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Commit 7b79e062 authored by Roque's avatar Roque
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erp5_officejs_drone_capture_flag: game updates 

- randomize flag scores and weights
- limit drone message size
- new rule: extra score point for drones that returned to base
- refactor x-y-z / lat-lon-alt method/properies to be consistent
- update api doc
parent 21025d4d
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Showing with 159 additions and 105 deletions
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.js
View file @ 7b79e062
......@@ -28,6 +28,7 @@ var EnemyDroneAPI = /** @class */ (function () {
** Function called on start phase of the drone, just before onStart AI script
*/
EnemyDroneAPI.prototype.internal_start = function (drone) {
//TODO check, _targetCoordinates is not used. obsolete?
drone._targetCoordinates = drone.getCurrentPosition();
drone._maxAcceleration = this.getMaxAcceleration();
if (drone._maxAcceleration <= 0) {
......@@ -101,10 +102,6 @@ var EnemyDroneAPI = /** @class */ (function () {
}
};
EnemyDroneAPI.prototype.setAltitude = function (drone, altitude) {
drone._targetCoordinates.z = altitude;
};
EnemyDroneAPI.prototype.setStartingPosition = function (drone, x, y, z) {
if (!drone._canPlay) {
if (z <= 0.05) {
......@@ -288,11 +285,11 @@ var EnemyDroneAPI = /** @class */ (function () {
};
EnemyDroneAPI.prototype.triggerParachute = function (drone) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(drone_pos.x, drone_pos.y, 5);
drone.setTargetCoordinates(drone_pos.latitude, drone_pos.longitude, 5);
};
EnemyDroneAPI.prototype.landed = function (drone) {
var drone_pos = drone.getCurrentPosition();
return Math.floor(drone_pos.z) < 10;
return Math.floor(drone_pos.altitude) < 10;
};
EnemyDroneAPI.prototype.exit = function () {
return;
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.xml
View file @ 7b79e062
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1011.20054.25134.60962</string> </value>
<value> <string>1011.46035.33513.61849</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1695397984.38</float>
<float>1697031010.99</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.js
View file @ 7b79e062
......@@ -17,7 +17,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
MAX_PITCH = 25,
MAX_CLIMB_RATE = 8,
MAX_SINK_RATE = 3,
VIEW_SCOPE = 100;
VIEW_SCOPE = 100,
MAX_MESSAGE_SIZE = 1024;
//** CONSTRUCTOR
function FixedWingDroneAPI(gameManager, drone_info, flight_parameters, id) {
......@@ -137,11 +138,11 @@ var FixedWingDroneAPI = /** @class */ (function () {
}*/
if (drone_position) {
drone_info = {
'altitudeRel' : drone_position.z,
'altitudeRel' : drone_position.altitude,
'altitudeAbs' : _this._mapManager.getMapInfo().start_AMSL +
drone_position.z,
'latitude' : drone_position.x,
'longitude' : drone_position.y,
drone_position.altitude,
'latitude' : drone_position.latitude,
'longitude' : drone_position.longitude,
'yaw': drone.getYaw(),
'speed': drone.getAirSpeed(),
'climbRate': drone.getClimbRate()
......@@ -183,10 +184,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
drone._targetCoordinates.z
),
bearing = this._computeBearing(
currentGeoCoordinates.x,
currentGeoCoordinates.y,
targetCoordinates.x,
targetCoordinates.y
currentGeoCoordinates.latitude,
currentGeoCoordinates.longitude,
targetCoordinates.latitude,
targetCoordinates.longitude
),
currentCosLat,
currentLatRad,
......@@ -223,10 +224,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
}
newYawRad = this._toRad(newYaw);
currentLatRad = this._toRad(currentGeoCoordinates.x);
currentLatRad = this._toRad(currentGeoCoordinates.latitude);
currentCosLat = Math.cos(currentLatRad);
currentSinLat = Math.sin(currentLatRad);
currentLonRad = this._toRad(currentGeoCoordinates.y);
currentLonRad = this._toRad(currentGeoCoordinates.longitude);
verticalSpeed = this._getVerticalSpeed(drone);
groundSpeed = Math.sqrt(
......@@ -356,6 +357,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
};
FixedWingDroneAPI.prototype.sendMsg = function (msg, to) {
if (JSON.stringify(msg).length > MAX_MESSAGE_SIZE) {
//TODO what to do? truncate the msg? log a warning? crash the drone?
