erp5_officejs_drone_simulator: fix timeout

See merge request nexedi/erp5!1903

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_enemydrone_js.js

@@ -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

@@ -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

@@ -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) {
+  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

@@ -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.xml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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.xml

@@ -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

@@ -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

@@ -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

@@ -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);
+          }
+          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;
             }
-          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);
           }
+          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

@@ -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>