Skip to content

erp5
erp5
Commit d63ec839 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
Browse files
Options

Rename functions for multicopters 

See merge request nexedi/erp5!1891
parents 760e47a9 d240b5c2
Pipeline #33176 failed with stage
    in 0 seconds
    Expand all Hide whitespace changes
    Inline Side-by-side
    Showing with 272 additions and 349 deletions
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.js
    View file @ d63ec839
    ......@@ -23,6 +23,8 @@ var EnemyDroneAPI = /** @class */ (function () {
    this._drone_dict_list = [];
    this._acceleration = DEFAULT_ACCELERATION;
    this._collision_sector = COLLISION_SECTOR;
    this._is_landing = false;
    this._is_ready_to_fly = true;
    }
    /*
    ** Function called on start phase of the drone, just before onStart AI script
    ......@@ -49,7 +51,6 @@ var EnemyDroneAPI = /** @class */ (function () {
    if (drone._maxSinkRate > drone._maxSpeed) {
    throw new Error('max sink rate cannot be superior to max speed');
    }
    drone._maxOrientation = this.getMaxOrientation();
    return;
    };
    /*
    ......@@ -57,10 +58,12 @@ var EnemyDroneAPI = /** @class */ (function () {
    */
    EnemyDroneAPI.prototype.internal_update = function (context, delta_time) {
    context._speed += context._acceleration * delta_time / 1000;
    if (context._speed > context._maxSpeed)
    if (context._speed > context._maxSpeed) {
    context._speed = context._maxSpeed;
    if (context._speed < -context._maxSpeed)
    }
    if (context._speed < -context._maxSpeed) {
    context._speed = -context._maxSpeed;
    }
    var updateSpeed = context._speed * delta_time / 1000;
    if (context._direction.x !== 0 ||
    context._direction.y !== 0 ||
    ......@@ -68,13 +71,9 @@ var EnemyDroneAPI = /** @class */ (function () {
    context._controlMesh.position.addInPlace(
    new BABYLON.Vector3(context._direction.x * updateSpeed,
    context._direction.y * updateSpeed,
    context._direction.z * updateSpeed));
    context._direction.z * updateSpeed)
    );
    }
    var orientationValue = context._maxOrientation *
    (context._speed / context._maxSpeed);
    context._mesh.rotation = new BABYLON.Vector3(
    orientationValue * context._direction.z, 0,
    -orientationValue * context._direction.x);
    context._controlMesh.computeWorldMatrix(true);
    context._mesh.computeWorldMatrix(true);
    return;
    ......@@ -119,7 +118,9 @@ var EnemyDroneAPI = /** @class */ (function () {
    EnemyDroneAPI.prototype.internal_setTargetCoordinates =
    function (drone, coordinates) {
    if (!drone._canPlay) return;
    if (!drone._canPlay) {
    return;
    }
    var x = coordinates.x, y = coordinates.y, z = coordinates.z;
    if (isNaN(x) || isNaN(y) || isNaN(z)) {
    throw new Error('Target coordinates must be numbers');
    ......@@ -279,20 +280,17 @@ var EnemyDroneAPI = /** @class */ (function () {
    EnemyDroneAPI.prototype.getMaxAcceleration = function () {
    return this._flight_parameters.drone.maxAcceleration;
    };
    EnemyDroneAPI.prototype.getMaxOrientation = function () {
    //TODO should be a game parameter (but how to force value to PI quarters?)
    return Math.PI / 4;
    };
    EnemyDroneAPI.prototype.triggerParachute = function (drone) {
    EnemyDroneAPI.prototype.land = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    drone.setTargetCoordinates(drone_pos.latitude, drone_pos.longitude, 5);
    drone.setTargetCoordinates(drone_pos.latitude, drone_pos.longitude, 0);
    this._is_ready_to_fly = false;
    this._is_landing = true;
    };
    EnemyDroneAPI.prototype.landed = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    return Math.floor(drone_pos.altitude) < 10;
    EnemyDroneAPI.prototype.isReadyToFly = function () {
    return this._is_ready_to_fly;
    };
    EnemyDroneAPI.prototype.exit = function () {
    return;
    EnemyDroneAPI.prototype.isLanding = function () {
    return this._is_landing;
    };
    EnemyDroneAPI.prototype.getInitialAltitude = function () {
    return 0;
    ......
