/// <summary>Flight Computer constructor.</summary>
/// <param name="s">A signal processor (most probably a <see cref="ModuleSPU"/> instance.)</param>
public FlightComputer(ISignalProcessor s)
{
SignalProcessor = s;
Vessel = s.Vessel;
SanctionedPilots = new List<Action<FlightCtrlState>>();
pid = new PIDControllerV3(Vector3d.zero, Vector3d.zero, Vector3d.zero, 1, -1);
setPIDParameters();
lastAct = Vector3d.zero;
LastTarget = TargetCommand.WithTarget(null);
var attitude = AttitudeCommand.Off();
_activeCommands[attitude.Priority] = attitude;
GameEvents.onVesselChange.Add(OnVesselChange);
GameEvents.onVesselSwitching.Add(OnVesselSwitching);
GameEvents.onGameSceneSwitchRequested.Add(OnSceneSwitchRequested);
RoverComputer = new RoverComputer();
RoverComputer.SetVessel(Vessel);
}
public FlightComputer(ISignalProcessor s)
{
SignalProcessor = s;
Vessel = s.Vessel;
SanctionedPilots = new List<Action<FlightCtrlState>>();
pid = new PIDControllerV2(0, 0, 0, 1, -1);
initPIDParameters();
lastAct = Vector3d.zero;
lastTarget = TargetCommand.WithTarget(null);
var attitude = AttitudeCommand.Off();
mActiveCommands[attitude.Priority] = attitude;
GameEvents.onVesselChange.Add(OnVesselChange);
mRoverComputer = new RoverComputer();
mRoverComputer.SetVessel(Vessel);
}
private void UpdateLastTarget()
{
int lastTargetIndex = mCommandQueue.FindLastIndex(c => (c is TargetCommand));
if (lastTargetIndex >= 0)
{
lastTarget = mCommandQueue[lastTargetIndex] as TargetCommand;
}
else if (mActiveCommands.ContainsKey(lastTarget.Priority) &&
mActiveCommands[lastTarget.Priority] is TargetCommand)
{
lastTarget = mActiveCommands[lastTarget.Priority] as TargetCommand;
}
else
{
lastTarget = TargetCommand.WithTarget(null);
}
}
public void OnFixedUpdate()
{
if (Vessel == null)
{
Vessel = SignalProcessor.Vessel;
mRoverComputer.SetVessel(Vessel);
}
// only handle onFixedUpdate if the ship is unpacked
if (Vessel.packed)
return;
// Do we have a config?
if (fcLoadedConfigs != null)
{
// than load
load(fcLoadedConfigs);
fcLoadedConfigs = null;
}
// Re-attach periodically
Vessel.OnFlyByWire -= OnFlyByWirePre;
Vessel.OnFlyByWire -= OnFlyByWirePost;
if (Vessel != SignalProcessor.Vessel)
{
SanctionedPilots.Clear();
Vessel = SignalProcessor.Vessel;
mRoverComputer.SetVessel(Vessel);
}
Vessel.OnFlyByWire = OnFlyByWirePre + Vessel.OnFlyByWire + OnFlyByWirePost;
// Update proportional controller for changes in ship state
updatePIDParameters();
// Send updates for Target
if (FlightGlobals.fetch.VesselTarget != DelayedTarget && (mCommandQueue.FindLastIndex(c => (lastTarget = c as TargetCommand) != null)) == -1)
{
Enqueue(TargetCommand.WithTarget(FlightGlobals.fetch.VesselTarget));
}
}
/// <summary>
/// Load and creates a command after saving a command. Returns null if no object
/// has been loaded.
/// </summary>
/// <param name="n">Node with the command infos</param>
/// <param name="fc">Current flightcomputer</param>
public static ICommand LoadCommand(ConfigNode n, FlightComputer fc)
{
ICommand command = null;
// switch the different commands
switch (n.name)
{
case "AttitudeCommand": { command = new AttitudeCommand(); break; }
case "ActionGroupCommand": { command = new ActionGroupCommand(); break; }
case "BurnCommand": { command = new BurnCommand(); break; }
case "ManeuverCommand": { command = new ManeuverCommand(); break; }
case "CancelCommand": { command = new CancelCommand(); break; }
case "TargetCommand": { command = new TargetCommand(); break; }
case "EventCommand": { command = new EventCommand(); break; }
case "DriveCommand": { command = new DriveCommand(); break; }
case "ExternalAPICommand": { command = new ExternalAPICommand(); break; }
}
if (command != null)
{
ConfigNode.LoadObjectFromConfig(command, n);
// additional loadings
var result = command.Load(n, fc);
RTLog.Verbose("Loading command {0}({1})={2}", RTLogLevel.LVL1, n.name, command.CmdGuid, result);
// delete command if we can't load the command correctlys
if (result == false)
command = null;
}
return command;
}