Basic mission vessel tunnel

.idea/.gitignore

@@ -1,8 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
-# Editor-based HTTP Client requests
-/httpRequests/
-# Datasource local storage ignored files
-/dataSources/
-/dataSources.local.xml

.idea/.name

@@ -1 +0,0 @@
-main.py

.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

.idea/kttd.iml

@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$">
-      <excludeFolder url="file://$MODULE_DIR$/venv" />
-    </content>
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (rocket_autopilot)" project-jdk-type="Python SDK" />
-</project>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/kttd.iml" filepath="$PROJECT_DIR$/.idea/kttd.iml" />
-    </modules>
-  </component>
-</project>

calendar.py

@@ -1,35 +0,0 @@
-class Timeslot:
-    def __init__(self, ut_start, duration):
-        self.ut_start = ut_start
-        self.duration = duration
-
-    @property
-    def ut_end(self):
-        return self.ut_start + self.duration
-
-    @ut_end.setter
-    def ut_end(self, value):
-        self.duration = self.value - self.start
-
-
-class Calendar:
-    def create_reservation(self, ut_start, duration, maneuver):
-        if not self.timeslot_is_free(ut_start, duration):
-            raise
-        pass
-
-    def timeslot_is_free(self, ut_start: int, duration: int) -> bool:
-        pass
-
-    def next_free_timeslot(self, from_ut, duration=None) -> int:
-        pass
-
-    def get_reservation(self, ut_at) -> Timeslot:
-        pass
-
-    def delete_reservation(self, ut_at, priority):
-        reservation = self.get_re(ut_at)
-        if priority <= reservation.priority:
-            raise
-
-

connector.py

@@ -0,0 +1,16 @@
+import krpc
+
+
+class Connector:
+    connexion = None
+
+    @classmethod
+    def get_connexion(cls):
+        if cls.connexion is None:
+            cls.connexion = krpc.connect()
+
+        return cls.connexion
+
+
+def get_connexion():
+    return Connector.get_connexion()

lib.py

@@ -0,0 +1,25 @@
+from connector import get_connexion
+
+
+def get_contract(title):
+    for c in get_connexion().space_center.contract_manager.active_contracts:
+        if c.title == title:
+            return c
+
+    raise LookupError('Contract "{}" not found'.format(title))
+
+
+def get_vessel(name):
+    for v in get_connexion().space_center.vessels:
+        if v.name == name:
+            return v
+
+    raise LookupError("Vessel {} not found".format(name))
+
+
+def get_rescuee_vessel(rescuee_name):
+    for v in get_connexion().space_center.vessels:
+        if rescuee_name in v.name:
+            return v
+
+    raise LookupError("Rescuee {} vessel not found".format(rescuee_name))

main.py

@@ -1,16 +1,166 @@
-# This is a sample Python script.
+import sys
+import signal
+from enum import Enum
 
-# Press Maj+F10 to execute it or replace it with your code.
-# Press Double Shift to search everywhere for classes, files, tool windows, actions, and settings.
+from maneuver_scheduler import ManeuverScheduler
+
+from maneuvers.rendezvous import RendezvousManeuver
+from maneuvers.approach import ApproachManeuver
+from maneuvers.docking import DockingManeuver
+
+from connector import get_connexion
+from lib import get_contract, get_vessel, get_rescuee_vessel
 
