipOrientationBlock);
// GyroMain("forward", vExpectedExit, shipOrientationBlock);
turnDrillsOn();
mineMoveForward(fTargetMiningMps, fMiningAbortMps);
// bWantFast = true;
bWantMedium = true;
}
}
else
{
// we have nothing in front, but are still close
turnDrillsOff();
mineMoveForward(fAsteroidApproachMps, fAsteroidApproachAbortMps);
bWantMedium = true;
}
}
break;
case 100:
turnDrillsOff();
sleepAllSensors();
sb = sensorsList[0];
setSensorShip(sb, 0, 0, 0, 0, 50, 0);
current_state = 101;
miningElapsedMs = 0;
break;
case 101:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return; // delay for sensor settling
}
current_state++;
break;
case 102:
{
aSensors = activeSensors();
bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
AsteroidProcessLDEI(lmyDEI);
}
// if (!bValidAsteroid)
{
// not in sensor range. start checking cameras
double scandist = 500;
/*
* if (bValidAsteroid)
* {
* scandist = (shipOrientationBlock.GetPosition() - vTargetAsteroid).Length();
* }
*/
if (doCameraScan(cameraForwardList, scandist))
{ // we scanned
if (!lastDetectedInfo.IsEmpty())
{ // we hit something
if (lastDetectedInfo.Type == MyDetectedEntityType.Asteroid)
{
MinerProcessScan(lastDetectedInfo);
/*
* addDetectedEntity(lastDetectedInfo);
* vTargetAsteroid = (Vector3D)lastDetectedInfo.HitPosition;
* bValidAsteroid = true;
* vExpectedExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
* vExpectedExit.Normalize();
* bValidExit = true;
*/
}
}
else
{
// no asteroid detected. Check surroundings for one.
current_state = 110;
bValidExit = false;
}
}
}
if (bValidExit)
{
current_state = 120; //found asteroid ahead
}
}
break;
case 110:
{ // asteroid NOT in front. big sensor search for asteroids in area
sleepAllSensors();
setSensorShip(sensorsList[0], 50, 50, 50, 50, 50, 50);
miningElapsedMs = 0;
current_state = 111;
}
break;
case 111:
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return; // delay for sensor settling
}
current_state++;
break;
case 112:
{ // asteroid not in front. Check sensors
aSensors = activeSensors();
// bValidAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
AsteroidProcessLDEI(lmyDEI);
}
if (bValidAsteroid)
{
bWantFast = true;
if (GyroMain("forward", vTargetAsteroid - shipOrientationBlock.GetPosition(), shipOrientationBlock))
{
// we are aimed
current_state = 100;
}
}
}
break;
case 120:
sleepAllSensors();
setSensorShip(sensorsList[0], 5, 5, 5, 5, 25, 0);
// setSensorShip(sensorsList[1], 50, 50, 50, 50, 50, 0);
miningElapsedMs = 0;
current_state = 121;
break;
case 121:
{ // approach
if (!bValidAsteroid)
{
current_state = 10;
return;
}
bWantFast = true;
// we should have asteroid in front.
bool bAimed = true;
Echo(bValidExit.ToString() + " " + Vector3DToString(vExpectedAsteroidExit));
bAimed = GyroMain("forward", vExpectedAsteroidExit, shipOrientationBlock);
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
if (miningElapsedMs < dSensorSettleWaitMS)
{
return;
}
if (bAimed)
{
double scandist;
double distanceSQ = 0;
if (bValidAsteroid)
{
distanceSQ = (vTargetAsteroid - shipOrientationBlock.GetPosition()).LengthSquared();
scandist = distanceSQ;
Echo("distanceSQ=" + distanceSQ.ToString("0.00"));
// TODO: we need to keep the radius/BB of the target asteroid..
