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Commit 49fdf7c0 authored by Roque's avatar Roque
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erp5_drone_simulator: site page perform flights comparison 

- parse, convert and process a real flight log
- calculates distance between emulation and real flight
parent 2ddeadd2
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erp5_drone_simulator/PathTemplateItem/web_page_module/test_drone_simulator_gadget.js 0 → 100644
View file @ 49fdf7c0
/*global window, rJS, RSVP, domsugar, console, URL, Error, jIO */
/*jslint nomen: true, indent: 2, maxerr: 30, maxlen: 80, plusplus: true */
(function () {
"use strict";
var SIMULATION_SPEED = 100,
MAP_KEY = "compare_map",
SCRIPT_KEY = "28", //roque participant script
//SCRIPT_KEY = "emulate_loiter",
//SCRIPT_KEY = "emulate_bounce",
LOG_KEY = "lp_loiter", //LP first log
//LOG_KEY = "lp_bounce", //LP bounce log
MAP_SIZE = 1000,
MIN_HEIGHT = 15,
MIN_X,
MAX_X,
MIN_Y,
MAX_Y,
SPEED_FACTOR = 0.75,
log_point_list = [],
converted_log_point_list = [];
function longitudToX(lon) {
return (MAP_SIZE / 360.0) * (180 + lon);
}
function latitudeToY(lat) {
return (MAP_SIZE / 180.0) * (90 - lat);
}
function normalizeToMap(x, y) {
var n_x = (x - MIN_X) / (MAX_X - MIN_X),
n_y = (y - MIN_Y) / (MAX_Y - MIN_Y);
return [n_x * 1000 - MAP_SIZE / 2, n_y * 1000 - MAP_SIZE / 2];
}
function latLonDistance(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;
}
function distance(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2));
}
rJS(window)
/////////////////////////////////////////////////////////////////
// Acquired methods
/////////////////////////////////////////////////////////////////
.declareAcquiredMethod("updateHeader", "updateHeader")
.declareAcquiredMethod("jio_get", "jio_get")
.declareJob('run', function () {
function frechetDistance(a, b) {
try {
var C = new Float32Array(a.length * b.length),
dim = a.length,
i,
j;
C[0] = distance(a[0], b[0]);
for (j = 1; j < dim; j++) {
C[j] = Math.max(C[j - 1], distance(a[0], b[j]));
}
for (i = 1; i < dim; i++) {
C[i * dim] = Math.max(C[(i - 1) * dim], distance(a[i], b[0]));
}
for (i = 1; i < dim; i++) {
for (j = 1; j < dim; j++) {
C[i * dim + j] = Math.max(
Math.min(C[(i - 1) * dim + j], C[(i - 1) * dim + j - 1],
C[i * dim + j - 1]),
distance(a[i], b[j])
);
}
}
return C[C.length - 1];
} catch (ee) {
console.warn("error calculating frechet distance");
return -1;
}
}
function averageDistance(a, b, z) {
function distance3D(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2) +
Math.pow(p1[2] - p2[2], 2));
}
var i, x, y, pos_a, pos_b, sum = 0;
for (i = 0; i < a.length; i++) {
if (b[i]) {
x = longitudToX(a[i][1]);
y = latitudeToY(a[i][0]);
pos_a = normalizeToMap(x, y);
x = longitudToX(b[i][1]);
y = latitudeToY(b[i][0]);
pos_b = normalizeToMap(x, y);
if (z) {
sum += distance3D([pos_a[0], pos_a[1], a[i][2]],
[pos_b[0], pos_b[1], b[i][2]]);
} else {
sum += distance([pos_a[0], pos_a[1]], [pos_b[0], pos_b[1]]);
}
} else {
//penalize shorter flights
sum += 100;
}
}
return sum / a.length;
}
var gadget = this,
queue = new RSVP.Queue(),
game_value,
fragment = domsugar(gadget.element.querySelector('#fragment'),
[domsugar('div')]).firstElementChild;
gadget.state.json_map.randomSpawn.rightTeam.dispersed = true;
game_value = JSON.stringify({
map: gadget.state.json_map,
autorun: true,
script: gadget.state.script_content,
simulation_speed: SIMULATION_SPEED
});
queue
.push(function () {
return gadget.declareGadget("gadget_drone_simulator.html",
{element: fragment, scope: 'simulator'});
})
.push(function (drone_gadget) {
return drone_gadget.render({
"key": 'simulator',
"maximize": false,
"value": game_value,
"autorun": true
});
})
.push(function () {
return gadget.getDeclaredGadget('simulator');
