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Commit d8b91190 authored by Roque's avatar Roque
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Implement drone API and physics improvements 

See merge request nexedi/erp5!1711
parents 70d11122 73f73897
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    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_droneaaailefixe_js.js deleted 100644 → 0
    View file @ 70d11122
    /*global console*/
    /*jslint nomen: true, indent: 2, maxlen: 80, white: true */
    /************************** DRONE A AILE FIXE API ****************************/
    var DroneAaileFixeAPI = /** @class */ (function () {
    "use strict";
    // var TAKEOFF_RADIUS = 60,
    var LOITER_LIMIT = 30,
    LOITER_RADIUS_FACTOR = 0.60,
    LOITER_SPEED_FACTOR = 1.5;
    //** CONSTRUCTOR
    function DroneAaileFixeAPI(gameManager, drone_info, flight_parameters, id) {
    this._gameManager = gameManager;
    this._mapManager = this._gameManager._mapManager;
    this._map_dict = this._mapManager.getMapInfo();
    this._flight_parameters = flight_parameters;
    this._id = id;
    this._drone_info = drone_info;
    this._loiter_radius = 0;
    this._last_loiter_point_reached = -1;
    //this._start_altitude = 0;
    //this._last_altitude_point_reached = -1;
    this._loiter_mode = false;
    this._drone_dict_list = [];
    }
    /*
    ** Function called on start phase of the drone, just before onStart AI script
    */
    DroneAaileFixeAPI.prototype.internal_start = function () {
    return;
    };
    /*
    ** Function called on every drone update, right after onUpdate AI script
    */
    DroneAaileFixeAPI.prototype.internal_update = function (drone) {
    if (this._loiter_mode) {
    this.loiter(drone);
    }
    /*if (this._start_altitude > 0) { //TODO move start_altitude here
    this.reachAltitude(drone);
    }*/
    var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
    if (drone_position) {
    drone_info = {
    'altitudeRel' : drone_position.z,
    'altitudeAbs' : this._mapManager.getMapInfo().start_AMSL +
    drone_position.z,
    'latitude' : drone_position.x,
    'longitude' : drone_position.y
    };
    this._drone_dict_list[this._id] = drone_info;
    //broadcast drone info using internal msg
    this._gameManager._droneList.forEach(function (drone) {
    if (drone.id !== _this._id) {
    drone.internal_getMsg(drone_info, _this._id);
    }
    });
    }
    };
    DroneAaileFixeAPI.prototype.internal_getMsg = function (msg, id) {
    this._drone_dict_list[id] = msg;
    };
    DroneAaileFixeAPI.prototype.set_loiter_mode = function (radius) {
    this._loiter_mode = true;
    if (radius && radius > LOITER_LIMIT) {
    this._loiter_radius = radius * LOITER_RADIUS_FACTOR;
    this._loiter_center = this._last_target;
    this._loiter_coordinates = [];
    this._last_loiter_point_reached = -1;
    var x1, y1, angle;
    //for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
    for (angle = 360; angle > 0; angle-=8){ //clockwise
    x1 = this._loiter_radius *
    Math.cos(angle * (Math.PI / 180)) + this._loiter_center.x;
    y1 = this._loiter_radius *
    Math.sin(angle * (Math.PI / 180)) + this._loiter_center.y;
    this._loiter_coordinates.push(
    this.getCurrentPosition(x1, y1, this._loiter_center.z));
    }
    }
    };
    DroneAaileFixeAPI.prototype.internal_setTargetCoordinates =
    function (drone, x, y, z, loiter) {
    //this._start_altitude = 0;
    //convert real geo-coordinates to virtual x-y coordinates
    var coordinates = this.processCoordinates(x, y, z);
    if (!loiter) {
    this._loiter_mode = false;
    drone._maxSpeed = this.getMaxSpeed();
    //save last target point to use as next loiter center
    this._last_target = coordinates;
    }
    this.internal_setVirtualPlaneTargetCoordinates(drone,
    coordinates.x,
    coordinates.y,
    coordinates.z);
    };
    /*
    ** This expects x,y plane coordinates (not geo latitude-longitud)
    */
    DroneAaileFixeAPI.prototype.internal_setVirtualPlaneTargetCoordinates =
    function (drone, x, y, z) {
    x -= drone._controlMesh.position.x;
    y -= drone._controlMesh.position.z;
    z -= drone._controlMesh.position.y;
    drone.setDirection(x, y, z);
    drone.setAcceleration(drone._maxAcceleration);
    return;
    };
    DroneAaileFixeAPI.prototype.sendMsg = function (msg, to) {
    var _this = this,
    droneList = _this._gameManager._droneList;
    _this._gameManager.delay(function () {
    if (to < 0) {
    // Send to all drones
    droneList.forEach(function (drone) {
    if (drone.infosMesh) {
    try {
    drone.onGetMsg(msg);
    }
    catch (error) {
    console.warn('Drone crashed on sendMsg due to error:', error);
    drone._internal_crash();
    }
    }
    });
    }
    else {
    // Send to specific drone
    if (droneList[to].infosMesh) {
    try {
    droneList[to].onGetMsg(msg);
    }
    catch (error) {
    console.warn('Drone crashed on sendMsg due to error:', error);
    droneList[to]._internal_crash();
    }
    }
    }
    }, _this._flight_parameters.latency.communication);
    };
    DroneAaileFixeAPI.prototype.log = function (msg) {
    console.log("API say : " + msg);
    };
    DroneAaileFixeAPI.prototype.getGameParameter = function (name) {
    if (["gameTime", "map"].includes(name)) {
    return this._gameManager.gameParameter[name];
    }
    };
    /*
    ** Converts geo latitude-longitud coordinates (º) to x,y plane coordinates (m)
    */
    DroneAaileFixeAPI.prototype.processCoordinates = function (lat, lon, z) {
    if(isNaN(lat) || isNaN(lon) || isNaN(z)){
    throw new Error('Target coordinates must be numbers');
    }
    var x = this._mapManager.longitudToX(lon, this._map_dict.width),
    y = this._mapManager.latitudeToY(lat, this._map_dict.depth),
    position = this._mapManager.normalize(x, y, this._map_dict),
    processed_coordinates;
    if (z > this._map_dict.start_AMSL) {
    z -= this._map_dict.start_AMSL;
    }
    processed_coordinates = {
    x: position[0],
    y: position[1],
    z: z
    };
    //this._last_altitude_point_reached = -1;
    //this.takeoff_path = [];
    return processed_coordinates;
    };
    DroneAaileFixeAPI.prototype.getCurrentPosition = function (x, y, z) {
    return this._mapManager.convertToGeoCoordinates(x, y, z, this._map_dict);
    };
    DroneAaileFixeAPI.prototype.loiter = function (drone) {
    if (this._loiter_radius > LOITER_LIMIT) {
    var drone_pos = drone.getCurrentPosition(),
    min = 9999, min_i, i, d, next_point;
    //shift loiter circle to nearest point
    if (this._last_loiter_point_reached === -1) {
    if (!this.shifted) {
    drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
    for (i = 0; i < this._loiter_coordinates.length; i+=1){
    d = this._mapManager.latLonDistance([drone_pos.x, drone_pos.y],
    [this._loiter_coordinates[i].x,
    this._loiter_coordinates[i].y]);
    if (d < min) {
    min = d;
    min_i = i;
    }
    }
    this._loiter_coordinates = this._loiter_coordinates.concat(
    this._loiter_coordinates.splice(0,min_i));
    this.shifted = true;
    }
    } else {
    this.shifted = false;
    }
    //stop
    if (this._last_loiter_point_reached ===
    this._loiter_coordinates.length - 1) {
    if (drone._maxSpeed !== this.getMaxSpeed()) {
    drone._maxSpeed = this.getMaxSpeed();
    }
    drone.setDirection(0, 0, 0);
    return;
    }
    //loiter
    next_point =
    this._loiter_coordinates[this._last_loiter_point_reached + 1];
    this.internal_setTargetCoordinates(
    drone, next_point.x, next_point.y, next_point.z, true);
    if (this._mapManager.latLonDistance([drone_pos.x, drone_pos.y],
    [next_point.x, next_point.y]) < 1) {
    this._last_loiter_point_reached += 1;
    if (this._last_loiter_point_reached ===
    this._loiter_coordinates.length - 1) {
    return;
    }
    next_point = this._loiter_coordinates[
    this._last_loiter_point_reached + 1];
    this.internal_setTargetCoordinates(
    drone, next_point.x, next_point.y, next_point.z, true);
    }
    }
    };
    DroneAaileFixeAPI.prototype.getDroneAI = function () {
    return null;
    };
    DroneAaileFixeAPI.prototype.setAltitude = function (altitude, drone) {
    /*if (this._start_altitude === 0) {
    this._start_altitude = 1;
    }
    this.takeoff_path = [];
    if (skip_loiter) {*/
    var drone_pos = drone.getCurrentPosition();
    this.internal_setVirtualPlaneTargetCoordinates(drone,
    drone_pos.x,
    drone_pos.y,
    altitude);
    return;
    /*}
    var x1, y1,
    LOOPS = 1,
    CIRCLE_ANGLE = 8,
    current_point = 0,
    total_points = 360/CIRCLE_ANGLE*LOOPS,
    initial_altitude = drone.getAltitudeAbs(),
    center = {
    x: drone.position.x,
    y: drone.position.y,
    z: drone.position.z
    };
    for (var l = 0; l <= LOOPS; l+=1){
    for (var angle = 360; angle > 0; angle-=CIRCLE_ANGLE){ //clockwise sense
    current_point++;
    x1 = TAKEOFF_RADIUS * Math.cos(angle * (Math.PI / 180)) + center.x;
    y1 = TAKEOFF_RADIUS * Math.sin(angle * (Math.PI / 180)) + center.y;
    if (current_point < total_points/3) {
    var FACTOR = 0.5;
    x1 = center.x*FACTOR + x1*(1-FACTOR);
    y1 = center.y*FACTOR + y1*(1-FACTOR);
    }
    this.takeoff_path.push({x: x1, y: y1, z: initial_altitude +
    current_point * (altitude-initial_altitude)/total_points});
    }
    }*/
    };
    /*DroneAaileFixeAPI.prototype.reachAltitude = function (drone) {
    function distance(p1, p2) {
    return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
    Math.pow(p1[1] - p2[1], 2));
    }
    //stop
    if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
    this._last_altitude_point_reached = -1;
