Commit fa8f60b1 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾 Committed by Roque

erp5_officejs_drone_simulator: update API

- rename `getSpeed` and `setSpeed` into respectively `getAirSpeed` and `setAirSpeed`
- add yaw, speed and climbRate in drones dictionary
- stop hardcoding leader's id
- remove setAltitude function
- use loiter with coordinates as parameters
parent 90e9f84c
...@@ -208,6 +208,9 @@ var DroneLogAPI = /** @class */ (function () { ...@@ -208,6 +208,9 @@ var DroneLogAPI = /** @class */ (function () {
DroneLogAPI.prototype.exit = function (drone) { DroneLogAPI.prototype.exit = function (drone) {
return; return;
}; };
DroneLogAPI.prototype.set_loiter_mode = function (loiter) {
return;
};
return DroneLogAPI; return DroneLogAPI;
}()); }());
\ No newline at end of file
...@@ -246,7 +246,11 @@ ...@@ -246,7 +246,11 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<<<<<<< HEAD
<value> <string>1006.43901.65103.9898</string> </value> <value> <string>1006.43901.65103.9898</string> </value>
=======
<value> <string>1009.27112.31386.24968</string> </value>
>>>>>>> 928ec4f23a (erp5_officejs_drone_simulator: update API)
</item> </item>
<item> <item>
<key> <string>state</string> </key> <key> <string>state</string> </key>
...@@ -266,7 +270,11 @@ ...@@ -266,7 +270,11 @@
</tuple> </tuple>
<state> <state>
<tuple> <tuple>
<<<<<<< HEAD
<float>1677599947.8</float> <float>1677599947.8</float>
=======
<float>1688043479.22</float>
>>>>>>> 928ec4f23a (erp5_officejs_drone_simulator: update API)
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
...@@ -9,8 +9,6 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -9,8 +9,6 @@ var FixedWingDroneAPI = /** @class */ (function () {
var DEFAULT_SPEED = 16, var DEFAULT_SPEED = 16,
EARTH_GRAVITY = 9.81, EARTH_GRAVITY = 9.81,
LOITER_LIMIT = 30, LOITER_LIMIT = 30,
LOITER_RADIUS_FACTOR = 0.60,
LOITER_SPEED_FACTOR = 1.5,
MAX_ACCELERATION = 6, MAX_ACCELERATION = 6,
MAX_DECELERATION = 1, MAX_DECELERATION = 1,
MIN_SPEED = 12, MIN_SPEED = 12,
...@@ -29,10 +27,8 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -29,10 +27,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
this._flight_parameters = flight_parameters; this._flight_parameters = flight_parameters;
this._id = id; this._id = id;
this._drone_info = drone_info; this._drone_info = drone_info;
this._loiter_radius = 0; this._loiter_radius = 100;
this._last_loiter_point_reached = -1;
//this._start_altitude = 0; //this._start_altitude = 0;
//this._last_altitude_point_reached = -1;
this._loiter_mode = false; this._loiter_mode = false;
this._drone_dict_list = []; this._drone_dict_list = [];
} }
...@@ -146,9 +142,6 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -146,9 +142,6 @@ var FixedWingDroneAPI = /** @class */ (function () {
*/ */
FixedWingDroneAPI.prototype.internal_post_update = function (drone) { FixedWingDroneAPI.prototype.internal_post_update = function (drone) {
var _this = this, drone_position = drone.getCurrentPosition(), drone_info; var _this = this, drone_position = drone.getCurrentPosition(), drone_info;
if (_this._loiter_mode) {
_this.loiter(drone);
}
/*if (_this._start_altitude > 0) { //TODO move start_altitude here /*if (_this._start_altitude > 0) { //TODO move start_altitude here
_this.reachAltitude(drone); _this.reachAltitude(drone);
}*/ }*/
...@@ -158,7 +151,10 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -158,7 +151,10 @@ var FixedWingDroneAPI = /** @class */ (function () {
'altitudeAbs' : _this._mapManager.getMapInfo().start_AMSL + 'altitudeAbs' : _this._mapManager.getMapInfo().start_AMSL +
drone_position.z, drone_position.z,
'latitude' : drone_position.x, 'latitude' : drone_position.x,
'longitude' : drone_position.y 'longitude' : drone_position.y,
