Moving the mission and mission control in their own file. Adapting the rescue mission for the new shuttle
This commit is contained in:
189
main.py
189
main.py
@@ -1,195 +1,12 @@
|
||||
import sys
|
||||
import signal
|
||||
from enum import Enum
|
||||
|
||||
from mission_control import ShuttleKerbin, ComsatKerbin
|
||||
from mission import RescueMission, ComSatNetworkMission
|
||||
|
||||
from maneuver_scheduler import ManeuverScheduler
|
||||
|
||||
from maneuvers.rendezvous import RendezvousManeuver
|
||||
from maneuvers.approach import ApproachManeuver
|
||||
from maneuvers.docking import DockingManeuver
|
||||
from maneuvers.comsat import ComsatManeuver
|
||||
|
||||
from connector import get_connexion
|
||||
from lib import get_contract, get_vessel, get_rescuee_vessel, get_body
|
||||
|
||||
|
||||
class MissionType(Enum):
|
||||
transport = 1
|
||||
rescue = 2
|
||||
comsat = 3
|
||||
|
||||
|
||||
class MissionStatus(Enum):
|
||||
Backlog = 1
|
||||
Assigned = 2
|
||||
InProgress = 3
|
||||
Done = 4
|
||||
|
||||
|
||||
class MissionReport:
|
||||
mission_status = None
|
||||
new_vessel_id = None
|
||||
new_missions = []
|
||||
|
||||
def __int__(self):
|
||||
pass
|
||||
|
||||
|
||||
class Mission:
|
||||
pass
|
||||
|
||||
|
||||
class TransportMission(Mission):
|
||||
type = MissionType.transport
|
||||
|
||||
def __init__(self, kerbal_name, destination):
|
||||
self.kerbal_name = kerbal_name
|
||||
self.destination = destination
|
||||
|
||||
|
||||
class RescueMission(Mission):
|
||||
type = MissionType.rescue
|
||||
|
||||
def __init__(self, contract_title):
|
||||
self.contract_title = contract_title
|
||||
self.contract = get_contract(contract_title)
|
||||
rescuee_first_name = contract_title.split()[1]
|
||||
self.rescuee_vessel = get_rescuee_vessel(rescuee_first_name)
|
||||
self.rescuee_vessel_name = self.rescuee_vessel.name
|
||||
self.rescuee_name = self.rescuee_vessel.crew[0].name
|
||||
|
||||
def execute(self, mission_control):
|
||||
conn = get_connexion()
|
||||
sc = conn.space_center
|
||||
|
||||
if sc.active_vessel.name != mission_control.vessel.name:
|
||||
sc.active_vessel = mission_control.vessel
|
||||
|
||||
if sc.target_vessel is None or sc.target_vessel.name != self.rescuee_vessel.name:
|
||||
sc.target_vessel = self.rescuee_vessel
|
||||
|
||||
rendezvous_done = RendezvousManeuver(conn, mission_control).execute()
|
||||
if rendezvous_done:
|
||||
reference_frame = sc.ReferenceFrame.create_relative(
|
||||
self.rescuee_vessel.reference_frame,
|
||||
rotation=(1., 0., 0., 0.)
