[0.7.1]: Merging current changes onto a new release

pom.xml

@@ -5,7 +5,7 @@
 
   <groupId>com.pesterenan</groupId>
   <artifactId>MechPeste</artifactId>
-  <version>0.7.0</version>
+  <version>0.7.1</version>
 
   <build>
     <plugins>

src/main/java/com/pesterenan/controllers/DockingController.java

@@ -5,9 +5,11 @@
 
 import java.util.Map;
 
+import com.pesterenan.resources.Bundle;
 import com.pesterenan.utils.Modulos;
 import com.pesterenan.utils.Utilities;
 import com.pesterenan.utils.Vector;
+import com.pesterenan.views.DockingJPanel;
 import com.pesterenan.views.StatusJPanel;
 
 import krpc.client.RPCException;
@@ -27,7 +29,6 @@ public class DockingController extends Controller {
 
 	private ReferenceFrame orbitalRefVessel;
 	private ReferenceFrame vesselRefFrame;
-	private ReferenceFrame orbitalRefBody;
 	private Line distanceLine;
 	private Line distLineXAxis;
 	private Line distLineYAxis;
@@ -37,8 +38,8 @@ public class DockingController extends Controller {
 	private Vector positionMyDockingPort;
 	private Vector positionTargetDockingPort;
 
-	private final double DISTANCE_LIMIT = 25.0;
-	private double SPEED_LIMIT = 3.0;
+	private double DOCKING_MAX_SPEED = 3.0;
+	private double SAFE_DISTANCE = 25.0;
 	private double currentXAxisSpeed = 0.0;
 	private double currentYAxisSpeed = 0.0;
 	private double currentZAxisSpeed = 0.0;
@@ -56,16 +57,17 @@ public DockingController(Map<String, String> commands) {
 
 	private void initializeParameters() {
 		try {
-			SPEED_LIMIT = Double.parseDouble(commands.get(Modulos.VELOCIDADE_MAX.get()));
+			DOCKING_MAX_SPEED = Double.parseDouble(commands.get(Modulos.VELOCIDADE_MAX.get()));
+			SAFE_DISTANCE = Double.parseDouble(commands.get(Modulos.DISTANCIA_SEGURA.get()));
 			drawing = Drawing.newInstance(getConnection());
 			targetVessel = getSpaceCenter().getTargetVessel();
 			control = getNaveAtual().getControl();
 			vesselRefFrame = getNaveAtual().getReferenceFrame();
 			orbitalRefVessel = getNaveAtual().getOrbitalReferenceFrame();
-			orbitalRefBody = getNaveAtual().getOrbit().getBody().getReferenceFrame();
 
 			myDockingPort = getNaveAtual().getParts().getDockingPorts().get(0);
 			targetDockingPort = targetVessel.getParts().getDockingPorts().get(0);
+			dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
 
 			positionMyDockingPort = new Vector(myDockingPort.position(orbitalRefVessel));
 			positionTargetDockingPort = new Vector(targetDockingPort.position(orbitalRefVessel));
@@ -103,12 +105,12 @@ private void getCloserToTarget(Vector targetPosition) throws InterruptedExceptio
 		lastYTargetPos = targetPosition.y;
 		lastZTargetPos = targetPosition.z;
 
-		while (Math.abs(lastYTargetPos) >= DISTANCE_LIMIT) {
+		while (Math.abs(lastYTargetPos) >= SAFE_DISTANCE) {
 			if (Thread.interrupted()) {
 				throw new InterruptedException();
 			}
 			targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-			controlShipRCS(targetPosition, DISTANCE_LIMIT);
+			controlShipRCS(targetPosition, SAFE_DISTANCE);
 			Thread.sleep(sleepTime);
 		}
 
