void choke_control(struct ecudata_t* d)
{
switch(chks.state)
{
case 0: //Initialization of choke position
if (!IOCFG_CHECK(IOP_PWRRELAY)) //Skip initialization if power management is enabled
initial_pos(INIT_POS_DIR, d->param.sm_steps);
chks.state = 2;
break;
case 1: //system is being preparing to power-down
initial_pos(INIT_POS_DIR, d->param.sm_steps);
chks.state = 2;
break;
case 2: //wait while choke is being initialized
if (!stpmot_is_busy()) //ready?
{
if (chks.pwdn)
chks.state = 3; //ready to power-down
else
chks.state = 5; //normal working
chks.smpos = 0;
}
break;
case 3: //power-down
if (pwrrelay_get_state())
{
chks.pwdn = 0;
chks.state = 5;
}
break;
case 5: //normal working mode
if (d->choke_testing)
{
initial_pos(INIT_POS_DIR, d->param.sm_steps);
chks.state = 6; //start testing
}
else
{
int16_t tmp_pos = (((int32_t)d->param.sm_steps) * choke_closing_lookup(d)) / 200;
int16_t rpm_cor = 0, diff;
int16_t pos = tmp_pos + rpm_cor;
restrict_value_to(&pos, 0, d->param.sm_steps);
diff = pos - chks.smpos;
if (!stpmot_is_busy() && diff != 0)
{
stpmot_dir(diff < 0 ? SM_DIR_CW : SM_DIR_CCW);
stpmot_run(abs(diff)); //start stepper motor
chks.smpos += diff;
}
}
goto check_pwr;
// Testing modes
case 6: //initialization of choke
if (!stpmot_is_busy()) //ready?
{
stpmot_dir(SM_DIR_CCW);
stpmot_run(d->param.sm_steps);
chks.state = 7;
}
goto check_tst;
case 7:
if (!stpmot_is_busy()) //ready?
{
stpmot_dir(SM_DIR_CW);
stpmot_run(d->param.sm_steps);
chks.state = 6;
}
goto check_tst;
default:
check_tst:
if (!d->choke_testing)
chks.state = 1; //exit choke testing mode
check_pwr:
if (!pwrrelay_get_state())
{ //power-down
chks.pwdn = 1;
chks.state = 1;
}
break;
}
}
std::list<MovePathNode> Fleet::MovePath(const std::list<int>& route) const {
std::list<MovePathNode> retval;
if (route.empty())
return retval; // nowhere to go => empty path
// if (route.size() == 1) do nothing special. this fleet is probably on the starlane leading to
// its final destination. normal looping to read destination should work fine
if (route.size() == 2 && route.front() == route.back())
return retval; // nowhere to go => empty path
if (this->Speed() < FLEET_MOVEMENT_EPSILON) {
retval.push_back(MovePathNode(this->X(), this->Y(), true, ETA_NEVER, this->SystemID(), INVALID_OBJECT_ID, INVALID_OBJECT_ID));
return retval; // can't move => path is just this system with explanatory ETA
}
double fuel = Fuel();
double max_fuel = MaxFuel();
//Logger().debugStream() << "Fleet " << this->Name() << " movePath fuel: " << fuel << " sys id: " << this->SystemID();
// determine all systems where fleet(s) can be resupplied if fuel runs out
int owner = this->Owner();
const Empire* empire = Empires().Lookup(owner);
std::set<int> fleet_supplied_systems;
std::set<int> unobstructed_systems;
if (empire) {
fleet_supplied_systems = empire->FleetSupplyableSystemIDs();
unobstructed_systems = empire->SupplyUnobstructedSystems();
}
// determine if, given fuel available and supplyable systems, fleet will ever be able to move
if (fuel < 1.0 &&
this->SystemID() != INVALID_OBJECT_ID &&
fleet_supplied_systems.find(this->SystemID()) == fleet_supplied_systems.end())
{
MovePathNode node(this->X(), this->Y(), true, ETA_OUT_OF_RANGE,
this->SystemID(),
INVALID_OBJECT_ID,
INVALID_OBJECT_ID);
retval.push_back(node);
return retval; // can't move => path is just this system with explanatory ETA
}
// get iterator pointing to System* on route that is the first after where this fleet is currently.