|
||||
)
|
||||
sc.active_vessel.parts.controlling = mission_control.get_grappling()
|
||||
approach_done = ApproachManeuver(conn, mission_control, reference_frame).start()
|
||||
if approach_done:
|
||||
mission_control.toggle_grappling(True)
|
||||
docking_done = DockingManeuver(conn,
|
||||
mission_control,
|
||||
mission_control.get_grappling(),
|
||||
reference_frame).start()
|
||||
# Find new creat member name
|
||||
# sc.transfer_crew(self.rescuee_name, target_part)
|
||||
# Release Grapple
|
||||
# Destroy Capsule
|
||||
report = MissionReport()
|
||||
report.mission_status = MissionStatus.Done
|
||||
report.new_missions.append(
|
||||
TransportMission(self.rescuee_name, 'kerbin_orbit')
|
||||
)
|
||||
|
||||
return report
|
||||
|
||||
|
||||
class ComSatNetworkMission:
|
||||
type = MissionType.comsat
|
||||
|
||||
def __init__(self, body_name):
|
||||
self.body = get_body(body_name)
|
||||
|
||||
def execute(self, mission_control):
|
||||
conn = get_connexion()
|
||||
sc = conn.space_center
|
||||
|
||||
if sc.active_vessel.name != mission_control.vessel.name:
|
||||
sc.active_vessel = mission_control.vessel
|
||||
|
||||
mission_control.toggle_engines(True)
|
||||
|
||||
comsat_done = ComsatManeuver(conn, mission_control, self.body).execute()
|
||||
if comsat_done:
|
||||
report = MissionReport()
|
||||
report.mission_status = MissionStatus.Done
|
||||
|
||||
return report
|
||||
|
||||
|
||||
class MissionControl:
|
||||
mission_types = []
|
||||
|
||||
def __init__(self):
|
||||
self.current_mission = None
|
||||
|
||||
def pick_missions(self, backlog):
|
||||
current_body_name = self.vessel.orbit.body.name
|
||||
for i, mission in enumerate(backlog.missions[current_body_name]):
|
||||
if mission.type in self.mission_types:
|
||||
if self.current_mission is None:
|
||||
self.plan_mission(mission)
|
||||
else:
|
||||
self.current_orbit_missions.append(mission)
|
||||
del (backlog.missions[current_body_name][i])
|
||||
|
||||
def plan_mission(self, mission):
|
||||
self.current_mission = mission
|
||||
planning_duration = 60
|
||||
ut = ManeuverScheduler.next_free_timeslot(
|
||||
from_ut=get_connexion().space_center.ut + planning_duration,
|
||||
duration=planning_duration)
|
||||
ManeuverScheduler.book_timeslot(ut, self.vessel, duration=planning_duration)
|
||||
|
||||
def execute_mission(self, alarm):
|
||||
if self.current_mission is None:
|
||||
if self.current_orbit_missions:
|
||||
self.current_mission = self.current_orbit_missions.pop(0)
|
||||
else:
|
||||
return
|
||||
report = self.current_mission.execute(self)
|
||||
if report and report.mission_status == MissionStatus.Done:
|
||||
self.current_mission = None
|
||||
|
||||
|
||||
class ShuttleKerbin(MissionControl):
|
||||
mission_types = [MissionType.rescue, MissionType.transport]
|
||||
PISTON_MAX_EXTENSION = 2.4
|
||||
|
||||
def __init__(self, vessel_name):
|
||||
super().__init__()
|
||||
self.vessel_name = vessel_name
|
||||
self.vessel = get_vessel(vessel_name)
|
||||
for e in self.vessel.parts.engines:
|
||||
e.active = True
|
||||
|
||||
self.current_orbit_missions = []
|
||||
|
||||
def toggle_grappling(self, value=True):
|
||||
piston = self.vessel.parts.robotic_pistons[0]
|
||||
piston.target_extension = self.PISTON_MAX_EXTENSION if value else 0
|
||||
|
