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Commit febb13ae authored by Roque's avatar Roque
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[WEB-WORKER] [WIP] Drone simulator refactor 

- handle game finish
- handle web worker erros
- update flight log
- cleanup
- move all game logic into one file
- get rid of rescue swarm dependency
- simplify json game parameters
parent b9ba1073
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erp5_drone_simulator/PathTemplateItem/rescue_swarm_map_module/compare_map.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Rescue Swarm Map" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>medium_map</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value> <string>Map based on medium size map, use to compare simulated and real drone flights.\n
It has 2 drones: one for that simulates the real flight from a script (DroneAaileFixeAPI - id:0) and one that moves according to the log values (DroneLogAPI id:1)\n
Being run on (WIP) web_page_module/test_drone_simulator_gadget page, the log drone flight will be drawn on the map.</string> </value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>compare_map</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Rescue Swarm Map</string> </value>
</item>
<item>
<key> <string>text_content</string> </key>
<value> <string>{\n
"distances": {\n
"communication": 99999,\n
"control": 1500,\n
"information": 5\n
},\n
"drone": {\n
"maxAcceleration": 1,\n
"maxSpeed": 16.666667,\n
"collisionSector": 0.25,\n
"broadcastingTime": 1000,\n
"viewAngle": 60\n
},\n
"meteo": 0.5,\n
"derive": {\n
"speed": 0.1,\n
"direction": {\n
"x": 1,\n
"y": 0.5\n
}\n
},\n
"gameTime": 1800,\n
"goalDiameter": 7,\n
"goalPositionLeftTeam": {\n
"x": 0,\n
"y": 0,\n
"z": 0.6\n
},\n
"goalPositionRightTeam": {\n
"x": 0,\n
"y": 0,\n
"z": 0.6\n
},\n
"latency": {\n
"information": 0,\n
"communication": 0\n
},\n
"mapSize": {\n
"depth": 1000,\n
"height": 100,\n
"width": 1000\n
},\n
"obstacles": [],\n
"spawnPositions": [],\n
"initialHumanAreaPosition": {\n
"x": -400,\n
"y": 400,\n
"z": 0\n
},\n
"randomSpawn": {\n
"leftTeam": {\n
"position": {\n
"x": 0,\n
"y": 0,\n
"z": 20\n
},\n
"dispertion": {\n
"x": 8,\n
"y": 8,\n
"z": 6\n
},\n
"types": [\n
"DroneAaileFixeAPI",\n
"DroneLogAPI",\n
"DroneAPI"\n
]\n
},\n
"rightTeam": {\n
"position": {\n
"x": -400,\n
"y": 400,\n
"z": 0\n
},\n
"dispertion": {\n
"x": 100,\n
"y": 100,\n
"z": 0.1\n
}\n
}\n
},\n
"teamSize": 2\n
}</string> </value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>Compare map</string> </value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1657219036.22</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1002.12601.25029.46114</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1660228730.09</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/rescue_swarm_script_module/emulate_bounce.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Rescue Swarm Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value> <string>application/javascript</string> </value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>emulate_bounce</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value> <string>Bounce flight script: https://lab.nexedi.com/lpgeneau/flight-scripts/blob/update_loop/bouncy-flight.js</string> </value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>emulate_bounce</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Rescue Swarm Script</string> </value>
</item>
<item>
<key> <string>text_content</string> </key>
<value> <string encoding="cdata"><![CDATA[
const EPSILON = 70,\n
EPSILON_ALTITUDE = 5,\n
EPSILON_YAW = 6,\n
FLIGH_ALTITUDE = 100,\n
PARACHUTE_ALTITUDE = 35,\n
RADIUS = 30.001,\n
TARGET_YAW = 0,\n
checkpoint_list = [\n
{\n
"latitude": 45.641,\n
"longitude": 14.26472,\n
"altitude": 604\n
},\n
{\n
"latitude": 45.6463889,\n
"longitude": 14.2516,\n
"altitude": 642\n
},\n
{\n
"latitude": 45.656,\n
"longitude": 14.2516,\n
"altitude": 596\n
},\n
{\n
"latitude": 45.65916,\n
"longitude": 14.255,\n
"altitude": 634\n
},\n
{\n
"latitude": 45.6527,\n
"longitude": 14.2775,\n
"altitude": 676\n
},\n
{\n
"latitude": 45.6427,\n
"longitude": 14.2519,\n
"altitude": 589\n
},\n
{\n
"latitude": 45.641,\n
"longitude": 14.254,\n
"altitude": 582\n
},\n
{\n
"latitude": 45.6558,\n
"longitude": 14.2775,\n
"altitude": 686\n
},\n
{\n
"latitude": 45.6594,\n
"longitude": 14.271,\n
"altitude": 667\n
},\n
{\n
"latitude": 45.641,\n
"longitude": 14.258,\n
"altitude": 581\n
},\n
{\n
"latitude": 45.653,\n
"longitude": 14.2516,\n
"altitude": 584\n
},\n
{\n
"latitude": 45.6594,\n
"longitude": 14.26194,\n
"altitude": 633\n
},\n
{\n
"latitude": 45.641,\n
"longitude": 14.2716,\n
"altitude": 621\n
},\n
{\n
"latitude": 45.644,\n
"longitude": 14.2775,\n
"altitude": 642\n
},\n
{\n
"latitude": 45.6594,\n
"longitude": 14.26638,\n
"altitude": 660\n
},\n
{\n
"latitude": 45.6508,\n
"longitude": 14.25194,\n
"altitude": 591\n
}\n
];\n
\n
function altitudeReached(altitude, target_altitude) {\n
console.log(`[DEMO] Waiting for altitude... (${altitude} , ${target_altitude})`);\n
return Math.abs(altitude - target_altitude) < EPSILON_ALTITUDE;\n
}\n
\n
function distance(lat1, lon1, lat2, lon2) {\n
const R = 6371e3, // meters\n
la1 = lat1 * Math.PI/180, // la, lo in radians\n
la2 = lat2 * Math.PI/180,\n
lo1 = lon1 * Math.PI/180,\n
lo2 = lon2 * Math.PI/180;\n
\n
//haversine formula\n
const sin_lat = Math.sin((la2 - la1)/2),\n
sin_lon = Math.sin((lo2 - lo1)/2),\n
h = sin_lat*sin_lat + Math.cos(la1)*Math.cos(la2)*sin_lon*sin_lon;\n
return 2*R*Math.asin(Math.sqrt(h));\n
}\n
\n
function exit_on_fail(ret, msg) {\n
if (ret) {\n
console.log(msg);\n
me.exit(1);\n
}\n
}\n
\n
me.onStart = function() {\n
me.direction_set = false;\n
me.init_alt_reached = false;\n
me.landing_alt_reached = false;\n
me.next_checkpoint = 0;\n
me.parachute_triggered = false;\n
me.start_altitude = me.getInitialAltitude() + FLIGH_ALTITUDE;\n
\n
exit_on_fail(\n
me.setAltitude(me.start_altitude + 1),\n
"Failed to set start altitude");\n
};\n
\n
me.onUpdate = function(timestamp) {\n
if (!me.init_alt_reached) {\n
me.init_alt_reached = altitudeReached(me.getAltitudeAbs(), me.start_altitude);\n
return;\n
}\n
\n
if (me.must_wait > 0) {\n
if (!mustWait(timestamp)) {\n
me.must_wait = 0;\n
me.timestamp = 0;\n
}\n
return;\n
}\n
\n
if (!me.direction_set) {\n
if (me.next_checkpoint < checkpoint_list.length) {\n
exit_on_fail(\n
me.setTargetCoordinates(\n
checkpoint_list[me.next_checkpoint].latitude,\n
checkpoint_list[me.next_checkpoint].longitude,\n
checkpoint_list[me.next_checkpoint].altitude + FLIGH_ALTITUDE,\n
RADIUS\n
),\n
"Failed to set checkpoint coordinates");\n
console.log(`[DEMO] Going to Checkpoint ${me.next_checkpoint}\\n`)\n
} else {\n
console.log("[DEMO] Setting landing coordinates...\\n");\n
me.landing_altitude = me.getAltitudeAbs() - me.getCurrentPosition().z + PARACHUTE_ALTITUDE;\n
exit_on_fail(\n
me.setAltitude(me.landing_altitude),\n
"Failed to set landing altitude");\n
}\n
me.direction_set = true;\n
return;\n
}\n
\n
if (me.next_checkpoint < checkpoint_list.length) {\n
me.current_position = me.getCurrentPosition();\n
me.distance = distance(me.current_position.x, me.current_position.y,\n
checkpoint_list[me.next_checkpoint].latitude,\n
checkpoint_list[me.next_checkpoint].longitude);\n
if (me.distance > EPSILON) {\n
console.log(`Waiting for drone to get to destination (${me.distance} m)`);\n
} else {\n
console.log(`[DEMO] Reached Checkpoint ${me.next_checkpoint}\\n`);\n
exit_on_fail(\n
me.setCheckpoint(me.next_checkpoint),\n
"Failed to set checkpoint");\n
me.next_checkpoint += 1;\n
me.direction_set = false;\n
}\n
return;\n
}\n
\n
if (!me.landing_alt_reached) {\n
me.landing_alt_reached = altitudeReached(me.getAltitudeAbs(), me.landing_altitude);\n
return;\n
}\n
\n
if (!me.parachute_triggered) {\n
if (Math.abs(me.getYaw() - TARGET_YAW) < EPSILON_YAW) {\n
console.log("[DEMO] Deploying parachute...");\n
exit_on_fail(me.doParachute(2), "Failed to deploy parachute");\n
me.parachute_triggered = true;\n
} else {\n
return console.log(`[DEMO] Waiting for yaw...`);\n
}\n
}\n
\n
if (me.landed()) {\n
me.exit(0);\n
}\n
};\n
]]></string> </value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>emulate_bounce</string> </value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1660315056.56</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1002.23818.59984.50602</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1660839085.05</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/rescue_swarm_script_module/emulate_loiter.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Rescue Swarm Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value> <string>application/javascript</string> </value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>emulate_loiter</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value> <string>Loiter demo script: https://lab.nexedi.com/lpgeneau/flight-scripts/blob/update_loop/demo.js</string> </value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>emulate_loiter</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Rescue Swarm Script</string> </value>
</item>
<item>
<key> <string>text_content</string> </key>
<value> <string encoding="cdata"><![CDATA[
const ALTITUDE_DIFF = 30,\n
FLIGH_ALTITUDE = 100,\n
PARACHUTE_ALTITUDE = 35,\n
EPSILON = 105,\n
EPSILON_YAW = 6,\n
EPSILON_ALTITUDE = 5,\n
TARGET_YAW = 0,\n
checkpoint_list = [\n
{\n
"latitude": 45.64492790560583,\n
"longitude": 14.25334942966329,\n
"altitude": 585.1806861589965\n
},\n
{\n
"latitude": 45.64316335436476,\n
"longitude": 14.26332880184475,\n
"altitude": 589.8802607573035\n
},\n
{\n
"latitude": 45.64911917196595,\n
"longitude": 14.26214792790128,\n
"altitude": 608.6648153348965\n
},\n
{\n
"latitude": 45.64122685351364,\n
"longitude": 14.26590493128597,\n
"altitude": 606.1448368129072\n
},\n
{\n
"latitude": 45.64543355564817,\n
"longitude": 14.27242391207985,\n
"altitude": 630.0829598206344\n
},\n
{\n
"latitude": 45.6372792927328,\n
"longitude": 14.27533492411138,\n
"altitude": 616.1839898415284\n
},\n
{\n
"latitude": 45.64061299543953,\n
"longitude": 14.26161958465814,\n
"altitude": 598.0603137354178\n
},\n
{\n
"latitude": 45.64032340702919,\n
"longitude": 14.2682896662383,\n
"altitude": 607.1243119862851\n
}\n
],\n
landing_point = [\n
{\n
"latitude": 45.6398451,\n
"longitude": 14.2699217\n
}\n
],\n
LEADER_ID = 0,\n
IS_LEADER = me.id === LEADER_ID;\n
\n
function altitudeReached(altitude, target_altitude) {\n
console.log(`[DEMO] Waiting for altitude... (${altitude} , ${target_altitude})`);\n
return Math.abs(altitude - target_altitude) < EPSILON_ALTITUDE;\n
}\n
\n
function distance(lat1, lon1, lat2, lon2) {\n
const R = 6371e3, // meters\n
la1 = lat1 * Math.PI/180, // la, lo in radians\n
la2 = lat2 * Math.PI/180,\n
lo1 = lon1 * Math.PI/180,\n
lo2 = lon2 * Math.PI/180;\n
\n
//haversine formula\n
const sin_lat = Math.sin((la2 - la1)/2),\n
sin_lon = Math.sin((lo2 - lo1)/2),\n
h = sin_lat*sin_lat + Math.cos(la1)*Math.cos(la2)*sin_lon*sin_lon;\n
return 2*R*Math.asin(Math.sqrt(h));\n
}\n
\n
function exit_on_fail(ret, msg) {\n
if (ret) {\n
console.log(msg);\n
me.exit(1);\n
}\n
}\n
\n
function mustWait(timestamp) {\n
if(me.timestamp === 0) {\n
me.timestamp = timestamp;\n
}\n
return timestamp - me.timestamp < me.must_wait;\n
}\n
\n
me.onStart = function() {\n
me.direction_set = false;\n
me.init_alt_reached = false;\n
me.landing = false;\n
me.landing_alt_reached = false;\n
me.must_wait = 3000;\n
me.next_checkpoint = 0;\n
me.parachute_triggered = false;\n
me.start_altitude = me.getInitialAltitude() + FLIGH_ALTITUDE;\n
me.timestamp = 0;\n
\n
if (!IS_LEADER) {\n
me.follow_leader = true;\n
me.leader_init_alt_reached = false;\n
me.start_altitude += ALTITUDE_DIFF;\n
me.must_wait = 0;\n
}\n
exit_on_fail(\n
me.setAltitude(me.start_altitude + 1),\n
"Failed to set start altitude");\n
};\n
\n
me.onUpdate = function(timestamp) {\n
if (!me.init_alt_reached) {\n
me.init_alt_reached = altitudeReached(me.getAltitudeAbs(), me.start_altitude);\n
return;\n
}\n
\n
if (me.must_wait > 0) {\n
if (!mustWait(timestamp)) {\n
me.must_wait = 0;\n
me.timestamp = 0;\n
}\n
return;\n
}\n
\n
if (!IS_LEADER && me.follow_leader) {\n
if (me.drone_dict[LEADER_ID].altitudeAbs === 0) {\n
return console.log("[DEMO] Waiting for leader to send its altitude");\n
}\n
\n
if (!me.leader_init_alt_reached) {\n
me.leader_init_alt_reached = me.drone_dict[LEADER_ID].altitudeAbs >= me.start_altitude - ALTITUDE_DIFF;\n
return console.log(`[DEMO] Waiting for leader to reach altitude ${me.start_altitude - ALTITUDE_DIFF} (currently ${me.drone_dict[LEADER_ID].altitudeAbs})`);\n
}\n
\n
if (me.drone_dict[LEADER_ID].altitudeRel > PARACHUTE_ALTITUDE) {\n
exit_on_fail(\n
me.setTargetCoordinates(\n
me.drone_dict[LEADER_ID].latitude,\n
me.drone_dict[LEADER_ID].longitude,\n
me.drone_dict[LEADER_ID].altitudeAbs + ALTITUDE_DIFF,\n
30.001\n
),\n
"Failed to follow leader");\n
} else {\n
me.follow_leader = false;\n
me.next_checkpoint = me.drone_dict[LEADER_ID].lastCheckpoint + 1;\n
console.log("[DEMO] Stop following...\\n");\n
}\n
return;\n
}\n
\n
if (!me.direction_set) {\n
if (me.next_checkpoint < checkpoint_list.length) {\n
exit_on_fail(\n
me.setTargetCoordinates(\n
checkpoint_list[me.next_checkpoint].latitude,\n
checkpoint_list[me.next_checkpoint].longitude,\n
checkpoint_list[me.next_checkpoint].altitude + FLIGH_ALTITUDE,\n
100\n
),\n
"Failed to set checkpoint coordinates");\n
console.log(`[DEMO] Going to Checkpoint ${me.next_checkpoint}\\n`)\n
} else {\n
console.log("[DEMO] Setting landing coordinates...\\n");\n
me.landing_altitude = me.getAltitudeAbs() - me.getCurrentPosition().z + PARACHUTE_ALTITUDE;\n
exit_on_fail(\n
/*me.setTargetCoordinates(\n
checkpoint_list[checkpoint_list.length - 1].latitude,\n
checkpoint_list[checkpoint_list.length - 1].longitude,\n
me.landing_altitude,\n
100\n
),*/\n
me.setAltitude(me.landing_altitude),\n
"Failed to set landing coordinates");\n
}\n
me.direction_set = true;\n
return;\n
}\n
\n
if (me.next_checkpoint < checkpoint_list.length) {\n
me.current_position = me.getCurrentPosition();\n
me.distance = distance(me.current_position.x, me.current_position.y,\n
checkpoint_list[me.next_checkpoint].latitude,\n
checkpoint_list[me.next_checkpoint].longitude);\n
if (me.distance > EPSILON) {\n
console.log(`Waiting for drone to get to destination (${me.distance} m)`);\n
} else {\n
console.log(`[DEMO] Reached Checkpoint ${me.next_checkpoint}\\n`);\n
exit_on_fail(\n
me.setCheckpoint(me.next_checkpoint),\n
"Failed to set checkpoint");\n
me.next_checkpoint += 1;\n
me.direction_set = false;\n
me.must_wait = 30000;\n
me.loiter();\n
}\n
return;\n
}\n
\n
if (!me.landing_alt_reached) {\n
me.landing_alt_reached = altitudeReached(me.getAltitudeAbs(), me.landing_altitude);\n
return;\n
}\n
\n
if (!me.landing) {\n
me.current_position = me.getCurrentPosition();\n
me.distance = distance(me.current_position.x, me.current_position.y,\n
landing_point.latitude, landing_point.longitude);\n
if (me.distance > 20) {\n
console.log(`[DEMO] Waiting to reach landing point (current distance is ${me.distance})`);\n
} else {\n
console.log("[DEMO] Landing...\\n");\n
me.landing = true;\n
}\n
return;\n
}\n
\n
if (!me.parachute_triggered) {\n
if (Math.abs(me.getYaw() - TARGET_YAW) < EPSILON_YAW) {\n
console.log("[DEMO] Deploying parachute...");\n
exit_on_fail(me.doParachute(2), "Failed to deploy parachute");\n
me.parachute_triggered = true;\n
} else {\n
return console.log(`[DEMO] Waiting for yaw...`);\n
}\n
}\n
\n
if (me.landed()) {\n
me.exit(0);\n
}\n
};\n
]]></string> </value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>emulate_loiter</string> </value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1660314641.15</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1002.29699.24339.25053</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1661272768.61</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/rescue_swarm_script_module/log_bounce.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Rescue Swarm Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value> <string>application/javascript</string> </value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>log_bounce</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value> <string>Bouncy flight log. Corresponds to the flight for the script https://lab.nexedi.com/lpgeneau/flight-scripts/blob/update_loop/bouncy-flight.js</string> </value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>log_bounce</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Rescue Swarm Script</string> </value>
</item>
<item>
<key> <string>text_content</string> </key>
<value> <string>Waiting to discover msystem...\n
Discovered autopilot\n
Subscribing to flight mode...\n
Subscribing to Euler angle...\n
Subscribing to Fixedwing Metrics...\n
Subscribing to raw GPS...\n
Waiting for first telemetry\n
48199989; 45.6411; 14.2658; 595.355; 595.355; 7.22556; 10.5976; 0; 0.850025; 0; -0.00356272\n
MAVSDK started...\n
timestamp; latitude; longitude; AMSL (m); rel altitude (m); pitch (°); roll(°); yaw(°); air speed (m/s); throttle(%); climb rate(m/s)\n
Arming...\n
Taking off...\n
49875358; 45.6411; 14.2658; 595.355; 0; 7.18687; 10.7385; 0; -0.84838; 0; -0.00381378\n
51516302; 45.6411; 14.2658; 595.355; 0; 7.1862; 10.7699; 0; -0.499292; 0; 0.00203574\n
53175035; 45.6411; 14.2658; 595.355; 0; 7.3092; 10.6249; 0; 1.31015; 0; 0.00104045\n
54919034; 45.6411; 14.2658; 595.355; 0; 7.31917; 10.6832; 0; 0.303041; 0; -0.00113967\n
56603868; 45.6411; 14.2658; 595.355; 0; 7.11476; 10.7069; 0; 0.39773; 0; 5.07311e-05\n
58236632; 45.6411; 14.2658; 595.355; 0; 7.09078; 10.6611; 0; -0.350834; 0; 0.000191786\n
59911304; 45.6411; 14.2658; 595.37; 0.0150146; 6.6104; 5.86307; 0; 0.24487; 0.2; 0.0318771\n
61565775; 45.6412; 14.2658; 595.414; 0.05896; 6.59287; -8.42208; 0; -0.544803; 1; -0.0174662\n
63209949; 45.6411; 14.2658; 595.565; 0.209961; 7.81817; -5.79269; 0; 2.96276; 1; 0.264518\n
64875984; 45.6411; 14.2659; 595.92; 0.565002; 5.47531; 7.41876; 0; 6.85778; 1; 0.345894\n
66541691; 45.641; 14.266; 596.372; 1.01697; 2.25757; 3.637; 0; 14.7185; 1; 0.723768\n
68222529; 45.6408; 14.2662; 601.024; 5.66901; 14.9549; 0.874058; 0; 15.8707; 1; 3.92808\n
69878570; 45.6406; 14.2663; 608.04; 12.685; 17.0272; 0.354585; 0; 15.1373; 1; 4.3943\n
71596200; 45.6404; 14.2664; 615.231; 19.876; 15.7339; 10.4305; 0; 14.7009; 1; 3.91033\n
73234115; 45.6403; 14.2664; 621.384; 26.029; 13.8257; 16.4102; 0; 14.9923; 1; 3.60226\n
