Define speed and coordinates simultaneously

See merge request nexedi/erp5!1870

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.js

@@ -345,7 +345,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
 
   FixedWingDroneAPI.prototype.internal_setTargetCoordinates =
-    function (drone, coordinates, radius) {
+    function (drone, coordinates, speed, radius) {
       if (radius) {
         this._loiter_mode = true;
         if (radius >= LOITER_LIMIT) {
@@ -354,6 +354,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
       } else {
         this._loiter_mode = false;
       }
+      this.setSpeed(drone, speed);
     };
 
   FixedWingDroneAPI.prototype.sendMsg = function (msg, to) {
@@ -543,7 +544,12 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
   FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
     var drone_pos = drone.getCurrentPosition();
-    drone.setTargetCoordinates(drone_pos.latitude, drone_pos.longitude, 5);
+    drone.setTargetCoordinates(
+      drone_pos.latitude,
+      drone_pos.longitude,
+      5,
+      drone.getAirSpeed()
+    );
   };
   FixedWingDroneAPI.prototype.landed = function (drone) {
     var drone_pos = drone.getCurrentPosition();

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.46032.14056.1553</string> </value>
+                      <value> <string>1014.48041.44620.29337</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1696870145.24</float>
+                              <float>1709113157.81</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.js

@@ -150,11 +150,11 @@ var DroneManager = /** @class */ (function () {
    * Set a target point to move
    */
   DroneManager.prototype.setTargetCoordinates =
-    function (latitude, longitude, altitude) {
-    this._internal_setTargetCoordinates(latitude, longitude, altitude);
+    function (latitude, longitude, altitude, speed) {
+      this._internal_setTargetCoordinates(latitude, longitude, altitude, speed);
     };
   DroneManager.prototype._internal_setTargetCoordinates =
-    function (latitude, longitude, altitude, radius) {
+    function (latitude, longitude, altitude, speed, radius) {
       if (!this._canPlay) {
         return;
       }
@@ -165,6 +165,7 @@ var DroneManager = /** @class */ (function () {
       return this._API.internal_setTargetCoordinates(
         this,
         this._targetCoordinates,
+        speed,
         radius
       );
     };
@@ -224,15 +225,6 @@ var DroneManager = /** @class */ (function () {
     }
     return this._API.setStartingPosition(this, x, y, z);
   };
-  DroneManager.prototype.setAirSpeed = function (speed) {
-    if (!this._canPlay) {
-      return;
-    }
-    if (isNaN(speed)) {
-      throw new Error('Speed must be a number');
-    }
-    return this._API.setSpeed(this, speed);
-  };
   DroneManager.prototype.setDirection = function (x, y, z) {
     if (!this._canPlay) {
       return;
@@ -334,8 +326,14 @@ var DroneManager = /** @class */ (function () {
    * Make the drone loiter (circle with a set radius)
    */
   DroneManager.prototype.loiter =
-    function (latitude, longitude, altitude, radius) {
-    this._internal_setTargetCoordinates(latitude, longitude, altitude, radius);
+    function (latitude, longitude, altitude, radius, speed) {
+      this._internal_setTargetCoordinates(
+        latitude,
+        longitude,
+        altitude,
+        speed,
+        radius
+      );
     };
   DroneManager.prototype.getFlightParameters = function () {
     if (this._API.getFlightParameters) {

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.57487.9176.36369</string> </value>
+                      <value> <string>1014.48183.45277.7697</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1697558075.38</float>
+                              <float>1709113192.28</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.html

@@ -363,39 +363,20 @@
         <p class="item-param-1">altitude: Float</p>
         <p class="item-param-2">altitude value (in meters).</p>
       </div>
-
-      <div>
-      <h5 class="item-param-1">Example</h5>
-      </div>
-
-      <div>
-        <p class="item-example">
-          me.setTargetCoordinates(lat, lon, altitude);<br>
-        </p>
-      </div>
-
-      <div class="line"></div>
-
-      <!-- setAirSpeed -->
-      <h4 class="item-name" id="setAirSpeed"><span>setAirSpeed</span><span>: void</span></h4>
-      <p class="item-descr">Set the drone speed in meters/second. The drone will move at the given value.</p>
-
-      <div>
-        <h5 class="item-param-1">Param</h5>
-        <h5 class="item-param-2">Description</h5>
-      </div>
-
       <div>
         <p class="item-param-1">speed: Float</p>
-        <p class="item-param-2">Speed value</p>
+        <p class="item-param-2">speed value (in meters per second).</p>
       </div>
 
