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Merge pull request #308 from Peppie23/rover_computer
Rover computer
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,183 @@ | ||
| using System; | ||
| using System.Text; | ||
| using UnityEngine; | ||
|
|
||
| namespace RemoteTech.FlightComputer.Commands | ||
| { | ||
| public class DriveCommand : AbstractCommand | ||
| { | ||
| public enum DriveMode | ||
| { | ||
| Off, | ||
| Turn, | ||
| Distance, | ||
| DistanceHeading, | ||
| Coord | ||
| } | ||
|
|
||
| [Persistent] public float steering; | ||
| [Persistent] public float target; | ||
| [Persistent] public float target2; | ||
| [Persistent] public float speed; | ||
| [Persistent] public DriveMode mode; | ||
|
|
||
| private bool mAbort; | ||
| private RoverComputer mRoverComputer; | ||
|
|
||
| public override void Abort() { mAbort = true; } | ||
|
|
||
| public override bool Pop(FlightComputer f) | ||
| { | ||
| mRoverComputer = f.mRoverComputer; | ||
| mRoverComputer.InitMode(this); | ||
| return true; | ||
| } | ||
|
|
||
| public override bool Execute(FlightComputer f, FlightCtrlState fcs) | ||
| { | ||
| if (mAbort) { | ||
| fcs.wheelThrottle = 0.0f; | ||
| f.Vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true); | ||
| return true; | ||
| } | ||
|
|
||
| return f.mRoverComputer.Drive(this, fcs); | ||
| } | ||
|
|
||
| public static DriveCommand Off() | ||
| { | ||
| return new DriveCommand() { | ||
| mode = DriveMode.Off, | ||
| TimeStamp = RTUtil.GameTime | ||
| }; | ||
| } | ||
|
|
||
| public static DriveCommand Turn(float steering, float degrees, float speed) | ||
| { | ||
| return new DriveCommand() { | ||
| mode = DriveMode.Turn, | ||
| steering = steering, | ||
| target = degrees, | ||
| speed = speed, | ||
| TimeStamp = RTUtil.GameTime | ||
| }; | ||
| } | ||
|
|
||
| public static DriveCommand Distance(float distance, float steerClamp, float speed) | ||
| { | ||
| return new DriveCommand() { | ||
| mode = DriveMode.Distance, | ||
| steering = steerClamp, | ||
| target = distance, | ||
| speed = speed, | ||
| TimeStamp = RTUtil.GameTime | ||
| }; | ||
| } | ||
|
|
||
| public static DriveCommand DistanceHeading(float distance, float heading, float steerClamp, float speed) | ||
| { | ||
| return new DriveCommand() { | ||
| mode = DriveMode.DistanceHeading, | ||
| steering = steerClamp, | ||
| target = distance, | ||
| target2 = heading, | ||
| speed = speed, | ||
| TimeStamp = RTUtil.GameTime | ||
| }; | ||
| } | ||
|
|
||
| public static DriveCommand Coord(float steerClamp, float latitude, float longitude, float speed) | ||
| { | ||
| return new DriveCommand() { | ||
| mode = DriveMode.Coord, | ||
| steering = steerClamp, | ||
| target = latitude, | ||
| target2 = longitude, | ||
| speed = speed, | ||
| TimeStamp = RTUtil.GameTime | ||
| }; | ||
| } | ||
|
|
||
| public override String Description | ||
| { | ||
| get | ||
| { | ||
| StringBuilder s = new StringBuilder(); | ||
| switch (mode) { | ||
| case DriveMode.Coord: | ||
| s.Append("Drive to: "); | ||
| s.Append(new Vector2(target, target2).ToString("0.000")); | ||
| s.Append(" @ "); | ||
| s.Append(RTUtil.FormatSI(Math.Abs(speed), "m/s")); | ||
| if (mRoverComputer != null) { | ||
| s.Append(" ("); | ||
| s.Append(RTUtil.FormatSI(mRoverComputer.Delta, "m")); | ||
| s.Append(" "); | ||
| s.Append(RTUtil.FormatDuration(mRoverComputer.DeltaT, false)); | ||
| s.Append(")"); ; | ||
| } | ||
| break; | ||
| case DriveMode.Distance: | ||
| s.Append("Drive: "); | ||
| s.Append(RTUtil.FormatSI(target, "m")); | ||
| if (speed > 0) | ||
| s.Append(" forwards @"); | ||
| else | ||
| s.Append(" backwards @"); | ||
| s.Append(RTUtil.FormatSI(Math.Abs(speed), "m/s")); | ||
| if (mRoverComputer != null) { | ||
| s.Append(" ("); | ||
| s.Append(RTUtil.FormatSI(mRoverComputer.Delta, "m")); | ||
| s.Append(" "); | ||
| s.Append(RTUtil.FormatDuration(mRoverComputer.DeltaT, false)); | ||
| s.Append(")"); ; | ||
| } | ||
| break; | ||
| case DriveMode.Turn: | ||
| s.Append("Turn: "); | ||
| s.Append(target.ToString("0.0")); | ||
| if (steering < 0) | ||
| s.Append("° right @"); | ||
| else | ||
| s.Append("° left @"); | ||
| s.Append(Math.Abs(steering).ToString("P")); | ||
| s.Append(" Steering"); | ||
| if (mRoverComputer != null) { | ||
| s.Append(" ("); | ||
| s.Append(mRoverComputer.Delta.ToString("F2")); | ||
| s.Append("° "); | ||
| s.Append(RTUtil.FormatDuration(mRoverComputer.DeltaT, false)); | ||
| s.Append(")"); ; | ||
| } | ||
| break; | ||
| case DriveMode.DistanceHeading: | ||
| s.Append("Drive: "); | ||
| s.Append(RTUtil.FormatSI(target, "m")); | ||
| s.Append(", Hdg: "); | ||
| s.Append(target2.ToString("0")); | ||
| s.Append("° @ "); | ||
| s.Append(RTUtil.FormatSI(Math.Abs(speed), "m/s")); | ||
| if (mRoverComputer != null) { | ||
| s.Append(" ("); | ||
| s.Append(RTUtil.FormatSI(mRoverComputer.Delta, "m")); | ||
| s.Append(" "); | ||
| s.Append(RTUtil.FormatDuration(mRoverComputer.DeltaT, false)); | ||
| s.Append(")"); | ||
| } | ||
| break; | ||
| case DriveMode.Off: | ||
| s.Append("Turn rover computer off"); | ||
| break; | ||
| } | ||
|
|
||
| return s.ToString() + Environment.NewLine + base.Description; | ||
| } | ||
| } | ||
|
|
||
| public override string ShortName | ||
| { | ||
| get { return "Drive"; } | ||
| } | ||
|
|
||
| } | ||
| } |
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