public void autopilotModeCallback(byte ID, object Data)
{
byte[] payload = (byte[])Data;
VesselAutopilot autopilot = FlightGlobals.ActiveVessel.Autopilot;
if (autopilot == null)
{
Debug.Log("KerbalSimpit : Ignoring a SAS MODE Message since I could not find the autopilot");
return;
}
mySASMode = (VesselAutopilot.AutopilotMode)(payload[0]);
if (autopilot.CanSetMode(mySASMode))
{
autopilot.SetMode(mySASMode);
if (KSPit.Config.Verbose)
{
Debug.Log(String.Format("KerbalSimpit: payload is {0}", mySASMode));
Debug.Log(String.Format("KerbalSimpit: SAS mode is {0}", FlightGlobals.ActiveVessel.Autopilot.Mode.ToString()));
}
}
else
{
Debug.Log(String.Format("KerbalSimpit: Unable to set SAS mode to {0}", mySASMode.ToString()));
}
}
public void Update(VesselAutopilot.VesselRSAS rsas)
{
PIDRclamp[] sasPID = new PIDRclamp[3];
sasPID[(int)SASList.Pitch] = rsas.pidPitch;
sasPID[(int)SASList.Bank] = rsas.pidRoll;
sasPID[(int)SASList.Hdg] = rsas.pidYaw;
foreach (SASList s in Enum.GetValues(typeof(SASList)))
{
PIDGains[(int)s, 0] = sasPID[(int)s].KP;
PIDGains[(int)s, 1] = sasPID[(int)s].KI;
PIDGains[(int)s, 2] = sasPID[(int)s].KD;
}
}
public void Update(VesselAutopilot.VesselSAS sas)
{
PIDclamp[] sasPID = new PIDclamp[3];
sasPID[(int)SASList.Pitch] = sas.pidLockedPitch;
sasPID[(int)SASList.Bank] = sas.pidLockedRoll;
sasPID[(int)SASList.Hdg] = sas.pidLockedYaw;
foreach (SASList s in Enum.GetValues(typeof(SASList)))
{
PIDGains[(int)s, 0] = sasPID[(int)s].kp;
PIDGains[(int)s, 1] = sasPID[(int)s].ki;
PIDGains[(int)s, 2] = sasPID[(int)s].kd;
PIDGains[(int)s, 3] = sasPID[(int)s].clamp;
}
}
// used for adding a new stock preset
public RSASPreset(VesselAutopilot.VesselRSAS rsas, string Name)
{
name = Name;
PIDRclamp[] rsasPID = new PIDRclamp[3];
rsasPID[(int)SASList.Pitch] = rsas.pidPitch;
rsasPID[(int)SASList.Bank] = rsas.pidRoll;
rsasPID[(int)SASList.Hdg] = rsas.pidYaw;
foreach (SASList s in Enum.GetValues(typeof(SASList)))
{
PIDGains[(int)s, 0] = rsasPID[(int)s].KP;
PIDGains[(int)s, 1] = rsasPID[(int)s].KI;
PIDGains[(int)s, 2] = rsasPID[(int)s].KD;
}
}
public static bool SetActualMode(this VesselAutopilot autopilot, VesselAutopilot.AutopilotMode mode)
{
mode = ConvertMode(mode);
if (autopilot.CanSetMode(mode))
{
var result = autopilot.SetMode(mode);
var autopilotUI = GameObject.FindObjectOfType <VesselAutopilotUI>();
if (autopilotUI != null && mode >= 0 && (int)mode < autopilotUI.modeButtons.Length)
{
autopilotUI.modeButtons[(int)mode].SetState(true);
}
return(result);
}
return(false);
}
public void SASInfoProvider()
{
if (FlightGlobals.ActiveVessel == null)
{
// This can happen when docking/undocking/changing scene, etc.
return;
}
VesselAutopilot autopilot = FlightGlobals.ActiveVessel.Autopilot;
if (autopilot == null)
{
return;
}
if (autopilot.Enabled)
{
newSASInfo.currentSASMode = (byte)autopilot.Mode;
}
else
{
newSASInfo.currentSASMode = 255; //special value to indicate a disabled SAS
}
newSASInfo.SASModeAvailability = 0;
foreach (VesselAutopilot.AutopilotMode i in Enum.GetValues(typeof(VesselAutopilot.AutopilotMode)))
{
if (autopilot.CanSetMode(i))
{
newSASInfo.SASModeAvailability = (ushort)(newSASInfo.SASModeAvailability | (1 << (byte)i));
}
}
if (mySASInfo.currentSASMode != newSASInfo.currentSASMode ||
mySASInfo.SASModeAvailability != newSASInfo.SASModeAvailability)
{
if (SASInfoChannel != null)
{
mySASInfo = newSASInfo;
SASInfoChannel.Fire(OutboundPackets.SASInfo, mySASInfo);
}
}
}
/// <summary>
/// Force the SAS mode buttons on the flight view to update when we
/// update modes under the hood. Code from
/// http://forum.kerbalspaceprogram.com/threads/105074-Updating-the-auto-pilot-UI?p=1633958&viewfull=1#post1633958
/// </summary>
/// <param name="newMode">The new autopilot mode</param>
private void ForceUpdateSASModeToggleButtons(VesselAutopilot.AutopilotMode newMode)
{
// find the UI object on screen
UIStateToggleButton[] SASbtns = UnityEngine.Object.FindObjectOfType<VesselAutopilotUI>().modeButtons;
// set our mode, note it takes the mode as an int, generally top to bottom, left to right, as seen on the screen. Maneuver node being the exception, it is 9
SASbtns.ElementAt<UIStateToggleButton>((int)newMode).SetState(true);
}
public void SelectAutopilotMode(VesselAutopilot.AutopilotMode autopilotMode)
{
if (currentVessel.Autopilot.Mode != autopilotMode)
{
if (!currentVessel.Autopilot.CanSetMode(autopilotMode))
{
// throw an exception if the mode is not available
throw new Safe.Exceptions.KOSException(
string.Format("Cannot set autopilot value, pilot/probe does not support {0}, or there is no node/target", autopilotMode));
}
currentVessel.Autopilot.SetMode(autopilotMode);
//currentVessel.Autopilot.Enable();
// change the autopilot indicator
((Module.kOSProcessor)Shared.Processor).SetAutopilotMode((int)autopilotMode);
if (RemoteTechHook.IsAvailable(currentVessel.id))
{
Debug.Log(string.Format("kOS: Adding RemoteTechPilot: autopilot For : " + currentVessel.id));
// TODO: figure out how to make RemoteTech allow the built in autopilot control. This may require modification to RemoteTech itself.
}
}
}
public static bool CanSetActualMode(this VesselAutopilot autopilot, VesselAutopilot.AutopilotMode mode)
{
return(autopilot.CanSetMode(ConvertMode(mode)));
}
public static VesselAutopilot.AutopilotMode GetActualMode(this VesselAutopilot autopilot)
{
return(ConvertMode(autopilot.Mode));
}