    this.takeoff_path = [];
    this._start_altitude = 0;
    drone.setDirection(0, 0, 0);
    return;
    }
    //loiter
    var drone_pos = {
    x: drone.position.x,
    y: drone.position.y,
    z: drone.position.z
    };
    var next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
    this.internal_setVirtualPlaneTargetCoordinates(
    next_point.x, next_point.y, next_point.z);
    if (distance([drone_pos.x, drone_pos.y],
    [next_point.x, next_point.y]) < 1) {
    this._last_altitude_point_reached += 1;
    if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
    return;
    }
    next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
    this.internal_setVirtualPlaneTargetCoordinates(
    next_point.x, next_point.y, next_point.z);
    }
    };*/
    DroneAaileFixeAPI.prototype.getMaxSpeed = function () {
    return this._flight_parameters.drone.maxSpeed;
    };
    DroneAaileFixeAPI.prototype.triggerParachute = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    this.internal_setTargetCoordinates(drone, drone_pos.x, drone_pos.y, 5);
    };
    DroneAaileFixeAPI.prototype.landed = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    return Math.floor(drone_pos.z) < 10;
    };
    DroneAaileFixeAPI.prototype.exit = function () {
    return;
    };
    DroneAaileFixeAPI.prototype.getInitialAltitude = function () {
    return 0;
    };
    DroneAaileFixeAPI.prototype.getAltitudeAbs = function (altitude) {
    return altitude;
    };
    DroneAaileFixeAPI.prototype.getMinHeight = function () {
    return 0;
    };
    DroneAaileFixeAPI.prototype.getMaxHeight = function () {
    return 800;
    };
    DroneAaileFixeAPI.prototype.getFlightParameters = function () {
    return this._flight_parameters;
    };
    return DroneAaileFixeAPI;
    }());
    \ No newline at end of file
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
    View file @ d8b91190
    /*global console*/
    /*global BABYLON, console*/
    /*jslint nomen: true, indent: 2, maxlen: 80, white: true */
    /**************************** DRONE LOG FOLLOWER ******************************/
    var DroneLogAPI = /** @class */ (function () {
    "use strict";
    var TOP_SPEED = 250; //so fast that it virtually "teleports" to target
    //** CONSTRUCTOR
    function DroneLogAPI(gameManager, drone_info, flight_parameters, id) {
    this._gameManager = gameManager;
    ......@@ -15,7 +16,13 @@ var DroneLogAPI = /** @class */ (function () {
    /*
    ** Function called at start phase of the drone, just before onStart AI script
    */
    DroneLogAPI.prototype.internal_start = function () {
    DroneLogAPI.prototype.internal_start = function (drone) {
    drone._minAcceleration = -1;
    drone._maxAcceleration = 1;
    drone._minSpeed = TOP_SPEED;
    drone._maxSpeed = TOP_SPEED;
    drone._acceleration = 10;
    drone._speed = TOP_SPEED;
    function getLogEntries(log) {
    var i, line_list = log.split('\n'), log_entry_list = [], log_entry,
    log_header_found;
    ......@@ -69,22 +76,43 @@ var DroneLogAPI = /** @class */ (function () {
    this._flight_parameters.converted_log_point_list = converted_log_point_list;
    };
    /*
    ** Function called on every drone update, right before onUpdate AI script
    */
    DroneLogAPI.prototype.internal_update = function (context, delta_time) {
    var updateSpeed;
    context._speed += context._acceleration * delta_time / 1000;
    if (context._speed > context._maxSpeed) {
    context._speed = context._maxSpeed;
    }
    if (context._speed < -context._maxSpeed) {
    context._speed = -context._maxSpeed;
    }
    updateSpeed = context._speed * delta_time / 1000;
    if (context._direction.x !== 0 ||
    context._direction.y !== 0 ||
    context._direction.z !== 0) {
    context._controlMesh.position.addInPlace(new BABYLON.Vector3(
    context._direction.x * updateSpeed,
    context._direction.y * updateSpeed,
    context._direction.z * updateSpeed));
    }
    context._controlMesh.computeWorldMatrix(true);
    context._mesh.computeWorldMatrix(true);
    };
    /*
    ** Function called on every drone update, right after onUpdate AI script
    */
    DroneLogAPI.prototype.internal_update = function () {
    DroneLogAPI.prototype.internal_post_update = function (drone) {
    return;
    };
    DroneLogAPI.prototype.internal_setTargetCoordinates =
    function (drone, x, y, z) {
    var coordinates = this.processCoordinates(x, y, z);
    function (drone, coordinates) {
    coordinates.x -= drone._controlMesh.position.x;
    coordinates.y -= drone._controlMesh.position.z;
    coordinates.z -= drone._controlMesh.position.y;
    drone.setDirection(coordinates.x, coordinates.y, coordinates.z);
    drone.setAcceleration(drone._maxAcceleration);
    return;
    };
    DroneLogAPI.prototype.sendMsg = function (msg, to) {
    return;
    };
    ......@@ -96,6 +124,16 @@ var DroneLogAPI = /** @class */ (function () {
    return this._gameManager.gameParameter[name];
    }
    };
    DroneLogAPI.prototype.setStartingPosition = function (drone, x, y, z) {
    if (!drone._canPlay) {
    if (z <= 0.05) {
    z = 0.05;
    }
    drone._controlMesh.position = new BABYLON.Vector3(x, z, y);
    }
    drone._controlMesh.computeWorldMatrix(true);
    drone._mesh.computeWorldMatrix(true);
    };
    DroneLogAPI.prototype.processCoordinates = function (x, y, z) {
    if(isNaN(x) || isNaN(y) || isNaN(z)){
    throw new Error('Target coordinates must be numbers');
    ......@@ -126,12 +164,11 @@ var DroneLogAPI = /** @class */ (function () {
    'me.setTargetCoordinates(me.checkpoint_list[0][0], ' +
    'me.checkpoint_list[0][1], me.checkpoint_list[0][2]);' +
    'me.last_checkpoint_reached = -1;' +
    'me.setAcceleration(10);' +
    '};' +
    'me.onUpdate = function(timestamp) {' +
    'var next_checkpoint = me.checkpoint_list' +
    '[me.last_checkpoint_reached+1];' +
    'if (distance([me.position.x, me.position.y], next_checkpoint) < 12) {' +
    'if (distance([me.position.x, me.position.y], next_checkpoint) < 10) {' +
    'me.going = false;' +
    'var log_elapsed = next_checkpoint[3] - me.initTimestamp,' +
    'time_elapsed = new Date() - me.startTime;' +
    ......@@ -165,30 +202,6 @@ var DroneLogAPI = /** @class */ (function () {
    z: z
    };
    };
    DroneLogAPI.prototype.set_loiter_mode = function (radius, drone) {
    return;
    };
    DroneLogAPI.prototype.setAltitude = function (altitude, drone) {
    return;
    };
    DroneLogAPI.prototype.getMaxSpeed = function () {
    return 3000;
    };
    DroneLogAPI.prototype.getInitialAltitude = function () {
    return 0;
    };
    DroneLogAPI.prototype.getAltitudeAbs = function () {
    return 0;
    };
    DroneLogAPI.prototype.getMinHeight = function () {
    return 0;
    };
    DroneLogAPI.prototype.getMaxHeight = function () {
    return 220;
    };
    DroneLogAPI.prototype.triggerParachute = function (drone) {
    return;
    };
    DroneLogAPI.prototype.getFlightParameters = function () {
    return this._flight_parameters;
    };
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
    View file @ d8b91190
    ......@@ -244,7 +244,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1004.33468.24270.48913</string> </value>
    <value> <string>1006.4961.7659.53043</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -262,7 +262,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1669196851.18</float>
    <float>1675263473.08</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js 0 → 100644
    View file @ d8b91190
    /*global BABYLON, console*/
    /*jslint nomen: true, indent: 2, maxlen: 80, todo: true */
    /************************** FIXED WING DRONE API ****************************/
    var FixedWingDroneAPI = /** @class */ (function () {
    "use strict";
    // var TAKEOFF_RADIUS = 60,
    var DEFAULT_SPEED = 16,
    EARTH_GRAVITY = 9.81,
    LOITER_LIMIT = 30,
    LOITER_RADIUS_FACTOR = 0.60,
    LOITER_SPEED_FACTOR = 1.5,
    MAX_ACCELERATION = 6,
    MAX_DECELERATION = 1,
    MIN_SPEED = 12,
    MAX_SPEED = 26,
    MAX_ROLL = 35,
    MIN_PITCH = -20,
    MAX_PITCH = 25,
    MAX_CLIMB_RATE = 8,
    MAX_SINK_RATE = 3;
    //** CONSTRUCTOR
    function FixedWingDroneAPI(gameManager, drone_info, flight_parameters, id) {
    this._gameManager = gameManager;
    this._mapManager = this._gameManager._mapManager;
    this._map_dict = this._mapManager.getMapInfo();
    this._flight_parameters = flight_parameters;
    this._id = id;
    this._drone_info = drone_info;
    this._loiter_radius = 0;
    this._last_loiter_point_reached = -1;
    //this._start_altitude = 0;
    //this._last_altitude_point_reached = -1;
    this._loiter_mode = false;
    this._drone_dict_list = [];
    }
    /*
    ** Function called on start phase of the drone, just before onStart AI script
    */
    FixedWingDroneAPI.prototype.internal_start = function (drone) {
    drone._maxDeceleration = this.getMaxDeceleration();
    drone._maxAcceleration = this.getMaxAcceleration();
    drone._minSpeed = this.getMinSpeed();
    drone._maxSpeed = this.getMaxSpeed();
    if (drone._minSpeed > drone._maxSpeed) {
    throw new Error('min speed cannot be superior to max speed');
    }
    drone._speed = drone._targetSpeed = this.getInitialSpeed();
    if (drone._speed < drone._minSpeed || drone._speed > drone._maxSpeed) {
    throw new Error('Drone speed must be between min speed and max speed');
    }
    drone._minPitchAngle = this.getMinPitchAngle();
    drone._maxPitchAngle = this.getMaxPitchAngle();
    if (drone._minPitchAngle > drone._maxPitchAngle) {
    throw new Error('min pitch angle cannot be superior to max pitch angle');
    }
