public void Reset(WaypointTask holdTask, WaypointTask approachTask, WaypointTask enterTask, WaypointTask closeTask, DockTask dockTask, MyTuple <IntelItemType, long> intelKey, MyGridProgram program, MyCubeSize dockSize, IMyTerminalBlock connector, IMyTerminalBlock indicator = null)
{
Reset();
if (indicator != null)
{
Indicator = indicator;
Connector = connector;
}
EnterHoldingPattern = holdTask;
WaitForClearance = new WaitTask();
ApproachEntrance = approachTask;
ApproachDock = enterTask;
FinalAdjustToDock = closeTask;
DockTask = dockTask;
IntelKey = intelKey;
DockSize = dockSize;
Program = program;
closeTask.Destination.MaxSpeed = 0.5f;
enterTask.Destination.MaxSpeed = 5;
TaskQueue.Enqueue(EnterHoldingPattern);
TaskQueue.Enqueue(WaitForClearance);
TaskQueue.Enqueue(ApproachEntrance);
TaskQueue.Enqueue(ApproachDock);
TaskQueue.Enqueue(FinalAdjustToDock);
TaskQueue.Enqueue(DockTask);
}
public DockTaskGenerator(MyGridProgram program, IAutopilot autopilot, IDockingSubsystem ds)
{
Program = program;
Autopilot = autopilot;
DockingSubsystem = ds;
holdTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.Avoid, DockingSubsystem.Connector);
approachTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.SmartEnter, DockingSubsystem.Connector);
enterTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid, DockingSubsystem.Connector);
closeTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid, DockingSubsystem.Connector);
dockTask = new DockTask(DockingSubsystem);
Task = new MoveToAndDockTask();
Task.Reset(holdTask, approachTask, enterTask, closeTask, dockTask, MyTuple.Create(IntelItemType.NONE, (long)1234), Program, MyCubeSize.Small, DockingSubsystem.Connector, DockingSubsystem.DirectionIndicator);
Task.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.FromSeconds(1), null);
dockTask.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
holdTask.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
new WaitTask().Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
}