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Romain Courteaud
erp5
Commits
98aa5f07
Commit
98aa5f07
authored
Aug 03, 2023
by
Roque
Browse files
Options
Browse Files
Download
Plain Diff
erp5_officejs_drone_simulator: fix drone position update, speed and coordinates conversion
See merge request
nexedi/erp5!1806
parents
ebdc34d4
76226c46
Changes
6
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6 changed files
with
175 additions
and
142 deletions
+175
-142
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
...em/web_page_module/drone_simulator_dronelogfollower_js.js
+4
-6
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
...m/web_page_module/drone_simulator_dronelogfollower_js.xml
+3
-3
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js
...Item/web_page_module/drone_simulator_fixedwingdrone_js.js
+111
-75
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml
...tem/web_page_module/drone_simulator_fixedwingdrone_js.xml
+2
-2
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
...hTemplateItem/web_page_module/drone_simulator_logic_js.js
+53
-54
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
...TemplateItem/web_page_module/drone_simulator_logic_js.xml
+2
-2
No files found.
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
View file @
98aa5f07
...
@@ -61,16 +61,14 @@ var DroneLogAPI = /** @class */ (function () {
...
@@ -61,16 +61,14 @@ var DroneLogAPI = /** @class */ (function () {
timestamp
=
parseInt
(
splitted_log_entry
[
0
],
10
);
timestamp
=
parseInt
(
splitted_log_entry
[
0
],
10
);
lat
=
parseFloat
(
splitted_log_entry
[
1
]);
lat
=
parseFloat
(
splitted_log_entry
[
1
]);
lon
=
parseFloat
(
splitted_log_entry
[
2
]);
lon
=
parseFloat
(
splitted_log_entry
[
2
]);
x
=
this
.
_mapManager
.
longitudToX
(
lon
,
map_dict
.
map_size
);
y
=
this
.
_mapManager
.
latitudeToY
(
lat
,
map_dict
.
map_size
);
position
=
this
.
_mapManager
.
normalize
(
x
,
y
,
map_dict
);
height
=
parseFloat
(
splitted_log_entry
[
4
]);
height
=
parseFloat
(
splitted_log_entry
[
4
]);
if
(
height
<
min_height
)
{
if
(
height
<
min_height
)
{
height
=
min_height
;
height
=
min_height
;
}
}
converted_log_point_list
.
push
([
position
[
0
],
position
=
this
.
_mapManager
.
convertToLocalCoordinates
(
lat
,
lon
,
height
);
position
[
1
],
converted_log_point_list
.
push
([
position
.
x
,
height
,
timestamp
/
time_offset
]);
position
.
y
,
position
.
z
,
timestamp
/
time_offset
]);
}
}
this
.
_flight_parameters
.
converted_log_point_list
=
converted_log_point_list
;
this
.
_flight_parameters
.
converted_log_point_list
=
converted_log_point_list
;
};
};
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
View file @
98aa5f07
...
@@ -232,7 +232,7 @@
...
@@ -232,7 +232,7 @@
</item>
</item>
<item>
<item>
<key>
<string>
actor
</string>
</key>
<key>
<string>
actor
</string>
</key>
<value>
<
string>
zope
</string
>
</value>
<value>
<
unicode>
zope
</unicode
>
</value>
</item>
</item>
<item>
<item>
<key>
<string>
comment
</string>
</key>
<key>
<string>
comment
</string>
</key>
...
@@ -246,7 +246,7 @@
...
@@ -246,7 +246,7 @@
</item>
</item>
<item>
<item>
<key>
<string>
serial
</string>
</key>
<key>
<string>
serial
</string>
</key>
<value>
<string>
10
09.38419.20212.62293
</string>
</value>
<value>
<string>
10
10.13157.33937.23381
</string>
</value>
</item>
</item>
<item>
<item>
<key>
<string>
state
</string>
</key>
<key>
<string>
state
</string>
</key>
...
@@ -266,7 +266,7 @@
...
@@ -266,7 +266,7 @@
</tuple>
</tuple>
<state>
<state>
<tuple>
<tuple>
<float>
16
88635412.8
7
</float>
<float>
16
91051883.9
7
</float>
<string>
UTC
</string>
<string>
UTC
</string>
</tuple>
</tuple>
</state>
</state>
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js
View file @
98aa5f07
...