})
.push(function (game_editor) {
return game_editor.getContent();
})
.push(function (result) {
console.log("simulation log:", result);
console.log("ground truth log:", log_point_list);
console.log("COMPARISON:");
for (var i = 0; i < result.length; i += 1) {
try {
console.log("frechet distance:",
frechetDistance(log_point_list, result[i]));
console.log("average distance:",
averageDistance(log_point_list, result[i], false));
console.log("average distance with z:",
averageDistance(log_point_list, result[i], true));
console.log("------------------------------------------------");
} catch (ee) {
console.log("error calculating distance:", ee);
}
}
return result;
});
return queue;
})
.declareMethod('render', function (options) {
var gadget = this;
if (!options.map) {
options.map = MAP_KEY;
}
options.map = "rescue_swarm_map_module/" + options.map;
if (!options.script) {
options.script = SCRIPT_KEY;
}
options.script = "rescue_swarm_script_module/" + options.script;
if (!options.log) {
options.log = LOG_KEY;
}
options.log = "rescue_swarm_script_module/" + options.log;
return new RSVP.Queue()
.push(function () {
return gadget.jio_get(options.script);
})
.push(function (script) {
options.script_content = script.text_content;
return gadget.jio_get(options.map);
})
.push(function (map_doc) {
options.json_map = JSON.parse(map_doc.text_content);
return gadget.jio_get(options.log);
})
.push(function (log) {
var path_point_list = [], max_width, max_height,
line_list = log.text_content.split('\n'), log_entry_list = [],
i, start_time, end_time, log_entry, splitted_log_entry,
lat, lon, x, y, position, min_lon = 99999, min_lat = 99999,
max_lon = 0, max_lat = 0, previous, start_position, dist = 0,
path_point, average_speed = 0, flight_time, log_interval_time,
previous_log_time, height, timestamp, destination_lon,
destination_lat, log_header_found, time_offset = 1,
flight_dist = 0, start_AMSL = 0;
for (i = 0; i < line_list.length; i += 1) {
if (!log_header_found && !line_list[i].includes("timestamp;")) {
continue;
} else {
log_header_found = true;
}
if (line_list[i].indexOf("AMSL") >= 0 ||
!line_list[i].includes(";")) {
continue;
}
log_entry = line_list[i].trim();
if (log_entry) {
log_entry_list.push(log_entry);
splitted_log_entry = log_entry.split(";");
lat = parseFloat(splitted_log_entry[1]);
lon = parseFloat(splitted_log_entry[2]);
//get min and max lat and lon
if (lon < min_lon) {
min_lon = lon;
}
if (lat < min_lat) {
min_lat = lat;
}
if (lon > max_lon) {
max_lon = lon;
}
if (lat > max_lat) {
max_lat = lat;
}
}
}
//get map size from max distance
max_width = latLonDistance([min_lat, min_lon], [min_lat, max_lon]);
max_height = latLonDistance([min_lat, min_lon], [max_lat, min_lon]);
MAP_SIZE = Math.ceil(Math.max(max_width, max_height)) * 0.6;
MIN_X = longitudToX(min_lon);
MAX_X = longitudToX(max_lon);
MIN_Y = latitudeToY(min_lat);
MAX_Y = latitudeToY(max_lat);
if (log_entry_list[0] && log_entry_list[1]) {
var entry_1 = log_entry_list[0].split(";"),
entry_2 = log_entry_list[1].split(";"),
interval = parseInt(entry_2[0], 10) - parseInt(entry_1[0], 10);
//if interval > 1' then timestamp is in microseconds
if (Math.floor(interval / 1000) > 60) {
time_offset = 1000;
}
}
for (i = 0; i < log_entry_list.length; i += 1) {
splitted_log_entry = log_entry_list[i].split(";");
timestamp = parseInt(splitted_log_entry[0], 10);
if (i === 0) {
log_interval_time = 0;
start_time = timestamp;
} else {
log_interval_time += (parseInt(splitted_log_entry[0], 10) -
previous_log_time);
}
previous_log_time = parseInt(splitted_log_entry[0], 10);
average_speed += parseFloat(splitted_log_entry[8]);
lat = parseFloat(splitted_log_entry[1]);
lon = parseFloat(splitted_log_entry[2]);
if (i === log_entry_list.length - 1) {
destination_lon = lon;
