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Start of refactoring of node executor
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This deliberately removes the different behavior in stock where the
alignment happens as soon as the button is pressed and instead
it aligns 10 mins before the burn.

Some other slight tweaks in being more consistent with handling
the ignition time.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
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@lamont-granquist
lamont-granquist committed Oct 23, 2023
1 parent ed96b5d commit 87f6ef2
Showing 1 changed file with 66 additions and 90 deletions.
156 changes: 66 additions & 90 deletions MechJeb2/MechJebModuleNodeExecutor.cs
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Expand Up @@ -25,9 +25,9 @@ public string NextNodeBurnTime()
return "-";

double dV;
if (VesselState.isLoadedPrincipia && remainingDeltaV > 0)
if (VesselState.isLoadedPrincipia && DVLeft > 0)
{
dV = remainingDeltaV;
dV = DVLeft;
}
else
{
Expand All @@ -51,7 +51,7 @@ public string NextNodeCountdown()
bool isPrincipia = VesselState.isLoadedPrincipia;
if (isPrincipia)
{
dV = remainingDeltaV;
dV = DVLeft;
}
else
{
Expand All @@ -75,7 +75,7 @@ public void ExecuteOneNode(object controller)
Users.Add(controller);
burnTriggered = false;
alignedForBurn = false;
remainingDeltaV = 0;
DVLeft = 0;
}

public void ExecuteOnePNode(object controller) //Principia Node
Expand All @@ -85,7 +85,7 @@ public void ExecuteOneNode(object controller)
burnTriggered = false;
alignedForBurn = false;

remainingDeltaV = Vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(Orbit).magnitude;
DVLeft = Vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(Orbit).magnitude;
}

public void ExecuteAllNodes(object controller)
Expand All @@ -94,14 +94,14 @@ public void ExecuteAllNodes(object controller)
Users.Add(controller);
burnTriggered = false;
alignedForBurn = false;
remainingDeltaV = 0;
DVLeft = 0;
}

public void Abort()
{
Core.Warp.MinimumWarp();
Users.Clear();
remainingDeltaV = 0;
DVLeft = 0;
burnTriggered = false;
}

Expand All @@ -116,7 +116,7 @@ protected override void OnModuleDisabled()
Core.Attitude.attitudeDeactivate();
Core.Thrust.ThrustOff();
Core.Thrust.Users.Remove(this);
remainingDeltaV = 0;
DVLeft = 0;
}

protected enum Mode { ONE_NODE, ONE_PNODE, ALL_NODES }
Expand All @@ -125,7 +125,7 @@ protected enum Mode { ONE_NODE, ONE_PNODE, ALL_NODES }

public bool burnTriggered;
public bool alignedForBurn;
protected double remainingDeltaV; // for Principia
protected double DVLeft; // for Principia
protected bool nearingBurn;

public override void Drive(FlightCtrlState s)
Expand Down Expand Up @@ -159,7 +159,7 @@ public override void OnFixedUpdate()

if (hasPrincipia && mode == Mode.ONE_PNODE)
{
if (remainingDeltaV < tolerance)
if (DVLeft < tolerance)
{
burnTriggered = false;

Expand All @@ -184,59 +184,21 @@ public override void OnFixedUpdate()
}

double halfBurnTime, spool;
BurnTime(remainingDeltaV, out halfBurnTime, out spool);
BurnTime(DVLeft, out halfBurnTime, out spool);

double timeToNode = hasNodes ? node.UT - VesselState.time : -1;
//print("$$$$$$$ Executor: Node in " + timeToNode + ", spool " + spool.ToString("F3"));
if ((halfBurnTime > 0 && timeToNode <= spool) || timeToNode < 0)
double ignitionUT = hasNodes ? node.UT - spool - leadTime : -1;

nearingBurn = ignitionUT <= VesselState.time;

if (ignitionUT < VesselState.time)
{
burnTriggered = true;
if (!MuUtils.PhysicsRunning()) Core.Warp.MinimumWarp();
}

//autowarp, but only if we're already aligned with the node
if (autowarp && !burnTriggered)
{
if (timeToNode > 600 || (MuUtils.PhysicsRunning()
? Core.Attitude.attitudeAngleFromTarget() < 1 && Core.vessel.angularVelocity.magnitude < 0.001
: Core.Attitude.attitudeAngleFromTarget() < 10))
{
Core.Warp.WarpToUT(timeToNode + VesselState.time - spool - leadTime);
}
else
{
//realign
Core.Warp.MinimumWarp();
}
}

nearingBurn = timeToNode - spool - leadTime <= 0;

