VesselConfig.cs

//  Author:
//       Allis Tauri <allista@gmail.com>
//
//  Copyright (c) 2015 Allis Tauri
//
// This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License. 
// To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/ 
// or send a letter to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.

using System.Linq;
using System.Reflection;
using System.Collections.Generic;
using UnityEngine;
using AT_Utils;

namespace ThrottleControlledAvionics
{
    public enum Attitude
    {
        None,
        KillRotation, HoldAttitude,
        Prograde, Retrograde,
        Radial, AntiRadial,
        Normal, AntiNormal,
        Target, AntiTarget,
        RelVel, AntiRelVel,
        TargetCorrected,
        ManeuverNode,
        Custom
    }
    public enum SmartEnginesMode { None, Closest, Fastest, Best }
    public enum BearingMode { None, User, Auto }
    public enum ControlMode { None, VTOL }
    public enum HFlight { None, Stop, Move, Level, NoseOnCourse, CruiseControl }
    public enum VFlight { None, AltitudeControl }
    public enum Navigation { None, GoToTarget, FollowTarget, FollowPath, Anchor, AnchorHere }
    public enum Autopilot1 { None, Land, Maneuver, MatchVel, MatchVelNear }
    public enum Autopilot2 { None, Deorbit, BallisticJump, Rendezvous, ToOrbit }

    public class VesselConfig : ConfigNodeObject
    {
        new public const string NODE_NAME = "VSLCONFIG";
        public ConfigNode LoadedConfig { get; private set; }

        //modules
        public HashSet<string> EnabledTCAParts = new HashSet<string>();
        public SortedList<string, ConfigNode> ModuleConfigs = new SortedList<string, ConfigNode>();
        //common
        [Persistent] public bool Enabled;
        [Persistent] public bool GUIVisible;
        [Persistent] public int ActiveTab;
        [Persistent] public KSPActionGroup ActionGroup = KSPActionGroup.None;
        //attitude control
        [Persistent] public Multiplexer<Attitude> AT = new Multiplexer<Attitude>();
        [Persistent] public bool WarpToNode = true;
        //vertical speed and altitude
        [Persistent] public Multiplexer<VFlight> VF = new Multiplexer<VFlight>();
        [Persistent] public bool AltitudeAboveTerrain;
        [Persistent] public float DesiredAltitude; //desired altitude m (configurable)
        [Persistent] public float VerticalCutoff; //desired positive vertical speed m/s (configurable)
        [Persistent] public bool BlockThrottle;
        [Persistent] public float ControlSensitivity = 0.01f;

        public bool VSCIsActive { get { return VF || VerticalCutoff < VerticalSpeedControl.C.MaxSpeed; } }
        public void DisableVSC() { VF.Off(); VerticalCutoff = VerticalSpeedControl.C.MaxSpeed; BlockThrottle = false; }
        public void SmoothSetVSC(float spd) { VerticalCutoff = Mathf.Lerp(VerticalCutoff, spd, TimeWarp.fixedDeltaTime); }
        public void SmoothSetVSC(float spd, float min, float max) { VerticalCutoff = Utils.Clamp(Mathf.Lerp(VerticalCutoff, spd, TimeWarp.fixedDeltaTime), min, max); }
        //steering
        [Persistent] public Multiplexer<ControlMode> CTRL = new Multiplexer<ControlMode>();
        [Persistent] public uint ControlTransform = 0;
        [Persistent] public float SteeringGain = 1f;          //steering vector is scaled by this
        [Persistent] public Vector3 SteeringModifier = Vector3.one; //steering vector is scaled by this (pitch, roll, yaw); needed to prevent too fast roll on vtols and oscilations in wobbly ships
        [Persistent] public bool PitchYawLinked = true;        //if true, pitch and yaw sliders will be linked
        [Persistent] public bool AutoTune = true;        //if true, engine PI coefficients and steering modifier will be tuned automatically
        //horizontal velocity
        [Persistent] public Multiplexer<HFlight> HF = new Multiplexer<HFlight>();
        [Persistent] public bool SASIsControlled;
        [Persistent] public bool SASWasEnabled;
        [Persistent] public WayPoint Anchor;
        //cruise control
        [Persistent] public Multiplexer<BearingMode> BR = new Multiplexer<BearingMode>();
        //waypoint navigation
        [Persistent] public Multiplexer<Navigation> Nav = new Multiplexer<Navigation>();
        [Persistent] public float MaxNavSpeed = 100;
        [Persistent] public bool ShowPath;
        [Persistent] public WayPoint Target;
        [Persistent] public NavPath Path = new NavPath();
        //autopilot
        [Persistent] public Multiplexer<Autopilot1> AP1 = new Multiplexer<Autopilot1>();
        [Persistent] public Multiplexer<Autopilot2> AP2 = new Multiplexer<Autopilot2>();
        [Persistent] public bool VTOLAssistON = true;
        [Persistent] public bool AutoGear = true;
        [Persistent] public bool AutoBrakes = true;
        [Persistent] public bool StabilizeFlight = true;
        [Persistent] public bool UseCPS = true;
        [Persistent] public bool CorrectWithTranslation = true;
        [Persistent] public bool RotateWithRCS = true;
        [Persistent] public bool UseHorizontalThrust = true;
        [Persistent] public float MinHorizontalAccel = 0.5f;
        //engines
        [Persistent] public PI_Controller Engines = new PI_Controller();
        [Persistent] public EnginesProfileDB EnginesProfiles = new EnginesProfileDB();
        [Persistent] public bool ShowManualLimits;
        [Persistent] public bool AutoStage = true;
        [Persistent] public bool AutoParachutes = true;
        [Persistent] public bool UseSmartEngines = false;
        [Persistent] public Multiplexer<SmartEnginesMode> SmartEngines = new Multiplexer<SmartEnginesMode>();
        public EnginesProfile ActiveProfile { get { return EnginesProfiles.Active; } }
        //squad
        [Persistent] public int Squad;
        //macros
        [Persistent] public TCAMacroLibrary Macros = new TCAMacroLibrary();
        [Persistent] public TCAMacro SelectedMacro;
        [Persistent] public bool MacroIsActive;
        public void StopMacro()
        {
            if(SelectedMacro != null && MacroIsActive)
            {
                MacroIsActive = false;
                SelectedMacro.Rewind();
            }
        }
        //automation
        static List<FieldInfo> multiplexer_fields = typeof(VesselConfig).GetFields(BindingFlags.Public | BindingFlags.Instance)
            .Where(fi => fi.FieldType.IsSubclassOf(typeof(Multiplexer))).ToList();
        readonly List<Multiplexer> multiplexers = new List<Multiplexer>();