@@ -92,7 +92,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
...
@@ -92,7 +92,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
** Function called on every drone update, right before onUpdate AI script
** Function called on every drone update, right before onUpdate AI script
*/
*/
FixedWingDroneAPI
.
prototype
.
internal_update
=
function
(
context
,
delta_time
)
{
FixedWingDroneAPI
.
prototype
.
internal_update
=
function
(
context
,
delta_time
)
{
var
diff
,
newrot
,
orientationValue
,
rotStep
,
updateSpeed
;
var
diff
,
newrot
,
orientationValue
,
rotStep
;
//TODO rotation
//TODO rotation
if
(
context
.
_rotationTarget
)
{
if
(
context
.
_rotationTarget
)
{
...
@@ -116,18 +116,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
...
@@ -116,18 +116,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
}
}
this
.
_updateSpeed
(
context
,
delta_time
);
this
.
_updateSpeed
(
context
,
delta_time
);
this
.
_update
Direc
tion
(
context
,
delta_time
);
this
.
_update
Posi
tion
(
context
,
delta_time
);
updateSpeed
=
context
.
_speed
*
delta_time
/
1000
;
if
(
context
.
_direction
.
x
!==
0
||
context
.
_direction
.
y
!==
0
||
context
.
_direction
.
z
!==
0
)
{
context
.
_controlMesh
.
position
.
addInPlace
(
new
BABYLON
.
Vector3
(
context
.
_direction
.
x
*
updateSpeed
,
context
.
_direction
.
y
*
updateSpeed
,
context
.
_direction
.
z
*
updateSpeed
));
}
//TODO rotation
//TODO rotation
orientationValue
=
context
.
_maxOrientation
*
orientationValue
=
context
.
_maxOrientation
*
(
context
.
_speed
/
context
.
_maxSpeed
);
(
context
.
_speed
/
context
.
_maxSpeed
);
...
@@ -180,51 +170,100 @@ var FixedWingDroneAPI = /** @class */ (function () {
...
@@ -180,51 +170,100 @@ var FixedWingDroneAPI = /** @class */ (function () {
}
}
};
};
FixedWingDroneAPI
.
prototype
.
_updateDirection
=
function
(
drone
,
delta_time
)
{
FixedWingDroneAPI
.
prototype
.
_updatePosition
=
function
(
drone
,
delta_time
)
{
var
horizontalCoeff
,
newX
,
newY
,
newZ
,
tangentYaw
;
var
R
=
6371
e3
,
currentGeoCoordinates
=
this
.
_mapManager
.
convertToGeoCoordinates
(
drone
.
position
.
x
,
drone
.
position
.
y
,
drone
.
position
.
z
),
targetCoordinates
=
this
.
_mapManager
.
convertToGeoCoordinates
(
drone
.
_targetCoordinates
.
x
,
drone
.
_targetCoordinates
.
y
,
drone
.
_targetCoordinates
.
z
),
bearing
=
this
.
_computeBearing
(
currentGeoCoordinates
.
x
,
currentGeoCoordinates
.
y
,
targetCoordinates
.
x
,
targetCoordinates
.
y
),
currentCosLat
,
currentLatRad
,
distance
,
distanceCos
,
distanceSin
,
currentSinLat
,
currentLonRad
,
groundSpeed
,
newCoordinates
,
newLatRad
,
newLonRad
,
newYaw
,
newYawRad
,
verticalSpeed
,
yawToDirection
;
if
(
this
.
_loiter_mode
if
(
this
.
_loiter_mode
&&
Math
.
sqrt
(
&&
Math
.
sqrt
(
Math
.
pow
(
drone
.
_targetCoordinates
.
x
-
drone
.
position
.
x
,
2
)
Math
.
pow
(
drone
.
_targetCoordinates
.
x
-
drone
.
position
.
x
,
2
)
+
Math
.
pow
(
drone
.
_targetCoordinates
.
y
-
drone
.
position
.
y
,
2
)
+
Math
.
pow
(
drone
.
_targetCoordinates
.
y
-
drone
.
position
.
y
,
2
)
)
<=
this
.
