Fixes #2624 Implemented CONFIG:SUPPRESSAUTOPILOT

doc/source/commands/flight/cooked.rst

@@ -21,6 +21,15 @@ For more information, check out the documentation for the :struct:`SteeringManag
 
 In this style of controlling the craft, you do not steer the craft directly, but instead select a goal direction and let kOS pick the way to steer toward that goal. This method of controlling the craft consists primarily of the following two commands:
 
+CONFIG:SUPPRESSAUTOPILOT
+------------------------
+
+If :attr:`Config:SUPPRESSAUTOPILOT` is true, then none of the controls
+on this page will have an effect.  That setting is there to provide
+the player with an emergency way to quickly click a toggle on the
+toolbar window to force kOS to stop taking control, letting the player
+move the controls manually.
+
 The special LOCK variables for cooked steering
 ----------------------------------------------
 

doc/source/commands/flight/raw.rst

@@ -37,6 +37,15 @@ This will start pushing the ship to rotate a bit faster to the right, like pushi
 
 One can use :ref:`SHIP:CONTROL:ROTATION <SHIP CONTROL ROTATION>` and :ref:`SHIP:CONTROL:TRANSLATION <SHIP CONTROL TRANSLATION>` to see the ship's current situation.
 
+CONFIG:SUPPRESSAUTOPILOT
+------------------------
+
+If :attr:`Config:SUPPRESSAUTOPILOT` is true, then none of the controls
+on this page will have an effect.  That setting is there to provide
+the player with an emergency way to quickly click a toggle on the
+toolbar window to force kOS to stop taking control, letting the player
+move the controls manually.
+
 Breaking Ground DLC
 -------------------
 

doc/source/structures/misc/config.rst

@@ -60,10 +60,6 @@ Configuration of kOS
           - :struct:`Boolean`
           - False
           - Print statistics to screen
-        * - :attr:`RT`
-          - :struct:`Boolean`
-          - False
-          - Enable RemoteTech2 integration
         * - :attr:`ARCH`
           - :struct:`Boolean`
           - False
@@ -84,6 +80,10 @@ Configuration of kOS
           - :struct:`Boolean`
           - False
           - Enable verbose exceptions
+        * - :attr:`SUPPRESSAUTOPILOT`
+          - :struct:`Boolean`
+          - False
+          - If true, kOS's controls do nothing.
         * - :attr:`TELNET`
           - :struct:`Boolean`
           - False
@@ -150,18 +150,6 @@ Configuration of kOS
     :ref:`ProfileResult() <profileresult>` function available, for
     deep analysis of your program run, if you are so inclined.
 
-.. attribute:: Config:RT
-
-    :access: Get/Set
-    :type: :struct:`Boolean`
-
-    Configures the ``enableRTIntegration`` setting.
-
-    If true, then the kOS mod will attempt to interact with the Remote Tech 2 mod, letting RT2 make decisions about whether or not a vessel is within communications range rather than having kOS use its own more primitive algorithm for it.
-
-    Due to a long stall in the development of the RT2 mod, this setting should still be considered experimental at this point.
-
-
 .. attribute:: Config:ARCH
 
     :access: Get/Set
@@ -224,6 +212,22 @@ Configuration of kOS
 
     If true, then it enables a mode in which errors coming from kOS are very long and verbose, trying to explain every detail of the problem.
 
+.. attribute:: Config:SUPPRESSAUTOPILOT
+
+    :access: Get/Set
+    :type: :struct:`Boolean`
+
+    When this is set to True, it suppresses all of kOS's attempts to
+    override the steering, throttle, or translation controls, leaving
+    them entirely under manual control.  It is intended to be a way
+    to let you take manual control in an emergency quickly (through
+    the toolbar window where this setting appears) without having to
+    quit the running program or figure out which terminal window has
+    the program causing the control lock.
+
+    While it does suppress steering, throttle, and translation, it cannot
+    suppress action groups or staging.
+
 .. attribute:: Config:TELNET
 
