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Commit 2d2050eb authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
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erp5_officejs_drone_simulator: fix timeout 

See merge request nexedi/erp5!1903
parents a12d43f0 23c9f1b0
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Showing with 412 additions and 263 deletions
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.js
View file @ 2d2050eb
......@@ -56,7 +56,7 @@ var EnemyDroneAPI = /** @class */ (function () {
/*
** Function called on every drone update, right before onUpdate AI script
*/
EnemyDroneAPI.prototype.internal_update = function (context, delta_time) {
EnemyDroneAPI.prototype.internal_position_update = function (context, delta_time) {
context._speed += context._acceleration * delta_time / 1000;
if (context._speed > context._maxSpeed) {
context._speed = context._maxSpeed;
......@@ -81,7 +81,7 @@ var EnemyDroneAPI = /** @class */ (function () {
/*
** Function called on every drone update, right after onUpdate AI script
*/
EnemyDroneAPI.prototype.internal_post_update = function (drone) {
EnemyDroneAPI.prototype.internal_info_update = function (drone) {
var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
if (drone_position) {
drone_info = {
......@@ -307,6 +307,9 @@ var EnemyDroneAPI = /** @class */ (function () {
EnemyDroneAPI.prototype.getMaxHeight = function () {
return 800;
};
EnemyDroneAPI.prototype.getOnUpdateInterval = function () {
return 0;
};
EnemyDroneAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60631.26636.59528</string> </value>
<value> <string>1015.63148.58654.57634</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709288499.16</float>
<float>1713426942.44</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.js
View file @ 2d2050eb
......@@ -6,6 +6,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
"use strict";
var DEFAULT_SPEED = 16,
PARACHUTE_SPEED = 8,
EARTH_GRAVITY = 9.81,
LOITER_LIMIT = 30,
MAX_ACCELERATION = 6,
......@@ -48,7 +49,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
throw new Error('max acceleration must be superior to 0');
}
drone._minSpeed = this.getMinSpeed();
if (drone._minSpeed <= 0) {
if (drone._minSpeed < 0) {
throw new Error('min speed must be superior to 0');
}
drone._maxSpeed = this.getMaxSpeed();
......@@ -97,9 +98,13 @@ var FixedWingDroneAPI = /** @class */ (function () {
/*
** Function called on every drone update, right before onUpdate AI script
*/
FixedWingDroneAPI.prototype.internal_update = function (context, delta_time) {
this._updateSpeed(context, delta_time);
this._updatePosition(context, delta_time);
FixedWingDroneAPI.prototype.internal_position_update = function (context, delta_time) {
if (context.position.z > 0) {
this._updateSpeed(context, delta_time);
this._updatePosition(context, delta_time);
} else {
context.setDirection(0, 0, 0);
}
context._controlMesh.computeWorldMatrix(true);
context._mesh.computeWorldMatrix(true);
......@@ -107,7 +112,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
/*
** Function called on every drone update, right after onUpdate AI script
*/
FixedWingDroneAPI.prototype.internal_post_update = function (drone) {
FixedWingDroneAPI.prototype.internal_info_update = function (drone) {
var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
/*if (_this._start_altitude > 0) { //TODO move start_altitude here
_this.reachAltitude(drone);
......@@ -486,8 +491,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
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))
return (this._toDeg(Math.asin(maxVerticalSpeed / speed)) > max_pitch)
? speed * Math.sin(this._toRad(max_pitch))
: maxVerticalSpeed;
};
FixedWingDroneAPI.prototype._toRad = function (angle) {
......@@ -511,11 +516,16 @@ var FixedWingDroneAPI = /** @class */ (function () {
};
FixedWingDroneAPI.prototype.land = function (drone) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(
this._flight_parameters.drone.minSpeed = 0;
drone._speed = 0;
drone._acceleration = EARTH_GRAVITY;
this._flight_parameters.drone.maxSinkRate = PARACHUTE_SPEED;
this._flight_parameters.drone.minPitchAngle = -90;
drone._internal_setTargetCoordinates(
drone_pos.latitude,
drone_pos.longitude,
0,
drone.get3DSpeed()
-PARACHUTE_SPEED,
PARACHUTE_SPEED
);
this._is_ready_to_fly = false;
this._is_landing = true;
......@@ -538,6 +548,9 @@ var FixedWingDroneAPI = /** @class */ (function () {
FixedWingDroneAPI.prototype.getMaxHeight = function () {
return 800;
};
FixedWingDroneAPI.prototype.getOnUpdateInterval = function () {
return this._flight_parameters.drone.onUpdateInterval;
};
FixedWingDroneAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60733.7318.44953</string> </value>
<value> <string>1015.64140.4755.42274</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709564488.61</float>
<float>1713430403.75</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.js
View file @ 2d2050eb
......@@ -6,6 +6,56 @@ var GAMEPARAMETERS = {}, TEAM_USER = "user", TEAM_ENEMY = "enemy";
//for DEBUG/TEST mode
var baseLogFunction = console.log, console_log = "";
function spawnDrone(spawnDrone_x, spawnDrone_y, spawnDrone_z, spawnDrone_index,
spawnDrone_drone_info, spawnDrone_api, spawnDrone_team,
spawnDrone_scene, spawnDrone_droneList_user,
spawnDrone_droneList_enemy) {
"use strict";
var default_drone_AI = spawnDrone_api.getDroneAI(), spawnDrone_code,
code_eval;
if (default_drone_AI) {
spawnDrone_code = default_drone_AI;
} else {
spawnDrone_code = spawnDrone_drone_info.script_content;
}
if (!spawnDrone_code.includes("me.onStart")) {
spawnDrone_code = "me.onStart = function () { me.exit(); };";
}
code_eval = "let spawnDrone_drone = new DroneManager(spawnDrone_scene, " +
spawnDrone_index + ', spawnDrone_api, spawnDrone_team);' +
"let droneMe = function(NativeDate, me, Math, window, DroneManager," +
" GameManager, FixedWingDroneAPI, EnemyDroneAPI, BABYLON, " +
"GAMEPARAMETERS) {" +
"Date.now = function () {" +
"return me._API._gameManager.getCurrentTime();}; " +
"function Date() {if (!(this instanceof Date)) " +
"{throw new Error('Missing new operator');} " +
"if (arguments.length === 0) {return new NativeDate(Date.now());} " +
"else {return new NativeDate(...arguments);}}";
// Simple desactivation of direct access of all globals
// It is still accessible in reality, but it will me more visible
// if people really access them
if (spawnDrone_x !== null && spawnDrone_y !== null && spawnDrone_z !== null) {
code_eval += "me.setStartingPosition(" + spawnDrone_x + ", "
+ spawnDrone_y + ", " + spawnDrone_z + ");";
}
//base = code_eval;
code_eval +=
