Rescue mission almost done docking part behaves weirdly)

console.py

@@ -1,14 +1,44 @@
 from time import sleep
-import numpy as np
 from simple_pid import PID
+import numpy as np
 import krpc
+from maneuvers.utils import get_required_rcs_thrust
 conn = krpc.connect()
 sc = conn.space_center
 vessel = sc.active_vessel
 target = sc.target_vessel
+target.velocity(vessel.reference_frame)
+conn.drawing.add_direction(target.velocity(vessel.reference_frame), vessel.reference_frame)
+get_required_rcs_thrust(vessel, target.velocity(vessel.reference_frame))
+
+from maneuvers.utils import magnitude
+kill_relative_velocity_rcs(vessel, target)
 
 mj = conn.mech_jeb
 sa = mj.smart_ass
 reference_frame = sc.ReferenceFrame.create_relative(target.reference_frame, rotation=(1., 0., 0., 0.))
 conn.drawing.add_direction((0, 1, 0), reference_frame)
 
+from time import sleep
+import krpc
+from maneuvers.utils import magnitude
+conn = krpc.connect()
+sc = conn.space_center
+vessel = sc.active_vessel
+target = sc.target_vessel
+mj = conn.mech_jeb
+sa = mj.smart_ass
+sa.autopilot_mode = conn.mech_jeb.SmartASSAutopilotMode.target_plus
+sa.update(False)
+sa.autopilot_mode = conn.mech_jeb.SmartASSAutopilotMode.target_minus
+sa.update(False)
+
+
+while True:
+    print(magnitude(vessel.angular_velocity(target.reference_frame)))
+    sleep(.1)
+
+
+from mission_control import ShuttleKerbin
+s = ShuttleKerbin("KKS Gagarin")
+s.recover_probe()

maneuver_scheduler.py

@@ -42,22 +42,11 @@ class ManeuverScheduler:
             'duration': duration,
             'vessel_name': vessel.name
         }
-
-        # arg_dict = {
-        #    'title': "{}' Maneuver: {}".format(vessel.name, maneuver.name),
-        #    'description': json.dumps(description),
-        #    'offset': cls.node_offsets
-        # }
-
-        # cls.alarm_manager.add_maneuver_node_alarm(
-        #    vessel,
-        #    vessel.control.nodes[0],
-        #    **arg_dict)
         if alarm_start is None:
             alarm_start = node.ut - (duration / 2 + cls.node_offsets)
 
         if not cls.timeslot_is_free(alarm_start, duration):
-            raise
+            raise Exception('Timeslot is occupied')
 
         alarm = cls.alarm_manager.create_alarm(
             cls.alarm_manager.AlarmType.maneuver,

maneuvers/approach.py

@@ -1,5 +1,3 @@
-from krpc.services.spacecenter import SASMode
-
 import numpy as np
 from time import time, sleep
 

maneuvers/approach_rcs.py

@@ -1,9 +1,8 @@
-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,\
+from .utils import magnitude, unitary, kill_relative_velocity_rcs, correct_course, get_safety_radius,\
     point_toward_direction
 
 from . import Maneuver
@@ -22,7 +21,7 @@ class ApproachRCSManeuver(Maneuver):
         vessel = sc.active_vessel
         target = sc.target_vessel
 
-        kill_rcs_velocity(vessel, self.reference_frame)
+        kill_relative_velocity_rcs(vessel, target)
 
         self.conn.drawing.add_direction((0, 1, 0), self.reference_frame)
 
@@ -57,9 +56,8 @@ class ApproachRCSManeuver(Maneuver):
 
 
 def move_to_waypoint(conn, vessel, waypoint, reference_frame):
-    mj = conn.mech_jeb
+    target = conn.space_center.target_vessel
-
+    kill_relative_velocity_rcs(vessel, target)
-    kill_relative_velocity(conn, vessel, reference_frame)
 
     conn.drawing.add_line(vessel.position(reference_frame), waypoint, reference_frame)
     waypoint = np.array(waypoint)
@@ -82,14 +80,21 @@ def move_to_waypoint(conn, vessel, waypoint, reference_frame):
     vessel.control.forward = 0
     print("Target velocity achieved")
 
