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Titouan Soulard
erp5
Commits
d8b91190
Commit
d8b91190
authored
Feb 10, 2023
by
Roque
Browse files
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Plain Diff
Implement drone API and physics improvements
See merge request
!1711
parents
70d11122
73f73897
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14 changed files
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982 additions
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748 deletions
+982
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_droneaaailefixe_js.js
...tem/web_page_module/drone_simulator_droneaaailefixe_js.js
+0
-338
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
...em/web_page_module/drone_simulator_dronelogfollower_js.js
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
...m/web_page_module/drone_simulator_dronelogfollower_js.xml
+2
-2
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js
...Item/web_page_module/drone_simulator_fixedwingdrone_js.js
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml
...tem/web_page_module/drone_simulator_fixedwingdrone_js.xml
+6
-75
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
...hTemplateItem/web_page_module/drone_simulator_logic_js.js
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
...TemplateItem/web_page_module/drone_simulator_logic_js.xml
+3
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.js
...teItem/web_page_module/ojs_drone_simulator_log_page_js.js
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.xml
...eItem/web_page_module/ojs_drone_simulator_log_page_js.xml
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js
...tem/web_page_module/ojs_drone_simulator_script_page_js.js
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml
...em/web_page_module/ojs_drone_simulator_script_page_js.xml
+2
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bt5/erp5_officejs_drone_simulator/SkinTemplateItem/portal_skins/erp5_officejs_drone_simulator/WebSection_getDroneSimulatorPrecacheManifestList.py
...lator/WebSection_getDroneSimulatorPrecacheManifestList.py
+1
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bt5/erp5_web_renderjs_ui/PathTemplateItem/web_page_module/rjs_babylonjs_web_worker_js.js
...mplateItem/web_page_module/rjs_babylonjs_web_worker_js.js
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bt5/erp5_web_renderjs_ui/PathTemplateItem/web_page_module/rjs_babylonjs_web_worker_js.xml
...plateItem/web_page_module/rjs_babylonjs_web_worker_js.xml
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bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_droneaaailefixe_js.js
deleted
100644 → 0
View file @
70d11122
/*global console*/
/*jslint nomen: true, indent: 2, maxlen: 80, white: true */
/************************** DRONE A AILE FIXE API ****************************/
var
DroneAaileFixeAPI
=
/** @class */
(
function
()
{
"
use strict
"
;
// var TAKEOFF_RADIUS = 60,
var
LOITER_LIMIT
=
30
,
LOITER_RADIUS_FACTOR
=
0.60
,
LOITER_SPEED_FACTOR
=
1.5
;
//** CONSTRUCTOR
function
DroneAaileFixeAPI
(
gameManager
,
drone_info
,
flight_parameters
,
id
)
{
this
.
_gameManager
=
gameManager
;
this
.
_mapManager
=
this
.
_gameManager
.
_mapManager
;
this
.
_map_dict
=
this
.
_mapManager
.
getMapInfo
();
this
.
_flight_parameters
=
flight_parameters
;
this
.
_id
=
id
;
this
.
_drone_info
=
drone_info
;
this
.
_loiter_radius
=
0
;
this
.
_last_loiter_point_reached
=
-
1
;
//this._start_altitude = 0;
//this._last_altitude_point_reached = -1;
this
.
_loiter_mode
=
false
;
this
.
_drone_dict_list
=
[];
}
/*
** Function called on start phase of the drone, just before onStart AI script
*/
DroneAaileFixeAPI
.
prototype
.
internal_start
=
function
()
{
return
;
};
/*
** Function called on every drone update, right after onUpdate AI script
*/
DroneAaileFixeAPI
.
prototype
.
internal_update
=
function
(
drone
)
{
if
(
this
.
_loiter_mode
)
{
this
.
loiter
(
drone
);
}
/*if (this._start_altitude > 0) { //TODO move start_altitude here
this.reachAltitude(drone);
}*/
var
_this
=
this
,
drone_position
=
drone
.
getCurrentPosition
(),
drone_info
;
if
(
drone_position
)
{
drone_info
=
{
'
altitudeRel
'
:
drone_position
.
z
,
'
altitudeAbs
'
:
this
.
_mapManager
.
getMapInfo
().
start_AMSL
+
drone_position
.
z
,
'
latitude
'
:
drone_position
.
x
,
'
longitude
'
:
drone_position
.
y
};
this
.
_drone_dict_list
[
this
.
_id
]
=
drone_info
;
//broadcast drone info using internal msg
this
.
_gameManager
.
_droneList
.
forEach
(
function
(
drone
)
{
if
(
drone
.
id
!==
_this
.
_id
)
{
drone
.
internal_getMsg
(
drone_info
,
_this
.
_id
);
}
});
}
};
DroneAaileFixeAPI
.
prototype
.
internal_getMsg
=
function
(
msg
,
id
)
{
this
.
_drone_dict_list
[
id
]
=
msg
;
};
DroneAaileFixeAPI
.
prototype
.
set_loiter_mode
=
function
(
radius
)
{
this
.
_loiter_mode
=
true
;
if
(
radius
&&
radius
>
LOITER_LIMIT
)
{
this
.
_loiter_radius
=
radius
*
LOITER_RADIUS_FACTOR
;
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
(
angle
*
(
Math
.
PI
/
180
))
+
this
.
_loiter_center
.
x
;
y1
=
this
.