spawnDrone_code + "}; droneMe(Date, spawnDrone_drone, Math, {});";
//base +=
// "};spawnDrone_droneList_" + spawnDrone_team + ".push(spawnDrone_drone)";
code_eval +=
"spawnDrone_droneList_" + spawnDrone_team + ".push(spawnDrone_drone)";
/*jslint evil: true*/
eval(code_eval);
/*jslint evil: false*/
/*try {
eval(code_eval);
} catch (error) {
eval(base);
}*/
}
/******************************* DRONE MANAGER ********************************/
var DroneManager = /** @class */ (function () {
"use strict";
......@@ -27,6 +77,7 @@ var DroneManager = /** @class */ (function () {
this._maxClimbRate = 0;
this._maxCommandFrequency = 0;
this._last_command_timestamp = 0;
this._last_onUpdate_timestamp = 0;
this._speed = 0;
this._acceleration = 0;
this._direction = new BABYLON.Vector3(0, 0, 1); // North
......@@ -135,29 +186,39 @@ var DroneManager = /** @class */ (function () {
this._canPlay = true;
this._canCommunicate = true;
try {
return this.onStart(this._API._gameManager._game_duration);
return this.onStart(this._API._gameManager._start_time);
} catch (error) {
console.warn('Drone crashed on start due to error:', error);
this._internal_crash(error);
}
};
DroneManager.prototype._callSetTargetCommand =
function (latitude, longitude, altitude, speed, radius) {
var current_time = this._API._gameManager.getCurrentTime();
if (!this.isReadyToFly()) {
return;
}
if (current_time - this._last_command_timestamp
< 1000 / this._API.getMaxCommandFrequency()) {
this._internal_crash(new Error('Minimum interval between commands is ' +
1000 / this._API.getMaxCommandFrequency() + ' milliseconds'));
}
this._internal_setTargetCoordinates(latitude, longitude, altitude, speed,
radius);
this._last_command_timestamp = current_time;
};
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates =
function (latitude, longitude, altitude, speed) {
this._internal_setTargetCoordinates(latitude, longitude, altitude, speed);
this._callSetTargetCommand(latitude, longitude, altitude, speed);
};
DroneManager.prototype._internal_setTargetCoordinates =
function (latitude, longitude, altitude, speed, radius) {
if (!this._canPlay || !this.isReadyToFly()) {
if (!this._canPlay) {
return;
}
if (this._API._gameManager._game_duration - this._last_command_timestamp
< 1000 / this._API.getMaxCommandFrequency()) {
this._internal_crash(new Error('Minimum interval between commands is ' +
1000 / this._API.getMaxCommandFrequency() + ' milliseconds'));
}
//each drone API process coordinates on its needs
//e.g. fixedwing drone converts real geo-coordinates to virtual x-y
this._targetCoordinates =
......@@ -168,7 +229,6 @@ var DroneManager = /** @class */ (function () {
speed,
radius
);
this._last_command_timestamp = this._API._gameManager._game_duration;
};
DroneManager.prototype.getDroneDict = function () {
return this._API._drone_dict_list;
......@@ -184,15 +244,29 @@ var DroneManager = /** @class */ (function () {
return;
};
DroneManager.prototype.internal_update = function (delta_time) {
var context = this, milliseconds;
var context = this,
current_time = this._API._gameManager.getCurrentTime(),
onUpdate_interval = this._API.getOnUpdateInterval(),
onUpdate_start;
if (this._controlMesh) {
context._API.internal_update(context, delta_time);
if (context._canUpdate) {
context._API.internal_position_update(context, delta_time);
if (context._canUpdate &&
current_time - this._last_onUpdate_timestamp >= onUpdate_interval) {
context._canUpdate = false;
return new RSVP.Queue()
.push(function () {
milliseconds = Math.floor(context._API._gameManager._game_duration);
return context.onUpdate(milliseconds);
onUpdate_start = Date.now();
context._last_onUpdate_timestamp = current_time;
context.onUpdate(current_time);
if (onUpdate_interval > 0 &&
Date.now() - onUpdate_start > onUpdate_interval) {
throw new Error('onUpdate execution took ' +
(Date.now() - onUpdate_start) +
' milliseconds but loop interval is only ' +
onUpdate_interval +
' milliseconds');
}
return;
})
.push(function () {
context._canUpdate = true;
......@@ -201,7 +275,7 @@ var DroneManager = /** @class */ (function () {
context._internal_crash(error);
})
.push(function () {
context._API.internal_post_update(context);
context._API.internal_info_update(context);
})
.push(undefined, function (error) {
console.warn('Drone crashed on update due to error:', error);
......@@ -305,7 +379,7 @@ var DroneManager = /** @class */ (function () {
this._controlMesh.position.z,
this._controlMesh.position.y
);
position.timestamp = this._API._gameManager._game_duration;
position.timestamp = this._API._gameManager.getCurrentTime();
//Backward compatibility sanitation
position.x = position.latitude;
position.y = position.longitude;
......@@ -319,13 +393,7 @@ var DroneManager = /** @class */ (function () {
*/
DroneManager.prototype.loiter =
function (latitude, longitude, altitude, radius, speed) {
this._internal_setTargetCoordinates(
latitude,
longitude,
altitude,
speed,
radius
);
this._callSetTargetCommand(latitude, longitude, altitude, speed, radius);
};
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters) {
......@@ -333,6 +401,9 @@ var DroneManager = /** @class */ (function () {
}
return null;
};
DroneManager.prototype.getMaxCommandFrequency = function () {
return this._API.getMaxCommandFrequency();
};
DroneManager.prototype.getYaw = function () {
if (this._API.getYaw !== undefined) {
return this._API.getYaw(this);
......@@ -358,7 +429,9 @@ var DroneManager = /** @class */ (function () {
return this._API.takeOff();
};
DroneManager.prototype.land = function () {
return this._API.land(this);
if (!this.isLanding()) {
return this._API.land(this);
}
};
DroneManager.prototype.exit = function () {
return this._internal_crash();
......@@ -916,7 +989,6 @@ var GameManager = /** @class */ (function () {
this._droneList.forEach(function (drone) {
queue.push(function () {
drone._tick += 1;
if (drone.can_play) {
if (drone.getCurrentPosition().altitude <= 0) {
if (!drone.isLanding()) {
......@@ -976,7 +1048,8 @@ var GameManager = /** @class */ (function () {
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;
current_time = this.getCurrentTime(),
seconds = Math.floor(current_time / 1000), trace_objects;
if (GAMEPARAMETERS.log_drone_flight || GAMEPARAMETERS.draw_flight_path) {
this._droneList_user.forEach(function (drone, index) {
......@@ -995,7 +1068,7 @@ var GameManager = /** @class */ (function () {
drone_position.z
);
game_manager._flight_log[index].push([
game_manager._game_duration, geo_coordinates.latitude,
current_time, geo_coordinates.latitude,
geo_coordinates.longitude,
map_info.start_AMSL + drone_position.z,
drone_position.z, drone.getYaw(), drone.getSpeed(),