||||
arm = piston.part.children[0]
|
||||
if arm.modules[1].has_event('Arm') and not value \
|
||||
or arm.modules[1].has_event('Disarm') and value:
|
||||
arm.modules[1].set_action_by_id('ToggleAction', True)
|
||||
|
||||
def get_grappling(self):
|
||||
piston = self.vessel.parts.robotic_pistons[0]
|
||||
return piston.part.children[0]
|
||||
|
||||
|
||||
class ComsatKerbin(MissionControl):
|
||||
mission_types = [MissionType.comsat]
|
||||
|
||||
def __init__(self, vessel_name):
|
||||
super().__init__()
|
||||
self.vessel_name = vessel_name
|
||||
self.vessel = get_vessel(vessel_name)
|
||||
|
||||
def toggle_engines(self, value=True):
|
||||
self.vessel.parts.engines[0].active = value
|
||||
|
||||
|
||||
class Backlog:
|
||||
|
||||
@@ -161,7 +161,7 @@ class ManeuverScheduler:
|
||||
except json.JSONDecodeError:
|
||||
continue
|
||||
|
||||
raise EOFError('Excepted to find a free timeslot at the end alarm list')
|
||||
raise EOFError('Expected to find a free timeslot at the end alarm list')
|
||||
|
||||
@classmethod
|
||||
def get_reservation(cls, ut_at) -> Timeslot:
|
||||
|
||||
@@ -3,7 +3,7 @@ from krpc.services.spacecenter import SASMode
|
||||
import numpy as np
|
||||
from time import time, sleep
|
||||
|
||||
from .utils import magnitude, unitary, kill_relative_velocity, correct_course
|
||||
from .utils import magnitude, unitary, kill_relative_velocity, correct_course, get_safety_radius, point_toward_direction
|
||||
|
||||
from . import Maneuver
|
||||
|
||||
@@ -52,26 +52,6 @@ class ApproachManeuver(Maneuver):
|
||||
return True
|
||||
|
||||
|
||||
def get_safety_radius(vessel):
|
||||
bbox = vessel.bounding_box(vessel.reference_frame)
|
||||
return max(magnitude(bbox[0]), magnitude(bbox[1]))
|
||||
|
||||
|
||||
def point_toward_direction(vessel, direction, reference_frame):
|
||||
ap = vessel.auto_pilot
|
||||
ap.reference_frame = reference_frame
|
||||
ap.target_direction = unitary(direction)
|
||||
ap.target_roll = 0
|
||||
ap.sas = False
|
||||
ap.engage()
|
||||
sleep(1)
|
||||
ap.wait()
|
||||
|
||||
ap.disengage()
|
||||
ap.sas_mode = SASMode.stability_assist
|
||||
ap.sas = True
|
||||
|
||||
|
||||
THROTTLE = .1
|
||||
VELOCITY_TOLERANCE = .1
|
||||
|
||||
|
||||
96
maneuvers/approach_rcs.py
Normal file
96
maneuvers/approach_rcs.py
Normal file
@@ -0,0 +1,96 @@
|
||||
from krpc.services.spacecenter import SASMode
|
||||
|
||||
import numpy as np
|
||||
from time import time, sleep
|
||||
|
||||
from .utils import magnitude, unitary, kill_relative_velocity, kill_rcs_velocity, correct_course, get_safety_radius,\
|
||||
point_toward_direction
|
||||
|
||||
from . import Maneuver
|
||||
|
||||
|
||||
class ApproachRCSManeuver(Maneuver):
|
||||
|
||||
SAFETY_RADIUS_MARGIN = 10
|
||||
|
||||
def __init__(self, conn, mission_control, reference_frame):
|
||||
super().__init__(conn, mission_control)
|
||||
self.reference_frame = reference_frame
|
||||
|
||||
def start(self):
|
||||
sc = self.conn.space_center
|
||||
vessel = sc.active_vessel
|
||||
target = sc.target_vessel
|
||||
|
||||
kill_rcs_velocity(vessel, self.reference_frame)
|
||||
|
||||
self.conn.drawing.add_direction((0, 1, 0), self.reference_frame)
|
||||
|
||||
vessel.control.rcs = False
|
||||
|
||||
pv = vessel.position(self.reference_frame)
|
||||
|
