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nexedi
flight-scripts
Commits
a0de0e00
Commit
a0de0e00
authored
Apr 25, 2024
by
Léo-Paul Géneau
👾
Browse files
Options
Browse Files
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Email Patches
Plain Diff
Provide check and landing points through operator
parent
e6a4e807
Changes
2
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Showing
2 changed files
with
112 additions
and
100 deletions
+112
-100
multicopter_swarm.js
multicopter_swarm.js
+62
-98
operator.js
operator.js
+50
-2
No files found.
multicopter_swarm.js
View file @
a0de0e00
...
@@ -14,52 +14,8 @@
...
@@ -14,52 +14,8 @@
var
ALTITUDE_DIFF
=
5
,
var
ALTITUDE_DIFF
=
5
,
BASE_ALTITUDE
=
25
,
BASE_ALTITUDE
=
25
,
CHECKPOINT_LIST
=
[
{
latitude
:
45.310770
,
longitude
:
5.950148
},
{
latitude
:
45.311229
,
longitude
:
5.949820
},
{
latitude
:
45.311246
,
longitude
:
5.950584
},
{
latitude
:
45.310785
,
longitude
:
5.950877
}
],
EPSILON
=
4
,
EPSILON
=
4
,
PARACHUTE_POINT_ARRAY
=
[
{
latitude
:
45.310479
,
longitude
:
5.950495
},
{
latitude
:
45.310393
,
longitude
:
5.950677
},
{
latitude
:
45.310376
,
longitude
:
5.950295
},
{
latitude
:
45.310304
,
longitude
:
5.950459
},
{
latitude
:
45.310235
,
longitude
:
5.950608
}
],
TARGETED_DISTANCE
=
10
,
TARGETED_DISTANCE
=
10
,
TAKE_OFF_POINT
=
{
latitude
:
45.310479
,
longitude
:
5.950495
},
MIN_CMD_INTERVAL
=
500
,
MIN_CMD_INTERVAL
=
500
,
MIN_SPEED
=
4
,
MIN_SPEED
=
4
,
DEFAULT_SPEED
=
5
,
DEFAULT_SPEED
=
5
,
...
@@ -119,6 +75,14 @@
...
@@ -119,6 +75,14 @@
}
}
}
}
function
communicate
(
drone
,
okState
,
state
)
{
var
infos
=
{
id
:
drone
.
id
,
okState
:
okState
,
state
:
state
};
if
(
okState
)
{
infos
.
timestamp
=
Date
.
now
();
}
return
drone
.
sendMsg
(
JSON
.
stringify
(
infos
));
}
me
.
onStart
=
function
()
{
me
.
onStart
=
function
()
{
me
.
direction_set
=
false
;
me
.
direction_set
=
false
;
me
.
flightAltitude
=
BASE_ALTITUDE
+
me
.
id
*
ALTITUDE_DIFF
;
me
.
flightAltitude
=
BASE_ALTITUDE
+
me
.
id
*
ALTITUDE_DIFF
;
...
@@ -126,9 +90,9 @@
...
@@ -126,9 +90,9 @@
me
.
going_to_parachute
=
false
;
me
.
going_to_parachute
=
false
;
me
.
id_list
=
[
me
.
id
];
me
.
id_list
=
[
me
.
id
];
me
.
timestamp_list
=
[
0
];
me
.
timestamp_list
=
[
0
];
me
.
id_list
.
sort
();
me
.
landing
=
false
;
me
.
landing
=
false
;
me
.
last_cmd_timestamp
=
0
;
me
.
last_cmd_timestamp
=
0
;
me
.
lost_a_drone
=
false
;
me
.
next_checkpoint
=
0
;
me
.
next_checkpoint
=
0
;
me
.
started
=
false
;
me
.
started
=
false
;
me
.
stopped
=
false
;
me
.
stopped
=
false
;
...
@@ -151,58 +115,55 @@
...