74870121; 45.6401; 14.2664; 627.364; 32.009; 13.6833; 17.1158; 0; 15.163; 1; 3.56657\n
76551692; 45.6399; 14.2663; 633.61; 38.255; 13.9717; 17.1559; 0; 15.3648; 1; 3.65774\n
78238079; 45.6398; 14.266; 640.063; 44.708; 14.3774; 16.8626; 0; 15.4085; 1; 3.79387\n
79913907; 45.6398; 14.2657; 646.476; 51.121; 14.3625; 16.7883; 0; 15.2824; 1; 3.78625\n
81580663; 45.6398; 14.2655; 652.811; 57.456; 14.4; 16.7988; 0; 15.2644; 1; 3.72985\n
83229129; 45.6399; 14.2652; 659.397; 64.042; 19.2064; -4.21334; 0; 14.8173; 0.8; 4.45395\n
84932596; 45.64; 14.265; 666.86; 71.505; 19.0092; -6.32396; 0; 13.8276; 0.8; 4.20562\n
86532622; 45.6401; 14.2648; 673.487; 78.132; 18.4048; -0.644627; 0; 13.4422; 0.8; 3.99394\n
88168977; 45.6401; 14.2646; 679.931; 84.576; 16.6414; 0.999718; 0; 13.4101; 0.8; 3.74593\n
89827899; 45.6402; 14.2644; 685.794; 90.439; 12.5774; 21.3303; 0; 13.8229; 0.8; 3.32594\n
91502517; 45.6404; 14.2643; 690.1; 94.745; 6.74677; 33.9622; 0; 15.4838; 0.8; 1.87387\n
93244887; 45.6406; 14.2643; 693.534; 98.179; 6.18782; 36.0097; 0; 16.6723; 0.69; 1.96237\n
94891834; 45.6407; 14.2646; 698.25; 102.895; 13.2196; -4.12677; 0; 16.6352; 0.61; 3.64505\n
96572640; 45.6409; 14.2648; 704.308; 108.953; 11.5581; -31.0408; 0; 15.7274; 0.68; 2.94197\n
98166895; 45.641; 14.265; 708.085; 112.73; 7.8721; -35.6; 0; 16.2858; 0.68; 2.041\n
99913843; 45.6413; 14.2649; 712.354; 116.999; 9.18767; -36.0896; 0; 16.6573; 0.71; 2.29843\n
101571380; 45.6414; 14.2647; 717.291; 121.936; 11.4876; -18.8475; 0; 16.364; 0.71; 3.47576\n
103207722; 45.6415; 14.2645; 723.835; 128.48; 14.5856; 1.76765; 0; 15.3546; 0.75; 4.13083\n
104872702; 45.6416; 14.2642; 729.696; 134.341; 11.6993; 0.249727; 0; 15.1928; 0.75; 3.37296\n
106519016; 45.6417; 14.264; 734.997; 139.642; 11.4019; -3.40923; 0; 15.4443; 0.71; 3.24772\n
108212477; 45.6418; 14.2637; 740.582; 145.227; 11.4853; -3.1054; 0; 15.4808; 0.69; 3.30155\n
109830095; 45.6419; 14.2635; 745.816; 150.461; 10.1919; -1.82978; 0; 15.4287; 0.59; 3.17775\n
111476548; 45.642; 14.2632; 750.386; 155.031; 7.43096; -2.04833; 0; 15.6919; 0.38; 2.43653\n
113242498; 45.6421; 14.263; 754.376; 159.021; 5.2848; -2.56734; 0; 16.175; 0.34; 2.1304\n
114809690; 45.6422; 14.2627; 757.443; 162.088; 3.63239; -2.24168; 0; 16.6139; 0.27; 1.87008\n
116517227; 45.6423; 14.2624; 760.251; 164.896; 2.27075; -2.29646; 0; 17.0294; 0.2; 1.44779\n
118162591; 45.6425; 14.2621; 762.347; 166.992; 0.805022; -2.1561; 0; 17.4011; 0.2; 1.14154\n
119870935; 45.6426; 14.2618; 764.057; 168.702; -0.400386; -2.05305; 0; 17.8383; 0.2; 0.907878\n
121567878; 45.6427; 14.2615; 765.353; 169.998; -1.27166; -2.01634; 0; 18.2438; 0.2; 0.631022\n
123209428; 45.6428; 14.2612; 766.199; 170.844; -2.19227; -1.98548; 0; 18.5418; 0.2; 0.430307\n
124881637; 45.6429; 14.2609; 766.675; 171.32; -2.98153; -1.69631; 0; 18.8187; 0.2; 0.223551\n
126523765; 45.6431; 14.2606; 766.798; 171.443; -3.69315; -1.74179; 0; 19.1412; 0.2; -0.00914227\n
128227555; 45.6432; 14.2603; 766.67; 171.315; -4.44126; -1.87262; 0; 19.3194; 0.2; -0.110746\n
129894813; 45.6433; 14.2599; 766.322; 170.967; -4.94231; -1.67774; 0; 19.4359; 0.2; -0.233203\n
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259861166; 45.6589; 14.2554; 745.571; 150.216; 3.79858; 5.5334; 0; 18.8436; 0.22; 1.53605\n
261545117; 45.6588; 14.2558; 749.535; 154.18; 5.70398; -3.48447; 0; 17.4871; 0.33; 2.56109\n
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329890511; 45.6548; 14.2695; 782.361; 187.006; -3.85785; -1.83273; 0; 19.4466; 0.2; -0.0753843\n
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353259889; 45.6535; 14.2744; 781.902; 186.547; -3.30356; -2.28348; 0; 19.3471; 0.2; 0.0566743\n
354860489; 45.6534; 14.2747; 781.987; 186.632; -3.31783; -2.43822; 0; 19.3273; 0.2; 0.0570984\n
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358228058; 45.6532; 14.2754; 782.028; 186.673; -3.21508; -2.55816; 0; 19.3696; 0.2; 0.00494097\n
359897153; 45.6531; 14.2758; 782.025; 186.67; -3.24221; -2.14614; 0; 19.3468; 0.2; 0.00790323\n
361539955; 45.653; 14.2761; 782.072; 186.717; -3.19884; -2.42136; 0; 19.2998; 0.2; 0.0481081\n
363262372; 45.6529; 14.2765; 782.13; 186.775; -3.2011; -2.85518; 0; 19.3356; 0.2; 0.0406296\n
364881449; 45.6528; 14.2768; 782.172; 186.817; -3.2763; -15.8974; 0; 19.344; 0.2; 0.0334191\n
366549553; 45.6528; 14.2772; 781.969; 186.614; -4.3755; 21.7171; 0; 19.3776; 0.2; -0.386368\n
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369873650; 45.6524; 14.2777; 776.666; 181.311; -8.51415; 34.9005; 0; 20.7689; 0.2; -2.18445\n
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396556410; 45.6501; 14.2722; 730.128; 134.773; -9.28219; -1.87146; 0; 21.0739; 0.2; -1.80643\n
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404926540; 45.6495; 14.2704; 715.697; 120.342; -8.8937; -2.27523; 0; 21.0283; 0.2; -1.75172\n
406542954; 45.6494; 14.27; 713.033; 117.678; -8.59399; -2.25003; 0; 21.0059; 0.2; -1.69151\n
408251581; 45.6493; 14.2697; 710.343; 114.988; -8.2714; -2.05412; 0; 20.9223; 0.2; -1.6107\n
409883569; 45.6491; 14.2693; 707.984; 112.629; -8.02095; -2.16785; 0; 20.881; 0.2; -1.45587\n
411573115; 45.649; 14.269; 705.82; 110.465; -7.76863; -2.10447; 0; 20.6609; 0.2; -1.33861\n
413173839; 45.6489; 14.2686; 703.882; 108.527; -7.41983; -2.33201; 0; 20.6433; 0.2; -1.26941\n
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416500269; 45.6486; 14.2679; 700.291; 104.936; -6.62225; -2.2687; 0; 20.4581; 0.2; -1.04258\n
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426558553; 45.6479; 14.2658; 693.678; 98.323; -4.35768; -2.15891; 0; 19.8913; 0.2; -0.399\n
428233842; 45.6478; 14.2655; 693.173; 97.818; -4.1787; -2.0233; 0; 19.7862; 0.2; -0.338459\n
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431595668; 45.6475; 14.2648; 692.548; 97.193; -3.74633; -2.32304; 0; 19.6304; 0.2; -0.168734\n
433220845; 45.6474; 14.2645; 692.415; 97.06; -3.55594; -2.2349; 0; 19.5684; 0.2; -0.110952\n
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436550155; 45.6472; 14.2638; 692.275; 96.92; -3.21061; -2.34254; 0; 19.5342; 0.2; -0.0756004\n
438166942; 45.6471; 14.2635; 692.288; 96.933; -3.08432; -2.60529; 0; 19.4462; 0.2; -0.0215696\n
439891528; 45.647; 14.2631; 692.405; 97.05; -3.09292; -2.06484; 0; 19.3992; 0.2; 0.0269946\n
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443173931; 45.6467; 14.2625; 692.809; 97.454; -2.98752; -2.27392; 0; 19.3298; 0.2; 0.0390473\n
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451558191; 45.6461; 14.2608; 693.957; 98.602; -2.99026; -2.35759; 0; 19.2277; 0.2; 0.110785\n
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454895308; 45.6459; 14.2601; 694.459; 99.104; -3.01618; -2.50063; 0; 19.2576; 0.2; 0.049315\n
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458262623; 45.6456; 14.2595; 694.802; 99.447; -2.94906; -2.57836; 0; 19.3446; 0.2; 0.0040902\n
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514867533; 45.6416; 14.255; 695.126; 99.771; 4.2542; -1.67708; 0; 18.0266; 0.58; 2.19461\n
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523245996; 45.6423; 14.2562; 716.704; 121.349; 9.12211; -2.19292; 0; 16.9353; 0.8; 2.92377\n
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536558477; 45.6434; 14.2581; 759.443; 164.088; 12.0072; -2.88991; 0; 15.6752; 0.8; 3.38674\n
538239633; 45.6436; 14.2583; 765.107; 169.752; 12.0608; -2.91343; 0; 15.6059; 0.8; 3.40214\n
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541514903; 45.6438; 14.2588; 776.149; 180.794; 12.318; -3.16949; 0; 15.4915; 0.8; 3.41922\n
543166020; 45.6439; 14.259; 781.618; 186.263; 11.0702; -2.98717; 0; 15.5153; 0.79; 3.16527\n
544852254; 45.6441; 14.2592; 786.488; 191.133; 8.92901; -3.09507; 0; 15.8171; 0.61; 2.76269\n
546574587; 45.6442; 14.2595; 790.739; 195.384; 7.16672; -3.05143; 0; 16.1455; 0.34; 2.29378\n
548235544; 45.6444; 14.2597; 794.201; 198.846; 5.12374; -3.11763; 0; 16.4405; 0.29; 1.9401\n
549857129; 45.6445; 14.26; 797.093; 201.738; 3.73493; -2.97173; 0; 16.7882; 0.24; 1.70242\n
551510013; 45.6446; 14.2602; 799.598; 204.243; 2.39321; -2.93906; 0; 17.1899; 0.2; 1.30943\n
553242005; 45.6448; 14.2605; 801.713; 206.358; 1.30364; -2.61955; 0; 17.5698; 0.2; 1.09462\n
554921531; 45.645; 14.2607; 803.367; 208.012; 0.347707; -2.50457; 0; 17.7864; 0.2; 0.886802\n
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563241450; 45.6458; 14.2621; 806.763; 211.408; -3.40644; -2.28248; 0; 19.0499; 0.2; 0.000683301\n
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571567889; 45.6467; 14.2635; 804.197; 208.842; -4.77466; -2.55253; 0; 19.8144; 0.2; -0.483516\n
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576582759; 45.6472; 14.2644; 801.565; 206.21; -5.0677; -2.47075; 0; 19.8602; 0.2; -0.516336\n
578246526; 45.6474; 14.2647; 800.651; 205.296; -5.08397; -2.31746; 0; 19.8679; 0.2; -0.516603\n
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581568669; 45.6477; 14.2652; 798.862; 203.507; -4.95236; -2.26684; 0; 19.9102; 0.2; -0.493869\n
583233901; 45.6479; 14.2655; 797.979; 202.624; -4.8982; -2.2432; 0; 19.8511; 0.2; -0.479627\n
584888728; 45.6481; 14.2658; 797.17; 201.815; -4.85397; -2.13608; 0; 19.8398; 0.2; -0.419112\n
586547231; 45.6483; 14.2661; 796.45; 201.095; -4.8398; -2.19912; 0; 19.8401; 0.2; -0.369304\n
588238560; 45.6485; 14.2664; 795.772; 200.417; -4.72545; -2.16265; 0; 19.7942; 0.2; -0.359577\n
589896650; 45.6486; 14.2667; 795.119; 199.764; -4.62565; -2.1652; 0; 19.8107; 0.2; -0.341214\n
591558113; 45.6488; 14.2669; 794.532; 199.177; -4.58588; -2.11579; 0; 19.7087; 0.2; -0.288165\n
593235579; 45.649; 14.2672; 794.03; 198.675; -4.39371; -2.07274; 0; 19.6858; 0.2; -0.243153\n
594850277; 45.6492; 14.2675; 793.568; 198.213; -4.34492; -2.24416; 0; 19.6736; 0.2; -0.219997\n
596592405; 45.6494; 14.2678; 793.123; 197.768; -4.14754; -2.46295; 0; 19.5885; 0.2; -0.205899\n
598243797; 45.6495; 14.2681; 792.685; 197.33; -4.0439; -2.5647; 0; 19.643; 0.2; -0.200996\n
599887583; 45.6497; 14.2683; 792.326; 196.971; -3.9168; -2.25704; 0; 19.5811; 0.2; -0.135565\n
601571354; 45.6499; 14.2686; 792.077; 196.722; -3.84868; -2.26569; 0; 19.5354; 0.2; -0.0605588\n
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604902949; 45.6502; 14.2692; 791.67; 196.315; -3.75632; -2.31031; 0; 19.5221; 0.2; -0.0325629\n
606554596; 45.6504; 14.2695; 791.582; 196.227; -3.69863; -2.28083; 0; 19.3931; 0.2; 0.0166809\n
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1194817402; 45.6548; 14.2699; 766.163; 170.808; -3.32557; -2.38289; 0; 19.362; 0.2; 0.0436715\n
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1199867177; 45.6556; 14.2694; 766.268; 170.913; -3.35474; -2.49377; 0; 19.318; 0.2; 0.0366908\n
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1273238790; 45.6545; 14.2578; 696.718; 101.363; -4.81083; -2.24014; 0; 20.0463; 0.2; -0.536406\n
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1293220126; 45.6524; 14.2544; 694.826; 99.471; -2.87925; -3.02312; 0; 19.3067; 0.2; 0.109395\n
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1321506786; 45.6512; 14.2514; 664.803; 69.448; -11.4463; 26.4216; 0; 21.8662; 0.2; -2.81048\n
1323240061; 45.6512; 14.2519; 660.408; 65.053; -10.7225; 21.4601; 0; 21.7355; 0.2; -2.45697\n
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_aaile_fixe_api_js.js deleted 100644 → 0
View file @ b9ba1073
/// <reference path="./GameManager.ts" />
TAKEOFF_RADIUS = 60;
LOITER_LIMIT = 30;
LOITER_RADIUS_FACTOR = 0.60;
LOITER_SPEED_FACTOR = 1.5;
var DroneAaileFixeAPI = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneAaileFixeAPI(gameManager, team, flight_parameters) {
this._gameManager = gameManager;
this._team = team;
this._flight_parameters = flight_parameters;
this._loiter_radius = 0;
this._last_loiter_point_reached = -1;
this._last_altitude_point_reached = -1;
}
Object.defineProperty(DroneAaileFixeAPI.prototype, "team", {
//*************************************************** ACCESSOR *****************************************************
get: function () {
if (this._team == "L")
return this._gameManager.teamLeft;
else if (this._team == "R")
return this._gameManager.teamRight;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
DroneAaileFixeAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
//#endregion
//#region ------------------ Accessible from AI
DroneAaileFixeAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneAaileFixeAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo", "initialHumanAreaPosition"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneAaileFixeAPI.prototype._isWithinDroneView = function (drone_position, element_position) {
// Check if element is under the drone cone-view
var angle = GAMEPARAMETERS.drone.viewAngle ? GAMEPARAMETERS.drone.viewAngle : 60,
radius = drone_position.z * Math.tan(angle/2 * Math.PI/180),
distance = (drone_position.x - element_position.x) * (drone_position.x - element_position.x) +
(drone_position.y - element_position.y) * (drone_position.y - element_position.y);
if (distance < (radius*radius))
return true;
return false;
};
DroneAaileFixeAPI.prototype._getProbabilityOfDetection = function (drone_position) {
var h = drone_position.z,
km = GAMEPARAMETERS.meteo;
prob = 20 * (1 + (110-h)/25) * km;
return prob;
};
DroneAaileFixeAPI.prototype.isHumanPositionSpottedCalculation = function (drone) {
var context = this,
result = false,
drone_position = drone.infosMesh.position;
//swap axes back
drone_position = {
x: drone_position.x,
y: drone_position.z,
z: drone_position.y
};
context._gameManager.teamRight.forEach(function (human) {
if (human.infosMesh && context._isWithinDroneView(drone_position, human.position)) {
var prob = context._getProbabilityOfDetection(drone_position),
random = Math.floor(Math.random()*101);
if (random < prob)
result = true;
}
});
return result;
};
DroneAaileFixeAPI.prototype.isHumanPositionSpotted = function (drone) {
var context = this,
human_detected;
if (drone.__is_calculating_human_position !== true) {
drone.__is_calculating_human_position = true;
//human detection is done with the info captured by the drone
//at the moment this method is called
human_detected = context.isHumanPositionSpottedCalculation(drone);
context._gameManager.delay(function () {
drone.__is_calculating_human_position = false;
try {
drone.onCapture(human_detected);
} catch (error) {
console.warn('Drone crashed on capture due to error:', error);
drone._internal_crash();
}
}, 2000);
}
};
DroneAaileFixeAPI.prototype.processCoordinates = function (lat, lon, z, r) {
if(isNaN(lat) || isNaN(lon) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
var flightParameters = this.getFlightParameters();
function longitudToX(lon, flightParameters) {
return (flightParameters.MAP_SIZE / 360.0) * (180 + lon);
}
function latitudeToY(lat, flightParameters) {
return (flightParameters.MAP_SIZE / 180.0) * (90 - lat);
}
function normalizeToMap(x, y, flightParameters) {
var n_x = (x - flightParameters.MIN_X) / (flightParameters.MAX_X - flightParameters.MIN_X),
n_y = (y - flightParameters.MIN_Y) / (flightParameters.MAX_Y - flightParameters.MIN_Y);
return [n_x * 1000 - flightParameters.MAP_SIZE / 2, n_y * 1000 - flightParameters.MAP_SIZE / 2];
}
var x = longitudToX(lon, flightParameters),
y = latitudeToY(lat, flightParameters),
position = normalizeToMap(x, y, flightParameters);
if (z > flightParameters.start_AMSL) {
z -= flightParameters.start_AMSL;
}
var processed_coordinates = {
x: position[0],
y: position[1],
z: z
};
if (r && r > LOITER_LIMIT) {
this._loiter_radius = r * LOITER_RADIUS_FACTOR;
this._loiter_center = processed_coordinates;
this._loiter_coordinates = [];
this._last_loiter_point_reached = -1;
var x1, y1;
//for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
for (var angle = 360; angle > 0; angle-=8){ //clockwise
x1 = this._loiter_radius * Math.cos(angle * (Math.PI / 180)) + this._loiter_center.x;
y1 = this._loiter_radius * Math.sin(angle * (Math.PI / 180)) + this._loiter_center.y;
this._loiter_coordinates.push(this.processCurrentPosition(x1, y1, z));
}
}
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
return processed_coordinates;
};
DroneAaileFixeAPI.prototype.processCurrentPosition = function (x, y, z) {
//convert x-y coordinates into latitud-longitude
var flightParameters = this.getFlightParameters();
var lon = x + flightParameters.map_width / 2;
lon = lon / 1000;
lon = lon * (flightParameters.MAX_X - flightParameters.MIN_X) + flightParameters.MIN_X;
lon = lon / (flightParameters.map_width / 360.0) - 180;
var lat = y + flightParameters.map_height / 2;
lat = lat / 1000;
lat = lat * (flightParameters.MAX_Y - flightParameters.MIN_Y) + flightParameters.MIN_Y;
lat = 90 - lat / (flightParameters.map_height / 180.0);
return {
x: lat,
y: lon,
z: z
};
};
DroneAaileFixeAPI.prototype.loiter = function (drone) {
function distance(c1, c2) {
var R = 6371e3,
q1 = c1[0] * Math.PI / 180,
q2 = c2[0] * Math.PI / 180,
dq = (c2[0] - c1[0]) * Math.PI / 180,
dl = (c2[1] - c1[1]) * Math.PI / 180,
a = Math.sin(dq / 2) * Math.sin(dq / 2) +
Math.cos(q1) * Math.cos(q2) *
Math.sin(dl / 2) * Math.sin(dl / 2),
c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
return R * c;
}
if (this._loiter_radius > LOITER_LIMIT) {
var drone_pos = drone.getCurrentPosition();
//shift loiter circle to nearest point
if (this._last_loiter_point_reached === -1) {
if (!this.shifted) {
drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
var min = 9999, min_i;
for (var i = 0; i < this._loiter_coordinates.length; i++){
var d = distance([drone_pos.x, drone_pos.y], [this._loiter_coordinates[i].x, this._loiter_coordinates[i].y]);
if (d < min) {
min = d;
min_i = i;
}
}
this._loiter_coordinates = this._loiter_coordinates.concat(this._loiter_coordinates.splice(0,min_i));
this.shifted = true;
}
} else {
this.shifted = false;
}
//stop
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
if (drone._maxSpeed !== this.getMaxSpeed()) {
drone._maxSpeed = this.getMaxSpeed();
}
drone.setDirection(0, 0, 0);
return;
}
//loiter
var next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_loiter_point_reached += 1;
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
return;
}
next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
}
}
};
DroneAaileFixeAPI.prototype.getDroneAI = function () {
return null;
};
DroneAaileFixeAPI.prototype.setAltitude = function (altitude, drone, skip_loiter) {
this.takeoff_path = [];
if (skip_loiter) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(drone_pos.x, drone_pos.y, altitude);
return;
}
var x1, y1,