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1011.46035.33513.61849</string> </value>
    <value> <string>1014.56714.1017.16076</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1697031010.99</float>
    <float>1709221104.19</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.js
    View file @ d63ec839
    ......@@ -31,6 +31,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
    this._loiter_radius = 100;
    //this._start_altitude = 0;
    this._loiter_mode = false;
    this._is_landing = false;
    this._is_ready_to_fly = true;
    this._drone_dict_list = [];
    }
    /*
    ......@@ -86,45 +88,15 @@ var FixedWingDroneAPI = /** @class */ (function () {
    if (drone._maxClimbRate > drone._maxSpeed) {
    throw new Error('max climb rate cannot be superior to max speed');
    }
    drone._maxOrientation = this.getMaxOrientation();
    return;
    };
    /*
    ** Function called on every drone update, right before onUpdate AI script
    */
    FixedWingDroneAPI.prototype.internal_update = function (context, delta_time) {
    var diff, newrot, orientationValue, rotStep;
    //TODO rotation
    if (context._rotationTarget) {
    rotStep = BABYLON.Vector3.Zero();
    diff = context._rotationTarget.subtract(context._controlMesh.rotation);
    rotStep.x = (diff.x >= 1) ? 1 : diff.x;
    rotStep.y = (diff.y >= 1) ? 1 : diff.y;
    rotStep.z = (diff.z >= 1) ? 1 : diff.z;
    if (rotStep === BABYLON.Vector3.Zero()) {
    context._rotationTarget = null;
    return;
    }
    newrot = new BABYLON.Vector3(context._controlMesh.rotation.x +
    (rotStep.x * context._rotationSpeed),
    context._controlMesh.rotation.y +
    (rotStep.y * context._rotationSpeed),
    context._controlMesh.rotation.z +
    (rotStep.z * context._rotationSpeed)
    );
    context._controlMesh.rotation = newrot;
    }
    this._updateSpeed(context, delta_time);
    this._updatePosition(context, delta_time);
    //TODO rotation
    orientationValue = context._maxOrientation *
    (context._speed / context._maxSpeed);
    context._mesh.rotation =
    new BABYLON.Vector3(orientationValue * context._direction.z, 0,
    -orientationValue * context._direction.x);
    context._controlMesh.computeWorldMatrix(true);
    context._mesh.computeWorldMatrix(true);
    };
    ......@@ -144,7 +116,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    'latitude' : drone_position.latitude,
    'longitude' : drone_position.longitude,
    'yaw': drone.getYaw(),
    'speed': drone.getAirSpeed(),
    'speed': drone.getSpeed(),
    'climbRate': drone.getClimbRate()
    };
    _this._drone_dict_list[_this._id] = drone_info;
    ......@@ -158,7 +130,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    };
    FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) {
    var speed = drone.getAirSpeed(), speedDiff, speedUpdate;
    var speed = drone.get3DSpeed(), speedDiff, speedUpdate;
    if (speed !== this._targetSpeed) {
    speedDiff = this._targetSpeed - speed;
    speedUpdate = drone._acceleration * delta_time / 1000;
    ......@@ -231,7 +203,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    verticalSpeed = this._getVerticalSpeed(drone);
    groundSpeed = Math.sqrt(
    Math.pow(drone.getAirSpeed(), 2) - Math.pow(verticalSpeed, 2)
    Math.pow(drone.get3DSpeed(), 2) - Math.pow(verticalSpeed, 2)
    );
    distance = (groundSpeed * delta_time / 1000) / R;
    ......@@ -240,7 +212,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    newLatRad = Math.asin(
    currentSinLat * distanceCos +
    currentCosLat * distanceSin * Math.cos(newYawRad)
    currentCosLat * distanceSin * Math.cos(newYawRad)
    );
    newLonRad = currentLonRad + Math.atan2(
    Math.sin(newYawRad) * distanceSin * currentCosLat,
    ......@@ -256,10 +228,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
    // swap y and z axis so z axis represents altitude
    drone._controlMesh.position.addInPlace(new BABYLON.Vector3(
    Math.abs(newCoordinates.x - drone.position.x) *
    (newCoordinates.x < drone.position.x ? -1 : 1),
    (newCoordinates.x < drone.position.x ? -1 : 1),
    verticalSpeed * delta_time / 1000,
    Math.abs(newCoordinates.y - drone.position.y) *
    (newCoordinates.y < drone.position.y ? -1 : 1)
    (newCoordinates.y < drone.position.y ? -1 : 1)
    ));
    yawToDirection = this._toRad(-newYaw + 90);