_loiter_radius
*
Math
.
sin
(
angle
*
(
Math
.
PI
/
180
))
+
this
.
_loiter_center
.
y
;
this
.
_loiter_coordinates
.
push
(
this
.
getCurrentPosition
(
x1
,
y1
,
this
.
_loiter_center
.
z
));
}
}
};
DroneAaileFixeAPI
.
prototype
.
internal_setTargetCoordinates
=
function
(
drone
,
x
,
y
,
z
,
loiter
)
{
//this._start_altitude = 0;
//convert real geo-coordinates to virtual x-y coordinates
var
coordinates
=
this
.
processCoordinates
(
x
,
y
,
z
);
if
(
!
loiter
)
{
this
.
_loiter_mode
=
false
;
drone
.
_maxSpeed
=
this
.
getMaxSpeed
();
//save last target point to use as next loiter center
this
.
_last_target
=
coordinates
;
}
this
.
internal_setVirtualPlaneTargetCoordinates
(
drone
,
coordinates
.
x
,
coordinates
.
y
,
coordinates
.
z
);
};
/*
** This expects x,y plane coordinates (not geo latitude-longitud)
*/
DroneAaileFixeAPI
.
prototype
.
internal_setVirtualPlaneTargetCoordinates
=
function
(
drone
,
x
,
y
,
z
)
{
x
-=
drone
.
_controlMesh
.
position
.
x
;
y
-=
drone
.
_controlMesh
.
position
.
z
;
z
-=
drone
.
_controlMesh
.
position
.
y
;
drone
.
setDirection
(
x
,
y
,
z
);
drone
.
setAcceleration
(
drone
.
_maxAcceleration
);
return
;
};
DroneAaileFixeAPI
.
prototype
.
sendMsg
=
function
(
msg
,
to
)
{
var
_this
=
this
,
droneList
=
_this
.
_gameManager
.
_droneList
;
_this
.
_gameManager
.
delay
(
function
()
{
if
(
to
<
0
)
{
// Send to all drones
droneList
.
forEach
(
function
(
drone
)
{
if
(
drone
.
infosMesh
)
{
try
{
drone
.
onGetMsg
(
msg
);
}
catch
(
error
)
{
console
.
warn
(
'
Drone crashed on sendMsg due to error:
'
,
error
);
drone
.
_internal_crash
();
}
}
});
}
else
{
// Send to specific drone
if
(
droneList
[
to
].
infosMesh
)
{
try
{
droneList
[
to
].
onGetMsg
(
msg
);
}
catch
(
error
)
{
console
.
warn
(
'
Drone crashed on sendMsg due to error:
'
,
error
);
droneList
[
to
].
_internal_crash
();
}
}
}
},
_this
.
_flight_parameters
.
latency
.
communication
);
};
DroneAaileFixeAPI
.
prototype
.
log
=
function
(
msg
)
{
console
.
log
(
"
API say :
"
+
msg
);
};
DroneAaileFixeAPI
.
prototype
.
getGameParameter
=
function
(
name
)
{
if
([
"
gameTime
"
,
"
map
"
].
includes
(
name
))
{
return
this
.
_gameManager
.
gameParameter
[
name
];
}
};
/*
** Converts geo latitude-longitud coordinates (º) to x,y plane coordinates (m)
*/
DroneAaileFixeAPI
.
prototype
.
processCoordinates
=
function
(
lat
,
lon
,
z
)
{
if
(
isNaN
(
lat
)
||
isNaN
(
lon
)
||
isNaN
(
z
)){
throw
new
Error
(
'
Target coordinates must be numbers
'
);
}
var
x
=
this
.
_mapManager
.
longitudToX
(
lon
,
this
.
_map_dict
.
width
),
y
=
this
.
_mapManager
.
latitudeToY
(
lat
,
this
.
_map_dict
.
depth
),
position
=
this
.
_mapManager
.
normalize
(
x
,
y
,
this
.
_map_dict
),
processed_coordinates
;
if
(
z
>
this
.
_map_dict
.
start_AMSL
)
{
z
-=
this
.
_map_dict
.
start_AMSL
;
}
processed_coordinates
=
{
x
:
position
[
0
],
y
:
position
[
1
],
z
:
z
};
//this._last_altitude_point_reached = -1;
//this.takeoff_path = [];
return
processed_coordinates
;
};
DroneAaileFixeAPI
.
prototype
.
getCurrentPosition
=
function
(
x
,
y
,
z
)
{
return
this
.
_mapManager
.
convertToGeoCoordinates
(
x
,
y
,
z
,
this
.
_map_dict
);
};
DroneAaileFixeAPI
.
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
.
x
,
next_point
.
y
,
next_point
.
z
,
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
.
x
,
next_point
.
y
,
next_point
.
z
,
true
);
}
}
};
DroneAaileFixeAPI
.
prototype
.
getDroneAI
=
function
()
{
return
null
;
};
DroneAaileFixeAPI
.
prototype
.
setAltitude
=
function
(
altitude
,
drone
)
{
/*if (this._start_altitude === 0) {
this._start_altitude = 1;
}
this.takeoff_path = [];
if (skip_loiter) {*/
var
drone_pos
=
drone
.
getCurrentPosition
();
this
.
internal_setVirtualPlaneTargetCoordinates
(
drone
,
drone_pos
.
x
,
drone_pos
.