_loiter_radius
)
{
)
<=
this
.
_loiter_radius
)
{
tangentYaw
=
this
.
_computeBearing
(
newYaw
=
bearing
-
90
;
drone
.
position
.
x
,
drone
.
position
.
y
,
drone
.
_targetCoordinates
.
x
,
drone
.
_targetCoordinates
.
y
)
-
90
;
// trigonometric circle is east oriented, yaw angle is clockwise
tangentYaw
=
this
.
_toRad
(
-
tangentYaw
+
90
);
newX
=
Math
.
cos
(
tangentYaw
);
newZ
=
Math
.
sin
(
tangentYaw
);
}
else
{
}
else
{
[
newX
,
newZ
]
=
this
.
_getNewYaw
(
drone
,
delta_time
);
newYaw
=
this
.
_getNewYaw
(
drone
,
bearing
,
delta_time
);
}
}
newY
=
this
.
_getNewAltitude
(
drone
);
newYawRad
=
this
.
_toRad
(
newYaw
);
currentLatRad
=
this
.
_toRad
(
currentGeoCoordinates
.
x
);
currentCosLat
=
Math
.
cos
(
currentLatRad
);
currentSinLat
=
Math
.
sin
(
currentLatRad
);
currentLonRad
=
this
.
_toRad
(
currentGeoCoordinates
.
y
);
verticalSpeed
=
this
.
_getVerticalSpeed
(
drone
);
groundSpeed
=
Math
.
sqrt
(
Math
.
pow
(
drone
.
getAirSpeed
(),
2
)
-
Math
.
pow
(
verticalSpeed
,
2
)
);
distance
=
(
groundSpeed
*
delta_time
/
1000
)
/
R
;
distanceCos
=
Math
.
cos
(
distance
);
distanceSin
=
Math
.
sin
(
distance
);
horizontalCoeff
=
Math
.
sqrt
(
newLatRad
=
Math
.
asin
(
(
currentSinLat
*
distanceCos
Math
.
pow
(
drone
.
getAirSpeed
(),
2
)
-
Math
.
pow
(
newY
,
2
)
+
currentCosLat
*
distanceSin
*
Math
.
cos
(
newYawRad
)
)
/
(
Math
.
pow
(
newX
,
2
)
+
Math
.
pow
(
newZ
,
2
)
)
);
);
newX
*=
horizontalCoeff
;
newLonRad
=
currentLonRad
+
Math
.
atan2
(
newZ
*=
horizontalCoeff
;
Math
.
sin
(
newYawRad
)
*
distanceSin
*
currentCosLat
,
distanceCos
-
currentSinLat
*
Math
.
sin
(
newLatRad
)
);
newCoordinates
=
this
.
_mapManager
.
convertToLocalCoordinates
(
this
.
_toDeg
(
newLatRad
),
this
.
_toDeg
(
newLonRad
),
drone
.
position
.
z
);
// swap y and z axis so z axis represents altitude
// swap y and z axis so z axis represents altitude
drone
.
setDirection
(
newX
,
newZ
,
newY
);
drone
.
_controlMesh
.
position
.
addInPlace
(
new
BABYLON
.
Vector3
(
Math
.
abs
(
newCoordinates
.
x
-
drone
.
position
.
x
)
*
(
newCoordinates
.
x
<
drone
.
position
.
x
?
-
1
:
1
),
verticalSpeed
*
delta_time
/
1000
,
Math
.
abs
(
newCoordinates
.
y
-
drone
.
position
.
y
)
*
(
newCoordinates
.
y
<
drone
.
position
.
y
?
-
1
:
1
)
));
yawToDirection
=
this
.
_toRad
(
-
newYaw
+
90
);
drone
.
setDirection
(
groundSpeed
*
Math
.
cos
(
yawToDirection
),
groundSpeed
*
Math
.
sin
(
yawToDirection
),
verticalSpeed
);
};
};
FixedWingDroneAPI
.
prototype
.
_getNewYaw
=
function
(
drone
,
delta_time
)
{
FixedWingDroneAPI
.
prototype
.
_getNewYaw
=
function
(
drone
,
bearing
,
delta_time
)
{
// swap y and z axis so z axis represents altitude
// swap y and z axis so z axis represents altitude
var
bearing
=
this
.
