public Vector3D getDockingPosition(int step, DockingProcedure procedure) {
if (Communication.masterDrone != null && Communication.masterDrone.connectorAnchorTopPosition.X != null) {
Vector3D targetPos = this.getMasterPosition(step * 50);
return targetPos;
}
return new Vector3D(0,0,0);
}
public void handleHaltDocking(List <CommunicationDataStructureValue> responseData)
{
int id = 0;
int dockingWithId = 0;
string reason = "unknown-connection";
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "reason")
{
reason = data.getValue();
}
else if (data.getName() == "dockingWithId")
{
dockingWithId = int.Parse(data.getValue());
}
}
if (id != 0 && id == Communication.currentNode.id)
{
Display.printDebug("[Incoming] Halt docking reason " + reason);
DockingProcedure procedure = Docking.getDroneDockingProcedure(dockingWithId);
if (procedure != null)
{
procedure.haltDocking(reason, false);
}
Communication.currentNode.navHandle.activeDockingProcedure = null;
}
}
public void handleDockingRequest(string data)
{
if (Communication.currentNode.type != "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 2)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int slaveId = int.Parse(dataSplitted[1]);
int nodeIndex = this.getNodeIndexById(slaveId);
if (nodeIndex == -1)
{
Communication.connectedNodes.Add(slaveId);
Drone node = new Drone(slaveId);
node.initNavigation(this.myGrid);
Communication.connectedNodesData.Add(node);
nodeIndex = this.getNodeIndexById(slaveId);
}
AnchoredConnector available = AnchoredConnector.getAvailableAnchoredConnector();
if (available == null)
{
Display.print("Docking request denied (Connectors full).");
}
else
{
if (Docking.dockingWithDrone(slaveId))
{
Display.print("Already accepted, continue on docking.");
this.sendDockingAccepted(slaveId);
this.sendConnectorData(slaveId);
}
else
{
Display.print("Assigning a proper connector.");
DockingProcedure dock = new DockingProcedure(slaveId);
dock.setNavHandle(Communication.currentNode.navHandle);
dock.myConnector = available;
dock.initDocking();
Docking.activeDockingProcedures.Add(dock);
this.sendDockingAccepted(slaveId);
this.sendConnectorData(slaveId);
}
}
}
else
{
Display.print("[ERROR] Docking request invalid. (" + data + ")");
}
}
public void handleDockedStep(DockingProcedure procedure) {
this.navHandle.gyroHandle.disableOverride();
this.navHandle.thrusterStatus(false);
Communication.currentNode.status = "docked";
if (Communication.getTimestamp() - procedure.connectionStart > 10) {
if (Communication.currentNode.battery > 25) { // Do not disengage if battery too low.
if (Communication.currentNode.playerCommand != "recall") {
procedure.haltDocking("docking-timeout");
this.navHandle.thrusterStatus(true);
} else {
this.navHandle.thrusterStatus(false);
}
}
}
}
public void handleStepTwo(DockingProcedure procedure) {
this.navHandle.thrusterStatus(true);
Communication.currentNode.status = "docking-step-2";
Vector3D targetPos = this.getDockingPosition(5, procedure);
double distance = this.getDistanceFrom(this.navHandle.getShipPosition(), targetPos);
if (distance < 3) {
Display.printDebug("Next docking step.");
procedure.dockingStep--;
} else {
this.navHandle.move(targetPos, "docking-step-2");
if (distance > 100 && Core.generateRandomId() < 7000) {
this.navHandle.setCollisionStatus(false);
} else {
this.navHandle.setCollisionStatus(true);
}
this.navHandle.gyroHandle.disableOverride();
}
}
public void handleDockingStep(List <CommunicationDataStructureValue> responseData)
{
if (Communication.currentNode.type != "mothership")
{
return;
}
int id = 0, slaveId = 0, step = 0, connectorId = 0;
foreach (CommunicationDataStructureValue data in responseData)
{
if (data.getName() == "id")
{
id = int.Parse(data.getValue());
}
else if (data.getName() == "slaveId")
{
slaveId = int.Parse(data.getValue());
}
else if (data.getName() == "step")
{
step = int.Parse(data.getValue());
}
else if (data.getName() == "connectorId")
{
connectorId = int.Parse(data.getValue());
}
}
if (id == Communication.currentNode.id)
{
if (slaveId != 0 && !Docking.dockingWithDrone(slaveId))
{
this.sendStopDocking("out-of-order", slaveId);
}
else
{
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure == null || procedure.myConnector.connectorId != connectorId)
{
this.sendStopDocking("out-of-order", slaveId);
}
}
}
}
public void handleStepOne(DockingProcedure procedure) {
this.navHandle.thrusterStatus(true);
this.navHandle.setAutopilotStatus(true);
Vector3D targetPos = this.getDockingPosition(1, procedure);