'yaw': drone.getYaw(),
'speed': drone.getAirSpeed(),
'climbRate': drone.getClimbRate()
}; };
_this._drone_dict_list[_this._id] = drone_info; _this._drone_dict_list[_this._id] = drone_info;
//broadcast drone info using internal msg //broadcast drone info using internal msg
...@@ -171,7 +167,7 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -171,7 +167,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
}; };
FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) { FixedWingDroneAPI.prototype._updateSpeed = function (drone, delta_time) {
var speed = drone.getSpeed(), speedDiff, speedUpdate; var speed = drone.getAirSpeed(), speedDiff, speedUpdate;
if (speed !== this._targetSpeed) { if (speed !== this._targetSpeed) {
speedDiff = this._targetSpeed - speed; speedDiff = this._targetSpeed - speed;
speedUpdate = drone._acceleration * delta_time / 1000; speedUpdate = drone._acceleration * delta_time / 1000;
...@@ -185,13 +181,31 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -185,13 +181,31 @@ var FixedWingDroneAPI = /** @class */ (function () {
}; };
FixedWingDroneAPI.prototype._updateDirection = function (drone, delta_time) { FixedWingDroneAPI.prototype._updateDirection = function (drone, delta_time) {
var horizontalCoeff, newX, newY, newZ; var horizontalCoeff, newX, newY, newZ, tangentYaw;
if (this._loiter_mode
&& Math.sqrt(
Math.pow(drone._targetCoordinates.x - drone.position.x, 2)
+ Math.pow(drone._targetCoordinates.y - drone.position.y, 2)
) <= this._loiter_radius) {
tangentYaw = this._computeBearing(
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 {
[newX, newZ] = this._getNewYaw(drone, delta_time); [newX, newZ] = this._getNewYaw(drone, delta_time);
}
newY = this._getNewAltitude(drone); newY = this._getNewAltitude(drone);
horizontalCoeff = Math.sqrt( horizontalCoeff = Math.sqrt(
( (
Math.pow(drone.getSpeed(), 2) - Math.pow(newY, 2) Math.pow(drone.getAirSpeed(), 2) - Math.pow(newY, 2)
) / ( ) / (
Math.pow(newX, 2) + Math.pow(newZ, 2) Math.pow(newX, 2) + Math.pow(newZ, 2)
) )
...@@ -235,14 +249,14 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -235,14 +249,14 @@ var FixedWingDroneAPI = /** @class */ (function () {
verticalSpeed = this._computeVerticalSpeed( verticalSpeed = this._computeVerticalSpeed(
altitudeDiff, altitudeDiff,
this.getMaxClimbRate(), this.getMaxClimbRate(),
drone.getSpeed(), drone.getAirSpeed(),
this.getMaxPitchAngle() this.getMaxPitchAngle()
); );
} else { } else {
verticalSpeed = -this._computeVerticalSpeed( verticalSpeed = -this._computeVerticalSpeed(
Math.abs(altitudeDiff), Math.abs(altitudeDiff),
this.getMaxSinkRate(), this.getMaxSinkRate(),
drone.getSpeed(), drone.getAirSpeed(),
-this.getMinPitchAngle() -this.getMinPitchAngle()
); );
} }
...@@ -261,18 +275,13 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -261,18 +275,13 @@ var FixedWingDroneAPI = /** @class */ (function () {
drone.rotation.z + y); drone.rotation.z + y);
}; };
FixedWingDroneAPI.prototype.setAltitude = function (drone, altitude) {
drone._targetCoordinates.z = altitude - this._map_dict.start_AMSL;
this._last_target = drone._targetCoordinates;
};
FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) { FixedWingDroneAPI.prototype.setSpeed = function (drone, speed) {
this._targetSpeed = Math.max( this._targetSpeed = Math.max(
Math.min(speed, this.getMaxSpeed()), Math.min(speed, this.getMaxSpeed()),
this.getMinSpeed() this.getMinSpeed()
); );
drone._acceleration = (this._targetSpeed > drone.getSpeed()) drone._acceleration = (this._targetSpeed > drone.getAirSpeed())
? this.getMaxAcceleration() : -this.getMaxDeceleration(); ? this.getMaxAcceleration() : -this.getMaxDeceleration();
}; };