    drone.setDirection(
    ......@@ -293,40 +265,28 @@ var FixedWingDroneAPI = /** @class */ (function () {
    verticalSpeed = this._computeVerticalSpeed(
    altitudeDiff,
    this.getMaxClimbRate(),
    drone.getAirSpeed(),
    drone.get3DSpeed(),
    this.getMaxPitchAngle()
    );
    } else {
    verticalSpeed = -this._computeVerticalSpeed(
    Math.abs(altitudeDiff),
    this.getMaxSinkRate(),
    drone.getAirSpeed(),
    drone.get3DSpeed(),
    -this.getMinPitchAngle()
    );
    }
    return verticalSpeed;
    };
    FixedWingDroneAPI.prototype.setRotation = function (drone, x, y, z) {
    //TODO rotation
    drone._rotationTarget = new BABYLON.Vector3(x, z, y);
    };
    FixedWingDroneAPI.prototype.setRotationBy = function (drone, x, y, z) {
    //TODO rotation
    drone._rotationTarget = new BABYLON.Vector3(drone.rotation.x + x,
    drone.rotation.y + z,
    drone.rotation.z + y);
    };
    FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) {
    this._targetSpeed = Math.max(
    Math.min(speed, this.getMaxSpeed()),
    this.getMinSpeed()
    );
    drone._acceleration = (this._targetSpeed > drone.getAirSpeed()) ?
    this.getMaxAcceleration() : -this.getMaxDeceleration();
    drone._acceleration = (this._targetSpeed > drone.get3DSpeed()) ?
    this.getMaxAcceleration() : -this.getMaxDeceleration();
    };
    FixedWingDroneAPI.prototype.setStartingPosition = function (drone, x, y, z) {
    ......@@ -490,14 +450,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
    FixedWingDroneAPI.prototype.getMaxClimbRate = function () {
    return this._flight_parameters.drone.maxClimbRate;
    };
    FixedWingDroneAPI.prototype.getMaxOrientation = function () {
    //TODO should be a game parameter (but how to force value to PI quarters?)
    return Math.PI / 4;
    };
    FixedWingDroneAPI.prototype.getYawVelocity = function (drone) {
    return 360 * EARTH_GRAVITY *
    Math.tan(this._toRad(this.getMaxRollAngle())) /
    (2 * Math.PI * drone.getAirSpeed());
    (2 * Math.PI * drone.get3DSpeed());
    };
    FixedWingDroneAPI.prototype.getYaw = function (drone) {
    var direction = drone.worldDirection;
    ......@@ -523,7 +479,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    var maxVerticalSpeed =
    Math.min(altitude_diff, Math.min(max_climb_rate, speed));
    return (this._toDeg(Math.asin(maxVerticalSpeed / speed)) > max_pitch) ?
    speed * Math.sin(this._toRad(max_pitch))
    speed * Math.sin(this._toRad(max_pitch))
    : maxVerticalSpeed;
    };
    FixedWingDroneAPI.prototype._toRad = function (angle) {
    ......@@ -533,30 +489,34 @@ var FixedWingDroneAPI = /** @class */ (function () {
    return angle * 180 / Math.PI;
    };
    FixedWingDroneAPI.prototype.getClimbRate = function (drone) {
    return drone.worldDirection.y * drone.getAirSpeed();
    return drone.worldDirection.y * drone.get3DSpeed();
    };
    FixedWingDroneAPI.prototype.getGroundSpeed = function (drone) {
    FixedWingDroneAPI.prototype.getSpeed = function (drone) {
    var direction = drone.worldDirection;
    return Math.sqrt(
    Math.pow(direction.x * drone.getAirSpeed(), 2) +
    Math.pow(direction.z * drone.getAirSpeed(), 2)
    Math.pow(direction.x * drone.get3DSpeed(), 2) +
    Math.pow(direction.z * drone.get3DSpeed(), 2)
    );
    };
    FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
    FixedWingDroneAPI.prototype.takeOff = function () {
    return console.log("Fixed-wing drones can only be taken off manually.");
    };
    FixedWingDroneAPI.prototype.land = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    drone.setTargetCoordinates(
    drone_pos.latitude,
    drone_pos.longitude,
    5,
    drone.getAirSpeed()
    0,
    drone.get3DSpeed()
    );
    this._is_ready_to_fly = false;
    this._is_landing = true;
    };
    FixedWingDroneAPI.prototype.landed = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    return Math.floor(drone_pos.altitude) < 10;
    FixedWingDroneAPI.prototype.isReadyToFly = function () {
    return this._is_ready_to_fly;
    };
    FixedWingDroneAPI.prototype.exit = function () {
    return;
    FixedWingDroneAPI.prototype.isLanding = function () {
    return this._is_landing;
    };
    FixedWingDroneAPI.prototype.getInitialAltitude = function () {
    return this._map_dict.start_AMSL;
    ......