// if this fleet is in a system, the iterator will point to the system after the current in the route
// if this fleet is not in a system, the iterator will point to the first system in the route
std::list<int>::const_iterator route_it = route.begin();
if (*route_it == SystemID())
++route_it; // first system in route is current system of this fleet. skip to the next system
if (route_it == route.end())
return retval; // current system of this fleet is the *only* system in the route. path is empty.
// get current, previous and next systems of fleet
const System* cur_system = GetSystem(this->SystemID()); // may be 0
const System* prev_system = GetSystem(this->PreviousSystemID());// may be 0 if this fleet is not moving or ordered to move
const System* next_system = GetSystem(*route_it); // can't use this->NextSystemID() because this fleet may not be moving and may not have a next system. this might occur when a fleet is in a system, not ordered to move or ordered to move to a system, but a projected fleet move line is being calculated to a different system
if (!next_system) {
Logger().errorStream() << "Fleet::MovePath couldn't get next system with id " << *route_it << " for this fleet " << this->Name();
return retval;
}
//Logger().debugStream() << "initial cur system: " << (cur_system ? cur_system->Name() : "(none)") <<
// " prev system: " << (prev_system ? prev_system->Name() : "(none)") <<
// " next system: " << (next_system ? next_system->Name() : "(none)");
// place initial position MovePathNode
MovePathNode initial_pos(this->X(), this->Y(), false /* not an end of turn node */, 0 /* turns taken to reach position of node */,
(cur_system ? cur_system->ID() : INVALID_OBJECT_ID),
(prev_system ? prev_system->ID() : INVALID_OBJECT_ID),
(next_system ? next_system->ID() : INVALID_OBJECT_ID));
retval.push_back(initial_pos);
const int TOO_LONG = 100; // limit on turns to simulate. 99 turns max keeps ETA to two digits, making UI work better
int turns_taken = 1;
double turn_dist_remaining = m_speed; // additional distance that can be travelled in current turn of fleet movement being simulated
double cur_x = this->X();
double cur_y = this->Y();
double next_x = next_system->X();
double next_y = next_system->Y();
// simulate fleet movement given known speed, starting position, fuel limit and systems on route
// need to populate retval with MovePathNodes that indicate the correct position, whether this
// fleet will end a turn at the node, the turns it will take to reach the node, and (when applicable)
// the current (if at a system), previous and next system IDs at which the fleet will be. the
// previous and next system ids are needed to know what starlane a given node is located on, if any.
// nodes at systems don't need previous system ids to be valid, but should have next system ids
// valid so that when rendering starlanes using the returned move path, lines departing a system
// can be drawn on the correct side of the system icon
while (turns_taken < TOO_LONG) {
// each loop iteration moves the current position to the next location of interest along the move
// path, and then adds a node at that position.
//Logger().debugStream() << " starting iteration";
//if (cur_system)
// Logger().debugStream() << " at system " << cur_system->Name() << " with id " << cur_system->ID();
//else
// Logger().debugStream() << " at (" << cur_x << ", " << cur_y << ")";
// check if fuel limits movement or current system refuels passing fleet
if (cur_system) {
// check if current system has fuel supply available
if (fleet_supplied_systems.find(cur_system->ID()) != fleet_supplied_systems.end()) {
// current system has fuel supply. replenish fleet's supply and don't restrict movement
fuel = max_fuel;
//Logger().debugStream() << " ... at system with fuel supply. replenishing and continuing movement";
} else {
// current system has no fuel supply. require fuel to proceed
if (fuel >= 1.0) {
//Logger().debugStream() << " ... at system without fuel supply. consuming unit of fuel to proceed";
fuel -= 1.0;
} else {
//Logger().debugStream() << " ... at system without fuel supply. have insufficient fuel to continue moving";
turns_taken = ETA_OUT_OF_RANGE;
break;
}
}
}
// find distance to next system along path from current position