LOOPS = 1,
CIRCLE_ANGLE = 8,
current_point = 0,
total_points = 360/CIRCLE_ANGLE*LOOPS,
initial_altitude = drone.getAltitudeAbs(),
center = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
for (var l = 0; l <= LOOPS; l+=1){
for (var angle = 360; angle > 0; angle-=CIRCLE_ANGLE){ //clockwise sense
current_point++;
x1 = TAKEOFF_RADIUS * Math.cos(angle * (Math.PI / 180)) + center.x;
y1 = TAKEOFF_RADIUS * Math.sin(angle * (Math.PI / 180)) + center.y;
if (current_point < total_points/3) {
var FACTOR = 0.5;
x1 = center.x*FACTOR + x1*(1-FACTOR);
y1 = center.y*FACTOR + y1*(1-FACTOR);
}
this.takeoff_path.push({x: x1, y: y1, z: initial_altitude + current_point * (altitude-initial_altitude)/total_points});
}
}
};
DroneAaileFixeAPI.prototype.reachAltitude = function (drone) {
function distance(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2));
}
//stop
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
drone._start_altitude = 0;
drone.setDirection(0, 0, 0);
return;
}
//loiter
var drone_pos = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
var next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_altitude_point_reached += 1;
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
return;
}
next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
}
};
DroneAaileFixeAPI.prototype.getMaxSpeed = function () {
return GAMEPARAMETERS.drone.maxSpeed;
};
DroneAaileFixeAPI.prototype.doParachute = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.landed = function (drone) {
var drone_pos = drone.getCurrentPosition();
return Math.floor(drone_pos.z) === 0;
};
DroneAaileFixeAPI.prototype.exit = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getAltitudeAbs = function (altitude) {
return altitude;
};
DroneAaileFixeAPI.prototype.getMinHeight = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getMaxHeight = function () {
return 800;
};
DroneAaileFixeAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneAaileFixeAPI;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_aaile_fixe_api_js.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
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<pickle>
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<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
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<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
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<key> <string>_View_Permission</string> </key>
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<string>Anonymous</string>
<string>Assignee</string>
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<string>Auditor</string>
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<value> <string>DroneAaileFixeAPI.js</string> </value>
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<value> <string>drone_web_worker_aaile_fixe_api_js</string> </value>
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<key> <string>language</string> </key>
<value>
<none/>
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<key> <string>portal_type</string> </key>
<value> <string>Web Script</string> </value>
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<value> <string>Drone Aaile Fixe API JS</string> </value>
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<none/>
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_api_js.js deleted 100644 → 0
View file @ b9ba1073
/// <reference path="./GameManager.ts" />
var DroneAPI = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneAPI(gameManager, team) {
this._gameManager = gameManager;
this._team = team;
}
Object.defineProperty(DroneAPI.prototype, "team", {
//*************************************************** ACCESSOR *****************************************************
get: function () {
if (this._team == "L")
return this._gameManager.teamLeft;
else if (this._team == "R")
return this._gameManager.teamRight;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
DroneAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
//#endregion
//#region ------------------ Accessible from AI
DroneAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo", "initialHumanAreaPosition"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneAPI.prototype._isWithinDroneView = function (drone_position, element_position) {
// Check if element is under the drone cone-view
var angle = GAMEPARAMETERS.drone.viewAngle ? GAMEPARAMETERS.drone.viewAngle : 60,
radius = drone_position.z * Math.tan(angle/2 * Math.PI/180),
distance = (drone_position.x - element_position.x) * (drone_position.x - element_position.x) +
(drone_position.y - element_position.y) * (drone_position.y - element_position.y);
if (distance < (radius*radius))
return true;
return false;
};
DroneAPI.prototype._getProbabilityOfDetection = function (drone_position) {
var h = drone_position.z,
km = GAMEPARAMETERS.meteo;
prob = 20 * (1 + (110-h)/25) * km;
return prob;
};
DroneAPI.prototype.isHumanPositionSpottedCalculation = function (drone) {
var context = this,
result = false,
drone_position = drone.infosMesh.position;
//swap axes back
drone_position = {
x: drone_position.x,
y: drone_position.z,
z: drone_position.y
};
context._gameManager.teamRight.forEach(function (human) {
if (human.infosMesh && context._isWithinDroneView(drone_position, human.position)) {
var prob = context._getProbabilityOfDetection(drone_position),
random = Math.floor(Math.random()*101);
if (random < prob)
result = true;
}
});
return result;
};
DroneAPI.prototype.isHumanPositionSpotted = function (drone) {
var context = this,
human_detected;
if (drone.__is_calculating_human_position !== true) {
drone.__is_calculating_human_position = true;
//human detection is done with the info captured by the drone
//at the moment this method is called
human_detected = context.isHumanPositionSpottedCalculation(drone);
context._gameManager.delay(function () {
drone.__is_calculating_human_position = false;
try {
drone.onCapture(human_detected);
} catch (error) {
console.warn('Drone crashed on capture due to error:', error);
drone._internal_crash();
}
}, 2000);
}
};
DroneAPI.prototype.getDirectionFromCoordinates = function (x, y, z, drone_position) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
x -= drone_position.x;
y -= drone_position.y;
z -= drone_position.z;
if (this._team == "R")
y = -y;
return {
x: x,
y: y,
z: z
};
};
DroneAPI.prototype.setAltitude = function (altitude) {
//TODO
return;
};
DroneAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneAPI.prototype.getAltitudeAbs = function () {
return 0;
};
DroneAPI.prototype.getMinHeight = function () {
return 9;
};
DroneAPI.prototype.getMaxHeight = function () {
return 220;
};
DroneAPI.prototype.getDroneAI = function () {
return null;
};
DroneAPI.prototype.getMaxSpeed = function () {
return GAMEPARAMETERS.drone.maxSpeed;
};
return DroneAPI;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_api_js.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
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<global name="Web Script" module="erp5.portal_type"/>
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<string>Assignor</string>
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_manager_js.js deleted 100644 → 0
View file @ b9ba1073
/// <reference path="./typings/babylon.3.1.d.ts" />
/// <reference path="./DroneAPI.ts" />
/// <reference path="./DroneLogAPI.ts" />
/// <reference path="./DroneAaileFixeAPI.ts" />
var DroneManager = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneManager(scene, id, team, API) {
var _this = this;
// Mesh
this._mesh = null;
this._controlMesh = null;
this._colliderBackMesh = null;
this._canPlay = false;
this._canCommunicate = false;
this._maxAcceleration = 0;
this._maxSpeed = 0;
this._speed = 0;
this._acceleration = 0;
this._direction = BABYLON.Vector3.Zero();
this._rotationSpeed = 0.4;
this._maxOrientation = Math.PI / 4;
this._scene = scene;
this._canUpdate = true;
this._id = id;
this._leader_id = 0;
this._team = team;
this._start_loiter = 0;
this._start_altitude = 0;
this._API = API; // var API created on AI evel
// Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox("droneControl_" + id, 0.01, this._scene);
this._controlMesh.isVisible = false;
if (this._team == "R")
this._controlMesh.rotation = new BABYLON.Vector3(0, Math.PI, 0);
this._controlMesh.computeWorldMatrix(true);
// Create the mesh from the drone prefab
this._mesh = DroneManager.Prefab.clone("drone_" + id, this._controlMesh);
this._mesh.position = BABYLON.Vector3.Zero();
this._mesh.isVisible = false;
this._mesh.computeWorldMatrix(true);
// Get the back collider
this._mesh.getChildMeshes().forEach(function (mesh) {
if (mesh.name.substring(mesh.name.length - 13) == "Dummy_arriere") {
_this._colliderBackMesh = mesh;
_this._colliderBackMesh.isVisible = false;
}
else {
if (_this._team !== "R") {
mesh.isVisible = true;
} else {
mesh.isVisible = false;
_this._colliderBackMesh = mesh;
_this._colliderBackMesh.isVisible = false;
}
}
});
// Team color
if (!DroneManager.PrefabBlueMat || !DroneManager.PrefabRedMat) {
DroneManager.PrefabBlueMat = new BABYLON.StandardMaterial("blueTeamMat", scene);
DroneManager.PrefabBlueMat.diffuseTexture = new BABYLON.Texture("assets/drone/drone_bleu.jpg", scene);
DroneManager.PrefabRedMat = new BABYLON.StandardMaterial("redTeamMat", scene);
DroneManager.PrefabRedMat.diffuseTexture = new BABYLON.Texture("assets/drone/drone_rouge.jpg", scene);
}
this._propellerAnimMeshes = [];
this._mesh.getChildren().forEach(function (mesh) {
// Propeller animation
if (mesh.name.substring(mesh.name.length - 7, mesh.name.length - 1) == "helice") {
var anim = new BABYLON.Animation("propellerTurning_" + mesh.name, "rotation.y", 20, BABYLON.Animation.ANIMATIONTYPE_FLOAT, BABYLON.Animation.ANIMATIONLOOPMODE_CYCLE);
var keys = [
{ frame: 0, value: 0 },
{ frame: 2, value: Math.PI },
{ frame: 4, value: Math.PI * 2 }
];
anim.setKeys(keys);
mesh.animations.push(anim);
_this._scene.beginAnimation(mesh, 0, 4, true);
_this._propellerAnimMeshes.push(mesh);
}
else {
if (_this._team == "L") {
mesh.material = DroneManager.PrefabBlueMat;
}
else if (_this._team == "R") {
mesh.material = DroneManager.PrefabRedMat;
}
}
});
}
DroneManager.prototype._swapAxe = function (vector) {
return new BABYLON.Vector3(vector.x, vector.z, vector.y);
};
Object.defineProperty(DroneManager.prototype, "leader_id", {
//*************************************************** ACCESSOR *****************************************************
get: function () { return this._leader_id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "id", {
//*************************************************** ACCESSOR *****************************************************
get: function () { return this._id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "team", {
get: function () { return this._team; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderMesh", {
get: function () { return this._mesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderBackMesh", {
get: function () { return this._colliderBackMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "infosMesh", {
get: function () { return this._controlMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "position", {
get: function () {
if (this._controlMesh !== null) {
return this._swapAxe(this._controlMesh.position);
}
return null;
},
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "rotation", {
get: function () { return this._swapAxe(this._controlMesh.rotation); },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "speed", {
get: function () { return this._speed; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "direction", {
get: function () { return this._swapAxe(this._direction); },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "worldDirection", {
get: function () {
var t = this.team === "L" ? 1 : -1;
return new BABYLON.Vector3(t * this._direction.x, this._direction.y, t * this._direction.z);
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
// Function called by the GameManager
// Set internal variables then call API function
DroneManager.prototype.internal_start = function () {
this._maxAcceleration = GAMEPARAMETERS.drone.maxAcceleration;
if (this._team == "R") {
if (GAMEPARAMETERS.derive) {
this._maxSpeed = GAMEPARAMETERS.derive.speed;
} else {
this._maxSpeed = 0;
}
} else {
this._maxSpeed = this._API.getMaxSpeed();
}
this._canPlay = true;
this._canCommunicate = true;
try {
return this.onStart();
} catch (error) {
console.warn('Drone crashed on start due to error:', error);
this._internal_crash();
}
};
/**
* Set a target point to move
*/
DroneManager.prototype.internal_setTargetCoordinates = function (x, y, z) {
if (!this._canPlay)
return;
x -= this._controlMesh.position.x;
y -= this._controlMesh.position.z;
z -= this._controlMesh.position.y;
this.setDirection(x, y, z);
this.setAcceleration(this._maxAcceleration);
return;
};
DroneManager.prototype.internal_update = function (delta_time) {
var context = this;
if (this._controlMesh) {
if (context._rotationTarget) {
var rotStep = BABYLON.Vector3.Zero();
var diff = context._rotationTarget.subtract(context._controlMesh.rotation);
if (diff.x >= 1)
rotStep.x = 1;
else
rotStep.x = diff.x;
if (diff.y >= 1)
rotStep.y = 1;
else
rotStep.y = diff.y;
if (diff.z >= 1)
rotStep.z = 1;
else
rotStep.z = diff.z;
if (rotStep == BABYLON.Vector3.Zero()) {
context._rotationTarget = null;
return;
}
var newrot = new BABYLON.Vector3(context._controlMesh.rotation.x + (rotStep.x * context._rotationSpeed), context._controlMesh.rotation.y + (rotStep.y * context._rotationSpeed), context._controlMesh.rotation.z + (rotStep.z * context._rotationSpeed));
context._controlMesh.rotation = newrot;
}
context._speed += context._acceleration * delta_time / 1000;
if (context._speed > context._maxSpeed)
context._speed = context._maxSpeed;
if (context._speed < -context._maxSpeed)
context._speed = -context._maxSpeed;
var updateSpeed = context._speed * delta_time / 1000;
if (context._direction.x != 0
|| context._direction.y != 0
|| context._direction.z != 0) {
context._controlMesh.position.addInPlace(new BABYLON.Vector3(context._direction.x * updateSpeed, context._direction.y * updateSpeed, context._direction.z * updateSpeed));
}
var orientationValue = context._maxOrientation * (context._speed / context._maxSpeed);
context._mesh.rotation = new BABYLON.Vector3(orientationValue * context._direction.z, 0, -orientationValue * context._direction.x);
context._controlMesh.computeWorldMatrix(true);
context._mesh.computeWorldMatrix(true);
if (context._canUpdate) {
context._canUpdate = false;
return new RSVP.Queue()
.push(function () {
return context.onUpdate(context._API._gameManager._game_duration);
})
.push(function () {
context._canUpdate = true;
}, function (err) {
console.warn('Drone crashed on update due to error:', err);
context._internal_crash();
})
.push(function () {
if (context._start_loiter > 0) {
context._API.loiter(context);
}
if (context._start_altitude > 0) {
context._API.reachAltitude(context);
}
});
}
return;
}
return;
};
DroneManager.prototype.internal_touch = function () {
var _this = this;
this.setRotationBy(0, 0, 0);
this.setDirection(0, 0, -1);
this.setAcceleration(this._maxAcceleration);
this._canPlay = false;
if (this._propellerAnimMeshes != null) {
try {
this._propellerAnimMeshes.forEach(function (mesh) {
_this._scene.stopAnimation(mesh);
});
}
catch (ex) { }
this._propellerAnimMeshes = null;
}
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
this.onTouched();
};
DroneManager.prototype._internal_crash = function () {
var _this = this;
if (this._propellerAnimMeshes !== null) {
try {
this._propellerAnimMeshes.forEach(function (mesh) {
_this._scene.stopAnimation(mesh);
});
}
catch (ex) { }
this._propellerAnimMeshes = null;
}
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
this._canPlay = false;
this.onTouched();
this._API._gameManager._onDroneInternalCrash(this);
};
DroneManager.prototype._internal_dispose = function () {
if (this._mesh) {
this._mesh.dispose();
this._mesh = null;
this._controlMesh.dispose();
this._controlMesh = null;
}
};
DroneManager.prototype.internal_finish = function () {
this._canPlay = false;
this._canCommunicate = false;
this._controlMesh = null;
};
DroneManager.prototype.can_play = function () {
return this._canPlay;
};
//#endregion
//#region ------------------ Accessible from AI
// Function callable by "me.functionName()" in AI code
// -- Starting info
/**
* Set the starting position of the drone
* Take x,y,z coordinates as parameters
*/
DroneManager.prototype.setStartingPosition = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Position coordinates must be numbers');
}
if (!this._canPlay) {
if (z <= 0.05)
z = 0.05;
this._controlMesh.position = new BABYLON.Vector3(x, z, y);
}
this._controlMesh.computeWorldMatrix(true);
this._mesh.computeWorldMatrix(true);
};
//#region -- Movements
/**
* Set the drone acceleration
* It is in meter / second
*/
DroneManager.prototype.setAcceleration = function (factor) {
if (!this._canPlay)
return;
if (isNaN(factor)){
throw new Error('Acceleration must be a number');
}
if (factor > this._maxAcceleration)
factor = this._maxAcceleration;
this._acceleration = factor;
};
//#region -- Movements
/**
* Set the human derive acceleration
* It is in meter / second
* It has no cap to allow constant speed
*/
DroneManager.prototype.setHumanAcceleration = function (factor) {
if (!this._canPlay)
return;
if (isNaN(factor)){
throw new Error('Acceleration must be a number');
}
this._acceleration = factor;
};
/**
* Set the drone direction
*/
DroneManager.prototype.setDirection = function (x, y, z) {
if (!this._canPlay)
return;
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Direction coordinates must be numbers');
}
this._direction = new BABYLON.Vector3(x, z, y).normalize();
};
/**
* Set the drone rotation
*/
DroneManager.prototype.setRotation = function (x, y, z) {
if (!this._canPlay)
return;
if (this._team == "R")
y += Math.PI;
this._rotationTarget = new BABYLON.Vector3(x, z, y);
};
/**
* Add this rotation to the actual drone rotation
*/
DroneManager.prototype.setRotationBy = function (x, y, z) {
if (!this._canPlay)
return;
this._rotationTarget = new BABYLON.Vector3(this.rotation.x + x, this.rotation.y + z, this.rotation.z + y);
};
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates = function (x, y, z, r) {
if (!this._canPlay)
return;
//HACK too specific for DroneAaileFixe, should be a flag: (bool)process?
