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flight-scripts
Commit 50afd61b authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
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Scripts cleanup 

Remove scripts never used for flights as well as unused functions.
parent bf6a0a5b
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Showing with 62 additions and 822 deletions
bouncy-flight.js
View file @ 50afd61b
/*
* In this script the drone goes to different checkpoints with all kinds of
* angles between. This has mostly a test purpose to compare simulation logs
* and real ones.
*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me*/ /*global console, me*/
(function (console, me) { (function (console, me) {
"use strict"; "use strict";
var EPSILON = 9, var EPSILON = 42,
EPSILON_ALTITUDE = 7,
FLIGH_ALTITUDE = 100, FLIGH_ALTITUDE = 100,
PARACHUTE_ALTITUDE = 35,
CHECKPOINT_LIST = [ CHECKPOINT_LIST = [
{ {
"altitude": 604, "altitude": 604,
...@@ -91,14 +95,6 @@ ...@@ -91,14 +95,6 @@
} }
]; ];
function altitudeReached(altitude, target_altitude) {
console.log(
"[DEMO] Waiting for altitude... ("
+ altitude + " , " + target_altitude + ")"
);
return Math.abs(altitude - target_altitude) < EPSILON_ALTITUDE;
}
function distance(lat1, lon1, lat2, lon2) { function distance(lat1, lon1, lat2, lon2) {
var R = 6371e3, // meters var R = 6371e3, // meters
la1 = lat1 * Math.PI / 180, // la, lo in radians la1 = lat1 * Math.PI / 180, // la, lo in radians
...@@ -125,15 +121,9 @@ ...@@ -125,15 +121,9 @@
return timestamp - me.timestamp < me.must_wait; return timestamp - me.timestamp < me.must_wait;
} }
function groundLevel(drone) {
return drone.getAltitudeAbs() - drone.getCurrentPosition().z;
}
me.onStart = function () { me.onStart = function () {
me.direction_set = false; me.direction_set = false;
me.landing_alt_reached = false;
me.next_checkpoint = 0; me.next_checkpoint = 0;
me.parachute_triggered = false;
}; };
me.onUpdate = function (timestamp) { me.onUpdate = function (timestamp) {
...@@ -156,14 +146,6 @@ ...@@ -156,14 +146,6 @@
"Failed to set checkpoint coordinates" "Failed to set checkpoint coordinates"
); );
console.log("[DEMO] Going to Checkpoint " + me.next_checkpoint + "\n"); console.log("[DEMO] Going to Checkpoint " + me.next_checkpoint + "\n");
} else {
me.loiter();
console.log("[DEMO] Going to landing altitude...\n");
me.landing_altitude = groundLevel(me) + PARACHUTE_ALTITUDE;
exit_on_fail(
me.setAltitude(me.landing_altitude),
"Failed to set landing altitude"
);
} }
me.direction_set = true; me.direction_set = true;
return; return;
...@@ -189,22 +171,8 @@ ...@@ -189,22 +171,8 @@
return; return;
} }
if (!me.landing_alt_reached) { console.log("[DEMO] Deploying parachute...");
me.landing_alt_reached = altitudeReached( exit_on_fail(me.triggerParachute(), "Failed to deploy parachute");
me.getAltitudeAbs(), me.exit(0);
me.landing_altitude
);
return;
}
if (!me.parachute_triggered) {
console.log("[DEMO] Deploying parachute...");
exit_on_fail(me.triggerParachute(), "Failed to deploy parachute");
me.parachute_triggered = true;
}
if (me.landed()) {
me.exit(0);
}
}; };
}(console, me)); }(console, me));