+    remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
     while remaining_distance > acceleration_distance:
         sleep(.1)
         correct_course(conn, vessel, waypoint, reference_frame)
-        remaining_distance = magnitude(waypoint - vessel.position(reference_frame))
+        remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
         print(remaining_distance)
 
     print("Starting deceleration")
-    kill_rcs_velocity(vessel, reference_frame)
+    remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
+    vessel.control.forward = -1
+    while remaining_distance > 0:
+        sleep(.1)
+        remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
+    vessel.control.forward = 0
+    kill_relative_velocity_rcs(vessel, target)
     print("Ship decelerated")
 
     print("destination position: {}".format(waypoint))

maneuvers/comsat.py

@@ -30,9 +30,9 @@ class ComsatManeuver(MechJebManeuver):
             raise NotImplementedError
 
         if not math.isclose(vessel.orbit.apoapsis_altitude, self.target_altitude, rel_tol=.01):
-            SetOrbitApoapsis(self.conn, vessel, self.target_body).prepare_maneuver()
+            SetOrbitApoapsis(self.conn, self.mission_control, self.target_body).prepare_maneuver()
         elif not math.isclose(vessel.orbit.eccentricity, 0, abs_tol=.001) or self.vessel.control.current_stage > 1:
-            CircularizeOrbitAndDeliver(self.conn, vessel, self.target_body).prepare_maneuver()
+            CircularizeOrbitAndDeliver(self.conn, self.mission_control, self.target_body).prepare_maneuver()
         elif self.vessel.control.current_stage <= 1:
             return True
 

maneuvers/docking.py

@@ -1,128 +1,36 @@
 from time import sleep
 
-from .utils import kill_relative_velocity, kill_rcs_velocity, correct_course, magnitude
+from .utils import kill_relative_velocity, kill_relative_velocity_rcs, correct_course, magnitude
 
 from . import Maneuver
 
 
 class DockingManeuver(Maneuver):
-    def __init__(self, conn, mission_control, docking_part, reference_frame):
+    def __init__(self, conn, mission_control, docking_port, target_docking_port):
         super().__init__(conn, mission_control)
-        self.docking_part = docking_part
+        self.mech_jeb = conn.mech_jeb
-        self.reference_frame = reference_frame
+        self.docking_port = docking_port
+        self.target_docking_port = target_docking_port
 
     def start(self):
         vessel = self.conn.space_center.active_vessel
-        self.conn.drawing.add_direction((0, 1, 0), self.reference_frame)
-        self.conn.drawing.add_direction((1, 0, 0), self.reference_frame)
-        vessel.parts.controlling = self.docking_part
 
-        kill_relative_velocity(self.conn, vessel, self.reference_frame)
+        self.conn.space_center.active_vessel = self.mission_control.vessel
-        set_attitude_and_roll(self.conn, vessel, self.reference_frame)
+        vessel.parts.controlling = self.docking_port.part
-        align_horizontally(self.conn, vessel, self.reference_frame)
+        self.conn.space_center.target_docking_port = self.target_docking_port
 
-        print("Starting docking procedure")
+        da = self.mech_jeb.docking_autopilot
-        vessel.control.set_action_group(0, True)
+        da.speed_limit = 10
-        rcs_push(vessel, {"y": 1}, .5)
+        da.roll = 0
+        da.force_roll = True
+        da.enabled = True
 