......@@ -1043,8 +1116,7 @@ var GameManager = /** @class */ (function () {
};
GameManager.prototype._timeOut = function () {
var seconds = Math.floor(this._game_duration / 1000);
return this._totalTime - seconds <= 0;
return this._totalTime - this._game_duration <= 0;
};
GameManager.prototype._allDronesFinished = function () {
......@@ -1226,20 +1298,19 @@ var GameManager = /** @class */ (function () {
_this.ongoing_update_promise = null;
_this.finish_deferred = RSVP.defer();
console.log("Simulation started.");
this._game_duration = Date.now();
this._totalTime = GAMEPARAMETERS.gameTime + this._game_duration;
this._start_time = Date.now();
this._game_duration = 0;
this._totalTime = GAMEPARAMETERS.gameTime * 1000;
return new RSVP.Queue()
.push(function () {
promise_list = [];
_this._droneList_user.forEach(function (drone) {
drone._tick = 0;
promise_list.push(drone.internal_start());
});
start_msg = GAMEPARAMETERS.operator_init_msg;
promise_list.push(_this._droneList_user[0].sendMsg(start_msg));
_this._droneList_enemy.forEach(function (drone) {
drone._tick = 0;
promise_list.push(drone.internal_start());
});
return RSVP.all(promise_list);
......@@ -1310,47 +1381,6 @@ var GameManager = /** @class */ (function () {
}
return false;
}
function spawnDrone(x, y, z, index, drone_info, api, team) {
var default_drone_AI = api.getDroneAI(), code, code_eval;
if (default_drone_AI) {
code = default_drone_AI;
} else {
code = drone_info.script_content;
}
if (!code.includes("me.onStart")) {
code = "me.onStart = function () { me.exit(); };";
}
code_eval = "let drone = new DroneManager(ctx._scene, " +
index + ', api, team);' +
"let droneMe = function(NativeDate, me, Math, window, DroneManager," +
" GameManager, FixedWingDroneAPI, EnemyDroneAPI, BABYLON, " +
"GAMEPARAMETERS) {" +
"var start_time = (new Date(2070, 0, 0, 0, 0, 0, 0)).getTime();" +
"Date.now = function () {" +
"return start_time + drone._tick * 1000/60;}; " +
"function Date() {if (!(this instanceof Date)) " +
"{throw new Error('Missing new operator');} " +
"if (arguments.length === 0) {return new NativeDate(Date.now());} " +
"else {return new NativeDate(...arguments);}}";
// Simple desactivation of direct access of all globals
// It is still accessible in reality, but it will me more visible
// if people really access them
if (x !== null && y !== null && z !== null) {
code_eval += "me.setStartingPosition(" + x + ", " + y + ", " + z + ");";
}
//base = code_eval;
code_eval += code + "}; droneMe(Date, drone, Math, {});";
//base += "};ctx._droneList_" + team + ".push(drone)";
code_eval += "ctx._droneList_" + team + ".push(drone)";
/*jslint evil: true*/
eval(code_eval);
/*jslint evil: false*/
/*try {
eval(code_eval);
} catch (error) {
eval(base);
}*/
}
function randomSpherePoint(x0, y0, z0, rx0, ry0, rz0) {
var u = Math.random(), v = Math.random(),
rx = Math.random() * rx0, ry = Math.random() * ry0,
......@@ -1384,11 +1414,16 @@ var GameManager = /** @class */ (function () {
i + id_offset
);
spawnDrone(position.x, position.y, position.z, i + id_offset,
drone_list[i], api, team);
drone_list[i], api, team, ctx._scene, ctx._droneList_user,
ctx._droneList_enemy);
}
}
};
GameManager.prototype.getCurrentTime = function () {
return this._start_time + this._game_duration;
};
return GameManager;
}());
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_logic_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.65026.25145.27272</string> </value>
<value> <string>1016.21978.22579.46609</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709560433.33</float>
<float>1714742387.62</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.html
View file @ 2d2050eb
......@@ -381,6 +381,19 @@
<div class="line"></div>
<!-- getMaxCommandFrequency -->
<h4 class="item-name" id="getMaxCommandFrequency"><span>getMaxCommandFrequency</span><span>: void</span></h4>
<p class="item-descr">Get maximum frequency in hertz at which direction commands (setTargetCoordinates and loiter) can be called.</p>
<div>
<h5 class="item-param-1">Example</h5>
</div>
<p class="item-param-1">me.getMaxCommandFrequency();<br>
</p>
<div class="line"></div>
<!-- takeOff -->
<h4 class="item-name" id="takeOff"><span>takeOff</span><span>: void</span></h4>
<p class="item-descr">Trigger drone's takeoff (has only effect on multicopters as fixed wings drones need to take off manually).</p>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_API_page_html.xml
View file @ 2d2050eb
......@@ -244,7 +244,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.65292.62763.3464</string> </value>
<value> <string>1015.13928.44848.25668</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -264,7 +264,7 @@
</tuple>
<state>
<tuple>
<float>1709564153.67</float>
<float>1710867839.5</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.js
View file @ 2d2050eb
......@@ -185,6 +185,7 @@ var OperatorAPI = /** @class */ (function () {
DRAW = true,
LOG = true,
LOG_TIME = 1662.7915426540285,
ONUPDATE_INTERVAL = 100,
LOGIC_FILE_LIST = [
'gadget_erp5_page_drone_capture_flag_logic.js',
'gadget_erp5_page_drone_capture_map_utils.js',
......@@ -566,6 +567,17 @@ var OperatorAPI = /** @class */ (function () {
"hidden": 0,
"type": "IntegerField"
},
"my_onupdate_interval": {
"description": "Minimum interval (in milliseconds) between 2 executions of onUpdate function as well as periodicity to send telemetry to the swarm",
"title": "OnUpdate interval",
"default": gadget.state.onupdate_interval,
"css_class": "",
"required": 1,
"editable": 1,
"key": "onupdate_interval",
"hidden": 0,
"type": "IntegerField"
},
"my_drone_min_speed": {
"description": "",
"title": "Drone min speed",
......@@ -708,7 +720,7 @@ var OperatorAPI = /** @class */ (function () {
form_definition: {
group_list: [[
"left",
[["my_simulation_speed"], ["my_simulation_time"],
[["my_simulation_speed"], ["my_simulation_time"], ["my_onupdate_interval"],
["my_number_of_drones"], ["my_map_seed"]]
], [
"right",
......@@ -845,6 +857,7 @@ var OperatorAPI = /** @class */ (function () {
"maxSinkRate": parseFloat(gadget.state.drone_max_sink_rate),
"maxClimbRate": parseFloat(gadget.state.drone_max_climb_rate),
"maxCommandFrequency": parseFloat(gadget.state.drone_max_command_frequency),
"onUpdateInterval": parseInt(gadget.state.onupdate_interval, 10),
"list": drone_list
},
"gameTime": parseInt(gadget.state.simulation_time, 10),
......@@ -970,6 +983,7 @@ var OperatorAPI = /** @class */ (function () {
drone_max_speed: MAX_SPEED,
drone_speed: DEFAULT_SPEED,
drone_min_speed: MIN_SPEED,
onupdate_interval: ONUPDATE_INTERVAL,
simulation_time: SIMULATION_TIME,
simulation_speed: SIMULATION_SPEED,
operator_init_msg: {},
......
bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/ojs_drone_capture_flag_script_page_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.48194.32365.65399</string> </value>
<value> <string>1016.21921.52144.47906</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1708709921.07</float>
<float>1714738877.83</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_capture_flag_test/PathTemplateItem/web_page_module/test_capture_drone_flight_js.js
View file @ 2d2050eb
......@@ -3,8 +3,10 @@
(function (window, rJS, domsugar, document) {
"use strict";
var SIMULATION_SPEED = 10,
SIMULATION_TIME = 270,
var SIMULATION_SPEED = 1,
LOOP_INTERVAL = 1000 / 60,
ON_UPDATE_INTERVAL = LOOP_INTERVAL,
SIMULATION_TIME = LOOP_INTERVAL / 1000,
MIN_LAT = 45.6364,
MAX_LAT = 45.65,
MIN_LON = 14.2521,
......@@ -74,9 +76,10 @@
' me.getCurrentPosition().longitude\n' +
' ).toFixed(8),\n' +
' time_interval = timestamp - me.start_time,\n' +
' expected_interval = 1000 / 60,\n' +
' expected_interval = ' + LOOP_INTERVAL + ',\n' +
' expectedDistance = (me.getSpeed() * expected_interval / 1000).toFixed(8);\n' +
' assert(time_interval, Math.floor(expected_interval), "Timestamp");\n' +
' assert(time_interval.toFixed(4), expected_interval.toFixed(4), "Timestamp");\n' +
' assert(Date.now(), timestamp, "Date");\n' +
' assert(realDistance, expectedDistance, "Distance");\n' +
' current_position.latitude = current_position.latitude.toFixed(7);\n' +
' compare(current_position, {\n' +
......@@ -84,7 +87,6 @@
' longitude: me.initialPosition.longitude,\n' +
' altitude: me.initialPosition.altitude\n' +
' });\n' +
' me.exit(me.land());\n' +
'};',
DRAW = true,
LOG = true,
......@@ -120,19 +122,19 @@
"script_content": DEFAULT_SCRIPT_CONTENT};
}
map_json = {
"height": parseInt(map_height, 10),
"start_AMSL": parseFloat(start_AMSL),
"min_lat": parseFloat(MIN_LAT),
"max_lat": parseFloat(MAX_LAT),
"min_lon": parseFloat(MIN_LON),
"max_lon": parseFloat(MAX_LON),
"height": map_height,
"start_AMSL": start_AMSL,
"min_lat": MIN_LAT,
"max_lat": MAX_LAT,
"min_lon": MIN_LON,
"max_lon": MAX_LON,
"flag_list": [],
"obstacle_list" : [],
"enemy_list" : [],
"initial_position": {
"longitude": parseFloat(INIT_LON),
"latitude": parseFloat(INIT_LAT),
"altitude": parseFloat(INIT_ALT)
"longitude": INIT_LON,
"latitude": INIT_LAT,
"altitude": INIT_ALT
}
};
operator_init_msg = {
......@@ -142,20 +144,21 @@
game_parameters_json = {
"debug_test_mode": true,
"drone": {
"maxAcceleration": parseInt(MAX_ACCELERATION, 10),
"maxDeceleration": parseInt(MAX_DECELERATION, 10),
"minSpeed": parseInt(MIN_SPEED, 10),
"speed": parseFloat(DEFAULT_SPEED),
"maxSpeed": parseInt(MAX_SPEED, 10),
"maxRoll": parseFloat(MAX_ROLL),
"minPitchAngle": parseFloat(MIN_PITCH),
"maxPitchAngle": parseFloat(MAX_PITCH),
"maxSinkRate": parseFloat(MAX_SINK_RATE),
"maxClimbRate": parseFloat(MAX_CLIMB_RATE),
"maxAcceleration": MAX_ACCELERATION,
"maxDeceleration": MAX_DECELERATION,
"minSpeed": MIN_SPEED,
"speed": DEFAULT_SPEED,
"maxSpeed": MAX_SPEED,
"maxRoll": MAX_ROLL,
"minPitchAngle": MIN_PITCH,
"maxPitchAngle": MAX_PITCH,
"maxSinkRate": MAX_SINK_RATE,
"maxClimbRate": MAX_CLIMB_RATE,
"onUpdateInterval": ON_UPDATE_INTERVAL,
"list": DRONE_LIST
},
"gameTime": parseInt(SIMULATION_TIME, 10),
"simulation_speed": parseInt(SIMULATION_SPEED, 10),
"gameTime": SIMULATION_TIME,
"simulation_speed": SIMULATION_SPEED,
"latency": {
"information": 0,
"communication": 0
......@@ -214,19 +217,24 @@
})
.push(function (result) {
var div = domsugar('div', { text: "CONSOLE LOG ENTRIES:" }), lines,
l, node;
l, test_log_node = document.querySelector('.test_log');
document.querySelector('.container').parentNode.appendChild(div);
function createLogNode(message) {
function appendToTestLog(test_log_node, message) {
var log_node = document.createElement("div"),
textNode = document.createTextNode(message);
log_node.appendChild(textNode);
return log_node;
test_log_node.appendChild(log_node);
}
lines = result.console_log.split('\n');
for (l = 0; l < lines.length; l += 1) {
node = createLogNode(lines[l]);
document.querySelector('.test_log').appendChild(node);
if (lines[l] !== 'TIMEOUT!') {
appendToTestLog(test_log_node, lines[l]);
} else {
appendToTestLog(test_log_node, 'Timeout: OK');
return;
}
}
appendToTestLog(test_log_node, 'Timeout: FAILED');
}, function (error) {
return gadget.notifySubmitted({message: "Error: " + error.message,
status: 'error'});
......