    drone._maxRollAngle = this.getMaxRollAngle();
    drone._maxSinkRate = this.getMaxSinkRate();
    if (drone._maxSinkRate > drone._maxSpeed) {
    throw new Error('max sink rate cannot be superior to max speed');
    }
    drone._maxClimbRate = this.getMaxClimbRate();
    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, updateSpeed;
    //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._updateDirection(context, delta_time);
    updateSpeed = context._speed * delta_time / 1000;
    if (context._direction.x !== 0 ||
    context._direction.y !== 0 ||
    context._direction.z !== 0) {
    context._controlMesh.position.addInPlace(new BABYLON.Vector3(
    context._direction.x * updateSpeed,
    context._direction.y * updateSpeed,
    context._direction.z * updateSpeed
    ));
    }
    //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);
    };
    /*
    ** Function called on every drone update, right after onUpdate AI script
    */
    FixedWingDroneAPI.prototype.internal_post_update = function (drone) {
    var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
    if (_this._loiter_mode) {
    _this.loiter(drone);
    }
    /*if (_this._start_altitude > 0) { //TODO move start_altitude here
    _this.reachAltitude(drone);
    }*/
    if (drone_position) {
    drone_info = {
    'altitudeRel' : drone_position.z,
    'altitudeAbs' : _this._mapManager.getMapInfo().start_AMSL +
    drone_position.z,
    'latitude' : drone_position.x,
    'longitude' : drone_position.y
    };
    _this._drone_dict_list[_this._id] = drone_info;
    //broadcast drone info using internal msg
    _this._gameManager._droneList.forEach(function (drone) {
    if (drone.id !== _this._id) {
    drone.internal_getMsg(drone_info, _this._id);
    }
    });
    }
    };
    FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) {
    var speed = drone.getSpeed(), speedDiff, speedUpdate;
    if (speed !== this._targetSpeed) {
    speedDiff = this._targetSpeed - speed;
    speedUpdate = drone._acceleration * delta_time / 1000;
    if (Math.abs(speedDiff) < Math.abs(speedUpdate)) {
    drone._speed = this._targetSpeed;
    drone._acceleration = 0;
    } else {
    drone._speed += speedUpdate;
    }
    }
    };
    FixedWingDroneAPI.prototype._updateDirection = function (drone, delta_time) {
    var horizontalCoeff, newX, newY, newZ;
    [newX, newZ] = this._getNewYaw(drone, delta_time);
    newY = this._getNewAltitude(drone);
    horizontalCoeff = Math.sqrt(
    (
    Math.pow(drone.getSpeed(), 2) - Math.pow(newY, 2)
    ) / (
    Math.pow(newX, 2) + Math.pow(newZ, 2)
    )
    );
    newX *= horizontalCoeff;
    newZ *= horizontalCoeff;
    // swap y and z axis so z axis represents altitude
    drone.setDirection(newX, newZ, newY);
    };
    FixedWingDroneAPI.prototype._getNewYaw = function (drone, delta_time) {
    // swap y and z axis so z axis represents altitude
    var bearing = this._computeBearing(
    drone.position.x,
    drone.position.y,
    drone._targetCoordinates.x,
    drone._targetCoordinates.y
    ),
    yaw = drone.getYaw(),
    yawDiff = this._computeYawDiff(yaw, bearing),
    yawUpdate = this.getYawVelocity(drone) * delta_time / 1000;
    if (yawUpdate >= Math.abs(yawDiff)) {
    yawUpdate = yawDiff;
    } else if (yawDiff < 0) {
    yawUpdate *= -1;
    }
    yaw += yawUpdate;
    // trigonometric circle is east oriented, yaw angle is clockwise
    yaw = this._toRad(-yaw + 90);
    return [Math.cos(yaw), Math.sin(yaw)];
    };
    FixedWingDroneAPI.prototype._getNewAltitude = function (drone) {
    // swap y and z axis so z axis represents altitude
    var altitudeDiff = drone._targetCoordinates.z - drone.position.z,
    verticalSpeed;
    if (altitudeDiff >= 0) {
    verticalSpeed = this._computeVerticalSpeed(
    altitudeDiff,
    this.getMaxClimbRate(),
    drone.getSpeed(),
    this.getMaxPitchAngle()
    );
    } else {
    verticalSpeed = -this._computeVerticalSpeed(
    Math.abs(altitudeDiff),
    this.getMaxSinkRate(),
    drone.getSpeed(),
    -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.setAltitude = function (drone, altitude) {
    drone._targetCoordinates.z = altitude;
    };
    FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) {
    this._targetSpeed = Math.max(
    Math.min(speed, this.getMaxSpeed()),
    this.getMinSpeed()
    );
    drone._acceleration = (this._targetSpeed > drone.getSpeed())
    ? this.getMaxAcceleration() : -this.getMaxDeceleration();
    };
    FixedWingDroneAPI.prototype.setStartingPosition = function (drone, x, y, z) {
    if (!drone._canPlay) {
    if (z <= 0.05) {
    z = 0.05;
    }
    drone._controlMesh.position = new BABYLON.Vector3(x, z, y);
    }
    drone._controlMesh.computeWorldMatrix(true);
    drone._mesh.computeWorldMatrix(true);
    };
    FixedWingDroneAPI.prototype.internal_getMsg = function (msg, id) {
    this._drone_dict_list[id] = msg;
    };
    FixedWingDroneAPI.prototype.set_loiter_mode = function (radius) {
    this._loiter_mode = true;
    if (radius && radius > LOITER_LIMIT) {
    this._loiter_radius = radius * LOITER_RADIUS_FACTOR;
    this._loiter_center = this._last_target;
    this._loiter_coordinates = [];
    this._last_loiter_point_reached = -1;
    var x1, y1, angle;
    //for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
    for (angle = 360; angle > 0; angle -= 8) { //clockwise
    x1 = this._loiter_radius *
    Math.cos(this._toRad(angle)) + this._loiter_center.x;
    y1 = this._loiter_radius *
    Math.sin(this._toRad(angle)) + this._loiter_center.y;
    this._loiter_coordinates.push(
    this.getCurrentPosition(x1, y1, this._loiter_center.z)
    );
    }
    }
    };
    FixedWingDroneAPI.prototype.internal_setTargetCoordinates =
    function (drone, coordinates, loiter) {
    if (!loiter) {
    this._loiter_mode = false;
    //save last target point to use as next loiter center
    this._last_target = coordinates;
    }
    };
    FixedWingDroneAPI.prototype.sendMsg = function (msg, to) {
    var _this = this,
    droneList = _this._gameManager._droneList;
    _this._gameManager.delay(function () {
    if (to < 0) {
    // Send to all drones
    droneList.forEach(function (drone) {
    if (drone.infosMesh) {
    try {
    drone.onGetMsg(msg);
    } catch (error) {
    console.warn('Drone crashed on sendMsg due to error:', error);
    drone._internal_crash();
    }
    }
    });
    } else {
    // Send to specific drone
    if (droneList[to].infosMesh) {
    try {
    droneList[to].onGetMsg(msg);
    } catch (error) {
    console.warn('Drone crashed on sendMsg due to error:', error);
    droneList[to]._internal_crash();
    }
    }
    }
    }, _this._flight_parameters.latency.communication);
    };
    FixedWingDroneAPI.prototype.log = function (msg) {
    console.log("API say : " + msg);
    };
    FixedWingDroneAPI.prototype.getGameParameter = function (name) {
    if (["gameTime", "map"].includes(name)) {
    return this._gameManager.gameParameter[name];
    }
    };
    /*
    ** Converts geo latitude-longitud coordinates (º) to x,y plane coordinates (m)
    */
    FixedWingDroneAPI.prototype.processCoordinates = function (lat, lon, z) {
    if (isNaN(lat) || isNaN(lon) || isNaN(z)) {
    throw new Error('Target coordinates must be numbers');
    }
    var x = this._mapManager.longitudToX(lon, this._map_dict.width),
    y = this._mapManager.latitudeToY(lat, this._map_dict.depth),
    position = this._mapManager.normalize(x, y, this._map_dict),
    processed_coordinates;
    if (z > this._map_dict.start_AMSL) {
    z -= this._map_dict.start_AMSL;
    }
    processed_coordinates = {
    x: position[0],
    y: position[1],
    z: z
    };
    //this._last_altitude_point_reached = -1;
    //this.takeoff_path = [];
    return processed_coordinates;
    };
    FixedWingDroneAPI.prototype.getCurrentPosition = function (x, y, z) {
    return this._mapManager.convertToGeoCoordinates(x, y, z, this._map_dict);
    };
    FixedWingDroneAPI.prototype.loiter = function (drone) {
    if (this._loiter_radius > LOITER_LIMIT) {
    var drone_pos = drone.getCurrentPosition(),
    min = 9999,
    min_i,
    i,
    d,
    next_point;
    //shift loiter circle to nearest point
    if (this._last_loiter_point_reached === -1) {
    if (!this.shifted) {
    drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
    for (i = 0; i < this._loiter_coordinates.length; i += 1) {
    d = this._mapManager.latLonDistance([drone_pos.x, drone_pos.y],
    [this._loiter_coordinates[i].x,
    this._loiter_coordinates[i].y]);
    if (d < min) {
    min = d;
    min_i = i;
    }
    }
    this._loiter_coordinates = this._loiter_coordinates.concat(
    this._loiter_coordinates.splice(0, min_i)
    );
    this.shifted = true;
    }
    } else {
    this.shifted = false;
    }
    //stop
    if (this._last_loiter_point_reached ===
    this._loiter_coordinates.length - 1) {
    if (drone._maxSpeed !== this.getMaxSpeed()) {
    drone._maxSpeed = this.getMaxSpeed();
    }
    drone.setDirection(0, 0, 0);
    return;
    }
    //loiter
    next_point =
    this._loiter_coordinates[this._last_loiter_point_reached + 1];
    this.internal_setTargetCoordinates(drone, next_point, true);
    if (this._mapManager.latLonDistance([drone_pos.x, drone_pos.y],
    [next_point.x, next_point.y]) < 1) {
    this._last_loiter_point_reached += 1;
    if (this._last_loiter_point_reached ===
    this._loiter_coordinates.length - 1) {
    return;
    }
    next_point = this._loiter_coordinates[
    this._last_loiter_point_reached + 1
    ];
    this.internal_setTargetCoordinates(drone, next_point, true);
    }
    }
    };
    FixedWingDroneAPI.prototype.getDroneAI = function () {