 
-def print_hi(name):
-    # Use a breakpoint in the code line below to debug your script.
-    print(f'Hi, {name}')  # Press Ctrl+F8 to toggle the breakpoint.
+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):
+    def __init__(self, kerbal_name, destination):
+        self.kerbal_name = kerbal_name
+        self.destination = destination
+
+
+class RescueMission(Mission):
+    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, vessel):
+        conn = get_connexion()
+        sc = conn.space_center
+
+        if sc.active_vessel.name != vessel.name:
+            sc.active_vessel = 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, vessel).execute()
+        if rendezvous_done:
+            reference_frame = sc.ReferenceFrame.create_relative(
+                self.rescuee_vessel.reference_frame,
+                rotation=(1., 0., 0., 0.)
+            )
+            approach_done = ApproachManeuver(conn, vessel, reference_frame).start()
+            if approach_done:
+                docking_part = vessel.parts.root.children[0].children[10].children[0].children[0].children[0].children[
+                    0]
+                docking_done = DockingManeuver(conn, vessel, docking_part, reference_frame).start()
+                # Find new creat member name
+                # sc.transfer_crew(self.rescuee_name, target_part)
+                # Release Grapple
+                # Destroy Capsule
+                MissionReport.mission_status = MissionStatus.Done
+                MissionReport.new_missions.append(
+                    TransportMission(self.rescuee_name, 'kerbin_orbit')
+                )
+
+
+class ShuttleKerbin:
+
+    def __init__(self, vessel_name):
+        self.vessel_name = vessel_name
+        self.vessel = get_vessel(vessel_name)
+
+        self.current_orbit_missions = []
+        self.current_mission = None
+
+    def plan_mission(self, mission):
+        self.current_mission = mission
+        planning_duration = (5*60)
+        ut = ManeuverScheduler.next_free_timeslot(duration=planning_duration)
+        ManeuverScheduler.book_timeslot(ut, self.vessel)
+
+    def pick_missions(self, backlog):
+        for i, mission in enumerate(backlog.kerbin_orbit_rescue):
+            if self.current_mission is None:
+                self.plan_mission(mission)
+            else:
+                self.current_orbit_missions.append(mission)
+            del(backlog.kerbin_orbit_rescue[i])
+
+    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
+        self.current_mission.execute(self.vessel)
+
+
+class Backlog:
+    kerbin_orbit_rescue = []
+    kerbin_to_orbit = []
+    kerbin_to_ground = []
+
+
+def signal_handler(signal, frame):
+    print("\nBye!")
+    sys.exit(0)
 
 
-# Press the green button in the gutter to run the script.
 if __name__ == '__main__':
-    print_hi('PyCharm')
+    signal.signal(signal.SIGINT, signal_handler)
+    ships = []
+
+    m = RescueMission('Rescue Rossby from orbit of Kerbin.')
+    Backlog.kerbin_orbit_rescue.append(m)
+
+    ships.append(ShuttleKerbin('KKS Gagarin'))
+
+    conn = get_connexion()
+    # conn.space_center.GameMode
+    space_center = conn.space_center
+
+    for s in ships:
+        s.pick_missions(Backlog)
+
+    while True:
+        for s in ships:
+            s.pick_missions(Backlog)
+
+        space_center.rails_warp_factor = 7
+        with conn.stream(getattr, space_center, 'rails_warp_factor') as rails_warp_factor:
+            with rails_warp_factor.condition:
+                while rails_warp_factor() > 0:
+                    rails_warp_factor.wait()
+
+        alarm = ManeuverScheduler.get_last_alarm()
+        vessel = alarm.vessel
+
+        current_ship = None
+        for s in ships:
+            if s.vessel.name == vessel.name:
+                current_ship = s
+                break
+
+        if current_ship is None:
+            raise LookupError("Current ship {} not found".format(vessel.name))
+        current_ship.execute_mission(alarm)
+        alarm.remove()
+        print("turn")
+
+
 