...@@ -291,34 +300,18 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -291,34 +300,18 @@ var FixedWingDroneAPI = /** @class */ (function () {
this._drone_dict_list[id] = msg; this._drone_dict_list[id] = msg;
}; };
FixedWingDroneAPI.prototype.set_loiter_mode = function (radius) { FixedWingDroneAPI.prototype.internal_setTargetCoordinates =
function (drone, coordinates, radius) {
if (radius) {
this._loiter_mode = true; this._loiter_mode = true;
if (radius && radius > LOITER_LIMIT) { if (radius >= LOITER_LIMIT) {
this._loiter_radius = radius * LOITER_RADIUS_FACTOR; this._loiter_radius = radius;
this._loiter_center = this._last_target;
this._loiter_coordinates = [];
this._last_loiter_point_reached = -1;
var x1, y1, angle;
//for (var angle = 0; angle <360; angle+=8){ //counter-clockwise
for (angle = 360; angle > 0; angle -= 8) { //clockwise
x1 = this._loiter_radius *
Math.cos(this._toRad(angle)) + this._loiter_center.x;
y1 = this._loiter_radius *
Math.sin(this._toRad(angle)) + this._loiter_center.y;
this._loiter_coordinates.push(
this.getCurrentPosition(x1, y1, this._loiter_center.z)
);
}
} }
}; } else {
FixedWingDroneAPI.prototype.internal_setTargetCoordinates =
function (drone, coordinates, loiter) {
if (!loiter) {
this._loiter_mode = false; this._loiter_mode = false;
//save last target point to use as next loiter center
this._last_target = coordinates;
} }
}; }
FixedWingDroneAPI.prototype.sendMsg = function (msg, to) { FixedWingDroneAPI.prototype.sendMsg = function (msg, to) {
var _this = this, var _this = this,
droneList = _this._gameManager._droneList; droneList = _this._gameManager._droneList;
...@@ -382,62 +375,6 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -382,62 +375,6 @@ var FixedWingDroneAPI = /** @class */ (function () {
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, this._map_dict);
}; };
FixedWingDroneAPI.prototype.loiter = function (drone) {
if (this._loiter_radius > LOITER_LIMIT) {
var drone_pos = drone.getCurrentPosition(),
min = 9999,
min_i,
i,
d,
next_point;
//shift loiter circle to nearest point
if (this._last_loiter_point_reached === -1) {
if (!this.shifted) {
drone._maxSpeed = drone._maxSpeed * LOITER_SPEED_FACTOR;
for (i = 0; i < this._loiter_coordinates.length; i += 1) {
d = this._mapManager.latLonDistance([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
next_point =
this._loiter_coordinates[this._last_loiter_point_reached + 1];
this.internal_setTargetCoordinates(drone, next_point, true);
if (this._mapManager.latLonDistance([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
];
this.internal_setTargetCoordinates(drone, next_point, true);
}
}
};
FixedWingDroneAPI.prototype.getDroneAI = function () { FixedWingDroneAPI.prototype.getDroneAI = function () {
return null; return null;
}; };
...@@ -478,7 +415,7 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -478,7 +415,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
FixedWingDroneAPI.prototype.getYawVelocity = function (drone) { FixedWingDroneAPI.prototype.getYawVelocity = function (drone) {
return 360 * EARTH_GRAVITY return 360 * EARTH_GRAVITY
* Math.tan(this._toRad(this.getMaxRollAngle())) * Math.tan(this._toRad(this.getMaxRollAngle()))
/ (2 * Math.PI * drone.getSpeed()); / (2 * Math.PI * drone.getAirSpeed());
}; };
FixedWingDroneAPI.prototype.getYaw = function (drone) { FixedWingDroneAPI.prototype.getYaw = function (drone) {
var direction = drone.worldDirection; var direction = drone.worldDirection;
...@@ -494,7 +431,8 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -494,7 +431,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
}; };
FixedWingDroneAPI.prototype._computeVerticalSpeed = FixedWingDroneAPI.prototype._computeVerticalSpeed =