_computeBearing
(
var
yaw
=
drone
.
getYaw
(),
drone
.
position
.
x
,
drone
.
position
.
y
,
drone
.
_targetCoordinates
.
x
,
drone
.
_targetCoordinates
.
y
),
yaw
=
drone
.
getYaw
(),
yawDiff
=
this
.
_computeYawDiff
(
yaw
,
bearing
),
yawDiff
=
this
.
_computeYawDiff
(
yaw
,
bearing
),
yawUpdate
=
this
.
getYawVelocity
(
drone
)
*
delta_time
/
1000
;
yawUpdate
=
this
.
getYawVelocity
(
drone
)
*
delta_time
/
1000
;
...
@@ -233,14 +272,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
...
@@ -233,14 +272,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
}
else
if
(
yawDiff
<
0
)
{
}
else
if
(
yawDiff
<
0
)
{
yawUpdate
*=
-
1
;
yawUpdate
*=
-
1
;
}
}
yaw
+=
yawUpdate
;
return
yaw
+
yawUpdate
;
// trigonometric circle is east oriented, yaw angle is clockwise
yaw
=
this
.
_toRad
(
-
yaw
+
90
);
return
[
Math
.
cos
(
yaw
),
Math
.
sin
(
yaw
)];
};
};
FixedWingDroneAPI
.
prototype
.
_get
NewAltitude
=
function
(
drone
)
{
FixedWingDroneAPI
.
prototype
.
_get
VerticalSpeed
=
function
(
drone
)
{
// swap y and z axis so z axis represents altitude
// swap y and z axis so z axis represents altitude
var
altitudeDiff
=
drone
.
_targetCoordinates
.
z
-
drone
.
position
.
z
,
var
altitudeDiff
=
drone
.
_targetCoordinates
.
z
-
drone
.
position
.
z
,
verticalSpeed
;
verticalSpeed
;
...
@@ -356,24 +391,17 @@ var FixedWingDroneAPI = /** @class */ (function () {
...
@@ -356,24 +391,17 @@ var FixedWingDroneAPI = /** @class */ (function () {
if
(
isNaN
(
lat
)
||
isNaN
(
lon
)
||
isNaN
(
z
))
{
if
(
isNaN
(
lat
)
||
isNaN
(
lon
)
||
isNaN
(
z
))
{
throw
new
Error
(
'
Target coordinates must be numbers
'
);
throw
new
Error
(
'
Target coordinates must be numbers
'
);
}
}
var
x
=
this
.
_mapManager
.
longitudToX
(
lon
,
this
.
_map_dict
.
map_size
),
var
processed_coordinates
=
y
=
this
.
_mapManager
.
latitudeToY
(
lat
,
this
.
_map_dict
.
map_size
),
this
.
_mapManager
.
convertToLocalCoordinates
(
lat
,
lon
,
z
);
position
=
this
.
_mapManager
.
normalize
(
x
,
y
,
this
.
_map_dict
),
if
(
processed_coordinates
.
z
>
this
.
_map_dict
.
start_AMSL
)
{
processed_coordinates
;
processed_coordinates
.
z
-=
this
.
_map_dict
.
start_AMSL
;
if
(
z
>
this
.
_map_dict
.
start_AMSL
)
{
z
-=
this
.
_map_dict
.
start_AMSL
;
}
}
processed_coordinates
=
{
x
:
position
[
0
],
y
:
position
[
1
],
z
:
z
};
//this._last_altitude_point_reached = -1;
//this._last_altitude_point_reached = -1;
//this.takeoff_path = [];
//this.takeoff_path = [];
return
processed_coordinates
;
return
processed_coordinates
;
};
};
FixedWingDroneAPI
.
prototype
.
getCurrentPosition
=
function
(
x
,
y
,
z
)
{
FixedWingDroneAPI
.
prototype
.
getCurrentPosition
=
function
(
x
,
y
,
z
)
{
return
this
.
_mapManager
.
convertToGeoCoordinates
(
x
,
y
,
z
,
this
.
_map_dict
);
return
this
.