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.48041.44620.29337</string> </value>
    <value> <string>1014.56746.48697.2713</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1709113157.81</float>
    <float>1709223091.4</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.48183.45277.7697</string> </value>
    <value> <string>1014.56745.33504.26197</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1709113192.28</float>
    <float>1709223446.72</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 @ d63ec839
    ......@@ -340,6 +340,24 @@
    <div class="line"></div>
    <!-- takeOff -->
    <h4 class="item-name" id="takeOff"><span>takeOff</span><span>: void</span></h4>
    <p class="item-descr">Trigger drone's takeoff (has only effect on multicopters as fixed wings drones need to take off manually).</p>
    <div>
    <h5 class="item-param-1">Param</h5>
    <h5 class="item-param-2">Description</h5>
    </div>
    <div>
    <h5 class="item-param-1">Example</h5>
    </div>
    <p class="item-param-1">me.takeOff();<br>
    </p>
    <div class="line"></div>
    <!-- setTargetCoordinates -->
    <h4 class="item-name" id="setTargetCoordinates"><span>setTargetCoordinates</span><span>: void</span></h4>
    <p class="item-descr">
    ......@@ -439,9 +457,9 @@
    <div class="line"></div>
    <!-- triggerParachute -->
    <h4 class="item-name" id="triggerParachute"><span>triggerParachute</span><span>: void</span></h4>
    <p class="item-descr">Indicates the drone to deploy the parachute to finish the landing.</p>
    <!-- land -->
    <h4 class="item-name" id="land"><span>land</span><span>: void</span></h4>
    <p class="item-descr">Indicates the drone to trigger landing.</p>
    <div>
    <h5 class="item-param-1">Param</h5>
    ......@@ -452,23 +470,33 @@
    <h5 class="item-param-1">Example</h5>
    </div>
    <p class="item-param-1">me.triggerParachute();<br>
    <p class="item-param-1">me.land();<br>
    </p>
    <div class="line"></div>
    <!-- landed -->
    <h4 class="item-name" id="landed"><span>landed</span><span>: boolean</span></h4>
    <p class="item-descr">Indicates if the drone has landed (reached the floor altitude).</p>
    <!-- isReadyToFly -->
    <h4 class="item-name" id="isReadyToFly"><span>isReadyToFly</span><span>: void</span></h4>
    <p class="item-descr">Check if drone takeoff is finished.</p>
    <div>
    <h5 class="item-param-1">Example</h5>
    </div>
    <p class="item-example">
    if (me.landed()) {<br>
    &nbsp;&nbsp;//do something<br>
    }<br>
    <p class="item-param-1">me.isReadyToFly();<br>
    </p>
    <div class="line"></div>
    <!-- isLanding -->
    <h4 class="item-name" id="isLanding"><span>isLanding</span><span>: void</span></h4>
    <p class="item-descr">Check if drone landing has been triggered.</p>
    <div>
    <h5 class="item-param-1">Example</h5>
    </div>
    <p class="item-param-1">me.isLanding();<br>
    </p>
    <div class="line"></div>
    ......@@ -501,15 +529,15 @@
    <div class="line"></div>
    <!-- getAirSpeed -->
    <h4 class="item-name" id="getAirSpeed"><span>getAirSpeed</span><span>: Float</span></h4>
    <p class="item-descr">Get drone air speed in meters/second.</p>
    <!-- getSpeed -->
    <h4 class="item-name" id="getSpeed"><span>getSpeed</span><span>: Float</span></h4>
    <p class="item-descr">Get drone ground speed in meters/second as wind is neglected in simulation. In real flights with fixed wings drones the returned value is the airspeed.</p>
    <div>
    <h5 class="item-param-1">Example</h5>
    </div>
    <p class="item-param-1">me.getAirSpeed();<br>
    <p class="item-param-1">me.getSpeed();<br>
    </p>
    <div class="line"></div>
    ......@@ -553,19 +581,6 @@
    <div class="line"></div>
    <!-- getSinkRate -->
    <h4 class="item-name" id="getSinkRate"><span>getSinkRate</span><span>: Float</span></h4>
    <p class="item-descr">Get drone sink rate in meters/second.</p>
    <div>
    <h5 class="item-param-1">Example</h5>
    </div>
    <p class="item-param-1">me.getSinkRate();<br>
    </p>
    <div class="line"></div>
    <h3>Drone properties</h3>
    <div class="line"></div>
    ......