y
,
altitude
);
return
;
/*}
var x1, y1,
LOOPS = 1,
CIRCLE_ANGLE = 8,
current_point = 0,
total_points = 360/CIRCLE_ANGLE*LOOPS,
initial_altitude = drone.getAltitudeAbs(),
center = {
x: drone.position.x,
y: drone.position.y,
z: drone.position.z
};
for (var l = 0; l <= LOOPS; l+=1){
for (var angle = 360; angle > 0; angle-=CIRCLE_ANGLE){ //clockwise sense
current_point++;
x1 = TAKEOFF_RADIUS * Math.cos(angle * (Math.PI / 180)) + center.x;
y1 = TAKEOFF_RADIUS * Math.sin(angle * (Math.PI / 180)) + center.y;
if (current_point < total_points/3) {
var FACTOR = 0.5;
x1 = center.x*FACTOR + x1*(1-FACTOR);
y1 = center.y*FACTOR + y1*(1-FACTOR);
}
this.takeoff_path.push({x: x1, y: y1, z: initial_altitude +
current_point * (altitude-initial_altitude)/total_points});
}
}*/
};
/*DroneAaileFixeAPI.prototype.reachAltitude = function (drone) {
function distance(p1, p2) {
return Math.sqrt(Math.pow(p1[0] - p2[0], 2) +
Math.pow(p1[1] - p2[1], 2));
}
//stop
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
this._last_altitude_point_reached = -1;
this.takeoff_path = [];
this._start_altitude = 0;
drone.setDirection(0, 0, 0);
return;
}
//loiter
var drone_pos = {
x: drone.position.x,
y: drone.position.y,
z: drone.position.z
};
var next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
this.internal_setVirtualPlaneTargetCoordinates(
next_point.x, next_point.y, next_point.z);
if (distance([drone_pos.x, drone_pos.y],
[next_point.x, next_point.y]) < 1) {
this._last_altitude_point_reached += 1;
if (this._last_altitude_point_reached === this.takeoff_path.length - 1) {
return;
}
next_point = this.takeoff_path[this._last_altitude_point_reached + 1];
this.internal_setVirtualPlaneTargetCoordinates(
next_point.x, next_point.y, next_point.z);
}
};*/
DroneAaileFixeAPI
.
prototype
.
getMaxSpeed
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxSpeed
;
};
DroneAaileFixeAPI
.
prototype
.
triggerParachute
=
function
(
drone
)
{
var
drone_pos
=
drone
.
getCurrentPosition
();
this
.
internal_setTargetCoordinates
(
drone
,
drone_pos
.
x
,
drone_pos
.
y
,
5
);
};
DroneAaileFixeAPI
.
prototype
.
landed
=
function
(
drone
)
{
var
drone_pos
=
drone
.
getCurrentPosition
();
return
Math
.
floor
(
drone_pos
.
z
)
<
10
;
};
DroneAaileFixeAPI
.
prototype
.
exit
=
function
()
{
return
;
};
DroneAaileFixeAPI
.
prototype
.
getInitialAltitude
=
function
()
{
return
0
;
};
DroneAaileFixeAPI
.
prototype
.
getAltitudeAbs
=
function
(
altitude
)
{
return
altitude
;
};
DroneAaileFixeAPI
.
prototype
.
getMinHeight
=
function
()
{
return
0
;
};
DroneAaileFixeAPI
.
prototype
.
getMaxHeight
=
function
()
{
return
800
;
};
DroneAaileFixeAPI
.
prototype
.
getFlightParameters
=
function
()
{
return
this
.
_flight_parameters
;
};
return
DroneAaileFixeAPI
;
}());
\ No newline at end of file
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.js
View file @
d8b91190
/*global console*/
/*global
BABYLON,
console*/
/*jslint nomen: true, indent: 2, maxlen: 80, white: true */
/**************************** DRONE LOG FOLLOWER ******************************/
var
DroneLogAPI
=
/** @class */
(
function
()
{
"
use strict
"
;
var
TOP_SPEED
=
250
;
//so fast that it virtually "teleports" to target
//** CONSTRUCTOR
function
DroneLogAPI
(
gameManager
,
drone_info
,
flight_parameters
,
id
)
{
this
.
_gameManager
=
gameManager
;
...
...
@@ -15,7 +16,13 @@ var DroneLogAPI = /** @class */ (function () {
/*
** Function called at start phase of the drone, just before onStart AI script
*/
DroneLogAPI
.
prototype
.
internal_start
=
function
()
{
DroneLogAPI
.
prototype
.
internal_start
=
function
(
drone
)
{
drone
.
_minAcceleration
=
-
1
;
drone
.
_maxAcceleration
=
1
;
drone
.
_minSpeed
=
TOP_SPEED
;
drone
.
_maxSpeed
=
TOP_SPEED
;
drone
.
_acceleration
=
10
;
drone
.
_speed
=
TOP_SPEED
;
function
getLogEntries
(
log
)
{
var
i
,
line_list
=
log
.
split
(
'
\n
'
),
log_entry_list
=
[],
log_entry
,
log_header_found
;
...
...
@@ -69,22 +76,43 @@ var DroneLogAPI = /** @class */ (function () {
this
.
_flight_parameters
.
converted_log_point_list
=
converted_log_point_list
;
};
/*
** Function called on every drone update, right before onUpdate AI script
*/
DroneLogAPI
.
prototype
.
internal_update
=
function
(
context
,
delta_time
)
{
var
updateSpeed
;
context
.