-# See PyCharm help at https://www.jetbrains.com/help/pycharm/

maneuver_scheduler.py

@@ -0,0 +1,138 @@
+from connector import get_connexion
+import json
+import math
+
+from maneuvers import ManeuverAlarmType
+
+
+class Timeslot:
+    def __init__(self, ut_start, duration):
+        self.ut_start = ut_start
+        self.duration = duration
+
+    @property
+    def ut_end(self):
+        return self.ut_start + self.duration
+
+    @ut_end.setter
+    def ut_end(self, value):
+        self.duration = value - self.start
+
+
+class ManeuverScheduler:
+
+    # alarm_manager = get_connexion().space_center.alarm_manager
+    alarm_manager = get_connexion().kerbal_alarm_clock
+    node_offsets = 60.
+
+    @classmethod
+    def get_last_alarm(cls):
+        return cls.get_ordered_alarms()[0]
+
+    @classmethod
+    def get_ordered_alarms(cls):
+        return sorted(cls.alarm_manager.alarms, key=lambda el: el.time)
+
+    @classmethod
+    def book_timeslot_for_node(cls, vessel, node, maneuver, duration=None):
+        time_required = (node.delta_v * vessel.mass) / vessel.available_thrust
+        if duration is None:
+            duration = math.floor(2 * cls.node_offsets + time_required)
+
+        if not cls.timeslot_is_free(node.ut, duration):
+            raise
+
+        description = {
+            '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)
+        alarm_start = node.ut - (duration / 2 + cls.node_offsets)
+        alarm = cls.alarm_manager.create_alarm(
+            cls.alarm_manager.AlarmType.maneuver,
+            "{}' Maneuver: {}".format(vessel.name, maneuver.name),
+            alarm_start
+        )
+        alarm.vessel = vessel
+        # alarm.margin = cls.node_offsets
+        alarm.notes = json.dumps(description)
+        alarm.action = cls.alarm_manager.AlarmAction.kill_warp_only
+
+    @classmethod
+    def book_timeslot(cls, ut, vessel, duration=None):
+        if duration is None:
+            duration = 5 * 60
+
+        if not cls.timeslot_is_free(ut, duration):
+            raise
+
+        description = {
+            'duration': duration,
+            'vessel_name': vessel.name
+        }
+
+        alarm = cls.alarm_manager.create_alarm(
+            cls.alarm_manager.AlarmType.raw,
+            "{}' Timeslot".format(vessel.name),
+            ut
+        )
+        alarm.vessel = vessel
+        alarm.margin = cls.node_offsets
+        alarm.notes = json.dumps(description)
+        alarm.action = cls.alarm_manager.AlarmAction.kill_warp_only
+
+
+
+    @classmethod
+    def create_reservation(cls, ut_start, duration, maneuver):
+        if not cls.timeslot_is_free(ut_start, duration):
+            raise
+
+        arg_dict = {
+            "title": "{}' Maneuver: {}".format(maneuver.vessel.name, maneuver.name),
+            "description": maneuver.dumps_json()
+        }
+        if maneuver.alarm_type == ManeuverAlarmType.ManeuverNode:
+            cls.alarm_manager.add_maneuver_node_alarm(
+                maneuver.vessel,
+                maneuver.vessel.control.nodes[0],
+                **arg_dict)
+        elif maneuver.alarm_type == ManeuverAlarmType.SOI:
+            cls.alarm_manager.add_soi_alarm(
+                maneuver.vessel,
+                **arg_dict)
+
+    @classmethod
+    def timeslot_is_free(cls, ut_start: int, duration: int) -> bool:
+        return True
+
+    @classmethod
+    def next_free_timeslot(cls, from_ut=None, duration=None) -> int:
+        if from_ut is None:
+            from_ut = get_connexion().space_center.ut
+        if duration is None:
+            duration = 5 * 60
+
+        return from_ut + duration
+
+    @classmethod
+    def get_reservation(cls, ut_at) -> Timeslot:
+        pass
+
+    @classmethod
+    def delete_reservation(cls, ut_at, priority):
+        reservation = cls.get_reservation(ut_at)
+        if priority <= reservation.priority:
+            raise
+
+

maneuvers/__init__.py

@@ -0,0 +1,50 @@
+from enum import Enum
+
+
+class ManeuverAlarmType(Enum):
+    ManeuverNode = 1,
+    SOI = 2
+
+
+class Maneuver:
+    def __init__(self, conn, vessel):
+        self.vessel = vessel
+        self.conn = conn
+
+    def plan_next_maneuver(self, conn):
+        pass
+
+
+class NodeManeuver(Maneuver):
+    alarm_type = ManeuverAlarmType.ManeuverNode
+
+    def __init__(self, conn, vessel):
+        super().__init__(conn, vessel)
+        self.mech_jeb = conn.mech_jeb
+        self.node_executor = self.mech_jeb.node_executor
+
+    def execute(self) -> bool:
+        sc = self.conn.space_center
+        if sc.active_vessel.name != self.vessel.name:
+            sc.active_vessel = self.vessel
+
+        while self.vessel.control.nodes:
+            self._execute_node()
+
+        return self.plan_next_maneuver()
+
+    def _execute_node(self):
+        self.node_executor.execute_all_nodes()
+
+        with self.conn.stream(getattr, self.node_executor, "enabled") as enabled:
+            enabled.rate = 1
+            with enabled.condition:
+                while enabled():
+                    enabled.wait()
+
+
+class MechJebManeuver(NodeManeuver):
+    def __init__(self, conn, vessel):
+        super().__init__(conn, vessel)
+        self.maneuver_planner = self.mech_jeb.maneuver_planner
+

maneuvers/approach.py

@@ -3,11 +3,53 @@ from krpc.services.spacecenter import SASMode
 import numpy as np
 from time import time, sleep
 