cli.js deleted 100644 → 0
View file @ bf6a0a5b
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me*/
(function (console, me) {
"use strict";
function displayMessage(message) {
console.log(message);
return 0;
}
var help = ["altitude(altitude)", "exit",
"goto(latitude, longitude, altitude)", "help", "land", "loiter",
"positions", "speed(speed)"].join("\n"),
wrongParameters = displayMessage.bind(null, "Wrong parameters");
function checkNumber(value, toExecute) {
return (
Number.isNaN(value)
? wrongParameters
: toExecute.bind(null, value)
);
}
function displayDronePositions() {
Object.entries(me.droneDict).forEach(function ([id, drone]) {
console.log(
id,
drone.latitude,
drone.longitude,
drone.altitudeAbs,
drone.altitudeRel
);
});
return 0;
}
function exit() {
try {
me.f.close();
} catch (error) {
console.error(error);
}
me.exit(0);
}
me.onStart = function () {
me.f = me.fdopen(me.in, "r");
console.log(help);
};
me.onUpdate = function () {
var altitude,
latitude,
longitude,
speed,
user_input,
undefined_cmd = false,
cmd,
ret;
console.log("> ");
user_input = me.f.getline();
switch (user_input) {
case "altitude":
console.log("Altitude: ");
altitude = parseFloat(me.f.getline());
cmd = checkNumber(altitude, me.setAltitude);
break;
case "exit":
cmd = exit;
break;
case "goto":
console.log("Latitude: ");
latitude = parseFloat(me.f.getline());
console.log("Longitude: ");
longitude = parseFloat(me.f.getline());
console.log("Altitude: ");
altitude = parseFloat(me.f.getline());
cmd = checkNumber(
altitude,
checkNumber(longitude, checkNumber(latitude, me.setTargetCoordinates))
);
break;
case "help":
cmd = displayMessage.bind(null, help);
break;
case "land":
cmd = me.triggerParachute;
break;
case "loiter":
cmd = me.loiter;
break;
case "positions":
cmd = displayDronePositions;
break;
case "speed":
console.log("Speed: ");
speed = parseFloat(me.f.getline());
cmd = checkNumber(speed, me.setAirspeed);
break;
default:
undefined_cmd = true;
cmd = displayMessage.bind(null, " Undefined command");
}
ret = cmd();
if (ret) {
console.log(" [ERROR] function:\n", cmd, "\nreturn value:", ret);
} else if (user_input !== "help" && !undefined_cmd) {
console.log(" Command successful");
}
};
}(console, me));
\ No newline at end of file
default.js
View file @ 50afd61b
/*
* This is the script deployed by default as the user script. It does nothing
* except exiting the program which prevents drones unexpected behavior.
*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global me*/ /*global me*/
......
demo.js deleted 100644 → 0
View file @ bf6a0a5b
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me*/
(function (console, me) {
"use strict";
var ALTITUDE_DIFF = 30,
FLIGH_ALTITUDE = 100,
PARACHUTE_ALTITUDE = 35,
EPSILON = 9,
EPSILON_ALTITUDE = 7,
CHECKPOINT_LIST = [
{
altitude: 585.1806861589965,
latitude: 45.64492790560583,
longitude: 14.25334942966329
},
{
altitude: 589.8802607573035,
latitude: 45.64316335436476,
longitude: 14.26332880184475
},
{
altitude: 608.6648153348965,
latitude: 45.64911917196595,
longitude: 14.26214792790128
},
{
altitude: 606.1448368129072,
latitude: 45.64122685351364,
longitude: 14.26590493128597
},
{