_speed
+=
context
.
_acceleration
*
delta_time
/
1000
;
if
(
context
.
_speed
>
context
.
_maxSpeed
)
{
context
.
_speed
=
context
.
_maxSpeed
;
}
if
(
context
.
_speed
<
-
context
.
_maxSpeed
)
{
context
.
_speed
=
-
context
.
_maxSpeed
;
}
updateSpeed
=
context
.
_speed
*
delta_time
/
1000
;
if
(
context
.
_direction
.
x
!==
0
||
context
.
_direction
.
y
!==
0
||
context
.
_direction
.
z
!==
0
)
{
context
.
_controlMesh
.
position
.
addInPlace
(
new
BABYLON
.
Vector3
(
context
.
_direction
.
x
*
updateSpeed
,
context
.
_direction
.
y
*
updateSpeed
,
context
.
_direction
.
z
*
updateSpeed
));
}
context
.
_controlMesh
.
computeWorldMatrix
(
true
);
context
.
_mesh
.
computeWorldMatrix
(
true
);
};
/*
** Function called on every drone update, right after onUpdate AI script
*/
DroneLogAPI
.
prototype
.
internal_
update
=
function
(
)
{
DroneLogAPI
.
prototype
.
internal_
post_update
=
function
(
drone
)
{
return
;
};
DroneLogAPI
.
prototype
.
internal_setTargetCoordinates
=
function
(
drone
,
x
,
y
,
z
)
{
var
coordinates
=
this
.
processCoordinates
(
x
,
y
,
z
);
function
(
drone
,
coordinates
)
{
coordinates
.
x
-=
drone
.
_controlMesh
.
position
.
x
;
coordinates
.
y
-=
drone
.
_controlMesh
.
position
.
z
;
coordinates
.
z
-=
drone
.
_controlMesh
.
position
.
y
;
drone
.
setDirection
(
coordinates
.
x
,
coordinates
.
y
,
coordinates
.
z
);
drone
.
setAcceleration
(
drone
.
_maxAcceleration
);
return
;
};
DroneLogAPI
.
prototype
.
sendMsg
=
function
(
msg
,
to
)
{
return
;
};
...
...
@@ -96,6 +124,16 @@ var DroneLogAPI = /** @class */ (function () {
return
this
.
_gameManager
.
gameParameter
[
name
];
}
};
DroneLogAPI
.
prototype
.
setStartingPosition
=
function
(
drone
,
x
,
y
,
z
)
{
if
(
!
drone
.
_canPlay
)
{
if
(
z
<=
0.05
)
{
z
=
0.05
;
}
drone
.
_controlMesh
.
position
=
new
BABYLON
.
Vector3
(
x
,
z
,
y
);
}
drone
.
_controlMesh
.
computeWorldMatrix
(
true
);
drone
.
_mesh
.
computeWorldMatrix
(
true
);
};
DroneLogAPI
.
prototype
.
processCoordinates
=
function
(
x
,
y
,
z
)
{
if
(
isNaN
(
x
)
||
isNaN
(
y
)
||
isNaN
(
z
)){
throw
new
Error
(
'
Target coordinates must be numbers
'
);
...
...
@@ -126,12 +164,11 @@ var DroneLogAPI = /** @class */ (function () {
'
me.setTargetCoordinates(me.checkpoint_list[0][0],
'
+
'
me.checkpoint_list[0][1], me.checkpoint_list[0][2]);
'
+
'
me.last_checkpoint_reached = -1;
'
+
'
me.setAcceleration(10);
'
+
'
};
'
+
'
me.onUpdate = function(timestamp) {
'
+
'
var next_checkpoint = me.checkpoint_list
'
+
'
[me.last_checkpoint_reached+1];
'
+
'
if (distance([me.position.x, me.position.y], next_checkpoint) < 1
2
) {
'
+
'
if (distance([me.position.x, me.position.y], next_checkpoint) < 1
0
) {
'
+
'
me.going = false;
'
+
'
var log_elapsed = next_checkpoint[3] - me.initTimestamp,
'
+
'
time_elapsed = new Date() - me.startTime;
'
+
...
...
@@ -165,30 +202,6 @@ var DroneLogAPI = /** @class */ (function () {
z
:
z
};
};
DroneLogAPI
.
prototype
.
set_loiter_mode
=
function
(
radius
,
drone
)
{
return
;
};
DroneLogAPI
.
prototype
.
setAltitude
=
function
(
altitude
,
drone
)
{
return
;
};
DroneLogAPI
.
prototype
.
getMaxSpeed
=
function
()
{
return
3000
;
};
DroneLogAPI
.
prototype
.
getInitialAltitude
=
function
()
{
return
0
;
};
DroneLogAPI
.
prototype
.
getAltitudeAbs
=
function
()
{
return
0
;
};
DroneLogAPI
.
prototype
.
getMinHeight
=
function
()
{
return
0
;
};
DroneLogAPI
.
prototype
.
getMaxHeight
=
function
()
{
return
220
;
};
DroneLogAPI
.
prototype
.
triggerParachute
=
function
(
drone
)
{
return
;
};
DroneLogAPI
.
prototype
.
getFlightParameters
=
function
()
{
return
this
.
_flight_parameters
;
};
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_dronelogfollower_js.xml
View file @
d8b91190
...
...