function (altitude_diff, max_climb_rate, speed, max_pitch) { function (altitude_diff, max_climb_rate, speed, max_pitch) {
var maxVerticalSpeed = Math.min(altitude_diff, Math.min(max_climb_rate, speed)); var maxVerticalSpeed =
Math.min(altitude_diff, Math.min(max_climb_rate, speed));
return (this._toDeg(Math.asin(maxVerticalSpeed / speed)) > max_pitch) return (this._toDeg(Math.asin(maxVerticalSpeed / speed)) > max_pitch)
? speed * Math.sin(this._toRad(max_pitch)) ? speed * Math.sin(this._toRad(max_pitch))
: maxVerticalSpeed; : maxVerticalSpeed;
...@@ -506,13 +444,13 @@ var FixedWingDroneAPI = /** @class */ (function () { ...@@ -506,13 +444,13 @@ var FixedWingDroneAPI = /** @class */ (function () {
return angle * 180 / Math.PI; return angle * 180 / Math.PI;
}; };
FixedWingDroneAPI.prototype.getClimbRate = function (drone) { FixedWingDroneAPI.prototype.getClimbRate = function (drone) {
return drone.worldDirection.y * drone.getSpeed(); return drone.worldDirection.y * drone.getAirSpeed();
}; };
FixedWingDroneAPI.prototype.getGroundSpeed = function (drone) { FixedWingDroneAPI.prototype.getGroundSpeed = function (drone) {
var direction = drone.worldDirection; var direction = drone.worldDirection;
return Math.sqrt( return Math.sqrt(
Math.pow(direction.x * drone.getSpeed(), 2) Math.pow(direction.x * drone.getAirSpeed(), 2)
+ Math.pow(direction.z * drone.getSpeed(), 2) + Math.pow(direction.z * drone.getAirSpeed(), 2)
); );
}; };
FixedWingDroneAPI.prototype.triggerParachute = function (drone) { FixedWingDroneAPI.prototype.triggerParachute = function (drone) {
......
...@@ -240,7 +240,7 @@ ...@@ -240,7 +240,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1007.12617.23470.24132</string> </value> <value> <string>1009.36979.17507.53811</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>1679396042.23</float> <float>1688549051.54</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
...@@ -31,7 +31,6 @@ var DroneManager = /** @class */ (function () { ...@@ -31,7 +31,6 @@ var DroneManager = /** @class */ (function () {
this._scene = scene; this._scene = scene;
this._canUpdate = true; this._canUpdate = true;
this._id = id; this._id = id;
this._leader_id = 0;
this._API = API; // var API created on AI evel this._API = API; // var API created on AI evel
// Create the control mesh // Create the control mesh
this._controlMesh = BABYLON.Mesh.CreateBox( this._controlMesh = BABYLON.Mesh.CreateBox(
...@@ -61,11 +60,6 @@ var DroneManager = /** @class */ (function () { ...@@ -61,11 +60,6 @@ var DroneManager = /** @class */ (function () {
// swap y and z axis so z axis represents altitude // swap y and z axis so z axis represents altitude
return new BABYLON.Vector3(vector.x, vector.z, vector.y); 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, "drone_dict", { Object.defineProperty(DroneManager.prototype, "drone_dict", {
get: function () { return this._API._drone_dict_list; }, get: function () { return this._API._drone_dict_list; },
enumerable: true, enumerable: true,
...@@ -140,6 +134,10 @@ var DroneManager = /** @class */ (function () { ...@@ -140,6 +134,10 @@ var DroneManager = /** @class */ (function () {
* Set a target point to move * Set a target point to move
*/ */
DroneManager.prototype.setTargetCoordinates = function (x, y, z) { DroneManager.prototype.setTargetCoordinates = function (x, y, z) {
this._internal_setTargetCoordinates(x, y, z);
};
DroneManager.prototype._internal_setTargetCoordinates =
function (x, y, z, radius) {
if (!this._canPlay) { if (!this._canPlay) {
return; return;
} }
...@@ -147,7 +145,8 @@ var DroneManager = /** @class */ (function () { ...@@ -147,7 +145,8 @@ var DroneManager = /** @class */ (function () {
this._targetCoordinates = this._API.processCoordinates(x, y, z); this._targetCoordinates = this._API.processCoordinates(x, y, z);