    return null;
    };
    FixedWingDroneAPI.prototype.getMinSpeed = function () {
    return this._flight_parameters.drone.minSpeed || MIN_SPEED;
    };
    FixedWingDroneAPI.prototype.getMaxSpeed = function () {
    return this._flight_parameters.drone.maxSpeed || MAX_SPEED;
    };
    FixedWingDroneAPI.prototype.getInitialSpeed = function () {
    return this._flight_parameters.drone.speed || DEFAULT_SPEED;
    };
    FixedWingDroneAPI.prototype.getMaxDeceleration = function () {
    return this._flight_parameters.drone.maxDeceleration || MAX_DECELERATION;
    };
    FixedWingDroneAPI.prototype.getMaxAcceleration = function () {
    return this._flight_parameters.drone.maxAcceleration || MAX_ACCELERATION;
    };
    FixedWingDroneAPI.prototype.getMinPitchAngle = function () {
    return this._flight_parameters.drone.minPitchAngle || MIN_PITCH;
    };
    FixedWingDroneAPI.prototype.getMaxPitchAngle = function () {
    return this._flight_parameters.drone.maxPitchAngle || MAX_PITCH;
    };
    FixedWingDroneAPI.prototype.getMaxRollAngle = function () {
    return this._flight_parameters.drone.maxRoll || MAX_ROLL;
    };
    FixedWingDroneAPI.prototype.getMaxSinkRate = function () {
    return this._flight_parameters.drone.maxSinkRate || MAX_SINK_RATE;
    };
    FixedWingDroneAPI.prototype.getMaxClimbRate = function () {
    return this._flight_parameters.drone.maxClimbRate || MAX_CLIMB_RATE;
    };
    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.getSpeed());
    };
    FixedWingDroneAPI.prototype.getYaw = function (drone) {
    var direction = drone.worldDirection;
    return this._computeBearing(0, 0, direction.x, direction.z);
    };
    FixedWingDroneAPI.prototype._computeBearing = function (x1, z1, x2, z2) {
    return this._toDeg(Math.atan2(x2 - x1, z2 - z1));
    };
    FixedWingDroneAPI.prototype._computeYawDiff = function (yaw1, yaw2) {
    var diff = yaw2 - yaw1;
    diff += (diff > 180) ? -360 : (diff < -180) ? 360 : 0;
    return diff;
    };
    FixedWingDroneAPI.prototype._computeVerticalSpeed =
    function (altitude_diff, max_climb_rate, speed, max_pitch) {
    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))
    : maxVerticalSpeed;
    };
    FixedWingDroneAPI.prototype._toRad = function (angle) {
    return angle * Math.PI / 180;
    };
    FixedWingDroneAPI.prototype._toDeg = function (angle) {
    return angle * 180 / Math.PI;
    };
    FixedWingDroneAPI.prototype.getClimbRate = function (drone) {
    return drone.worldDirection.y * drone.getSpeed();
    };
    FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    drone.setTargetCoordinates(drone_pos.x, drone_pos.y, 5);
    };
    FixedWingDroneAPI.prototype.landed = function (drone) {
    var drone_pos = drone.getCurrentPosition();
    return Math.floor(drone_pos.z) < 10;
    };
    FixedWingDroneAPI.prototype.exit = function () {
    return;
    };
    FixedWingDroneAPI.prototype.getInitialAltitude = function () {
    return 0;
    };
    FixedWingDroneAPI.prototype.getAltitudeAbs = function (altitude) {
    return altitude;
    };
    FixedWingDroneAPI.prototype.getMinHeight = function () {
    return 0;
    };
    FixedWingDroneAPI.prototype.getMaxHeight = function () {
    return 800;
    };
    FixedWingDroneAPI.prototype.getFlightParameters = function () {
    return this._flight_parameters;
    };
    return FixedWingDroneAPI;
    }());
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_droneaaailefixe_js.xml → bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml
    View file @ d8b91190
    ......@@ -75,7 +75,7 @@
    </item>
    <item>
    <key> <string>default_reference</string> </key>
    <value> <string>gadget_erp5_page_drone_simulator_droneaaailefixe.js</string> </value>
    <value> <string>gadget_erp5_page_drone_simulator_fixedwingdrone.js</string> </value>
    </item>
    <item>
    <key> <string>description</string> </key>
    ......@@ -85,7 +85,7 @@
    </item>
    <item>
    <key> <string>id</string> </key>
    <value> <string>drone_simulator_droneaaailefixe_js</string> </value>
    <value> <string>drone_simulator_fixedwingdrone_js</string> </value>
    </item>
    <item>
    <key> <string>language</string> </key>
    ......@@ -105,7 +105,7 @@
    </item>
    <item>
    <key> <string>title</string> </key>
    <value> <string>Drone A Aile Fixe (API)</string> </value>
    <value> <string>Fixed Wing Drone (API)</string> </value>
    </item>
    <item>
    <key> <string>version</string> </key>
    ......@@ -144,12 +144,6 @@
    <persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
    </value>
    </item>
    <item>
    <key> <string>processing_status_workflow</string> </key>
    <value>
    <persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
    </value>
    </item>
    </dictionary>
    </value>
    </item>
    ......@@ -195,7 +189,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1664807682.76</float>
    <float>1674834555.79</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......@@ -244,7 +238,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1004.62583.63891.22220</string> </value>
    <value> <string>1006.17822.27350.61713</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -262,70 +256,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1670856495.99</float>
    <string>UTC</string>
    </tuple>
    </state>
    </object>
    </value>
    </item>
    </dictionary>
    </list>
    </value>
    </item>
    </dictionary>
    </pickle>
    </record>
    <record id="5" aka="AAAAAAAAAAU=">
    <pickle>
    <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
    </pickle>
    <pickle>
    <dictionary>
    <item>
    <key> <string>_log</string> </key>
    <value>
    <list>
    <dictionary>
    <item>
    <key> <string>action</string> </key>
    <value>
    <none/>
    </value>
    </item>
    <item>
    <key> <string>actor</string> </key>
    <value> <string>zope</string> </value>
    </item>
    <item>
    <key> <string>comment</string> </key>
    <value> <string></string> </value>
    </item>
    <item>
    <key> <string>error_message</string> </key>
    <value> <string></string> </value>
    </item>
    <item>
    <key> <string>external_processing_state</string> </key>
    <value> <string>empty</string> </value>
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>0.0.0.0</string> </value>
    </item>
    <item>
    <key> <string>time</string> </key>
    <value>
    <object>
    <klass>
    <global name="DateTime" module="DateTime.DateTime"/>
    </klass>
    <tuple>
    <none/>
    </tuple>
    <state>
    <tuple>
    <float>1664807031.69</float>
    <float>1676035583.95</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
    View file @ d8b91190
    /*global BABYLON, RSVP, console, DroneAaileFixeAPI, DroneLogAPI, document*/
    /*jslint nomen: true, indent: 2, maxlen: 80, white: true, todo: true,
    /*global BABYLON, RSVP, console, FixedWingDroneAPI, DroneLogAPI, document*/
    /*jslint nomen: true, indent: 2, maxlen: 80, todo: true,
    unparam: true */
    var GAMEPARAMETERS = {};
    ......@@ -14,12 +14,20 @@ var DroneManager = /** @class */ (function () {
    this._controlMesh = null;
    this._canPlay = false;
    this._canCommunicate = false;
    this._maxDeceleration = 0;
    this._maxAcceleration = 0;
    this._minSpeed = 0;
    this._maxSpeed = 0;
    this._minPitchAngle = 0;
    this._maxPitchAngle = 0;
    this._maxRollAngle = 0;
    this._maxSinkRate = 0;
    this._maxClimbRate = 0;
    this._maxOrientation = 0;
    this._speed = 0;
    this._acceleration = 0;
    this._direction = BABYLON.Vector3.Zero();
    this._maxOrientation = Math.PI / 4;
    this._direction = new BABYLON.Vector3(0, 0, 1); // North
    this._rotationSpeed = 0.4;
    this._scene = scene;
    this._canUpdate = true;
    this._id = id;
    ......@@ -27,7 +35,10 @@ var DroneManager = /** @class */ (function () {
    this._API = API; // var API created on AI evel
    // Create the control mesh
    this._controlMesh = BABYLON.Mesh.CreateBox(
    "droneControl_" + id, 0.01, this._scene);
    "droneControl_" + id,
    0.01,
    this._scene
    );
    this._controlMesh.isVisible = false;
    this._controlMesh.computeWorldMatrix(true);
    // Create the mesh from the drone prefab
    ......@@ -47,6 +58,7 @@ var DroneManager = /** @class */ (function () {
    }
    }
    DroneManager.prototype._swapAxe = function (vector) {
    // swap y and z axis so z axis represents altitude
    return new BABYLON.Vector3(vector.x, vector.z, vector.y);
    };
    Object.defineProperty(DroneManager.prototype, "leader_id", {
    ......@@ -79,6 +91,7 @@ var DroneManager = /** @class */ (function () {
    enumerable: true,
    configurable: true
    });
    // swap y and z axis so z axis represents altitude
    Object.defineProperty(DroneManager.prototype, "position", {
    get: function () {
    if (this._controlMesh !== null) {
    ......@@ -94,6 +107,7 @@ var DroneManager = /** @class */ (function () {
    enumerable: true,
    configurable: true
    });
    // swap y and z axis so z axis represents altitude
    Object.defineProperty(DroneManager.prototype, "direction", {
    get: function () { return this._swapAxe(this._direction); },
    enumerable: true,
    ......@@ -102,23 +116,25 @@ var DroneManager = /** @class */ (function () {
    Object.defineProperty(DroneManager.prototype, "worldDirection", {
    get: function () {
    return new BABYLON.Vector3(
    this._direction.x, this._direction.y, this._direction.z);
    this._direction.x,
    this._direction.y,
    this._direction.z
    );
    },
    enumerable: true,
    configurable: true
    });
    DroneManager.prototype.internal_start = function () {