// if (lastDetectedInfo.BoundingBox.Contains(vTargetLocation) != ContainmentType.Disjoint)
if (distanceSQ > 512 * 512)
{
current_state = 130;
bWantFast = true;
return;
}
}
else
{
scandist = 500; // unknown scan distance
}
bWantFast = false;
bWantMedium = true;
if (doCameraScan(cameraForwardList, scandist))
{
if (!lastDetectedInfo.IsEmpty())
{
// we have a target
// if (lmyDEI[j].Type == MyDetectedEntityType.Asteroid)
{
Vector3D vTarget = (Vector3D)lastDetectedInfo.HitPosition;
double distance = (vTarget - lastCamera.GetPosition()).Length();
Echo("Distance=" + distance.ToString());
if (distance < 15)
{
vLastAsteroidContact = shipOrientationBlock.GetPosition();
if (!bValidInitialAsteroidContact)
{
vInitialAsteroidContact = vLastAsteroidContact;
bValidInitialAsteroidContact = true;
}
current_state = 31;
ResetMotion();
}
else if (distance > 100)
{
vInitialAsteroidContact = (Vector3D)lastDetectedInfo.HitPosition;
current_state = 130;// do faster travel
}
else
{
mineMoveForward(fAsteroidApproachMps, fAsteroidApproachAbortMps);
}
}
// bValidExit = true;
// vExpectedExit = vTarget - shipOrientationBlock.GetPosition();
}
else
{
/*
* // we scanned, but didn't hit anything. it's likely a donut
* double distance = (vTargetAsteroid - shipOrientationBlock.GetPosition()).Length();
* Echo("Distance=" + distance.ToString());
* mineMoveForward(fTargetMiningmps,fAbortmps);
* if (distance < 5)
* {
* vExpectedExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
* current_state = 31;
* ResetMotion();
* }
*/
// setMode(MODE_ATTENTION);
// or we made a whole there..
}
}
// ELSE no scan available.. just wait
else
{
Echo("No Camera SCAN!");
}
// check sensors for one in front of us
aSensors = activeSensors();
bool bFoundAsteroid = false;
for (int i = 0; i < aSensors.Count; i++)
{
IMySensorBlock s = aSensors[i] as IMySensorBlock;
// StatusLog(aSensors[i].CustomName + " ACTIVE!", txtPanel);
// Echo(aSensors[i].CustomName + " ACTIVE!");
List <MyDetectedEntityInfo> lmyDEI = new List <MyDetectedEntityInfo>();
s.DetectedEntities(lmyDEI);
if (AsteroidProcessLDEI(lmyDEI))
{
bFoundAsteroid = true;
}
}
if (bFoundAsteroid)
{
current_state = 31;
}
}
else
{
Echo("Aiming");
}
// BUG: Gets stuck in state if nothing hit.. (ie, donut)
}
break;
case 130:
{ // far travel to asteroid. use doTravelMovement
Echo("Far travel to asteroid");
doTravelMovement(vTargetAsteroid, 45, 135, 140, true);
break;
}
case 135:
{ // we have 'arrived' from far travel
// wait for motion to slow
if (velocityShip < fAsteroidApproachMps)
{
current_state = 120;
}
ResetMotion();
break;
}
case 140:
{
ResetTravelMovement();
ResetMotion();
calcCollisionAvoid(vInitialAsteroidContact);
current_state = 150;
break;
}
case 150:
{
doTravelMovement(vAvoid, 5.0f, 130, 160);
break;
}
case 160:
{
ResetTravelMovement();
ResetMotion();
setMode(MODE_ATTENTION);
break;
}
case 300:
{
// we have exitted the asteroid. Prepare for another run or to go dock
Echo("Exitted!");
ResetMotion();
sleepAllSensors();
if (maxDeltaV < fMiningMinThrust || cargopcent > cargopctlowwater)
{
setMode(MODE_DOCKING);
}
else
{
vLastAsteroidExit = shipOrientationBlock.GetPosition();
// dist = (vLastExit - vInitialExit).Length();
if (!bValidInitialAsteroidExit)
{
vInitialAsteroidExit = vLastAsteroidExit;
bValidInitialAsteroidExit = true;
}
setMode(MODE_SEARCHORIENT);
// prepare for another run.