bt5/erp5_officejs_drone_capture_flag_test/PathTemplateItem/web_page_module/test_capture_drone_flight_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60680.20078.34286</string> </value>
<value> <string>1015.64187.34381.50346</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709286290.59</float>
<float>1713428877.4</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
View file @ 2d2050eb
......@@ -80,7 +80,7 @@ var DroneLogAPI = /** @class */ (function () {
/*
** Function called on every drone update, right before onUpdate AI script
*/
DroneLogAPI.prototype.internal_update = function (context, delta_time) {
DroneLogAPI.prototype.internal_position_update = function (context, delta_time) {
var updateSpeed;
context._speed += context._acceleration * delta_time / 1000;
if (context._speed > context._maxSpeed) {
......@@ -104,7 +104,7 @@ var DroneLogAPI = /** @class */ (function () {
/*
** Function called on every drone update, right after onUpdate AI script
*/
DroneLogAPI.prototype.internal_post_update = function (drone) {
DroneLogAPI.prototype.internal_info_update = function (drone) {
return;
};
DroneLogAPI.prototype.internal_setTargetCoordinates =
......@@ -213,6 +213,9 @@ var DroneLogAPI = /** @class */ (function () {
DroneLogAPI.prototype.getMaxCommandFrequency = function () {
return Infinity;
};
DroneLogAPI.prototype.getOnUpdateInterval = function () {
return 0;
};
return DroneLogAPI;
}());
\ No newline at end of file
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60631.26636.59528</string> </value>
<value> <string>1015.64101.28159.26163</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709288518.39</float>
<float>1713425784.77</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js
View file @ 2d2050eb
......@@ -7,6 +7,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
// var TAKEOFF_RADIUS = 60,
var DEFAULT_SPEED = 16,
PARACHUTE_SPEED = 8,
EARTH_GRAVITY = 9.81,
LOITER_LIMIT = 30,
MAX_ACCELERATION = 6,
......@@ -52,7 +53,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
throw new Error('max acceleration must be superior to 0');
}
drone._minSpeed = this.getMinSpeed();
if (drone._minSpeed <= 0) {
if (drone._minSpeed < 0) {
throw new Error('min speed must be superior to 0');
}
drone._maxSpeed = this.getMaxSpeed();
......@@ -101,7 +102,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
/*
** Function called on every drone update, right before onUpdate AI script
*/
FixedWingDroneAPI.prototype.internal_update = function (context, delta_time) {
FixedWingDroneAPI.prototype.internal_position_update = function (context, delta_time) {
this._updateSpeed(context, delta_time);
this._updatePosition(context, delta_time);
......@@ -111,7 +112,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
/*
** Function called on every drone update, right after onUpdate AI script
*/
FixedWingDroneAPI.prototype.internal_post_update = function (drone) {
FixedWingDroneAPI.prototype.internal_info_update = function (drone) {
var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
/*if (_this._start_altitude > 0) { //TODO move start_altitude here
_this.reachAltitude(drone);
......@@ -373,8 +374,6 @@ var FixedWingDroneAPI = /** @class */ (function () {
var processed_coordinates =
this._mapManager.convertToLocalCoordinates(lat, lon, z);
processed_coordinates.z -= this._map_dict.start_AMSL;
//this._last_altitude_point_reached = -1;
//this.takeoff_path = [];
return processed_coordinates;
};
FixedWingDroneAPI.prototype.getCurrentPosition = function (x, y, z) {
......@@ -470,11 +469,16 @@ var FixedWingDroneAPI = /** @class */ (function () {
};
FixedWingDroneAPI.prototype.land = function (drone) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(
this._flight_parameters.drone.minSpeed = 0;
drone._speed = 0;
drone._acceleration = EARTH_GRAVITY;
this._flight_parameters.drone.maxSinkRate = PARACHUTE_SPEED;
this._flight_parameters.drone.minPitchAngle = -90;
drone._internal_setTargetCoordinates(
drone_pos.latitude,
drone_pos.longitude,
0,
drone.get3DSpeed()
PARACHUTE_SPEED
);
this._is_ready_to_fly = false;
this._is_landing = true;
......@@ -497,6 +501,9 @@ var FixedWingDroneAPI = /** @class */ (function () {
FixedWingDroneAPI.prototype.getMaxHeight = function () {
return 800;
};
FixedWingDroneAPI.prototype.getOnUpdateInterval = function () {
return this._flight_parameters.drone.onUpdateInterval;
};
FixedWingDroneAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml
View file @ 2d2050eb
......@@ -240,7 +240,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60733.7318.44953</string> </value>
<value> <string>1015.64203.48820.61559</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -260,7 +260,7 @@
</tuple>
<state>
<tuple>
<float>1709562449.93</float>
<float>1713429850.09</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
View file @ 2d2050eb
......@@ -6,6 +6,50 @@ var GAMEPARAMETERS = {};
//for DEBUG/TEST mode
var baseLogFunction = console.log, console_log = "";
function spawnDrone(spawnDrone_x, spawnDrone_y, spawnDrone_z, spawnDrone_index,
spawnDrone_drone_info, spawnDrone_api, spawnDrone_scene,
spawnDrone_droneList) {
"use strict";
var default_drone_AI = spawnDrone_api.getDroneAI(), spawnDrone_code,
spawnDrone_base, code_eval;
if (default_drone_AI) {
spawnDrone_code = default_drone_AI;
} else {
spawnDrone_code = spawnDrone_drone_info.script_content;
}
code_eval = "let spawnDrone_drone = new DroneManager(spawnDrone_scene, " +
spawnDrone_index + ', spawnDrone_api);' +
"let droneMe = function(NativeDate, me, Math, window, DroneManager," +
" GameManager, DroneLogAPI, FixedWingDroneAPI, BABYLON, " +
"GAMEPARAMETERS) {" +
"Date.now = function () {" +
"return me._API._gameManager.getCurrentTime();}; " +
"function Date() {if (!(this instanceof Date)) " +
"{throw new Error('Missing new operator');} " +
"if (arguments.length === 0) {return new NativeDate(Date.now());} " +
