Fix various bugs and inconsistencies.

docking.cs

@@ -3,77 +3,100 @@
 //   * Connect any Connectors whose names start with "Docking Port" that are ready to connect.
 //   * Turn off all engines.
 //   * Set all O2 and Hydrogen tanks to Stockpile.
-//   * Set all batteries to Recharge.
+//
+// Recharging batteries needs to be done manually, since the script can't finish with the
+//   batteries disabled.
 //
 // When you activate the script with "-undock" it will reverse all of these actions.
 //
 // TODO: None of the below switches work yet.
 // You can selectively disable some functionality with switches.
 //   * "-no-refuel" to disable refueling
-//   * "-no-recharge" to disable battery recharge
-//     (batteries will be left in whatever state they are already in)
 
 MyCommandLine cli;
+IEnumerator<bool> state;
 
 List<IMyShipConnector> dockingPorts;
 List<IMyThrust> thrusters;
-List<IMyBatteryBlock> batteries;
 List<IMyGasTank> tanks;
 
-public void Program() {
-  cli = new MyCommandLine();
+public Program() {
+    cli = new MyCommandLine();
+    state = null;
 
-  dockingPorts = new List<IMyShipConnector>();
-  List<IMyShipConnector> allConnectors = new List<IMyShipConnector>();
-  foreach(IMyShipConnector connector in allConnectors) {
-      if (connector.CustomName.StartsWith("Docking Port")) {
-          dockingPorts.Add(connector);
-      }
-  }
+    dockingPorts = new List<IMyShipConnector>();
+    List<IMyShipConnector> allConnectors = new List<IMyShipConnector>();
+    GridTerminalSystem.GetBlocksOfType(allConnectors);
+    foreach(IMyShipConnector connector in allConnectors) {
+        if (connector.CustomName.StartsWith("Docking Port")) {
+            dockingPorts.Add(connector);
+        }
+    }
 
-  thrusters = new List<IMyThrust>();
-  GridTerminalSystem.GetBlocksOfType(thrusters);
+    thrusters = new List<IMyThrust>();
+    GridTerminalSystem.GetBlocksOfType(thrusters);
 
-  batteries = new List<IMyBatteryBlock>();
-  GridTerminalSystem.GetBlocksOfType(batteries);
+    tanks = new List<IMyGasTank>();
+    GridTerminalSystem.GetBlocksOfType(tanks);
 
-  tanks = new List<IMyGasTank>();
-  GridTerminalSystem.GetBlocksOfType(tanks);
+    Echo($"Found {dockingPorts.Count} docking ports.");
+    Echo($"Found {thrusters.Count} thrusters");
+    Echo($"Found {tanks.Count} tanks");
 }
 
 public void Main(string argument, UpdateType updateSource) {
-    cli.TryParse(argument);
-    if (cli.Switch("undock")) Undock();
-    else Dock();
+    if (state == null) {
+        cli.TryParse(argument);
+        if (cli.Switch("undock")) state = Undock();
+        else state = Dock();
+        Runtime.UpdateFrequency = UpdateFrequency.Update100;
+        return;
+    }
+
+    if (!state.MoveNext()) {
+        Runtime.UpdateFrequency = UpdateFrequency.None;
+        state.Dispose();
+        state = null;
+    }
 }
 
-private void Dock() {
+private IEnumerator<bool> Dock() {
+    Echo("Initiating docking operation.");
+
     foreach (IMyShipConnector dockingPort in dockingPorts) {
         if (dockingPort.Status == MyShipConnectorStatus.Connectable) {
-          dockingPort.Connect();
+            dockingPort.Connect();
         }
     }
 
+    bool docked = false;
+    while (!docked) {
+        yield return true;
+        foreach (IMyShipConnector dockingPort in dockingPorts) {
+            if (dockingPort.Status == MyShipConnectorStatus.Connected) {
+                docked = true;
+                break;
+            }
+        }
+    }
+
+    Echo("Docking clamp engaged. Shutting down systems.");
+
     foreach (IMyThrust thruster in thrusters) {
         thruster.Enabled = false;
     }
 
-    foreach (IMyBatteryBlock battery in batteries) {
-        battery.ChargeMode = ChargeMode.Recharge;
-    }
-
     foreach (IMyGasTank tank in tanks) {
         tank.Stockpile = true;
     }
+
+    yield return false;
 }
 