@@ -124,7 +126,7 @@ public void startDocking() {
 
 			// PRIMEIRA PARTE DO DOCKING: APROXIMAÇÃO
 			Vector targetPosition = new Vector(targetVessel.position(vesselRefFrame));
-			if (targetPosition.magnitude() > DISTANCE_LIMIT) {
+			if (targetPosition.magnitude() > SAFE_DISTANCE) {
 				// Apontar para o alvo:
 				Vector targetDirection = new Vector(getNaveAtual().position(orbitalRefVessel))
 						.subtract(new Vector(targetVessel.position(orbitalRefVessel))).multiply(-1);
@@ -159,7 +161,7 @@ public void startDocking() {
 				Thread.sleep(sleepTime);
 			}
 		} catch (RPCException | InterruptedException | IllegalArgumentException e) {
-			StatusJPanel.setStatusMessage("Docking aborted.");
+			StatusJPanel.setStatusMessage("Docking interrupted.");
 		}
 	}
 
@@ -176,22 +178,7 @@ public void startDocking() {
 	 */
 
 	private enum DOCKING_STEPS {
-		APPROACH, LINE_UP_WITH_TARGET, GO_IN_FRONT_OF_TARGET
-	}
-
-	private DOCKING_STEPS checkDockingStep(Vector targetPosition, double forwardsDistanceLimit) {
-		double sidewaysDistance = Math.abs(targetPosition.x);
-		double upwardsDistance = Math.abs(targetPosition.z);
-		boolean isInFrontOfTarget = Math.signum(targetPosition.y) == 1;
-		boolean isOnTheBackOfTarget = Math.signum(targetPosition.y) == -1 && targetPosition.y < forwardsDistanceLimit;
-
-		if (isOnTheBackOfTarget) {
-			return DOCKING_STEPS.GO_IN_FRONT_OF_TARGET;
-		}
-		if (isInFrontOfTarget && (sidewaysDistance > 5 || upwardsDistance > 5)) {
-			return DOCKING_STEPS.LINE_UP_WITH_TARGET;
-		}
-		return DOCKING_STEPS.APPROACH;
+		APPROACH, STOP_RELATIVE_SPEED, LINE_UP_WITH_TARGET, GO_IN_FRONT_OF_TARGET
 	}
 
 	private void controlShipRCS(Vector targetPosition, double forwardsDistanceLimit) {
@@ -205,36 +192,61 @@ private void controlShipRCS(Vector targetPosition, double forwardsDistanceLimit)
 			currentYAxisSpeed = (targetPosition.y - lastYTargetPos) * sleepTime;
 			currentZAxisSpeed = (targetPosition.z - lastZTargetPos) * sleepTime;
 
-			dockingStep = checkDockingStep(targetPosition, forwardsDistanceLimit);
+			double sidewaysDistance = Math.abs(targetPosition.x);
+			double upwardsDistance = Math.abs(targetPosition.z);
+			boolean isInFrontOfTarget = Math.signum(targetPosition.y) == 1;
+			boolean isOnTheBackOfTarget = Math.signum(targetPosition.y) == -1 && targetPosition.y < forwardsDistanceLimit;
 			float forwardsError, upwardsError, sidewaysError = 0;
+
 			switch (dockingStep) {
 				case APPROACH:
 					// Calcular a aceleração para cada eixo no RCS:
 					forwardsError = calculateThrottle(forwardsDistanceLimit, forwardsDistanceLimit * 3, currentYAxisSpeed,
-							targetPosition.y, SPEED_LIMIT);
-					sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
-					upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
+							targetPosition.y, DOCKING_MAX_SPEED);
+					sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, DOCKING_MAX_SPEED);
+					upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, DOCKING_MAX_SPEED);
 					control.setForward(forwardsError);
 					control.setRight(sidewaysError);
 					control.setUp(-upwardsError);
+					DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_approach"));
 					break;
 				case LINE_UP_WITH_TARGET:
 					forwardsError = calculateThrottle(forwardsDistanceLimit, forwardsDistanceLimit * 3, currentYAxisSpeed,
 							targetPosition.y, 0);
-					sidewaysError = calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, SPEED_LIMIT);
-					upwardsError = calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, SPEED_LIMIT);
+					sidewaysError = calculateThrottle(0, 10, currentXAxisSpeed, targetPosition.x, DOCKING_MAX_SPEED);
+					upwardsError = calculateThrottle(0, 10, currentZAxisSpeed, targetPosition.z, DOCKING_MAX_SPEED);
 					control.setForward(forwardsError);
 					control.setRight(sidewaysError);
 					control.setUp(-upwardsError);
+					DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_line_up_with_target"));
 					break;
 				case GO_IN_FRONT_OF_TARGET:
 					forwardsError = calculateThrottle(-20, -10, currentYAxisSpeed,
-							targetPosition.y, SPEED_LIMIT);
+							targetPosition.y, DOCKING_MAX_SPEED);
+					sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, 0);
+					upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, 0);
+					control.setForward(forwardsError);
+					control.setRight(sidewaysError);
+					control.setUp(-upwardsError);
+					if (isInFrontOfTarget) {
+						dockingStep = DOCKING_STEPS.STOP_RELATIVE_SPEED;
+						break;
+					}
+					DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_go_in_front_of_target"));
+					break;
+				case STOP_RELATIVE_SPEED:
+					forwardsError = calculateThrottle(0, 5, currentYAxisSpeed, targetPosition.y, 0);
 					sidewaysError = calculateThrottle(0, 5, currentXAxisSpeed, targetPosition.x, 0);
 					upwardsError = calculateThrottle(0, 5, currentZAxisSpeed, targetPosition.z, 0);
 					control.setForward(forwardsError);
 					control.setRight(sidewaysError);
 					control.setUp(-upwardsError);
+					if ((Math.abs(currentXAxisSpeed) < 1) && (Math.abs(currentYAxisSpeed) < 1)
+							&& (Math.abs(currentZAxisSpeed) < 1)) {
+						dockingStep = DOCKING_STEPS.APPROACH;
+						break;
+					}
+					DockingJPanel.setDockingStep(Bundle.getString("pnl_docking_step_stop_relative_speed"));
 					break;
 			}
 			System.out.println(dockingStep);