     :access: Get/Set

src/kOS.Safe.Test/Execution/Config.cs

@@ -187,6 +187,17 @@ public int TerminalDefaultHeight
             }
         }
 
+        public bool SuppressAutopilot
+        {
+            get
+            {
+                return true;
+            }
+
+            set
+            {
+            }
+        }
         public DateTime TimeStamp
         {
             get

src/kOS.Safe/Encapsulation/IConfig.cs

@@ -23,6 +23,7 @@ public interface IConfig: ISuffixed
         double TerminalBrightness {get; set; }
         int TerminalDefaultWidth { get; set; }
         int TerminalDefaultHeight { get; set; }
+        bool SuppressAutopilot { get; set; }
 
 
         /// <summary>

src/kOS/Control/IFlightControlParameter.cs

@@ -18,7 +18,24 @@ public interface IFlightControlParameter
         /// </summary>
         /// <returns>The responsible vessel.</returns>
         Vessel GetResponsibleVessel();
+        /// <summary>
+        /// Called each update in which kOS CONFIG has autopilot enabled, to
+        /// ask this controller how to set the controls.
+        /// </summary>
+        /// <param name="c">the flight control state it should try to alter</param>
         void UpdateAutopilot(FlightCtrlState c);
+        /// <summary>
+        /// Called each update in which kOS CONFIG has autopilot disabled, to
+        /// ask this controller if it *would have* set the controls had it
+        /// been allowed to.  The controller should leave the state neutral
+        /// and not set it in this case.  It should also use this as a signal to
+        /// clear out integral windup from any PIDs it's using, since its
+        /// control is being temporarily suppressed.
+        /// </summary>
+        /// <param name="c">the flight control state it should try to alter</param>
+        /// <returns>true if this controller thinks it *would have* wanted to move the
+        /// controls had it not been getting suppressed</returns>
+        bool SuppressAutopilot(FlightCtrlState c);
         void EnableControl(SharedObjects shared);
         void DisableControl(SharedObjects shared);
         void DisableControl();

src/kOS/Control/SteeringManager.cs

@@ -1325,6 +1325,23 @@ void IFlightControlParameter.UpdateAutopilot(FlightCtrlState c)
             this.OnFlyByWire(c);
         }
 
+        bool IFlightControlParameter.SuppressAutopilot(FlightCtrlState c)
+        {
+            if (!Enabled || Value == null)
+            {
+                return false;
+            }
+            else
+            {
+                pitchPI.ResetI();
+                yawPI.ResetI();
+                rollPI.ResetI();
+                pitchRatePI.ResetI();
+                yawRatePI.ResetI();
+                rollRatePI.ResetI();
+                return true;
+            }
+        }
 
         void IFlightControlParameter.EnableControl(SharedObjects shared)
         {

src/kOS/Control/ThrottleManager.cs

@@ -1,4 +1,4 @@
-using kOS.Safe.Encapsulation;
+using kOS.Safe.Encapsulation;
 using kOS.Safe.Exceptions;
 using kOS.Safe.Utilities;
 using System;
@@ -96,6 +96,11 @@ void IFlightControlParameter.UpdateAutopilot(FlightCtrlState c)
         {
             c.mainThrottle = (float)Value;
         }
+
+        bool IFlightControlParameter.SuppressAutopilot(FlightCtrlState c)
+        {
+            return Enabled;
+        }
 
         void IFlightControlParameter.UpdateValue(object value, SharedObjects shared)
         {

src/kOS/Control/WheelSteeringManager.cs

@@ -1,4 +1,4 @@
-using kOS.Safe.Encapsulation;
+using kOS.Safe.Encapsulation;
 using kOS.Safe.Exceptions;
 using kOS.Safe.Utilities;
 using kOS.Suffixed;
@@ -111,6 +111,11 @@ void IFlightControlParameter.UpdateAutopilot(FlightCtrlState c)
             }
         }
 