return this._API.internal_setTargetCoordinates( return this._API.internal_setTargetCoordinates(
this, this,
this._targetCoordinates this._targetCoordinates,
radius
); );
}; };
DroneManager.prototype.internal_update = function (delta_time) { DroneManager.prototype.internal_update = function (delta_time) {
...@@ -194,7 +193,7 @@ var DroneManager = /** @class */ (function () { ...@@ -194,7 +193,7 @@ var DroneManager = /** @class */ (function () {
} }
return this._API.setStartingPosition(this, x, y, z); return this._API.setStartingPosition(this, x, y, z);
}; };
DroneManager.prototype.setSpeed = function (speed) { DroneManager.prototype.setAirSpeed = function (speed) {
if (!this._canPlay) { if (!this._canPlay) {
return; return;
} }
...@@ -292,20 +291,11 @@ var DroneManager = /** @class */ (function () { ...@@ -292,20 +291,11 @@ var DroneManager = /** @class */ (function () {
} }
return null; return null;
}; };
DroneManager.prototype.setAltitude = function (altitude) {
if (!this._canPlay) {
return;
}
return this._API.setAltitude(this, altitude);
};
/** /**
* Make the drone loiter (circle with a set radius) * Make the drone loiter (circle with a set radius)
*/ */
DroneManager.prototype.loiter = function (radius) { DroneManager.prototype.loiter = function (x, y, z, radius) {
if (!this._canPlay) { this._internal_setTargetCoordinates(x, y, z, radius);
return;
}
this._API.set_loiter_mode(radius);
}; };
DroneManager.prototype.getFlightParameters = function () { DroneManager.prototype.getFlightParameters = function () {
if (this._API.getFlightParameters) { if (this._API.getFlightParameters) {
...@@ -316,7 +306,7 @@ var DroneManager = /** @class */ (function () { ...@@ -316,7 +306,7 @@ var DroneManager = /** @class */ (function () {
DroneManager.prototype.getYaw = function () { DroneManager.prototype.getYaw = function () {
return this._API.getYaw(this); return this._API.getYaw(this);
}; };
DroneManager.prototype.getSpeed = function () { DroneManager.prototype.getAirSpeed = function () {
return this._speed; return this._speed;
}; };
DroneManager.prototype.getGroundSpeed = function () { DroneManager.prototype.getGroundSpeed = function () {
......
...@@ -240,7 +240,7 @@ ...@@ -240,7 +240,7 @@
</item> </item>
<item> <item>
<key> <string>serial</string> </key> <key> <string>serial</string> </key>
<value> <string>1009.7345.31305.44339</string> </value> <value> <string>1009.36979.45339.6075</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>1687455790.77</float> <float>1688549052.81</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
...@@ -438,10 +438,10 @@ ...@@ -438,10 +438,10 @@
["my_map_height"]] ["my_map_height"]]
], [ ], [
"right", "right",
[["my_start_AMSL"], ["my_drone_min_speed"], ["my_drone_speed"], ["my_drone_max_speed"], [["my_start_AMSL"], ["my_drone_min_speed"], ["my_drone_speed"],
["my_drone_max_acceleration"], ["my_drone_max_deceleration"], ["my_drone_max_speed"], ["my_drone_max_acceleration"],
["my_drone_max_roll"], ["my_drone_min_pitch"], ["my_drone_max_pitch"], ["my_drone_max_deceleration"], ["my_drone_max_roll"], ["my_drone_min_pitch"],
["my_drone_max_sink_rate"], ["my_drone_max_climb_rate"]] ["my_drone_max_pitch"], ["my_drone_max_sink_rate"], ["my_drone_max_climb_rate"]]
], [ ], [
"bottom", "bottom",
[["my_script"]] [["my_script"]]
......
...@@ -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>1006.23748.49086.52309</string> </value> <value> <string>1009.22574.47206.13909</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>1677179158.33</float> <float>1687785962.67</float>
<string>UTC</string> <string>UTC</string>
</tuple> </tuple>
</state> </state>
......
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