src/main/java/com/pesterenan/utils/Modulos.java

@@ -10,21 +10,22 @@ public enum Modulos {
 	CIRCULAR("Circular"),
 	CUBICA("Cúbica"),
 	DIRECAO("Direção"),
+	DISTANCIA_SEGURA("Distância Segura"),
 	EXECUTAR("Executar"),
 	EXPONENCIAL("Exponencial"),
 	FUNCAO("Função"),
 	INCLINACAO("Inclinação"),
 	MARCADOR_MAPA("Marcador no mapa"),
 	MAX_TWR("Max_TWR"),
+	MODULE_MANEUVER("MANEUVER"),
+	MODULO("Módulo"),
 	MODULO_CRIAR_MANOBRAS("CRIAR_MANOBRAS"),
 	MODULO_DECOLAGEM("LIFTOFF"),
-	MODULE_MANEUVER("MANEUVER"),
-	MODULO_POUSO_SOBREVOAR("HOVER"),
+	MODULO_DOCKING("DOCKING"),
 	MODULO_POUSO("LANDING"),
+	MODULO_POUSO_SOBREVOAR("HOVER"),
 	MODULO_ROVER("ROVER"),
-	MODULO_DOCKING("DOCKING"),
 	MODULO_TELEMETRIA("TELEMETRY"),
-	MODULO("Módulo"),
 	NAVE_ALVO("Nave alvo"),
 	NOME_MARCADOR("Nome do marcador"),
 	ORBITA_BAIXA("ÓRBITA BAIXA"),

src/main/java/com/pesterenan/views/DockingJPanel.java

@@ -19,8 +19,10 @@ public class DockingJPanel extends JPanel implements UIMethods {
 
 	private static final long serialVersionUID = 0L;
 
-	private JLabel lblMaxSpeed;
-	private JTextField txfMaxSpeed;
+	private JLabel lblMaxSpeed, lblSafeDistance, lblCurrentDockingStepText;
+	private static JLabel lblDockingStep;
+
+	private JTextField txfMaxSpeed, txfSafeDistance;
 	private JButton btnBack, btnStartDocking;
 
 	public DockingJPanel() {
@@ -32,10 +34,13 @@ public DockingJPanel() {
 	@Override
 	public void initComponents() {
 		// Labels:
-		lblMaxSpeed = new JLabel(Bundle.getString("pnl_rover_lbl_max_speed"));
-
+		lblMaxSpeed = new JLabel(Bundle.getString("pnl_docking_max_speed"));
+		lblSafeDistance = new JLabel(Bundle.getString("pnl_docking_safe_distance"));
+		lblDockingStep = new JLabel(Bundle.getString("pnl_docking_step_ready"));
+		lblCurrentDockingStepText = new JLabel(Bundle.getString("pnl_docking_current_step"));
 		// Textfields:
 		txfMaxSpeed = new JTextField("3");
+		txfSafeDistance = new JTextField("50");
 
