Rescue mission almost done docking part behaves weirdly)
This commit is contained in:
32
console.py
32
console.py
@@ -1,14 +1,44 @@
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from time import sleep
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import numpy as np
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from simple_pid import PID
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import numpy as np
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import krpc
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from maneuvers.utils import get_required_rcs_thrust
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conn = krpc.connect()
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sc = conn.space_center
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vessel = sc.active_vessel
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target = sc.target_vessel
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target.velocity(vessel.reference_frame)
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conn.drawing.add_direction(target.velocity(vessel.reference_frame), vessel.reference_frame)
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get_required_rcs_thrust(vessel, target.velocity(vessel.reference_frame))
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from maneuvers.utils import magnitude
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kill_relative_velocity_rcs(vessel, target)
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mj = conn.mech_jeb
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sa = mj.smart_ass
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reference_frame = sc.ReferenceFrame.create_relative(target.reference_frame, rotation=(1., 0., 0., 0.))
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conn.drawing.add_direction((0, 1, 0), reference_frame)
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from time import sleep
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import krpc
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from maneuvers.utils import magnitude
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conn = krpc.connect()
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sc = conn.space_center
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vessel = sc.active_vessel
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target = sc.target_vessel
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mj = conn.mech_jeb
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sa = mj.smart_ass
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sa.autopilot_mode = conn.mech_jeb.SmartASSAutopilotMode.target_plus
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sa.update(False)
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sa.autopilot_mode = conn.mech_jeb.SmartASSAutopilotMode.target_minus
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sa.update(False)
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while True:
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print(magnitude(vessel.angular_velocity(target.reference_frame)))
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sleep(.1)
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from mission_control import ShuttleKerbin
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s = ShuttleKerbin("KKS Gagarin")
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s.recover_probe()
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@@ -42,22 +42,11 @@ class ManeuverScheduler:
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'duration': duration,
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'vessel_name': vessel.name
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}
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# arg_dict = {
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# 'title': "{}' Maneuver: {}".format(vessel.name, maneuver.name),
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# 'description': json.dumps(description),
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# 'offset': cls.node_offsets
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# }
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# cls.alarm_manager.add_maneuver_node_alarm(
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# vessel,
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# vessel.control.nodes[0],
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# **arg_dict)
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if alarm_start is None:
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alarm_start = node.ut - (duration / 2 + cls.node_offsets)
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if not cls.timeslot_is_free(alarm_start, duration):
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raise
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raise Exception('Timeslot is occupied')
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alarm = cls.alarm_manager.create_alarm(
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cls.alarm_manager.AlarmType.maneuver,
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@@ -1,5 +1,3 @@
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from krpc.services.spacecenter import SASMode
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import numpy as np
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from time import time, sleep
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@@ -1,9 +1,8 @@
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from krpc.services.spacecenter import SASMode
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import numpy as np
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from time import time, sleep
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from .utils import magnitude, unitary, kill_relative_velocity, kill_rcs_velocity, correct_course, get_safety_radius,\
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from .utils import magnitude, unitary, kill_relative_velocity_rcs, correct_course, get_safety_radius,\
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point_toward_direction
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from . import Maneuver
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@@ -22,7 +21,7 @@ class ApproachRCSManeuver(Maneuver):
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vessel = sc.active_vessel
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target = sc.target_vessel
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kill_rcs_velocity(vessel, self.reference_frame)
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kill_relative_velocity_rcs(vessel, target)
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self.conn.drawing.add_direction((0, 1, 0), self.reference_frame)
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@@ -57,9 +56,8 @@ class ApproachRCSManeuver(Maneuver):
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def move_to_waypoint(conn, vessel, waypoint, reference_frame):
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mj = conn.mech_jeb
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kill_relative_velocity(conn, vessel, reference_frame)
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target = conn.space_center.target_vessel
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kill_relative_velocity_rcs(vessel, target)
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conn.drawing.add_line(vessel.position(reference_frame), waypoint, reference_frame)
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waypoint = np.array(waypoint)
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@@ -82,14 +80,21 @@ def move_to_waypoint(conn, vessel, waypoint, reference_frame):
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vessel.control.forward = 0
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print("Target velocity achieved")
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remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
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while remaining_distance > acceleration_distance:
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sleep(.1)
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correct_course(conn, vessel, waypoint, reference_frame)
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remaining_distance = magnitude(waypoint - vessel.position(reference_frame))