altitude: 630.0829598206344,
latitude: 45.64543355564817,
longitude: 14.27242391207985
},
{
altitude: 616.1839898415284,
latitude: 45.6372792927328,
longitude: 14.27533492411138
},
{
altitude: 598.0603137354178,
latitude: 45.64061299543953,
longitude: 14.26161958465814
},
{
altitude: 607.1243119862851,
latitude: 45.64032340702919,
longitude: 14.2682896662383
}
],
LANDING_POINT = {
latitude: 45.6398451,
longitude: 14.2699217
},
LEADER_ID = 0,
IS_LEADER = me.id === LEADER_ID;
function altitudeReached(altitude, target_altitude) {
console.log(
"[DEMO] Waiting for altitude... ("
+ altitude + " , " + target_altitude + ")"
);
return Math.abs(altitude - target_altitude) < EPSILON_ALTITUDE;
}
function distance(lat1, lon1, lat2, lon2) {
var R = 6371e3, // meters
la1 = lat1 * Math.PI / 180, // la, lo in radians
la2 = lat2 * Math.PI / 180,
lo1 = lon1 * Math.PI / 180,
lo2 = lon2 * Math.PI / 180,
haversine_phi = Math.pow(Math.sin((la2 - la1) / 2), 2),
sin_lon = Math.sin((lo2 - lo1) / 2),
h = haversine_phi + Math.cos(la1) * Math.cos(la2) * sin_lon * sin_lon;
return 2 * R * Math.asin(Math.sqrt(h));
}
function exitOnFail(ret, msg) {
if (ret) {
console.log(msg);
me.exit(1);
}
}
function mustWait(timestamp) {
if (me.timestamp === 0) {
me.timestamp = timestamp;
}
return timestamp - me.timestamp < me.must_wait;
}
function leaderStartAltitude(drone) {
return drone.start_altitude - ALTITUDE_DIFF * me.id;
}
function leaderReachedInitAltitude(drone) {
return drone.drone_dict[LEADER_ID].altitudeAbs >= leaderStartAltitude(me);
}
function groundLevel(drone) {
return drone.getAltitudeAbs() - drone.getCurrentPosition().z;
}
me.onStart = function () {
me.direction_set = false;
me.going_to_landing_point = false;
me.init_alt_reached = false;
me.landing = false;
me.landing_alt_reached = false;
me.landing_point_reached = false;
me.last_checkpoint_reached = false;
me.must_wait = 3000;
me.next_checkpoint = 0;
me.parachute_triggered = false;
me.start_altitude = me.getInitialAltitude() + FLIGH_ALTITUDE;
me.timestamp = 0;
if (!IS_LEADER) {
me.follow_leader = true;
me.leader_init_alt_reached = false;
me.start_altitude += ALTITUDE_DIFF * me.id;
me.must_wait = 0;
}
exitOnFail(
me.setAltitude(me.start_altitude + 1),
"Failed to set start altitude"
);
};
me.onUpdate = function (timestamp) {
if (!me.init_alt_reached) {
me.init_alt_reached = altitudeReached(
me.getAltitudeAbs(),
me.start_altitude
);
return;
}
if (me.must_wait > 0) {
if (!mustWait(timestamp)) {
me.must_wait = 0;
me.timestamp = 0;
}
return;
}
if (!IS_LEADER && me.follow_leader) {
if (me.drone_dict[LEADER_ID].altitudeAbs === 0) {
return console.log("[DEMO] Waiting for leader to send its altitude");
}
if (!me.leader_init_alt_reached) {
me.leader_init_alt_reached = leaderReachedInitAltitude(me);
return console.log(
"[DEMO] Waiting for leader to reach altitude "
+ leaderStartAltitude(me)
+ "(currently " + me.drone_dict[LEADER_ID].altitudeAbs + ")"
);
}
if (me.drone_dict[LEADER_ID].altitudeRel > PARACHUTE_ALTITUDE) {
exitOnFail(
me.setTargetCoordinates(
me.drone_dict[LEADER_ID].latitude,
me.drone_dict[LEADER_ID].longitude,
me.drone_dict[LEADER_ID].altitudeAbs + ALTITUDE_DIFF * me.id
),
"Failed to follow leader"