        public ConfigNode Configuration
        { get { var node = new ConfigNode(); Save(node); return node; } }

        public VesselConfig()
        {
            //set defaults
            VerticalCutoff = VerticalSpeedControl.C.MaxSpeed;
            Engines.setPI(EngineOptimizer.C.EnginesPI);
            //explicitly set multiplexer conflicts
            AT.AddConflicts(HF, Nav, AP1, AP2);
            HF.AddConflicts(AT, Nav, AP1, AP2);
            Nav.AddConflicts(AT, HF, AP1, AP2);
            AP1.AddConflicts(AT, Nav, HF, AP2);
            AP2.AddConflicts(AT, Nav, HF, AP1);
            //get all multiplexers
            multiplexer_fields.ForEach(fi => multiplexers.Add((Multiplexer)fi.GetValue(this)));
            //init TCAParts list
            EnabledTCAParts = new HashSet<string>(TCAModulesDatabase.GetAllParts()
                                                  //comment the next line to enables OTA upgrades
                                                  .Where(p => p.Active)
                                                  .Select(p => p.Name));
        }

        public override void Load(ConfigNode node)
        {
            LoadedConfig = node;
            base.Load(node);
            //restore module configs
            var mcn = node.GetNode("ModuleConfigs");
            if(mcn != null)
            {
                ModuleConfigs.Clear();
                foreach(var n in mcn.GetNodes())
                    ModuleConfigs.Add(n.name, n);
            }
            //initialize saved waypoints
            if(Anchor != null && string.IsNullOrEmpty(Anchor.Name))
                Anchor = null;
            if(Target != null && string.IsNullOrEmpty(Target.Name))
                Target = null;
            //initialize saved selected macro
            if(SelectedMacro != null && !SelectedMacro.Block.HasSubnodes)
                SelectedMacro = null;
            //FIXME: have to save/load HashSet manually until Squad fixes http://bugs.kerbalspaceprogram.com/issues/13670
            var parts_node = node.GetNode("EnabledTCAParts");
            if(parts_node != null)
            {
                EnabledTCAParts.Clear();
                parts_node.GetValues().ForEach(pname => EnabledTCAParts.Add(pname));
            }
        }

        public override void Save(ConfigNode node)
        {
            if(ModuleConfigs.Count > 0)
            {
                var mcn = node.AddNode("ModuleConfigs");
                foreach(var mc in ModuleConfigs)
                    mcn.AddNode(mc.Key, mc.Value);
            }
            //FIXME: have to save/load HashSet manually until Squad fixes http://bugs.kerbalspaceprogram.com/issues/13670
            var parts_node = node.AddNode("EnabledTCAParts");
            EnabledTCAParts.ForEach(pname => parts_node.AddValue("item", pname));
            base.Save(node);
        }

        public void ClearCallbacks()
        { multiplexers.ForEach(m => m.ClearCallbacks()); }

        public void Resume(ModuleTCA TCA)
        {
            if(Target != null)
            {
                Target.Update(TCA.VSL);
                TCA.VSL.SetTarget(null, Target);
            }
            if(Anchor != null) Anchor.Update(TCA.VSL);
            Path.ForEach(wp => wp.Update(TCA.VSL));
            multiplexers.ForEach(m => m.Resume());
        }
    }

    public class NamedConfig : VesselConfig
    {
        [Persistent] public string Name = "Config";

        public NamedConfig() { }
        public NamedConfig(string name) : this() { Name = name; }

        public static NamedConfig FromVesselConfig(string name, VesselConfig other)
        {
            var nc = new NamedConfig();
            nc.Copy(other);
            nc.Name = name;
            return nc;
        }
    }
}