Core.Thrust.TargetThrottle = 0;
HandleAutowarp(ignitionUT);

if (burnTriggered)
{
if (alignedForBurn)
{
if (Core.Attitude.attitudeAngleFromTarget() < 90)
{
double timeConstant = remainingDeltaV > 10 || VesselState.minThrustAccel > 0.25 * VesselState.maxThrustAccel ? 0.5 : 2;
Core.Thrust.ThrustForDV(remainingDeltaV + tolerance, timeConstant);
// We'll subtract delta V later.
}
else
{
alignedForBurn = false;
}
}
else
{
if (Core.Attitude.attitudeAngleFromTarget() < 2)
{
alignedForBurn = true;
}
}
}
HandleAligning(DVLeft);

if ((burnTriggered || nearingBurn) && MuUtils.PhysicsRunning())
{
Expand All @@ -245,7 +207,7 @@ public override void OnFixedUpdate()
// We also can't just use vesselState.currentThrustAccel because only engines are counted.
// NOTE: This *will* include acceleration from decouplers, which is pretty cool.
Vector3d dV = (Vessel.acceleration_immediate - Vessel.graviticAcceleration) * TimeWarp.fixedDeltaTime;
remainingDeltaV -= Vector3d.Dot(dV, Core.Attitude.targetAttitude());
DVLeft -= Vector3d.Dot(dV, Core.Attitude.targetAttitude());
}
}
else if (hasNodes)
Expand Down Expand Up @@ -284,56 +246,70 @@ public override void OnFixedUpdate()
double halfBurnTime, spool;
BurnTime(dVLeft, out halfBurnTime, out spool);

double timeToNode = node.UT - VesselState.time;
double ignitionUT = node.UT - halfBurnTime - leadTime;

nearingBurn = ignitionUT <= VesselState.time;

//(!double.IsInfinity(num) && num > 0.0 && num2 < num) || num2 <= 0.0
if (mode == Mode.ONE_NODE || mode == Mode.ALL_NODES)
{
if (timeToNode < halfBurnTime)
if (ignitionUT < VesselState.time)
{
burnTriggered = true;
if (!MuUtils.PhysicsRunning()) Core.Warp.MinimumWarp();
}
}

//autowarp, but only if we're already aligned with the node
if (autowarp && !burnTriggered)
HandleAutowarp(ignitionUT);

HandleAligning(dVLeft);
}
}

private void HandleAutowarp(double ignitionUT)
{
double timeToBurn = ignitionUT - VesselState.time - leadTime;
//autowarp, but only if we're already aligned with the node
if (autowarp && !burnTriggered)
{
if (timeToBurn > 600 || (MuUtils.PhysicsRunning()
? Core.Attitude.attitudeAngleFromTarget() < 1 && Core.vessel.angularVelocity.magnitude < 0.001
: Core.Attitude.attitudeAngleFromTarget() < 10))
{
if ((Core.Attitude.attitudeAngleFromTarget() < 1 && Core.vessel.angularVelocity.magnitude < 0.001) ||
(Core.Attitude.attitudeAngleFromTarget() < 10 && !MuUtils.PhysicsRunning()))
{
Core.Warp.WarpToUT(node.UT - halfBurnTime - leadTime);
}
else if (!MuUtils.PhysicsRunning() && Core.Attitude.attitudeAngleFromTarget() > 10 && timeToNode < 600)
{
//realign
Core.Warp.MinimumWarp();
}
Core.Warp.WarpToUT(VesselState.time + timeToBurn);
}
else
{
//realign
Core.Warp.MinimumWarp();
}
}
}

nearingBurn = timeToNode - halfBurnTime - leadTime <= 0;

Core.Thrust.TargetThrottle = 0;
//private void HandleAligning(double timeToNode, double halfBurnTime, double dVLeft)
private void HandleAligning(double dVLeft)
{
Core.Thrust.TargetThrottle = 0;

if (burnTriggered)
if (burnTriggered)
{
if (alignedForBurn)
{
if (alignedForBurn)
if (Core.Attitude.attitudeAngleFromTarget() < 90)
{
if (Core.Attitude.attitudeAngleFromTarget() < 90)
{
double timeConstant = dVLeft > 10 || VesselState.minThrustAccel > 0.25 * VesselState.maxThrustAccel ? 0.5 : 2;
Core.Thrust.ThrustForDV(dVLeft + tolerance, timeConstant);
}
else
{
alignedForBurn = false;
}
double timeConstant = dVLeft > 10 || VesselState.minThrustAccel > 0.25 * VesselState.maxThrustAccel ? 0.5 : 2;
Core.Thrust.ThrustForDV(dVLeft + tolerance, timeConstant);
}
else
{
if (Core.Attitude.attitudeAngleFromTarget() < 2)
{
alignedForBurn = true;
}
alignedForBurn = false;
}
}
else
{
if (Core.Attitude.attitudeAngleFromTarget() < 2)
{
alignedForBurn = true;
}
}
}
Expand All @@ -344,7 +320,7 @@ private double BurnTime(double dv, out double halfBurnTime, out double spoolupTi
double dvLeft = dv;
double halfDvLeft = dv / 2;

double burnTime = 0;
double burnTime = 0;
halfBurnTime = 0;
spoolupTime = 0;

Expand Down

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