if (r !== -1) {
this._start_loiter = 0;
this._maxSpeed = this._API.getMaxSpeed();
}
this._start_altitude = 0;
var coordinates = this._API.processCoordinates(x, y, z, r);
coordinates.x -= this._controlMesh.position.x;
coordinates.y -= this._controlMesh.position.z;
coordinates.z -= this._controlMesh.position.y;
if (this.team == "R")
coordinates.y = -coordinates.y;
this.setDirection(coordinates.x, coordinates.y, coordinates.z);
this.setAcceleration(this._maxAcceleration);
return;
};
//#endregion
//#region -- Messaging
/**
* Send a message to team drones
* @param msg The message to send
* @param id The targeted drone. -1 or nothing to broadcast
*/
DroneManager.prototype.sendMsg = function (msg, id) {
//TODO
return;
var _this = this;
if (!this._canCommunicate)
return;
if (id >= 0) { }
else
id = -1;
if (_this.infosMesh) {
return _this._API.internal_sendMsg(JSON.parse(JSON.stringify(msg)), id);
}
};
/**
* Perform a console.log with drone id + the message
*/
DroneManager.prototype.log = function (msg) { };
//#endregion
//#region -- Game informations
/**
* Get drone max height
*/
DroneManager.prototype.getMaxHeight = function () {
return this._API.getMaxHeight();
};
/**
* Get drone min height
*/
DroneManager.prototype.getMinHeight = function () {
return this._API.getMinHeight();
};
/**
* Get drone initial altitude
*/
DroneManager.prototype.getInitialAltitude = function () {
return this._API.getInitialAltitude();
};
/**
* Get drone absolute altitude
*/
DroneManager.prototype.getAltitudeAbs = function () {
if (this._controlMesh) {
var altitude = this._controlMesh.position.y;
return this._API.getAltitudeAbs(altitude);
}
return null;
};
/**
* Get a game parameter by name
* @param name Name of the parameter to retrieve
*/
DroneManager.prototype.getGameParameter = function (name) {
if (!this._canCommunicate)
return;
return this._API.getGameParameter(name);
};
/**
* get if drone detects the human position
*/
DroneManager.prototype.isHumanPositionSpotted = function () {
if (!this._canCommunicate)
return;
return this._API.isHumanPositionSpotted(this);
};
/**
* get current drone position
*/
DroneManager.prototype.getCurrentPosition = function () {
if (this._controlMesh)
return this._API.processCurrentPosition(
this._controlMesh.position.x,
this._controlMesh.position.z,
this._controlMesh.position.y
);
return null;
};
/**
* Set the drone altitude
* @param altitude information to be set
*/
DroneManager.prototype.setAltitude = function (altitude, skip_loiter) {
if (!this._canPlay)
return;
if (this._start_altitude === 0) {
this._start_altitude = 1;
}
altitude = this._API.setAltitude(altitude, this, skip_loiter);
return;
};
/**
* Make the drone loiter
*/
DroneManager.prototype.loiter = function () {
if (!this._canPlay)
return;
if (this._start_loiter === 0) {
this._start_loiter = 1;
}
};
/**
* Set the reported human position
* @param position information to be set
*/
DroneManager.prototype.reportHumanPosition = function (position) {
this._API._gameManager.reportHumanPosition(position);
};
/**
* get log flight parameters
*/
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters)
return this._API.getFlightParameters();
return null;
};
/**
* get yaw flight parameters
*/
DroneManager.prototype.getYaw = function () {
//TODO
return 0;
};
/**
* do parachute
*/
DroneManager.prototype.doParachute = function () {
return this._API.doParachute(this);
};
/**
* exit
*/
DroneManager.prototype.exit = function () {
return this._API.exit(this);
};
/**
* landed
*/
DroneManager.prototype.landed = function () {
return this._API.landed(this);
};
/**
* Set the drone last checkpoint reached
* @param checkpoint to be set
*/
DroneManager.prototype.setCheckpoint = function (checkpoint) {
//TODO
return null;
};
//#endregion
//#endregion
//#region ------------------ To be defined in AI code
// Function called on evt.
// These functions must be defined in the AI code
/**
* Function called on game start
*/
DroneManager.prototype.onStart = function () { };
;
/**
* Function called on game update
*/
DroneManager.prototype.onUpdate = function (timestamp) { };
;
/**
* Function called when drone die (crash or collision)
*/
DroneManager.prototype.onTouched = function () { };
;
/**
* Function called when a message is received
* @param msg The message
*/
DroneManager.prototype.onGetMsg = function (msg) { };
;
/**
* Function called when drone finishes the detection process
* @param human_detected true or false
*/
DroneManager.prototype.onCapture = function (human_detected) { };
;
return DroneManager;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_drone_manager_js.xml deleted 100644 → 0
View file @ b9ba1073
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erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_game_manager_js.js
View file @ febb13ae
...@@ -61,14 +61,12 @@ var GameManager = /** @class */ (function () { ...@@ -61,14 +61,12 @@ var GameManager = /** @class */ (function () {
GameManager.prototype.run = function () { GameManager.prototype.run = function () {
var gadget = this; var gadget = this;
return gadget._init(); return gadget._init()
}; .push(function () {
//TODO return result
GameManager.prototype.event = function (event) { gadget._final_score = "fake-result 000";
var _this = this; return gadget._final_score;
//TODO });
console.log("[GM] Event. this._camera:", this._camera);
console.log("[GM] Event. event:", event);
}; };
GameManager.prototype.update = function () { GameManager.prototype.update = function () {
...@@ -90,7 +88,11 @@ var GameManager = /** @class */ (function () { ...@@ -90,7 +88,11 @@ var GameManager = /** @class */ (function () {
_this.ongoing_update_promise = null; _this.ongoing_update_promise = null;
triggerUpdateIfPossible(); triggerUpdateIfPossible();
}) })
.push(undefined, _this.finish_deferred.reject.bind(_this.finish_deferred)); .push(undefined, function(error) {
console.log("ERROR on update:", error);
console.log("rejecting finish_deferred promise...");
_this.finish_deferred.reject.bind(_this.finish_deferred);
});
} }
} }
triggerUpdateIfPossible(); triggerUpdateIfPossible();
...@@ -202,12 +204,23 @@ var GameManager = /** @class */ (function () { ...@@ -202,12 +204,23 @@ var GameManager = /** @class */ (function () {
}); });
return queue return queue
//TODO finish .push(function () {
/*.push(function () { if (_this._timeOut()) {
if (_this._allDroneAreOut()) { console.log("TIMEOUT!");
return _this._finish(); return _this._finish();
} }
})*/; });
};
GameManager.prototype._timeOut = function () {
var seconds = Math.floor(this._game_duration / 1000);
return this._totalTime - seconds <= 0;
};
GameManager.prototype._finish = function () {
console.log("Simulation finished");
this._canUpdate = false;
return this.finish_deferred.resolve();
}; };
GameManager.prototype._dispose = function () { GameManager.prototype._dispose = function () {
...@@ -392,7 +405,6 @@ var GameManager = /** @class */ (function () { ...@@ -392,7 +405,6 @@ var GameManager = /** @class */ (function () {
// Timing // Timing
this._game_duration = 0; this._game_duration = 0;
this._totalTime = GAMEPARAMETERS.gameTime; this._totalTime = GAMEPARAMETERS.gameTime;
this._canUpdate = true;
return new RSVP.Queue() return new RSVP.Queue()
.push(function () { .push(function () {
...@@ -408,34 +420,7 @@ var GameManager = /** @class */ (function () { ...@@ -408,34 +420,7 @@ var GameManager = /** @class */ (function () {
return RSVP.all(promise_list); return RSVP.all(promise_list);
}) })
.push(function () { .push(function () {
//The loop is handle from the outside (webworker) _this._canUpdate = true;
//_this._scene.registerBeforeRender(function () { console.log("loop"); });
/*_this._scene.registerBeforeRender(function () {
// To increase the game speed, increase this value
_this._max_step_animation_frame = 10;
// time delta means that drone are updated every virtual second
// This is fixed and must not be modified
// otherwise, it will lead to different scenario results
// (as drone calculations may be triggered less often)
var TIME_DELTA = 1000 / 60, i;
// init the value on the first step
_this.waiting_update_count = _this._max_step_animation_frame;
function triggerUpdateIfPossible() {
if ((_this._canUpdate) && (_this.ongoing_update_promise === null) && (0 < _this.waiting_update_count)) {
_this.ongoing_update_promise = _this._update(TIME_DELTA, (_this.waiting_update_count === 1))
.push(function () {
_this.waiting_update_count -= 1;
_this.ongoing_update_promise = null;
triggerUpdateIfPossible();
})
.push(undefined, _this.finish_deferred.reject.bind(_this.finish_deferred));
}
}
triggerUpdateIfPossible();
});*/
//TODO solving promise so game-start finishes and web worker can update
_this.finish_deferred.resolve();
return _this.finish_deferred.promise; return _this.finish_deferred.promise;
}); });
}; };
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_game_manager_js.xml
View file @ febb13ae
...@@ -10,11 +10,8 @@ ...@@ -10,11 +10,8 @@
<key> <string>_Access_contents_information_Permission</string> </key> <key> <string>_Access_contents_information_Permission</string> </key>
<value> <value>
<tuple> <tuple>
<string>Anonymous</string>
<string>Assignee</string> <string>Assignee</string>
<string>Assignor</string> <string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string> <string>Manager</string>
</tuple> </tuple>
</value> </value>
...@@ -52,11 +49,8 @@ ...@@ -52,11 +49,8 @@
<key> <string>_View_Permission</string> </key> <key> <string>_View_Permission</string> </key>
<value> <value>
<tuple> <tuple>
<string>Anonymous</string>
<string>Assignee</string> <string>Assignee</string>
<string>Assignor</string> <string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string> <string>Manager</string>
</tuple> </tuple>
</value> </value>
...@@ -169,7 +163,7 @@ ...@@ -169,7 +163,7 @@
<dictionary> <dictionary>
<item> <item>
<key> <string>action</string> </key> <key> <string>action</string> </key>
<value> <string>publish_alive</string> </value> <value> <string>hide</string> </value>
</item> </item>
<item> <item>
<key> <string>actor</string> </key> <key> <string>actor</string> </key>
...@@ -195,7 +189,7 @@ ...@@ -195,7 +189,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1662555757.05</float> <float>1664290777.68</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
...@@ -204,7 +198,7 @@ ...@@ -204,7 +198,7 @@
</item> </item>
<item> <item>
<key> <string>validation_state</string> </key> <key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value> <value> <string>hidden</string> </value>
</item> </item>
</dictionary> </dictionary>
</list> </list>
...@@ -244,7 +238,7 @@ ...@@ -244,7 +238,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1003.14332.42567.56439</string> </value> <value> <string>1003.15811.41174.17766</string> </value>
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -262,7 +256,7 @@ ...@@ -262,7 +256,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1664202073.56</float> <float>1664291563.2</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_log_api_js.js deleted 100644 → 0
View file @ b9ba1073
/// <reference path="./GameManager.ts" />
var DroneLogAPI = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function DroneLogAPI(gameManager, team, flight_parameters) {
this._gameManager = gameManager;
this._team = team;
this._flight_parameters = flight_parameters;
}
Object.defineProperty(DroneLogAPI.prototype, "team", {
//*************************************************** ACCESSOR *****************************************************
get: function () {
if (this._team == "L")
return this._gameManager.teamLeft;
else if (this._team == "R")
return this._gameManager.teamRight;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
//#region ------------------ Internal
DroneLogAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
//#endregion
//#region ------------------ Accessible from AI
DroneLogAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneLogAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize", "teamSize", "derive", "meteo", "initialHumanAreaPosition"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneLogAPI.prototype._isWithinDroneView = function (drone_position, element_position) {
// Check if element is under the drone cone-view
var angle = GAMEPARAMETERS.drone.viewAngle ? GAMEPARAMETERS.drone.viewAngle : 60,
radius = drone_position.z * Math.tan(angle/2 * Math.PI/180),
distance = (drone_position.x - element_position.x) * (drone_position.x - element_position.x) +
(drone_position.y - element_position.y) * (drone_position.y - element_position.y);
if (distance < (radius*radius))
return true;
return false;
};
DroneLogAPI.prototype._getProbabilityOfDetection = function (drone_position) {
var h = drone_position.z,
km = GAMEPARAMETERS.meteo;
prob = 20 * (1 + (110-h)/25) * km;
return prob;
};
DroneLogAPI.prototype.isHumanPositionSpottedCalculation = function (drone) {
var context = this,
result = false,
drone_position = drone.infosMesh.position;
//swap axes back
drone_position = {
x: drone_position.x,
y: drone_position.z,
z: drone_position.y
};
context._gameManager.teamRight.forEach(function (human) {
if (human.infosMesh && context._isWithinDroneView(drone_position, human.position)) {
var prob = context._getProbabilityOfDetection(drone_position),
random = Math.floor(Math.random()*101);
if (random < prob)
result = true;
}
});
return result;
};
DroneLogAPI.prototype.isHumanPositionSpotted = function (drone) {
var context = this,
human_detected;
if (drone.__is_calculating_human_position !== true) {
drone.__is_calculating_human_position = true;
//human detection is done with the info captured by the drone
//at the moment this method is called
human_detected = context.isHumanPositionSpottedCalculation(drone);
context._gameManager.delay(function () {
drone.__is_calculating_human_position = false;
try {
drone.onCapture(human_detected);
} catch (error) {
console.warn('Drone crashed on capture due to error:', error);
drone._internal_crash();
}
}, 2000);
}
};
DroneLogAPI.prototype.processCoordinates = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
return {
x: x,
y: y,
z: z
};
};
DroneLogAPI.prototype.getDroneAI = function () {
return 'function distance(p1, p2) {' +
'var a = p1[0] - p2[0],' +
'b = p1[1] - p2[1];' +
'return Math.sqrt(a * a + b * b);' +
'}' +
'me.onStart = function() {' +
'console.log("DRONE LOG START!");' +
'if (!me.getFlightParameters())' +
'throw "DroneLog API must implement getFlightParameters";' +
'me.flightParameters = me.getFlightParameters();' +
'me.checkpoint_list = me.flightParameters.converted_log_point_list;' +
'me.startTime = new Date();' +
'me.initTimestamp = me.flightParameters.converted_log_point_list[0][3];' +
'me.setTargetCoordinates(me.checkpoint_list[0][0], me.checkpoint_list[0][1], me.checkpoint_list[0][2]);' +
'me.last_checkpoint_reached = -1;' +
'me.setAcceleration(10);' +
'};' +
'me.onUpdate = function () {' +
'var next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'if (distance([me.position.x, me.position.y], next_checkpoint) < 12) {' +
'var log_elapsed = next_checkpoint[3] - me.initTimestamp,' +
'time_elapsed = new Date() - me.startTime;' +
'if (time_elapsed < log_elapsed) {' +
'me.setDirection(0, 0, 0);' +
'return;' +
'}' +
'if (me.last_checkpoint_reached + 1 === me.checkpoint_list.length - 1) {' +
'me.setTargetCoordinates(me.position.x, me.position.y, me.position.z);' +
'return;' +
'}' +
'me.last_checkpoint_reached += 1;' +
'next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'} else {' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'}' +
'};';
};
DroneLogAPI.prototype.setAltitude = function (altitude) {
return altitude;
};
DroneLogAPI.prototype.getMaxSpeed = function () {
return 3000;
};
DroneLogAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneLogAPI.prototype.getAltitudeAbs = function () {
return 0;
};
DroneLogAPI.prototype.getMinHeight = function () {
return 0;
};
DroneLogAPI.prototype.getMaxHeight = function () {
return 220;
};
DroneLogAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneLogAPI;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_log_api_js.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Web Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_md5</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>DroneLogAPI.js</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>drone_web_worker_log_api_js</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Web Script</string> </value>
</item>
<item>
<key> <string>short_title</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>Drone Log API JS</string> </value>
</item>
<item>
<key> <string>version</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
<item>
<key> <string>processing_status_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662556208.64</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1003.194.53408.47940</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1663355083.2</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="5" aka="AAAAAAAAAAU=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>external_processing_state</string> </key>
<value> <string>empty</string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>0.0.0.0</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662555993.19</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_logic_js.js
View file @ febb13ae
/*global GameManager, console*/ /*global GameManager, console*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*********************** DRONE SIMULATOR LOGIC ********************************/
var runGame, updateGame, eventGame, game_manager_instance; var runGame, updateGame, eventGame, game_manager_instance;
// game.js // game.js
(function () { (function () {
"use strict"; "use strict";
console.log('game logic'); console.log('game logic');
runGame = function (canvas, script, game_parameters_json, log) { runGame = function (canvas, script, log) {
var game_parameters_json = {
"drone": {
"maxAcceleration": 1,
"maxSpeed": 16.666667
},
"gameTime": 1800,
"latency": {
"information": 0,
"communication": 0
},
"initialPosition": {
"x": 0,
"y": 0,
"z": 20
},
"droneList": ["DroneAaileFixeAPI", "DroneLogAPI"]
};
function processLog(game_parameters_json, log) { function processLog(game_parameters_json, log) {
var MAP_SIZE = 1000, var MAP_SIZE,
MIN_HEIGHT = 15, MIN_HEIGHT = 15,
MIN_X, MIN_X,
MAX_X, MAX_X,
...@@ -52,8 +74,7 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -52,8 +74,7 @@ var runGame, updateGame, eventGame, game_manager_instance;
lat, lon, x, y, position, min_lon = 99999, min_lat = 99999, lat, lon, x, y, position, min_lon = 99999, min_lat = 99999,
max_lon = 0, max_lat = 0, previous, start_position, dist = 0, max_lon = 0, max_lat = 0, previous, start_position, dist = 0,
path_point, average_speed = 0, flight_time, log_interval_time, path_point, average_speed = 0, flight_time, log_interval_time,