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.xml
    View file @ d63ec839
    ......@@ -244,7 +244,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.45296.39536.30276</string> </value>
    <value> <string>1014.46767.47211.3123</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -264,7 +264,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1708536065.15</float>
    <float>1708688564.0</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.55204.2137.9676</string> </value>
    <value> <string>1014.46368.9372.48435</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1709130500.2</float>
    <float>1708616910.25</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_capture_flag_test/PathTemplateItem/web_page_module/test_capture_drone_flight_js.js
    View file @ d63ec839
    ......@@ -53,7 +53,7 @@
    '}\n' +
    '\n' +
    'me.onStart = function () {\n' +
    ' assert(me.getAirSpeed(), ' + DEFAULT_SPEED + ', "Initial speed");\n' +
    ' assert(me.getSpeed(), ' + DEFAULT_SPEED + ', "Initial speed");\n' +
    ' assert(me.getYaw(), 0, "Yaw angle")\n' +
    ' me.initialPosition = me.getCurrentPosition();\n' +
    ' me.setTargetCoordinates(\n' +
    ......@@ -73,7 +73,7 @@
    ' me.getCurrentPosition().longitude\n' +
    ' ).toFixed(8),\n' +
    ' time_interval = 1000 / 60,\n' +
    ' expectedDistance = (me.getAirSpeed() * time_interval / 1000).toFixed(8);\n' +
    ' expectedDistance = (me.getSpeed() * 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' +
    ......@@ -82,7 +82,7 @@
    ' longitude: me.initialPosition.longitude,\n' +
    ' altitude: me.initialPosition.altitude\n' +
    ' });\n' +
    ' me.exit(me.triggerParachute());\n' +
    ' me.exit(me.land());\n' +
    '};',
    DRAW = true,
    LOG = true,
    ......
    bt5/erp5_officejs_drone_capture_flag_test/PathTemplateItem/web_page_module/test_capture_drone_flight_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.55202.48917.18107</string> </value>
    <value> <string>1014.55287.25371.8430</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1709130419.7</float>
    <float>1709136147.57</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
    View file @ d63ec839
    ......@@ -207,11 +207,8 @@ var DroneLogAPI = /** @class */ (function () {
    DroneLogAPI.prototype.getFlightParameters = function () {
    return this._flight_parameters;
    };
    DroneLogAPI.prototype.exit = function (drone) {
    return;
    };
    DroneLogAPI.prototype.set_loiter_mode = function (loiter) {
    return;
    DroneLogAPI.prototype.isReadyToFly = function () {
    return true;
    };
    return DroneLogAPI;
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1011.48679.53693.47701</string> </value>
    <value> <string>1014.12050.13065.34372</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1697030760.48</float>
    <float>1706542267.28</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js
    View file @ d63ec839
    ......@@ -30,6 +30,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
    this._loiter_radius = 100;
    //this._start_altitude = 0;
    this._loiter_mode = false;
    this._is_landing = false;
    this._is_ready_to_fly = true;
    this._drone_dict_list = [];
    }
    Object.defineProperty(FixedWingDroneAPI.prototype, "isCollidable", {
    ......@@ -90,45 +92,15 @@ var FixedWingDroneAPI = /** @class */ (function () {
    if (drone._maxClimbRate > drone._maxSpeed) {
    throw new Error('max climb rate cannot be superior to max speed');
    }
    drone._maxOrientation = this.getMaxOrientation();
    return;
    };
    /*
    ** Function called on every drone update, right before onUpdate AI script
    */
    FixedWingDroneAPI.prototype.internal_update = function (context, delta_time) {
    var diff, newrot, orientationValue, rotStep;
    //TODO rotation
    if (context._rotationTarget) {