msg = {"error": "message too long (max 1024)"};
}
var _this = this,
droneList = _this._gameManager._droneList;
_this._gameManager.delay(function () {
......@@ -366,7 +371,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
try {
drone.onGetMsg(msg);
} catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
console.warn('Drone crashed on onGetMsg due to error:', error);
drone._internal_crash();
}
}
......@@ -377,7 +382,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
try {
droneList[to].onGetMsg(msg);
} catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
console.warn('Drone crashed on onGetMsg due to error:', error);
droneList[to]._internal_crash();
}
}
......@@ -414,7 +419,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
var context = this, result = { "obstacles": [], "drones": [] }, distance,
other_position, drone_position = drone.getCurrentPosition();
function calculateDistance(a, b, _this) {
return _this._mapManager.latLonDistance([a.x, a.y], [b.x, b.y]);
return _this._mapManager.latLonDistance([a.latitude, a.longitude],
[b.latitude, b.longitude]);
}
context._gameManager._droneList.forEach(function (other) {
if (other.can_play && drone.id !== other.id) {
......@@ -537,11 +543,11 @@ var FixedWingDroneAPI = /** @class */ (function () {
};
FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(drone_pos.x, drone_pos.y, 5);
drone.setTargetCoordinates(drone_pos.latitude, drone_pos.longitude, 5);
};
FixedWingDroneAPI.prototype.landed = function (drone) {
var drone_pos = drone.getCurrentPosition();
return Math.floor(drone_pos.z) < 10;
return Math.floor(drone_pos.altitude) < 10;
};
FixedWingDroneAPI.prototype.exit = function () {
return;
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.xml
View file @ 7b79e062
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1011.5610.25987.56473</string> </value>
<value> <string>1011.46032.14056.1553</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1695395371.67</float>
<float>1696870145.24</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.js
View file @ 7b79e062
......@@ -149,16 +149,19 @@ var DroneManager = /** @class */ (function () {
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates = function (x, y, z) {
this._internal_setTargetCoordinates(x, y, z);
DroneManager.prototype.setTargetCoordinates =
function (latitude, longitude, altitude) {
this._internal_setTargetCoordinates(latitude, longitude, altitude);
};
DroneManager.prototype._internal_setTargetCoordinates =
function (x, y, z, radius) {
function (latitude, longitude, altitude, radius) {
if (!this._canPlay) {
return;
}
//convert real geo-coordinates to virtual x-y coordinates
this._targetCoordinates = this._API.processCoordinates(x, y, z);
//each drone API process coordinates on its needs
//e.g. fixedwing drone converts real geo-coordinates to virtual x-y
this._targetCoordinates =
this._API.processCoordinates(latitude, longitude, altitude);
return this._API.internal_setTargetCoordinates(
this,
this._targetCoordinates,
......@@ -205,6 +208,7 @@ var DroneManager = /** @class */ (function () {
return;
};
DroneManager.prototype._internal_crash = function (error) {
this.last_position = this.position;
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
......@@ -324,8 +328,9 @@ var DroneManager = /** @class */ (function () {
/**
* Make the drone loiter (circle with a set radius)
*/
DroneManager.prototype.loiter = function (x, y, z, radius) {
this._internal_setTargetCoordinates(x, y, z, radius);
DroneManager.prototype.loiter =
function (latitude, longitude, altitude, radius) {
this._internal_setTargetCoordinates(latitude, longitude, altitude, radius);
};
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters) {
......@@ -443,9 +448,9 @@ var MapManager = /** @class */ (function () {
_this.map_info = map_param;
Object.assign(_this.map_info, _this.mapUtils.map_info);
_this.map_info.initial_position = _this.mapUtils.convertToLocalCoordinates(
_this.map_info.initial_position.x,
_this.map_info.initial_position.y,
_this.map_info.initial_position.z);
_this.map_info.initial_position.latitude,
_this.map_info.initial_position.longitude,
_this.map_info.initial_position.altitude);
max = _this.map_info.width;
if (_this.map_info.depth > max) {
max = _this.map_info.depth;
......@@ -494,9 +499,9 @@ var MapManager = /** @class */ (function () {
enemy = {};
Object.assign(enemy, geo_enemy);