}
break;
}
case 400:
{ // init camera scan for asteroids
ResetMotion();
turnEjectorsOn();
sleepAllSensors();
miningElapsedMs = 0;
// initialize cameras
miningfrontScanner = new QuadrantCameraScanner(this, cameraForwardList, 5000);
miningbackScanner = new QuadrantCameraScanner(this, cameraBackwardList, 5000);
miningleftScanner = new QuadrantCameraScanner(this, cameraLeftList, 5000);
miningrightScanner = new QuadrantCameraScanner(this, cameraRightList, 5000);
miningtopScanner = new QuadrantCameraScanner(this, cameraUpList, 5000);
miningbottomScanner = new QuadrantCameraScanner(this, cameraDownList, 5000);
current_state = 410;
break;
}
case 410:
{
StatusLog("Long Range Scan", textPanelReport);
if (miningfrontScanner == null) // in case we reload/compile in this state..
{
current_state = 400;
}
bWantMedium = true;
miningElapsedMs += Runtime.TimeSinceLastRun.TotalMilliseconds;
// use for timeout...
// do camera scans
if (miningfrontScanner.DoScans())
{
AsteroidProcessLDEI(miningfrontScanner.myLDEI);
}
if (miningbackScanner.DoScans())
{
AsteroidProcessLDEI(miningbackScanner.myLDEI);
}
if (miningleftScanner.DoScans())
{
AsteroidProcessLDEI(miningleftScanner.myLDEI);
}
if (miningrightScanner.DoScans())
{
AsteroidProcessLDEI(miningrightScanner.myLDEI);
}
if (miningtopScanner.DoScans())
{
AsteroidProcessLDEI(miningtopScanner.myLDEI);
}
if (miningbottomScanner.DoScans())
{
AsteroidProcessLDEI(miningbottomScanner.myLDEI);
}
// take the first one found.
// TODO: do all search and then choose 'best' (closest?)
// TODO: Aim at the hit position and not 'CENTER' for more randomized start on asteroid
// TODO: once we find asteroid(s) choose how to find ore intelligently and not just randomly
/*
* if (bValidAsteroid)
* current_state = 120;
*/
string s = "";
s += "Front: ";
if (miningfrontScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningfrontScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningfrontScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Back: ";
if (miningbackScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningbackScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningbackScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Left: ";
if (miningleftScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningleftScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningleftScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Right: ";
if (miningrightScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningrightScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningrightScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Top: ";
if (miningtopScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningtopScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningtopScanner.myLDEI.Count + " asteroids";
s += "\n";
s += "Bottom: ";
if (miningbottomScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += miningbottomScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + miningbottomScanner.myLDEI.Count + " asteroids";
s += "\n";
if (AsteroidFindNearest() < 0)
{
s += "No Known Asteroid";
}
else
{
s += "FOUND at least one asteroid!";
}
StatusLog(s, textPanelReport);
Echo(s);
if (
miningfrontScanner.DoneScanning() &&
miningbackScanner.DoneScanning() &&
miningleftScanner.DoneScanning() &&
miningrightScanner.DoneScanning() &&
miningtopScanner.DoneScanning() &&
miningbottomScanner.DoneScanning()
)
{
// long asteroidID = -1;
if (HasDrills())
{
miningAsteroidID = AsteroidFindNearest();
if (miningAsteroidID < 0)
{
// all scans have run and didn't find asteroid..
setMode(MODE_ATTENTION);
}
else
{
bValidAsteroid = true;
vTargetAsteroid = AsteroidGetPosition(miningAsteroidID);
vExpectedAsteroidExit = vTargetAsteroid - shipOrientationBlock.GetPosition();
vExpectedAsteroidExit.Normalize();
current_state = 120;
}
}
else
{ // if no drills, we are done.
setMode(MODE_IDLE);
}
}
break;
}
case 425:
{
// aim at asteroid location
if (!bValidExit)
{
setMode(MODE_ATTENTION);
}
{
bWantFast = true;
if (GyroMain("forward", vExpectedAsteroidExit - shipOrientationBlock.GetPosition(), shipOrientationBlock))
{
// we are aimed
current_state = 120;
}
}
break;
}
}
}