);
} else {
me.follow_leader = false;
console.log("[DEMO] Stop following...\n");
}
return;
}
if (!me.direction_set) {
if (me.next_checkpoint < CHECKPOINT_LIST.length) {
exitOnFail(
me.setTargetCoordinates(
CHECKPOINT_LIST[me.next_checkpoint].latitude,
CHECKPOINT_LIST[me.next_checkpoint].longitude,
CHECKPOINT_LIST[me.next_checkpoint].altitude + FLIGH_ALTITUDE
),
"Failed to set checkpoint coordinates"
);
console.log("[DEMO] Going to Checkpoint " + me.next_checkpoint + "\n");
} else {
console.log("[DEMO] Setting last checkpoint coordinates...\n");
me.landing_altitude = groundLevel(me) + PARACHUTE_ALTITUDE;
exitOnFail(
me.setTargetCoordinates(
CHECKPOINT_LIST[CHECKPOINT_LIST.length - 1].latitude,
CHECKPOINT_LIST[CHECKPOINT_LIST.length - 1].longitude,
me.landing_altitude
),
"Failed to set last checkpoint coordinates"
);
}
me.direction_set = true;
return;
}
if (me.next_checkpoint < CHECKPOINT_LIST.length) {
me.current_position = me.getCurrentPosition();
me.distance = distance(
me.current_position.x,
me.current_position.y,
CHECKPOINT_LIST[me.next_checkpoint].latitude,
CHECKPOINT_LIST[me.next_checkpoint].longitude
);
if (me.distance > EPSILON) {
console.log(
"Waiting for drone to get to destination (checkpoint "
+ me.next_checkpoint + ": " + me.distance + " m)`"
);
} else {
me.loiter(100);
console.log("[DEMO] Reached Checkpoint " + me.next_checkpoint + "\n");
me.next_checkpoint += 1;
me.sendMsg(JSON.stringify({next_checkpoint: me.next_checkpoint}));
me.direction_set = false;
me.must_wait = 50000;
}
return;
}
if (!me.last_checkpoint_reached) {
me.current_position = me.getCurrentPosition();
me.distance = distance(
me.current_position.x,
me.current_position.y,
CHECKPOINT_LIST[CHECKPOINT_LIST.length - 1].latitude,
CHECKPOINT_LIST[CHECKPOINT_LIST.length - 1].longitude
);
if (me.distance > EPSILON) {
console.log(
"Waiting for drone to get to destination (last checkpoint: "
+ me.distance + " m)"
);
} else {
me.loiter(100);
me.last_checkpoint_reached = true;
}
return;
}
if (!me.landing_alt_reached) {
me.landing_alt_reached = altitudeReached(
me.getAltitudeAbs(),
me.landing_altitude
);
me.setAltitude(me.landing_altitude);
return;
}
if (!me.going_to_landing_point) {
exitOnFail(
me.setTargetCoordinates(
LANDING_POINT.latitude,
LANDING_POINT.longitude,
me.landing_altitude
),
"Failed to set landing point coordinates"
);
me.going_to_landing_point = true;
return;
}
if (!me.landing) {
me.current_position = me.getCurrentPosition();
me.distance = distance(
me.current_position.x,
me.current_position.y,
LANDING_POINT.latitude,
LANDING_POINT.longitude
);
if (me.distance > EPSILON) {
console.log(
"[DEMO] Waiting to reach landing point (current distance is "
+ me.distance + ")"
);
} else {
console.log("[DEMO] Landing...\n");
me.landing = true;
}
return;
}
if (!me.parachute_triggered) {
console.log("[DEMO] Deploying parachute...");
exitOnFail(me.triggerParachute(), "Failed to deploy parachute");
me.parachute_triggered = true;
}
if (me.landed()) {
me.exit(0);
}
};
me.onGetMsg = function (msg) {
me.msgDict = JSON.parse(msg);
if (me.follow_leader && me.msgDict.hasOwnProperty("next_checkpoint")) {
me.next_checkpoint = me.msgDict.next_checkpoint;