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remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
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print(remaining_distance)
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print("Starting deceleration")
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kill_rcs_velocity(vessel, reference_frame)
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remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
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vessel.control.forward = -1
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while remaining_distance > 0:
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sleep(.1)
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remaining_distance = distance - magnitude(start_position - vessel.position(reference_frame))
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vessel.control.forward = 0
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kill_relative_velocity_rcs(vessel, target)
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print("Ship decelerated")
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print("destination position: {}".format(waypoint))
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@@ -30,9 +30,9 @@ class ComsatManeuver(MechJebManeuver):
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raise NotImplementedError
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if not math.isclose(vessel.orbit.apoapsis_altitude, self.target_altitude, rel_tol=.01):
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SetOrbitApoapsis(self.conn, vessel, self.target_body).prepare_maneuver()
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SetOrbitApoapsis(self.conn, self.mission_control, self.target_body).prepare_maneuver()
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elif not math.isclose(vessel.orbit.eccentricity, 0, abs_tol=.001) or self.vessel.control.current_stage > 1:
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CircularizeOrbitAndDeliver(self.conn, vessel, self.target_body).prepare_maneuver()
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CircularizeOrbitAndDeliver(self.conn, self.mission_control, self.target_body).prepare_maneuver()
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elif self.vessel.control.current_stage <= 1:
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return True
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@@ -1,128 +1,36 @@
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from time import sleep
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from .utils import kill_relative_velocity, kill_rcs_velocity, correct_course, magnitude
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from .utils import kill_relative_velocity, kill_relative_velocity_rcs, correct_course, magnitude
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from . import Maneuver
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class DockingManeuver(Maneuver):
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def __init__(self, conn, mission_control, docking_part, reference_frame):
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def __init__(self, conn, mission_control, docking_port, target_docking_port):
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super().__init__(conn, mission_control)
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self.docking_part = docking_part
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self.reference_frame = reference_frame
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self.mech_jeb = conn.mech_jeb
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self.docking_port = docking_port
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self.target_docking_port = target_docking_port
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def start(self):
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vessel = self.conn.space_center.active_vessel
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self.conn.drawing.add_direction((0, 1, 0), self.reference_frame)
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self.conn.drawing.add_direction((1, 0, 0), self.reference_frame)
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vessel.parts.controlling = self.docking_part
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kill_relative_velocity(self.conn, vessel, self.reference_frame)
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set_attitude_and_roll(self.conn, vessel, self.reference_frame)
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align_horizontally(self.conn, vessel, self.reference_frame)
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self.conn.space_center.active_vessel = self.mission_control.vessel
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vessel.parts.controlling = self.docking_port.part
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self.conn.space_center.target_docking_port = self.target_docking_port
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print("Starting docking procedure")
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vessel.control.set_action_group(0, True)
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rcs_push(vessel, {"y": 1}, .5)
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da = self.mech_jeb.docking_autopilot
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da.speed_limit = 10
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da.roll = 0
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da.force_roll = True
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da.enabled = True
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vessel.control.rcs = True
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try:
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while vessel.position(self.reference_frame)[1] > 0:
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print(vessel.position(self.reference_frame)[1])
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correct_course(self.conn, vessel, (0, 0, 0), self.reference_frame)
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sleep(1)
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except ValueError as e:
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vessel = self.conn.space_center.active_vessel
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finally:
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vessel.control.rcs = False
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sleep(1)
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with self.conn.stream(getattr, da, "enabled") as enabled:
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enabled.rate = 1
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with enabled.condition:
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while enabled():
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enabled.wait()
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return True
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def set_attitude_and_roll(conn, vessel, reference_frame):
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fl = vessel.flight(reference_frame)
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vessel.control.rcs = False
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ap = vessel.auto_pilot
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ap.reference_frame = reference_frame
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ap.target_direction = (0, -1, 0)
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ap.target_roll = 0
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ap.sas = False
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ap.engage()
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ap.wait()
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ap.disengage()
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mj = conn.mech_jeb
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sa = mj.smart_ass
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sa.autopilot_mode = mj.SmartASSAutopilotMode.target_plus
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sa.update(False)
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while magnitude(vessel.angular_velocity(reference_frame)) > .1:
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sleep(.1)