    this._maxAcceleration = GAMEPARAMETERS.drone.maxAcceleration;
    this._maxSpeed = this._API.getMaxSpeed();
    this._API.internal_start();
    this._canPlay = true;
    this._canCommunicate = true;
    try {
    return this.onStart();
    } catch (error) {
    console.warn('Drone crashed on start due to error:', error);
    this._internal_crash(error);
    }
    DroneManager.prototype.internal_start = function (initial_position) {
    this._API.internal_start(this);
    this._canPlay = true;
    this._canCommunicate = true;
    this._targetCoordinates = initial_position;
    try {
    return this.onStart();
    } catch (error) {
    console.warn('Drone crashed on start due to error:', error);
    this._internal_crash(error);
    }
    };
    /**
    * Set a target point to move
    ......@@ -127,29 +143,17 @@ var DroneManager = /** @class */ (function () {
    if (!this._canPlay) {
    return;
    }
    return this._API.internal_setTargetCoordinates(this, x, y, z);
    //convert real geo-coordinates to virtual x-y coordinates
    this._targetCoordinates = this._API.processCoordinates(x, y, z);
    return this._API.internal_setTargetCoordinates(
    this,
    this._targetCoordinates
    );
    };
    DroneManager.prototype.internal_update = function (delta_time) {
    var context = this, updateSpeed;
    var context = this;
    if (this._controlMesh) {
    context._speed += context._acceleration * delta_time / 1000;
    if (context._speed > context._maxSpeed) {
    context._speed = context._maxSpeed;
    }
    if (context._speed < -context._maxSpeed) {
    context._speed = -context._maxSpeed;
    }
    updateSpeed = context._speed * delta_time / 1000;
    if (context._direction.x !== 0 ||
    context._direction.y !== 0 ||
    context._direction.z !== 0) {
    context._controlMesh.position.addInPlace(new BABYLON.Vector3(
    context._direction.x * updateSpeed,
    context._direction.y * updateSpeed,
    context._direction.z * updateSpeed));
    }
    context._controlMesh.computeWorldMatrix(true);
    context._mesh.computeWorldMatrix(true);
    context._API.internal_update(context, delta_time);
    if (context._canUpdate) {
    context._canUpdate = false;
    return new RSVP.Queue()
    ......@@ -163,7 +167,11 @@ var DroneManager = /** @class */ (function () {
    context._internal_crash(error);
    })
    .push(function () {
    context._API.internal_update(context);
    context._API.internal_post_update(context);
    })
    .push(undefined, function (error) {
    console.warn('Drone crashed on update due to error:', error);
    context._internal_crash(error);
    });
    }
    return;
    ......@@ -181,29 +189,19 @@ var DroneManager = /** @class */ (function () {
    this.onTouched();
    };
    DroneManager.prototype.setStartingPosition = function (x, y, z) {
    if(isNaN(x) || isNaN(y) || isNaN(z)){
    if (isNaN(x) || isNaN(y) || isNaN(z)) {
    throw new Error('Position coordinates must be numbers');
    }
    if (!this._canPlay) {
    if (z <= 0.05) {
    z = 0.05;
    }
    this._controlMesh.position = new BABYLON.Vector3(x, z, y);
    }
    this._controlMesh.computeWorldMatrix(true);
    this._mesh.computeWorldMatrix(true);
    return this._API.setStartingPosition(this, x, y, z);
    };
    DroneManager.prototype.setAcceleration = function (factor) {
    DroneManager.prototype.setSpeed = function (speed) {
    if (!this._canPlay) {
    return;
    }
    if (isNaN(factor)){
    throw new Error('Acceleration must be a number');
    if (isNaN(speed)) {
    throw new Error('Speed must be a number');
    }
    if (factor > this._maxAcceleration) {
    factor = this._maxAcceleration;
    }
    this._acceleration = factor;
    return this._API.setSpeed(this, speed);
    };
    DroneManager.prototype.setDirection = function (x, y, z) {
    if (!this._canPlay) {
    ......@@ -212,8 +210,24 @@ var DroneManager = /** @class */ (function () {
    if (isNaN(x) || isNaN(y) || isNaN(z)) {
    throw new Error('Direction coordinates must be numbers');
    }
    // swap y and z axis so z axis represents altitude
    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
    ......@@ -248,7 +262,7 @@ var DroneManager = /** @class */ (function () {
    return this._API.getMinHeight();
    };
    DroneManager.prototype.getInitialAltitude = function () {
    return this._API.getInitialAltitude();
    return this._API.getInitialAltitude();
    };
    DroneManager.prototype.getAltitudeAbs = function () {
    if (this._controlMesh) {
    ......@@ -269,6 +283,7 @@ var DroneManager = /** @class */ (function () {
    };
    DroneManager.prototype.getCurrentPosition = function () {
    if (this._controlMesh) {
    // swap y and z axis so z axis represents altitude
    return this._API.getCurrentPosition(
    this._controlMesh.position.x,
    this._controlMesh.position.z,
    ......@@ -281,7 +296,7 @@ var DroneManager = /** @class */ (function () {
    if (!this._canPlay) {
    return;
    }
    return this._API.setAltitude(altitude, this);
    return this._API.setAltitude(this, altitude);
    };
    /**
    * Make the drone loiter (circle with a set radius)
    ......@@ -299,7 +314,16 @@ var DroneManager = /** @class */ (function () {
    return null;
    };
    DroneManager.prototype.getYaw = function () {
    return 0;
    return this._API.getYaw(this);
    };
    DroneManager.prototype.getSpeed = function () {
    return this._speed;
    };
    DroneManager.prototype.getClimbRate = function () {
    return this._API.getClimbRate(this);
    };
    DroneManager.prototype.getSinkRate = function () {
    return this._API.getSinkRate();
    };
    DroneManager.prototype.triggerParachute = function () {
    return this._API.triggerParachute(this);
    ......@@ -316,26 +340,27 @@ var DroneManager = /** @class */ (function () {
    * @param checkpoint to be set
    */
    DroneManager.prototype.setCheckpoint = function (checkpoint) {
    //TODO
    return checkpoint;
    };
    /**
    * Function called on game start
    */
    DroneManager.prototype.onStart = function () { return;};
    DroneManager.prototype.onStart = function () { return; };
    /**
    * Function called on game update
    * @param timestamp The tic value
    */
    DroneManager.prototype.onUpdate = function () { return;};
    DroneManager.prototype.onUpdate = function () { return; };
    /**
    * Function called when drone crashes
    */
    DroneManager.prototype.onTouched = function () { return;};
    DroneManager.prototype.onTouched = function () { return; };
    /**
    * Function called when a message is received
    * @param msg The message
    */
    DroneManager.prototype.onGetMsg = function () { return;};
    DroneManager.prototype.onGetMsg = function () { return; };
    return DroneManager;
    }());
    ......@@ -367,7 +392,8 @@ var MapManager = /** @class */ (function () {
    position = map.normalize(
    map.longitudToX(initial_position.longitude, map_size),
    map.latitudeToY(initial_position.latitude, map_size),
    map_info);
    map_info
    );
    map_info.initial_position = {
    "x": position[0],
    "y": position[1],
    ......@@ -498,11 +524,10 @@ var GameManager = /** @class */ (function () {
    if (GAMEPARAMETERS.draw_flight_path) {
    this._last_position_drawn = [];
    this._trace_objects_per_drone = [];
    header_list = ["timestamp;", "latitude;", "longitude;", "AMSL (m);",
    "rel altitude (m);", "pitch (°);", "roll(°);",
    "yaw(°);", "air speed (m/s);", "throttle(%);",
    header_list = ["timestamp", "latitude", "longitude", "AMSL (m)",
    "rel altitude (m)", "yaw(°)", "air speed (m/s)",
    "climb rate(m/s)"];
    for (drone = 0; drone < GAMEPARAMETERS.droneList.length; drone+=1) {
    for (drone = 0; drone < GAMEPARAMETERS.droneList.length; drone += 1) {
    this._flight_log[drone] = [];
    this._flight_log[drone].push(header_list);
    this._log_count[drone] = 0;
    ......@@ -523,7 +548,7 @@ var GameManager = /** @class */ (function () {
    ];
    }
    this.APIs_dict = {
    DroneAaileFixeAPI: DroneAaileFixeAPI,
    FixedWingDroneAPI: FixedWingDroneAPI,
    DroneLogAPI: DroneLogAPI
    };
    }
    ......@@ -557,20 +582,25 @@ var GameManager = /** @class */ (function () {
    if ((_this._canUpdate) && (_this.ongoing_update_promise === null) &&
    (0 < _this.waiting_update_count)) {
    _this.ongoing_update_promise = _this._update(
    TIME_DELTA, (_this.waiting_update_count === 1))
    .push(function () {
    _this.waiting_update_count -= 1;
    _this.ongoing_update_promise = null;
    triggerUpdateIfPossible();
    })
    .push(undefined, function(error) {
    console.log("ERROR on update:", error);
    console.log("rejecting finish_deferred promise...");
    _this.finish_deferred.reject.bind(_this.finish_deferred);
    });
    TIME_DELTA,
    (_this.waiting_update_count === 1)
    ).push(function () {
    _this.waiting_update_count -= 1;
    _this.ongoing_update_promise = null;
    triggerUpdateIfPossible();
    }).push(undefined, function (error) {
    console.log("ERROR on Game Manager update:", error);
    _this.finish_deferred.reject.bind(_this.finish_deferred);
    });
    }
    }
    triggerUpdateIfPossible();
    try {
    triggerUpdateIfPossible();
    } catch (error) {
    console.log("ERROR on Game Manager update:", error);
    _this.finish_deferred.reject.bind(_this.finish_deferred);
    throw error;
    }
    };
    GameManager.prototype.delay = function (callback, millisecond) {
    ......@@ -582,7 +612,8 @@ var GameManager = /** @class */ (function () {
    };
    GameManager.prototype._checkDroneRules = function (drone) {
    //TODO move this to API methods
    //TODO move this to API methods.