-        vessel.control.rcs = True
+        sleep(1)
-        try:
+
-            while vessel.position(self.reference_frame)[1] > 0:
+        with self.conn.stream(getattr, da, "enabled") as enabled:
-                print(vessel.position(self.reference_frame)[1])
+            enabled.rate = 1
-                correct_course(self.conn, vessel, (0, 0, 0), self.reference_frame)
+            with enabled.condition:
-                sleep(1)
+                while enabled():
-        except ValueError as e:
+                    enabled.wait()
-            vessel = self.conn.space_center.active_vessel
-        finally:
-            vessel.control.rcs = False
 
         return True
-
-
-def set_attitude_and_roll(conn, vessel, reference_frame):
-    fl = vessel.flight(reference_frame)
-    vessel.control.rcs = False
-
-    ap = vessel.auto_pilot
-    ap.reference_frame = reference_frame
-    ap.target_direction = (0, -1, 0)
-    ap.target_roll = 0
-    ap.sas = False
-    ap.engage()
-    ap.wait()
-    ap.disengage()
-
-    mj = conn.mech_jeb
-    sa = mj.smart_ass
-
-    sa.autopilot_mode = mj.SmartASSAutopilotMode.target_plus
-    sa.update(False)
-
-    while magnitude(vessel.angular_velocity(reference_frame)) > .1:
-        sleep(.1)
-
-    print("Ship pointing to dock")
-
-
-def rcs_push(vessel, axis, duration):
-    vessel.control.rcs = True
-    if "x" in axis:
-        vessel.control.up = axis["x"]
-    elif "y" in axis:
-        vessel.control.forward = axis["y"]
-    elif "z" in axis:
-        vessel.control.right = axis["z"]
-    sleep(duration)
-    if "x" in axis:
-        vessel.control.up = 0
-    elif "y" in axis:
-        vessel.control.forward = 0
-    elif "z" in axis:
-        vessel.control.right = 0
-
-    vessel.control.rcs = False
-
-
-def align_horizontally(conn, vessel, reference_frame):
-    conn.drawing.add_direction((1, 0, 0), vessel.reference_frame)
-
-    while abs(vessel.position(reference_frame)[0]) > .1 \
-            or abs(vessel.position(reference_frame)[2]) > .1:
-        # determine power requirements of each
-        sign_x = 1 if vessel.position(reference_frame)[0] > 0 else -1
-        if abs(vessel.position(reference_frame)[0]) > 1:
-            power_x = 1
-        elif abs(vessel.position(reference_frame)[0]) > .1:
-            power_x = .1
-        else:
-            power_x = 0
-            sign_x = 0
-
-        sign_z = 1 if vessel.position(reference_frame)[2] > 0 else -1
-        if abs(vessel.position(reference_frame)[2]) > 1:
-            power_z = 1
-        elif abs(vessel.position(reference_frame)[2]) > .1:
-            power_z = .1
-        else:
-            power_z = 0
-            sign_z = 0
-
-        axis = {}
-        if power_x > 0:
-            axis["x"] = -sign_x * power_x
-        if power_z > 0:
-            axis["z"] = sign_z * power_z
-
-        rcs_push(vessel, axis, 1)
-
-        while (sign_x > 0 and vessel.position(reference_frame)[0] > .1
-               or sign_x < 0 and vessel.position(reference_frame)[0] < -.1
-               or sign_x == 0) \
-                and (sign_z > 0 and vessel.position(reference_frame)[2] > .1
-                     or sign_z < 0 and vessel.position(reference_frame)[2] < -.1
-                     or sign_z == 0):
-            print(vessel.position(reference_frame))
-            sleep(.1)
-
-        kill_rcs_velocity(vessel, reference_frame)
-    print("Vertical alignment done!")