previous_log_time, height, timestamp, destination_lon, previous_log_time, height, timestamp, log_header_found, time_offset = 1,
destination_lat, log_header_found, time_offset = 1,
flight_dist = 0, start_AMSL = 0; flight_dist = 0, start_AMSL = 0;
for (i = 0; i < line_list.length; i += 1) { for (i = 0; i < line_list.length; i += 1) {
if (!log_header_found && !line_list[i].includes("timestamp;")) { if (!log_header_found && !line_list[i].includes("timestamp;")) {
...@@ -118,8 +139,6 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -118,8 +139,6 @@ var runGame, updateGame, eventGame, game_manager_instance;
lat = parseFloat(splitted_log_entry[1]); lat = parseFloat(splitted_log_entry[1]);
lon = parseFloat(splitted_log_entry[2]); lon = parseFloat(splitted_log_entry[2]);
if (i === log_entry_list.length - 1) { if (i === log_entry_list.length - 1) {
destination_lon = lon;
destination_lat = lat;
end_time = timestamp; end_time = timestamp;
} }
height = parseFloat(splitted_log_entry[4]); height = parseFloat(splitted_log_entry[4]);
...@@ -153,11 +172,6 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -153,11 +172,6 @@ var runGame, updateGame, eventGame, game_manager_instance;
"y": 3.5, "y": 3.5,
"z": 3.5 "z": 3.5
}, },
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"color": { "color": {
"r": 0, "r": 0,
"g": 255, "g": 255,
...@@ -177,6 +191,7 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -177,6 +191,7 @@ var runGame, updateGame, eventGame, game_manager_instance;
average_speed = average_speed / log_entry_list.length; average_speed = average_speed / log_entry_list.length;
log_interval_time = log_interval_time / log_entry_list.length / time_offset; log_interval_time = log_interval_time / log_entry_list.length / time_offset;
flight_time = (end_time - start_time) / 1000 / time_offset; flight_time = (end_time - start_time) / 1000 / time_offset;
//TODO refactor this
game_parameters_json.compareFlights = { game_parameters_json.compareFlights = {
log: true, log: true,
draw: true, draw: true,
...@@ -196,25 +211,25 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -196,25 +211,25 @@ var runGame, updateGame, eventGame, game_manager_instance;
converted_log_point_list: converted_log_point_list converted_log_point_list: converted_log_point_list
}; };
game_parameters_json.drone.maxSpeed = (flight_dist / flight_time) * SPEED_FACTOR; game_parameters_json.drone.maxSpeed = (flight_dist / flight_time) * SPEED_FACTOR;
game_parameters_json.obstacles = path_point_list; game_parameters_json.flight_path_point_list = path_point_list;
game_parameters_json.randomSpawn.leftTeam.position.x = start_position[0]; game_parameters_json.initialPosition.x = start_position[0];
game_parameters_json.randomSpawn.leftTeam.position.y = start_position[1]; game_parameters_json.initialPosition.y = start_position[1];
game_parameters_json.randomSpawn.leftTeam.position.z = start_position[2]; game_parameters_json.initialPosition.z = start_position[2];
game_parameters_json.gameTime = flight_time; game_parameters_json.gameTime = flight_time;
//give map some margin from the flight //give map some margin from flight limits
game_parameters_json.mapSize.width = MAP_SIZE * 1.10; MAP_SIZE *= 1.10;
game_parameters_json.mapSize.depth = MAP_SIZE * 1.10; game_parameters_json.mapSize = {
//flight destination "depth": MAP_SIZE,
var destination_x = longitudToX(destination_lon), "height": 100,
destination_y = latitudeToY(destination_lat), "width": MAP_SIZE
destination = normalizeToMap(destination_x, destination_y); }
game_parameters_json.randomSpawn.rightTeam.position.x = destination[0]; /*game_parameters_json.mapSize.width = MAP_SIZE * 1.10;
game_parameters_json.randomSpawn.rightTeam.position.y = destination[1]; game_parameters_json.mapSize.depth = MAP_SIZE * 1.10;*/
return game_parameters_json; return game_parameters_json;
} }
console.log('runGame', canvas);
game_parameters_json = processLog(game_parameters_json, log); game_parameters_json = processLog(game_parameters_json, log);
if (!game_manager_instance) { if (!game_manager_instance) {
game_manager_instance = new GameManager(canvas, script, game_manager_instance = new GameManager(canvas, script,
game_parameters_json, 5); game_parameters_json, 5);
...@@ -223,11 +238,9 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -223,11 +238,9 @@ var runGame, updateGame, eventGame, game_manager_instance;
}; };
updateGame = function () { updateGame = function () {
if (game_manager_instance) {
return game_manager_instance.update(); return game_manager_instance.update();
}; }
eventGame = function (event) {
return game_manager_instance.event(event);
}; };
/*// Resize canvas on window resize /*// Resize canvas on window resize
...@@ -237,3 +250,1301 @@ var runGame, updateGame, eventGame, game_manager_instance; ...@@ -237,3 +250,1301 @@ var runGame, updateGame, eventGame, game_manager_instance;
}(this)); }(this));
/******************************************************************************/
/******************************** GAME MANAGER ********************************/
var GAMEPARAMETERS = {};
function randomSpherePoint(x0, y0, z0, rx0, ry0, rz0) {
var u = Math.random(), v = Math.random(),
rx = Math.random() * rx0, ry = Math.random() * ry0,
rz = Math.random() * rz0, theta = 2 * Math.PI * u,
phi = Math.acos(2 * v - 1),
x = x0 + (rx * Math.sin(phi) * Math.cos(theta)),
y = y0 + (ry * Math.sin(phi) * Math.sin(theta)),
z = z0 + (rz * Math.cos(phi));
return new BABYLON.Vector3(x, y, z);
}
var GameManager = /** @class */ (function () {
// *** CONSTRUCTOR ***
function GameManager(canvas, script, game_parameters_json, simulation_speed) {
var _this = this;
this._canvas = canvas;
this._scene = null;
this._engine = null;
this._droneList = [];
this._canUpdate = false;
if (!simulation_speed) { simulation_speed = 5; }
this._max_step_animation_frame = simulation_speed;
Object.assign(GAMEPARAMETERS, game_parameters_json);
this._game_parameters_json = game_parameters_json;
this._map_swapped = false;
this._script = script;
this._last_position_drawn = [];
this._log_count = [];
this._flight_log = [];
//TODO drop the use of RS map and use a JSON instead. drop randomspawn and similar names //rename all
//TODO do this in above, in game logic game_parameters_json
//move this to JSON dict
if (GAMEPARAMETERS.compareFlights) {
for (var count = 0; count < GAMEPARAMETERS.droneList.length; count++) {
this._flight_log[count] = [];
this._log_count[count] = 0;
this._last_position_drawn[count] = null;
}
this._colors = [
new BABYLON.Color3(255, 165, 0),
new BABYLON.Color3(0, 0, 255),
new BABYLON.Color3(255, 0, 0),
new BABYLON.Color3(0, 255, 0)
];
}
this.APIs_dict = {
DroneAaileFixeAPI: DroneAaileFixeAPI,
DroneLogAPI: DroneLogAPI
};
}
Object.defineProperty(GameManager.prototype, "gameParameter", {
get: function () {
return this._gameParameter;
},
enumerable: true,
configurable: true
});
GameManager.prototype.run = function () {
var gadget = this;
return gadget._init()
.push(function () {
//TODO return result
gadget._final_score = "fake-result 000";
return gadget._final_score;
});
};
GameManager.prototype.update = function () {
var _this = this;
// To increase the game speed, increase this value
_this._max_step_animation_frame = 10;
// time delta means that drone are updated every virtual second
// This is fixed and must not be modified
// otherwise, it will lead to different scenario results
// (as drone calculations may be triggered less often)
var TIME_DELTA = 1000 / 60, i;
// init the value on the first step
_this.waiting_update_count = _this._max_step_animation_frame;
function triggerUpdateIfPossible() {
if ((_this._canUpdate) && (_this.ongoing_update_promise === null) && (0 < _this.waiting_update_count)) {
_this.ongoing_update_promise = _this._update(TIME_DELTA, (_this.waiting_update_count === 1))
.push(function () {
_this.waiting_update_count -= 1;
_this.ongoing_update_promise = null;
triggerUpdateIfPossible();
})
.push(undefined, function(error) {
console.log("ERROR on update:", error);
console.log("rejecting finish_deferred promise...");
_this.finish_deferred.reject.bind(_this.finish_deferred);
});
}
}
triggerUpdateIfPossible();
};
GameManager.prototype.delay = function (callback, millisecond) {
this._delayed_defer_list.push([callback, millisecond]);
};
GameManager.prototype._updateDisplayedInfo = function (delta_time, update_dom) {
this._game_duration += delta_time;
var seconds = Math.floor(this._game_duration / 1000);
if (GAMEPARAMETERS.compareFlights) {
for (var count = 0; count < GAMEPARAMETERS.droneList.length; count++) {
if (this._droneList[count]._controlMesh) {
var drone_position_x = this._droneList[count]._controlMesh.position.x,
drone_position_z = this._droneList[count]._controlMesh.position.y,
drone_position_y = this._droneList[count]._controlMesh.position.z;
if (GAMEPARAMETERS.compareFlights.log) {
if (this._log_count[count] === 0 || this._game_duration / this._log_count[count] > 1) {
this._log_count[count] += GAMEPARAMETERS.compareFlights.log_interval_time;
//convert x-y coordinates into latitud-longitude
var lon = drone_position_x + GAMEPARAMETERS.compareFlights.map_width / 2;
lon = lon / 1000;
lon = lon * (GAMEPARAMETERS.compareFlights.MAX_X - GAMEPARAMETERS.compareFlights.MIN_X) + GAMEPARAMETERS.compareFlights.MIN_X;
lon = lon / (GAMEPARAMETERS.compareFlights.map_width / 360.0) - 180;
var lat = drone_position_y + GAMEPARAMETERS.compareFlights.map_height / 2;
lat = lat / 1000;
lat = lat * (GAMEPARAMETERS.compareFlights.MAX_Y - GAMEPARAMETERS.compareFlights.MIN_Y) + GAMEPARAMETERS.compareFlights.MIN_Y;
lat = 90 - lat / (GAMEPARAMETERS.compareFlights.map_height / 180.0);
this._flight_log[count].push([lat, lon, drone_position_z]);
}
}
if (GAMEPARAMETERS.compareFlights.draw) { //TODO review this in JSON dict
//draw drone position every second
if (this._last_position_drawn[count] !== seconds) {
this._last_position_drawn[count] = seconds;
var position_obj = BABYLON.MeshBuilder.CreateSphere("obs_" + seconds, {
'diameterX': 3.5,
'diameterY': 3.5,
'diameterZ': 3.5
}, this._scene);
position_obj.position = new BABYLON.Vector3(drone_position_x, drone_position_z, drone_position_y);
position_obj.scaling = new BABYLON.Vector3(3.5, 3.5, 3.5);
var material = new BABYLON.StandardMaterial(this._scene);
material.alpha = 1;
var color = new BABYLON.Color3(255, 0, 0);
if (this._colors[count]) {
color = this._colors[count];
}
material.diffuseColor = color;
position_obj.material = material;
}
}
}
}
}
};
GameManager.prototype._update = function (delta_time, update_dom) {
var _this = this,
queue = new RSVP.Queue(),
i;
this._updateDisplayedInfo(delta_time, update_dom);
// trigger all deferred calls if it is time
for (i = _this._delayed_defer_list.length - 1; 0 <= i; i -= 1) {
_this._delayed_defer_list[i][1] = _this._delayed_defer_list[i][1] - delta_time;
if (_this._delayed_defer_list[i][1] <= 0) {
queue.push(_this._delayed_defer_list[i][0]);
_this._delayed_defer_list.splice(i, 1);
}
}
function updateDrone(drone) {
drone._tick += 1;
return drone.internal_update(delta_time);
}
this._droneList.forEach(function (drone) {
queue.push(function () {
return updateDrone(drone);
});
});
return queue
.push(function () {
if (_this._timeOut()) {
console.log("TIMEOUT!");
return _this._finish();
}
});
};
GameManager.prototype._timeOut = function () {
var seconds = Math.floor(this._game_duration / 1000);
return this._totalTime - seconds <= 0;
};
GameManager.prototype._finish = function () {
console.log("Simulation finished");
this._canUpdate = false;
return this.finish_deferred.resolve();
};
GameManager.prototype._dispose = function () {
if (this._scene) {
this._scene.dispose();
}
};
GameManager.prototype._init = function () {
var _this = this;
this._delayed_defer_list = [];
this._dispose();
var canvas = this._canvas;
// Create the Babylon engine
this._engine = new BABYLON.Engine(canvas, true, {
//options for event handling
stencil: true,
disableWebGL2Support: false,
audioEngine: false
});
this._scene = new BABYLON.Scene(this._engine);
this._scene.clearColor = new BABYLON.Color4(88/255,171/255,217/255,255/255);
//removed for event handling
//this._engine.enableOfflineSupport = false;
//this._scene.collisionsEnabled = true;
// Lights
var hemi_north = new BABYLON.HemisphericLight(
"hemiN", new BABYLON.Vector3(1, -1, 1), this._scene);
hemi_north.intensity = 0.75;
var hemi_south = new BABYLON.HemisphericLight(
"hemiS", new BABYLON.Vector3(-1, 1, -1), this._scene);
hemi_south.intensity = 0.75;
var camera = new BABYLON.ArcRotateCamera("camera", 0, 1.25, 800,
BABYLON.Vector3.Zero(), this._scene);
camera.wheelPrecision = 10;
//changed for event handling
//camera.attachControl(this._scene.getEngine().getRenderingCanvas()); //original
camera.attachControl(canvas, true);
camera.maxz = 40000;
this._camera = camera;
// Render loop
this._engine.runRenderLoop(function () {
_this._scene.render();
});
// -------------------------------- SIMULATION - Prepare API, Map and Teams
var on3DmodelsReady = function (ctx) {
console.log("on3DmodelsReady!");
// Get the game parameters
if (!ctx._map_swapped) {
GAMEPARAMETERS = ctx._getGameParameter();
ctx._map_swapped = true;
}
console.log("APIs created");
// Init the map
_this._mapManager = new MapManager(ctx._scene);
console.log("Map manager instantiated");
ctx._spawnDrones(GAMEPARAMETERS.initialPosition,
GAMEPARAMETERS.droneList, ctx._script);
// Hide the drone prefab
DroneManager.Prefab.isVisible = false;
//Hack to make advanced texture work
const documentTmp = document;
document = undefined;
var advancedTexture = BABYLON.GUI.AdvancedDynamicTexture.CreateFullscreenUI("UI", true, ctx._scene);
document = documentTmp;
for (var count = 0; count < GAMEPARAMETERS.droneList.length; count++) { //TODO use one color per drone
var controlMeshBlue = ctx._droneList[count].infosMesh;
var rectBlue = new BABYLON.GUI.Rectangle();
rectBlue.width = "10px";
rectBlue.height = "10px";
rectBlue.cornerRadius = 20;
rectBlue.color = "white";
rectBlue.thickness = 0.5;
rectBlue.background = "blue";
advancedTexture.addControl(rectBlue);
var labelBlue = new BABYLON.GUI.TextBlock();
labelBlue.text = count.toString();
labelBlue.fontSize = 7;
rectBlue.addControl(labelBlue);
rectBlue.linkWithMesh(controlMeshBlue);
rectBlue.linkOffsetY = 0;
}
console.log("advaced textures added");
return ctx;
};
// ----------------------------------- SIMULATION - Load 3D models
return new RSVP.Queue()
.push(function () {
return new RSVP.Promise(function (resolve) {
return _this._load3DModel(resolve);
});
})
.push(function () {
on3DmodelsReady(_this);
// 3,2,1,GO before start. To animate. //TODO DROP this countdown
var result = new RSVP.Queue(),
i;
function countdown (count) {
return function () {
console.log(count + " ...");
return RSVP.delay(200);
};
}
for (i = 5; 0 <= i; i -= 1) {
result.push(countdown(i));
}
return result.push(_this._start.bind(_this));
});
};
GameManager.prototype._start = function () {
var _this = this;
_this.waiting_update_count = 0;
_this.ongoing_update_promise = null;
_this.finish_deferred = RSVP.defer();
console.log("Simulation started.");
this._game_duration = 0;
this._totalTime = GAMEPARAMETERS.gameTime;
return new RSVP.Queue()
.push(function () {
promise_list = [];
_this._droneList.forEach(function (drone) {
drone._tick = 0;
promise_list.push(drone.internal_start());
});
return RSVP.all(promise_list);
})
.push(function () {
_this._canUpdate = true;
return _this.finish_deferred.promise;
});
};
GameManager.prototype._load3DModel = function (callback) {
var _this = this, droneTask, mapTask, obstacleTask,
assetManager = new BABYLON.AssetsManager(this._scene);
assetManager.useDefaultLoadingScreen = true;
// DRONE
droneTask = assetManager.addMeshTask("loadingDrone", "", "assets/drone/", "drone.babylon"); //TODO got from RS skin!
droneTask.onSuccess = function (task) {
task.loadedMeshes.forEach(function (mesh) {
mesh.isPickable = false;
mesh.isVisible = false;
});
DroneManager.Prefab = _this._scene.getMeshByName("Dummy_Drone");
DroneManager.Prefab.scaling = new BABYLON.Vector3(0.006, 0.006, 0.006);
DroneManager.Prefab.position = new BABYLON.Vector3(0, -5, 0);
};
droneTask.onError = function () {
console.log("Error loading 3D model for Drone");
};
// MAP
mapTask = assetManager.addMeshTask("loadingMap", "", "assets/map/", "map.babylon");
mapTask.onSuccess = function (task) {
task.loadedMeshes.forEach(function (mesh) {
mesh.isPickable = false;
mesh.isVisible = false;
});
};
mapTask.onError = function () {
console.log("Error loading 3D model for Map");
};
assetManager.onFinish = function () {
return callback();
};
assetManager.load();
};
GameManager.prototype._getGameParameter = function () {
var parameter = {}, i,
swap = function (pos) {
return {
x: pos.x,
y: pos.z,
z: pos.y
};
};
Object.assign(parameter, this._game_parameters_json);
this._gameParameter = {};
Object.assign(this._gameParameter, this._game_parameters_json);
for (i = 0; i < parameter.flight_path_point_list.length; i += 1) {
parameter.flight_path_point_list[i].position =
swap(parameter.flight_path_point_list[i].position);
if (parameter.flight_path_point_list[i].scale) {
parameter.flight_path_point_list[i].scale =
swap(parameter.flight_path_point_list[i].scale);
}
}
return parameter;
};
GameManager.prototype._spawnDrones = function (center, drone_list, code) {
var position, i, position_list = [], max_collision = 10 * drone_list.length,
collision_nb = 0;
function checkCollision(position, list) {
var i;
for (i = 0; i < list.length; i += 1) {
if (position.equalsWithEpsilon(list[i], 0.5)) {
return true;
}
}
return false;
}
function spawnDrone(x, y, z, index, api, code, ctx) {
var default_drone_AI = api.getDroneAI();
if (default_drone_AI) {
code = default_drone_AI;
}
var base, code_eval = "let drone = new DroneManager(ctx._scene, " +
index + ', api);' +
"let droneMe = function(NativeDate, me, Math, window, DroneManager, GameManager, DroneLogAPI, DroneAaileFixeAPI, 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)";
try {
eval(code_eval);
}
catch (error) {
eval(base);
}
}
for (i = 0; i < drone_list.length; i += 1) {
position = randomSpherePoint(center.x + i, center.y + i, center.z + i, 0, 0, 0);
if (checkCollision(position, position_list) || position.z < 0.05) {
collision_nb += 1;
if (collision_nb < max_collision) {
i -= 1;
}
}
else {
position_list.push(position);
var api = new this.APIs_dict[drone_list[i]](this, GAMEPARAMETERS.compareFlights);
spawnDrone(position.x, position.y, position.z, i, api, code, this);
}
}
};
return GameManager;
}());
/*****************************************************************************/
/******************************* DRONE LOG API ********************************/
var DroneLogAPI = /** @class */ (function () {
//** CONSTRUCTOR
function DroneLogAPI(gameManager, flight_parameters) {
this._gameManager = gameManager;
this._flight_parameters = flight_parameters;
}
//TODO test sendMsg (what is iterable _this.team??) (latency.communication?)(GM.delay?)
DroneLogAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
DroneLogAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneLogAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneLogAPI.prototype.processCoordinates = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
return {
x: x,
y: y,
z: z
};
};
//Internal AI: drone follows the flight log points
DroneLogAPI.prototype.getDroneAI = function () {
return 'function distance(p1, p2) {' +
'var a = p1[0] - p2[0],' +
'b = p1[1] - p2[1];' +
'return Math.sqrt(a * a + b * b);' +
'}' +
'me.onStart = function() {' +
'console.log("DRONE LOG START!");' +
'if (!me.getFlightParameters())' +
'throw "DroneLog API must implement getFlightParameters";' +
'me.flightParameters = me.getFlightParameters();' +
'me.checkpoint_list = me.flightParameters.converted_log_point_list;' +
'me.startTime = new Date();' +
'me.initTimestamp = me.flightParameters.converted_log_point_list[0][3];' +
'me.setTargetCoordinates(me.checkpoint_list[0][0], me.checkpoint_list[0][1], me.checkpoint_list[0][2]);' +
'me.last_checkpoint_reached = -1;' +
'me.setAcceleration(10);' +
'};' +
'me.onUpdate = function () {' +
'var next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'if (distance([me.position.x, me.position.y], next_checkpoint) < 12) {' +
'var log_elapsed = next_checkpoint[3] - me.initTimestamp,' +
'time_elapsed = new Date() - me.startTime;' +
'if (time_elapsed < log_elapsed) {' +
'me.setDirection(0, 0, 0);' +
'return;' +
'}' +
'if (me.last_checkpoint_reached + 1 === me.checkpoint_list.length - 1) {' +
'me.setTargetCoordinates(me.position.x, me.position.y, me.position.z);' +
'return;' +
'}' +
'me.last_checkpoint_reached += 1;' +
'next_checkpoint = me.checkpoint_list[me.last_checkpoint_reached+1];' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'} else {' +
'me.setTargetCoordinates(next_checkpoint[0], next_checkpoint[1], next_checkpoint[2]);' +
'}' +
'};';
};
DroneLogAPI.prototype.setAltitude = function (altitude) {
return altitude;
};
DroneLogAPI.prototype.getMaxSpeed = function () {
return 3000;
};
DroneLogAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneLogAPI.prototype.getAltitudeAbs = function () {
return 0;
};
DroneLogAPI.prototype.getMinHeight = function () {
return 0;
};
DroneLogAPI.prototype.getMaxHeight = function () {
return 220;
};
DroneLogAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneLogAPI;
}());
/*****************************************************************************/
/************************** DRONE A AILE FIXE API ****************************/
TAKEOFF_RADIUS = 60;
LOITER_LIMIT = 30;
LOITER_RADIUS_FACTOR = 0.60;
LOITER_SPEED_FACTOR = 1.5;
var DroneAaileFixeAPI = /** @class */ (function () {
//** CONSTRUCTOR
function DroneAaileFixeAPI(gameManager, flight_parameters) {
this._gameManager = gameManager;
this._flight_parameters = flight_parameters;
this._loiter_radius = 0;
this._last_loiter_point_reached = -1;
this._last_altitude_point_reached = -1;
}
DroneAaileFixeAPI.prototype.internal_sendMsg = function (msg, to) {
var _this = this;
_this._gameManager.delay(function () {
if (to < 0) {
// Send to all drones
_this.team.forEach(function (drone) {
if (drone.infosMesh) {
try {
drone.onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
drone._internal_crash();
}
}
});
}
else {
// Send to specific drone
if (drone.infosMesh) {
try {
_this.team[to].onGetMsg(msg);
}
catch (error) {
console.warn('Drone crashed on sendMsg due to error:', error);
_this.team[to]._internal_crash();
}
}
}
}, GAMEPARAMETERS.latency.communication);
};
DroneAaileFixeAPI.prototype.log = function (msg) {
console.log("API say : " + msg);
};
DroneAaileFixeAPI.prototype.getGameParameter = function (name) {
if (["gameTime", "mapSize"].includes(name))
return this._gameManager.gameParameter[name];
};
DroneAaileFixeAPI.prototype.processCoordinates = function (lat, lon, z, r) {
if(isNaN(lat) || isNaN(lon) || isNaN(z)){
throw new Error('Target coordinates must be numbers');
}
var flightParameters = this.getFlightParameters();
function longitudToX(lon, flightParameters) {
return (flightParameters.MAP_SIZE / 360.0) * (180 + lon);
}
function latitudeToY(lat, flightParameters) {
return (flightParameters.MAP_SIZE / 180.0) * (90 - lat);
}
function normalizeToMap(x, y, flightParameters) {
var n_x = (x - flightParameters.MIN_X) / (flightParameters.MAX_X - flightParameters.MIN_X),
n_y = (y - flightParameters.MIN_Y) / (flightParameters.MAX_Y - flightParameters.MIN_Y);
return [n_x * 1000 - flightParameters.MAP_SIZE / 2, n_y * 1000 - flightParameters.MAP_SIZE / 2];
}
var x = longitudToX(lon, flightParameters),
y = latitudeToY(lat, flightParameters),
position = normalizeToMap(x, y, flightParameters);
if (z > flightParameters.start_AMSL) {
z -= flightParameters.start_AMSL;
}
var processed_coordinates = {
x: position[0],
y: position[1],
z: z
};
if (r && r > LOITER_LIMIT) {
this._loiter_radius = r * LOITER_RADIUS_FACTOR;
this._loiter_center = processed_coordinates;
this._loiter_coordinates = [];
this._last_loiter_point_reached = -1;
var x1, y1;
//for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
for (var angle = 360; angle > 0; angle-=8){ //clockwise
x1 = this._loiter_radius * Math.cos(angle * (Math.PI / 180)) + this._loiter_center.x;
y1 = this._loiter_radius * Math.sin(angle * (Math.PI / 180)) + this._loiter_center.y;
this._loiter_coordinates.push(this.processCurrentPosition(x1, y1, z));
}
}
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
return processed_coordinates;
};
DroneAaileFixeAPI.prototype.processCurrentPosition = function (x, y, z) {
//convert x-y coordinates into latitud-longitude
var flightParameters = this.getFlightParameters();
var lon = x + flightParameters.map_width / 2;
lon = lon / 1000;
lon = lon * (flightParameters.MAX_X - flightParameters.MIN_X) + flightParameters.MIN_X;
lon = lon / (flightParameters.map_width / 360.0) - 180;
var lat = y + flightParameters.map_height / 2;
lat = lat / 1000;
lat = lat * (flightParameters.MAX_Y - flightParameters.MIN_Y) + flightParameters.MIN_Y;
lat = 90 - lat / (flightParameters.map_height / 180.0);
return {
x: lat,
y: lon,
z: z
};
};
DroneAaileFixeAPI.prototype.loiter = function (drone) {
function distance(c1, c2) {
var R = 6371e3,
q1 = c1[0] * Math.PI / 180,
q2 = c2[0] * Math.PI / 180,
dq = (c2[0] - c1[0]) * Math.PI / 180,
dl = (c2[1] - c1[1]) * Math.PI / 180,
a = Math.sin(dq / 2) * Math.sin(dq / 2) +
Math.cos(q1) * Math.cos(q2) *
Math.sin(dl / 2) * Math.sin(dl / 2),
c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
return R * c;
}
if (this._loiter_radius > LOITER_LIMIT) {
var drone_pos = drone.getCurrentPosition();
//shift loiter circle to nearest point
if (this._last_loiter_point_reached === -1) {
if (!this.shifted) {
drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
var min = 9999, min_i;
for (var i = 0; i < this._loiter_coordinates.length; i++){
var d = distance([drone_pos.x, drone_pos.y], [this._loiter_coordinates[i].x, this._loiter_coordinates[i].y]);
if (d < min) {
min = d;
min_i = i;
}
}
this._loiter_coordinates = this._loiter_coordinates.concat(this._loiter_coordinates.splice(0,min_i));
this.shifted = true;
}
} else {
this.shifted = false;
}
//stop
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
if (drone._maxSpeed !== this.getMaxSpeed()) {
drone._maxSpeed = this.getMaxSpeed();
}
drone.setDirection(0, 0, 0);
return;
}
//loiter
var next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_loiter_point_reached += 1;
if (this._last_loiter_point_reached === this._loiter_coordinates.length - 1) {
return;
}
next_point = this._loiter_coordinates[this._last_loiter_point_reached + 1];
drone.setTargetCoordinates(next_point.x, next_point.y, next_point.z, -1);
}
}
};
DroneAaileFixeAPI.prototype.getDroneAI = function () {
return null;
};
DroneAaileFixeAPI.prototype.setAltitude = function (altitude, drone, skip_loiter) {
this.takeoff_path = [];
if (skip_loiter) {
var drone_pos = drone.getCurrentPosition();
drone.setTargetCoordinates(drone_pos.x, drone_pos.y, altitude);
return;
}
var x1, y1,
LOOPS = 1,
CIRCLE_ANGLE = 8,
current_point = 0,
total_points = 360/CIRCLE_ANGLE*LOOPS,
initial_altitude = drone.getAltitudeAbs(),
center = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
for (var l = 0; l <= LOOPS; l+=1){
for (var angle = 360; angle > 0; angle-=CIRCLE_ANGLE){ //clockwise sense
current_point++;
x1 = TAKEOFF_RADIUS * Math.cos(angle * (Math.PI / 180)) + center.x;
y1 = TAKEOFF_RADIUS * Math.sin(angle * (Math.PI / 180)) + center.y;
if (current_point < total_points/3) {
var FACTOR = 0.5;
x1 = center.x*FACTOR + x1*(1-FACTOR);
y1 = center.y*FACTOR + y1*(1-FACTOR);
}
this.takeoff_path.push({x: x1, y: y1, z: initial_altitude + current_point * (altitude-initial_altitude)/total_points});
}
}
};
DroneAaileFixeAPI.prototype.reachAltitude = function (drone) {
function distance(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2));
}
//stop
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
drone._start_altitude = 0;
drone.setDirection(0, 0, 0);
return;
}
//loiter
var drone_pos = {
x: drone._controlMesh.position.x,
y: drone._controlMesh.position.z,
z: drone._controlMesh.position.y
};
var next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
if (distance([drone_pos.x, drone_pos.y], [next_point.x, next_point.y]) < 1) {
this._last_altitude_point_reached += 1;
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
return;
}
next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
drone.internal_setTargetCoordinates(next_point.x, next_point.y, next_point.z);
}
};
DroneAaileFixeAPI.prototype.getMaxSpeed = function () {
return GAMEPARAMETERS.drone.maxSpeed;
};
DroneAaileFixeAPI.prototype.doParachute = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.landed = function (drone) {
var drone_pos = drone.getCurrentPosition();
return Math.floor(drone_pos.z) === 0;
};
DroneAaileFixeAPI.prototype.exit = function (drone) {
//TODO what to do here?
drone.setDirection(0, 0, 0);
};
DroneAaileFixeAPI.prototype.getInitialAltitude = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getAltitudeAbs = function (altitude) {
return altitude;
};
DroneAaileFixeAPI.prototype.getMinHeight = function () {
return 0;
};
DroneAaileFixeAPI.prototype.getMaxHeight = function () {
return 800;
};
DroneAaileFixeAPI.prototype.getFlightParameters = function () {
return this._flight_parameters;
};
return DroneAaileFixeAPI;
}());
/******************************************************************************/
/******************************* DRONE MANAGER ********************************/
var DroneManager = /** @class */ (function () {
//** CONSTRUCTOR
function DroneManager(scene, id, API) {
var _this = this;
// Mesh
this._mesh = null;
this._controlMesh = null;
this._colliderBackMesh = null; //TODO drop?
this._canPlay = false;
this._canCommunicate = false;
this._maxAcceleration = 0;
this._maxSpeed = 0;
this._speed = 0;
this._acceleration = 0;
this._direction = BABYLON.Vector3.Zero();
this._maxOrientation = Math.PI / 4;
this._scene = scene;
this._canUpdate = true;
this._id = id;
this._leader_id = 0;
this._start_loiter = 0;
this._start_altitude = 0;
this._API = API; // var API created on AI evel
// Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox("droneControl_" + id, 0.01, this._scene);
this._controlMesh.isVisible = false;
this._controlMesh.computeWorldMatrix(true);
// Create the mesh from the drone prefab
this._mesh = DroneManager.Prefab.clone("drone_" + id, this._controlMesh);
this._mesh.position = BABYLON.Vector3.Zero();
this._mesh.isVisible = false;
this._mesh.computeWorldMatrix(true);
// Get the back collider
this._mesh.getChildMeshes().forEach(function (mesh) {
if (mesh.name.substring(mesh.name.length - 13) == "Dummy_arriere") {
_this._colliderBackMesh = mesh;
_this._colliderBackMesh.isVisible = false;
}
else {
mesh.isVisible = true;
}
});
if (!DroneManager.PrefabBlueMat) {
DroneManager.PrefabBlueMat = new BABYLON.StandardMaterial("blueTeamMat", scene);
DroneManager.PrefabBlueMat.diffuseTexture = new BABYLON.Texture("assets/drone/drone_bleu.jpg", scene);
}
}
DroneManager.prototype._swapAxe = function (vector) {
return new BABYLON.Vector3(vector.x, vector.z, vector.y);
};
Object.defineProperty(DroneManager.prototype, "leader_id", {
get: function () { return this._leader_id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "id", {
get: function () { return this._id; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderMesh", {
get: function () { return this._mesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "colliderBackMesh", {
get: function () { return this._colliderBackMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "infosMesh", {
get: function () { return this._controlMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "position", {
get: function () {
if (this._controlMesh !== null) {
return this._swapAxe(this._controlMesh.position);
}
return null;
},
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "speed", {
get: function () { return this._speed; },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "direction", {
get: function () { return this._swapAxe(this._direction); },
enumerable: true,
configurable: true
});
Object.defineProperty(DroneManager.prototype, "worldDirection", {
get: function () {
return new BABYLON.Vector3(this._direction.x, this._direction.y, this._direction.z);
},
enumerable: true,
configurable: true
});
DroneManager.prototype.internal_start = function () {
this._maxAcceleration = GAMEPARAMETERS.drone.maxAcceleration;
this._maxSpeed = this._API.getMaxSpeed();
this._canPlay = true;
this._canCommunicate = true;
try {
return this.onStart();
} catch (error) {
console.warn('Drone crashed on start due to error:', error);
this._internal_crash();
}
};
DroneManager.prototype.internal_setTargetCoordinates = function (x, y, z) {
if (!this._canPlay)
return;
x -= this._controlMesh.position.x;
y -= this._controlMesh.position.z;
z -= this._controlMesh.position.y;
this.setDirection(x, y, z);
this.setAcceleration(this._maxAcceleration);
return;
};
DroneManager.prototype.internal_update = function (delta_time) {
var context = this;
if (this._controlMesh) {
context._speed += context._acceleration * delta_time / 1000;
if (context._speed > context._maxSpeed)
context._speed = context._maxSpeed;
if (context._speed < -context._maxSpeed)
context._speed = -context._maxSpeed;
var updateSpeed = context._speed * delta_time / 1000;
if (context._direction.x != 0
|| context._direction.y != 0
|| context._direction.z != 0) {
context._controlMesh.position.addInPlace(new BABYLON.Vector3(context._direction.x * updateSpeed, context._direction.y * updateSpeed, context._direction.z * updateSpeed));
}
var orientationValue = context._maxOrientation * (context._speed / context._maxSpeed);
context._controlMesh.computeWorldMatrix(true);
context._mesh.computeWorldMatrix(true);
if (context._canUpdate) {
context._canUpdate = false;
return new RSVP.Queue()
.push(function () {
return context.onUpdate(context._API._gameManager._game_duration);
})
.push(function () {
context._canUpdate = true;
}, function (err) {
console.warn('Drone crashed on update due to error:', err);
context._internal_crash();
})
.push(function () {
if (context._start_loiter > 0) {
context._API.loiter(context);
}
if (context._start_altitude > 0) {
context._API.reachAltitude(context);
}
});
}
return;
}
return;
};
DroneManager.prototype._internal_crash = function () {
this._canCommunicate = false;
this._controlMesh = null;
this._mesh = null;
this._canPlay = false;
this.onTouched();
};
DroneManager.prototype.setStartingPosition = function (x, y, z) {
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Position coordinates must be numbers');
}
if (!this._canPlay) {
if (z <= 0.05)
z = 0.05;
this._controlMesh.position = new BABYLON.Vector3(x, z, y);
}
this._controlMesh.computeWorldMatrix(true);
this._mesh.computeWorldMatrix(true);
};
DroneManager.prototype.setAcceleration = function (factor) {
if (!this._canPlay)
return;
if (isNaN(factor)){
throw new Error('Acceleration must be a number');
}
if (factor > this._maxAcceleration)
factor = this._maxAcceleration;
this._acceleration = factor;
};
DroneManager.prototype.setDirection = function (x, y, z) {
if (!this._canPlay)
return;
if(isNaN(x) || isNaN(y) || isNaN(z)){
throw new Error('Direction coordinates must be numbers');
}
this._direction = new BABYLON.Vector3(x, z, y).normalize();
};
/**
* Set a target point to move
*/
DroneManager.prototype.setTargetCoordinates = function (x, y, z, r) {
if (!this._canPlay)
return;
//HACK too specific for DroneAaileFixe, should be a flag: (bool)process?
if (r !== -1) {
this._start_loiter = 0;
this._maxSpeed = this._API.getMaxSpeed();
}
this._start_altitude = 0;
var coordinates = this._API.processCoordinates(x, y, z, r);
coordinates.x -= this._controlMesh.position.x;
coordinates.y -= this._controlMesh.position.z;
coordinates.z -= this._controlMesh.position.y;
this.setDirection(coordinates.x, coordinates.y, coordinates.z);
this.setAcceleration(this._maxAcceleration);
return;
};
/**
* Send a message to team drones
* @param msg The message to send
* @param id The targeted drone. -1 or nothing to broadcast
*/
DroneManager.prototype.sendMsg = function (msg, id) {
//TODO
return;
var _this = this;
if (!this._canCommunicate)
return;
if (id >= 0) { }
else
id = -1;
if (_this.infosMesh) {
return _this._API.internal_sendMsg(JSON.parse(JSON.stringify(msg)), id);
}
};
/** Perform a console.log with drone id + the message */
DroneManager.prototype.log = function (msg) { };
DroneManager.prototype.getMaxHeight = function () {
return this._API.getMaxHeight();
};
DroneManager.prototype.getMinHeight = function () {
return this._API.getMinHeight();
};
DroneManager.prototype.getInitialAltitude = function () {
return this._API.getInitialAltitude();
};
DroneManager.prototype.getAltitudeAbs = function () {
if (this._controlMesh) {
var altitude = this._controlMesh.position.y;
return this._API.getAltitudeAbs(altitude);
}
return null;
};
/**
* Get a game parameter by name
* @param name Name of the parameter to retrieve
*/
DroneManager.prototype.getGameParameter = function (name) {
if (!this._canCommunicate)
return;
return this._API.getGameParameter(name);
};
DroneManager.prototype.getCurrentPosition = function () {
if (this._controlMesh)
return this._API.processCurrentPosition(
this._controlMesh.position.x,
this._controlMesh.position.z,
this._controlMesh.position.y
);
return null;
};
DroneManager.prototype.setAltitude = function (altitude, skip_loiter) {
if (!this._canPlay)
return;
if (this._start_altitude === 0) {
this._start_altitude = 1;
}
altitude = this._API.setAltitude(altitude, this, skip_loiter);
return;
};
/**
* Make the drone loiter (circle with a set radius)
*/
DroneManager.prototype.loiter = function () {
if (!this._canPlay)
return;
if (this._start_loiter === 0) {
this._start_loiter = 1;
}
};
DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters)
return this._API.getFlightParameters();
return null;
};
DroneManager.prototype.getYaw = function () {
//TODO
return 0;
};
DroneManager.prototype.doParachute = function () {
return this._API.doParachute(this);
};
DroneManager.prototype.exit = function () {
return this._API.exit(this);
};
DroneManager.prototype.landed = function () {
return this._API.landed(this);
};
/**
* Set the drone last checkpoint reached
* @param checkpoint to be set
*/
DroneManager.prototype.setCheckpoint = function (checkpoint) {
//TODO
return null;
};
/**
* Function called on game start
*/
DroneManager.prototype.onStart = function () { };
;
/**
* Function called on game update
*/
DroneManager.prototype.onUpdate = function (timestamp) { };
;
/**
* Function called when drone crashes
*/
DroneManager.prototype.onTouched = function () { };
;
/**
* Function called when a message is received
* @param msg The message
*/
DroneManager.prototype.onGetMsg = function (msg) { };
;
return DroneManager;
}());
/******************************************************************************/
/******************************** MAP MANAGER *********************************/
var MapManager = /** @class */ (function () {
//** CONSTRUCTOR
function MapManager(scene) {
var _this = this;
var max = GAMEPARAMETERS.mapSize.width;
if (GAMEPARAMETERS.mapSize.depth > max)
max = GAMEPARAMETERS.mapSize.depth;
if (GAMEPARAMETERS.mapSize.height > max)
max = GAMEPARAMETERS.mapSize.height;
max = max < GAMEPARAMETERS.mapSize.depth ? GAMEPARAMETERS.mapSize.depth : max;
// Skybox
var max_sky = (max * 10 < 20000) ? max * 10 : 20000,
skybox = BABYLON.Mesh.CreateBox("skyBox", max_sky, scene);
skybox.infiniteDistance = true;
skybox.renderingGroupId = 0;
var skyboxMat = new BABYLON.StandardMaterial("skybox", scene);
skyboxMat.backFaceCulling = false;
skyboxMat.disableLighting = true;
skyboxMat.reflectionTexture = new BABYLON.CubeTexture("./assets/skybox/sky", scene);
skyboxMat.reflectionTexture.coordinatesMode = BABYLON.Texture.SKYBOX_MODE;
skyboxMat.infiniteDistance = true;
skybox.material = skyboxMat;
// Plane from bottom
var largeGroundMat = new BABYLON.StandardMaterial("largeGroundMat", scene);
largeGroundMat.specularColor = BABYLON.Color3.Black();
largeGroundMat.alpha = 0.4;
var largeGroundBottom = BABYLON.Mesh.CreatePlane("largeGroundBottom", max * 11, scene);
largeGroundBottom.position.y = -0.01;
largeGroundBottom.rotation.x = -Math.PI / 2;
largeGroundBottom.rotation.y = Math.PI;
largeGroundBottom.material = largeGroundMat;
// Camera
scene.activeCamera.upperRadiusLimit = max * 4;
// Terrain
var width = GAMEPARAMETERS.mapSize.width,
depth = GAMEPARAMETERS.mapSize.depth,
height = GAMEPARAMETERS.mapSize.height,
terrain = scene.getMeshByName("terrain001");
terrain.isVisible = true;
terrain.position = BABYLON.Vector3.Zero();
terrain.scaling = new BABYLON.Vector3(depth / 50000, depth / 50000, width / 50000);
// Flight path point list
var count = 0;
this._flight_path_point_list = [];
GAMEPARAMETERS.flight_path_point_list.forEach(function (obs) {
var newObj;
switch (obs.type) {
case "box":
newObj = BABYLON.MeshBuilder.CreateBox("obs_" + count, { 'size': 1 }, scene);
break;
case "cylinder":
newObj = BABYLON.MeshBuilder.CreateCylinder("obs_" + count, {
'diameterBottom': obs.diameterBottom,
'diameterTop': obs.diameterTop,
'height': 1
}, scene);
break;
case "sphere":
newObj = BABYLON.MeshBuilder.CreateSphere("obs_" + count, {
'diameterX': obs.scale.x,
'diameterY': obs.scale.y,
'diameterZ': obs.scale.z
}, scene);
break;
default:
return;
}
newObj.obsType = obs.type;
var convertion = Math.PI / 180;
if ("position" in obs)
newObj.position = new BABYLON.Vector3(obs.position.x, obs.position.y, obs.position.z);
if ("rotation" in obs)
newObj.rotation = new BABYLON.Vector3(obs.rotation.x * convertion, obs.rotation.y * convertion, obs.rotation.z * convertion);
if ("scale" in obs)
newObj.scaling = new BABYLON.Vector3(obs.scale.x, obs.scale.y, obs.scale.z);
if ("color" in obs) {
var material = new BABYLON.StandardMaterial(scene);
material.alpha = 1;
material.diffuseColor = new BABYLON.Color3(obs.color.r, obs.color.g, obs.color.b);
newObj.material = material;
}
_this._flight_path_point_list.push(newObj);
});
}
return MapManager;
}());
\ No newline at end of file
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_logic_js.xml
View file @ febb13ae
...@@ -244,7 +244,7 @@ ...@@ -244,7 +244,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1003.8464.37017.2594</string> </value> <value> <string>1003.18711.10168.13175</string> </value>
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -262,7 +262,7 @@ ...@@ -262,7 +262,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1663849971.49</float> <float>1664470272.38</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_map_manager_js.js deleted 100644 → 0