       <div>
       <h5 class="item-param-1">Example</h5>
       </div>
 
-      <p class="item-param-1">me.setAirSpeed(16);<br>
+      <div>
+        <p class="item-example">
+          me.setTargetCoordinates(lat, lon, altitude, speed);<br>
         </p>
+      </div>
 
       <div class="line"></div>
 

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.xml

@@ -244,7 +244,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1013.8667.7605.21589</string> </value>
+                      <value> <string>1014.45296.39536.30276</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -264,7 +264,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1702410728.19</float>
+                              <float>1708536065.15</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.js

@@ -77,6 +77,7 @@ var OperatorAPI = /** @class */ (function () {
     MAX_PITCH = 25,
     MAX_CLIMB_RATE = 8,
     MAX_SINK_RATE = 3,
+    MAX_COMMAND_FREQUENCY = 2,
     NUMBER_OF_DRONES = 5,
     // Non-inputs parameters
     EPSILON = "15",
@@ -104,7 +105,7 @@ var OperatorAPI = /** @class */ (function () {
       '  );\n' +
       '}\n' +
       '\n' +
-      'me.onStart = function () {\n' +
+      'me.onStart = function (timestamp) {\n' +
       '  me.direction_set = false;\n' +
       '  me.dodging = false;\n' +
       '  me.ongoing_detection = false;\n' +
@@ -136,7 +137,8 @@ var OperatorAPI = /** @class */ (function () {
       '      me.setTargetCoordinates(\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' +
+      '        me.flag_positions[me.next_checkpoint].position.altitude + me.id,\n' +
+      '        ' + DEFAULT_SPEED + '\n' +
       '      );\n' +
       //'      console.log("[DEMO] Going to Checkpoint %d", me.next_checkpoint);\n' +
       '    }\n' +
@@ -162,12 +164,6 @@ var OperatorAPI = /** @class */ (function () {
       '    }\n' +
       '    return;\n' +
       '  }\n' +
-      '  if (me.next_checkpoint == me.flag_positions.length) {\n' +
-      '    me.triggerParachute();\n' +
-      '  }\n' +
-      '  if (me.landed()) {\n' +
-      '    me.exit();\n' +
-      '  }\n' +
       '};\n' +
       '\n' +
       'me.onDroneViewInfo = function (drone_view) {\n' +
@@ -182,7 +178,7 @@ var OperatorAPI = /** @class */ (function () {
       '    } else {\n' +
       '      dodge_point.longitude = dodge_point.longitude * -1;\n' +
       '    }\n' +
-      '    me.setTargetCoordinates(dodge_point.latitude, dodge_point.longitude, me.getCurrentPosition().altitude);\n' +
+      '    me.setTargetCoordinates(dodge_point.latitude, dodge_point.longitude, me.getCurrentPosition().altitude, ' + DEFAULT_SPEED + ');\n' +
       '    return;\n' +
       '  }\n' +
       '};',
@@ -680,6 +676,17 @@ var OperatorAPI = /** @class */ (function () {
                 "hidden": 0,
                 "type": "FloatField"
               },
+              "my_drone_max_command_frequency": {
+                "description": "",
+                "title": "Drone max command frequency",
+                "default": gadget.state.drone_max_command_frequency,
+                "css_class": "",
+                "required": 1,
+                "editable": 1,
+                "key": "drone_max_command_frequency",
+                "hidden": 0,
+                "type": "FloatField"
+              },
               "my_number_of_drones": {
                 "description": "",
                 "title": "Number of drones",
@@ -708,7 +715,8 @@ var OperatorAPI = /** @class */ (function () {
               [["my_drone_min_speed"], ["my_drone_speed"], ["my_drone_max_speed"],
                 ["my_drone_max_acceleration"], ["my_drone_max_deceleration"],
                 ["my_drone_max_roll"], ["my_drone_min_pitch"], ["my_drone_max_pitch"],
-                ["my_drone_max_sink_rate"], ["my_drone_max_climb_rate"]]
+                ["my_drone_max_sink_rate"], ["my_drone_max_climb_rate"],
+                ["my_drone_max_command_frequency"]]
             ]]
           }
         });
@@ -836,6 +844,7 @@ var OperatorAPI = /** @class */ (function () {
           "maxPitchAngle": parseFloat(gadget.state.drone_max_pitch),
           "maxSinkRate": parseFloat(gadget.state.drone_max_sink_rate),
           "maxClimbRate": parseFloat(gadget.state.drone_max_climb_rate),
+          "maxCommandFrequency": parseFloat(gadget.state.drone_max_command_frequency),
           "list": drone_list
         },
         "gameTime": parseInt(gadget.state.simulation_time, 10),
@@ -950,6 +959,7 @@ var OperatorAPI = /** @class */ (function () {
       operator_script: DEFAULT_OPERATOR_SCRIPT,
       drone_script: DEFAULT_SCRIPT_CONTENT,
       number_of_drones: NUMBER_OF_DRONES,
+      drone_max_command_frequency: MAX_COMMAND_FREQUENCY,
       drone_max_climb_rate: MAX_CLIMB_RATE,
       drone_max_sink_rate: MAX_SINK_RATE,
       drone_max_pitch: MAX_PITCH,