maneuvers/grapple.py

@@ -0,0 +1,36 @@
+from time import sleep
+
+from . import Maneuver
+from .utils import magnitude, correct_course_to_target, rcs_push, point_toward_target
+
+
+class GrappleManeuver(Maneuver):
+    def __init__(self, conn, mission_control, target):
+        super().__init__(conn, mission_control)
+        self.target = target
+
+    def start(self):
+        vessel = self.mission_control.vessel
+        vessel.parts.controlling = self.mission_control.get_grappling()
+
+        point_toward_target(self.conn, vessel, self.target)
+
+        self.mission_control.toggle_grappling(True)
+        rcs_push(vessel, {"y": 1}, .75)
+
+        vessel.control.rcs = True
+        try:
+            while magnitude(vessel.position(self.target.reference_frame)) > 0:
+                print(magnitude(vessel.position(self.target.reference_frame)))
+                sa = self.conn.mech_jeb.smart_ass
+                sa.autopilot_mode = self.conn.mech_jeb.SmartASSAutopilotMode.relative_plus
+                sa.update(False)
+                correct_course_to_target(vessel, self.target)
+
+        except ValueError:
+            vessel = self.conn.space_center.active_vessel
+            self.mission_control.vessel = vessel
+        finally:
+            vessel.control.rcs = False
+
+        return True

maneuvers/rendezvous.py

@@ -18,18 +18,18 @@ class RendezvousManeuver(MechJebManeuver):
 
         if vessel.orbit.distance_at_closest_approach(target.orbit) > 1000:
             if vessel.orbit.relative_inclination(target.orbit) > 0.0001:
-                AlignOrbitPlaneWithTarget(self.conn, vessel).prepare_maneuver()
+                AlignOrbitPlaneWithTarget(self.conn, self.mission_control).prepare_maneuver()
 
             elif vessel.orbit.distance_at_closest_approach(target.orbit) > 10000:
-                InterceptTargetOrbit(self.conn, vessel).prepare_maneuver()
+                InterceptTargetOrbit(self.conn, self.mission_control).prepare_maneuver()
 
             else:
-                TuneClosestApproach(self.conn, vessel).prepare_maneuver()
+                TuneClosestApproach(self.conn, self.mission_control).prepare_maneuver()
             return False
 
         elif vessel.orbit.distance_at_closest_approach(target.orbit) <= 1000 < magnitude(
                 np.array(vessel.position(vessel.reference_frame)) - np.array(target.position(vessel.reference_frame))):
-            MatchVelocityWithTarget(self.conn, vessel).prepare_maneuver()
+            MatchVelocityWithTarget(self.conn, self.mission_control).prepare_maneuver()
             return False
         else:
             return True

maneuvers/utils.py

@@ -1,7 +1,13 @@
 from time import time, sleep
+import math
 
 import numpy as np
 
+from krpc.services.spacecenter import SASMode
+
+from connector import get_connexion
+
+
 
 def magnitude(vector):
     return np.linalg.norm(vector)
@@ -65,43 +71,92 @@ def correct_course(conn, vessel, waypoint, reference_frame):
         vessel.control.up = 0
 