enemy.position = _this.mapUtils.convertToLocalCoordinates(
geo_enemy.position.x,
geo_enemy.position.y,
geo_enemy.position.z);
geo_enemy.position.latitude,
geo_enemy.position.longitude,
geo_enemy.position.altitude);
_this._enemy_list.push(enemy);
});
// Obstacles
......@@ -505,9 +510,9 @@ var MapManager = /** @class */ (function () {
obstacle = {};
Object.assign(obstacle, geo_obstacle);
obstacle.position = _this.mapUtils.convertToLocalCoordinates(
geo_obstacle.position.x,
geo_obstacle.position.y,
geo_obstacle.position.z);
geo_obstacle.position.latitude,
geo_obstacle.position.longitude,
geo_obstacle.position.altitude);
switch (obstacle.type) {
case "box":
new_obstacle = BABYLON.MeshBuilder.CreateBox("obs_" + count,
......@@ -563,9 +568,9 @@ var MapManager = /** @class */ (function () {
flag_info = {};
Object.assign(flag_info, geo_flag);
flag_info.position = _this.mapUtils.convertToLocalCoordinates(
geo_flag.position.x,
geo_flag.position.y,
geo_flag.position.z);
geo_flag.position.latitude,
geo_flag.position.longitude,
geo_flag.position.altitude);
flag_material = new BABYLON.StandardMaterial("flag_mat_" + index, scene);
flag_material.alpha = 1;
flag_material.diffuseColor = BABYLON.Color3.Green();
......@@ -641,6 +646,7 @@ var MapManager = /** @class */ (function () {
var GameManager = /** @class */ (function () {
"use strict";
var BASE_DISTANCE = 30;
// *** CONSTRUCTOR ***
function GameManager(canvas, game_parameters_json) {
var drone, header_list, drone_count, i;
......@@ -901,7 +907,7 @@ var GameManager = /** @class */ (function () {
var msg = '';
drone._tick += 1;
if (drone.can_play) {
if (drone.getCurrentPosition().z <= 0) {
if (drone.getCurrentPosition().altitude <= 0) {
drone._internal_crash(new Error('Drone ' + drone.id +
' touched the floor.'));
}
......@@ -931,6 +937,9 @@ var GameManager = /** @class */ (function () {
.push(function () {
if (_this._timeOut()) {
console.log("TIMEOUT!");
_this._droneList.forEach(function (drone) {
if (drone.can_play) drone._internal_crash(new Error('Timeout.'));
});
_this._result_message += "TIMEOUT!";
return _this._finish();
}
......@@ -971,8 +980,9 @@ var GameManager = /** @class */ (function () {
drone_position.z
);
game_manager._flight_log[index].push([
game_manager._game_duration, geo_coordinates.x,
geo_coordinates.y, map_info.start_AMSL + drone_position.z,
game_manager._game_duration, geo_coordinates.latitude,
geo_coordinates.longitude,
map_info.start_AMSL + drone_position.z,
drone_position.z, drone.getYaw(), drone.getGroundSpeed(),
drone.getClimbRate()
]);
......@@ -1033,9 +1043,14 @@ var GameManager = /** @class */ (function () {
};
GameManager.prototype._calculateUserScore = function () {
var score = 0;
var score = 0, base = this._mapManager.getMapInfo().initial_position, dist;
this._droneList_user.forEach(function (drone) {
score += drone.score;
if (drone.last_position) {
dist = Math.sqrt(Math.pow((drone.last_position.x - base.x), 2)
+ Math.pow((drone.last_position.y - base.y), 2));
if (dist < BASE_DISTANCE) score += 1;
}
});
return score;
};
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.xml
View file @ 7b79e062
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1011.18882.27011.1501</string> </value>
<value> <string>1011.46053.12382.23005</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1695327797.6</float>
<float>1696871380.85</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_map_utils_js.js
View file @ 7b79e062
......@@ -3,7 +3,7 @@
var MapUtils = /** @class */ (function () {
"use strict";
var FLAG_EPSILON = 15, R = 6371e3;
var FLAG_EPSILON = 15, R = 6371e3, FLAG_WEIGHT = 5, FLAG_SCORE = 5;
//** CONSTRUCTOR
function MapUtils(map_param) {
......@@ -80,6 +80,9 @@ var MapUtils = /** @class */ (function () {
this.map_info.min_y;
lat = 90 - lat / (this.map_info.map_size / 180.0);
return {
latitude: lat,
longitude: lon,
altitude: z,
x: lat,
y: lon,
z: z
......@@ -99,8 +102,9 @@ var MapUtils = /** @class */ (function () {
for (i = 0; i < list.length; i += 1) {
el = {"position":
{"x": 0, "y": 0, "z": 0},
"score": list[i].score,
"weight": list[i].weight};
"score": Math.floor(seed.quick() * FLAG_SCORE) + 1,
"weight": Math.floor(seed.quick() * FLAG_WEIGHT) + 1
};
el.position.x = normalize(list[i].position.x, min_x, max_x);
el.position.y = normalize(list[i].position.y, min_y, max_y);
//TODO normalize z to map height?