@@ -151,58 +115,55 @@
neighbor_position
=
me
.
getDroneDict
()[
neighbor_id
];
neighbor_position
=
me
.
getDroneDict
()[
neighbor_id
];
}
}
if
(
!
me
.
path_planning
)
{
if
(
!
me
.
checkpoint_list
)
{
if
(
leader_id
!==
me
.
id
)
{
if
(
leader_id
!==
me
.
id
)
{
console
.
log
(
console
.
log
(
"
timestamp difference
"
,
"
timestamp difference
"
,
position
.
timestamp
-
neighbor_position
.
timestamp
position
.
timestamp
-
neighbor_position
.
timestamp
);
);
}
}
return
me
.
sendMsg
(
JSON
.
stringify
(
return
communicate
(
me
,
true
,
"
Ready
"
);
{
id
:
me
.
id
,
okState
:
true
,
state
:
"
Ready
"
}
));
}
}
if
(
me
.
landing
&&
me
.
isLanding
())
{
if
(
me
.
landing
&&
me
.
isLanding
())
{
return
me
.
sendMsg
(
JSON
.
stringify
(
return
communicate
(
me
,
false
,
"
Landing
"
);
{
id
:
drone
.
id
,
okState
:
false
,
state
:
"
Landing
"
}
));
}
}
if
(
!
me
.
started
)
{
if
(
!
me
.
started
)
{
if
(
me
.
isReadyToFly
())
{
if
(
me
.
isReadyToFly
())
{
me
.
started
=
true
;
me
.
started
=
true
;
}
else
{
}
else
{
return
me
.
sendMsg
(
JSON
.
stringify
(
return
communicate
(
me
,
true
,
"
Taking Off
"
);
{
id
:
me
.
id
,
okState
:
true
,
state
:
"
Taking Off
"
,
timestamp
:
Date
.
now
()}
));
}
}
}
}
if
(
!
me
.
landing
)
{
if
(
!
me
.
landing
)
{
if
(
!
me
.
isReadyToFly
())
{
if
(
!
me
.
isReadyToFly
())
{
return
me
.
sendMsg
(
JSON
.
stringify
(
return
communicate
(
me
,
false
,
"
Emergency
"
);
{
id
:
me
.
id
,
okState
:
false
,
state
:
"
Emergency
"
}
));
}
}
JSON
.
parse
(
JSON
.
stringify
(
me
.
timestamp_list
)).
forEach
(
JSON
.
parse
(
JSON
.
stringify
(
me
.
timestamp_list
)).
forEach
(
function
(
last_timestamp
,
i
d
)
{
function
(
last_timestamp
,
i
ndex
)
{
if
(
me
.
id_list
[
i
d
]
!==
me
.
id
if
(
me
.
id_list
[
i
ndex
]
!==
me
.
id
&&
Math
.
abs
(
timestamp
-
last_timestamp
)
>=
TIMEOUT
)
{
&&
Math
.
abs
(
timestamp
-
last_timestamp
)
>=
TIMEOUT
)
{
console
.
log
(
console
.
log
(
"
Lost drone
"
,
"
Lost drone
"
,
me
.
id_list
[
i
d
],
me
.
id_list
[
i
ndex
],
"
timestamp difference
"
,
"
timestamp difference
"
,
timestamp
-
last_timestamp
timestamp
-
last_timestamp
);
);
me
.
id_list
.
splice
(
me
.
id_list
.
indexOf
(
id
),
1
);
me
.
id_list
.
splice
(
index
,
1
);
me
.
timestamp_list
.
splice
(
me
.
id_list
.
indexOf
(
id
),
1
);
me
.
timestamp_list
.
splice
(
index
,
1
);
me
.
lost_a_drone
=
true
;
}
}
}
}
);
);
console
.
log
(
"
leader id
"
,
leader_id
,
"
me id
"
,
me
.
id
);
if
(
me
.
lost_a_drone
)
{
me
.
lost_a_drone
=
false
;
return
communicate
(
me
,
true
,
"
Flying
"
);
}
if
(
leader_id
!==
me
.
id
)
{
if
(
leader_id
!==
me
.
id
)
{
distance2d
=
distance
(
distance2d
=
distance
(
position
.
latitude
,
position
.
latitude
,
...
