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Thruster_Safety.txt
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Thruster_Safety.txt
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//Configuration
//--------------------
const string
nameController = "Remote Control";
const double
//angle between gravity and thrust direction that causes it to disable
angleSafetyCutoff = 120.0 * (Math.PI / 180.0);
//Definitions
//--------------------
//Opcodes for use as arguments
//-commands may be issued directly
const string
command_Initialise = "Init"; //args: <none>
//Utility definitions
static Vector3D GridToWorld(Vector3I gridVector, IMyCubeGrid grid){
//convert a grid vector for the specified grid into a world direction vector
return Vector3D.Subtract (
grid.GridIntegerToWorld (gridVector),
grid.GridIntegerToWorld (Vector3I.Zero) );
}
static readonly double
safetyCutoff = Math.Cos(angleSafetyCutoff);
//Internal Types
//--------------------
public struct Status
{
//program data not persistent across restarts
public bool
initialised;
//configuration constants
private const char
delimiter = ';';
//Operations
public void Initialise(){ //data setup
//no data persistent across restarts
}
public string Store()
{
return "";
}
public bool TryRestore(string storage)
{
string[] elements = storage.Split(delimiter);
return
(elements.Length == 1)
&& elements[0] == "";
}
}
//Global variables
//--------------------
bool restarted = true;
Status status;
IMyShipController controller;
List<IMyTerminalBlock> temp = new List<IMyTerminalBlock>();
//Program
//--------------------
public void Main(string argument)
{
//First ensure the system is able to process commands
//-if necessary, perform first time setup
//-if necessary or requested, initialise the system
// >otherwise, check that the setup is still valid
if (restarted) {
//script has been reloaded
//-may be first time running
//-world may have been reloaded (or script recompiled)
if (Storage == null) {
//use default values
status.Initialise();
} else {
//attempt to restore saved values
// -otherwise use defaults
Echo ("restoring saved state...");
if ( !status.TryRestore(Storage) ){
Echo ("restoration failed.");
status.Initialise();
}
}
status.initialised = false; //we are not initialised after restart
Storage = null; //will be resaved iff initialisation is successful
restarted = false;
}
if ( !status.initialised || argument == command_Initialise) {
//if we cannot initialise, end here
if ( !Initialise() )
return;
}
else if ( !Validate() ) {
//if saved state is not valid, try re-initialising
//if we cannot initialise, end here
if ( !Initialise() )
return;
}
//Perform main processing
Update ();
//Save current status
Storage = status.Store();
Echo (Storage);
}
private void Update(){
//-Prepare data
// >get local gravity vector
// >normalise vector to simplify angle calculation
Vector3D
worldGravity = controller.GetNaturalGravity ();
worldGravity.Normalize();
//Check each thruster to see if it is safe to enable
//-only check thrusters on our grid
//-check that we have access to the thruster
//-disable any that are pointing down
// >(with safetyCutoff tolerance)
// >enable any others
GridTerminalSystem.GetBlocksOfType<IMyThrust>(temp);
int count = 0;
for (int i=0; i<temp.Count; i++) {
IMyThrust thruster = (IMyThrust)temp[i];
if (thruster.CubeGrid != controller.CubeGrid)
continue;
count++;
//Check if we can actually use the thruster
if ( ValidateBlock (thruster, callbackRequired: false) ) {
Vector3D
worldThruster = GridToWorld (
Base6Directions.GetIntVector(thruster.Orientation.Forward),
thruster.CubeGrid);
//Compare the dot product of gravity and thrust direction (normalised)
// 1.0 => 0 degrees
// 0.0 => 90 degrees
//-1.0 => 180 degrees
//safe iff angle <= safetyCutoffAngle
//=> safe iff dot product >= cos(safetyCutoffAngle)
bool
safe = Vector3D.Dot(worldGravity, worldThruster) >= safetyCutoff * worldThruster.Length();
if (thruster.Enabled != safe)
thruster.RequestEnable (safe);
}
} //end for
Echo(temp.Count.ToString() +" thrusters found.");
Echo(count.ToString() +" processed.");
}
private bool Initialise()
{
status.initialised = false;
Echo ("initialising...");
//Find Controller
controller = null;
GridTerminalSystem.GetBlocksOfType<IMyShipController> (temp);
for (int i=0; i < temp.Count; i++){
if (temp[i].CustomName == nameController) {
if (controller == null) {
controller = (IMyShipController)temp[i];
} else {
Echo ("ERROR: duplicate name \"" +nameController +"\"");
return false;
}
}
}
//verify that the Controller was found
if (controller == null) {
Echo ("ERROR: block not found \"" +nameController +"\"");
return false;
}
//validate that the Controller is operable
if ( ! ValidateBlock (controller, callbackRequired:false) ) return false;
status.initialised = true;
Echo ("Initialisation completed with no errors.");
return true;
}
private bool ValidateBlock(IMyTerminalBlock block, bool callbackRequired=true)
{
//check for block deletion?
//check that we have required permissions to control the block
if ( ! Me.HasPlayerAccess(block.OwnerId) ) {
Echo ("ERROR: no permissions for \"" +block.CustomName +"\"");
return false;
}
//check that the block has required permissions to make callbacks
if ( callbackRequired && !block.HasPlayerAccess(Me.OwnerId) ) {
Echo ("ERROR: no permissions on \"" +block.CustomName +"\"");
return false;
}
//check that block is functional
if (!block.IsFunctional) {
Echo ("ERROR: non-functional block \"" +block.CustomName +"\"");
return false;
}
return true;
}
private bool Validate(){
bool valid =
ValidateBlock (controller, callbackRequired: false);
if ( !valid ) {
Echo ("Validation of saved blocks failed.");
}
return valid;
}