......@@ -332,20 +336,15 @@ var MapUtils = /** @class */ (function () {
);
Object.assign(_this.map_info, _this.map_param);
flag_list.forEach(function (flag_info, index) {
coordinates = _this.convertToGeoCoordinates(
flag_info.position.x,
flag_info.position.y,
flag_info.position.z
);
geo_flag_info = {
'id': flag_info.id,
'score': flag_info.score,
'weight': flag_info.weight,
'position': {
'x': coordinates.x,
'y': coordinates.y,
'z': coordinates.z
}
'position': _this.convertToGeoCoordinates(
flag_info.position.x,
flag_info.position.y,
flag_info.position.z
)
};
_this.map_info.flag_list.push(geo_flag_info);
});
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_map_utils_js.xml
View file @ 7b79e062
......@@ -242,7 +242,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1011.18883.7641.45704</string> </value>
<value> <string>1011.50252.61779.34440</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>1695327563.61</float>
<float>1697123604.37</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.html
View file @ 7b79e062
......@@ -55,9 +55,9 @@
<p class="item-param-2">Drones starting point coordinates</p>
<p class="item-param-2">
{<br>
&nbsp;&nbsp;x: number, //latitude (in degrees)<br>
&nbsp;&nbsp;y: number, //longitude (in degrees)<br>
&nbsp;&nbsp;z: number //altitude (in meters)<br>
&nbsp;&nbsp;latitude: number, //in degrees<br>
&nbsp;&nbsp;longitude: number, //in degrees<br>
&nbsp;&nbsp;altitude: number //in meters<br>
}<br>
</p>
</div>
......@@ -67,7 +67,7 @@
<p class="item-param-2">List of flags, each element:</p>
<p class="item-param-2">
{<br>
&nbsp;&nbsp;position {x,y,z}:<br>&nbsp;&nbsp;latitude, longitude and altitude<br>
&nbsp;&nbsp;position {latitude, longitude, altitude}: dict of floats<br>
&nbsp;&nbsp;score: number<br>
&nbsp;&nbsp;weight: number<br>
}<br>
......@@ -79,7 +79,7 @@
<p class="item-param-2">List of obstacles, each element:</p>
<p class="item-param-2">
{<br>
&nbsp;&nbsp;position {x,y,z}:<br>&nbsp;&nbsp;latitude, longitude and altitude<br>
&nbsp;&nbsp;position {latitude, longitude, altitude}: dict of floats<br>
&nbsp;&nbsp;type: [box, cilinder, sphere]<br>
&nbsp;&nbsp;scale: {x,y,z}<br>
&nbsp;&nbsp;rotation: {x,y,z}<br>
......@@ -92,7 +92,7 @@
<p class="item-param-2">List of enemies, each element:</p>
<p class="item-param-2">
{<br>
&nbsp;&nbsp;position {x,y,z}:<br>&nbsp;&nbsp;latitude, longitude and altitude<br>
&nbsp;&nbsp;position {latitude, longitude, altitude}: dict of floats<br>
&nbsp;&nbsp;type: drone-type<br>
&nbsp;&nbsp;id: number<br>
}<br>
......@@ -136,7 +136,8 @@
<h4 class="item-name" id="scoring"><span>Score</span></h4>
<p class="item-descr">Every flag has a score, every drone hit on the flag will give it that score value.</p>
<p class="item-descr">The number of hits on a flag is determined by its weight.</p>
<p class="item-descr">Once the number of hits is equal to the flag weight, no more score will be given on following hits.</p>
<p class="item-descr">Once the number of hits is equal to the flag weight, no more score will be given on following hits (the flag is consider captured).</p>
<p class="item-descr">When the game ends (whatever the reason), if a drone has returned to its initial position, it gets an extra point.</p>
<p class="item-descr">Total score is the sum of all drones score when the game finishes.</p>
<h5 class="item-param-1">Example</h5>