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print("Ship pointing to dock")
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def rcs_push(vessel, axis, duration):
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vessel.control.rcs = True
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if "x" in axis:
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vessel.control.up = axis["x"]
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elif "y" in axis:
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vessel.control.forward = axis["y"]
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elif "z" in axis:
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vessel.control.right = axis["z"]
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sleep(duration)
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if "x" in axis:
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vessel.control.up = 0
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elif "y" in axis:
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vessel.control.forward = 0
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elif "z" in axis:
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vessel.control.right = 0
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vessel.control.rcs = False
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def align_horizontally(conn, vessel, reference_frame):
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conn.drawing.add_direction((1, 0, 0), vessel.reference_frame)
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while abs(vessel.position(reference_frame)[0]) > .1 \
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or abs(vessel.position(reference_frame)[2]) > .1:
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# determine power requirements of each
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sign_x = 1 if vessel.position(reference_frame)[0] > 0 else -1
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if abs(vessel.position(reference_frame)[0]) > 1:
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power_x = 1
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elif abs(vessel.position(reference_frame)[0]) > .1:
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power_x = .1
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else:
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power_x = 0
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sign_x = 0
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sign_z = 1 if vessel.position(reference_frame)[2] > 0 else -1
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if abs(vessel.position(reference_frame)[2]) > 1:
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power_z = 1
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elif abs(vessel.position(reference_frame)[2]) > .1:
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power_z = .1
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else:
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power_z = 0
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sign_z = 0
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axis = {}
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if power_x > 0:
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axis["x"] = -sign_x * power_x
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if power_z > 0:
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axis["z"] = sign_z * power_z
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rcs_push(vessel, axis, 1)
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while (sign_x > 0 and vessel.position(reference_frame)[0] > .1
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or sign_x < 0 and vessel.position(reference_frame)[0] < -.1
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or sign_x == 0) \
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and (sign_z > 0 and vessel.position(reference_frame)[2] > .1
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or sign_z < 0 and vessel.position(reference_frame)[2] < -.1
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or sign_z == 0):
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print(vessel.position(reference_frame))
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sleep(.1)
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kill_rcs_velocity(vessel, reference_frame)
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print("Vertical alignment done!")
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36
maneuvers/grapple.py
Normal file
36
maneuvers/grapple.py
Normal file
@@ -0,0 +1,36 @@
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from time import sleep
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from . import Maneuver
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from .utils import magnitude, correct_course_to_target, rcs_push, point_toward_target
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class GrappleManeuver(Maneuver):
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def __init__(self, conn, mission_control, target):
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super().__init__(conn, mission_control)
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self.target = target
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def start(self):
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vessel = self.mission_control.vessel
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vessel.parts.controlling = self.mission_control.get_grappling()
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point_toward_target(self.conn, vessel, self.target)
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self.mission_control.toggle_grappling(True)
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rcs_push(vessel, {"y": 1}, .75)
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vessel.control.rcs = True
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try:
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while magnitude(vessel.position(self.target.reference_frame)) > 0:
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print(magnitude(vessel.position(self.target.reference_frame)))
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sa = self.conn.mech_jeb.smart_ass
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sa.autopilot_mode = self.conn.mech_jeb.SmartASSAutopilotMode.relative_plus
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sa.update(False)
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correct_course_to_target(vessel, self.target)
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except ValueError:
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vessel = self.conn.space_center.active_vessel
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self.mission_control.vessel = vessel
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finally:
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vessel.control.rcs = False
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return True
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@@ -18,18 +18,18 @@ class RendezvousManeuver(MechJebManeuver):
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if vessel.orbit.distance_at_closest_approach(target.orbit) > 1000:
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if vessel.orbit.relative_inclination(target.orbit) > 0.0001:
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AlignOrbitPlaneWithTarget(self.conn, vessel).prepare_maneuver()
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AlignOrbitPlaneWithTarget(self.conn, self.mission_control).prepare_maneuver()
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elif vessel.orbit.distance_at_closest_approach(target.orbit) > 10000:
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InterceptTargetOrbit(self.conn, vessel).prepare_maneuver()
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InterceptTargetOrbit(self.conn, self.mission_control).prepare_maneuver()
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else:
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TuneClosestApproach(self.conn, vessel).prepare_maneuver()
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TuneClosestApproach(self.conn, self.mission_control).prepare_maneuver()
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return False
