Provide check and landing points through operator

multicopter_swarm.js

@@ -14,52 +14,8 @@
 
   var ALTITUDE_DIFF = 5,
     BASE_ALTITUDE = 25,
-    CHECKPOINT_LIST = [
-      {
-        latitude: 45.310770,
-        longitude: 5.950148
-      },
-      {
-        latitude: 45.311229,
-        longitude: 5.949820
-      },
-      {
-        latitude: 45.311246,
-        longitude: 5.950584
-      },
-      {
-        latitude: 45.310785,
-        longitude: 5.950877
-      }
-    ],
     EPSILON = 4,
-    PARACHUTE_POINT_ARRAY = [
-      {
-        latitude: 45.310479,
-        longitude: 5.950495
-      },
-      {
-        latitude: 45.310393,
-        longitude: 5.950677
-      },
-      {
-        latitude: 45.310376,
-        longitude: 5.950295
-      },
-      {
-        latitude: 45.310304,
-        longitude: 5.950459
-      },
-      {
-        latitude: 45.310235,
-        longitude: 5.950608
-      }
-    ],
     TARGETED_DISTANCE = 10,
-    TAKE_OFF_POINT = {
-      latitude: 45.310479,
-      longitude: 5.950495
-    },
     MIN_CMD_INTERVAL = 500,
     MIN_SPEED = 4,
     DEFAULT_SPEED = 5,
@@ -126,7 +82,6 @@
     me.going_to_parachute = false;
     me.id_list = [me.id];
     me.timestamp_list = [0];
-    me.id_list.sort();
     me.landing = false;
     me.last_cmd_timestamp = 0;
     me.next_checkpoint = 0;
@@ -151,7 +106,7 @@
       neighbor_position = me.getDroneDict()[neighbor_id];
     }
 
-    if (!me.path_planning){
+    if (!me.checkpoint_list){
       if (leader_id !== me.id) {
         console.log(
           "timestamp difference",
@@ -159,13 +114,13 @@
         );
       }
       return me.sendMsg(JSON.stringify(
-        {id: me.id, okState: true, state: "Ready"}
+        {id: me.id, okState: true, state: "Ready", timestamp: Date.now()}
       ));
     }
 
     if (me.landing && me.isLanding()) {
       return me.sendMsg(JSON.stringify(
-        {id: drone.id, okState: false, state: "Landing"}
+        {id: me.id, okState: false, state: "Landing"}
       ));
     }
 
@@ -215,8 +170,8 @@
           distanceToTakeOffPoint = distance(
             neighbor_position.latitude,
             neighbor_position.longitude,
-            TAKE_OFF_POINT.latitude,
-            TAKE_OFF_POINT.longitude
+            me.landing_point_list[0].latitude,
+            me.landing_point_list[0].longitude
           );
           console.log(
             "Distance from neighbor to takeoff point",
@@ -251,22 +206,22 @@
       }
 
       checkpointIndex = (!me.reverse) ? me.next_checkpoint
-        : CHECKPOINT_LIST.length - me.next_checkpoint - 1;
+        : me.checkpoint_list.length - me.next_checkpoint - 1;
       if (!me.direction_set) {
         console.log("Going to Checkpoint", checkpointIndex);
         me.next_point = {
-          "latitude": CHECKPOINT_LIST[checkpointIndex].latitude,
-          "longitude": CHECKPOINT_LIST[checkpointIndex].longitude
+          "latitude": me.checkpoint_list[checkpointIndex].latitude,
+          "longitude": me.checkpoint_list[checkpointIndex].longitude
         };
         me.direction_set = true;
       }
 
       if (
-        pointReached(me, CHECKPOINT_LIST[checkpointIndex], EPSILON)
+        pointReached(me, me.checkpoint_list[checkpointIndex], EPSILON)
       ) {
         console.log("Reached Checkpoint", checkpointIndex);
         me.next_checkpoint += 1;
-        me.next_checkpoint %= CHECKPOINT_LIST.length;
+        me.next_checkpoint %= me.checkpoint_list.length;
         me.direction_set = false;
         return me.sendMsg(JSON.stringify({
           id: me.id,
@@ -279,9 +234,9 @@
     }
 