double dist_to_next_system = std::sqrt((next_x - cur_x)*(next_x - cur_x) + (next_y - cur_y)*(next_y - cur_y));
//Logger().debugStream() << " ... dist to next system: " << dist_to_next_system;
// move ship as far as it can go this turn, or to next system, whichever is closer, and deduct
// distance travelled from distance travellable this turn
if (turn_dist_remaining >= FLEET_MOVEMENT_EPSILON) {
double dist_travelled_this_step = std::min(turn_dist_remaining, dist_to_next_system);
//Logger().debugStream() << " ... fleet moving " << dist_travelled_this_step << " this iteration. dist to next system: " << dist_to_next_system << " and turn_dist_remaining: " << turn_dist_remaining;
double x_dist = next_x - cur_x;
double y_dist = next_y - cur_y;
// dist_to_next_system = std::sqrt(x_dist * x_dist + y_dist * y_dist); // should already equal this distance, so don't need to recalculate
double unit_vec_x = x_dist / dist_to_next_system;
double unit_vec_y = y_dist / dist_to_next_system;
cur_x += unit_vec_x*dist_travelled_this_step;
cur_y += unit_vec_y*dist_travelled_this_step;
turn_dist_remaining -= dist_travelled_this_step;
dist_to_next_system -= dist_travelled_this_step;
// if moved away any distance from a system, are no longer in that system
if (cur_system && dist_travelled_this_step >= FLEET_MOVEMENT_EPSILON) {
prev_system = cur_system;
cur_system = 0;
}
}
bool end_turn_at_cur_position = false;
// check if fleet can move any further this turn
if (turn_dist_remaining < FLEET_MOVEMENT_EPSILON) {
//Logger().debugStream() << " ... fleet can't move further this turn.";
turn_dist_remaining = 0.0; // to prevent any possible precision-related errors
end_turn_at_cur_position = true;
}
// check if current position is close enough to next system on route to qualify as at that system.
if (dist_to_next_system < FLEET_MOVEMENT_EPSILON) {
// close enough to be consider to be at next system.
// set current position to be exactly at next system to avoid rounding issues
cur_system = next_system;
cur_x = cur_system->X(); // update positions to ensure no round-off-errors
cur_y = cur_system->Y();
//Logger().debugStream() << " ... arrived at system: " << cur_system->Name();
// attempt to get next system on route, to update next system. if new current
// system is the end of the route, abort.
++route_it;
if (route_it == route.end())
break;
// update next system on route and distance to it from current position
next_system = GetEmpireKnownSystem(*route_it, owner);
if (!next_system) {
Logger().errorStream() << "Fleet::MovePath couldn't get system with id " << *route_it;
break;
}
next_x = next_system->X();
next_y = next_system->Y();
}
// if new position is an obstructed system, must end turn here
if (cur_system && unobstructed_systems.find(cur_system->ID()) == unobstructed_systems.end()) {
turn_dist_remaining = 0.0;
end_turn_at_cur_position = true;
}
// if turn done and turns taken is enough, abort simulation
if (end_turn_at_cur_position && (turns_taken + 1 >= TOO_LONG)) {
// exit loop before placing current node to simplify post-loop processing: now all cases require a post-loop node to be added
++turns_taken;
break;
}
// add MovePathNode for current position (end of turn position and/or system location)
MovePathNode cur_pos(cur_x, cur_y, end_turn_at_cur_position, turns_taken,
(cur_system ? cur_system->ID() : INVALID_OBJECT_ID),
(prev_system ? prev_system->ID() : INVALID_OBJECT_ID),
(next_system ? next_system->ID() : INVALID_OBJECT_ID));
retval.push_back(cur_pos);
// if the turn ended at this position, increment the turns taken and
// reset the distance remaining to be travelled during the current (now
// next) turn for the next loop iteration
if (end_turn_at_cur_position) {
//Logger().debugStream() << " ... end of simulated turn " << turns_taken;
++turns_taken;
turn_dist_remaining = m_speed;
}
}
// done looping. may have exited due to reaching end of path, lack of fuel, or turns taken getting too big
if (turns_taken == TOO_LONG)
turns_taken = ETA_NEVER;
MovePathNode final_pos(cur_x, cur_y, true, turns_taken,
(cur_system ? cur_system->ID() : INVALID_OBJECT_ID),
(prev_system ? prev_system->ID() : INVALID_OBJECT_ID),
(next_system ? next_system->ID() : INVALID_OBJECT_ID));
retval.push_back(final_pos);
return retval;
}