    //each type of drone should define its rules
    if (drone.getCurrentPosition()) {
    return drone.getCurrentPosition().z > 1;
    }
    ......@@ -631,57 +662,72 @@ var GameManager = /** @class */ (function () {
    GameManager.prototype._updateTimeAndLog =
    function (delta_time) {
    this._game_duration += delta_time;
    var seconds = Math.floor(this._game_duration / 1000), drone,
    drone_position, map_info, geo_coordinates, position_obj, material, color;
    if (GAMEPARAMETERS.log_drone_flight || GAMEPARAMETERS.draw_flight_path) {
    for (drone = 0; drone < GAMEPARAMETERS.droneList.length; drone+=1) {
    if (this._droneList[drone].can_play) {
    drone_position = this._droneList[drone].position;
    if (GAMEPARAMETERS.log_drone_flight) {
    map_info = this._mapManager.getMapInfo();
    if (this._log_count[drone] === 0 ||
    this._game_duration / this._log_count[drone] > 1) {
    this._log_count[drone] += GAMEPARAMETERS.log_interval_time;
    geo_coordinates = this._mapManager.convertToGeoCoordinates(
    drone_position.x, drone_position.y, drone_position.z, map_info);
    this._flight_log[drone].push(
    [this._game_duration, geo_coordinates.x, geo_coordinates.y,
    map_info.start_AMSL + drone_position.z, drone_position.z]);
    }
    }
    if (GAMEPARAMETERS.draw_flight_path) {
    //draw drone position every some seconds
    if (seconds - this._last_position_drawn[drone] > 0.2) {
    this._last_position_drawn[drone] = seconds;
    position_obj = BABYLON.MeshBuilder.CreateBox("obs_" + seconds,
    { size: 1 },
    this._scene);
    position_obj.position = new BABYLON.Vector3(drone_position.x,
    drone_position.z,
    drone_position.y);
    position_obj.scaling = new BABYLON.Vector3(4, 4, 4);
    material = new BABYLON.StandardMaterial(this._scene);
    material.alpha = 1;
    color = new BABYLON.Color3(255, 0, 0);
    if (this._colors[drone]) {
    color = this._colors[drone];
    this._game_duration += delta_time;
    var color, drone_position, game_manager = this, geo_coordinates,
    log_count, map_info, map_manager, material, position_obj,
    seconds = Math.floor(this._game_duration / 1000), trace_objects;
    if (GAMEPARAMETERS.log_drone_flight || GAMEPARAMETERS.draw_flight_path) {
    this._droneList.forEach(function (drone, index) {
    if (drone.can_play) {
    drone_position = drone.position;
    if (GAMEPARAMETERS.log_drone_flight) {
    map_manager = game_manager._mapManager;
    map_info = map_manager.getMapInfo();
    log_count = game_manager._log_count[index];
    if (log_count === 0 ||
    game_manager._game_duration / log_count > 1) {
    log_count += GAMEPARAMETERS.log_interval_time;
    geo_coordinates = map_manager.convertToGeoCoordinates(
    drone_position.x,
    drone_position.y,
    drone_position.z,
    map_info
    );
    game_manager._flight_log[index].push([
    game_manager._game_duration, geo_coordinates.x,
    geo_coordinates.y, map_info.start_AMSL + drone_position.z,
    drone_position.z, drone.getYaw(), drone.getSpeed(),
    drone.getClimbRate()
    ]);
    }
    material.diffuseColor = color;
    position_obj.material = material;
    if (GAMEPARAMETERS.temp_flight_path) {
    if (this._trace_objects_per_drone[drone].length === 10) {
    this._trace_objects_per_drone[drone][0].dispose();
    this._trace_objects_per_drone[drone].splice(0, 1);
    }
    if (GAMEPARAMETERS.draw_flight_path) {
    //draw drone position every some seconds
    if (seconds - game_manager._last_position_drawn[index] > 0.2) {
    game_manager._last_position_drawn[index] = seconds;
    position_obj = BABYLON.MeshBuilder.CreateBox(
    "obs_" + seconds,
    { size: 1 },
    game_manager._scene
    );
    // swap y and z axis so z axis represents altitude
    position_obj.position = new BABYLON.Vector3(drone_position.x,
    drone_position.z,
    drone_position.y);
    position_obj.scaling = new BABYLON.Vector3(4, 4, 4);
    material = new BABYLON.StandardMaterial(game_manager._scene);
    material.alpha = 1;
    color = new BABYLON.Color3(255, 0, 0);
    if (game_manager._colors[index]) {
    color = game_manager._colors[index];
    }
    material.diffuseColor = color;
    position_obj.material = material;
    if (GAMEPARAMETERS.temp_flight_path) {
    trace_objects = game_manager._trace_objects_per_drone[index];
    if (trace_objects.length === 10) {
    trace_objects[0].dispose();
    trace_objects.splice(0, 1);
    }
    trace_objects.push(position_obj);
    }
    this._trace_objects_per_drone[drone].push(position_obj);
    }
    }
    }
    }
    });
    }
    }
    };
    };
    GameManager.prototype._timeOut = function () {
    var seconds = Math.floor(this._game_duration / 1000);
    ......@@ -723,16 +769,27 @@ var GameManager = /** @class */ (function () {
    audioEngine: false
    });
    this._scene = new BABYLON.Scene(this._engine);
    this._scene.clearColor = new BABYLON.Color4(88/255,171/255,217/255,255/255);
    this._scene.clearColor = new BABYLON.Color4(
    88 / 255,
    171 / 255,
    217 / 255,
    255 / 255
    );
    //removed for event handling
    //this._engine.enableOfflineSupport = false;
    //this._scene.collisionsEnabled = true;
    // Lights
    hemi_north = new BABYLON.HemisphericLight(
    "hemiN", new BABYLON.Vector3(1, -1, 1), this._scene);
    "hemiN",
    new BABYLON.Vector3(1, -1, 1),
    this._scene
    );
    hemi_north.intensity = 0.75;
    hemi_south = new BABYLON.HemisphericLight(
    "hemiS", new BABYLON.Vector3(-1, 1, -1), this._scene);
    "hemiS",
    new BABYLON.Vector3(-1, 1, -1),
    this._scene
    );
    hemi_south.intensity = 0.75;
    camera = new BABYLON.ArcRotateCamera("camera", 0, 1.25, 800,
    BABYLON.Vector3.Zero(), this._scene);
    ......@@ -762,12 +819,15 @@ var GameManager = /** @class */ (function () {
    DroneManager.Prefab.isVisible = false;
    //Hack to make advanced texture work
    var documentTmp = document, advancedTexture, count,
    controlMesh, rect, label;
    controlMesh, rect, label;
    document = undefined;
    advancedTexture = BABYLON.GUI.AdvancedDynamicTexture
    .CreateFullscreenUI("UI", true, ctx._scene);
    advancedTexture = BABYLON.GUI.AdvancedDynamicTexture.CreateFullscreenUI(
    "UI",
    true,
    ctx._scene
    );
    document = documentTmp;
    for (count = 0; count < GAMEPARAMETERS.droneList.length; count+=1) {
    for (count = 0; count < GAMEPARAMETERS.droneList.length; count += 1) {
    controlMesh = ctx._droneList[count].infosMesh;
    rect = new BABYLON.GUI.Rectangle();
    rect.width = "10px";
    ......@@ -818,7 +878,9 @@ var GameManager = /** @class */ (function () {
    promise_list = [];
    _this._droneList.forEach(function (drone) {
    drone._tick = 0;
    promise_list.push(drone.internal_start());
    promise_list.push(drone.internal_start(
    _this._mapManager.getMapInfo().initial_position
    ));
    });
    return RSVP.all(promise_list);
    })
    ......@@ -836,28 +898,28 @@ var GameManager = /** @class */ (function () {
    droneTask = assetManager.addMeshTask("loadingDrone", "", "assets/drone/",
    "drone.babylon");
    droneTask.onSuccess = function (task) {
    task.loadedMeshes.forEach(function (mesh) {
    mesh.isPickable = false;
    mesh.isVisible = false;
    });
    DroneManager.Prefab = _this._scene.getMeshByName("Dummy_Drone");
    DroneManager.Prefab.scaling = new BABYLON.Vector3(0.006, 0.006, 0.006);
    DroneManager.Prefab.position = new BABYLON.Vector3(0, -5, 0);
    task.loadedMeshes.forEach(function (mesh) {
    mesh.isPickable = false;
    mesh.isVisible = false;
    });
    DroneManager.Prefab = _this._scene.getMeshByName("Dummy_Drone");
    DroneManager.Prefab.scaling = new BABYLON.Vector3(0.006, 0.006, 0.006);
    DroneManager.Prefab.position = new BABYLON.Vector3(0, -5, 0);
    };
    droneTask.onError = function () {
    console.log("Error loading 3D model for Drone");
    console.log("Error loading 3D model for Drone");
    };
    // MAP
    mapTask = assetManager.addMeshTask("loadingMap", "", "assets/map/",
    "map.babylon");
    mapTask.onSuccess = function (task) {
    task.loadedMeshes.forEach(function (mesh) {
    mesh.isPickable = false;
    mesh.isVisible = false;
    });
    task.loadedMeshes.forEach(function (mesh) {
    mesh.isPickable = false;
    mesh.isVisible = false;
    });
    };
    mapTask.onError = function () {
    console.log("Error loading 3D model for Map");
    console.log("Error loading 3D model for Map");
    };
    assetManager.onFinish = function () {
    return callback();
    ......@@ -895,7 +957,7 @@ var GameManager = /** @class */ (function () {
    code_eval = "let drone = new DroneManager(ctx._scene, " +
    index + ', api);' +
    "let droneMe = function(NativeDate, me, Math, window, DroneManager," +
    " GameManager, DroneLogAPI, DroneAaileFixeAPI, BABYLON, " +
    " GameManager, DroneLogAPI, FixedWingDroneAPI, BABYLON, " +
    "GAMEPARAMETERS) {" +
    "var start_time = (new Date(2070, 0, 0, 0, 0, 0, 0)).getTime();" +
    "Date.now = function () {" +
    ......@@ -912,13 +974,12 @@ var GameManager = /** @class */ (function () {