View file @ b9ba1073
/// <reference path="./typings/babylon.3.1.d.ts" />
var MapManager = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function MapManager(scene) {
var _this = this;
var max = GAMEPARAMETERS.mapSize.width;
if (GAMEPARAMETERS.mapSize.depth > max)
max = GAMEPARAMETERS.mapSize.depth;
if (GAMEPARAMETERS.mapSize.height > max)
max = GAMEPARAMETERS.mapSize.height;
max = max < GAMEPARAMETERS.mapSize.depth ? GAMEPARAMETERS.mapSize.depth : max;
// Skybox
var max_sky = (max * 10 < 20000) ? max * 10 : 20000,
skybox = BABYLON.Mesh.CreateBox("skyBox", max_sky, scene);
skybox.infiniteDistance = true;
skybox.renderingGroupId = 0;
var skyboxMat = new BABYLON.StandardMaterial("skybox", scene);
skyboxMat.backFaceCulling = false;
skyboxMat.disableLighting = true;
skyboxMat.reflectionTexture = new BABYLON.CubeTexture("./assets/skybox/sky", scene);
skyboxMat.reflectionTexture.coordinatesMode = BABYLON.Texture.SKYBOX_MODE;
skyboxMat.infiniteDistance = true;
skybox.material = skyboxMat;
// Plane from bottom
var largeGroundMat = new BABYLON.StandardMaterial("largeGroundMat", scene);
largeGroundMat.specularColor = BABYLON.Color3.Black();
largeGroundMat.alpha = 0.4;
var largeGroundBottom = BABYLON.Mesh.CreatePlane("largeGroundBottom", max * 11, scene);
largeGroundBottom.position.y = -0.01;
largeGroundBottom.rotation.x = -Math.PI / 2;
largeGroundBottom.rotation.y = Math.PI;
largeGroundBottom.material = largeGroundMat;
// Camera
scene.activeCamera.upperRadiusLimit = max * 4;
// Terrain
var width = GAMEPARAMETERS.mapSize.width,
depth = GAMEPARAMETERS.mapSize.depth,
height = GAMEPARAMETERS.mapSize.height,
terrain = scene.getMeshByName("terrain001");
terrain.isVisible = true;
terrain.position = BABYLON.Vector3.Zero();
terrain.scaling = new BABYLON.Vector3(depth / 50000, depth / 50000, width / 50000);
// Goals
this._rGoal = BABYLON.Mesh.CreateSphere("rightGoal", 32, GAMEPARAMETERS.goalDiameter, scene);
var rGoalMat = new BABYLON.StandardMaterial("rGoalMat", scene);
rGoalMat.alpha = 0.0;
rGoalMat.diffuseColor = BABYLON.Color3.Red();
this._rGoal.material = rGoalMat;
this._rGoal.position = new BABYLON.Vector3(GAMEPARAMETERS.goalPositionRightTeam.x, GAMEPARAMETERS.goalPositionRightTeam.y, GAMEPARAMETERS.goalPositionRightTeam.z);
this._rGoal.computeWorldMatrix(true);
this._lGoal = BABYLON.Mesh.CreateSphere("leftGoal", 32, GAMEPARAMETERS.goalDiameter, scene);
goal_x = GAMEPARAMETERS.goalPositionLeftTeam.x;
goal_y = GAMEPARAMETERS.goalPositionLeftTeam.y;
goal_z = GAMEPARAMETERS.goalPositionLeftTeam.z;
this._lGoal.position = new BABYLON.Vector3(goal_x, goal_y, goal_z);
var lGoalMat = new BABYLON.StandardMaterial("lGoalMat", scene);
lGoalMat.alpha = 0.0;
lGoalMat.diffuseColor = BABYLON.Color3.Blue();
this._lGoal.material = lGoalMat;
this._lGoal.computeWorldMatrix(true);
//base is now a boat (special object)
ObstacleManager.Prefab.rotation = new BABYLON.Vector3(20.4, 0, 0);
ObstacleManager.Prefab.scaling = new BABYLON.Vector3(15, 15, 15);
goalPart1 = new ObstacleManager("goal_1", scene);
goalPart1.setStartingPosition(goal_x, goal_y, goal_z);
goalPart2 = BABYLON.MeshBuilder.CreateBox("goal_2", { 'size': 1 }, scene);
goalPart2.position = new BABYLON.Vector3(goal_x - 0.5, goal_y + 1.5, goal_z + 1.5);
goalPart2.rotation = new BABYLON.Vector3(0, 0, 0);
goalPart2.scaling = new BABYLON.Vector3(2, 2, 1.5);
goalPart3 = BABYLON.MeshBuilder.CreateCylinder("goal_3", {
'diameterBottom': 1.5,
'diameterTop': 1.5,
'height': 1
}, scene);
goalPart3.position = new BABYLON.Vector3(goal_x + 2.5, goal_y + 1.5, goal_z + 1.5);
goalPart3.rotation = new BABYLON.Vector3(0, 0, 0);
goalPart3.scaling = new BABYLON.Vector3(1.5, 3.5, 1.5);
// Obstacles
var count = 0;
this._obstacles = [];
GAMEPARAMETERS.obstacles.forEach(function (obs) {
var newObj;
switch (obs.type) {
case "box":
newObj = BABYLON.MeshBuilder.CreateBox("obs_" + count, { 'size': 1 }, scene);
break;
case "cylinder":
newObj = BABYLON.MeshBuilder.CreateCylinder("obs_" + count, {
'diameterBottom': obs.diameterBottom,
'diameterTop': obs.diameterTop,
'height': 1
}, scene);
break;
case "sphere":
newObj = BABYLON.MeshBuilder.CreateSphere("obs_" + count, {
'diameterX': obs.scale.x,
'diameterY': obs.scale.y,
'diameterZ': obs.scale.z
}, scene);
break;
case "boat":
ObstacleManager.Prefab.rotation = new BABYLON.Vector3(obs.rotation.x, obs.rotation.y, obs.rotation.z);
ObstacleManager.Prefab.scaling = new BABYLON.Vector3(obs.scale.x * 2, obs.scale.y * 2, obs.scale.z * 2);
newObj = new ObstacleManager("obs_" + count, scene);
newObj.setStartingPosition(obs.position.x, obs.position.y, obs.position.z);
break;
default:
return;
}
newObj["obsType"] = obs.type;
var convertion = Math.PI / 180;
if ("position" in obs)
newObj.position = new BABYLON.Vector3(obs.position.x, obs.position.y, obs.position.z);
if ("rotation" in obs)
newObj.rotation = new BABYLON.Vector3(obs.rotation.x * convertion, obs.rotation.y * convertion, obs.rotation.z * convertion);
if ("scale" in obs)
newObj.scaling = new BABYLON.Vector3(obs.scale.x, obs.scale.y, obs.scale.z);
if ("color" in obs) {
var material = new BABYLON.StandardMaterial(scene);
material.alpha = 1;
material.diffuseColor = new BABYLON.Color3(obs.color.r, obs.color.g, obs.color.b);
newObj.material = material;
}
_this._obstacles.push(newObj);
});
}
Object.defineProperty(MapManager.prototype, "lGoal", {
get: function () { return this._lGoal; },
enumerable: true,
configurable: true
});
Object.defineProperty(MapManager.prototype, "rGoal", {
get: function () { return this._rGoal; },
enumerable: true,
configurable: true
});
Object.defineProperty(MapManager.prototype, "obstacles", {
get: function () { return this._obstacles; },
enumerable: true,
configurable: true
});
return MapManager;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_obstacle_manager_js.js deleted 100644 → 0
View file @ b9ba1073
/// <reference path="./typings/babylon.3.1.d.ts" />
var ObstacleManager = /** @class */ (function () {
//*************************************************** CONSTRUCTOR **************************************************
function ObstacleManager(id, scene) {
// Mesh
this._mesh = null;
this._controlMesh = null;
this._colliderBackMesh = null;
this._maxOrientation = Math.PI / 4;
this._scene = scene;
this._id = id;
// Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox("obstacleControl_" + id, 0.01, this._scene);
this._controlMesh.isVisible = false;
this._controlMesh.rotation = new BABYLON.Vector3(0, Math.PI, 0);
this._controlMesh.computeWorldMatrix(true);
// Create the mesh from the obstacle prefab
console.log("ObstacleManager.Prefab:", ObstacleManager.Prefab);
this._mesh = ObstacleManager.Prefab.clone("obstacle_" + id, this._controlMesh);
this._mesh.position = BABYLON.Vector3.Zero();
this._mesh.isVisible = true;
this._mesh.computeWorldMatrix(true);
this._propellerAnimMeshes = [];
}
// API
ObstacleManager.prototype._swapAxe = function (vector) {
return new BABYLON.Vector3(vector.x, vector.z, vector.y);
};
Object.defineProperty(ObstacleManager.prototype, "colliderMesh", {
//*************************************************** ACCESSOR *****************************************************
get: function () { return this._mesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(ObstacleManager.prototype, "colliderBackMesh", {
get: function () { return this._colliderBackMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(ObstacleManager.prototype, "infosMesh", {
get: function () { return this._controlMesh; },
enumerable: true,
configurable: true
});
Object.defineProperty(ObstacleManager.prototype, "position", {
get: function () {
if (this._controlMesh !== null) {
return this._swapAxe(this._controlMesh.position);
}
return null;
},
enumerable: true,
configurable: true
});
//*************************************************** FUNCTIONS ****************************************************
// -- Starting info
/**
* Set the starting position of the obstacle
* Take x,y,z coordinates as parameters
*/
ObstacleManager.prototype.setStartingPosition = function (x, y, z) {
this._controlMesh.position = new BABYLON.Vector3(x, y, z);
this._controlMesh.computeWorldMatrix(true);
this._mesh.computeWorldMatrix(true);
};
return ObstacleManager;
}());
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_obstacle_manager_js.xml deleted 100644 → 0
View file @ b9ba1073
<?xml version="1.0"?>
<ZopeData>
<record id="1" aka="AAAAAAAAAAE=">
<pickle>
<global name="Web Script" module="erp5.portal_type"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_Access_contents_information_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Add_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Change_local_roles_Permission</string> </key>
<value>
<tuple>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_Modify_portal_content_Permission</string> </key>
<value>
<tuple>
<string>Assignee</string>
<string>Assignor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>_View_Permission</string> </key>
<value>
<tuple>
<string>Anonymous</string>
<string>Assignee</string>
<string>Assignor</string>
<string>Associate</string>
<string>Auditor</string>
<string>Manager</string>
</tuple>
</value>
</item>
<item>
<key> <string>content_md5</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>content_type</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>default_reference</string> </key>
<value> <string>ObstacleManager.js</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>drone_web_worker_obstacle_manager_js</string> </value>
</item>
<item>
<key> <string>language</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>portal_type</string> </key>
<value> <string>Web Script</string> </value>
</item>
<item>
<key> <string>short_title</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>Obstacle Manager JS</string> </value>
</item>
<item>
<key> <string>version</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>data</string> </key>
<value>
<dictionary>
<item>
<key> <string>document_publication_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAM=</string> </persistent>
</value>
</item>
<item>
<key> <string>edit_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value>
</item>
<item>
<key> <string>processing_status_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
</value>
</item>
</dictionary>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="3" aka="AAAAAAAAAAM=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>publish_alive</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662651834.74</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
<item>
<key> <string>validation_state</string> </key>
<value> <string>published_alive</string> </value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>edit</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>1002.54032.1793.9847</string> </value>
</item>
<item>
<key> <string>state</string> </key>
<value> <string>current</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662657167.12</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="5" aka="AAAAAAAAAAU=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value> <string>detect_converted_file</string> </value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>external_processing_state</string> </key>
<value> <string>converted</string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>0.0.0.0</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1662651770.1</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_page_js.js
View file @ febb13ae
...@@ -7,51 +7,15 @@ ...@@ -7,51 +7,15 @@
// game.js // game.js
(function (RSVP, requestAnimationFrame, cancelAnimationFrame) { (function (RSVP, requestAnimationFrame, cancelAnimationFrame) {
"use strict"; "use strict";
console.log('game');
// Events props to send to worker // Events props to send to worker
const mouseEventFields = new Set([ const mouseEventFields = new Set(['altKey', 'bubbles', 'button', 'buttons',
'altKey', 'cancelBubble', 'cancelable', 'clientX', 'clientY', 'composed', 'ctrlKey',
'bubbles', 'defaultPrevented', 'detail', 'eventPhase', 'fromElement', 'isTrusted',
'button', 'layerX', 'layerY', 'metaKey', 'movementX', 'movementY', 'offsetX', 'pageX',
'buttons', 'offsetY', 'pageY', 'relatedTarget', 'returnValue', 'screenX', 'screenY',
'cancelBubble', 'shiftKey', 'timeStamp', 'type', 'which', 'x', 'wheelDelta', 'wheelDeltaX',
'cancelable', 'wheelDeltaY', 'y', 'deltaX', 'deltaY', 'deltaZ', 'deltaMode',
'clientX',
'clientY',
'composed',
'ctrlKey',
'defaultPrevented',
'detail',
'eventPhase',
'fromElement',
'isTrusted',
'layerX',
'layerY',
'metaKey',
'movementX',
'movementY',
'offsetX',
'offsetY',
'pageX',
'pageY',
'relatedTarget',
'returnValue',
'screenX',
'screenY',
'shiftKey',
'timeStamp',
'type',
'which',
'x',
'y',
'wheelDelta',
'wheelDeltaX',
'wheelDeltaY',
'deltaX',
'deltaY',
'deltaZ',
'deltaMode',
]); ]);
////////////////////////////////////////// //////////////////////////////////////////
...@@ -172,18 +136,8 @@ ...@@ -172,18 +136,8 @@
worker.onmessage = workerToMain; worker.onmessage = workerToMain;
// Always quit the game when the worker callback usage is over // Always quit the game when the worker callback usage is over
// to prevent trying to call pause // to prevent trying to call pause
//context.quit();
return message_error_handler_defer.promise; return message_error_handler_defer.promise;
/*options.canvas_original.addEventListener("mousewheel", (evt) => {
console.log("[MAIN] canvas mousewheel. event:", evt);
const eventClone = cloneEvent(evt);
worker.postMessage({
type: 'mousewheel',
eventClone: eventClone
});
});*/
function workerToMain(evt) { function workerToMain(evt) {
switch (evt.data.type) { switch (evt.data.type) {
case 'loaded': case 'loaded':
...@@ -194,7 +148,6 @@ ...@@ -194,7 +148,6 @@
width: options.width, width: options.width,
height: options.height, height: options.height,
script: options.script, script: options.script,
game_parameters_json: options.game_parameters_json,
log: options.log log: options.log
}, [options.canvas]); }, [options.canvas]);
break; break;
...@@ -206,6 +159,10 @@ ...@@ -206,6 +159,10 @@
case 'updated': case 'updated':
return update_defer.resolve('updated'); return update_defer.resolve('updated');
break; break;
case 'finished':
console.log('GAME: finished');
return context.quit();
break;
case 'event': case 'event':
bindEvent(evt.data); bindEvent(evt.data);
break; break;
...@@ -215,6 +172,9 @@ ...@@ -215,6 +172,9 @@
case 'canvasStyle': case 'canvasStyle':
options.canvas_original.style[evt.data.name] = evt.data.value; options.canvas_original.style[evt.data.name] = evt.data.value;
break; break;
case 'error':
message_error_handler_defer.reject(evt.data.error);
break;
default: default:
message_error_handler_defer.reject( message_error_handler_defer.reject(
new Error('Unsupported message ' + JSON.stringify(evt.data)) new Error('Unsupported message ' + JSON.stringify(evt.data))
...@@ -260,10 +220,8 @@ ...@@ -260,10 +220,8 @@
// We can`t pass original event to the worker // We can`t pass original event to the worker
const eventClone = cloneEvent(e); const eventClone = cloneEvent(e);
if (eventClone.type === "pointerout") { if (eventClone.type === "pointerout") {
console.log("ignoring pointerout event");
return; return;
} }
console.log("[MAIN][LISTENER] event(cloned)-target:", data.eventName, data.targetName);
worker.postMessage({ worker.postMessage({
type: 'event', type: 'event',
targetName: data.targetName, targetName: data.targetName,
...@@ -302,7 +260,6 @@ ...@@ -302,7 +260,6 @@
// droneaailefixe.js // droneaailefixe.js
(function () { (function () {
"use strict"; "use strict";
//console.log('droneaailefixe');
}()); }());
// page gadget.js // page gadget.js
...@@ -315,6 +272,7 @@ ...@@ -315,6 +272,7 @@
///////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////
.declareAcquiredMethod("updateHeader", "updateHeader") .declareAcquiredMethod("updateHeader", "updateHeader")
.declareAcquiredMethod("jio_get", "jio_get") .declareAcquiredMethod("jio_get", "jio_get")
.declareAcquiredMethod("jio_allDocs", "jio_allDocs")
.declareMethod('render', function renderHeader() { .declareMethod('render', function renderHeader() {
var gadget = this, var gadget = this,
...@@ -332,21 +290,19 @@ ...@@ -332,21 +290,19 @@
offscreen = canvas.transferControlToOffscreen(); offscreen = canvas.transferControlToOffscreen();
//TODO this should be in game logic BUT gadget can't be accessed from WW //TODO this should be in game logic BUT gadget can't be accessed from WW
var script_content, game_parameters_json, log_content; var script_content, log_content;
return new RSVP.Queue() return new RSVP.Queue()
.push(function () { .push(function () {
return gadget.jio_get("rescue_swarm_script_module/" + "web_worker"); var query = '(portal_type:"Web Script") AND (reference:"loiter_flight_script")';
}) return gadget.jio_allDocs({query: query, select_list: ["text_content"]});
.push(function (script) {
script_content = script.text_content;
return gadget.jio_get("rescue_swarm_map_module/" + "compare_map");
}) })
.push(function (parameters_doc) { .push(function (result) {
game_parameters_json = JSON.parse(parameters_doc.text_content); script_content = result.data.rows[0].value.text_content;
return gadget.jio_get("rescue_swarm_script_module/" + "lp_loiter"); var query = '(portal_type:"Web Manifest") AND (reference:"loiter_flight_log")';
return gadget.jio_allDocs({query: query, select_list: ["text_content"]});
}) })
.push(function (log) { .push(function (result) {
log_content = log.text_content; log_content = result.data.rows[0].value.text_content;
gadget.runGame({ gadget.runGame({
logic_url: parameter_gamelogic, logic_url: parameter_gamelogic,
...@@ -355,7 +311,6 @@ ...@@ -355,7 +311,6 @@
width: canvas.width, width: canvas.width,
height: canvas.height, height: canvas.height,
script: script_content, script: script_content,
game_parameters_json: game_parameters_json,
log: log_content log: log_content
}); });
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_page_js.xml
View file @ febb13ae
...@@ -244,7 +244,7 @@ ...@@ -244,7 +244,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1003.10118.17019.16759</string> </value> <value> <string>1003.18672.40791.39372</string> </value>
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -262,7 +262,7 @@ ...@@ -262,7 +262,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1663954426.68</float> <float>1664462734.74</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_web_worker_js.js
View file @ febb13ae
...@@ -4,17 +4,6 @@ ...@@ -4,17 +4,6 @@
DroneGameManager*/ DroneGameManager*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*************************************************************************/
/**************************** ROQUE WW EVENTS ****************************/
/*************************************************************************/
console.log("WITH EVENTS");
self.window = { self.window = {
addEventListener: function (event, fn, opt) { addEventListener: function (event, fn, opt) {
bindHandler('window', event, fn, opt); bindHandler('window', event, fn, opt);
...@@ -34,15 +23,7 @@ self.document = { ...@@ -34,15 +23,7 @@ self.document = {
defaultView: self.window, defaultView: self.window,
}; };
importScripts('babylon.js', 'babylon.gui.js'); importScripts('babylon.js', 'babylon.gui.js', 'rsvp.js',
importScripts('rsvp.js',
'GameManager.js',
'DroneManager.js',
'MapManager.js',
'ObstacleManager.js',
'DroneAaileFixeAPI.js',
'DroneLogAPI.js',
'DroneAPI.js',
'gadget_erp5_page_game_logic.js'); 'gadget_erp5_page_game_logic.js');
function mainToWorker(evt) { function mainToWorker(evt) {
...@@ -52,11 +33,14 @@ function mainToWorker(evt) { ...@@ -52,11 +33,14 @@ function mainToWorker(evt) {
RSVP = window.RSVP; RSVP = window.RSVP;
return new RSVP.Queue() return new RSVP.Queue()
.push(function () { .push(function () {
return runGame(offscreen_canvas, evt.data.script, postMessage({'type': 'started'});
evt.data.game_parameters_json, evt.data.log); return runGame(offscreen_canvas, evt.data.script, evt.data.log);
}) })
.push(function () { .push(function (result) {
return postMessage({'type': 'started'}); return postMessage({'type': 'finished', 'result': result});
}, function(error) {
console.log("ERROR:", error);
return postMessage({'type': 'error', 'error': error});
}); });
break; break;
case 'update': case 'update':
...@@ -76,98 +60,6 @@ function mainToWorker(evt) { ...@@ -76,98 +60,6 @@ function mainToWorker(evt) {
} }
}; };
/*****************************************************************************/
/************************************************************************/
/***************************** WORKING GAME *****************************/
/************************************************************************/
/*console.log("WORKING GAME WITH NO EVENTS");
var document = {
addEventListener: function () {},
createElement: function () {}
};
(function (worker) {
importScripts('babylon.js', 'babylon.gui.js');
}(this));
var window = {
addEventListener: function (event, fn, opt) {
bindHandler('window', event, fn, opt);
},
PointerEvent: true
};
document = {
addEventListener: function (event, fn, opt) {
bindHandler('document', event, fn, opt);
},
createElement: function () {
return {onwheel: true};
},
defaultView: window
};
function mainToWorker(evt) {
switch (evt.data.type) {
case 'start':
var offscreen_canvas = prepareCanvas(evt.data);
//override createElement as it is needed by babylon to create a canvas
document.createElement = function (type) {
if (type === 'canvas') { return offscreen_canvas; }
return { onwheel: true };
}
//TODO evt.data.logic_url should contain the list of scripts
importScripts(
'rsvp.js',
'GameManager.js',
'DroneManager.js',
'MapManager.js',
'ObstacleManager.js',
'DroneAaileFixeAPI.js',
'DroneLogAPI.js',
'DroneAPI.js',
evt.data.logic_url);
RSVP = window.RSVP;
window = undefined;
return new RSVP.Queue()
.push(function () {
return runGame(offscreen_canvas, evt.data.script,
evt.data.game_parameters_json, evt.data.log);
})
.push(function () {
return postMessage({'type': 'started'});
});
break;
case 'update':
return new RSVP.Queue()
.push(function () {
return updateGame();
})
.push(function () {
return postMessage({'type': 'updated'});
});
break;
case 'event':
handleEvent(evt.data);
break;
//case 'mousewheel':
// eventGame(evt.data.eventClone);
// break;
default:
throw new Error('Unsupported message ' + JSON.stringify(evt.data));
}
};*/
/*****************************************************************************/
// Doesn't work without it // Doesn't work without it
class HTMLElement {} class HTMLElement {}
...@@ -200,7 +92,6 @@ function bindHandler(targetName, eventName, fn, opt) { ...@@ -200,7 +92,6 @@ function bindHandler(targetName, eventName, fn, opt) {
function handleEvent(event) { function handleEvent(event) {
const handlerId = event.targetName + event.eventName; const handlerId = event.targetName + event.eventName;
console.log("[WEBWORKER] handlerId:", handlerId);
event.eventClone.preventDefault = noop; event.eventClone.preventDefault = noop;
event.eventClone.target = self.canvas; event.eventClone.target = self.canvas;
if (!handlers.has(handlerId)) { if (!handlers.has(handlerId)) {
...@@ -252,7 +143,7 @@ function prepareCanvas(data) { ...@@ -252,7 +143,7 @@ function prepareCanvas(data) {
return canvas; return canvas;
} }
function noop() { console.log("noop!"); } function noop() {}
(function (worker) { (function (worker) {
worker.onmessage = mainToWorker; worker.onmessage = mainToWorker;
......
