IEnumerable <string> Launch()
{
logScreen?.WriteText("", false);
Message($"Target: {TargetLocation.ToString()}");
if (ApproachIndex < 0)
{
var minkv = Approaches.MinBy((kv) => (float)(TargetLocation.CurrentPosition - kv.Value[0]).Length());
ChosenApproach = minkv.Key;
ApproachIndex = minkv.Value.Count - 1;
}
if ((Approaches[ChosenApproach][0] - TargetLocation.CurrentPosition).Length() > AbortDistance)
{
Message("Target location is too far from the dock!");
yield return("");
}
else
{
PreFlightPreparations();
Clamp.Unlock();
Vector3D detach = DockLocation - DockApproachVector * 2 * Me.CubeGrid.WorldVolume.Radius;
Pilot.Tasks.Clear();
var task = new UnaimedFlightStrategy(detach, Connector);
task.MaxLinearSpeed = MaxSpeed;
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
yield return(null);
}
foreach (var cam in Cameras)
{
cam.EnableRaycast = true;
}
yield return("LeaveDock");
}
}
IEnumerable <string> LaunchToGrind()
{
if (Vector3D.IsZero(GrinderApproach))
{
Message("No grinders configured!");
yield return("");
yield break;
}
if (Clamp.LockMode != LandingGearMode.Locked)
{
Message("Nothing to grind!");
yield return("");
yield break;
}
logScreen?.WriteText("", false);
Message("Grinding target...");
if (ApproachIndex < 0)
{
var minkv = Approaches.MinBy((kv) =>
{
Vector3D offset = kv.Value[0] - GrinderLocation;
double projection = offset.Dot(GrinderApproach);
if (projection < 0)
{
return(float.PositiveInfinity);
}
else
{
return((float)(GrinderApproach * projection - offset).Length());
}
});
ChosenApproach = minkv.Key;
ApproachIndex = minkv.Value.Count - 1;
}
if ((Approaches[ChosenApproach][0] - GrinderLocation).Length() > AbortDistance)
{
Message("Grinder location is too far from the dock!");
yield return("");
}
else
{
PreFlightPreparations();
Vector3D detach = DockLocation - DockApproachVector * 2 * Me.CubeGrid.WorldVolume.Radius;
Pilot.Tasks.Clear();
var task = new UnaimedFlightStrategy(detach, Connector);
task.MaxLinearSpeed = MaxSpeed;
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
yield return(null);
}
yield return("LeaveDockForGrinders");
}
}
IEnumerable <string> BackOffFromGrinders()
{
Runtime.UpdateFrequency = UpdateFrequency.Update10;
Message("Stop grinding on " + GrinderGroup);
//Clamp.Unlock();
Vector3D target = GrinderLocation + GrinderApproach * 2 * Controller.CubeGrid.WorldVolume.Radius;
var task = new UnaimedFlightStrategy(target, Controller);
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
yield return(null);
}
yield return("ReturnHome");
}
IEnumerable <string> GoToGrinderApproachVector()
{
Message("Moving to grinder approach vector.");
Vector3D offset = Clamp.GetPosition() - GrinderLocation;
Vector3D raypoint = Vector3D.ProjectOnVector(ref offset, ref GrinderApproach) + GrinderLocation;
var task = new UnaimedFlightStrategy(raypoint, Controller);
Pilot.Tasks.Add(task);
while (!Pilot.Update(Runtime.TimeSinceLastRun.TotalSeconds))
{
if (HasToAbort())
{
yield return("ReturnHome");
}
else
{
yield return(null);
}
}
yield return("MoveToGrind");
}