 
-def kill_rcs_velocity(vessel, reference_frame):
+def correct_course_to_target(vessel, target):
-    print("Killing RCS velocity")
+    target_position = target.position(vessel.reference_frame)
-    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:
+    angle_x = math.atan(target_position[0]/target_position[1])
-            sign = -velo[1] / abs(velo[1])
+    if math.isclose(angle_x, 0, abs_tol=0.05):
-            if abs(velo[1]) > .1:
+        vessel.control.right = 0
+    elif angle_x < 0:
+        vessel.control.right = -.1
+    elif angle_x > 0:
+        vessel.control.right = .1
+
+    angle_z = math.atan(target_position[2]/target_position[1])
+    if math.isclose(angle_z, 0, abs_tol=0.05):
+        vessel.control.up = 0
+    elif angle_z < 0:
+        vessel.control.up = .1
+    elif angle_z > 0:
+        vessel.control.up = -.1
+
+
+def kill_relative_velocity_rcs(vessel, target):
+    print("Killing RCS velocity")
+
+    vessel.control.sas = True
+    vessel.control.rcs = True
+
+    velocity = target.velocity(vessel.reference_frame)
+    while any(abs(component) >= .1 for component in velocity):
+        thrust = get_required_rcs_thrust(vessel, velocity)
+        vessel.control.right = thrust[0] if abs(velocity[0]) >= .1 else 0
+        vessel.control.forward = thrust[1] if abs(velocity[1]) >= .1 else 0
+        vessel.control.up = - thrust[2] if abs(velocity[2]) >= .1 else 0
+
+        print(target.velocity(vessel.reference_frame))
+        print((thrust[0], thrust[1], thrust[2]))
+        print((vessel.control.right, vessel.control.forward, vessel.control.up))
+
+        sleep(.1)
+        velocity = target.velocity(vessel.reference_frame)
+
+        continue
+        if abs(velocity[0]) > .05:
+            sign = velocity[0] / abs(velocity[0])
+            if abs(velocity[0]) > 1:
+                vessel.control.right = 1 * sign
+            elif abs(velocity[0]) > .1:
+                vessel.control.right = .1 * sign
+            else:
+                vessel.control.right = 0
+
+        if abs(velocity[1]) > .05:
+            sign = velocity[1] / abs(velocity[1])
+            if abs(velocity[1]) > 1:
                 vessel.control.forward = 1 * sign
-            elif abs(velo[1]) > .05:
+            elif abs(velocity[1]) > .1:
                 vessel.control.forward = .1 * sign
             else:
                 vessel.control.forward = 0
 
-        if abs(velo[2]) > .05:
+        if abs(velocity[2]) > .05:
-            sign = velo[2] / abs(velo[2])
+            sign = - velocity[2] / abs(velocity[2])
-            if abs(velo[2]) > .1:
+            if abs(velocity[2]) > 1:
-                vessel.control.right = 1 * sign
+                vessel.control.up = 1 * sign
-            elif abs(velo[2]) > .05:
+            elif abs(velocity[2]) > .1:
-                vessel.control.right = .1 * sign
+                vessel.control.up = .1 * sign
             else:
-                vessel.control.right = 0
+                vessel.control.up = 0
         sleep(.1)
-        velo = vessel.velocity(reference_frame)
+        velocity = target.velocity(vessel.reference_frame)
     vessel.control.rcs = False
+    vessel.control.sas = False
     print("RCS velocity killed")
 