Communication.currentNode.status = "docking-step-1";
double distance = this.getDistanceFrom(this.navHandle.getShipPosition(), targetPos);
if (distance < 3) {
Display.printDebug("Next docking step.");
procedure.dockingStep--;
} else {
this.navHandle.move(targetPos, "docking-step-1");
if (Core.generateRandomPercent(95)) {
this.navHandle.setCollisionStatus(false);
} else {
this.navHandle.setCollisionStatus(true);
}
this.navHandle.gyroHandle.disableOverride();
}
}
public void handleStepQueueing(DockingProcedure procedure) {
this.navHandle.thrusterStatus(true);
this.navHandle.gyroHandle.disableOverride();
if (this.navHandle.commHandle != null) {
Communication.currentNode.status = "waiting-dock-permissions";
this.navHandle.commHandle.sendDockingRequest();
if (Communication.masterDrone.masterConnectorId == null) {
Vector3D queuePos = this.getQueuePosition();
if (queuePos.X != 0) {
double distance = this.getDistanceFrom(this.navHandle.getShipPosition(), queuePos);
if (distance > 100) {
this.navHandle.move(queuePos, "going-to-queue");
this.navHandle.setCollisionStatus(true);
this.navHandle.setAutopilotStatus(true);
}
}
Communication.currentNode.status = "waiting-for-connector";
return;
} else {
Vector3D queuePos = this.getQueuePosition();
double distance = this.getDistanceFrom(this.navHandle.getShipPosition(), queuePos);
if (queuePos.X != 0 && distance > 50) {
Communication.currentNode.status = "navigating-to-queue";
this.navHandle.move(queuePos, "going-to-queue");
this.navHandle.setCollisionStatus(true);
this.navHandle.setAutopilotStatus(true);
} else {
if (procedure != null) {
Communication.currentNode.status = "waiting-in-queue";
this.navHandle.commHandle.sendDockingStep(procedure.dockingStep + 1);
this.navHandle.setCollisionStatus(false);
this.navHandle.setAutopilotStatus(false);
}
}
}
} else {
Communication.currentNode.status = "failed-communication";
Display.print("[Error] Communication module failure.");
}
}
public void sendConnectorData(int slaveId)
{
Display.printDebug("Sending connector info.");
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure != null)
{
AnchoredConnector connector = procedure.myConnector;
if (connector != null && connector.isAnchored)
{
procedure.lastConnectorPing = Communication.getTimestamp();
Vector3D pos;
this.dataStructure.newPackage();
this.dataStructure.addRawData("drone-connector-data");
this.dataStructure.addData("id", Communication.currentNode.id.ToString());
this.dataStructure.addData("slaveId", slaveId.ToString());
this.dataStructure.addData("masterConnectorId", connector.connectorId.ToString());
pos = connector.anchorTop.block.GetPosition();
this.dataStructure.addData("connectorAnchorTopX", pos.X.ToString());
this.dataStructure.addData("connectorAnchorTopY", pos.Y.ToString());
this.dataStructure.addData("connectorAnchorTopZ", pos.Z.ToString());
pos = connector.anchorBottom.block.GetPosition();
this.dataStructure.addData("connectorAnchorBottomX", pos.X.ToString());
this.dataStructure.addData("connectorAnchorBottomY", pos.Y.ToString());
this.dataStructure.addData("connectorAnchorBottomZ", pos.Z.ToString());
this.broadcastMessage(this.dataStructure.generateOutput());
procedure.approveDocking();
}
else
{
Display.printDebug("[Error] No working connectors found. (Connectors: " + AnchoredConnector.anchoredConnectors.Count + ")");
}
}
else
{
Display.printDebug("[Error] No docking procedure found.");
}
}
public void handleFinalStep(DockingProcedure procedure) {
Communication.currentNode.status = "docking-step-final";
this.navHandle.setAutopilotStatus(false);
if (procedure.connectionStart > 0) {
this.handleDockedStep(procedure);
} else {
AnchoredConnector connector = procedure.myConnector;
if (connector != null) {
if (connector.block.Status != MyShipConnectorStatus.Connected) {
if (connector.block.Status == MyShipConnectorStatus.Connectable) {
this.navHandle.gyroHandle.disableOverride();
connector.block.Connect();
this.navHandle.thrusterStatus(false);
} else {
Vector3D targetPos = this.getDockingPosition(1, procedure);
double distance = this.getDistanceFrom(this.navHandle.getShipPosition(), targetPos);
if (distance > 3) {
this.navHandle.setAutopilotStatus(true);
this.navHandle.move(targetPos, "docking-realign");
this.navHandle.setCollisionStatus(false);
} else {
this.navHandle.setAutopilotStatus(false);
AnchoredConnector.setConnectorState(connector.connectorId, true);
this.navHandle.commHandle.sendDockingLockRequest(1);
this.navHandle.gyroHandle.rotateShip(2); // Rotate near connector.