"else {return new NativeDate(...arguments);}}";
// Simple desactivation of direct access of all globals
// It is still accessible in reality, but it will me more visible
// if people really access them
if (spawnDrone_x !== null && spawnDrone_y !== null && spawnDrone_z !== null) {
code_eval += "me.setStartingPosition(" + spawnDrone_x + ", "
+ spawnDrone_y + ", " + spawnDrone_z + ");";
}
spawnDrone_base = code_eval;
code_eval +=
spawnDrone_code + "}; droneMe(Date, spawnDrone_drone, Math, {});";
spawnDrone_base += "};spawnDrone_droneList.push(spawnDrone_drone)";
code_eval += "spawnDrone_droneList.push(spawnDrone_drone)";
/*jslint evil: true*/
try {
eval(code_eval);
} catch (error) {
console.error(error);
eval(spawnDrone_base);
}
/*jslint evil: false*/
}
/******************************* DRONE MANAGER ********************************/
var DroneManager = /** @class */ (function () {
"use strict";
......@@ -27,6 +71,7 @@ var DroneManager = /** @class */ (function () {
this._maxClimbRate = 0;
this._maxCommandFrequency = 0;
this._last_command_timestamp = 0;
this._last_onUpdate_timestamp = 0;
this._speed = 0;
this._acceleration = 0;
this._direction = new BABYLON.Vector3(0, 0, 1); // North
......@@ -124,29 +169,39 @@ var DroneManager = /** @class */ (function () {
this._canCommunicate = true;
this._targetCoordinates = initial_position;
try {
return this.onStart(this._API._gameManager._game_duration);
return this.onStart(this._API._gameManager._start_time);
} catch (error) {
console.warn('Drone crashed on start due to error:', error);
this._internal_crash(error);
}
};
DroneManager.prototype._callSetTargetCommand =
function (latitude, longitude, altitude, speed, radius) {
var current_time = this._API._gameManager.getCurrentTime();
if (!this.isReadyToFly()) {
return;
}
if (current_time - this._last_command_timestamp
< 1000 / this._API.getMaxCommandFrequency()) {
this._internal_crash(new Error('Minimum interval between commands is ' +
1000 / this._API.getMaxCommandFrequency() + ' milliseconds'));
}
this._internal_setTargetCoordinates(latitude, longitude, altitude, speed,
radius);
this._last_command_timestamp = current_time;
};
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates =
function (latitude, longitude, altitude, speed) {
this._internal_setTargetCoordinates(latitude, longitude, altitude, speed);
this._callSetTargetCommand(latitude, longitude, altitude, speed);
};
DroneManager.prototype._internal_setTargetCoordinates =
function (latitude, longitude, altitude, speed, radius) {
if (!this._canPlay || !this.isReadyToFly()) {
if (!this._canPlay) {
return;
}
if (this._API._gameManager._game_duration - this._last_command_timestamp
< 1000 / this._API.getMaxCommandFrequency()) {
this._internal_crash(new Error('Minimum interval between commands is ' +
1000 / this._API.getMaxCommandFrequency() + ' milliseconds'));
}
//convert real geo-coordinates to virtual x-y coordinates
this._targetCoordinates =
this._API.processCoordinates(latitude, longitude, altitude);
......@@ -156,17 +211,30 @@ var DroneManager = /** @class */ (function () {
speed,
radius
);
this._last_command_timestamp = this._API._gameManager._game_duration;
};
DroneManager.prototype.internal_update = function (delta_time) {
var context = this;
var context = this,
current_time = this._API._gameManager.getCurrentTime(),
onUpdate_interval = this._API.getOnUpdateInterval(),
onUpdate_start;
if (this._controlMesh) {
context._API.internal_update(context, delta_time);
if (context._canUpdate) {
context._API.internal_position_update(context, delta_time);
if (context._canUpdate &&
current_time - this._last_onUpdate_timestamp >= onUpdate_interval) {
context._canUpdate = false;
return new RSVP.Queue()
.push(function () {
return context.onUpdate(context._API._gameManager._game_duration);
onUpdate_start = Date.now();
context._last_onUpdate_timestamp = current_time;
context.onUpdate(current_time);
if (onUpdate_interval > 0 &&
Date.now() - onUpdate_start > onUpdate_interval) {
throw new Error('onUpdate execution took ' +
(Date.now() - onUpdate_start) +
' milliseconds but loop interval is only ' +
onUpdate_interval +
' milliseconds');
}
})
.push(function () {
context._canUpdate = true;
......@@ -175,7 +243,7 @@ var DroneManager = /** @class */ (function () {
context._internal_crash(error);
})
.push(function () {
context._API.internal_post_update(context);
context._API.internal_info_update(context);
})
.push(undefined, function (error) {
console.warn('Drone crashed on update due to error:', error);
......@@ -274,7 +342,7 @@ var DroneManager = /** @class */ (function () {
this._controlMesh.position.z,
this._controlMesh.position.y
);
position.timestamp = this._API._gameManager._game_duration;
position.timestamp = this._API._gameManager.getCurrentTime();
return position;
}
return null;
......@@ -284,13 +352,7 @@ var DroneManager = /** @class */ (function () {
*/
DroneManager.prototype.loiter =
function (latitude, longitude, altitude, radius, speed) {
this._internal_setTargetCoordinates(
latitude,
longitude,
altitude,
speed,
radius
);
this._callSetTargetCommand(latitude, longitude, altitude, speed, radius);
};
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters) {
......@@ -298,6 +360,9 @@ var DroneManager = /** @class */ (function () {
}
return null;
};
DroneManager.prototype.getMaxCommandFrequency = function () {
return this._API.getMaxCommandFrequency();
};
DroneManager.prototype.getYaw = function () {
return this._API.getYaw(this);
};
......@@ -314,7 +379,9 @@ var DroneManager = /** @class */ (function () {
return this._API.takeOff();
};
DroneManager.prototype.land = function () {
return this._API.land(this);
if (!this.isLanding()) {
return this._API.land(this);
}
};
DroneManager.prototype.exit = function () {
return this._internal_crash();
......@@ -659,7 +726,6 @@ var GameManager = /** @class */ (function () {
this._droneList.forEach(function (drone) {
