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Greg Burri 2023-09-08 23:45:14 +02:00
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AutoPilot/Program.cs Normal file
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/*
* API index: https://github.com/malware-dev/MDK-SE/wiki/Api-Index
* Vector transformation: https://github.com/malware-dev/MDK-SE/wiki/Vector-Transformations-with-World-Matrices
* How to get rotation/position: https://forum.keenswh.com/threads/how-do-i-get-the-world-position-and-rotation-of-a-ship.7363867/
*
*/
using Sandbox.Game.EntityComponents;
using Sandbox.ModAPI.Ingame;
using Sandbox.ModAPI.Interfaces;
using SpaceEngineers.Game.ModAPI.Ingame;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Collections.Immutable;
using System.Linq;
using System.Text;
using VRage;
using VRage.Collections;
using VRage.Game;
using VRage.Game.Components;
using VRage.Game.GUI.TextPanel;
using VRage.Game.ModAPI.Ingame;
using VRage.Game.ModAPI.Ingame.Utilities;
using VRage.Game.ObjectBuilders.Definitions;
using VRageMath;
using VRageMath.Spatial;
namespace IngameScript
{
partial class Program : MyGridProgram
{
const int CONSOLE_NB_LINES = 9;
const float MAX_SPEED = 0.15f; // In rad per second.
const int NB_OF_GYRO = 1000; // To limit the number of gyros set to overdrive.
enum State
{
NORMAL, // Normal state: Manual commands.
AUTO_STABILIZATION,
AUTO_DOCKING,
}
State state = State.NORMAL;
readonly Output output;
IMyRemoteControl remoteController;
IMyCubeGrid grid;
readonly List<IMyGyro> gyros = new List<IMyGyro>();
IMyBroadcastListener connnectorMinerPositionListener;
MatrixD connectorMinerPosition;
public Program()
{
this.grid = this.Me.CubeGrid;
var cockpits = new List<IMyCockpit>();
this.GridTerminalSystem.GetBlocksOfType(cockpits);
IMyCockpit cockpit = null;
foreach (var c in cockpits)
{
if (c.CubeGrid == this.grid)
{
cockpit = c;
break;
}
}
if (cockpit == null)
{
this.Echo("Can't find a cockpit");
return;
}
this.output = new Output(cockpit, CONSOLE_NB_LINES);
this.output.Print("Intializing navigation control...");
var remoteControls = new List<IMyRemoteControl>();
this.GridTerminalSystem.GetBlocksOfType(remoteControls);
foreach (var rc in remoteControls)
{
if (rc.CubeGrid == this.grid)
{
this.remoteController = rc;
break;
}
}
this.GridTerminalSystem.GetBlocksOfType(
this.gyros,
(IMyGyro gyro) => gyro.CubeGrid == this.grid
);
if (this.remoteController == null)
{
this.output.Print("Can't find a remote controller");
return;
}
this.connnectorMinerPositionListener = this.IGC.RegisterBroadcastListener("POSITION_CONNECTOR_MINER");
/*
var sensor = this.GridTerminalSystem.GetBlockWithName("Sensor") as IMySensorBlock;
var entities = new List<MyDetectedEntityInfo>();
sensor.DetectedEntities(entities);
foreach (var entity in entities)
{
entity.
this.output.Print(entity.Name);
}*/
this.Runtime.UpdateFrequency = UpdateFrequency.Update10;
this.output.Print("Navigation control initializing complete");
}
public void Save()
{
}
void UpdateStateAutoStabilization()
{
//var pos = this.remoteController.Position;
var gravity = this.remoteController.GetNaturalGravity().Normalized();
if (!Vector3D.IsZero(gravity))
{
var worldMatrix = this.remoteController.WorldMatrix;
var up = worldMatrix.Up;
var forward = worldMatrix.Forward;
var left = worldMatrix.Left;
//this.Print(gravity.ToString());
//gravity.ToString();
this.output.Display(
$"Gravity: {gravity.ToString("f2")}\n" +
$"Up: {up.ToString("f2")}\n" +
$"Foward: {forward.ToString("f2")}\n" +
$"Left: {left.ToString("f2")}\n",
1
);
var alpha = (float)Math.Asin(up.Dot(gravity));
var beta = (float)Math.Asin(left.Dot(gravity));
this.output.Display(
$"Alpha: {alpha}\n" +
$"Beta: {beta}\n" +
$"Is under control: {this.remoteController.IsUnderControl}",
2
);
for (int i = 0; i < NB_OF_GYRO && i < this.gyros.Count; i++)
{
var gyro = this.gyros[i];
gyro.Pitch = MathHelper.Clamp(-alpha, -MAX_SPEED, MAX_SPEED);
gyro.Roll = MathHelper.Clamp(beta, -MAX_SPEED, MAX_SPEED);
}
}
}
void UpdateStateAutoDocking()
{
if (this.connnectorMinerPositionListener.HasPendingMessage)
this.connectorMinerPosition = this.connnectorMinerPositionListener.AcceptMessage().As<MatrixD>();
if (this.connectorMinerPosition.IsValid())
{
this.output.Display($"Connector position:\n{this.connectorMinerPosition}", 3);
}
else
{
this.output.Display($"NOPE", 3);
}
}
void UpdateState()
{
switch (this.state)
{
case State.AUTO_STABILIZATION:
this.UpdateStateAutoStabilization();
break;
case State.AUTO_DOCKING:
this.UpdateStateAutoDocking();
break;
case State.NORMAL:
break; // Nothing.
}
}
void UpdateStateMachine(State newState)
{
if (this.state == newState)
return;
if (newState == State.NORMAL)
{
switch (this.state)
{
case State.AUTO_STABILIZATION:
foreach (var gyro in this.gyros)
gyro.GyroOverride = false;
this.state = State.NORMAL;
this.output.Print("Auto stabilization disabled");
break;
case State.AUTO_DOCKING:
this.state = State.NORMAL;
this.output.Print("Auto docking disabled");
break;
case State.NORMAL:
break; // Nothing.
}
}
else
{
this.UpdateStateMachine(State.NORMAL);
switch (newState)
{
case State.AUTO_STABILIZATION:
for (int i = 0; i < NB_OF_GYRO && i < this.gyros.Count; i++)
{
var gyro = this.gyros[i];
gyro.GyroOverride = true;
gyro.Yaw = 0f;
gyro.Pitch = 0f;
gyro.Roll = 0f;
}
this.state = State.AUTO_STABILIZATION;
this.output.Print("Auto stabilization enabled");
break;
case State.AUTO_DOCKING:
this.state = State.AUTO_DOCKING;
this.output.Print("Auto docking enabled");
break;
case State.NORMAL:
break; // Nothing.
}
}
}
public void Main(string argument, UpdateType updateSource)
{
if ((updateSource & UpdateType.Update10) != 0)
{
this.UpdateState();
}
else if ((updateSource & (UpdateType.Terminal | UpdateType.Trigger)) != 0)
{
switch (argument)
{
case "SWITCH_AUTO_STABILIZATION":
if (this.state != State.AUTO_STABILIZATION)
this.UpdateStateMachine(State.AUTO_STABILIZATION);
else
this.UpdateStateMachine(State.NORMAL);
break;
case "SWITCH_AUTO_DOCKING":
if (this.state != State.AUTO_DOCKING)
this.UpdateStateMachine(State.AUTO_DOCKING);
else
this.UpdateStateMachine(State.NORMAL);
break;
default:
this.output.Print($"Uknown command: {argument}");
break;
}
}
}
}
}