    }
    base = code_eval;
    code_eval += code + "}; droneMe(Date, drone, Math, {});";
    base += "};ctx._droneList.push(drone)";
    code_eval += "ctx._droneList.push(drone)";
    base += "};ctx._droneList.push(drone)";
    code_eval += "ctx._droneList.push(drone)";
    /*jslint evil: true*/
    try {
    eval(code_eval);
    }
    catch (error) {
    } catch (error) {
    eval(base);
    }
    /*jslint evil: false*/
    ......@@ -941,11 +1002,14 @@ var GameManager = /** @class */ (function () {
    if (collision_nb < max_collision) {
    i -= 1;
    }
    }
    else {
    } else {
    position_list.push(position);
    api = new this.APIs_dict[drone_list[i].type](
    this, drone_list[i], GAMEPARAMETERS, i);
    this,
    drone_list[i],
    GAMEPARAMETERS,
    i
    );
    spawnDrone(position.x, position.y, position.z, i,
    drone_list[i], api);
    }
    ......@@ -987,4 +1051,4 @@ var runGame, updateGame;
    }(this));
    /******************************************************************************/
    \ No newline at end of file
    /******************************************************************************/
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
    View file @ d8b91190
    ......@@ -144,12 +144,6 @@
    <persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
    </value>
    </item>
    <item>
    <key> <string>processing_status_workflow</string> </key>
    <value>
    <persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
    </value>
    </item>
    </dictionary>
    </value>
    </item>
    ......@@ -195,7 +189,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1662477480.35</float>
    <float>1674834569.27</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......@@ -244,7 +238,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1004.32349.9544.44100</string> </value>
    <value> <string>1006.2016.60568.40294</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -262,70 +256,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1670852474.69</float>
    <string>UTC</string>
    </tuple>
    </state>
    </object>
    </value>
    </item>
    </dictionary>
    </list>
    </value>
    </item>
    </dictionary>
    </pickle>
    </record>
    <record id="5" aka="AAAAAAAAAAU=">
    <pickle>
    <global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
    </pickle>
    <pickle>
    <dictionary>
    <item>
    <key> <string>_log</string> </key>
    <value>
    <list>
    <dictionary>
    <item>
    <key> <string>action</string> </key>
    <value>
    <none/>
    </value>
    </item>
    <item>
    <key> <string>actor</string> </key>
    <value> <string>zope</string> </value>
    </item>
    <item>
    <key> <string>comment</string> </key>
    <value> <string></string> </value>
    </item>
    <item>
    <key> <string>error_message</string> </key>
    <value> <string></string> </value>
    </item>
    <item>
    <key> <string>external_processing_state</string> </key>
    <value> <string>empty</string> </value>
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>0.0.0.0</string> </value>
    </item>
    <item>
    <key> <string>time</string> </key>
    <value>
    <object>
    <klass>
    <global name="DateTime" module="DateTime.DateTime"/>
    </klass>
    <tuple>
    <none/>
    </tuple>
    <state>
    <tuple>
    <float>1662477378.07</float>
    <float>1675086932.85</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.js
    View file @ d8b91190
    ......@@ -13,7 +13,7 @@
    HEIGHT = 340,
    LOGIC_FILE_LIST = [
    'gadget_erp5_page_drone_simulator_logic.js',
    'gadget_erp5_page_drone_simulator_droneaaailefixe.js',
    'gadget_erp5_page_drone_simulator_fixedwingdrone.js',
    'gadget_erp5_page_drone_simulator_dronelogfollower.js'
    ];
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.xml
    View file @ d8b91190
    ......@@ -244,7 +244,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1005.1310.34623.11861</string> </value>
    <value> <string>1005.28725.31731.34065</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -262,7 +262,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1671112620.77</float>
    <float>1672757496.65</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js
    View file @ d8b91190
    ......@@ -3,17 +3,25 @@
    (function (window, rJS, domsugar, document, Blob) {
    "use strict";
    //Default values
    //Default values - TODO: get them from the drone API
    var SIMULATION_SPEED = 200,
    SIMULATION_TIME = 1500,
    MAX_SPEED = 7.5, //16.666667,
    MAX_ACCELERATION = 1,
    min_lat = 45.6364,
    max_lat = 45.65,
    min_lon = 14.2521,
    max_lon = 14.2766,
    map_height = 100,
    start_AMSL = 595,
    DEFAULT_SPEED = 16,
    MAX_ACCELERATION = 6,
    MAX_DECELERATION = 1,
    MIN_SPEED = 12,
    MAX_SPEED = 26,
    MAX_ROLL = 35,
    MIN_PITCH = -20,
    MAX_PITCH = 25,
    MAX_CLIMB_RATE = 8,
    MAX_SINK_RATE = 3,
    INITIAL_POSITION = {
    "latitude": 45.6412,
    "longitude": 14.2658,
    ......@@ -122,7 +130,7 @@
    HEIGHT = 340,
    LOGIC_FILE_LIST = [
    'gadget_erp5_page_drone_simulator_logic.js',
    'gadget_erp5_page_drone_simulator_droneaaailefixe.js',
    'gadget_erp5_page_drone_simulator_fixedwingdrone.js',
    'gadget_erp5_page_drone_simulator_dronelogfollower.js'
    ];
    ......@@ -131,6 +139,7 @@
    // Acquired methods
    /////////////////////////////////////////////////////////////////
    .declareAcquiredMethod("updateHeader", "updateHeader")
    .declareAcquiredMethod("notifySubmitted", "notifySubmitted")
    .allowPublicAcquisition('notifySubmit', function () {
    return this.triggerSubmit();
    ......@@ -167,7 +176,7 @@
    "editable": 1,
    "key": "simulation_speed",
    "hidden": 0,
    "type": "StringField"
    "type": "IntegerField"
    },
    "my_simulation_time": {
    "description": "Duration of the simulation (in seconds)",
    ......@@ -178,29 +187,117 @@
    "editable": 1,
    "key": "simulation_time",
    "hidden": 0,
    "type": "StringField"
    "type": "IntegerField"
    },
    "my_drone_min_speed": {
    "description": "",
    "title": "Drone min speed",
    "default": MIN_SPEED,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_min_speed",
    "hidden": 0,
    "type": "IntegerField"
    },
    "my_drone_speed": {
    "description": "",
    "title": "Drone speed",
    "default": MAX_SPEED,
    "default": DEFAULT_SPEED,
    "css_class": "",
    "required": 1,
    "required": 0,
    "editable": 1,
    "key": "drone_speed",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_drone_acceleration": {
    "my_drone_max_speed": {
    "description": "",
    "title": "Drone Acceleration",
    "title": "Drone max speed",
    "default": MAX_SPEED,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_max_speed",
    "hidden": 0,
    "type": "IntegerField"
    },
    "my_drone_max_acceleration": {
    "description": "",
    "title": "Drone max Acceleration",
    "default": MAX_ACCELERATION,
    "css_class": "",
    "required": 1,
    "required": 0,
    "editable": 1,
    "key": "drone_max_acceleration",
    "hidden": 0,
    "type": "IntegerField"
    },
    "my_drone_max_deceleration": {
    "description": "",
    "title": "Drone max Deceleration",
    "default": MAX_DECELERATION,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_acceleration",
    "key": "drone_max_deceleration",
    "hidden": 0,
    "type": "StringField"
    "type": "IntegerField"
    },
    "my_drone_max_roll": {
    "description": "",
    "title": "Drone max roll",
    "default": MAX_ROLL,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_max_roll",
    "hidden": 0,
    "type": "FloatField"
    },
    "my_drone_min_pitch": {
    "description": "",
    "title": "Drone min pitch",
    "default": MIN_PITCH,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_min_pitch",
    "hidden": 0,
    "type": "FloatField"
    },
    "my_drone_max_pitch": {
    "description": "",
    "title": "Drone max pitch",
    "default": MAX_PITCH,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_max_pitch",
    "hidden": 0,
    "type": "FloatField"
    },
    "my_drone_max_sink_rate": {
    "description": "",
    "title": "Drone max sink rate",
    "default": MAX_SINK_RATE,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_max_sink_rate",
    "hidden": 0,
    "type": "FloatField"
    },
    "my_drone_max_climb_rate": {
    "description": "",
    "title": "Drone max climb rate",
    "default": MAX_CLIMB_RATE,
    "css_class": "",
    "required": 0,
    "editable": 1,
    "key": "drone_max_climb_rate",
    "hidden": 0,
    "type": "FloatField"
    },
    "my_minimum_latitud": {
    "description": "",
    ......@@ -211,7 +308,7 @@
    "editable": 1,
    "key": "min_lat",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_maximum_latitud": {
    "description": "",
    ......@@ -222,7 +319,7 @@
    "editable": 1,
    "key": "max_lat",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_minimum_longitud": {
    "description": "",
    ......@@ -233,7 +330,7 @@
    "editable": 1,