||||
safety_radius = get_safety_radius(vessel) + get_safety_radius(target) + self.SAFETY_RADIUS_MARGIN
|
||||
|
||||
# if under and inside safety cylinder's circle
|
||||
if pv[1] < safety_radius and pow(pv[0], 2) + pow(pv[2], 2) <= pow(safety_radius, 2):
|
||||
print("We're under the target and inside the safety cylinder, getting out")
|
||||
# get out of the cylinder
|
||||
planar_move_vector = unitary((pv[0], pv[2])) * (safety_radius - magnitude((pv[0], pv[2])))
|
||||
spacial_move_vector = np.array((planar_move_vector[0], 0, planar_move_vector[1]))
|
||||
|
||||
pv = vessel.position(self.reference_frame)
|
||||
move_to_waypoint(self.conn, vessel, pv + spacial_move_vector, self.reference_frame)
|
||||
|
||||
print("We're outside of the safety cylinder, setting vertical distance")
|
||||
pv = vessel.position(self.reference_frame)
|
||||
move_to_waypoint(self.conn, vessel, (pv[0], safety_radius, pv[2]), self.reference_frame)
|
||||
|
||||
# should be above and outside => get inside
|
||||
print("We're at the right vertical distance to the target, setting horizontal position")
|
||||
move_to_waypoint(self.conn, vessel, (0, safety_radius, 0), self.reference_frame)
|
||||
|
||||
# point_toward_direction(vessel, - np.array(vessel.position(self.reference_frame)), self.reference_frame)
|
||||
point_toward_direction(vessel, (0, -1, 0), self.reference_frame)
|
||||
|
||||
return True
|
||||
|
||||
|
||||
def move_to_waypoint(conn, vessel, waypoint, reference_frame):
|
||||
mj = conn.mech_jeb
|
||||
|
||||
kill_relative_velocity(conn, vessel, reference_frame)
|
||||
|
||||
conn.drawing.add_line(vessel.position(reference_frame), waypoint, reference_frame)
|
||||
waypoint = np.array(waypoint)
|
||||
|
||||
start_position = np.array(vessel.position(reference_frame))
|
||||
vector = waypoint - start_position
|
||||
distance = magnitude(vector)
|
||||
direction = unitary(vector)
|
||||
acceleration_distance = distance / 4
|
||||
|
||||
point_toward_direction(vessel, direction, reference_frame)
|
||||
|
||||
print("Starting acceleration")
|
||||
remaining_distance = distance
|
||||
vessel.control.rcs = True
|
||||
vessel.control.forward = 1
|
||||
while remaining_distance > 3 * acceleration_distance:
|
||||
sleep(.1)
|
||||
remaining_distance = magnitude(waypoint - vessel.position(reference_frame))
|
||||
vessel.control.forward = 0
|
||||
print("Target velocity achieved")
|
||||
|
||||
while remaining_distance > acceleration_distance:
|
||||
sleep(.1)
|
||||
correct_course(conn, vessel, waypoint, reference_frame)
|
||||
remaining_distance = magnitude(waypoint - vessel.position(reference_frame))
|
||||
print(remaining_distance)
|
||||
|
||||
print("Starting deceleration")
|
||||
kill_rcs_velocity(vessel, reference_frame)
|
||||
print("Ship decelerated")
|
||||
|
||||
print("destination position: {}".format(waypoint))
|
||||
print("end position: {}".format(np.array(vessel.position(reference_frame))))
|
||||
@@ -1,6 +1,6 @@
|
||||
from time import sleep
|
||||
|
||||
from .utils import kill_relative_velocity, correct_course, magnitude
|
||||
from .utils import kill_relative_velocity, kill_rcs_velocity, correct_course, magnitude
|
||||
|
||||
from . import Maneuver
|
||||
|
||||
@@ -83,43 +83,6 @@ def rcs_push(vessel, axis, duration):
|
||||
vessel.control.rcs = False