    rotStep = BABYLON.Vector3.Zero();
    diff = context._rotationTarget.subtract(context._controlMesh.rotation);
    rotStep.x = (diff.x >= 1) ? 1 : diff.x;
    rotStep.y = (diff.y >= 1) ? 1 : diff.y;
    rotStep.z = (diff.z >= 1) ? 1 : diff.z;
    if (rotStep === BABYLON.Vector3.Zero()) {
    context._rotationTarget = null;
    return;
    }
    newrot = new BABYLON.Vector3(context._controlMesh.rotation.x +
    (rotStep.x * context._rotationSpeed),
    context._controlMesh.rotation.y +
    (rotStep.y * context._rotationSpeed),
    context._controlMesh.rotation.z +
    (rotStep.z * context._rotationSpeed)
    );
    context._controlMesh.rotation = newrot;
    }
    this._updateSpeed(context, delta_time);
    this._updatePosition(context, delta_time);
    //TODO rotation
    orientationValue = context._maxOrientation *
    (context._speed / context._maxSpeed);
    context._mesh.rotation =
    new BABYLON.Vector3(orientationValue * context._direction.z, 0,
    -orientationValue * context._direction.x);
    context._controlMesh.computeWorldMatrix(true);
    context._mesh.computeWorldMatrix(true);
    };
    ......@@ -148,7 +120,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    'latitude' : drone_position.latitude,
    'longitude' : drone_position.longitude,
    'yaw': drone.getYaw(),
    'speed': drone.getAirSpeed(),
    'speed': drone.getSpeed(),
    'climbRate': drone.getClimbRate()
    };
    _this._drone_dict_list[_this._id] = drone_info;
    ......@@ -162,7 +134,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    };
    FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) {
    var speed = drone.getAirSpeed(), speedDiff, speedUpdate;
    var speed = drone.get3DSpeed(), speedDiff, speedUpdate;
    if (speed !== this._targetSpeed) {
    speedDiff = this._targetSpeed - speed;
    speedUpdate = drone._acceleration * delta_time / 1000;
    ......@@ -235,7 +207,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
    verticalSpeed = this._getVerticalSpeed(drone);
    groundSpeed = Math.sqrt(
    Math.pow(drone.getAirSpeed(), 2) - Math.pow(verticalSpeed, 2)
    Math.pow(drone.get3DSpeed(), 2) - Math.pow(verticalSpeed, 2)
    );
    distance = (groundSpeed * delta_time / 1000) / R;
    ......@@ -297,39 +269,27 @@ var FixedWingDroneAPI = /** @class */ (function () {
    verticalSpeed = this._computeVerticalSpeed(
    altitudeDiff,
    this.getMaxClimbRate(),
    drone.getAirSpeed(),
    drone.get3DSpeed(),
    this.getMaxPitchAngle()
    );
    } else {
    verticalSpeed = -this._computeVerticalSpeed(
    Math.abs(altitudeDiff),
    this.getMaxSinkRate(),
    drone.getAirSpeed(),
    drone.get3DSpeed(),
    -this.getMinPitchAngle()
    );
    }
    return verticalSpeed;
    };
    FixedWingDroneAPI.prototype.setRotation = function (drone, x, y, z) {
    //TODO rotation
    drone._rotationTarget = new BABYLON.Vector3(x, z, y);
    };
    FixedWingDroneAPI.prototype.setRotationBy = function (drone, x, y, z) {
    //TODO rotation
    drone._rotationTarget = new BABYLON.Vector3(drone.rotation.x + x,
    drone.rotation.y + z,
    drone.rotation.z + y);
    };
    FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) {
    this._targetSpeed = Math.max(
    Math.min(speed, this.getMaxSpeed()),
    this.getMinSpeed()
    );
    drone._acceleration = (this._targetSpeed > drone.getAirSpeed())
    drone._acceleration = (this._targetSpeed > drone.get3DSpeed())
    ? this.getMaxAcceleration() : -this.getMaxDeceleration();
    };
    ......@@ -448,14 +408,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
    FixedWingDroneAPI.prototype.getMaxClimbRate = function () {
    return this._flight_parameters.drone.maxClimbRate;
    };
    FixedWingDroneAPI.prototype.getMaxOrientation = function () {
    //TODO should be a game parameter (but how to force value to PI quarters?)