queue.push(function () {
drone._tick += 1;
if (drone._API.isCollidable && drone.can_play) {
if (drone.getCurrentPosition().altitude <= 0) {
if (!drone.isLanding()) {
......@@ -698,7 +764,8 @@ var GameManager = /** @class */ (function () {
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;
current_time = this.getCurrentTime(),
seconds = Math.floor(current_time / 1000), trace_objects;
if (GAMEPARAMETERS.log_drone_flight || GAMEPARAMETERS.draw_flight_path) {
this._droneList.forEach(function (drone, index) {
......@@ -717,7 +784,7 @@ var GameManager = /** @class */ (function () {
drone_position.z
);
game_manager._flight_log[index].push([
game_manager._game_duration, geo_coordinates.latitude,
current_time, geo_coordinates.latitude,
geo_coordinates.longitude,
map_info.start_AMSL + drone_position.z,
drone_position.z, drone.getYaw(), drone.getSpeed(),
......@@ -763,8 +830,7 @@ var GameManager = /** @class */ (function () {
};
GameManager.prototype._timeOut = function () {
var seconds = Math.floor(this._game_duration / 1000);
return this._totalTime - seconds <= 0;
return this._totalTime - this._game_duration <= 0;
};
GameManager.prototype._allDronesFinished = function () {
......@@ -903,14 +969,14 @@ var GameManager = /** @class */ (function () {
_this.ongoing_update_promise = null;
_this.finish_deferred = RSVP.defer();
console.log("Simulation started.");
this._game_duration = Date.now();
this._totalTime = GAMEPARAMETERS.gameTime + this._game_duration;
this._start_time = Date.now();
this._game_duration = 0;
this._totalTime = GAMEPARAMETERS.gameTime * 1000;
return new RSVP.Queue()
.push(function () {
promise_list = [];
_this._droneList.forEach(function (drone) {
drone._tick = 0;
promise_list.push(drone.internal_start(
_this._mapManager.getMapInfo().initial_position
));
......@@ -980,44 +1046,6 @@ var GameManager = /** @class */ (function () {
}
return false;
}
function spawnDrone(x, y, z, index, drone_info, api) {
var default_drone_AI = api.getDroneAI(), code, base, code_eval;
if (default_drone_AI) {
code = default_drone_AI;
} else {
code = drone_info.script_content;
}
code_eval = "let drone = new DroneManager(ctx._scene, " +
index + ', api);' +
"let droneMe = function(NativeDate, me, Math, window, DroneManager," +
" GameManager, DroneLogAPI, FixedWingDroneAPI, BABYLON, " +
"GAMEPARAMETERS) {" +
"var start_time = (new Date(2070, 0, 0, 0, 0, 0, 0)).getTime();" +
"Date.now = function () {" +
"return start_time + drone._tick * 1000/60;}; " +
"function Date() {if (!(this instanceof Date)) " +
"{throw new Error('Missing new operator');} " +
"if (arguments.length === 0) {return new NativeDate(Date.now());} " +
"else {return new NativeDate(...arguments);}}";
// Simple desactivation of direct access of all globals
// It is still accessible in reality, but it will me more visible
// if people really access them
if (x !== null && y !== null && z !== null) {
code_eval += "me.setStartingPosition(" + x + ", " + y + ", " + z + ");";
}
base = code_eval;
code_eval += code + "}; droneMe(Date, drone, Math, {});";
base += "};ctx._droneList.push(drone)";
code_eval += "ctx._droneList.push(drone)";
/*jslint evil: true*/
try {
eval(code_eval);
} catch (error) {
console.error(error);
eval(base);
}
/*jslint evil: false*/
}
function randomSpherePoint(x0, y0, z0, rx0, ry0, rz0) {
var u = Math.random(), v = Math.random(),
rx = Math.random() * rx0, ry = Math.random() * ry0,
......@@ -1045,11 +1073,15 @@ var GameManager = /** @class */ (function () {
i
);
spawnDrone(position.x, position.y, position.z, i,
drone_list[i], api);
drone_list[i], api, ctx._scene, ctx._droneList);
}
}
};
GameManager.prototype.getCurrentTime = function () {
return this._start_time + this._game_duration;
};
return GameManager;
}());
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
View file @ 2d2050eb
......@@ -240,7 +240,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.65027.38618.31573</string> </value>
<value> <string>1016.21987.28184.16844</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -260,7 +260,7 @@
</tuple>
<state>
<tuple>
<float>1709560536.57</float>
<float>1714742619.34</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js
View file @ 2d2050eb
......@@ -122,11 +122,13 @@
' }\n' +
' return;\n' +
' }\n' +
' me.exit(0);\n' +
' if (!me.isLanding()) { me.land() };\n' +
' if (me.getCurrentPosition().altitude <= 0) { me.exit(0) };\n' +
'};',
DRAW = true,
LOG = true,
LOG_TIME = 1662.7915426540285,
ONUPDATE_INTERVAL = 100,
DRONE_LIST = [],
WIDTH = 680,
HEIGHT = 340,
......@@ -191,6 +193,17 @@
"hidden": 0,
"type": "IntegerField"
},
"my_onupdate_interval": {
"description": "Minimum interval (in milliseconds) between 2 executions of onUpdate function as well as periodicity to send telemetry to the swarm",
"title": "OnUpdate interval",
"default": ONUPDATE_INTERVAL,
"css_class": "",
"required": 1,
"editable": 1,
"key": "onupdate_interval",
"hidden": 0,
"type": "IntegerField"
},
"my_drone_min_speed": {
"description": "",
"title": "Drone min speed",
......@@ -444,8 +457,8 @@
form_definition: {
group_list: [[
"left",
[["my_simulation_speed"], ["my_simulation_time"], ["my_number_of_drones"],
["my_minimum_latitud"], ["my_maximum_latitud"],
[["my_simulation_speed"], ["my_simulation_time"], ["my_onupdate_interval"],
["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_alt"],
["my_map_height"]]
......@@ -494,7 +507,8 @@
"maxPitchAngle": parseFloat(options.drone_max_pitch),
"maxSinkRate": parseFloat(options.drone_max_sink_rate),
"maxClimbRate": parseFloat(options.drone_max_climb_rate),
"maxCommandFrequency": parseFloat(options.drone_max_command_frequency)
"maxCommandFrequency": parseFloat(options.drone_max_command_frequency),
"onUpdateInterval": parseInt(options.onupdate_interval, 10)
},
"gameTime": parseInt(options.simulation_time, 10),
"simulation_speed": parseInt(options.simulation_speed, 10),
......