@@ -244,7 +244,7 @@
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
100
4.33468.24270.4891
3
</string>
</value>
<value>
<string>
100
6.4961.7659.5304
3
</string>
</value>
</item>
<item>
<key>
<string>
state
</string>
</key>
...
...
@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>
16
69196851.1
8
</float>
<float>
16
75263473.0
8
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js
0 → 100644
View file @
d8b91190
/*global BABYLON, console*/
/*jslint nomen: true, indent: 2, maxlen: 80, todo: true */
/************************** FIXED WING DRONE API ****************************/
var
FixedWingDroneAPI
=
/** @class */
(
function
()
{
"
use strict
"
;
// var TAKEOFF_RADIUS = 60,
var
DEFAULT_SPEED
=
16
,
EARTH_GRAVITY
=
9.81
,
LOITER_LIMIT
=
30
,
LOITER_RADIUS_FACTOR
=
0.60
,
LOITER_SPEED_FACTOR
=
1.5
,
MAX_ACCELERATION
=
6
,
MAX_DECELERATION
=
1
,
MIN_SPEED
=
12
,
MAX_SPEED
=
26
,
MAX_ROLL
=
35
,
MIN_PITCH
=
-
20
,
MAX_PITCH
=
25
,
MAX_CLIMB_RATE
=
8
,
MAX_SINK_RATE
=
3
;
//** CONSTRUCTOR
function
FixedWingDroneAPI
(
gameManager
,
drone_info
,
flight_parameters
,
id
)
{
this
.
_gameManager
=
gameManager
;
this
.
_mapManager
=
this
.
_gameManager
.
_mapManager
;
this
.
_map_dict
=
this
.
_mapManager
.
getMapInfo
();
this
.
_flight_parameters
=
flight_parameters
;
this
.
_id
=
id
;
this
.
_drone_info
=
drone_info
;
this
.
_loiter_radius
=
0
;
this
.
_last_loiter_point_reached
=
-
1
;
//this._start_altitude = 0;
//this._last_altitude_point_reached = -1;
this
.
_loiter_mode
=
false
;
this
.
_drone_dict_list
=
[];
}
/*
** Function called on start phase of the drone, just before onStart AI script
*/
FixedWingDroneAPI
.
prototype
.
internal_start
=
function
(
drone
)
{
drone
.
_maxDeceleration
=
this
.
getMaxDeceleration
();
drone
.
_maxAcceleration
=
this
.
getMaxAcceleration
();
drone
.
_minSpeed
=
this
.
getMinSpeed
();
drone
.
_maxSpeed
=
this
.
getMaxSpeed
();
if
(
drone
.
_minSpeed
>
drone
.
_maxSpeed
)
{
throw
new
Error
(
'
min speed cannot be superior to max speed
'
);
}
drone
.
_speed
=
drone
.
_targetSpeed
=
this
.
getInitialSpeed
();
if
(
drone
.
_speed
<
drone
.
_minSpeed
||
drone
.
_speed
>
drone
.
_maxSpeed
)
{
throw
new
Error
(
'
Drone speed must be between min speed and max speed
'
);
}
drone
.
_minPitchAngle
=
this
.
getMinPitchAngle
();
drone
.
_maxPitchAngle
=
this
.
getMaxPitchAngle
();
if
(
drone
.
_minPitchAngle
>
drone
.
_maxPitchAngle
)
{
throw
new
Error
(
'
min pitch angle cannot be superior to max pitch angle
'
);
}
drone
.
_maxRollAngle
=
this
.
getMaxRollAngle
();
drone
.
_maxSinkRate
=
this
.
getMaxSinkRate
();
if
(
drone
.
_maxSinkRate
>
drone
.
_maxSpeed
)
{
throw
new
Error
(
'
max sink rate cannot be superior to max speed
'
);
}
drone
.
_maxClimbRate
=
this
.
getMaxClimbRate
();
if
(
drone
.
_maxClimbRate
>
drone
.
_maxSpeed
)
{
throw
new
Error
(
'
max climb rate cannot be superior to max speed
'
);
}
drone
.
_maxOrientation
=
this
.
getMaxOrientation
();
return
;
};
/*
** Function called on every drone update, right before onUpdate AI script
*/
FixedWingDroneAPI
.
prototype
.
internal_update
=
function
(
context
,
delta_time
)
{
var
diff
,
newrot
,
orientationValue
,
rotStep
,
updateSpeed
;
//TODO rotation
if
(
context
.
_rotationTarget
)
{
rotStep
=
BABYLON
.
Vector3
.
Zero
();
diff
=
context
.
_rotationTarget
.
subtract
(
context
.
_controlMesh
.
rotation
);
rotStep
.
x
=
(
diff
.
x
>=
1
)
?
1
:
diff
.
x
;
rotStep
.
y
=
(
diff
.
y
>=
1
)
?
1
:
diff
.
y
;
rotStep
.
z
=
(
diff
.
z
>=
1
)
?
1
:
diff
.
z
;
if
(
rotStep
===
BABYLON
.
Vector3
.
Zero
())
{
context
.
_rotationTarget
=
null
;
return
;
}
newrot
=
new
BABYLON
.
Vector3
(
context
.
_controlMesh
.
rotation
.
x
+
(
rotStep
.
x
*
context
.
_rotationSpeed
),
context
.
_controlMesh
.
rotation
.
y
+
(
rotStep
.
y
*
context
.
_rotationSpeed
),
context
.
_controlMesh
.
rotation
.
z
+
(
rotStep
.
z
*
context
.