console.log("next checkpoint is", me.next_checkpoint);
}
};
}(console, me));
manual-flight.js deleted 100644 → 0
View file @ bf6a0a5b
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me, sleep*/
(function (console, me, sleep) {
"use strict";
var ALTITUDE_DIFF = 30,
EPSILON_ALTITUDE = 5,
FLIGH_ALTITUDE = 100,
INITIAL_ALTITUDE,
LEADER_ID = 0,
IS_LEADER = me.id === LEADER_ID,
PARACHUTE_ALTITUDE = 35,
START_ALTITUDE,
leaderAltitudeAbs,
leaderAltitudeRel,
leaderLatitude,
leaderLongitude;
function exit_on_fail(ret, msg) {
if (ret) {
console.log(msg);
me.exit(1);
}
}
function waitForAltitude(target_altitude) {
var altitude = me.getAltitude();
while (Math.abs(altitude - target_altitude) > EPSILON_ALTITUDE) {
console.log(
"[DEMO] Waiting for altitude... ("
+ altitude + " , " + target_altitude + ")"
);
sleep(1000);
altitude = me.getAltitude();
}
}
function goToAltitude(target_altitude, wait, go) {
if (go) {
exit_on_fail(
me.setAltitude(target_altitude),
"Failed to go to altitude " + target_altitude + " m"
);
}
if (wait) {
waitForAltitude(target_altitude);
}
}
function followLeader(leaderId, initialAltitude, altitudeDiff) {
goToAltitude(START_ALTITUDE + ALTITUDE_DIFF, false, true);
while (me.droneDict[leaderId].altitudeAbs === 0) {
console.log("[DEMO] Waiting for leader to send its altitude");
sleep(1000);
}
while (me.droneDict[leaderId].altitudeAbs < initialAltitude) {
console.log(
"[DEMO] Waiting for leader to reach altitude " + initialAltitude
+ " (currently " + me.droneDict[leaderId].altitudeAbs + ")"
);
sleep(1000);
}
console.log("[DEMO] Switching to following mode...\n");
do {
leaderAltitudeAbs = me.droneDict[leaderId].altitudeAbs;
leaderAltitudeRel = me.droneDict[leaderId].altitudeRel;
leaderLatitude = me.droneDict[leaderId].latitude;
leaderLongitude = me.droneDict[leaderId].longitude;
me.setTargetCoordinates(
leaderLatitude,
leaderLongitude,
leaderAltitudeAbs + altitudeDiff,
30.001
);
sleep(500);
} while (leaderAltitudeRel > PARACHUTE_ALTITUDE);
console.log("[DEMO] Stop following...\n");
}
me.onStart = function () {
INITIAL_ALTITUDE = me.getInitialAltitude();
START_ALTITUDE = INITIAL_ALTITUDE + FLIGH_ALTITUDE;
goToAltitude(START_ALTITUDE, true, true);
waitForAltitude(START_ALTITUDE);
console.log("[DEMO] Setting loiter mode...\n");
me.loiter();
sleep(3000);
};
me.onUpdate = function () {
if (!IS_LEADER) {
followLeader(LEADER_ID, START_ALTITUDE, ALTITUDE_DIFF);
}
console.log("[DEMO] Loitering until manual intructions are given\n");
while (!me.landed()) {
sleep(1000);
}
};
}(console, me));
restricted_flight.js deleted 100644 → 0
View file @ bf6a0a5b
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me*/
(function (console, me) {
"use strict";
var ALTITUDE_DIFF = 40,
EPSILON = 9,
EPSILON_ALTITUDE = 7,
FLIGH_ALTITUDE = 120,
LANDING_POINT = {
latitude: 45.6398451,
longitude: 14.2699217
},
LEADER_ID = 0,
IS_LEADER = me.id === LEADER_ID,
PARACHUTE_ALTITUDE = 100,
POINT_A = {
latitude: 45.650833,
longitude: 14.259722,
altitude: 606
},
POINT_B = {
latitude: 45.644167,
longitude: 14.263611,
altitude: 607
},
ROUND_NB = 1;
function altitudeReached(altitude, target_altitude) {
console.log(