destination_lat = lat;
end_time = timestamp;
}
height = parseFloat(splitted_log_entry[4]);
if (height < MIN_HEIGHT) {
height = MIN_HEIGHT;
} else {
height = height;
}
x = longitudToX(lon);
y = latitudeToY(lat);
position = normalizeToMap(x, y);
if (!previous) {
start_AMSL = parseFloat(splitted_log_entry[3]);
start_position = position;
start_position.push(height);
previous = position;
}
dist = distance(previous, position);
flight_dist += dist;
if (dist > 15) {
previous = position;
path_point = {
"type": "box",
"position": {
"x": position[0],
"y": position[1],
"z": height
},
"scale": {
"x": 3.5,
"y": 3.5,
"z": 3.5
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"color": {
"r": 0,
"g": 255,
"b": 0
},
"timestamp": timestamp
};
path_point_list.push(path_point);
}
converted_log_point_list.push([position[0],
position[1],
height, timestamp / time_offset]);
log_point_list.push([parseFloat(splitted_log_entry[1]),
parseFloat(splitted_log_entry[2]),
height, timestamp]);
}
average_speed = average_speed / log_entry_list.length;
log_interval_time = log_interval_time / log_entry_list.length / time_offset;
flight_time = (end_time - start_time) / 1000 / time_offset;
options.json_map.compareFlights = {
log: true,
draw: true,
map_width: MAP_SIZE,
map_height: MAP_SIZE,
MAP_SIZE: MAP_SIZE,
MIN_X: MIN_X,
MAX_X: MAX_X,
MIN_Y: MIN_Y,
MAX_Y: MAX_Y,
start_AMSL: start_AMSL,
flight_time: flight_time,
average_speed: average_speed,
log_interval_time: log_interval_time,
path: path_point_list,
full_log: log_point_list,
converted_log_point_list: converted_log_point_list
};
options.json_map.drone.maxSpeed = (flight_dist / flight_time) * SPEED_FACTOR;
options.json_map.obstacles = path_point_list;
options.json_map.randomSpawn.leftTeam.position.x = start_position[0];
options.json_map.randomSpawn.leftTeam.position.y = start_position[1];
options.json_map.randomSpawn.leftTeam.position.z = start_position[2];
options.json_map.gameTime = flight_time;
//give map some margin from the flight
options.json_map.mapSize.width = MAP_SIZE * 1.10;
options.json_map.mapSize.depth = MAP_SIZE * 1.10;
//flight destination
var destination_x = longitudToX(destination_lon),
destination_y = latitudeToY(destination_lat),
destination = normalizeToMap(destination_x, destination_y);
options.json_map.randomSpawn.rightTeam.position.x = destination[0];
options.json_map.randomSpawn.rightTeam.position.y = destination[1];
return gadget.changeState({
script_content: options.script_content,
json_map: options.json_map
});
});
})
.onStateChange(function () {
var gadget = this;
return gadget.updateHeader({
page_title: "Test drone gadget"
})
.push(function () {
gadget.run();
});
});
}());
\ No newline at end of file
erp5_drone_simulator/PathTemplateItem/web_page_module/test_drone_simulator_gadget.xml 0 → 100644
View file @ 49fdf7c0
<?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>gadget_erp5_page_rescue_swarm_test_drone_simulator.js</string> </value>
</item>
<item>
<key> <string>description</string> </key>
<value>
<none/>
</value>
</item>
<item>
<key> <string>id</string> </key>
<value> <string>test_drone_simulator_gadget</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>Test Drone Simulator Gadget 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>1656005096.23</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>1002.33934.19747.2833</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>1661445994.59</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>1656004944.42</float>
<string>UTC</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
</ZopeData>
erp5_drone_simulator/bt/template_path_list 0 → 100644
View file @ 49fdf7c0
web_page_module/test_drone_simulator_gadget
\ No newline at end of file
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