    return Math.PI / 4;
    };
    FixedWingDroneAPI.prototype.getYawVelocity = function (drone) {
    return 360 * EARTH_GRAVITY
    * Math.tan(this._toRad(this.getMaxRollAngle()))
    / (2 * Math.PI * drone.getAirSpeed());
    / (2 * Math.PI * drone.get3DSpeed());
    };
    FixedWingDroneAPI.prototype.getYaw = function (drone) {
    var direction = drone.worldDirection;
    ......@@ -492,30 +448,34 @@ var FixedWingDroneAPI = /** @class */ (function () {
    return angle * 180 / Math.PI;
    };
    FixedWingDroneAPI.prototype.getClimbRate = function (drone) {
    return drone.worldDirection.y * drone.getAirSpeed();
    return drone.worldDirection.y * drone.get3DSpeed();
    };
    FixedWingDroneAPI.prototype.getGroundSpeed = function (drone) {
    FixedWingDroneAPI.prototype.getSpeed = function (drone) {
    var direction = drone.worldDirection;
    return Math.sqrt(
    Math.pow(direction.x * drone.getAirSpeed(), 2)
    + Math.pow(direction.z * drone.getAirSpeed(), 2)
    Math.pow(direction.x * drone.get3DSpeed(), 2)
    + Math.pow(direction.z * drone.get3DSpeed(), 2)
    );
    };
    FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
    FixedWingDroneAPI.prototype.takeOff = function () {
    return console.log("Fixed-wing drones can only be taken off manually.");
    };
    FixedWingDroneAPI.prototype.land = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    drone.setTargetCoordinates(
    drone_pos.latitude,
    drone_pos.longitude,
    5,
    drone.getAirSpeed()
    0,
    drone.get3DSpeed()
    );
    this._is_ready_to_fly = false;
    this._is_landing = true;
    };
    FixedWingDroneAPI.prototype.landed = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    return Math.floor(drone_pos.altitude) < 10;
    FixedWingDroneAPI.prototype.isReadyToFly = function () {
    return this._is_ready_to_fly;
    };
    FixedWingDroneAPI.prototype.exit = function () {
    return;
    FixedWingDroneAPI.prototype.isLanding = function () {
    return this._is_landing;
    };
    FixedWingDroneAPI.prototype.getInitialAltitude = function () {
    return this._map_dict.start_AMSL;
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml
    View file @ d63ec839
    ......@@ -240,7 +240,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.11751.44914.51968</string> </value>
    <value> <string>1014.12067.27492.45397</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -260,7 +260,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1706523358.41</float>
    <float>1706542739.07</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
    View file @ d63ec839
    ......@@ -25,11 +25,9 @@ var DroneManager = /** @class */ (function () {
    this._maxRollAngle = 0;
    this._maxSinkRate = 0;
    this._maxClimbRate = 0;
    this._maxOrientation = 0;
    this._speed = 0;
    this._acceleration = 0;
    this._direction = new BABYLON.Vector3(0, 0, 1); // North
    this._rotationSpeed = 0.4;
    this._scene = scene;
    this._canUpdate = true;
    this._id = id;
    ......@@ -141,7 +139,7 @@ var DroneManager = /** @class */ (function () {
    };
    DroneManager.prototype._internal_setTargetCoordinates =
    function (latitude, longitude, altitude, speed, radius) {
    if (!this._canPlay) {
    if (!this._canPlay || !this.isReadyToFly()) {
    return;
    }
    //convert real geo-coordinates to virtual x-y coordinates
    ......@@ -209,20 +207,6 @@ var DroneManager = /** @class */ (function () {
    this._direction = new BABYLON.Vector3(x, z, y).normalize();
    };
    //TODO rotation
    DroneManager.prototype.setRotation = function (x, y, z) {
    if (!this._canPlay) {
    return;
    }
    return this._API.setRotation(this, x, y, z);
    };
    DroneManager.prototype.setRotationBy = function (x, y, z) {
    if (!this._canPlay) {
    return;
    }
    return this._API.setRotation(this, x, y, z);
    };
    /**
    * Send a message to drones
    * @param msg The message to send
    ......@@ -309,27 +293,29 @@ var DroneManager = /** @class */ (function () {
    DroneManager.prototype.getYaw = function () {
    return this._API.getYaw(this);
    };
    DroneManager.prototype.getAirSpeed = function () {
    DroneManager.prototype.get3DSpeed = function () {
    return this._speed;
    };
    DroneManager.prototype.getGroundSpeed = function () {
    return this._API.getGroundSpeed(this);
    DroneManager.prototype.getSpeed = function () {
    return this._API.getSpeed(this);
    };
    DroneManager.prototype.getClimbRate = function () {
    return this._API.getClimbRate(this);
    };
    DroneManager.prototype.getSinkRate = function () {
    return this._API.getSinkRate();