_mapManager
.
convertToGeoCoordinates
(
x
,
y
,
z
);
};
};
FixedWingDroneAPI
.
prototype
.
getDroneAI
=
function
()
{
FixedWingDroneAPI
.
prototype
.
getDroneAI
=
function
()
{
return
null
;
return
null
;
...
@@ -419,11 +447,19 @@ var FixedWingDroneAPI = /** @class */ (function () {
...
@@ -419,11 +447,19 @@ var FixedWingDroneAPI = /** @class */ (function () {
};
};
FixedWingDroneAPI
.
prototype
.
getYaw
=
function
(
drone
)
{
FixedWingDroneAPI
.
prototype
.
getYaw
=
function
(
drone
)
{
var
direction
=
drone
.
worldDirection
;
var
direction
=
drone
.
worldDirection
;
return
this
.
_computeBearing
(
0
,
0
,
direction
.
x
,
direction
.
z
);
return
this
.
_toDeg
(
Math
.
atan2
(
direction
.
x
,
direction
.
z
));
};
};
FixedWingDroneAPI
.
prototype
.
_computeBearing
=
function
(
x1
,
z1
,
x2
,
z2
)
{
FixedWingDroneAPI
.
prototype
.
_computeBearing
=
return
this
.
_toDeg
(
Math
.
atan2
(
x2
-
x1
,
z2
-
z1
));
function
(
lat1
,
lon1
,
lat2
,
lon2
)
{
var
dLon
=
this
.
_toRad
(
lon2
-
lon1
),
lat1Rad
=
this
.
_toRad
(
lat1
),
lat2Rad
=
this
.
_toRad
(
lat2
),
x
=
Math
.
cos
(
lat2Rad
)
*
Math
.
sin
(
dLon
),
y
=
Math
.
cos
(
lat1Rad
)
*
Math
.
sin
(
lat2Rad
)
-
Math
.
sin
(
lat1Rad
)
*
Math
.
cos
(
lat2Rad
)
*
Math
.
cos
(
dLon
);
return
this
.
_toDeg
(
Math
.
atan2
(
x
,
y
));
};
};
FixedWingDroneAPI
.
prototype
.
_computeYawDiff
=
function
(
yaw1
,
yaw2
)
{
FixedWingDroneAPI
.
prototype
.
_computeYawDiff
=
function
(
yaw1
,
yaw2
)
{
var
diff
=
yaw2
-
yaw1
;
var
diff
=
yaw2
-
yaw1
;
diff
+=
(
diff
>
180
)
?
-
360
:
(
diff
<
-
180
)
?
360
:
0
;
diff
+=
(
diff
>
180
)
?
-
360
:
(
diff
<
-
180
)
?
360
:
0
;
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml
View file @
98aa5f07
...
@@ -240,7 +240,7 @@
...
@@ -240,7 +240,7 @@
</item>
</item>
<item>
<item>
<key>
<string>
serial
</string>
</key>
<key>
<string>
serial
</string>
</key>
<value>
<string>
10
09.59163.16294.47701
</string>
</value>
<value>
<string>
10
10.13155.61424.54442
</string>
</value>
</item>
</item>
<item>
<item>
<key>
<string>
state
</string>
</key>
<key>
<string>
state
</string>
</key>
...
@@ -260,7 +260,7 @@
...
@@ -260,7 +260,7 @@
</tuple>
</tuple>
<state>
<state>
<tuple>
<tuple>
<float>
169
0395852.2
</float>
<float>
169
1051762.91
</float>
<string>
UTC
</string>
<string>
UTC
</string>
</tuple>
</tuple>
</state>
</state>
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
View file @
98aa5f07
...
@@ -367,41 +367,11 @@ var DroneManager = /** @class */ (function () {
...