-from utils import magnitude, kill_relative_velocity, correct_course
+from .utils import magnitude, unitary, kill_relative_velocity, correct_course
+
+from . import Maneuver
 
 
-def unitary(vector):
-    return np.array(vector) / magnitude(vector)
+class ApproachManeuver(Maneuver):
+
+    def __init__(self, conn, vessel_id, reference_frame):
+        super().__init__(conn, vessel_id)
+        self.reference_frame = reference_frame
+
+    def start(self):
+        sc = self.conn.space_center
+        vessel = sc.active_vessel
+        target = sc.target_vessel
+
+        kill_relative_velocity(self.conn, 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) + 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
+            plane_move_vector = unitary(tuple((pv[0], pv[2]))) * (safety_radius - magnitude(tuple((pv[0], pv[2]))))
+
+            pv = vessel.position(self.reference_frame)
+            move_vector = np.array((plane_move_vector[0], 0, plane_move_vector[1]))
+            move_to_waypoint(self.conn, vessel, pv + 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)
+
+        return True
 
 
 def get_safety_radius(vessel):
@@ -106,8 +148,6 @@ def move_to_waypoint(conn, vessel, waypoint, reference_frame):
     thrust(vessel, -velocity, reference_frame)
     print("Ship decelerated")
 
-    #do positition correction
-
     sa.autopilot_mode = mj.SmartASSAutopilotMode.off
     sa.update(True)
 
@@ -118,6 +158,7 @@ def move_to_waypoint(conn, vessel, waypoint, reference_frame):
 SAFETY_RADIUS_MARGIN = 10
 
 
+# DEPRECATED
 def maneuver_to_approach(conn, reference_frame):
     print("Handling approach")
     sc = conn.space_center
@@ -158,6 +199,7 @@ def maneuver_to_approach(conn, reference_frame):
 TARGET_VELOCITY = 2
 
 
+# DEPRECATED
 def move_with_vector(conn, vessel, vector, reference_frame):
     mj = conn.mech_jeb
     sa = mj.smart_ass

maneuvers/docking.py

@@ -1,6 +1,42 @@
 from time import sleep
 
-from utils import kill_relative_velocity, correct_course, magnitude
+from .utils import kill_relative_velocity, correct_course, magnitude
+
+from . import Maneuver
+
+
+class DockingManeuver(Maneuver):
+    def __init__(self, conn, vessel_id, docking_part, reference_frame):
+        super().__init__(conn, vessel_id)
+        self.docking_part = docking_part
+        self.reference_frame = reference_frame
+
+    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)
+        set_attitude_and_roll(self.conn, vessel, self.reference_frame)
+        align_horizontally(self.conn, vessel, self.reference_frame)
+
+        print("Starting docking procedure")
+        vessel.control.set_action_group(0, True)
+        rcs_push(vessel, {"y": 1}, .5)
+
+        vessel.control.rcs = True
+        try:
+            while vessel.position(self.reference_frame)[1] > 0:
+                print(vessel.position(self.reference_frame)[1])
+                correct_course(self.conn, vessel, (0, 0, 0), self.reference_frame)
+                sleep(1)
+        except ValueError as e:
+            vessel = self.conn.space_center.active_vessel
+        finally:
+            vessel.control.rcs = False
+
+        return True
 
 
 def set_attitude_and_roll(conn, vessel, reference_frame):
@@ -127,30 +163,3 @@ def align_horizontally(conn, vessel, reference_frame):
 
         kill_rcs_velocity(vessel, reference_frame)
     print("Vertical alignment done!")
-
-
-def dock_ship(conn, vessel, docking_part, reference_frame):
-    conn.drawing.add_direction((0, 1, 0), reference_frame)
-    conn.drawing.add_direction((1, 0, 0), reference_frame)
-    vessel.parts.controlling = docking_part
-
-    kill_relative_velocity(conn, vessel, reference_frame)
-
-    set_attitude_and_roll(conn, vessel, reference_frame)
-
-    align_horizontally(conn, vessel, reference_frame)
-
-    print("Starting docking procedure")
-    vessel.control.set_action_group(0, True)
-    rcs_push(vessel, {"y": 1}, .5)
-
-    vessel.control.rcs = True
-    try:
-        while vessel.position(reference_frame)[1] > 0:
-            print(vessel.position(reference_frame)[1])
-            correct_course(conn, vessel, (0, 0, 0), reference_frame)
-            sleep(1)
-    except ValueError as e:
-        vessel = conn.space_center.active_vessel
-    finally:
-        vessel.control.rcs = False

maneuvers/rendezvous.py

@@ -1,103 +1,87 @@
 import numpy as np
 
-from utils import execute_node, magnitude
+from .utils import magnitude
+
+from maneuver_scheduler import ManeuverScheduler
+
+from . import MechJebManeuver
 