    DroneManager.prototype.takeOff = function () {
    return this._API.takeOff();
    };
    DroneManager.prototype.triggerParachute = function () {
    return this._API.triggerParachute(this);
    DroneManager.prototype.land = function () {
    return this._API.land(this);
    };
    DroneManager.prototype.exit = function () {
    this._internal_crash();
    return this._API.exit();
    return this._internal_crash();
    };
    DroneManager.prototype.landed = function () {
    return this._API.landed(this);
    DroneManager.prototype.isReadyToFly = function () {
    return this._API.isReadyToFly();
    };
    DroneManager.prototype.isLanding = function () {
    return this._API.isLanding();
    };
    /**
    * Set the drone last checkpoint reached
    ......@@ -347,7 +333,7 @@ var DroneManager = /** @class */ (function () {
    * Function called on game update
    * @param timestamp The tic value
    */
    DroneManager.prototype.onUpdate = function () { return; };
    DroneManager.prototype.onUpdate = function (timestamp) { return; };
    /**
    * Function called when drone crashes
    */
    ......@@ -668,8 +654,12 @@ var GameManager = /** @class */ (function () {
    drone._tick += 1;
    if (drone._API.isCollidable && drone.can_play) {
    if (drone.getCurrentPosition().altitude <= 0) {
    drone._internal_crash(new Error('Drone ' + drone.id +
    ' touched the floor.'));
    if (!drone.isLanding()) {
    drone._internal_crash(new Error('Drone ' + drone.id +
    ' touched the floor.'));
    } else {
    drone._internal_crash();
    }
    } else {
    _this._droneList.forEach(function (other) {
    if (other.can_play && drone.id !== other.id) {
    ......@@ -722,7 +712,7 @@ var GameManager = /** @class */ (function () {
    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_position.z, drone.getYaw(), drone.getSpeed(),
    drone.getClimbRate()
    ]);
    }
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
    View file @ d63ec839
    ......@@ -240,7 +240,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.11746.34243.61149</string> </value>
    <value> <string>1014.12072.47950.5358</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -260,7 +260,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1706523386.8</float>
    <float>1706542965.82</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.54902.15254.29337</string> </value>
    <value> <string>1014.11755.64575.41864</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1709130323.68</float>
    <float>1706525997.75</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator_test/PathTemplateItem/web_page_module/test_drone_simulator_flight_js.js
    View file @ d63ec839
    ......@@ -57,7 +57,7 @@
    '}\n' +
    '\n' +
    'me.onStart = function () {\n' +
    ' assert(me.getAirSpeed(), ' + DEFAULT_SPEED + ', "Initial speed");\n' +
    ' assert(me.getSpeed(), ' + DEFAULT_SPEED + ', "Initial speed");\n' +
    ' assert(me.getYaw(), 0, "Yaw angle")\n' +
    ' me.initialPosition = me.getCurrentPosition();\n' +
    ' me.setTargetCoordinates(\n' +
    ......@@ -76,7 +76,7 @@
    ' me.getCurrentPosition().latitude,\n' +
    ' me.getCurrentPosition().longitude\n' +
    ' ).toFixed(8),\n' +
    ' expectedDistance = (me.getAirSpeed() * timestamp / 1000).toFixed(8);\n' +
    ' expectedDistance = (me.getSpeed() * timestamp / 1000).toFixed(8);\n' +
    ' assert(timestamp, 1000 / 60, "Timestamp");\n' +
    ' assert(realDistance, expectedDistance, "Distance");\n' +
    ' current_position.latitude = current_position.latitude.toFixed(7);\n' +
    ......@@ -85,7 +85,7 @@
    ' longitude: me.initialPosition.longitude,\n' +
    ' altitude: me.initialPosition.altitude\n' +
    ' });\n' +
    ' me.exit(me.triggerParachute());\n' +
    ' me.exit(me.land());\n' +
    '};',
    DRAW = true,
    LOG = true,
    ......
    bt5/erp5_officejs_drone_simulator_test/PathTemplateItem/web_page_module/test_drone_simulator_flight_js.xml
    View file @ d63ec839
    ......@@ -246,7 +246,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1014.55202.15664.53026</string> </value>
    <value> <string>1014.55287.25371.8430</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -266,7 +266,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1709130383.65</float>
    <float>1709136309.62</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    Markdown is supported
    0% or
    You are about to add 0 people to the discussion. Proceed with caution.
    Finish editing this message first!
    Please register or to comment
    GitLab Nexedi Edition | About GitLab | About Nexedi | 沪ICP备2021021310号-2 | 沪ICP备2021021310号-7