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.57494.145.60023</string> </value>
+                      <value> <string>1014.55204.2137.9676</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1697558059.95</float>
+                              <float>1709130500.2</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_capture_flag_test/PathTemplateItem/web_page_module/test_capture_drone_flight_js.js

@@ -53,13 +53,14 @@
       '}\n' +
       '\n' +
       'me.onStart = function () {\n' +
-      '  assert(me.getAirSpeed(), 16, "Initial speed");\n' +
+      '  assert(me.getAirSpeed(), ' + DEFAULT_SPEED + ', "Initial speed");\n' +
       '  assert(me.getYaw(), 0, "Yaw angle")\n' +
       '  me.initialPosition = me.getCurrentPosition();\n' +
       '  me.setTargetCoordinates(\n' +
       '    me.initialPosition.latitude + 0.01,\n' +
       '    me.initialPosition.longitude,\n' +
-      '    me.getAltitudeAbs()\n' +
+      '    me.getAltitudeAbs(),\n' +
+      '    ' + DEFAULT_SPEED + '\n' +
       '  );\n' +
       '};\n' +
       '\n' +
@@ -71,8 +72,9 @@
       '    me.getCurrentPosition().latitude,\n' +
       '    me.getCurrentPosition().longitude\n' +
       '  ).toFixed(8),\n' +
-      '    expectedDistance = (me.getAirSpeed() * timestamp / 1000).toFixed(8);\n' +
-      '    assert(timestamp, 1000 / 60, "Timestamp");\n' +
+      '    time_interval = 1000 / 60,\n' +
+      '    expectedDistance = (me.getAirSpeed() * time_interval / 1000).toFixed(8);\n' +
+      '    assert(timestamp, Math.floor(time_interval), "Timestamp");\n' +
       '    assert(realDistance, expectedDistance, "Distance");\n' +
       '  current_position.latitude = current_position.latitude.toFixed(7);\n' +
       '  compare(current_position, {\n' +

bt5/erp5_officejs_drone_capture_flag_test/PathTemplateItem/web_page_module/test_capture_drone_flight_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1014.53878.23823.32290</string> </value>
+                      <value> <string>1014.55202.48917.18107</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1709057695.61</float>
+                              <float>1709130419.7</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js

@@ -349,7 +349,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
 
   FixedWingDroneAPI.prototype.internal_setTargetCoordinates =
-    function (drone, coordinates, radius) {
+    function (drone, coordinates, speed, radius) {
       if (radius) {
         this._loiter_mode = true;
         if (radius >= LOITER_LIMIT) {
@@ -358,6 +358,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
       } else {
         this._loiter_mode = false;
       }
+      this.setSpeed(drone, speed);
     };
 
   FixedWingDroneAPI.prototype.sendMsg = function (msg, to) {
@@ -502,7 +503,12 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
   FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
     var drone_pos = drone.getCurrentPosition();
-    drone.setTargetCoordinates(drone_pos.latitude, drone_pos.longitude, 5);
+    drone.setTargetCoordinates(
+      drone_pos.latitude,
+      drone_pos.longitude,
+      5,
+      drone.getAirSpeed()
+    );
   };
   FixedWingDroneAPI.prototype.landed = function (drone) {
     var drone_pos = drone.getCurrentPosition();

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml

@@ -240,7 +240,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.48679.53693.47701</string> </value>
+                      <value> <string>1014.11751.44914.51968</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -260,7 +260,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1697030763.04</float>
+                              <float>1706523358.41</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js