    "key": "min_lon",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_maximum_longitud": {
    "description": "",
    ......@@ -244,7 +341,7 @@
    "editable": 1,
    "key": "max_lon",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_start_AMSL": {
    "description": "",
    ......@@ -255,7 +352,7 @@
    "editable": 1,
    "key": "start_AMSL",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_map_height": {
    "description": "",
    ......@@ -266,7 +363,7 @@
    "editable": 1,
    "key": "map_height",
    "hidden": 0,
    "type": "StringField"
    "type": "IntegerField"
    },
    "my_init_pos_lon": {
    "description": "",
    ......@@ -277,7 +374,7 @@
    "editable": 1,
    "key": "init_pos_lon",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_init_pos_lat": {
    "description": "",
    ......@@ -288,7 +385,7 @@
    "editable": 1,
    "key": "init_pos_lat",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_init_pos_z": {
    "description": "",
    ......@@ -299,7 +396,7 @@
    "editable": 1,
    "key": "init_pos_z",
    "hidden": 0,
    "type": "StringField"
    "type": "FloatField"
    },
    "my_number_of_drones": {
    "description": "",
    ......@@ -310,7 +407,7 @@
    "editable": 1,
    "key": "number_of_drones",
    "hidden": 0,
    "type": "StringField"
    "type": "IntegerField"
    },
    "my_script": {
    "default": DEFAULT_SCRIPT_CONTENT,
    ......@@ -334,14 +431,17 @@
    form_definition: {
    group_list: [[
    "left",
    [["my_simulation_speed"], ["my_simulation_time"],
    ["my_drone_speed"], ["my_drone_acceleration"],
    ["my_number_of_drones"], ["my_map_height"], ["my_start_AMSL"]]
    [["my_simulation_speed"], ["my_simulation_time"], ["my_number_of_drones"],
    ["my_minimum_latitud"], ["my_maximum_latitud"],
    ["my_minimum_longitud"], ["my_maximum_longitud"],
    ["my_init_pos_lat"], ["my_init_pos_lon"], ["my_init_pos_z"],
    ["my_map_height"]]
    ], [
    "right",
    [["my_minimum_latitud"], ["my_maximum_latitud"],
    ["my_minimum_longitud"], ["my_maximum_longitud"],
    ["my_init_pos_lat"], ["my_init_pos_lon"], ["my_init_pos_z"]]
    [["my_start_AMSL"], ["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"]]
    ], [
    "bottom",
    [["my_script"]]
    ......@@ -358,23 +458,31 @@
    })
    .declareJob('runGame', function runGame(options) {
    var gadget = this, simulator, i,
    var gadget = this, i,
    fragment = gadget.element.querySelector('.simulator_div'),
    game_parameters_json;
    fragment = domsugar(gadget.element.querySelector('.simulator_div'),
    [domsugar('div')]).firstElementChild;
    DRONE_LIST = [];
    for (i = 0; i < options.number_of_drones; i += 1) {
    DRONE_LIST[i] = {"id": i, "type": "DroneAaileFixeAPI",
    DRONE_LIST[i] = {"id": i, "type": "FixedWingDroneAPI",
    "script_content": options.script};
    }
    game_parameters_json = {
    "drone": {
    "maxAcceleration": parseFloat(options.drone_acceleration),
    "maxSpeed": parseFloat(options.drone_speed)
    "maxAcceleration": parseInt(options.drone_max_acceleration, 10),
    "maxDeceleration": parseInt(options.drone_max_deceleration, 10),
    "minSpeed": parseInt(options.drone_min_speed, 10),
    "speed": parseFloat(options.drone_speed),
    "maxSpeed": parseInt(options.drone_max_speed, 10),
    "maxRoll": parseFloat(options.drone_max_roll),
    "minPitchAngle": parseFloat(options.drone_min_pitch),
    "maxPitchAngle": parseFloat(options.drone_max_pitch),
    "maxSinkRate": parseFloat(options.drone_max_sink_rate),
    "maxClimbRate": parseFloat(options.drone_max_climb_rate)
    },
    "gameTime": parseFloat(options.simulation_time),
    "simulation_speed": parseFloat(options.simulation_speed),
    "gameTime": parseInt(options.simulation_time, 10),
    "simulation_speed": parseInt(options.simulation_speed, 10),
    "latency": {
    "information": 0,
    "communication": 0
    ......@@ -384,7 +492,7 @@
    "max_lat": parseFloat(options.max_lat),
    "min_lon": parseFloat(options.min_lon),
    "max_lon": parseFloat(options.max_lon),
    "height": parseFloat(options.map_height),
    "height": parseInt(options.map_height, 10),
    "start_AMSL": parseFloat(options.start_AMSL)
    },
    "initialPosition": {
    ......@@ -418,10 +526,10 @@
    "url": "babylonjs.gadget.html",
    "sandbox": "public",
    "renderjs_extra": '{"autorun": false, "width": ' + WIDTH + ', ' +
    '"height": ' + HEIGHT + ', ' +
    '"logic_file_list": ' + JSON.stringify(LOGIC_FILE_LIST) + ', ' +
    '"game_parameters": ' + JSON.stringify(game_parameters_json) +
    '}'
    '"height": ' + HEIGHT + ', ' +
    '"logic_file_list": ' + JSON.stringify(LOGIC_FILE_LIST) + ', ' +
    '"game_parameters": ' + JSON.stringify(game_parameters_json) +
    '}'
    }
    }},
    "_links": {
    ......@@ -445,28 +553,34 @@
    return form_gadget.getContent();
    })
    .push(function (result) {
    var i = 0,
    log_content,
    blob,
    a,
    log,
    div;
    for (var key in result) {
    log_content = result[key].join('\n').replaceAll(",", ";");
    blob = new Blob([log_content], {type: 'text/plain'});
    a = domsugar('a', {
    text: 'Download Simulation LOG ' + i,
    download: 'simulation_log_' + i + '.txt',
    href: window.URL.createObjectURL(blob)
    });
    log = domsugar('textarea', { value: log_content });
    div = domsugar('div', [a]);
    a.dataset.downloadurl = ['text/plain', a.download,
    a.href].join(':');
    document.querySelector('.container').appendChild(div);
    document.querySelector('.container').appendChild(log);
    i++;
    var a, blob, div, key, log, log_content;
    i = 0;
    for (key in result) {
    if (result.hasOwnProperty(key)) {
    log_content = result[key].join('\n').replaceAll(",", ";");
    blob = new Blob([log_content], {type: 'text/plain'});
    a = domsugar('a', {
    text: 'Download Simulation LOG ' + i,
    download: 'simulation_log_' + i
    + '_speed_' + game_parameters_json.drone.speed
    + '_max-roll_' + game_parameters_json.drone.maxRoll
    + '_min-pitch_' + game_parameters_json.drone.minPitchAngle
    + '_max-pitch_' + game_parameters_json.drone.maxPitchAngle
    + '.txt',
    href: window.URL.createObjectURL(blob)
    });
    log = domsugar('textarea', { value: log_content });
    div = domsugar('div', [a]);
    a.dataset.downloadurl = ['text/plain', a.download,
    a.href].join(':');
    document.querySelector('.container').appendChild(div);
    document.querySelector('.container').appendChild(log);
    i += 1;
    }
    }
    }, function (error) {
    return gadget.notifySubmitted({message: "Error: " + error.message,
    status: 'error'});
    });
    });
    ......
    bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml
    View file @ d8b91190
    ......@@ -244,7 +244,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1005.37533.1915.8379</string> </value>
    <value> <string>1006.17791.59880.25668</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -262,7 +262,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1673286304.13</float>
    <float>1676033282.59</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
    bt5/erp5_officejs_drone_simulator/SkinTemplateItem/portal_skins/erp5_officejs_drone_simulator/WebSection_getDroneSimulatorPrecacheManifestList.py
    View file @ d8b91190
    ......@@ -6,7 +6,7 @@ url_list = [
    "gadget_erp5_page_drone_simulator_log_page.js",
    "gadget_erp5_panel_drone_simulator.html",
    "gadget_erp5_panel_drone_simulator.js",
    "gadget_erp5_page_drone_simulator_droneaaailefixe.js",
    "gadget_erp5_page_drone_simulator_fixedwingdrone.js",
    "gadget_erp5_page_drone_simulator_dronelogfollower.js",
    "drone.png",
    "gadget_officejs_drone_simulator.json",
    ......
    bt5/erp5_web_renderjs_ui/PathTemplateItem/web_page_module/rjs_babylonjs_web_worker_js.js
    View file @ d8b91190
    ......@@ -52,10 +52,16 @@ function mainToWorker(evt) {
    })
    .push(function () {
    return postMessage({'type': 'updated'});
    }, function (error) {
    console.log("ERROR:", error);
    return postMessage({'type': 'error', 'error': error});
    });
    case 'event':
    handleEvent(evt.data);
    break;
    return new RSVP.Queue(handleEvent(evt.data))
    .push(undefined, function (error) {
    console.log("ERROR:", error);
    return postMessage({'type': 'error', 'error': error});
    });
    default:
    throw new Error('Unsupported message ' + JSON.stringify(evt.data));
    }
    ......
    bt5/erp5_web_renderjs_ui/PathTemplateItem/web_page_module/rjs_babylonjs_web_worker_js.xml
    View file @ d8b91190
    ......@@ -244,7 +244,7 @@
    </item>
    <item>
    <key> <string>serial</string> </key>
    <value> <string>1004.22590.57904.22954</string> </value>
    <value> <string>1005.41422.8371.11861</string> </value>
    </item>
    <item>
    <key> <string>state</string> </key>
    ......@@ -262,7 +262,7 @@
    </tuple>
    <state>
    <tuple>
    <float>1671113075.12</float>
    <float>1674224630.4</float>
    <string>UTC</string>
    </tuple>
    </state>
    ......
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