     if (me.going_to_parachute &&
-        pointReached(me, PARACHUTE_POINT_ARRAY[me.id], EPSILON)) {
+        pointReached(me, me.landing_point_list[me.id], EPSILON)) {
       me.going_to_parachute = false;
-      return exitOnFail(drone.land(), "Failed to land");
+      return exitOnFail(me.land(), "Failed to land");
     }
 
     if (!me.landing || me.going_to_parachute) {
@@ -299,10 +254,10 @@
   };
 
   me.onGetMsg = function (msg) {
-    if (msg.hasOwnProperty("path_planning")) {
-      me.path_planning = true;
+    if (msg.hasOwnProperty("checkpoint_list")) {
+      me.checkpoint_list = msg.checkpoint_list;
+      me.landing_point_list = msg.landing_point_list;
       console.log("running");
-      me.timestamp_list = Array.apply(null, Array(me.id_list.length)).map(function () { return Date.now() });
       return me.takeOff();
     }
 
@@ -317,8 +272,8 @@
           me.landing = true;
           me.going_to_parachute = true;
           me.next_point = {
-            "latitude": PARACHUTE_POINT_ARRAY[me.id].latitude,
-            "longitude": PARACHUTE_POINT_ARRAY[me.id].longitude
+            "latitude": me.landing_point_list[me.id].latitude,
+            "longitude": me.landing_point_list[me.id].longitude
           };
           console.log("Going to rally");
         }
@@ -346,15 +301,15 @@
         break;
 
       case "Landing":
-        if (me.id_list.includes(msgDict.id)) {
+        if (msgDict.id !== me.id && me.id_list.includes(msgDict.id)) {
           me.id_list.splice(me.id_list.indexOf(msgDict.id), 1);
-          me.timestamp_list.splice(me.id_list.indexOf(id), 1);
+          me.timestamp_list.splice(me.id_list.indexOf(msgDict.id), 1);
           if (me.stopped && me.id === (!me.reverse? me.id_list[me.id_list.length - 1] : me.id_list[0])) {
             me.landing = true;
             me.going_to_parachute = true;
             me.next_point = {
-              "latitude": PARACHUTE_POINT_ARRAY[me.id].latitude,
-              "longitude": PARACHUTE_POINT_ARRAY[me.id].longitude
+              "latitude": me.landing_point_list[me.id].latitude,
+              "longitude": me.landing_point_list[me.id].longitude
             };
           }
         }
@@ -365,8 +320,8 @@
       }
     }
 
-    if(msgDict.hasOwnProperty("timestamp")) {
-      me.timestamp_list[msgDict.id] = msgDict.timestamp;
+    if(me.id_list.includes(msgDict.id) && msgDict.hasOwnProperty("timestamp")) {
+      me.timestamp_list[me.id_list.indexOf(msgDict.id)] = msgDict.timestamp;
     }
 
     if (msgDict.hasOwnProperty("next_checkpoint")) {

operator.js

@@ -4,4 +4,46 @@
 */
 
 var map = operator.getMapJSON();
-operator.sendMsg({flag_positions: map.flag_list, path_planning: ""});
+operator.sendMsg({
+  checkpoint_list: [
+    {
+      latitude: 45.310770,
+      longitude: 5.950148
+    },
+    {
+      latitude: 45.311229,
+      longitude: 5.949820
+    },
+    {
+      latitude: 45.311246,
+      longitude: 5.950584
+    },
+    {
+      latitude: 45.310785,
+      longitude: 5.950877
+    }
+  ],
+  flag_positions: map.flag_list,
+  landing_point_list: [
+    {
+      latitude: 45.310479,
+      longitude: 5.950495
+    },
+    {
+      latitude: 45.310393,
+      longitude: 5.950677
+    },
+    {
+      latitude: 45.310376,
+      longitude: 5.950295
+    },
+    {
+      latitude: 45.310304,
+      longitude: 5.950459
+    },
+    {
+      latitude: 45.310235,
+      longitude: 5.950608
+    }
+  ]
+});