|
||||
|
||||
|
||||
def kill_rcs_velocity(vessel, reference_frame):
|
||||
print("Killing RCS velocity")
|
||||
velo = vessel.velocity(reference_frame)
|
||||
vessel.control.rcs = True
|
||||
while any(abs(component) > .05 for component in velo) > .05:
|
||||
if abs(velo[0]) > .05:
|
||||
sign = -velo[0] / abs(velo[0])
|
||||
if abs(velo[0]) > .1:
|
||||
vessel.control.up = 1 * sign
|
||||
elif abs(velo[0]) > .05:
|
||||
vessel.control.up = .1 * sign
|
||||
else:
|
||||
vessel.control.up = 0
|
||||
|
||||
if abs(velo[1]) > .05:
|
||||
sign = -velo[1] / abs(velo[1])
|
||||
if abs(velo[1]) > .1:
|
||||
vessel.control.forward = 1 * sign
|
||||
elif abs(velo[1]) > .05:
|
||||
vessel.control.forward = .1 * sign
|
||||
else:
|
||||
vessel.control.forward = 0
|
||||
|
||||
if abs(velo[2]) > .05:
|
||||
sign = velo[2] / abs(velo[2])
|
||||
if abs(velo[2]) > .1:
|
||||
vessel.control.right = 1 * sign
|
||||
elif abs(velo[2]) > .05:
|
||||
vessel.control.right = .1 * sign
|
||||
else:
|
||||
vessel.control.right = 0
|
||||
sleep(.1)
|
||||
velo = vessel.velocity(reference_frame)
|
||||
vessel.control.rcs = False
|
||||
print("RCS velocity killed")
|
||||
|
||||
|
||||
def align_horizontally(conn, vessel, reference_frame):
|
||||
conn.drawing.add_direction((1, 0, 0), vessel.reference_frame)
|
||||
|
||||
|
||||
@@ -63,3 +63,60 @@ def correct_course(conn, vessel, waypoint, reference_frame):
|
||||
vessel.control.up = -.1
|
||||
else:
|
||||
vessel.control.up = 0
|
||||
|
||||
|
||||
def kill_rcs_velocity(vessel, reference_frame):
|
||||
print("Killing RCS velocity")
|
||||
velo = vessel.velocity(reference_frame)
|
||||
vessel.control.rcs = True
|
||||
while any(abs(component) > .05 for component in velo) > .05:
|
||||
if abs(velo[0]) > .05:
|
||||
sign = -velo[0] / abs(velo[0])
|
||||
if abs(velo[0]) > .1:
|
||||
vessel.control.up = 1 * sign
|
||||
elif abs(velo[0]) > .05:
|
||||
vessel.control.up = .1 * sign
|
||||
else:
|
||||
vessel.control.up = 0
|
||||
|
||||
if abs(velo[1]) > .05:
|
||||
sign = -velo[1] / abs(velo[1])
|
||||
if abs(velo[1]) > .1:
|
||||
vessel.control.forward = 1 * sign
|
||||
elif abs(velo[1]) > .05:
|
||||
vessel.control.forward = .1 * sign
|
||||
else:
|
||||
vessel.control.forward = 0
|
||||
|
||||
if abs(velo[2]) > .05:
|
||||
sign = velo[2] / abs(velo[2])
|
||||
if abs(velo[2]) > .1:
|
||||
vessel.control.right = 1 * sign
|
||||
elif abs(velo[2]) > .05:
|
||||
vessel.control.right = .1 * sign
|
||||
else:
|
||||
vessel.control.right = 0
|
||||
sleep(.1)
|
||||
velo = vessel.velocity(reference_frame)
|
||||
vessel.control.rcs = False
|
||||
print("RCS velocity killed")
|
||||
|
||||
|
||||
def get_safety_radius(vessel):
|
||||
bbox = vessel.bounding_box(vessel.reference_frame)
|
||||
return max(magnitude(bbox[0]), magnitude(bbox[1]))
|
||||
|
||||
|
||||
def point_toward_direction(vessel, direction, reference_frame):
|
||||
ap = vessel.auto_pilot
|
||||
ap.reference_frame = reference_frame
|
||||
ap.target_direction = unitary(direction)
|
||||
ap.target_roll = 0
|
||||
ap.sas = False
|
||||
ap.engage()
|
||||
sleep(1)
|
||||
ap.wait()
|
||||
|
||||
ap.disengage()
|
||||
ap.sas_mode = SASMode.stability_assist
|
||||
ap.sas = True
|
||||
130
mission/__init__.py
Normal file
130
mission/__init__.py
Normal file