 
-def align_orbit_planes(conn):
-    print("Aligning planes")
-    mj = conn.mech_jeb
-    mp = mj.maneuver_planner
-    oi = mp.operation_inclination
-    oi.time_selector.time_reference = mj.TimeReference.eq_nearest_ad
-    nodes = oi.make_nodes()
+class RendezvousManeuver(MechJebManeuver):
+    def start(self):
+        self.plan_next_maneuver()
 
-    # kac = conn.kerbal_alarm_clock
-    # kac.create_alarm(
-    #     kac.AlarmType.maneuver,
-    #     "{}'s Orbital transfer".format(v.name),
-    #     nodes[0].ut
-    # )
+    def plan_next_maneuver(self):
+        sc = self.conn.space_center
+        vessel = sc.active_vessel
+        target = sc.target_vessel
 
-    execute_node(conn)
-
-    print("Planes aligned!")
-
-
-def intercepting_target_orbit(conn):
-    print("Intercepting target orbit")
-    sc = conn.space_center
-    v = sc.active_vessel
-    mj = conn.mech_jeb
-    mp = mj.maneuver_planner
-    ot = mp.operation_transfer
-    ot.time_selector.time_reference = mj.TimeReference.computed
-    nodes = ot.make_nodes()
-    nodes[0].ut = nodes[0].ut + 0.1
-
-    # kac = conn.kerbal_alarm_clock
-    # kac.create_alarm(
-    #     kac.AlarmType.maneuver,
-    #     "{}'s Orbital transfer".format(v.name),
-    #     nodes[0].ut
-    # )
-
-    execute_node(conn)
-
-    print("Target orbit intercepted!")
-
-
-def tune_closest_approach(conn):
-    print("Tuning closest approach")
-    sc = conn.space_center
-    v = sc.active_vessel
-    mj = conn.mech_jeb
-    mp = mj.maneuver_planner
-    occ = mp.operation_course_correction
-    nodes = occ.make_nodes()
-
-    # kac = conn.kerbal_alarm_clock
-    # kac.create_alarm(
-    #     kac.AlarmType.maneuver,
-    #     "{}'s Orbital transfer".format(v.name),
-    #     nodes[0].ut
-    # )
-
-    execute_node(conn)
-
-    print("Closest approach tuned!")
-
-
-def match_velocities(conn):
-    print("Matching velocities")
-    sc = conn.space_center
-    v = sc.active_vessel
-    mj = conn.mech_jeb
-    mp = mj.maneuver_planner
-    okrv = mp.operation_kill_rel_vel
-    nodes = okrv.make_nodes()
-
-    # kac = conn.kerbal_alarm_clock
-    # kac.create_alarm(
-    #     kac.AlarmType.maneuver,
-    #     "{}'s Orbital transfer".format(v.name),
-    #     nodes[0].ut
-    # )
-
-    execute_node(conn)
-
-    print("Velocities matched!")
-
-
-def maneuver_to_rendezvous(conn, vessel, target):
         if vessel.orbit.distance_at_closest_approach(target.orbit) > 1000:
             if vessel.orbit.relative_inclination(target.orbit) > 0.0001:
-            align_orbit_planes(conn)
+                AlignOrbitPlaneWithTarget(self.conn, vessel).prepare_maneuver()
 
-        if vessel.orbit.distance_at_closest_approach(target.orbit) > 10000:
-            intercepting_target_orbit(conn)
+            elif vessel.orbit.distance_at_closest_approach(target.orbit) > 10000:
+                InterceptTargetOrbit(self.conn, vessel).prepare_maneuver()
 
-        tune_closest_approach(conn)
+            else:
+                TuneClosestApproach(self.conn, vessel).prepare_maneuver()
+            return False
 