@@ -367,41 +367,11 @@ var DroneManager = /** @class */ (function () {
var
MapManager
=
/** @class */
(
function
()
{
var
MapManager
=
/** @class */
(
function
()
{
"
use strict
"
;
"
use strict
"
;
function
calculateMapInfo
(
map
,
map_dict
,
initial_position
)
{
var
max_width
=
map
.
latLonDistance
([
map_dict
.
min_lat
,
map_dict
.
min_lon
],
[
map_dict
.
min_lat
,
map_dict
.
max_lon
]),
max_height
=
map
.
latLonDistance
([
map_dict
.
min_lat
,
map_dict
.
min_lon
],
[
map_dict
.
max_lat
,
map_dict
.
min_lon
]),
map_size
=
Math
.
ceil
(
Math
.
max
(
max_width
,
max_height
))
*
0.6
,
map_info
=
{
"
depth
"
:
map_size
,
"
height
"
:
map_dict
.
height
,
"
width
"
:
map_size
,
"
map_size
"
:
map_size
,
"
min_x
"
:
map
.
longitudToX
(
map_dict
.
min_lon
,
map_size
),
"
min_y
"
:
map
.
latitudeToY
(
map_dict
.
min_lat
,
map_size
),
"
max_x
"
:
map
.
longitudToX
(
map_dict
.
max_lon
,
map_size
),
"
max_y
"
:
map
.
latitudeToY
(
map_dict
.
max_lat
,
map_size
),
"
start_AMSL
"
:
map_dict
.
start_AMSL
},
position
=
map
.
normalize
(
map
.
longitudToX
(
initial_position
.
longitude
,
map_size
),
map
.
latitudeToY
(
initial_position
.
latitude
,
map_size
),
map_info
);
map_info
.
initial_position
=
{
"
x
"
:
position
[
0
],
"
y
"
:
position
[
1
],
"
z
"
:
initial_position
.
z
};
return
map_info
;
}
//** CONSTRUCTOR
//** CONSTRUCTOR
function
MapManager
(
scene
)
{
function
MapManager
(
scene
)
{
var
_this
=
this
,
max_sky
,
skybox
,
skyboxMat
,
largeGroundMat
,
var
_this
=
this
,
max_sky
,
skybox
,
skyboxMat
,
largeGroundMat
,
largeGroundBottom
,
width
,
depth
,
terrain
,
max
;
largeGroundBottom
,
width
,
depth
,
terrain
,
max
;
_this
.
map_info
=
calculateMapInfo
(
_this
,
GAMEPARAMETERS
.
map
,
this
.
setMapInfo
(
GAMEPARAMETERS
.
map
,
GAMEPARAMETERS
.
initialPosition
);
GAMEPARAMETERS
.
initialPosition
);
max
=
_this
.
map_info
.
width
;
max
=
_this
.
map_info
.
width
;
if
(
_this
.
map_info
.
depth
>
max
)
{
if
(
_this
.
map_info
.
depth
>
max
)
{
max
=
_this
.
map_info
.
depth
;
max
=
_this
.
map_info
.
depth
;
...
@@ -446,14 +416,37 @@ var MapManager = /** @class */ (function () {
...
@@ -446,14 +416,37 @@ var MapManager = /** @class */ (function () {
terrain
.
scaling
=
new
BABYLON
.
Vector3
(
depth
/
50000
,
depth
/
50000
,
terrain
.
scaling
=
new
BABYLON
.
Vector3
(
depth
/
50000
,
depth
/
50000
,
width
/
50000
);
width
/
50000
);
}
}
MapManager
.
prototype
.
setMapInfo
=
function
(
map_dict
,
initial_position
)
{
var
max_width
=
this
.
latLonDistance
([
map_dict
.
min_lat
,
map_dict
.
min_lon
],
[
map_dict
.
min_lat
,
map_dict
.
max_lon
]),
max_height
=
this
.
latLonDistance
([
map_dict
.
min_lat
,
map_dict
.
min_lon
],
[
map_dict
.
max_lat
,
map_dict
.
min_lon
]),
map_size
=
Math
.
ceil
(
Math
.
max
(
max_width
,
max_height
))
*
0.6
;
this
.
map_info
=
{
"
depth
"
:
map_size
,
"
height
"
:
map_dict
.
height
,
"
width
"
:
map_size
,
"
map_size
"
:
map_size
,
"
start_AMSL
"
:
map_dict
.
start_AMSL
};
this
.
map_info
.
min_x
=
this
.
longitudToX
(
map_dict
.
min_lon
);
this
.
map_info
.
min_y
=
this
.
latitudeToY
(
map_dict
.
min_lat
);
this
.
map_info
.
max_x
=
this
.