_rotationSpeed
)
);
context
.
_controlMesh
.
rotation
=
newrot
;
}
this
.
_updateSpeed
(
context
,
delta_time
);
this
.
_updateDirection
(
context
,
delta_time
);
updateSpeed
=
context
.
_speed
*
delta_time
/
1000
;
if
(
context
.
_direction
.
x
!==
0
||
context
.
_direction
.
y
!==
0
||
context
.
_direction
.
z
!==
0
)
{
context
.
_controlMesh
.
position
.
addInPlace
(
new
BABYLON
.
Vector3
(
context
.
_direction
.
x
*
updateSpeed
,
context
.
_direction
.
y
*
updateSpeed
,
context
.
_direction
.
z
*
updateSpeed
));
}
//TODO rotation
orientationValue
=
context
.
_maxOrientation
*
(
context
.
_speed
/
context
.
_maxSpeed
);
context
.
_mesh
.
rotation
=
new
BABYLON
.
Vector3
(
orientationValue
*
context
.
_direction
.
z
,
0
,
-
orientationValue
*
context
.
_direction
.
x
);
context
.
_controlMesh
.
computeWorldMatrix
(
true
);
context
.
_mesh
.
computeWorldMatrix
(
true
);
};
/*
** Function called on every drone update, right after onUpdate AI script
*/
FixedWingDroneAPI
.
prototype
.
internal_post_update
=
function
(
drone
)
{
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
_this.reachAltitude(drone);
}*/
if
(
drone_position
)
{
drone_info
=
{
'
altitudeRel
'
:
drone_position
.
z
,
'
altitudeAbs
'
:
_this
.
_mapManager
.
getMapInfo
().
start_AMSL
+
drone_position
.
z
,
'
latitude
'
:
drone_position
.
x
,
'
longitude
'
:
drone_position
.
y
};
_this
.
_drone_dict_list
[
_this
.
_id
]
=
drone_info
;
//broadcast drone info using internal msg
_this
.
_gameManager
.
_droneList
.
forEach
(
function
(
drone
)
{
if
(
drone
.
id
!==
_this
.
_id
)
{
drone
.
internal_getMsg
(
drone_info
,
_this
.
_id
);
}
});
}
};
FixedWingDroneAPI
.
prototype
.
_updateSpeed
=
function
(
drone
,
delta_time
)
{
var
speed
=
drone
.
getSpeed
(),
speedDiff
,
speedUpdate
;
if
(
speed
!==
this
.
_targetSpeed
)
{
speedDiff
=
this
.
_targetSpeed
-
speed
;
speedUpdate
=
drone
.
_acceleration
*
delta_time
/
1000
;
if
(
Math
.
abs
(
speedDiff
)
<
Math
.
abs
(
speedUpdate
))
{
drone
.
_speed
=
this
.
_targetSpeed
;
drone
.
_acceleration
=
0
;
}
else
{
drone
.
_speed
+=
speedUpdate
;
}
}
};
FixedWingDroneAPI
.
prototype
.
_updateDirection
=
function
(
drone
,
delta_time
)
{
var
horizontalCoeff
,
newX
,
newY
,
newZ
;
[
newX
,
newZ
]
=
this
.
_getNewYaw
(
drone
,
delta_time
);
newY
=
this
.
_getNewAltitude
(
drone
);
horizontalCoeff
=
Math
.
sqrt
(
(
Math
.
pow
(
drone
.
getSpeed
(),
2
)
-
Math
.
pow
(
newY
,
2
)
)
/
(
Math
.
pow
(
newX
,
2
)
+
Math
.
pow
(
newZ
,
2
)
)
);
newX
*=
horizontalCoeff
;
newZ
*=
horizontalCoeff
;
// swap y and z axis so z axis represents altitude
drone
.
setDirection
(
newX
,
newZ
,
newY
);
};
FixedWingDroneAPI
.
prototype
.
_getNewYaw
=
function
(
drone
,
delta_time
)
{
// swap y and z axis so z axis represents altitude
var
bearing
=
this
.
_computeBearing
(
drone
.
position
.
x
,
drone
.
position
.
y
,
drone
.
_targetCoordinates
.
x
,
drone
.
_targetCoordinates
.
y
),
yaw
=
drone
.
getYaw
(),
yawDiff
=
this
.
_computeYawDiff
(
yaw
,
bearing
),
yawUpdate
=
this
.
getYawVelocity
(
drone
)
*
delta_time
/
1000
;
if
(
yawUpdate
>=
Math
.
abs
(
yawDiff
))
{
yawUpdate
=
yawDiff
;
}
else
if
(
yawDiff
<
0
)
{
yawUpdate
*=
-
1
;
}
yaw
+=
yawUpdate
;
// trigonometric circle is east oriented, yaw angle is clockwise
yaw
=
this
.
_toRad
(
-
yaw
+
90
);
return
[
Math
.
cos
(
yaw
),
Math
.
sin
(
yaw
)];
};
FixedWingDroneAPI
.
prototype
.
_getNewAltitude
=
function
(
drone
)
{
// swap y and z axis so z axis represents altitude
var
altitudeDiff
=
drone
.
_targetCoordinates
.
z
-
drone
.
position
.
z
,
verticalSpeed
;
if
(
altitudeDiff
>=
0
)
{
verticalSpeed
=
this
.