......@@ -305,9 +306,9 @@
<p class="item-descr">
Get drone current position geo-coordinates.<br>
{<br>
&nbsp;&nbsp;x: number, //latitude (in degrees)<br>
&nbsp;&nbsp;y: number, //longitude (in degrees)<br>
&nbsp;&nbsp;z: number //altitude (in meters)<br>
&nbsp;&nbsp;latitude: number, //in degrees<br>
&nbsp;&nbsp;longitude: number, //in degrees<br>
&nbsp;&nbsp;altitude: number //in meters<br>
}<br>
</p>
......@@ -351,16 +352,16 @@
</div>
<div>
<p class="item-param-1">X: Float</p>
<p class="item-param-2">X value - latitude (in degrees).</p>
<p class="item-param-1">latitude: Float</p>
<p class="item-param-2">latitude value (in degrees).</p>
</div>
<div>
<p class="item-param-1">Y: Float</p>
<p class="item-param-2">Y value - longitude (in degrees).</p>
<p class="item-param-1">longitude: Float</p>
<p class="item-param-2">longitude value (in degrees).</p>
</div>
<div>
<p class="item-param-1">Z: Float</p>
<p class="item-param-2">Z value - altitude (in meters).</p>
<p class="item-param-1">altitude: Float</p>
<p class="item-param-2">altitude value (in meters).</p>
</div>
<div>
......@@ -408,16 +409,16 @@
</div>
<div>
<p class="item-param-1">X: Float</p>
<p class="item-param-2">X value - latitude (in degrees).</p>
<p class="item-param-1">latitude: Float</p>
<p class="item-param-2">latitude value (in degrees).</p>
</div>
<div>
<p class="item-param-1">Y: Float</p>
<p class="item-param-2">Y value - longitude (in degrees).</p>
<p class="item-param-1">longitude: Float</p>
<p class="item-param-2">longitude value (in degrees).</p>
</div>
<div>
<p class="item-param-1">Z: Float</p>
<p class="item-param-2">Z value - altitude (in meters).</p>
<p class="item-param-1">altitude: Float</p>
<p class="item-param-2">altitude value (in meters).</p>
</div>
<div>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.xml
View file @ 7b79e062
......@@ -244,7 +244,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1011.7129.2983.29201</string> </value>
<value> <string>1011.46157.31778.16247</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -264,7 +264,7 @@
</tuple>
<state>
<tuple>
<float>1694622336.88</float>
<float>1696877684.5</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.js
View file @ 7b79e062
......@@ -48,22 +48,36 @@ var OperatorAPI = /** @class */ (function () {
"min_lon": MIN_LON,
"max_lon": MAX_LON,
"flag_list": [{"position":
{"x": 45.6464947316632,
{"latitude": 45.6464947316632,
"longitude": 14.270747186236491,
"altitude": 10,
"x": 45.6464947316632,
"y": 14.270747186236491,
"z": 10},
"score": 1,
"weight": 1}],
"obstacle_list": [{"type": "box",
"position": {"x": 45.6456815316444,
"position": {"latitude": 45.6456815316444,
"longitude": 14.274667031215898,
"altitude": 15,
"x": 45.6456815316444,
"y": 14.274667031215898,
"z": 15},
"scale": {"x": 132, "y": 56, "z": 10},
"rotation": {"x": 0, "y": 0, "z": 0}}],
"enemy_list": [{"type": "EnemyDroneAPI",
"position": {"x": 45.6455531,
"position": {"latitude": 45.6455531,
"longitude": 14.270747186236491,
"altitude": 15,
"x": 45.6455531,
"y": 14.270747186236491,
"z": 15}}],
"initial_position": {"x": 45.642813275, "y": 14.270231599999988, "z": 15}
"initial_position": {"latitude": 45.642813275,
"longitude": 14.270231599999988,
"altitude": 15,
"x": 45.642813275,
"y": 14.270231599999988,
"z": 15}
},
DEFAULT_SPEED = 16,
MAX_ACCELERATION = 6,