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60725.60577.24917</string> </value>
<value> <string>1015.64120.46679.6946</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709289017.41</float>
<float>1713425712.2</float>
<string>UTC</string>
</tuple>
</state>
......
bt5/erp5_officejs_drone_simulator_test/PathTemplateItem/web_page_module/test_drone_simulator_flight_js.js
View file @ 2d2050eb
......@@ -3,11 +3,10 @@
(function (window, rJS, domsugar, document, URLSearchParams, Blob) {
"use strict";
var SIMULATION_SPEED = 10,
SIMULATION_TIME = 270,
MAP_SIZE = 600,
map_height = 700,
start_AMSL = 595,
var SIMULATION_SPEED = 1,
LOOP_INTERVAL = 1000 / 60,
ON_UPDATE_INTERVAL = LOOP_INTERVAL,
SIMULATION_TIME = LOOP_INTERVAL / 1000,
DEFAULT_SPEED = 16,
MAX_ACCELERATION = 6,
MAX_DECELERATION = 1,
......@@ -19,7 +18,6 @@
MAX_CLIMB_RATE = 8,
MAX_SINK_RATE = 3,
NUMBER_OF_DRONES = 1,
FLAG_WEIGHT = 5,
MIN_LAT = 45.6364,
MAX_LAT = 45.65,
MIN_LON = 14.2521,
......@@ -78,9 +76,10 @@
' me.getCurrentPosition().longitude\n' +
' ).toFixed(8),\n' +
' time_interval = timestamp - me.start_time,\n' +
' expected_interval = 1000 / 60,\n' +
' expected_interval = ' + LOOP_INTERVAL + ',\n' +
' expectedDistance = (me.getSpeed() * expected_interval / 1000).toFixed(8);\n' +
' assert(time_interval.toFixed(4), expected_interval.toFixed(4), "Timestamp");\n' +
' assert(Date.now(), timestamp, "Date");\n' +
' assert(realDistance, expectedDistance, "Distance");\n' +
' current_position.latitude = current_position.latitude.toFixed(7);\n' +
' compare(current_position, {\n' +
......@@ -88,7 +87,6 @@
' longitude: me.initialPosition.longitude,\n' +
' altitude: me.initialPosition.altitude\n' +
' });\n' +
' me.exit(me.land());\n' +
'};',
DRAW = true,
LOG = true,
......@@ -175,35 +173,36 @@
game_parameters_json = {
"debug_test_mode": true,
"drone": {
"maxAcceleration": parseInt(MAX_ACCELERATION, 10),
"maxDeceleration": parseInt(MAX_DECELERATION, 10),
"minSpeed": parseInt(MIN_SPEED, 10),
"speed": parseFloat(DEFAULT_SPEED),
"maxSpeed": parseInt(MAX_SPEED, 10),
"maxRoll": parseFloat(MAX_ROLL),
"minPitchAngle": parseFloat(MIN_PITCH),
"maxPitchAngle": parseFloat(MAX_PITCH),
"maxSinkRate": parseFloat(MAX_SINK_RATE),
"maxClimbRate": parseFloat(MAX_CLIMB_RATE)
"maxAcceleration": MAX_ACCELERATION,
"maxDeceleration": MAX_DECELERATION,
"minSpeed": MIN_SPEED,
"speed": DEFAULT_SPEED,
"maxSpeed": MAX_SPEED,
"maxRoll": MAX_ROLL,
"minPitchAngle": MIN_PITCH,
"maxPitchAngle": MAX_PITCH,
"maxSinkRate": MAX_SINK_RATE,
"maxClimbRate": MAX_CLIMB_RATE,
"onUpdateInterval": ON_UPDATE_INTERVAL
},
"gameTime": parseInt(SIMULATION_TIME, 10),
"simulation_speed": parseInt(SIMULATION_SPEED, 10),
"gameTime": SIMULATION_TIME,
"simulation_speed": SIMULATION_SPEED,
"latency": {
"information": 0,
"communication": 0
},
"map": {
"min_lat": parseFloat(MIN_LAT),
"max_lat": parseFloat(MAX_LAT),
"min_lon": parseFloat(MIN_LON),
"max_lon": parseFloat(MAX_LON),
"height": parseInt(HEIGHT),
"start_AMSL": parseFloat(start_AMSL)
"min_lat": MIN_LAT,
"max_lat": MAX_LAT,
"min_lon": MIN_LON,
"max_lon": MAX_LON,
"height": HEIGHT,
"start_AMSL": start_AMSL
},
"initialPosition": {
"longitude": parseFloat(INIT_LON),
"latitude": parseFloat(INIT_LAT),
"altitude": parseFloat(INIT_ALT)
"longitude": INIT_LON,
"latitude": INIT_LAT,
"altitude": INIT_ALT
},
"draw_flight_path": DRAW,
"temp_flight_path": true,
......@@ -257,19 +256,27 @@
return form_gadget.getContent();
})
.push(function (result) {
var div = domsugar('div', { text: "CONSOLE LOG ENTRIES:" });
var div = domsugar('div', { text: "CONSOLE LOG ENTRIES:" }),
lines = result.console_log.split('\n'),
line_nb,
node,
test_log_node = document.querySelector('.test_log');;
document.querySelector('.container').parentNode.appendChild(div);
function createLogNode(message) {
var node = document.createElement("div");
var textNode = document.createTextNode(message);
node.appendChild(textNode);
return node;
function appendToTestLog(test_log_node, message) {
var log_node = document.createElement("div"),
textNode = document.createTextNode(message);
log_node.appendChild(textNode);
test_log_node.appendChild(log_node);
}
var lines = result.console_log.split('\n');
for (var i = 0;i < lines.length;i++) {
var node = createLogNode(lines[i]);
document.querySelector('.test_log').appendChild(node);
for (line_nb = 0; line_nb < lines.length; line_nb += 1) {
if (lines[line_nb] !== 'TIMEOUT!') {
appendToTestLog(test_log_node, lines[line_nb]);
} else {
appendToTestLog(test_log_node, 'Timeout: OK');
return;
}
}
appendToTestLog(test_log_node, 'Timeout: FAILED');
}, function (error) {
return gadget.notifySubmitted({message: "Error: " + error.message,
status: 'error'});
......
bt5/erp5_officejs_drone_simulator_test/PathTemplateItem/web_page_module/test_drone_simulator_flight_js.xml
View file @ 2d2050eb
......@@ -246,7 +246,7 @@
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1014.60681.20667.37171</string> </value>
<value> <string>1015.64176.45813.63488</string> </value>
</item>
<item>
<key> <string>state</string> </key>
......@@ -266,7 +266,7 @@
</tuple>
<state>
<tuple>
<float>1709286436.53</float>
<float>1713428376.53</float>
<string>UTC</string>
</tuple>
</state>
......
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