+        bool IFlightControlParameter.SuppressAutopilot(FlightCtrlState c)
+        {
+            return Enabled;
+        }
+
         void IFlightControlParameter.UpdateValue(object value, SharedObjects shared)
         {
             if (!Enabled)

src/kOS/Control/WheelThrottleManager.cs

@@ -1,4 +1,4 @@
-using kOS.Safe.Encapsulation;
+using kOS.Safe.Encapsulation;
 using kOS.Safe.Exceptions;
 using kOS.Safe.Utilities;
 using System;
@@ -94,7 +94,15 @@ object IFlightControlParameter.GetValue()
 
         void IFlightControlParameter.UpdateAutopilot(FlightCtrlState c)
         {
-            c.wheelThrottle = (float)KOSMath.Clamp(Value, -1, 1);
+            if (Enabled)
+            {
+                c.wheelThrottle = (float)KOSMath.Clamp(Value, -1, 1);
+            }
+        }
+
+        bool IFlightControlParameter.SuppressAutopilot(FlightCtrlState c)
+        {
+            return Enabled;
         }
 
         void IFlightControlParameter.UpdateValue(object value, SharedObjects shared)

src/kOS/Module/kOSVesselModule.cs

@@ -399,6 +399,11 @@ private void UpdateAutopilot(FlightCtrlState c)
             if (RP0Lock != 0)
                 return;
 
+            bool isSuppressing = SafeHouse.Config.SuppressAutopilot;
+
+            // Default it to false until it gets turned on below:
+            Screen.KOSToolbarWindow.ShowSuppressMessage = false;
+
             if (Vessel != null)
             {
                 if (childParts.Count > 0)
@@ -416,7 +421,15 @@ private void UpdateAutopilot(FlightCtrlState c)
                                     parameter.GetShared().Vessel.id, Vessel.id));
                                 foundWrongVesselAutopilot = true;
                             }
-                            parameter.UpdateAutopilot(c);
+                            if (isSuppressing)
+                            {
+                                if (parameter.SuppressAutopilot(c))
+                                    Screen.KOSToolbarWindow.ShowSuppressMessage = true;
+                            }
+                            else
+                            {
+                                parameter.UpdateAutopilot(c);
+                            }
                         }
                     }
                 }

src/kOS/Screen/KOSToolbarWindow.cs

@@ -90,6 +90,13 @@ public class KOSToolbarWindow : MonoBehaviour
 
         private bool uiGloballyHidden = false;
 
+        /// <summary>Timestamp (using Unity3d's Time.time) for when the suppression message cooldown is over and a new message should be emitted.</summary>
+        private static float suppressMessageCooldownEnd = 0;
+        private static string suppressMessageText = "kOS's config setting is preventing kOS control.";
+        private static ScreenMessage suppressMessage;
+        /// <summary>If true then the 'suppressing autopilot' message should be getting repeated to the screen right now.</summary>
+        public static bool ShowSuppressMessage { get; set; }
+
         /// <summary>
         /// Unity hates it when a MonoBehaviour has a constructor,
         /// so all the construction work is here instead:
@@ -134,10 +141,36 @@ public void Start()
             // Prevent multiple calls of this:
             if (alreadyAwake) return;
             alreadyAwake = true;
+            ShowSuppressMessage = false;
 
             SafeHouse.Logger.SuperVerbose("[kOSToolBarWindow] Start succesful");
         }
 
+        public void Update()
+        {
+            // Handle the message and timeout of the message
+            if (ShowSuppressMessage)
+            {
+                if (Time.time > suppressMessageCooldownEnd)
+                {
+                    suppressMessageCooldownEnd = Time.time + 5f;
+                    suppressMessage = ScreenMessages.PostScreenMessage(
+                        string.Format("<color=white><size=20>{0}</size></color>", suppressMessageText),
+                        4, ScreenMessageStyle.UPPER_CENTER);
+                }
+            }
+            else
+            {
+                suppressMessageCooldownEnd = 0f;
+                if (suppressMessage != null)
+                {
+                    // Get it to stop right away even if the timer isn't over:
+                    suppressMessage.duration = 0;
+                }
+            }
+
+        }
+
         public void AddButton()
         {
             if (!ApplicationLauncher.Ready) return;
@@ -458,7 +491,7 @@ public void DrawWindow(int windowID)
 
             DrawActiveCPUsOnPanel();
 
