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Commit e498136c authored by Roque's avatar Roque
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erp5_drone_simulator: compare map, emulate scripts and real flight logs

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erp5_drone_simulator/PathTemplateItem/rescue_swarm_map_module/compare_map.xml 0 → 100644
View file @ e498136c
<?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 0 → 100644
View file @ e498136c
<?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 0 → 100644
View file @ e498136c
<?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 0 → 100644
View file @ e498136c
<?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
131584402; 45.6434; 14.2596; 765.708; 170.353; -5.3967; -1.6242; 0; 19.6149; 0.2; -0.409852\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
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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
368232931; 45.6526; 14.2775; 779.869; 184.514; -8.49508; 34.5252; 0; 20.1008; 0.2; -1.90541\n
369873650; 45.6524; 14.2777; 776.666; 181.311; -8.51415; 34.9005; 0; 20.7689; 0.2; -2.18445\n
371593172; 45.6521; 14.2776; 773.625; 178.27; -8.36521; 34.8616; 0; 20.8994; 0.2; -2.04914\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
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598243797; 45.6495; 14.2681; 792.685; 197.33; -4.0439; -2.5647; 0; 19.643; 0.2; -0.200996\n
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1121510249; 45.6446; 14.277; 756.175; 160.82; 3.31512; -0.417001; 0; 17.9244; 0.33; 2.1474\n
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1124879541; 45.645; 14.2767; 760.912; 165.557; 0.490006; -3.03851; 0; 17.8499; 0.2; 1.11173\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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1221499177; 45.6586; 14.2671; 766.287; 170.932; -3.23383; -2.38269; 0; 19.3068; 0.2; 0.0856681\n
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1271594119; 45.6547; 14.2581; 697.633; 102.278; -5.07137; -2.41031; 0; 20.1471; 0.2; -0.601623\n
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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1281601515; 45.6536; 14.2563; 694.375; 99.02; -3.46898; -2.28636; 0; 19.6165; 0.2; -0.108859\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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1328235635; 45.6505; 14.2524; 647.689; 52.334; -10.8723; 34.7099; 0; 21.9172; 0.2; -2.83482\n
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erp5_drone_simulator/PathTemplateItem/rescue_swarm_script_module/log_loiter.xml 0 → 100644
View file @ e498136c
<?xml version="1.0"?>
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<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
\n
"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
The SR is at https://lab.nexedi.com/lpgeneau/slapos/tree/update_loop/software/js-drone (especially the modified worker.js).</string> </value>
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<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
Waiting for first telemetry\n
40527826; 45.6412; 14.2658; 595.328; 595.328; 7.2596; 10.3291; 0; 0.867947; 0; -0.0060208\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
42175850; 45.6412; 14.2658; 595.328; 0; 7.14131; 10.3794; 0; -0.860127; 0; -0.00047528\n
Taking off...\n
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647167739; 45.6402; 14.2638; 706.703; 111.375; 1.09146; -4.55268; 0; 18.6287; 0.2; 1.49473\n
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743873881; 45.6407; 14.2694; 634.954; 39.626; -4.80852; 16.3161; 0; 20.0645; 0.2; -0.449114</string> </value>
</item>
<item>
<key> <string>title</string> </key>
<value> <string>log_loiter</string> </value>
</item>
<item>
<key> <string>workflow_history</string> </key>
<value>
<persistent> <string encoding="base64">AAAAAAAAAAI=</string> </persistent>
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</dictionary>
</pickle>
</record>
<record id="2" aka="AAAAAAAAAAI=">
<pickle>
<global name="PersistentMapping" module="Persistence.mapping"/>
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<pickle>
<dictionary>
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<key> <string>data</string> </key>
<value>
<dictionary>
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<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>
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</dictionary>
</value>
</item>
</dictionary>
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</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>
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<item>
<key> <string>comment</string> </key>
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<record id="4" aka="AAAAAAAAAAQ=">
<pickle>
<global name="WorkflowHistoryList" module="Products.ERP5Type.Workflow"/>
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<pickle>
<dictionary>
<item>
<key> <string>_log</string> </key>
<value>
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<value> <string>current</string> </value>
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<key> <string>time</string> </key>
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</ZopeData>
erp5_drone_simulator/bt/template_keep_last_workflow_history_only_path_list 0 → 100644
View file @ e498136c
rescue_swarm_map_module/compare_map
rescue_swarm_script_module/emulate_bounce
rescue_swarm_script_module/emulate_loiter
rescue_swarm_script_module/log_bounce
rescue_swarm_script_module/log_loiter
web_page_module/test_drone_simulator_gadget
\ No newline at end of file
erp5_drone_simulator/bt/template_keep_path_list 0 → 100644
View file @ e498136c
rescue_swarm_map_module/compare_map
rescue_swarm_script_module/emulate_bounce
rescue_swarm_script_module/emulate_loiter
rescue_swarm_script_module/log_bounce
rescue_swarm_script_module/log_loiter
web_page_module/test_drone_simulator_gadget
\ No newline at end of file
erp5_drone_simulator/bt/template_keep_workflow_path_list 0 → 100644
View file @ e498136c
rescue_swarm_map_module/compare_map
rescue_swarm_script_module/emulate_bounce
rescue_swarm_script_module/emulate_loiter
rescue_swarm_script_module/log_bounce
rescue_swarm_script_module/log_loiter
web_page_module/test_drone_simulator_gadget
\ No newline at end of file
erp5_drone_simulator/bt/template_path_list
View file @ e498136c
rescue_swarm_map_module/compare_map
rescue_swarm_script_module/emulate_bounce
rescue_swarm_script_module/emulate_loiter
rescue_swarm_script_module/log_bounce
rescue_swarm_script_module/log_loiter
web_page_module/test_drone_simulator_gadget
\ No newline at end of file
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