}
}
} else {
this.navHandle.thrusterStatus(false);
procedure.connectionStart = Communication.getTimestamp();
Communication.currentNode.status = "docking-step-connected";
}
} else {
Display.printDebug("No connectors found, total connectors: " + AnchoredConnector.anchoredConnectors.Count);
Communication.currentNode.status = "error-connector-not-found";
}
}
}
public void handleDockingAccepted(string data)
{
if (Communication.currentNode.type == "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 2)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int masterId = int.Parse(dataSplitted[1]);
int nodeIndex = this.getNodeIndexById(masterId);
if (nodeIndex == -1)
{
Communication.connectedNodes.Add(masterId);
Drone node = new Drone(masterId);
node.initNavigation(this.myGrid);
Communication.connectedNodesData.Add(node);
nodeIndex = this.getNodeIndexById(masterId);
}
if (Docking.dockingWithDrone(masterId))
{
DockingProcedure procedure = Docking.getDroneDockingProcedure(masterId);
procedure.haltDocking("docking-already-in-progress");
}
DockingProcedure dock = new DockingProcedure(masterId);
dock.initDocking();
dock.approveDocking();
dock.setNavHandle(Communication.currentNode.navHandle);
Docking.activeDockingProcedures.Add(dock);
Communication.currentNode.navHandle.activeDockingProcedure = dock;
}
}
public static string generateDockingMessage(string msg)
{
string message = "";
message += "=== Docking info ===\n";
message += "Player command: " + Communication.currentNode.playerCommand + "\n";
message += "Anchored connectors: " + AnchoredConnector.anchoredConnectors.Count + "\n";
foreach (AnchoredConnector connector in AnchoredConnector.anchoredConnectors)
{
message += "--> Connector \t";
if (connector.connectorId != null)
{
message += "-> ID: " + connector.connectorId + "\t";
}
if (connector.inUse == true)
{
message += "-> Docking in progress\t";
}
message += "\n";
}
if (Docking.activeDockingProcedures.Count > 0)
{
message += "=== Docking Procedures ===\n";
for (int i = 0; i < Docking.activeDockingProcedures.Count; i++)
{
DockingProcedure procedure = Docking.activeDockingProcedures[i];
if (procedure.myConnector != null)
{
message += " -> DroneID: " + procedure.dockingWithDrone + ", ConnectorID: " + procedure.myConnector.connectorId + "\n";
}
}
}
message += "------------------\n";
message += msg + "\n";
return(message);
}
public void handleDockLockRequest(string data)
{
if (Communication.currentNode.type != "mothership")
{
return; // Motherships handle docking requests
}
string[] dataSplitted = data.Split('_');
if (dataSplitted.Count() == 3)
{
int id = int.Parse(dataSplitted[0]);
if (Communication.currentNode.id != id)
{
return; // If not my id
}
int status = int.Parse(dataSplitted[1]);
int slaveId = int.Parse(dataSplitted[2]);
DockingProcedure procedure = Docking.getDroneDockingProcedure(slaveId);
if (procedure != null)
{
if (procedure.myConnector != null)
{
if (procedure.myConnector.piston != null)
{
Display.printDebug("[INFO] Changing piston state to " + (bool)(status == 1) + ", ConnectorID: " + procedure.myConnector.connectorId + ".");
procedure.myConnector.piston.setPistonState((bool)(status == 1));
}
Display.printDebug("[INFO] Changing connector state to " + (bool)(status == 1) + ", ConnectorID: " + procedure.myConnector.connectorId + ".");
AnchoredConnector.setConnectorState(procedure.myConnector.connectorId, (bool)(status == 1));
}
}
else
{
Display.printDebug("[WARN] Docking procedure not found.");
}
}
}
public void initDockingWith(int id) {
DockingProcedure proc = new DockingProcedure(id);
proc.setNavHandle(this.navHandle);
proc.initDocking();
}
