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 CollisionAvoidance(IMyShipController rc, EntityTracking_Module trackingModule, int resX, int resY)
{
this.rc = rc;
this.trackingModule = trackingModule;
localScanMap = BuildScanMap(resX, resY);
}
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 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 void Init()
{
#region fetchblocks
GridTerminalSystemUtils GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
control = GTS.GetBlockWithNameOnGrid(controllerName) as IMyShipController;
mergeBlock = GTS.GetBlockWithNameOnGrid(mergeBlockName) as IMyShipMergeBlock;
var antennas = new List <IMyRadioAntenna>();
GTS.GetBlocksOfTypeOnGrid(antennas);
#endregion
#region initModules
if (antennas.Count > 0)
{
commsHandler = new CommsHandler(this, antennas.First());
}
else
{
commsHandler = new CommsHandler(this, null);
}
var commands = new Commands(this, commsHandler);
commands.RegisterCommands();
EntityTracking_Module.refExpSettings refExp = EntityTracking_Module.refExpSettings.Sensor | EntityTracking_Module.refExpSettings.Turret;
targetTracker = new EntityTracking_Module(GTS, control, null, refExp);
targetTracker.onEntityDetected += OnTargetFound;
controlModule = new ControlModule(GTS, control);
proNav = new ProNav(controlModule, 30);
missionScheduler = new Scheduler();
payload = new Payload(GTS, backupDetonationEngageDist);
#endregion
mode = CurrentMode.Idle;
initialized = true;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
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 IEnumerator <bool> Init()
{
control = GridTerminalSystem.GetBlockWithName(controllerName) as IMyShipController;
if (control == null)
{
Echo($"no shipcontroller found with name {controllerName}!");
yield return(false);
}
List <IMyTextPanel> lcds = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(lcds, x => x.CustomName.Contains(lcdStatusTag));
statusWriter = new StatusWriter(lcds);
targetTracker = new EntityTracking_Module(GTSUtils, control, null);
foreach (var tracker in targetTracker.ObjectTrackers)
{
var turretTracker = tracker as TurretTracking;
if (turretTracker != null)
{
turretTracker.earlyReturn = true;
}
}
targetTracker.onEntityDetected += OnEntityDetected;
gridCannonTargeting = new PhysicsTargeting(control, ingameTime, maxProjectileVel);
gridCannonTargeting.onRoutineFinish += OnTargetSolvedRotor;
gridCannonTargeting.onRoutineFail += OnTargetingFailRotor;
gridCannonTargeting.onTargetTimeout += OnTargetTimeoutRotor;
missileCannonTargeting = new PhysicsTargeting(control, ingameTime, maxMissileVel);
missileCannonTargeting.onRoutineFinish += OnTargetSolvedMissile;
missileCannonTargeting.onRoutineFail += OnTargetingFailMissile;
missileCannonTargeting.onTargetTimeout += OnTargetTimeoutMissile;
missileCannonTargeting.IgnoreGravity = true;
missileCannonTargeting.ForwardAccel = maxMissileAccel;
basicTargeting = new QuarticTargeting(Vector3D.Zero, Vector3D.Zero, maxGatlingBulletVel);
switch (groupType)
{
case "BlockGroup":
List <IMyBlockGroup> groups = new List <IMyBlockGroup>();
GridTerminalSystem.GetBlockGroups(groups, x => x.Name.Contains(rotorTurretGroupTag));
foreach (var group in groups)
{
AddRotorTurret(group);
yield return(true);
}
groups.Clear();
GridTerminalSystem.GetBlockGroups(groups, x => x.Name.Contains(gatlingTurretGroupTag));
foreach (var group in groups)
{
AddGatlingTurret(group);
yield return(true);
}
groups.Clear();
GridTerminalSystem.GetBlockGroups(groups, x => x.Name.Contains(missileTurretGroupTag));
foreach (var group in groups)
{
AddMissileTurret(group);
yield return(true);
}
break;
case "NameTag":
List <IMyMotorStator> rotors = new List <IMyMotorStator>();
GridTerminalSystem.GetBlocksOfType(rotors, x => x.CustomName.Contains(rotorTurretGroupTag));
foreach (var stator in rotors)
{
AddRotorTurret(stator);
yield return(true);
}
rotors.Clear();
GridTerminalSystem.GetBlocksOfType(rotors, x => x.CustomName.Contains(gatlingTurretGroupTag));
foreach (var stator in rotors)
{
AddGatlingTurret(stator);
yield return(true);
}
rotors.Clear();
GridTerminalSystem.GetBlocksOfType(rotors, x => x.CustomName.Contains(missileTurretGroupTag));
foreach (var stator in rotors)
{
AddMissileTurret(stator);
yield return(true);
}
break;
case "Any":
List <IMyBlockGroup> groupsA = new List <IMyBlockGroup>();
GridTerminalSystem.GetBlockGroups(groupsA, x => x.Name.Contains(rotorTurretGroupTag));
foreach (var group in groupsA)
{
AddRotorTurret(group);
yield return(true);
}
groupsA.Clear();
GridTerminalSystem.GetBlockGroups(groupsA, x => x.Name.Contains(gatlingTurretGroupTag));
foreach (var group in groupsA)
{
AddGatlingTurret(group);
yield return(true);
}
groupsA.Clear();
GridTerminalSystem.GetBlockGroups(groupsA, x => x.Name.Contains(missileTurretGroupTag));
foreach (var group in groupsA)
{
AddMissileTurret(group);
yield return(true);
}
List <IMyMotorStator> rotorsA = new List <IMyMotorStator>();