@@ -0,0 +1,130 @@
|
||||
from time import sleep
|
||||
from enum import Enum
|
||||
|
||||
from maneuvers.rendezvous import RendezvousManeuver
|
||||
from maneuvers.approach_rcs import ApproachRCSManeuver
|
||||
from maneuvers.docking import DockingManeuver
|
||||
from maneuvers.comsat import ComsatManeuver
|
||||
|
||||
from lib import get_contract, get_rescuee_vessel, get_body, get_connexion
|
||||
|
||||
|
||||
class MissionType(Enum):
|
||||
transport = 1
|
||||
orbit_rescue = 2
|
||||
comsat = 3
|
||||
|
||||
|
||||
class MissionStatus(Enum):
|
||||
Backlog = 1
|
||||
Assigned = 2
|
||||
InProgress = 3
|
||||
Done = 4
|
||||
|
||||
|
||||
class MissionReport:
|
||||
mission_status = None
|
||||
new_vessel_id = None
|
||||
new_missions = []
|
||||
|
||||
def __int__(self):
|
||||
pass
|
||||
|
||||
|
||||
class Mission:
|
||||
pass
|
||||
|
||||
|
||||
class TransportMission(Mission):
|
||||
type = MissionType.transport
|
||||
|
||||
def __init__(self, kerbal_name, destination):
|
||||
self.kerbal_name = kerbal_name
|
||||
self.destination = destination
|
||||
|
||||
|
||||
class RescueMission(Mission):
|
||||
type = MissionType.orbit_rescue
|
||||
|
||||
def __init__(self, contract_title):
|
||||
self.contract_title = contract_title
|
||||
self.contract = get_contract(contract_title)
|
||||
rescuee_first_name = contract_title.split()[1]
|
||||
self.rescuee_vessel = get_rescuee_vessel(rescuee_first_name)
|
||||
self.rescuee_vessel_name = self.rescuee_vessel.name
|
||||
self.rescuee_name = self.rescuee_vessel.crew[0].name
|
||||
|
||||
def execute(self, mission_control):
|
||||
conn = get_connexion()
|
||||
sc = conn.space_center
|
||||
|
||||
if sc.active_vessel.name != mission_control.vessel.name:
|
||||
sc.active_vessel = mission_control.vessel
|
||||
|
||||
if sc.target_vessel is None or sc.target_vessel.name != self.rescuee_vessel.name:
|
||||
sc.target_vessel = self.rescuee_vessel
|
||||
|
||||
rendezvous_done = RendezvousManeuver(conn, mission_control).execute()
|
||||
if rendezvous_done:
|
||||
reference_frame = sc.ReferenceFrame.create_relative(
|
||||
self.rescuee_vessel.reference_frame,
|
||||
rotation=(1., 0., 0., 0.)
|
||||
)
|
||||
|
||||
sc.active_vessel = mission_control.deliver_probe
|
||||
sc.active_vessel.parts.controlling = mission_control.get_grappling()
|
||||
|
||||
target_approach_done = ApproachRCSManeuver(conn, mission_control, reference_frame).start()
|
||||
if target_approach_done:
|
||||
mission_control.toggle_grappling(True)
|
||||
target_docking_done = DockingManeuver(conn,
|
||||
mission_control,
|
||||
mission_control.get_grappling(),
|
||||
reference_frame).start()
|
||||
if target_docking_done:
|
||||
sc.active_vessel.parts.controlling = mission_control.get_probe_port()
|
||||
reference_frame = mission_control.get_bay_port().reference_frame
|
||||
mothership_approach_done = ApproachRCSManeuver(conn, mission_control, reference_frame).start()
|
||||
if mothership_approach_done:
|
||||
mothership_docking_done = DockingManeuver(conn,
|
||||
mission_control,
|
||||
mission_control.get_probe_port(),
|
||||
reference_frame).start()
|
||||
|
||||
if mothership_docking_done:
|
||||
kerbal = mission_control.get_kerbal(self.rescuee_name)
|
||||
sc.transfer_crew(kerbal, mission_control.get_part_with_free_seat())
|
||||