@@ -215,17 +176,15 @@
...
@@ -215,17 +176,15 @@
distanceToTakeOffPoint
=
distance
(
distanceToTakeOffPoint
=
distance
(
neighbor_position
.
latitude
,
neighbor_position
.
latitude
,
neighbor_position
.
longitude
,
neighbor_position
.
longitude
,
TAKE_OFF_POINT
.
latitude
,
me
.
landing_point_list
[
0
]
.
latitude
,
TAKE_OFF_POINT
.
longitude
me
.
landing_point_list
[
0
]
.
longitude
);
);
console
.
log
(
console
.
log
(
"
Distance from neighbor to takeoff point
"
,
"
Distance from neighbor to takeoff point
"
,
distanceToTakeOffPoint
distanceToTakeOffPoint
);
);
if
(
distanceToTakeOffPoint
<
2
*
TARGETED_DISTANCE
)
{
if
(
distanceToTakeOffPoint
<
2
*
TARGETED_DISTANCE
)
{
return
me
.
sendMsg
(
JSON
.
stringify
(
return
communicate
(
me
,
true
,
"
Waiting
"
);
{
id
:
me
.
id
,
okState
:
true
,
state
:
"
Waiting
"
,
timestamp
:
Date
.
now
()}
));
}
}
me
.
following
=
true
;
me
.
following
=
true
;
}
}
...
@@ -245,28 +204,26 @@
...
@@ -245,28 +204,26 @@
);
);
console
.
log
(
"
distance to leader
"
,
distance2d
);
console
.
log
(
"
distance to leader
"
,
distance2d
);
return
me
.
sendMsg
(
JSON
.
stringify
(
return
communicate
(
me
,
true
,
"
Flying
"
);
{
id
:
me
.
id
,
okState
:
true
,
state
:
"
Flying
"
,
timestamp
:
Date
.
now
()}
));
}
}
checkpointIndex
=
(
!
me
.
reverse
)
?
me
.
next_checkpoint
checkpointIndex
=
(
!
me
.
reverse
)
?
me
.
next_checkpoint
:
CHECKPOINT_LIST
.
length
-
me
.
next_checkpoint
-
1
;
:
me
.
checkpoint_list
.
length
-
me
.
next_checkpoint
-
1
;
if
(
!
me
.
direction_set
)
{
if
(
!
me
.
direction_set
)
{
console
.
log
(
"
Going to Checkpoint
"
,
checkpointIndex
);
console
.
log
(
"
Going to Checkpoint
"
,
checkpointIndex
);
me
.
next_point
=
{
me
.
next_point
=
{
"
latitude
"
:
CHECKPOINT_LIST
[
checkpointIndex
].
latitude
,
"
latitude
"
:
me
.
checkpoint_list
[
checkpointIndex
].
latitude
,
"
longitude
"
:
CHECKPOINT_LIST
[
checkpointIndex
].
longitude
"
longitude
"
:
me
.
checkpoint_list
[
checkpointIndex
].
longitude
};
};
me
.
direction_set
=
true
;
me
.
direction_set
=
true
;
}
}
if
(
if
(
pointReached
(
me
,
CHECKPOINT_LIST
[
checkpointIndex
],
EPSILON
)
pointReached
(
me
,
me
.
checkpoint_list
[
checkpointIndex
],
EPSILON
)
)
{
)
{
console
.
log
(
"
Reached Checkpoint
"
,
checkpointIndex
);
console
.
log
(
"
Reached Checkpoint
"
,
checkpointIndex
);
me
.
next_checkpoint
+=
1
;
me
.
next_checkpoint
+=
1
;
me
.
next_checkpoint
%=
CHECKPOINT_LIST
.
length
;
me
.
next_checkpoint
%=
me
.
checkpoint_list
.
length
;
me
.
direction_set
=
false
;
me
.
direction_set
=
false
;
return
me
.
sendMsg
(
JSON
.
stringify
({
return
me
.
sendMsg
(
JSON
.
stringify
({
id
:
me
.
id
,
id
:
me
.
id
,
...