longitudToX
(
map_dict
.
max_lon
);
this
.
map_info
.
max_y
=
this
.
latitudeToY
(
map_dict
.
max_lat
);
this
.
map_info
.
initial_position
=
this
.
convertToLocalCoordinates
(
initial_position
.
latitude
,
initial_position
.
longitude
,
initial_position
.
z
);
};
MapManager
.
prototype
.
getMapInfo
=
function
()
{
MapManager
.
prototype
.
getMapInfo
=
function
()
{
return
this
.
map_info
;
return
this
.
map_info
;
};
};
MapManager
.
prototype
.
longitudToX
=
function
(
lon
,
map_size
)
{
MapManager
.
prototype
.
longitudToX
=
function
(
lon
)
{
return
(
map_size
/
360.0
)
*
(
180
+
lon
);
return
(
this
.
map_info
.
map_size
/
360.0
)
*
(
180
+
lon
);
};
};
MapManager
.
prototype
.
latitudeToY
=
function
(
lat
,
map_size
)
{
MapManager
.
prototype
.
latitudeToY
=
function
(
lat
)
{
return
(
map_size
/
180.0
)
*
(
90
-
lat
);
return
(
this
.
map_info
.
map_size
/
180.0
)
*
(
90
-
lat
);
};
};
MapManager
.
prototype
.
latLonDistance
=
function
(
c1
,
c2
)
{
MapManager
.
prototype
.
latLonDistance
=
function
(
c1
,
c2
)
{
var
R
=
6371
e3
,
var
R
=
6371
e3
,
...
@@ -467,23 +460,30 @@ var MapManager = /** @class */ (function () {
...
@@ -467,23 +460,30 @@ var MapManager = /** @class */ (function () {
c
=
2
*
Math
.
atan2
(
Math
.
sqrt
(
a
),
Math
.
sqrt
(
1
-
a
));
c
=
2
*
Math
.
atan2
(
Math
.
sqrt
(
a
),
Math
.
sqrt
(
1
-
a
));
return
R
*
c
;
return
R
*
c
;
};
};
MapManager
.
prototype
.
normalize
=
function
(
x
,
y
,
map_dict
)
{
MapManager
.
prototype
.
convertToLocalCoordinates
=
var
n_x
=
(
x
-
map_dict
.
min_x
)
/
(
map_dict
.
max_x
-
map_dict
.
min_x
),
function
(
latitude
,
longitude
,
altitude
)
{
n_y
=
(
y
-
map_dict
.
min_y
)
/
(
map_dict
.
max_y
-
map_dict
.
min_y
);
var
map_info
=
this
.
map_info
,
return
[
n_x
*
1000
-
map_dict
.
width
/
2
,
x
=
this
.
longitudToX
(
longitude
),
n_y
*
1000
-
map_dict
.
depth
/
2
];
y
=
this
.
latitudeToY
(
latitude
);
return
{
x
:
((
x
-
map_info
.
min_x
)
/
(
map_info
.
max_x
-
map_info
.
min_x
))
*
1000
-
map_info
.
width
/
2
,
y
:
((
y
-
map_info
.
min_y
)
/
(
map_info
.
max_y
-
map_info
.
min_y
))
*
1000
-
map_info
.
depth
/
2
,
z
:
altitude
};
};
};
MapManager
.
prototype
.
convertToGeoCoordinates
=
function
(
x
,
y
,
z
,
map_dict
)
{
MapManager
.
prototype
.
convertToGeoCoordinates
=
function
(
x
,
y
,
z
)
{
var
lon
=
x
+
map_dict
.
width
/
2
,
var
lon
=
x
+
this
.
map_info
.
width
/
2
,
lat
=
y
+
map_dict
.
depth
/
2
;
lat
=
y
+
this
.
map_info
.
depth
/
2
;
lon
=
lon
/
1000
;
lon
=
lon
/
1000
;
lon
=
lon
*
(
map_dict
.
max_x
-
map_dict
.
min_x
)
+
lon
=
lon
*
(
this
.
map_info
.
max_x
-
this
.
map_info
.
min_x
)
+
map_dict
.
min_x
;
this
.
map_info
.
min_x
;
lon
=
lon
/
(
map_dict
.