......@@ -86,10 +100,10 @@ var OperatorAPI = /** @class */ (function () {
'\n' +
'function distance2D(a, b) {\n' +
' var R = 6371e3, // meters\n' +
' la1 = a.x * Math.PI / 180, // lat, lon in radians\n' +
' la2 = b.x * Math.PI / 180,\n' +
' lo1 = a.y * Math.PI / 180,\n' +
' lo2 = b.y * Math.PI / 180,\n' +
' la1 = a.latitude * Math.PI / 180, // lat, lon in radians\n' +
' la2 = b.latitude * Math.PI / 180,\n' +
' lo1 = a.longitude * Math.PI / 180,\n' +
' lo2 = b.longitude * Math.PI / 180,\n' +
' haversine_phi = Math.pow(Math.sin((la2 - la1) / 2), 2),\n' +
' sin_lon = Math.sin((lo2 - lo1) / 2),\n' +
' h = haversine_phi + Math.cos(la1) * Math.cos(la2) * sin_lon * sin_lon;\n' +
......@@ -98,7 +112,7 @@ var OperatorAPI = /** @class */ (function () {
'\n' +
'function distance(a, b) {\n' +
' return Math.sqrt(\n' +
' Math.pow(a.z - b.z, 2) + Math.pow(distance2D(a, b), 2)\n' +
' Math.pow(a.altitude - b.altitude, 2) + Math.pow(distance2D(a, b), 2)\n' +
' );\n' +
'}\n' +
'\n' +
......@@ -132,9 +146,9 @@ var OperatorAPI = /** @class */ (function () {
' if (!me.direction_set) {\n' +
' if (me.next_checkpoint < me.flag_positions.length) {\n' +
' me.setTargetCoordinates(\n' +
' me.flag_positions[me.next_checkpoint].position.x,\n' +
' me.flag_positions[me.next_checkpoint].position.y,\n' +
' me.flag_positions[me.next_checkpoint].position.z + me.id\n' +
' me.flag_positions[me.next_checkpoint].position.latitude,\n' +
' me.flag_positions[me.next_checkpoint].position.longitude,\n' +
' me.flag_positions[me.next_checkpoint].position.altitude + me.id\n' +
' );\n' +
//' console.log("[DEMO] Going to Checkpoint %d", me.next_checkpoint);\n' +
' }\n' +
......@@ -180,7 +194,7 @@ var OperatorAPI = /** @class */ (function () {
' } else {\n' +
' dodge_point.y = dodge_point.y * -1;\n' +
' }\n' +
' me.setTargetCoordinates(dodge_point.x, dodge_point.y, me.getCurrentPosition().z);\n' +
' me.setTargetCoordinates(dodge_point.latitude, dodge_point.longitude, me.getCurrentPosition().altitude);\n' +
' return;\n' +
' }\n' +
'};',
......@@ -719,6 +733,28 @@ var OperatorAPI = /** @class */ (function () {
sub_gadget.element
]);
//Backward compatibility sanitation
function sanitize(position) {
if (!position.latitude) {
position.latitude = position.x;
position.longitude = position.y;
position.altitude = position.z;
}
return position;
}
var map_json = JSON.parse(gadget.state.map_json);
map_json.initial_position = sanitize(map_json.initial_position);
map_json.flag_list.forEach(function (flag, index) {
flag.position = sanitize(flag.position);
});
map_json.obstacle_list.forEach(function (obstacle, index) {
obstacle.position = sanitize(obstacle.position);
});
map_json.enemy_list.forEach(function (enemy, index) {
enemy.position = sanitize(enemy.position);
});
gadget.state.map_json = JSON.stringify(map_json, undefined, 4);
var operator_code = "let operator = function(operator){" +
gadget.state.operator_script +
"return operator.getDroneStartMessage();" +
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.xml
View file @ 7b79e062
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1011.18818.32686.32580</string> </value>
<value> <string>1011.50269.22753.36317</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1695397751.99</float>
<float>1697124355.48</float>
<string>UTC</string>
</tuple>
</state>
......
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