"[DEMO] Waiting for altitude... ("
+ altitude + " , " + target_altitude + ")"
);
return Math.abs(altitude - target_altitude) < EPSILON_ALTITUDE;
}
function distance(lat1, lon1, lat2, lon2) {
var R = 6371e3, // meters
la1 = lat1 * Math.PI / 180, // la, lo in radians
la2 = lat2 * Math.PI / 180,
lo1 = lon1 * Math.PI / 180,
lo2 = lon2 * Math.PI / 180,
haversine_phi = Math.pow(Math.sin((la2 - la1) / 2), 2),
sin_lon = Math.sin((lo2 - lo1) / 2),
h = haversine_phi + Math.cos(la1) * Math.cos(la2) * sin_lon * sin_lon;
return 2 * R * Math.asin(Math.sqrt(h));
}
function exitOnFail(ret, msg) {
if (ret) {
console.log(msg);
me.exit(1);
}
}
function leaderStartAltitude(drone) {
return drone.start_altitude - ALTITUDE_DIFF * me.id;
}
function leaderReachedInitAltitude(drone) {
return drone.drone_dict[LEADER_ID].altitudeAbs >= leaderStartAltitude(me);
}
me.onStart = function () {
me.going_to_point_a = false;
me.going_to_landing_point = false;
me.init_alt_reached = false;
me.landing = false;
me.landing_altitude = me.getInitialAltitude() + PARACHUTE_ALTITUDE;
me.parachute_triggered = false;
me.round_count = 0;
me.start_altitude = me.getInitialAltitude() + FLIGH_ALTITUDE;
if (!IS_LEADER) {
me.follow_leader = true;
me.leader_init_alt_reached = false;
me.start_altitude += ALTITUDE_DIFF * me.id;
}
exitOnFail(
me.setAltitude(me.start_altitude + 1),
"Failed to set start altitude"
);
};
me.onUpdate = function (timestamp) {
if (!me.init_alt_reached) {
me.init_alt_reached = altitudeReached(
me.getAltitudeAbs(),
me.start_altitude
);
if (me.init_alt_reached && IS_LEADER) {
exitOnFail(
me.setTargetCoordinates(
POINT_A.latitude,
POINT_A.longitude,
POINT_A.altitude + FLIGH_ALTITUDE
),
"Failed to set point B coordinates"
);
me.going_to_point_a = true;
me.sendMsg(JSON.stringify({going_to_point_a: me.going_to_point_a}));
}
return;
}
if (!IS_LEADER && me.follow_leader) {
if (me.drone_dict[LEADER_ID].altitudeAbs === 0) {
return console.log("[DEMO] Waiting for leader to send its altitude");
}
if (!me.leader_init_alt_reached) {
me.leader_init_alt_reached = leaderReachedInitAltitude(me);
return console.log(
"[DEMO] Waiting for leader to reach altitude "
+ leaderStartAltitude(me)
+ "(currently " + me.drone_dict[LEADER_ID].altitudeAbs + ")"
);
}
if (me.drone_dict[LEADER_ID].altitudeRel > PARACHUTE_ALTITUDE) {
exitOnFail(
me.setTargetCoordinates(
me.drone_dict[LEADER_ID].latitude,
me.drone_dict[LEADER_ID].longitude,
me.drone_dict[LEADER_ID].altitudeAbs + ALTITUDE_DIFF * me.id
),
"Failed to follow leader"
);
} else {
me.follow_leader = false;
console.log("[DEMO] Stop following...\n");
}
return;
}
if (!me.going_to_landing_point) {
me.current_position = me.getCurrentPosition();
me.distance = distance(
me.current_position.x,
me.current_position.y,
(me.going_to_point_a) ? POINT_A.latitude : POINT_B.latitude,
(me.going_to_point_a) ? POINT_A.longitude : POINT_B.longitude
);
if (me.distance > EPSILON) {
console.log(
"Waiting for drone to get to destination (" + me.distance + " m)"
);
} else {
if (me.going_to_point_a) {
exitOnFail(
me.setTargetCoordinates(
POINT_B.latitude,
POINT_B.longitude,
POINT_B.altitude + FLIGH_ALTITUDE
),
"Failed to set point B coordinates"