 
+def get_required_rcs_thrust(vessel, delta_v, polling=.1):
+    acceleration = np.array(vessel.available_rcs_force) / vessel.mass
+    thrust = [0, 0, 0]
+    for i in range(3):
+        if delta_v[i] >= 0:
+            thrust[i] = max(min(delta_v[i] / acceleration[0][i]*polling, 1), .051)
+        else:
+            thrust[i] = min(max(-delta_v[i] / acceleration[1][i]*polling, -1), -.051)
+
+    return thrust
+
+
 def get_safety_radius(vessel):
     bbox = vessel.bounding_box(vessel.reference_frame)
     return max(magnitude(bbox[0]), magnitude(bbox[1]))
@@ -112,6 +167,7 @@ def point_toward_direction(vessel, direction, reference_frame):
     ap.reference_frame = reference_frame
     ap.target_direction = unitary(direction)
     ap.target_roll = 0
+    ap.rcs = False
     ap.sas = False
     ap.engage()
     sleep(1)
@@ -120,3 +176,101 @@ def point_toward_direction(vessel, direction, reference_frame):
     ap.disengage()
     ap.sas_mode = SASMode.stability_assist
     ap.sas = True
+
+
+def point_toward_target(conn, vessel, target, force_roll=False):
+    sa = conn.mech_jeb.smart_ass
+    sa.autopilot_mode = conn.mech_jeb.SmartASSAutopilotMode.target_plus
+    sa.force_roll = force_roll
+    sa.update(False)
+    while magnitude(vessel.angular_velocity(target.reference_frame)) > .002:
+        sleep(.1)
+
+
+def rcs_push(vessel, axis, duration):
+    vessel.control.rcs = True
+    if "x" in axis:
+        vessel.control.up = axis["x"]
+    elif "y" in axis:
+        vessel.control.forward = axis["y"]
+    elif "z" in axis:
+        vessel.control.right = axis["z"]
+    sleep(duration)
+    if "x" in axis:
+        vessel.control.up = 0
+    elif "y" in axis:
+        vessel.control.forward = 0
+    elif "z" in axis:
+        vessel.control.right = 0
+
+    vessel.control.rcs = False
+
+
+def set_attitude_and_roll(conn, vessel, reference_frame):
+    vessel.control.rcs = False
+
+    ap = vessel.auto_pilot
+    ap.reference_frame = reference_frame
+    ap.target_direction = (0, -1, 0)
+    ap.target_roll = 0
+    ap.sas = False
+    ap.engage()
+    ap.wait()
+    ap.disengage()
+
+    mj = conn.mech_jeb
+    sa = mj.smart_ass
+
+    sa.autopilot_mode = mj.SmartASSAutopilotMode.target_plus
+    sa.update(False)
+
+    while magnitude(vessel.angular_velocity(reference_frame)) > .1:
+        sleep(.1)
+
+    print("Ship pointing to dock")
+
+
+def align_horizontally(conn, vessel, reference_frame):
+    conn.drawing.add_direction((1, 0, 0), vessel.reference_frame)
+    target = conn.space_center.target_vessel
+
+    while abs(vessel.position(reference_frame)[0]) > .1 \
+            or abs(vessel.position(reference_frame)[2]) > .1:
+        # determine power requirements of each
+        sign_x = 1 if vessel.position(reference_frame)[0] > 0 else -1
+        if abs(vessel.position(reference_frame)[0]) > 1:
+            power_x = 1
+        elif abs(vessel.position(reference_frame)[0]) > .1:
+            power_x = .1
+        else:
+            power_x = 0
+            sign_x = 0
+
+        sign_z = 1 if vessel.position(reference_frame)[2] > 0 else -1
+        if abs(vessel.position(reference_frame)[2]) > 1:
+            power_z = 1
+        elif abs(vessel.position(reference_frame)[2]) > .1:
+            power_z = .1
+        else:
+            power_z = 0
+            sign_z = 0
+
+        axis = {}
+        if power_x > 0:
+            axis["x"] = -sign_x * power_x
+        if power_z > 0:
+            axis["z"] = sign_z * power_z
+
+        rcs_push(vessel, axis, 1)
+
+        while (sign_x > 0 and vessel.position(reference_frame)[0] > .1
+               or sign_x < 0 and vessel.position(reference_frame)[0] < -.1
+               or sign_x == 0) \
+                and (sign_z > 0 and vessel.position(reference_frame)[2] > .1
+                     or sign_z < 0 and vessel.position(reference_frame)[2] < -.1
+                     or sign_z == 0):
+            print(vessel.position(reference_frame))
+            sleep(.1)
+
+        kill_relative_velocity_rcs(vessel, target)
+    print("Vertical alignment done!")

mission/__init__.py

@@ -1,6 +1,7 @@
 from time import sleep
 from enum import Enum
 
+from maneuvers.grapple import GrappleManeuver
 from maneuvers.rendezvous import RendezvousManeuver
 from maneuvers.approach_rcs import ApproachRCSManeuver
 from maneuvers.docking import DockingManeuver
@@ -66,45 +67,33 @@ class RescueMission(Mission):
 
         rendezvous_done = RendezvousManeuver(conn, mission_control).execute()
         if rendezvous_done:
-            reference_frame = sc.ReferenceFrame.create_relative(
+            sc.active_vessel = mission_control.deliver_probe(self.rescuee_vessel)
-                self.rescuee_vessel.reference_frame,
-                rotation=(1., 0., 0., 0.)
-            )
 