@@ -136,11 +136,11 @@ var DroneManager = /** @class */ (function () {
    * Set a target point to move
    */
   DroneManager.prototype.setTargetCoordinates =
-    function (latitude, longitude, altitude) {
-      this._internal_setTargetCoordinates(latitude, longitude, altitude);
+    function (latitude, longitude, altitude, speed) {
+      this._internal_setTargetCoordinates(latitude, longitude, altitude, speed);
     };
   DroneManager.prototype._internal_setTargetCoordinates =
-    function (latitude, longitude, altitude, radius) {
+    function (latitude, longitude, altitude, speed, radius) {
       if (!this._canPlay) {
         return;
       }
@@ -150,6 +150,7 @@ var DroneManager = /** @class */ (function () {
       return this._API.internal_setTargetCoordinates(
         this,
         this._targetCoordinates,
+        speed,
         radius
       );
     };
@@ -197,15 +198,6 @@ var DroneManager = /** @class */ (function () {
     }
     return this._API.setStartingPosition(this, x, y, z);
   };
-  DroneManager.prototype.setAirSpeed = function (speed) {
-    if (!this._canPlay) {
-      return;
-    }
-    if (isNaN(speed)) {
-      throw new Error('Speed must be a number');
-    }
-    return this._API.setSpeed(this, speed);
-  };
   DroneManager.prototype.setDirection = function (x, y, z) {
     if (!this._canPlay) {
       return;
@@ -299,11 +291,12 @@ var DroneManager = /** @class */ (function () {
    * Make the drone loiter (circle with a set radius)
    */
   DroneManager.prototype.loiter =
-    function (latitude, longitude, altitude, radius) {
+    function (latitude, longitude, altitude, radius, speed) {
       this._internal_setTargetCoordinates(
         latitude,
         longitude,
         altitude,
+        speed,
         radius
       );
     };

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml

@@ -240,7 +240,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.48744.22696.33177</string> </value>
+                      <value> <string>1014.11746.34243.61149</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -260,7 +260,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1697032866.09</float>
+                              <float>1706523386.8</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js

@@ -98,7 +98,8 @@
       '      me.setTargetCoordinates(\n' +
       '        CHECKPOINT_LIST[me.next_checkpoint].latitude,\n' +
       '        CHECKPOINT_LIST[me.next_checkpoint].longitude,\n' +
-      '        CHECKPOINT_LIST[me.next_checkpoint].altitude + ALTITUDE + ALTITUDE * me.id\n' +
+      '        CHECKPOINT_LIST[me.next_checkpoint].altitude + ALTITUDE + ALTITUDE * me.id,\n' +
+      '        ' + DEFAULT_SPEED + '\n' +
       '      );\n' +
       '      console.log("[DEMO] Going to Checkpoint %d", me.next_checkpoint);\n' +
       '    }\n' +

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1011.48716.48246.13943</string> </value>
+                      <value> <string>1014.54902.15254.29337</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1697031250.03</float>
+                              <float>1709130323.68</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator_test/PathTemplateItem/web_page_module/test_drone_simulator_flight_js.js

@@ -57,13 +57,14 @@
       '}\n' +
       '\n' +
       'me.onStart = function () {\n' +
-      '  assert(me.getAirSpeed(), 16, "Initial speed");\n' +
+      '  assert(me.getAirSpeed(), ' + DEFAULT_SPEED + ', "Initial speed");\n' +
       '  assert(me.getYaw(), 0, "Yaw angle")\n' +
       '  me.initialPosition = me.getCurrentPosition();\n' +
       '  me.setTargetCoordinates(\n' +
       '    me.initialPosition.latitude + 0.01,\n' +
       '    me.initialPosition.longitude,\n' +
-      '    me.getAltitudeAbs()\n' +
+      '    me.getAltitudeAbs(),\n' +
+      '    '+ DEFAULT_SPEED + '\n' +
       '  );\n' +
       '};\n' +
       '\n' +

bt5/erp5_officejs_drone_simulator_test/PathTemplateItem/web_page_module/test_drone_simulator_flight_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1012.50925.12802.42871</string> </value>
+                      <value> <string>1014.55202.15664.53026</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1701095838.64</float>
+                              <float>1709130383.65</float>
                               <string>UTC</string>
                             </tuple>
                           </state>