@@ -279,9 +236,9 @@
...
@@ -279,9 +236,9 @@
}
}
if
(
me
.
going_to_parachute
&&
if
(
me
.
going_to_parachute
&&
pointReached
(
me
,
PARACHUTE_POINT_ARRAY
[
me
.
id
],
EPSILON
))
{
pointReached
(
me
,
me
.
landing_point_list
[
me
.
id
],
EPSILON
))
{
me
.
going_to_parachute
=
false
;
me
.
going_to_parachute
=
false
;
return
exitOnFail
(
dron
e
.
land
(),
"
Failed to land
"
);
return
exitOnFail
(
m
e
.
land
(),
"
Failed to land
"
);
}
}
if
(
!
me
.
landing
||
me
.
going_to_parachute
)
{
if
(
!
me
.
landing
||
me
.
going_to_parachute
)
{
...
@@ -293,16 +250,19 @@
...
@@ -293,16 +250,19 @@
Date
.
now
()
Date
.
now
()
);
);
}
}
return
me
.
sendMsg
(
JSON
.
stringify
(
{
id
:
me
.
id
,
okState
:
true
,
state
:
"
Flying
"
,
timestamp
:
Date
.
now
()}
if
(
me
.
landing
)
{
));
return
communicate
(
me
,
false
,
"
Landed
"
);
}
else
{
return
communicate
(
me
,
true
,
"
Flying
"
);
}
};
};
me
.
onGetMsg
=
function
(
msg
)
{
me
.
onGetMsg
=
function
(
msg
)
{
if
(
msg
.
hasOwnProperty
(
"
path_planning
"
))
{
if
(
msg
.
hasOwnProperty
(
"
checkpoint_list
"
))
{
me
.
path_planning
=
true
;
me
.
checkpoint_list
=
msg
.
checkpoint_list
;
me
.
landing_point_list
=
msg
.
landing_point_list
;
console
.
log
(
"
running
"
);
console
.
log
(
"
running
"
);
me
.
timestamp_list
=
Array
.
apply
(
null
,
Array
(
me
.
id_list
.
length
)).
map
(
function
()
{
return
Date
.
now
()
});
return
me
.
takeOff
();
return
me
.
takeOff
();
}
}
...
@@ -313,12 +273,13 @@
...
@@ -313,12 +273,13 @@
case
"
stopped
"
:
case
"
stopped
"
:
me
.
stopped
=
true
;
me
.
stopped
=
true
;
if
(
me
.
id
===
(
!
me
.
reverse
?
me
.
id_list
[
me
.
id_list
.
length
-
1
]
:
me
.
id_list
[
0
]))
{
if
(
me
.
id
===
(
!
me
.
reverse
?
me
.
id_list
[
me
.
id_list
.
length
-
1
]
:
me
.
id_list
[
0
]))
{
me
.
landing
=
true
;
me
.
landing
=
true
;
me
.
going_to_parachute
=
true
;
me
.
going_to_parachute
=
true
;
me
.
next_point
=
{
me
.
next_point
=
{
"
latitude
"
:
PARACHUTE_POINT_ARRAY
[
me
.
id
].
latitude
,
"
latitude
"
:
me
.
landing_point_list
[
me
.
id
].
latitude
,
"
longitude
"
:
PARACHUTE_POINT_ARRAY
[
me
.
id
].
longitude
"
longitude
"
:
me
.
landing_point_list
[
me
.
id
].
longitude
};
};
console
.
log
(
"
Going to rally
"
);
console
.
log
(
"
Going to rally
"
);
}
}
...
@@ -340,21 +301,23 @@
...