mission_control.toggle_grappling(False)
|
||||
mission_control.recover_probe()
|
||||
|
||||
# Destroy Capsule
|
||||
report = MissionReport()
|
||||
report.mission_status = MissionStatus.Done
|
||||
report.new_missions.append(
|
||||
TransportMission(self.rescuee_name, 'kerbin_orbit')
|
||||
)
|
||||
|
||||
return report
|
||||
|
||||
|
||||
class ComSatNetworkMission:
|
||||
type = MissionType.comsat
|
||||
|
||||
def __init__(self, body_name):
|
||||
self.body = get_body(body_name)
|
||||
|
||||
def execute(self, mission_control):
|
||||
conn = get_connexion()
|
||||
sc = conn.space_center
|
||||
|
||||
if sc.active_vessel.name != mission_control.vessel.name:
|
||||
sc.active_vessel = mission_control.vessel
|
||||
|
||||
mission_control.toggle_engines(True)
|
||||
|
||||
comsat_done = ComsatManeuver(conn, mission_control, self.body).execute()
|
||||
if comsat_done:
|
||||
report = MissionReport()
|
||||
report.mission_status = MissionStatus.Done
|
||||
|
||||
return report
|
||||
161
mission_control/__init__.py
Normal file
161
mission_control/__init__.py
Normal file
@@ -0,0 +1,161 @@
|
||||
from time import sleep
|
||||
|
||||
from krpc.services.spacecenter import CargoBayState, DockingPortState
|
||||
|
||||
from maneuver_scheduler import ManeuverScheduler
|
||||
|
||||
from mission import MissionStatus, MissionType
|
||||
|
||||
from lib import get_connexion, get_vessel
|
||||
|
||||
|
||||
class MissionControl:
|
||||
mission_types = []
|
||||
|
||||
def __init__(self):
|
||||
self.current_mission = None
|
||||
self.current_orbit_missions = []
|
||||
self.vessel = NotImplemented
|
||||
|
||||
def pick_missions(self, backlog):
|
||||
current_body_name = self.vessel.orbit.body.name
|
||||
for i, mission in enumerate(backlog.missions[current_body_name]):
|
||||
if mission.type in self.mission_types:
|
||||
if self.current_mission is None:
|
||||
self.plan_mission(mission)
|
||||
else:
|
||||
self.current_orbit_missions.append(mission)
|
||||
del (backlog.missions[current_body_name][i])
|
||||
|
||||
def plan_mission(self, mission):
|
||||
self.current_mission = mission
|
||||
planning_duration = 60
|
||||
ut = ManeuverScheduler.next_free_timeslot(
|
||||
from_ut=get_connexion().space_center.ut + planning_duration,
|
||||
duration=planning_duration)
|
||||
ManeuverScheduler.book_timeslot(ut, self.vessel, duration=planning_duration)
|
||||
|
||||
def execute_mission(self, alarm):
|
||||
if self.current_mission is None:
|
||||
if self.current_orbit_missions:
|
||||
self.current_mission = self.current_orbit_missions.pop(0)
|
||||
else:
|
||||
return
|
||||
report = self.current_mission.execute(self)
|
||||
if report and report.mission_status == MissionStatus.Done:
|
||||
self.current_mission = None
|
||||
|
||||
def get_kerbal(self, name):
|
||||
for k in self.vessel.crew:
|
||||
if k.name == "name":
|
||||
return k
|
||||
|
||||
raise LookupError('Kerbal {} not found onboard vessel {}'.format(name, self.vessel.name))
|
||||
|
||||
def get_docking_port(self, name):
|
||||
for p in self.vessel.parts.docking_ports:
|
||||
for m in p.modules:
|
||||
if m.name == "ModuleDockingNodeNamed" and m.get_field('portName') == name:
|
||||
return p
|
||||
|
||||
|
||||
class ShuttleKerbin(MissionControl):
|
||||
mission_types = [MissionType.orbit_rescue, MissionType.transport]