_computeVerticalSpeed
(
altitudeDiff
,
this
.
getMaxClimbRate
(),
drone
.
getSpeed
(),
this
.
getMaxPitchAngle
()
);
}
else
{
verticalSpeed
=
-
this
.
_computeVerticalSpeed
(
Math
.
abs
(
altitudeDiff
),
this
.
getMaxSinkRate
(),
drone
.
getSpeed
(),
-
this
.
getMinPitchAngle
()
);
}
return
verticalSpeed
;
};
FixedWingDroneAPI
.
prototype
.
setRotation
=
function
(
drone
,
x
,
y
,
z
)
{
//TODO rotation
drone
.
_rotationTarget
=
new
BABYLON
.
Vector3
(
x
,
z
,
y
);
};
FixedWingDroneAPI
.
prototype
.
setRotationBy
=
function
(
drone
,
x
,
y
,
z
)
{
//TODO rotation
drone
.
_rotationTarget
=
new
BABYLON
.
Vector3
(
drone
.
rotation
.
x
+
x
,
drone
.
rotation
.
y
+
z
,
drone
.
rotation
.
z
+
y
);
};
FixedWingDroneAPI
.
prototype
.
setAltitude
=
function
(
drone
,
altitude
)
{
drone
.
_targetCoordinates
.
z
=
altitude
;
};
FixedWingDroneAPI
.
prototype
.
setSpeed
=
function
(
drone
,
speed
)
{
this
.
_targetSpeed
=
Math
.
max
(
Math
.
min
(
speed
,
this
.
getMaxSpeed
()),
this
.
getMinSpeed
()
);
drone
.
_acceleration
=
(
this
.
_targetSpeed
>
drone
.
getSpeed
())
?
this
.
getMaxAcceleration
()
:
-
this
.
getMaxDeceleration
();
};
FixedWingDroneAPI
.
prototype
.
setStartingPosition
=
function
(
drone
,
x
,
y
,
z
)
{
if
(
!
drone
.
_canPlay
)
{
if
(
z
<=
0.05
)
{
z
=
0.05
;
}
drone
.
_controlMesh
.
position
=
new
BABYLON
.
Vector3
(
x
,
z
,
y
);
}
drone
.
_controlMesh
.
computeWorldMatrix
(
true
);
drone
.
_mesh
.
computeWorldMatrix
(
true
);
};
FixedWingDroneAPI
.
prototype
.
internal_getMsg
=
function
(
msg
,
id
)
{
this
.
_drone_dict_list
[
id
]
=
msg
;
};
FixedWingDroneAPI
.
prototype
.
set_loiter_mode
=
function
(
radius
)
{
this
.
_loiter_mode
=
true
;
if
(
radius
&&
radius
>
LOITER_LIMIT
)
{
this
.
_loiter_radius
=
radius
*
LOITER_RADIUS_FACTOR
;
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
)
);
}
}
};
FixedWingDroneAPI
.
prototype
.
internal_setTargetCoordinates
=
function
(
drone
,
coordinates
,
loiter
)
{
if
(
!
loiter
)
{
this
.
_loiter_mode
=
false
;
//save last target point to use as next loiter center
this
.
_last_target
=
coordinates
;
}
};
FixedWingDroneAPI
.
prototype
.
sendMsg
=
function
(
msg
,
to
)
{
var
_this
=
this
,
droneList
=
_this
.
_gameManager
.
_droneList
;
_this
.
_gameManager
.
delay
(
function
()
{
if
(
to
<
0
)
{
// Send to all drones
droneList
.
forEach
(
function
(
drone
)
{
if
(
drone
.
infosMesh
)
{
try
{
drone
.
onGetMsg
(
msg
);
}
catch
(
error
)
{
console
.
warn
(
'
Drone crashed on sendMsg due to error:
'
,
error
);
drone
.
_internal_crash
();
}
}
});
}
else
{
// Send to specific drone
if
(
droneList
[
to
].
infosMesh
)
{
try
{
droneList
[
to
].
onGetMsg
(
msg
);
}
catch
(
error
)
{
console
.
warn
(
'
Drone crashed on sendMsg due to error:
'
,
error
);
droneList
[
to
].
_internal_crash
();
}
}
}
},
_this
.
_flight_parameters
.
latency
.
communication
);
};
FixedWingDroneAPI
.
prototype
.
log
=
function
(
msg
)
{
console
.
log
(
"
API say :
"
+
msg
);
};
FixedWingDroneAPI
.
prototype
.
getGameParameter
=
function
(
name
)
{
if
([
"
gameTime
"
,
"
map
"
].
includes
(
name
))
{
return
this
.
_gameManager
.
gameParameter
[
name
];
}
};
/*
** Converts geo latitude-longitud coordinates (º) to x,y plane coordinates (m)
*/
FixedWingDroneAPI
.
prototype
.
processCoordinates
=
function
(
lat
,
lon
,
z
)
{
if
(
isNaN
(
lat
)
||
isNaN
(
lon
)
||
isNaN
(
z
))
{
throw
new
Error
(
'
Target coordinates must be numbers
'
);
}
var
x
=
this
.
_mapManager
.
longitudToX
(
lon
,
this
.
_map_dict
.
width
),
y
=
this
.
_mapManager
.
latitudeToY
(
lat
,
this
.
_map_dict
.
depth
),
position
=
this
.
_mapManager
.
normalize
(
x
,
y
,
this
.
_map_dict
),
processed_coordinates
;
if
(
z
>
this
.