-            sc.active_vessel = mission_control.deliver_probe
+            sc.target_vessel = self.rescuee_vessel
             sc.active_vessel.parts.controlling = mission_control.get_grappling()
 
-            target_approach_done = ApproachRCSManeuver(conn, mission_control, reference_frame).start()
+            target_grapple_done = GrappleManeuver(conn, mission_control, sc.target_vessel).start()
-            if target_approach_done:
+            if target_grapple_done:
-                mission_control.toggle_grappling(True)
+                mothership_docking_done = DockingManeuver(conn,
-                target_docking_done = DockingManeuver(conn,
+                                                          mission_control,
-                                               mission_control,
+                                                          mission_control.get_probe_port(),
-                                               mission_control.get_grappling(),
+                                                          mission_control.get_bay_port()).start()
-                                               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:
+                if mothership_docking_done:
-                            kerbal = mission_control.get_kerbal(self.rescuee_name)
+                    mission_control.probe = None
-                            sc.transfer_crew(kerbal, mission_control.get_part_with_free_seat())
+                    kerbal = mission_control.get_kerbal(self.rescuee_name)
-                            mission_control.toggle_grappling(False)
+                    sc.transfer_crew(kerbal, mission_control.get_part_with_free_seat())
-                            mission_control.recover_probe()
+                    mission_control.toggle_grappling(False)
+                    mission_control.recover_probe()
 
-                            # Destroy Capsule
+                    # Destroy Capsule
-                            report = MissionReport()
+                    report = MissionReport()
-                            report.mission_status = MissionStatus.Done
+                    report.mission_status = MissionStatus.Done
-                            report.new_missions.append(
+                    report.new_missions.append(
-                                TransportMission(self.rescuee_name, 'kerbin_orbit')
+                        TransportMission(self.rescuee_name, 'kerbin_orbit')
-                            )
+                    )
 
-                    return report
+                return report
 
 
 class ComSatNetworkMission:

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 self.vessel.parts.modules_with_name('ModuleDockingNodeNamed'):
-            for m in p.modules:
+            if m.get_field_by_id('portName') == name:
-                if m.name == "ModuleDockingNodeNamed" and m.get_field('portName') == name:
+                return m.part.docking_port
-                    return p
+
+        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.first_cabin = self.mothership.parts.with_name('mk2Cockpit.Inline')[0]
-        self.second_cabin = self.mothership.parts.with_title("MK2 Crew Cabin")[0]
+        self.second_cabin = self.mothership.parts.with_name('mk2CrewCabin')[0]
-        self.third_cabin = self.mothership.parts.with_title("MK2 Crew Cabin")[1]
+        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 \
+        if arm.modules[1].has_event('Arm') and value \
-                or arm.modules[1].has_event('Disarm') 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('Tug Probe Port')
-        return self.get_docking_port('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):
+    def get_mothership_docking_port(self, name):
-        bay = self.mothership.cargo_bays[0]
+        for m in self.mothership.parts.modules_with_name('ModuleDockingNodeNamed'):
-        bay.open = True
+            if m.get_field_by_id('portName') == name:
-        while bay.state != CargoBayState.open:
+                return m.part.docking_port
-            sleep(1)
 
-        hinge = self.mothership.robotic_hinges[0]
+        raise LookupError('Docking port {} not found on vessel {}'.format(name, self.mothership.name))
-        hinge.target_extension = 90
+
-        while hinge.current_angle < 90:
+    def get_probe_docking_port(self, name):
-            sleep(.1)
+        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 = self.mothership.parts.robotic_hinges[0]
-        hinge.target_extension = 0
+        hinge.target_angle = 0
-        while hinge.current_angle > 0:
+        with get_connexion().stream(getattr, hinge, 'current_angle') as current_angle:
-            sleep(.1)
+            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):