Rescue mission almost done docking part behaves weirdly)

mission_control/__init__.py

@@ -1,6 +1,9 @@
 from time import sleep
 
+import numpy as np
+
 from krpc.services.spacecenter import CargoBayState, DockingPortState
+from maneuvers.utils import point_toward_direction, point_toward_target
 
 from maneuver_scheduler import ManeuverScheduler
 
@@ -11,11 +14,11 @@ from lib import get_connexion, get_vessel
 
 class MissionControl:
     mission_types = []
+    vessel = None
 
     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
@@ -47,16 +50,17 @@ class MissionControl:
 
     def get_kerbal(self, name):
         for k in self.vessel.crew:
-            if k.name == "name":
+            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
+        for m in self.vessel.parts.modules_with_name('ModuleDockingNodeNamed'):
+            if m.get_field_by_id('portName') == name:
+                return m.part.docking_port
+
+        raise LookupError('Docking port {} not found on vessel {}'.format(name, self.vessel.name))
 
 
 class ShuttleKerbin(MissionControl):
@@ -72,9 +76,9 @@ class ShuttleKerbin(MissionControl):
             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.first_cabin = self.mothership.parts.with_name('mk2Cockpit.Inline')[0]
+        self.second_cabin = self.mothership.parts.with_name('mk2CrewCabin')[0]
+        self.third_cabin = self.mothership.parts.with_name('mk2CrewCabin')[1]
 
         self.docking_ports = self.mothership.parts.docking_ports
 
@@ -85,36 +89,67 @@ class ShuttleKerbin(MissionControl):
         else:
             return self.probe
 
+    @vessel.setter
+    def vessel(self, value):
+        if self.probe is None:
+            self.mothership = value
+        else:
+            self.probe = value
+
     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:
+        if arm.modules[1].has_event('Arm') and value \
+                or arm.modules[1].has_event('Disarm') and not 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.vessel.parts.with_name('GrapplingDevice')[0]
 
-        return self.probe.parts.with_title("Advanced Grabbing Unit")[0]
+        return self.probe.parts.with_name('GrapplingDevice')[0]
 
     def get_probe_port(self):
-        # return self.probe.parts.with_name('Probe Port')[0]
-        return self.get_docking_port('Probe Port')
+        return self.get_docking_port('Tug Probe Port')
 
     def get_bay_port(self):
-        #return self.mothership.with_name('Shuttle Bay Port')[0]
+        if self.probe is not None:
+            return self.get_mothership_docking_port('Shuttle Bay Port')
         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)
+    def get_mothership_docking_port(self, name):
+        for m in self.mothership.parts.modules_with_name('ModuleDockingNodeNamed'):
+            if m.get_field_by_id('portName') == name:
+                return m.part.docking_port
 
-        hinge = self.mothership.robotic_hinges[0]
-        hinge.target_extension = 90
-        while hinge.current_angle < 90:
-            sleep(.1)
+        raise LookupError('Docking port {} not found on vessel {}'.format(name, self.mothership.name))
+
+    def get_probe_docking_port(self, name):
+        for m in self.probe.parts.modules_with_name('ModuleDockingNodeNamed'):
+            if m.get_field_by_id('portName') == name:
+                return m.part.docking_port
+
+        raise LookupError('Docking port {} not found on vessel {}'.format(name, self.mothership.name))
+
+    def deliver_probe(self, target=None):
+        bay = self.mothership.parts.cargo_bays[0]
+        bay.open = True
+
+        with get_connexion().stream(getattr, bay, 'state') as state:
+            with state.condition:
+                while not state() == CargoBayState.open:
+                    state.wait()
+
+        hinge = self.mothership.parts.robotic_hinges[0]
+        hinge.target_angle = 90
+
+        with get_connexion().stream(getattr, hinge, 'current_angle') as current_angle:
+            with current_angle.condition:
+                while current_angle() < hinge.target_angle - 1:
+                    current_angle.wait()
+
+        if target is not None:
+            self.vessel.parts.controlling = self.get_bay_port().part
+            point_toward_target(get_connexion(), self.vessel, target)
 
         bay_port = self.get_bay_port()
         self.probe = bay_port.undock()
@@ -122,17 +157,19 @@ class ShuttleKerbin(MissionControl):
         return self.probe
 
     def recover_probe(self):
-        bay_port = self.mothership.parts.with_name('Shuttle Bay Port')[0]
+        bay_port = self.get_bay_port()
         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)
+        hinge = self.mothership.parts.robotic_hinges[0]
+        hinge.target_angle = 0
+        with get_connexion().stream(getattr, hinge, 'current_angle') as current_angle:
+            with current_angle.condition:
+                while current_angle() > hinge.target_angle:
+                    current_angle.wait()
 
-        bay = self.mothership.cargo_bays[0]
+        bay = self.mothership.parts.cargo_bays[0]
         bay.open = False
 
     def get_part_with_free_seat(self):