GridTerminalSystem.GetBlocksOfType(rotorsA, x => x.CustomName.Contains(rotorTurretGroupTag));
foreach (var stator in rotorsA)
{
AddRotorTurret(stator);
yield return(true);
}
rotorsA.Clear();
GridTerminalSystem.GetBlocksOfType(rotorsA, x => x.CustomName.Contains(gatlingTurretGroupTag));
foreach (var stator in rotorsA)
{
AddGatlingTurret(stator);
yield return(true);
}
rotorsA.Clear();
GridTerminalSystem.GetBlocksOfType(rotorsA, x => x.CustomName.Contains(missileTurretGroupTag));
foreach (var stator in rotorsA)
{
AddMissileTurret(stator);
yield return(true);
}
break;
}
statusWriter.UpdateCannonCount(rotorTurretGroups.Count, 0, 0);
initialized = true;
}
public AutoPilot(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime time, EntityTracking_Module entityTracking)
{
autopilotModule = new Autopilot_Module(GTS, controller, time, entityTracking);
}
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 IEnumerator <bool> ProgramInit()
{
#region serializer
nameSerializer = new INISerializer("HaE MissileBase");
nameSerializer.AddValue("missileTag", x => x, "[HaE Missile]");
nameSerializer.AddValue("siloDoorTag", x => x, "[HaE SiloDoor]");
nameSerializer.AddValue("missileStatusLCDTag", x => x, "[HaE MissileStatus]");
nameSerializer.AddValue("targetingCameraName", x => x, "TargetingCamera");
nameSerializer.AddValue("controllername", x => x, "controller");
nameSerializer.AddValue("IgnoreTag", x => x, "[IgnoreTracker]");
nameSerializer.AddValue("targetingCastLength", x => double.Parse(x), 3000);
if (Me.CustomData == "")
{
string temp = Me.CustomData;
nameSerializer.FirstSerialization(ref temp);
Me.CustomData = temp;
}
else
{
nameSerializer.DeSerialize(Me.CustomData);
}
yield return(true);
#endregion
#region fetchblocks
GridTerminalSystemUtils GTS = new GridTerminalSystemUtils(Me, GridTerminalSystem);
missiles = new MissileManager(GTS, this, missileTag);
yield return(true);
var antennas = new List <IMyRadioAntenna>();
GTS.GetBlocksOfTypeOnGrid(antennas);
yield return(true);
var camera = GridTerminalSystem.GetBlockWithName(targetingCameraName) as IMyCameraBlock;
var controller = GridTerminalSystem.GetBlockWithName(controllername) as IMyShipController;
yield return(true);
#endregion
#region initModules
if (antennas.Count > 0)
{
commsHandler = new CommsHandler(this, antennas.First());
}
else
{
commsHandler = new CommsHandler(this, null);
}
var commands = new Commands(this, commsHandler);
commands.RegisterCommands();
silos = new MissileSilos(GTS, this, siloDoorTag);
yield return(true);
if (camera != null && controller != null)
{
entityTrackingModule = new EntityTracking_Module(GTS, controller, camera, IgnoreTag);
ITracking cameraTracker = null;
foreach (ITracking tracker in entityTrackingModule.ObjectTrackers)
{
var camT = tracker as LidarTracking;
if (camT != null)
{
cameraTracker = camT;
}
}
entityTrackingModule.ObjectTrackers.Clear();
entityTrackingModule.ObjectTrackers.Add(cameraTracker);
entityTrackingModule.onEntityDetected += OnEntityDetected;
}
else
{
Echo($"camera: {camera != null}\ncontroller: {controller != null}");
}
yield return(true);
var lcds = new List <IMyTextPanel>();
GridTerminalSystem.GetBlocksOfType(lcds, x => x.CustomName.Contains(missileStatusLCDTag));
statusWriter = new StatusWriter(this, lcds);
#endregion
initialized = true;
}
IEnumerator <bool> Initialize()
{
cameras = new List <IMyCameraBlock>();
GridTerminalSystem.GetBlocksOfType(cameras, x => x.CubeGrid == Me.CubeGrid);
foreach (var cam in cameras)
{
cam.EnableRaycast = true;
}
yield return(true);
gyros = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType(gyros, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
antennaComms = new ACPWrapper(this, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
thrusters = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType(thrusters, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
rc = GetBlockWithNameOnGrid(RCNAME) as IMyRemoteControl;
yield return(true);
mainCam = GetBlockWithNameOnGrid(MAINCAM) as IMyCameraBlock;
yield return(true);
var GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
ingameTime = new IngameTime();
yield return(true);
entityTracking = new EntityTracking_Module(GTSUtils, rc, mainCam);
yield return(true);
var pid = new PID_Controller.PIDSettings
{
PGain = 1
};
autopilot = new Autopilot_Module(GTSUtils, rc, ingameTime, pid, pid, entityTracking);
yield return(true);
flightControl = new FlightControl(rc, gyros, thrusters, autopilot);
yield return(true);
guidance = new TargetGuidance(rc);
yield return(true);
clientSystem = new MissileManagementClient(antennaComms, rc, Me.EntityId, missileType);
yield return(true);
turretMonitor = new TurretMonitor(this);
turretMonitor.OnTargetDetected += OnTargetDetected;
yield return(true);
proximityFuse = new ProximityFuse(rc, DETONATIONDIST, this);
proximityFuse.OnEnemyInRange += proximityFuse.Detonate;
DebugEcho("Initialized!");
}