 		// Buttons:
 		btnBack = new JButton(Bundle.getString("pnl_rover_btn_back"));
@@ -51,6 +56,9 @@ public void setupComponents() {
 		txfMaxSpeed.setHorizontalAlignment(SwingConstants.RIGHT);
 		txfMaxSpeed.setMaximumSize(BTN_DIMENSION);
 		txfMaxSpeed.setPreferredSize(BTN_DIMENSION);
+		txfSafeDistance.setHorizontalAlignment(SwingConstants.RIGHT);
+		txfSafeDistance.setMaximumSize(BTN_DIMENSION);
+		txfSafeDistance.setPreferredSize(BTN_DIMENSION);
 
 		btnBack.addActionListener(MainGui::backToTelemetry);
 		btnBack.setMaximumSize(BTN_DIMENSION);
@@ -74,12 +82,27 @@ public void layoutComponents() {
 		pnlMaxSpeed.add(Box.createHorizontalGlue());
 		pnlMaxSpeed.add(txfMaxSpeed);
 
-		JPanel pnlRoverControls = new JPanel();
-		pnlRoverControls.setLayout(new BoxLayout(pnlRoverControls, BoxLayout.Y_AXIS));
-		pnlRoverControls.setBorder(MARGIN_BORDER_10_PX_LR);
-		pnlRoverControls.add(MainGui.createMarginComponent(0, 6));
-		pnlRoverControls.add(pnlMaxSpeed);
-		pnlRoverControls.add(Box.createVerticalGlue());
+		JPanel pnlSafeDistance = new JPanel();
+		pnlSafeDistance.setLayout(new BoxLayout(pnlSafeDistance, BoxLayout.X_AXIS));
+		pnlSafeDistance.add(lblSafeDistance);
+		pnlSafeDistance.add(Box.createHorizontalGlue());
+		pnlSafeDistance.add(txfSafeDistance);
+
+		JPanel pnlDockingStep = new JPanel();
+		pnlDockingStep.setLayout(new BoxLayout(pnlDockingStep, BoxLayout.X_AXIS));
+		pnlDockingStep.add(lblCurrentDockingStepText);
+		pnlDockingStep.add(Box.createHorizontalGlue());
+		pnlDockingStep.add(lblDockingStep);
+
+		JPanel pnlDockingControls = new JPanel();
+		pnlDockingControls.setLayout(new BoxLayout(pnlDockingControls, BoxLayout.Y_AXIS));
+		pnlDockingControls.setBorder(MARGIN_BORDER_10_PX_LR);
+		pnlDockingControls.add(MainGui.createMarginComponent(0, 6));
+		pnlDockingControls.add(pnlMaxSpeed);
+		pnlDockingControls.add(pnlSafeDistance);
+		pnlDockingControls.add(Box.createVerticalGlue());
+		pnlDockingControls.add(pnlDockingStep);
+		pnlDockingControls.add(Box.createVerticalGlue());
 
 		JPanel pnlButtons = new JPanel();
 		pnlButtons.setLayout(new BoxLayout(pnlButtons, BoxLayout.X_AXIS));
@@ -89,29 +112,40 @@ public void layoutComponents() {
 
 		JPanel pnlMain = new JPanel();
 		pnlMain.setLayout(new BoxLayout(pnlMain, BoxLayout.X_AXIS));
-		pnlRoverControls.setAlignmentY(TOP_ALIGNMENT);
-		pnlMain.add(pnlRoverControls);
+		pnlDockingControls.setAlignmentY(TOP_ALIGNMENT);
+		pnlMain.add(pnlDockingControls);
 
 		setLayout(new BorderLayout());
 		add(pnlMain, BorderLayout.CENTER);
 		add(pnlButtons, BorderLayout.SOUTH);
 	}
 