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elif vessel.orbit.distance_at_closest_approach(target.orbit) <= 1000 < magnitude(
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np.array(vessel.position(vessel.reference_frame)) - np.array(target.position(vessel.reference_frame))):
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MatchVelocityWithTarget(self.conn, vessel).prepare_maneuver()
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MatchVelocityWithTarget(self.conn, self.mission_control).prepare_maneuver()
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return False
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else:
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return True
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@@ -1,7 +1,13 @@
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from time import time, sleep
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import math
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import numpy as np
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from krpc.services.spacecenter import SASMode
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from connector import get_connexion
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def magnitude(vector):
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return np.linalg.norm(vector)
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@@ -65,43 +71,92 @@ def correct_course(conn, vessel, waypoint, reference_frame):
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vessel.control.up = 0
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def kill_rcs_velocity(vessel, reference_frame):
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print("Killing RCS velocity")
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velo = vessel.velocity(reference_frame)
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vessel.control.rcs = True
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while any(abs(component) > .05 for component in velo) > .05:
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if abs(velo[0]) > .05:
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sign = -velo[0] / abs(velo[0])
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if abs(velo[0]) > .1:
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vessel.control.up = 1 * sign
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elif abs(velo[0]) > .05:
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vessel.control.up = .1 * sign
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else:
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vessel.control.up = 0
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def correct_course_to_target(vessel, target):
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target_position = target.position(vessel.reference_frame)
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if abs(velo[1]) > .05:
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sign = -velo[1] / abs(velo[1])
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if abs(velo[1]) > .1:
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angle_x = math.atan(target_position[0]/target_position[1])
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if math.isclose(angle_x, 0, abs_tol=0.05):
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vessel.control.right = 0
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elif angle_x < 0:
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vessel.control.right = -.1
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elif angle_x > 0:
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vessel.control.right = .1
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angle_z = math.atan(target_position[2]/target_position[1])
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if math.isclose(angle_z, 0, abs_tol=0.05):
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vessel.control.up = 0
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elif angle_z < 0:
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vessel.control.up = .1
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elif angle_z > 0:
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vessel.control.up = -.1
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def kill_relative_velocity_rcs(vessel, target):
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print("Killing RCS velocity")
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vessel.control.sas = True
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vessel.control.rcs = True
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velocity = target.velocity(vessel.reference_frame)
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while any(abs(component) >= .1 for component in velocity):
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thrust = get_required_rcs_thrust(vessel, velocity)
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vessel.control.right = thrust[0] if abs(velocity[0]) >= .1 else 0
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vessel.control.forward = thrust[1] if abs(velocity[1]) >= .1 else 0
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vessel.control.up = - thrust[2] if abs(velocity[2]) >= .1 else 0
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print(target.velocity(vessel.reference_frame))
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print((thrust[0], thrust[1], thrust[2]))
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print((vessel.control.right, vessel.control.forward, vessel.control.up))
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sleep(.1)
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velocity = target.velocity(vessel.reference_frame)
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continue
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if abs(velocity[0]) > .05:
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sign = velocity[0] / abs(velocity[0])
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if abs(velocity[0]) > 1:
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vessel.control.right = 1 * sign
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elif abs(velocity[0]) > .1:
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vessel.control.right = .1 * sign
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else:
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vessel.control.right = 0
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if abs(velocity[1]) > .05:
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sign = velocity[1] / abs(velocity[1])
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if abs(velocity[1]) > 1:
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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:
|
||||
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
|
||||
if abs(velocity[2]) > .05:
|
||||
sign = - velocity[2] / abs(velocity[2])
|
||||
if abs(velocity[2]) > 1:
|
||||
vessel.control.up = 1 * sign
|
||||
elif abs(velocity[2]) > .1:
|
||||
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!")
|
||||
|
||||
@@ -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(
|
||||
self.rescuee_vessel.reference_frame,
|
||||
rotation=(1., 0., 0., 0.)
|
||||
)
|
||||
sc.active_vessel = mission_control.deliver_probe(self.rescuee_vessel)
|
||||
|
||||
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()
|
||||
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()
|
||||
target_grapple_done = GrappleManeuver(conn, mission_control, sc.target_vessel).start()
|
||||
if target_grapple_done:
|
||||
mothership_docking_done = DockingManeuver(conn,
|
||||
mission_control,
|
||||
mission_control.get_probe_port(),
|
||||
mission_control.get_bay_port()).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()
|
||||
if mothership_docking_done:
|
||||
mission_control.probe = None
|
||||
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')
|
||||
)
|
||||
# Destroy Capsule
|
||||
report = MissionReport()
|
||||
report.mission_status = MissionStatus.Done
|
||||
report.new_missions.append(
|
||||
TransportMission(self.rescuee_name, 'kerbin_orbit')
|
||||
)
|
||||
|
||||
return report
|
||||
return report
|
||||
|
||||
|
||||
class ComSatNetworkMission:
|
||||
|
||||
@@ -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):
|
||||
|
||||
Reference in New Issue
Block a user