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_web_worker_js.xml
View file @ febb13ae
...@@ -244,7 +244,7 @@ ...@@ -244,7 +244,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1003.14300.40470.3601</string> </value> <value> <string>1003.18860.38045.58146</string> </value>
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -262,7 +262,7 @@ ...@@ -262,7 +262,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1664202107.66</float> <float>1664473758.33</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
erp5_drone_simulator/PathTemplateItem/rescue_swarm_script_module/log_loiter.xml → erp5_drone_simulator/PathTemplateItem/web_page_module/loiter_flight_log.xml
View file @ febb13ae
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<ZopeData> <ZopeData>
<record id="1" aka="AAAAAAAAAAE="> <record id="1" aka="AAAAAAAAAAE=">
<pickle> <pickle>
<global name="Rescue Swarm Script" module="erp5.portal_type"/> <global name="Web Manifest" module="erp5.portal_type"/>
</pickle> </pickle>
<pickle> <pickle>
<dictionary> <dictionary>
...@@ -62,23 +62,24 @@ ...@@ -62,23 +62,24 @@
</value> </value>
</item> </item>
<item> <item>
<key> <string>content_type</string> </key> <key> <string>content_md5</string> </key>
<value> <string>application/javascript</string> </value> <value>
<none/>
</value>
</item> </item>
<item> <item>
<key> <string>default_reference</string> </key> <key> <string>default_reference</string> </key>
<value> <string>log_loiter</string> </value> <value> <string>loiter_flight_log</string> </value>
</item> </item>
<item> <item>
<key> <string>description</string> </key> <key> <string>description</string> </key>
<value> <string>Loiter flight log. Corresponds to the flight for the script https://lab.nexedi.com/lpgeneau/flight-scripts/blob/update_loop/demo.js\n <value>
\n <none/>
"demo flight" (where the drone is the leader so the code referring to the follower is not executed) using an API similar to the one used in the simulator.\n </value>
The SR is at https://lab.nexedi.com/lpgeneau/slapos/tree/update_loop/software/js-drone (especially the modified worker.js).</string> </value>
</item> </item>
<item> <item>
<key> <string>id</string> </key> <key> <string>id</string> </key>
<value> <string>log_loiter</string> </value> <value> <string>loiter_flight_log</string> </value>
</item> </item>
<item> <item>
<key> <string>language</string> </key> <key> <string>language</string> </key>
...@@ -88,7 +89,13 @@ The SR is at https://lab.nexedi.com/lpgeneau/slapos/tree/update_loop/software/js ...@@ -88,7 +89,13 @@ The SR is at https://lab.nexedi.com/lpgeneau/slapos/tree/update_loop/software/js
</item> </item>
<item> <item>
<key> <string>portal_type</string> </key> <key> <string>portal_type</string> </key>
<value> <string>Rescue Swarm Script</string> </value> <value> <string>Web Manifest</string> </value>
</item>
<item>
<key> <string>short_title</string> </key>
<value>
<none/>
</value>
</item> </item>
<item> <item>
<key> <string>text_content</string> </key> <key> <string>text_content</string> </key>
...@@ -530,7 +537,13 @@ Taking off...\n ...@@ -530,7 +537,13 @@ Taking off...\n
</item> </item>
<item> <item>
<key> <string>title</string> </key> <key> <string>title</string> </key>
<value> <string>log_loiter</string> </value> <value> <string>Loiter flight log</string> </value>
</item>
<item>
<key> <string>version</string> </key>
<value>
<none/>
</value>
</item> </item>
<item> <item>
<key> <string>workflow_history</string> </key> <key> <string>workflow_history</string> </key>
...@@ -563,6 +576,12 @@ Taking off...\n ...@@ -563,6 +576,12 @@ Taking off...\n
<persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent> <persistent> <string encoding="base64">AAAAAAAAAAQ=</string> </persistent>
</value> </value>
</item> </item>
<item>
<key> <string>processing_status_workflow</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAU=</string> </persistent>
</value>
</item>
</dictionary> </dictionary>
</value> </value>
</item> </item>
...@@ -608,7 +627,7 @@ Taking off...\n ...@@ -608,7 +627,7 @@ Taking off...\n
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1660134705.82</float> <float>1664461702.56</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
...@@ -657,7 +676,7 @@ Taking off...\n ...@@ -657,7 +676,7 @@ Taking off...\n
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1002.23821.16502.25531</string> </value> <value> <string>1003.18664.31618.1314</string> </value>
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -675,7 +694,70 @@ Taking off...\n ...@@ -675,7 +694,70 @@ Taking off...\n
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1660839203.68</float> <float>1664461961.24</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record id="5" aka="AAAAAAAAAAU=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
</pickle>
<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
<list>
<dictionary>
<item>
<key> <string>action</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>actor</string> </key>
<value> <string>zope</string> </value>
</item>
<item>
<key> <string>comment</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>error_message</string> </key>
<value> <string></string> </value>
</item>
<item>
<key> <string>external_processing_state</string> </key>
<value> <string>empty</string> </value>
</item>
<item>
<key> <string>serial</string> </key>
<value> <string>0.0.0.0</string> </value>
</item>
<item>
<key> <string>time</string> </key>
<value>
<object>
<klass>
<global name="DateTime" module="DateTime.DateTime"/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>1664461675.47</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
erp5_drone_simulator/PathTemplateItem/web_page_module/loiter_flight_script.txt 0 → 100644
View file @ febb13ae
const ALTITUDE_DIFF = 30,
FLIGH_ALTITUDE = 100,
PARACHUTE_ALTITUDE = 35,
EPSILON = 105,
EPSILON_YAW = 6,
EPSILON_ALTITUDE = 5,
TARGET_YAW = 0,
checkpoint_list = [
{
"latitude": 45.64492790560583,
"longitude": 14.25334942966329,
"altitude": 585.1806861589965
},
{
"latitude": 45.64316335436476,
"longitude": 14.26332880184475,
"altitude": 589.8802607573035
},
{
"latitude": 45.64911917196595,
"longitude": 14.26214792790128,
"altitude": 608.6648153348965
},
{
"latitude": 45.64122685351364,
"longitude": 14.26590493128597,
"altitude": 606.1448368129072
},
{
"latitude": 45.64543355564817,
"longitude": 14.27242391207985,
"altitude": 630.0829598206344
},
{
"latitude": 45.6372792927328,
"longitude": 14.27533492411138,
"altitude": 616.1839898415284
},
{
"latitude": 45.64061299543953,
"longitude": 14.26161958465814,
"altitude": 598.0603137354178
},
{
"latitude": 45.64032340702919,
"longitude": 14.2682896662383,
"altitude": 607.1243119862851
}
],
landing_point = [
{
"latitude": 45.6398451,
"longitude": 14.2699217
}
],
LEADER_ID = 0,
IS_LEADER = me.id === LEADER_ID;
function altitudeReached(altitude, target_altitude) {
//console.log(`[DEMO] Waiting for altitude... (${altitude} , ${target_altitude})`);
return Math.abs(altitude - target_altitude) < EPSILON_ALTITUDE;
}
function distance(lat1, lon1, lat2, lon2) {
const R = 6371e3, // meters
la1 = lat1 * Math.PI/180, // la, lo in radians
la2 = lat2 * Math.PI/180,
lo1 = lon1 * Math.PI/180,
lo2 = lon2 * Math.PI/180;
//haversine formula
const sin_lat = Math.sin((la2 - la1)/2),
sin_lon = Math.sin((lo2 - lo1)/2),
h = sin_lat*sin_lat + Math.cos(la1)*Math.cos(la2)*sin_lon*sin_lon;
return 2*R*Math.asin(Math.sqrt(h));
}
function exit_on_fail(ret, msg) {
if (ret) {
console.log(msg);
me.exit(1);
}
}
function mustWait(timestamp) {
if(me.timestamp === 0) {
me.timestamp = timestamp;
}
return timestamp - me.timestamp < me.must_wait;
}
me.onStart = function() {
console.log("[WEB SCRIPT] WEB WORKER DRONE START!");
/*console.log("distance from 1st point at start:", distance(me.getCurrentPosition().x, me.getCurrentPosition().y,
checkpoint_list[0].latitude,
checkpoint_list[0].longitude));*/
me.direction_set = false;
me.init_alt_reached = false;
me.landing = false;
me.landing_alt_reached = false;
me.must_wait = 3000;
me.next_checkpoint = 0;
me.parachute_triggered = false;
me.start_altitude = me.getInitialAltitude() + FLIGH_ALTITUDE;
me.timestamp = 0;
if (!IS_LEADER) {
me.follow_leader = true;
me.leader_init_alt_reached = false;
me.start_altitude += ALTITUDE_DIFF;
me.must_wait = 0;
}
exit_on_fail(
me.setAltitude(me.start_altitude + 1, true),
"Failed to set start altitude");
};
me.onUpdate = function(timestamp) {
if (!me.init_alt_reached) {
me.init_alt_reached = altitudeReached(me.getAltitudeAbs(), me.start_altitude);
return;
}
if (me.must_wait > 0) {
if (!mustWait(timestamp)) {
me.must_wait = 0;
me.timestamp = 0;
}
return;
}
if (!IS_LEADER && me.follow_leader) {
if (me.drone_dict[LEADER_ID].altitudeAbs === 0) {
return console.log("[DEMO] Waiting for leader to send its altitude");
}
if (!me.leader_init_alt_reached) {
me.leader_init_alt_reached = me.drone_dict[LEADER_ID].altitudeAbs >= me.start_altitude - ALTITUDE_DIFF;
return console.log(`[DEMO] Waiting for leader to reach altitude ${me.start_altitude - ALTITUDE_DIFF} (currently ${me.drone_dict[LEADER_ID].altitudeAbs})`);
}
if (me.drone_dict[LEADER_ID].altitudeRel > PARACHUTE_ALTITUDE) {
exit_on_fail(
me.setTargetCoordinates(
me.drone_dict[LEADER_ID].latitude,
me.drone_dict[LEADER_ID].longitude,
me.drone_dict[LEADER_ID].altitudeAbs + ALTITUDE_DIFF,
30.001
),
"Failed to follow leader");
} else {
me.follow_leader = false;
me.next_checkpoint = me.drone_dict[LEADER_ID].lastCheckpoint + 1;
console.log("[DEMO] Stop following...\n");
}
return;
}
if (!me.direction_set) {
if (me.next_checkpoint < checkpoint_list.length) {
var current_position = me.getCurrentPosition();
var dist = distance(current_position.x, current_position.y,
checkpoint_list[me.next_checkpoint].latitude,
checkpoint_list[me.next_checkpoint].longitude);
/*console.log("---------------------------------------------");
console.log("[SCRIPT] current_position:", current_position);
console.log("[SCRIPT] next_checkpoint:", checkpoint_list[me.next_checkpoint]);
console.log("[SCRIPT] distance:", dist);*/
exit_on_fail(
me.setTargetCoordinates(
checkpoint_list[me.next_checkpoint].latitude,
checkpoint_list[me.next_checkpoint].longitude,
checkpoint_list[me.next_checkpoint].altitude + FLIGH_ALTITUDE,
100
),
"Failed to set checkpoint coordinates");
//console.log(`[DEMO] Going to Checkpoint ${me.next_checkpoint}\n`)
} else {
console.log("[DEMO] Setting landing coordinates...\n");
me.landing_altitude = me.getAltitudeAbs() - me.getCurrentPosition().z + PARACHUTE_ALTITUDE;
exit_on_fail(
/*me.setTargetCoordinates(
checkpoint_list[checkpoint_list.length - 1].latitude,
checkpoint_list[checkpoint_list.length - 1].longitude,
me.landing_altitude,
100
),*/
me.setAltitude(me.landing_altitude, true),
"Failed to set landing coordinates");
}
me.direction_set = true;
return;
}
if (me.next_checkpoint < checkpoint_list.length) {
me.current_position = me.getCurrentPosition();
me.distance = distance(me.current_position.x, me.current_position.y,
checkpoint_list[me.next_checkpoint].latitude,
checkpoint_list[me.next_checkpoint].longitude);
if (me.distance > EPSILON) {
//console.log(`Waiting for drone to get to destination (${me.distance} m)`);
} else {
/*console.log(`[DEMO] Reached Checkpoint ${me.next_checkpoint}\n`);
console.log("[SCRIPT] current_position:", me.current_position);*/
var loiter_center = checkpoint_list[me.next_checkpoint];
/*console.log("[SCRIPT] next_checkpoint:", checkpoint_list[me.next_checkpoint]);
console.log("[SCRIPT] drone-checkpoint distance:", me.distance);*/
me.next_checkpoint += 1;
me.sendMsg(JSON.stringify({ next_checkpoint: me.next_checkpoint }));
me.direction_set = false;
me.must_wait = 30000;
me.loiter();
}
return;
}
if (!me.landing_alt_reached) {
me.landing_alt_reached = altitudeReached(me.getAltitudeAbs(), me.landing_altitude);
return;
}
if (!me.landing) {
me.current_position = me.getCurrentPosition();
me.distance = distance(me.current_position.x, me.current_position.y,
landing_point.latitude, landing_point.longitude);
if (me.distance > 20) {
//console.log(`[DEMO] Waiting to reach landing point (current distance is ${me.distance})`);
} else {
console.log("[DEMO] Landing...\n");
me.landing = true;
}
return;
}
if (!me.parachute_triggered) {
if (Math.abs(me.getYaw() - TARGET_YAW) < EPSILON_YAW) {
console.log("[DEMO] Deploying parachute...");
exit_on_fail(me.doParachute(2), "Failed to deploy parachute");
me.parachute_triggered = true;
} else {
return console.log(`[DEMO] Waiting for yaw...`);
}
}
if (me.landed()) {
console.log("calling me.exit(0) when me.landed");
me.exit(0);
}
};
me.onGetMsg = function(msg) {
me.msgDict = JSON.parse(msg);
if (me.follow_leader && me.msgDict.hasOwnProperty("next_checkpoint")) {
me.next_checkpoint = me.msgDict.next_checkpoint;
}
};
erp5_drone_simulator/PathTemplateItem/web_page_module/drone_web_worker_map_manager_js.xml → erp5_drone_simulator/PathTemplateItem/web_page_module/loiter_flight_script.xml
View file @ febb13ae
...@@ -75,7 +75,7 @@ ...@@ -75,7 +75,7 @@
</item> </item>
<item> <item>
<key> <string>default_reference</string> </key> <key> <string>default_reference</string> </key>
<value> <string>MapManager.js</string> </value> <value> <string>loiter_flight_script</string> </value>
</item> </item>
<item> <item>
<key> <string>description</string> </key> <key> <string>description</string> </key>
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
</item> </item>
<item> <item>
<key> <string>id</string> </key> <key> <string>id</string> </key>
<value> <string>drone_web_worker_map_manager_js</string> </value> <value> <string>loiter_flight_script</string> </value>
</item> </item>
<item> <item>
<key> <string>language</string> </key> <key> <string>language</string> </key>
...@@ -105,7 +105,7 @@ ...@@ -105,7 +105,7 @@
</item> </item>
<item> <item>
<key> <string>title</string> </key> <key> <string>title</string> </key>
<value> <string>Map Manager JS</string> </value> <value> <string>Loiter flight script</string> </value>
</item> </item>
<item> <item>
<key> <string>version</string> </key> <key> <string>version</string> </key>
...@@ -195,7 +195,7 @@ ...@@ -195,7 +195,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1662556210.78</float> <float>1664459507.81</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
...@@ -244,7 +244,7 @@ ...@@ -244,7 +244,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1002.54126.42371.36932</string> </value> <value> <string>1003.18623.52236.6348</string> </value>
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -262,7 +262,7 @@ ...@@ -262,7 +262,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1662993125.49</float> <float>1664460051.36</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
...@@ -325,7 +325,7 @@ ...@@ -325,7 +325,7 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<float>1662555978.78</float> <float>1664387279.94</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
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