-    if vessel.orbit.distance_at_closest_approach(target.orbit) <= 1000 < magnitude(
+        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))):
-        match_velocities(conn)
+            MatchVelocityWithTarget(self.conn, vessel).prepare_maneuver()
+            return False
+        else:
+            return True
+
+
+class AlignOrbitPlaneWithTarget(RendezvousManeuver):
+    name = "Align orbit plane with target's"
+
+    def prepare_maneuver(self):
+        oi = self.maneuver_planner.operation_inclination
+        oi.time_selector.time_reference = self.mech_jeb.TimeReference.eq_nearest_ad
+        nodes = oi.make_nodes()
+
+        node = nodes[0]
+
+        ManeuverScheduler.book_timeslot_for_node(self.vessel, node, self)
+
+
+class InterceptTargetOrbit(RendezvousManeuver):
+    name = "Intercept target's orbit"
+
+    def prepare_maneuver(self):
+        ot = self.maneuver_planner.operation_transfer
+        ot.time_selector.time_reference = self.mech_jeb.TimeReference.computed
+        nodes = ot.make_nodes()
+
+        node = nodes[0]
+        node.ut = node.ut + 1
+
+        ManeuverScheduler.book_timeslot_for_node(self.vessel, node, self)
+
+
+class TuneClosestApproach(RendezvousManeuver):
+    name = "Tune closest approach with target"
+
+    def prepare_maneuver(self):
+        occ = self.maneuver_planner.operation_course_correction
+        nodes = occ.make_nodes()
+
+        node = nodes[0]
+
+        ManeuverScheduler.book_timeslot_for_node(self.vessel, node, self)
+
+
+class MatchVelocityWithTarget(RendezvousManeuver):
+    name = "Math velocity with target's"
+    duration = 10 * 60
+
+    def prepare_maneuver(self):
+        okrv = self.maneuver_planner.operation_kill_rel_vel
+        nodes = okrv.make_nodes()
+
+        node = nodes[0]
+
+        ManeuverScheduler.book_timeslot_for_node(self.vessel, node, self, duration=self.duration)

maneuvers/utils.py

@@ -3,21 +3,18 @@ from time import time, sleep
 import numpy as np
 
 
-def execute_node(conn):
-    ne = conn.mech_jeb.node_executor
-    ne.execute_all_nodes()
-
-    with conn.stream(getattr, ne, "enabled") as enabled:
-        enabled.rate = 1
-        with enabled.condition:
-            while enabled():
-                enabled.wait()
-
-
 def magnitude(vector):
     return np.linalg.norm(vector)
 
 
+def node_thrust_time(vessel, node):
+    return (node.delta_v * vessel.mass) / vessel.available_thrust
+
+
+def unitary(vector):
+    return np.array(vector) / magnitude(vector)
+
+
 THROTTLE = .1
 
 

map.py

@@ -0,0 +1,49 @@
+import rustworkx as rx
+
+graph_dict = {
+    'kerbol': {
+        'moho': {},
+        'eve': {'gilly': {}},
+        'kerbin': {'mun': {}, 'minmus': {}},
+        'duna': {'ike': {}},
+        'dres': {},
+        'jool': {'laythe': {}, 'vall': {}, 'tylo': {}, 'bop': {}, 'pol': {}},
+        'eeloo': {},
+    }
+}
+
+
+def create_graph_node(graph_map, name, graph_dict):
+    ground_name = "{}_ground".format(name)
+    ground = graph_map.add_node(ground_name)
+    orbit_name = "{}_orbit".format(name)
+    orbit = graph_map.add_node(orbit_name)
+
+    graph_map.add_edge(orbit, ground, 1)
+
+    for body_name, body_dict in graph_dict.items():
+        child_orbit = create_graph_node(graph_map, body_name, body_dict)
+        graph_map.add_edge(orbit, child_orbit, 1)
+
+    return orbit
+
+
+class Map:
+    instance = None
+
+    @classmethod
+    def get_map(cls):
+        if cls.instance is None:
+            cls.instance = Map()
+        return cls.instance
+
+    def __init__(self):
+        self.graph = rx.PyGraph()
+        self.index_dict = {}
+        create_graph_node(self.graph, 'kerbol', graph_dict['kerbol'])
+        self.reverse_index = self.graph.nodes()
+        self.index_dict = {value: key for key, value in enumerate(self.reverse_index)}
+
+    def get_shortest_path(self, body_a, body_b):
+        result = rx.dijkstra_shortest_paths(self.graph, self.index_dict[body_a], self.index_dict[body_b])
+        return [self.reverse_index[body_index] for body_index in result[self.index_dict[body_b]]]