+	public static void setDockingStep(String step) {
+		lblDockingStep.setText(step);
+	}
+
 	private void handleStartDocking(ActionEvent e) {
-		System.out.println("chamou startdocking");
-		Map<String, String> commands = new HashMap<>();
-		commands.put(Modulos.MODULO.get(), Modulos.MODULO_DOCKING.get());
-		commands.put(Modulos.VELOCIDADE_MAX.get(), txfMaxSpeed.getText());
-		MechPeste.newInstance().startModule(commands);
+		if (validateTextFields()) {
+			Map<String, String> commands = new HashMap<>();
+			commands.put(Modulos.MODULO.get(), Modulos.MODULO_DOCKING.get());
+			commands.put(Modulos.DISTANCIA_SEGURA.get(), txfSafeDistance.getText());
+			commands.put(Modulos.VELOCIDADE_MAX.get(), txfMaxSpeed.getText());
+			MechPeste.newInstance().startModule(commands);
+		}
 	}
 
 	private boolean validateTextFields() {
 		try {
 			if (Float.parseFloat(txfMaxSpeed.getText()) > 10) {
-				throw new NumberFormatException();
+				StatusJPanel.setStatusMessage("Velocidade de acoplagem muito alta. Tem que ser menor que 10m/s.");
+				return false;
+			}
+			if (Float.parseFloat(txfSafeDistance.getText()) > 200) {
+				StatusJPanel.setStatusMessage("Distância segura muito alta. Tem que ser menor que 200m.");
+				return false;
 			}
 		} catch (NumberFormatException e) {
-			StatusJPanel.setStatusMessage(Bundle.getString("pnl_rover_max_speed_above_3"));
+			StatusJPanel.setStatusMessage(Bundle.getString("pnl_lift_stat_only_numbers"));
 			return false;
 		} catch (IllegalArgumentException e) {
 			StatusJPanel.setStatusMessage(Bundle.getString("pnl_rover_waypoint_name_not_empty"));

src/main/resources/MechPesteBundle.properties

@@ -1,9 +1,9 @@
+btn_func_create_maneuver = Create Maneuvers
+btn_func_docking = Docking
 btn_func_landing = Auto Landing
 btn_func_liftoff = Orbital Liftoff
-btn_func_create_maneuver = Create Maneuvers
 btn_func_maneuver = Maneuvers
 btn_func_rover = Drive Rover
-btn_func_docking = Docking
 btn_stat_connect = Connect
 installer_dialog_btn_browse = Browse...
 installer_dialog_btn_cancel = Cancel
@@ -19,8 +19,16 @@ main_mntm_about = About
 main_mntm_change_vessels = Change vessels
 main_mntm_exit = Exit
 main_mntm_install_krpc = Install KRPC
-pnl_func_title = Functions
 pnl_common_lbl_limit_twr = Maximum TWR\:
+pnl_docking_current_step = Current docking step:
+pnl_docking_step_approach = Approaching...
+pnl_docking_step_go_in_front_of_target = Going in front of target...
+pnl_docking_step_line_up_with_target = Lining up with target...
+pnl_docking_step_stop_relative_speed = Stopping relative speed...
+pnl_docking_step_ready = Ready.
+pnl_docking_max_speed = Max. Docking Speed:
+pnl_docking_safe_distance = Safe Distance to approach:
+pnl_func_title = Functions
 pnl_land_border = Automatic Landing
 pnl_land_btn_back = Back
 pnl_land_btn_hover = Hover
@@ -62,8 +70,8 @@ pnl_mnv_lbl_adj_inc = Adjust inclination\:
 pnl_mnv_lbl_exec_mnv = Execute next maneuver\:
 pnl_rover_border = Drive Rover\:
 pnl_rover_btn_back = Back
-pnl_rover_btn_drive = Drive
 pnl_rover_btn_docking = Start Docking
+pnl_rover_btn_drive = Drive
 pnl_rover_default_name = Target
 pnl_rover_lbl_max_speed = Max Speed\:
 pnl_rover_max_speed_above_3 = Max speed must be over 3m/s\u00B2