@@ -340,21 +301,23 @@
case
"
Ready
"
:
case
"
Ready
"
:
if
(
!
me
.
id_list
.
includes
(
msgDict
.
id
))
{
if
(
!
me
.
id_list
.
includes
(
msgDict
.
id
))
{
me
.
id_list
[
me
.
id_list
.
length
-
1
]
=
msgDict
.
id
;
me
.
id_list
[
me
.
id_list
.
length
]
=
msgDict
.
id
;
me
.
id_list
.
sort
();
me
.
id_list
.
sort
();
}
}
break
;
break
;
case
"
Landing
"
:
case
"
Landing
"
:
if
(
me
.
id_list
.
includes
(
msgDict
.
id
))
{
if
(
m
sgDict
.
id
!==
me
.
id
&&
m
e
.
id_list
.
includes
(
msgDict
.
id
))
{
me
.
id_list
.
splice
(
me
.
id_list
.
indexOf
(
msgDict
.
id
),
1
);
me
.
id_list
.
splice
(
me
.
id_list
.
indexOf
(
msgDict
.
id
),
1
);
me
.
timestamp_list
.
splice
(
me
.
id_list
.
indexOf
(
id
),
1
);
me
.
timestamp_list
.
splice
(
me
.
id_list
.
indexOf
(
msgDict
.
id
),
1
);
if
(
me
.
stopped
&&
me
.
id
===
(
!
me
.
reverse
?
me
.
id_list
[
me
.
id_list
.
length
-
1
]
:
me
.
id_list
[
0
]))
{
if
(
me
.
stopped
&&
me
.
id
===
(
!
me
.
reverse
?
me
.
id_list
[
me
.
id_list
.
length
-
1
]
:
me
.
id_list
[
0
])
)
{
me
.
landing
=
true
;
me
.
landing
=
true
;
me
.
going_to_parachute
=
true
;
me
.
going_to_parachute
=
true
;
me
.
next_point
=
{
me
.
next_point
=
{
"
latitude
"
:
PARACHUTE_POINT_ARRAY
[
me
.
id
].
latitude
,
"
latitude
"
:
me
.
landing_point_list
[
me
.
id
].
latitude
,
"
longitude
"
:
PARACHUTE_POINT_ARRAY
[
me
.
id
].
longitude
"
longitude
"
:
me
.
landing_point_list
[
me
.
id
].
longitude
};
};
}
}
}
}
...
@@ -365,8 +328,9 @@
...
@@ -365,8 +328,9 @@
}
}
}
}
if
(
msgDict
.
hasOwnProperty
(
"
timestamp
"
))
{
if
(
me
.
id_list
.
includes
(
msgDict
.
id
)
me
.
timestamp_list
[
msgDict
.
id
]
=
msgDict
.
timestamp
;
&&
msgDict
.
hasOwnProperty
(
"
timestamp
"
))
{
me
.
timestamp_list
[
me
.
id_list
.
indexOf
(
msgDict
.
id
)]
=
msgDict
.
timestamp
;
}
}
if
(
msgDict
.
hasOwnProperty
(
"
next_checkpoint
"
))
{
if
(
msgDict
.
hasOwnProperty
(
"
next_checkpoint
"
))
{
...
...
operator.js
View file @
a0de0e00
...
@@ -3,5 +3,53 @@
...
@@ -3,5 +3,53 @@
* start button of its GUI is pressed.
* start button of its GUI is pressed.
*/
*/
var
map
=
operator
.
getMapJSON
();
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
operator
.
sendMsg
({
flag_positions
:
map
.
flag_list
,
path_planning
:
""
});
/*global operator*/
(
function
(
operator
)
{
"
use strict
"
;
var
map
=
operator
.
getMapJSON
();
operator
.
sendMsg
({
checkpoint_list
:
[
{
latitude
:
45.310770
,
longitude
:
5.950148
},
{
latitude
:
45.311229
,
longitude
:
5.949820
},
{
latitude
:
45.311246
,
longitude
:
5.950584
},
{
latitude
:
45.310785
,
longitude
:
5.950877
}
],
flag_positions
:
map
.
flag_list
,
landing_point_list
:
[
{
latitude
:
45.310479
,
longitude
:
5.950495
},
{
latitude
:
45.310393
,
longitude
:
5.950677
},
{
latitude
:
45.310376
,
longitude
:
5.950295
},
{
latitude
:
45.310304
,
longitude
:
5.950459
},
{
latitude
:
45.310235
,
longitude
:
5.950608
}
]
});
}(
operator
));
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