|
||||
PISTON_MAX_EXTENSION = 2.4
|
||||
|
||||
def __init__(self, vessel_name):
|
||||
super().__init__()
|
||||
self.vessel_name = vessel_name
|
||||
self.mothership = get_vessel(vessel_name)
|
||||
self.probe = None
|
||||
for e in self.vessel.parts.engines:
|
||||
e.active = True
|
||||
|
||||
self.current_orbit_missions = []
|
||||
self.first_cabin = self.mothership.parts.with_title("Mk2 Inline Cockpit")[0]
|
||||
self.second_cabin = self.mothership.parts.with_title("MK2 Crew Cabin")[0]
|
||||
self.third_cabin = self.mothership.parts.with_title("MK2 Crew Cabin")[1]
|
||||
|
||||
self.docking_ports = self.mothership.parts.docking_ports
|
||||
|
||||
@property
|
||||
def vessel(self):
|
||||
if self.probe is None:
|
||||
return self.mothership
|
||||
else:
|
||||
return self.probe
|
||||
|
||||
def toggle_grappling(self, value=True):
|
||||
arm = self.get_grappling()
|
||||
if arm.modules[1].has_event('Arm') and not value \
|
||||
or arm.modules[1].has_event('Disarm') and value:
|
||||
arm.modules[1].set_action_by_id('ToggleAction', True)
|
||||
|
||||
def get_grappling(self):
|
||||
if self.probe is None:
|
||||
raise Exception('Probe is not ready')
|
||||
|
||||
return self.probe.parts.with_title("Advanced Grabbing Unit")[0]
|
||||
|
||||
def get_probe_port(self):
|
||||
# return self.probe.parts.with_name('Probe Port')[0]
|
||||
return self.get_docking_port('Probe Port')
|
||||
|
||||
def get_bay_port(self):
|
||||
#return self.mothership.with_name('Shuttle Bay Port')[0]
|
||||
return self.get_docking_port('Shuttle Bay Port')
|
||||
|
||||
def deliver_probe(self):
|
||||
bay = self.mothership.cargo_bays[0]
|
||||
bay.open = True
|
||||
while bay.state != CargoBayState.open:
|
||||
sleep(1)
|
||||
|
||||
hinge = self.mothership.robotic_hinges[0]
|
||||
hinge.target_extension = 90
|
||||
while hinge.current_angle < 90:
|
||||
sleep(.1)
|
||||
|
||||
bay_port = self.get_bay_port()
|
||||
self.probe = bay_port.undock()
|
||||
|
||||
return self.probe
|
||||
|
||||
def recover_probe(self):
|
||||
bay_port = self.mothership.parts.with_name('Shuttle Bay Port')[0]
|
||||
if bay_port.state != DockingPortState.docked:
|
||||
raise Exception("Probe is not parked in shuttle")
|
||||
self.probe = None
|
||||
|
||||
hinge = self.mothership.robotic_hinges[0]
|
||||
hinge.target_extension = 0
|
||||
while hinge.current_angle > 0:
|
||||
sleep(.1)
|
||||
|
||||
bay = self.mothership.cargo_bays[0]
|
||||
bay.open = False
|
||||
|
||||
def get_part_with_free_seat(self):
|
||||
crew_size = self.mothership.crew_count
|
||||
if self.mothership.crew_capacity > 10:
|
||||
crew_size = crew_size - 1
|
||||
if crew_size <= 2:
|
||||
return self.first_cabin
|
||||
elif crew_size <= 6:
|
||||
return self.second_cabin
|
||||
elif crew_size <= 10:
|
||||
return self.third_cabin
|
||||
else:
|
||||
raise Exception('Vessel already has no free sit')
|
||||
|
||||
|
||||
class ComsatKerbin(MissionControl):
|
||||
mission_types = [MissionType.comsat]
|
||||
|
||||
def __init__(self, vessel_name):
|
||||
super().__init__()
|
||||
self.vessel_name = vessel_name
|
||||
self.vessel = get_vessel(vessel_name)
|
||||
|
||||
def toggle_engines(self, value=True):
|
||||
self.vessel.parts.engines[0].active = value
|
||||
Reference in New Issue
Block a user