width
/
360.0
)
-
180
;
lon
=
lon
/
(
this
.
map_info
.
map_size
/
360.0
)
-
180
;
lat
=
lat
/
1000
;
lat
=
lat
/
1000
;
lat
=
lat
*
(
map_dict
.
max_y
-
map_dict
.
min_y
)
+
lat
=
lat
*
(
this
.
map_info
.
max_y
-
this
.
map_info
.
min_y
)
+
map_dict
.
min_y
;
this
.
map_info
.
min_y
;
lat
=
90
-
lat
/
(
map_dict
.
depth
/
180.0
);
lat
=
90
-
lat
/
(
this
.
map_info
.
map_size
/
180.0
);
return
{
return
{
x
:
lat
,
x
:
lat
,
y
:
lon
,
y
:
lon
,
...
@@ -503,7 +503,7 @@ var GameManager = /** @class */ (function () {
...
@@ -503,7 +503,7 @@ var GameManager = /** @class */ (function () {
"
use strict
"
;
"
use strict
"
;
// *** CONSTRUCTOR ***
// *** CONSTRUCTOR ***
function
GameManager
(
canvas
,
game_parameters_json
)
{
function
GameManager
(
canvas
,
game_parameters_json
)
{
var
drone
,
header_list
;
var
drone
,
header_list
,
i
;
this
.
_canvas
=
canvas
;
this
.
_canvas
=
canvas
;
this
.
_canvas_width
=
canvas
.
width
;
this
.
_canvas_width
=
canvas
.
width
;
this
.
_canvas_height
=
canvas
.
height
;
this
.
_canvas_height
=
canvas
.
height
;
...
@@ -555,7 +555,7 @@ var GameManager = /** @class */ (function () {
...
@@ -555,7 +555,7 @@ var GameManager = /** @class */ (function () {
console
.
log
=
function
()
{
console
.
log
=
function
()
{
baseLogFunction
.
apply
(
console
,
arguments
);
baseLogFunction
.
apply
(
console
,
arguments
);
var
args
=
Array
.
prototype
.
slice
.
call
(
arguments
);
var
args
=
Array
.
prototype
.
slice
.
call
(
arguments
);
for
(
var
i
=
0
;
i
<
args
.
length
;
i
++
)
{
for
(
i
=
0
;
i
<
args
.
length
;
i
+=
1
)
{
console_log
+=
args
[
i
]
+
"
\n
"
;
console_log
+=
args
[
i
]
+
"
\n
"
;
}
}
};
};
...
@@ -706,8 +706,7 @@ var GameManager = /** @class */ (function () {
...
@@ -706,8 +706,7 @@ var GameManager = /** @class */ (function () {
geo_coordinates
=
map_manager
.
convertToGeoCoordinates
(
geo_coordinates
=
map_manager
.
convertToGeoCoordinates
(
drone_position
.
x
,
drone_position
.
x
,
drone_position
.
y
,
drone_position
.
y
,
drone_position
.
z
,
drone_position
.
z
map_info
);
);
game_manager
.
_flight_log
[
index
].
push
([
game_manager
.
_flight_log
[
index
].
push
([
game_manager
.
_game_duration
,
geo_coordinates
.
x
,
game_manager
.
_game_duration
,
geo_coordinates
.
x
,
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
View file @
98aa5f07
...
@@ -240,7 +240,7 @@
...
@@ -240,7 +240,7 @@
</item>
</item>
<item>
<item>
<key>
<string>
serial
</string>
</key>
<key>
<string>
serial
</string>
</key>
<value>
<string>
1010.
3592.54606.53538
</string>
</value>
<value>
<string>
1010.
13183.29224.8874
</string>
</value>
</item>
</item>
<item>
<item>
<key>
<string>
state
</string>
</key>
<key>
<string>
state
</string>
</key>
...
@@ -260,7 +260,7 @@
...
@@ -260,7 +260,7 @@
</tuple>
</tuple>
<state>
<state>
<tuple>
<tuple>
<float>
169
0478004.4
</float>
<float>
169
1053915.45
</float>
<string>
UTC
</string>
<string>
UTC
</string>
</tuple>
</tuple>
</state>
</state>
...
...
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