);
me.going_to_point_a = false;
me.sendMsg(JSON.stringify({going_to_point_a: me.going_to_point_a}));
} else {
me.round_count += 1;
if (me.round_count < ROUND_NB) {
exitOnFail(
me.setTargetCoordinates(
POINT_A.latitude,
POINT_A.longitude,
POINT_A.altitude + FLIGH_ALTITUDE
),
"Failed to set point A coordinates"
);
me.going_to_point_a = true;
me.sendMsg(JSON.stringify({going_to_point_a: me.going_to_point_a}));
} else {
exitOnFail(
me.setTargetCoordinates(
LANDING_POINT.latitude,
LANDING_POINT.longitude,
me.landing_altitude
),
"Failed to set landing point coordinates"
);
me.going_to_landing_point = true;
}
}
}
return;
}
if (!me.landing) {
me.current_position = me.getCurrentPosition();
me.distance = distance(
me.current_position.x,
me.current_position.y,
LANDING_POINT.latitude,
LANDING_POINT.longitude
);
if (me.distance > EPSILON) {
console.log(
"[DEMO] Waiting to reach landing point (current distance is "
+ me.distance + ")"
);
} else {
console.log("[DEMO] Landing...\n");
me.landing = true;
}
return;
}
if (!me.parachute_triggered) {
console.log("[DEMO] Deploying parachute...");
exitOnFail(me.triggerParachute(), "Failed to deploy parachute");
me.parachute_triggered = true;
}
if (me.landed()) {
me.exit(0);
}
};
me.onGetMsg = function (msg) {
me.msgDict = JSON.parse(msg);
if (me.follow_leader && me.msgDict.hasOwnProperty("going_to_point_a")) {
me.going_to_point_a = me.msgDict.going_to_point_a;
}
};
}(console, me));
simulator-script.js
View file @ 50afd61b
/*
* This is the default script in the simulator. All drones follow the same
* path of checkpoints but at different altitudes.
*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me*/ /*global console, me*/
......
subscribe.js
View file @ 50afd61b
/*
* This is the script run by subscribers. It is used has a bridge between the
* swarm and the GUI.
*/
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, me*/ /*global console, me*/
...@@ -10,14 +15,42 @@ ...@@ -10,14 +15,42 @@
}; };
me.onUpdate = function (timestamp) { me.onUpdate = function (timestamp) {
if (me.f.getline() !== "q") { var drone_dict = {};
return; Object.entries(me.getDroneDict()).forEach(function ([id, drone]) {
} drone_dict[id] = {
try { latitude: drone.latitude.toFixed(6),
me.f.close(); longitude: drone.longitude.toFixed(6),
} catch (error) { altitude: drone.altitudeAbs.toFixed(2),
console.error(error); yaw: drone.yaw.toFixed(2),
} speed: drone.speed.toFixed(2),
me.exit(0); climbRate: drone.climbRate.toFixed(2),
timestamp: drone.timestamp
};
});
me.writeWebsocketMessage(JSON.stringify({drone_dict: drone_dict}));
}
me.onWebSocketMessage = function (msg) {
switch (msg) {
case "quit":
me.exit(0);
break;
case "start":
me.sendMsg(JSON.stringify({status: "running"}));
break;
case "stop":
me.sendMsg(JSON.stringify({status: "stopped"}));
break;
case "switch":
leader_id = leader_id == 0 ? 1 : 0;
me.sendMsg(JSON.stringify({leader_id: leader_id, status: "switch"}));
break;
default:
me.writeWebsocketMessage("Unknown instruction " + msg);
};
}
me.onGetMsg = function (msg) {
me.writeWebsocketMessage(msg);
}; };
}(console, me)); }(console, me));
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