-            CountBeginVertical("", 150);
+            CountBeginVertical("", 155);
             GUILayout.Label("CONFIG VALUES", headingLabelStyle);
             GUILayout.Label("To access other settings, see the kOS section in KSP's difficulty settings.", smallLabelStyle);
             GUILayout.Label("Global VALUES", headingLabelStyle);

src/kOS/Suffixed/Config.cs

@@ -33,6 +33,7 @@ public class Config : Structure, IConfig
         public int TerminalDefaultHeight { get { return GetPropValue<int>(PropId.TerminalDefaultHeight); } set { SetPropValue(PropId.TerminalDefaultHeight, value); } }
         public bool UseBlizzyToolbarOnly { get { return kOSCustomParameters.Instance.useBlizzyToolbarOnly; } set { kOSCustomParameters.Instance.useBlizzyToolbarOnly = value; } }
         public bool DebugEachOpcode { get { return kOSCustomParameters.Instance.debugEachOpcode; } set { kOSCustomParameters.Instance.debugEachOpcode = value; } }
+        public bool SuppressAutopilot { get { return GetPropValue<bool>(PropId.SuppressAutopilot); } set { SetPropValue(PropId.SuppressAutopilot, value); } }
 
         // NOTE TO FUTURE MAINTAINERS:  If it looks like overkill to use a double instead of a float for this next field, you're right.
         // But KSP seems to have a bug where single-precision floats don't get saved in the config XML file.  Doubles seem to work, though.
@@ -65,6 +66,7 @@ private void InitializeSuffixes()
             AddSuffix("DEFAULTFONTSIZE", new ClampSetSuffix<ScalarValue>(() => TerminalFontDefaultSize, value => TerminalFontDefaultSize = value, 6f, 30f, 1f));
             AddSuffix("DEFAULTWIDTH", new ClampSetSuffix<ScalarValue>(() => TerminalDefaultWidth, value => TerminalDefaultWidth = value, 15f, 255f, 1f));
             AddSuffix("DEFAULTHEIGHT", new ClampSetSuffix<ScalarValue>(() => TerminalDefaultHeight, value => TerminalDefaultHeight = value, 3f, 160f, 1f));
+            AddSuffix("SUPPRESSAUTOPILOT", new SetSuffix<BooleanValue>(() => SuppressAutopilot, value => SuppressAutopilot = value));
         }
 
         private void BuildValuesDictionary()
@@ -77,6 +79,7 @@ private void BuildValuesDictionary()
             AddConfigKey(PropId.TerminalBrightness, new ConfigKey("TerminalBrightness", "BRIGHTNESS", "Initial brightness setting for new terminals", 0.7d, 0d, 1d, typeof(double)));
             AddConfigKey(PropId.TerminalDefaultWidth, new ConfigKey("TerminalDefaultWidth", "DEFAULTWIDTH", "Initial Terminal:WIDTH when a terminal is first opened", 50, 15, 255, typeof(int)));
             AddConfigKey(PropId.TerminalDefaultHeight, new ConfigKey("TerminalDefaultHeight", "DEFAULTHEIGHT", "Initial Terminal:HEIGHT when a terminal is first opened", 36, 3, 160, typeof(int)));
+            AddConfigKey(PropId.SuppressAutopilot, new ConfigKey("SuppressAutopilot", "SUPPRESSAUTOPILOT", "Suppress all kOS autopiloting for emergency manual control", false, false, true, typeof(bool)));
         }
 
         private void AddConfigKey(PropId id, ConfigKey key)
@@ -240,7 +243,8 @@ private enum PropId
             TerminalFontName = 16,
             TerminalBrightness = 17,
             TerminalDefaultWidth = 18,
-            TerminalDefaultHeight = 19
+            TerminalDefaultHeight = 19,
+            SuppressAutopilot = 20
         }
     }
 }

src/kOS/Suffixed/FlightControl.cs

@@ -371,6 +371,11 @@ void IFlightControlParameter.UpdateAutopilot(FlightCtrlState c)
             OnFlyByWire(c);
         }
 
+        bool IFlightControlParameter.SuppressAutopilot(FlightCtrlState c)
+        {
+            return !(IsNeutral());
+        }
+
         void IFlightControlParameter.EnableControl(SharedObjects shared)
         {
             // No need to enable control, it will automatically enable based on setting values