-private void Undock() {
-    foreach (IMyBatteryBlock battery in batteries) {
-        battery.ChargeMode = ChargeMode.Recharge;
-    }
-
+private IEnumerator<bool> Undock() {
+    Echo("Initiating undocking operation.");
     foreach (IMyGasTank tank in tanks) {
-        tank.Stockpile = true;
+        tank.Stockpile = false;
     }
 
     foreach (IMyThrust thruster in thrusters) {
@@ -82,7 +105,9 @@ private void Undock() {
 
     foreach (IMyShipConnector dockingPort in dockingPorts) {
         if (dockingPort.Status == MyShipConnectorStatus.Connected) {
-          dockingPort.Disconnect();
+            dockingPort.Disconnect();
         }
     }
+
+    yield return false;
 }

maintenance_panels.cs

@@ -23,29 +23,32 @@ public class Panel {
         ParseConfig();
     }
 
+    // For these two functions, IMyMotorStator.Angle reports radians, but
+    //   IMyMotorStator.RotateToAngle() expects degrees...
     public void OpenPanel() {
         Hinge.RotorLock = false;
-        TargetAngle = OpenAngle;
-        Hinge.RotateToAngle(MyRotationDirection.AUTO, TargetAngle, Velocity);
+        TargetAngle = DegToRad(OpenAngle);
+        Hinge.RotateToAngle(MyRotationDirection.AUTO, OpenAngle, Velocity);
     }
 
     public void ClosePanel() {
         Hinge.RotorLock = false;
-        TargetAngle = ClosedAngle;
-        Hinge.RotateToAngle(MyRotationDirection.AUTO, TargetAngle, Velocity);
+        TargetAngle = DegToRad(ClosedAngle);
+        Hinge.RotateToAngle(MyRotationDirection.AUTO, ClosedAngle, Velocity);
     }
 
     // Call this function every tick after OpenPanel or ClosePanel.
     // It will return true when the panel has finished moving.
     public bool Monitor() {
-        if (Math.Abs(Hinge.Angle - TargetAngle) < 0.01) {
+        if (Math.Abs(Hinge.Angle - TargetAngle) < 0.001) {
             Hinge.RotorLock = true;
         }
         return Hinge.RotorLock;
     }
 
-    private IMyMotorStator Hinge { get; set; }
-    private float TargetAngle { get; set; }
+    // TODO: these are public for debugging
+    public IMyMotorStator Hinge { get; set; }
+    public float TargetAngle { get; set; }
     private float OpenAngle { get; set; } = 90F;
     private float ClosedAngle { get; set; } = 0F;
     private float Velocity { get; set; } = 5F;
@@ -68,6 +71,12 @@ public class Panel {
             }
         }
     }
+
+    // TODO: a utility class or function would be lovely...
+    //   In general, the encapsulation feels a little screwy here.
+    private float DegToRad(float degrees) {
+        return degrees * ((float)Math.PI / 180F);
+    }
 }
 
 public Program() {
@@ -76,13 +85,14 @@ public Program() {
 
   panels = new List<Panel>();
   List<IMyMotorStator> allHinges = new List<IMyMotorStator>();
+  GridTerminalSystem.GetBlocksOfType(allHinges);
   foreach(IMyMotorStator hinge in allHinges) {
       if (hinge.CustomName.StartsWith("Maintenance")) {
           panels.Add(new Panel(hinge));
       }
   }
 
-  Echo($"Found {panels.Length} panels.");
+  Echo($"Found {panels.Count} panels.");
 }
 
 public void Main(string argument, UpdateType updateSource) {
@@ -95,6 +105,7 @@ public void Main(string argument, UpdateType updateSource) {
     }
 
     if (!state.MoveNext()) {
+        Echo("Operation Complete.");
         state.Dispose();
         state = null;
         Runtime.UpdateFrequency = UpdateFrequency.None;
@@ -122,7 +133,10 @@ private IEnumerator<bool> MonitorPanels() {
         Echo("Monitoring panels.");
         bool done = true; // assume we've finished, then falsify it below
         foreach (Panel panel in panels) {
-            if (!panel.Monitor()) done = false;
+            if (!panel.Monitor()) {
+                Echo($"{panel.TargetAngle} {panel.Hinge.Angle}");
+                done = false;
+            }
         }
         if (done) yield break;
         yield return true;