_map_dict
.
start_AMSL
)
{
z
-=
this
.
_map_dict
.
start_AMSL
;
}
processed_coordinates
=
{
x
:
position
[
0
],
y
:
position
[
1
],
z
:
z
};
//this._last_altitude_point_reached = -1;
//this.takeoff_path = [];
return
processed_coordinates
;
};
FixedWingDroneAPI
.
prototype
.
getCurrentPosition
=
function
(
x
,
y
,
z
)
{
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
()
{
return
null
;
};
FixedWingDroneAPI
.
prototype
.
getMinSpeed
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
minSpeed
||
MIN_SPEED
;
};
FixedWingDroneAPI
.
prototype
.
getMaxSpeed
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxSpeed
||
MAX_SPEED
;
};
FixedWingDroneAPI
.
prototype
.
getInitialSpeed
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
speed
||
DEFAULT_SPEED
;
};
FixedWingDroneAPI
.
prototype
.
getMaxDeceleration
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxDeceleration
||
MAX_DECELERATION
;
};
FixedWingDroneAPI
.
prototype
.
getMaxAcceleration
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxAcceleration
||
MAX_ACCELERATION
;
};
FixedWingDroneAPI
.
prototype
.
getMinPitchAngle
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
minPitchAngle
||
MIN_PITCH
;
};
FixedWingDroneAPI
.
prototype
.
getMaxPitchAngle
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxPitchAngle
||
MAX_PITCH
;
};
FixedWingDroneAPI
.
prototype
.
getMaxRollAngle
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxRoll
||
MAX_ROLL
;
};
FixedWingDroneAPI
.
prototype
.
getMaxSinkRate
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxSinkRate
||
MAX_SINK_RATE
;
};
FixedWingDroneAPI
.
prototype
.
getMaxClimbRate
=
function
()
{
return
this
.
_flight_parameters
.
drone
.
maxClimbRate
||
MAX_CLIMB_RATE
;
};
FixedWingDroneAPI
.
prototype
.
getMaxOrientation
=
function
()
{
//TODO should be a game parameter (but how to force value to PI quarters?)
return
Math
.
PI
/
4
;
};
FixedWingDroneAPI
.
prototype
.
getYawVelocity
=
function
(
drone
)
{
return
360
*
EARTH_GRAVITY
*
Math
.
tan
(
this
.
_toRad
(
this
.
getMaxRollAngle
()))
/
(
2
*
Math
.
PI
*
drone
.
getSpeed
());
};
FixedWingDroneAPI
.
prototype
.
getYaw
=
function
(
drone
)
{
var
direction
=
drone
.
worldDirection
;
return
this
.
_computeBearing
(
0
,
0
,
direction
.
x
,
direction
.
z
);
};
FixedWingDroneAPI
.
prototype
.
_computeBearing
=
function
(
x1
,
z1
,
x2
,
z2
)
{
return
this
.
_toDeg
(
Math
.
atan2
(
x2
-
x1
,
z2
-
z1
));
};
FixedWingDroneAPI
.
prototype
.
_computeYawDiff
=
function
(
yaw1
,
yaw2
)
{
var
diff
=
yaw2
-
yaw1
;
diff
+=
(
diff
>
180
)
?
-
360
:
(
diff
<
-
180
)
?
360
:
0
;
return
diff
;
};
FixedWingDroneAPI
.
prototype
.
_computeVerticalSpeed
=
function
(
altitude_diff
,
max_climb_rate
,
speed
,
max_pitch
)
{
var
maxVerticalSpeed
=
Math
.
min
(
altitude_diff
,
Math
.
min
(
max_climb_rate
,
speed
));
return
(
this
.
_toDeg
(
Math
.
asin
(
maxVerticalSpeed
/
speed
))
>
max_pitch
)
?
speed
*
Math
.
sin
(
this
.
_toRad
(
max_pitch
))
:
maxVerticalSpeed
;
};
FixedWingDroneAPI
.
prototype
.
_toRad
=
function
(
angle
)
{
return
angle
*
Math
.
PI
/
180
;
};
FixedWingDroneAPI
.
prototype
.
_toDeg
=
function
(
angle
)
{
return
angle
*
180
/
Math
.
PI
;
};
FixedWingDroneAPI
.
prototype
.
getClimbRate
=
function
(
drone
)
{
return
drone
.
worldDirection
.
y
*
drone
.
getSpeed
();
};
FixedWingDroneAPI
.
prototype
.
triggerParachute
=
function
(
drone
)
{
var
drone_pos
=
drone
.
getCurrentPosition
();
drone
.
setTargetCoordinates
(
drone_pos
.
x
,
drone_pos
.
y
,
5
);
};
FixedWingDroneAPI
.
prototype
.
landed
=
function
(
drone
)
{
var
drone_pos
=
drone
.
getCurrentPosition
();
return
Math
.
floor
(
drone_pos
.
z
)
<
10
;
};
FixedWingDroneAPI
.
prototype
.
exit
=
function
()
{
return
;
};
FixedWingDroneAPI
.
prototype
.
getInitialAltitude
=
function
()
{
return
0
;
};
FixedWingDroneAPI
.
prototype
.
getAltitudeAbs
=
function
(
altitude
)
{
return
altitude
;
};
FixedWingDroneAPI
.
prototype
.
getMinHeight
=
function
()
{
return
0
;
};
FixedWingDroneAPI
.
prototype
.
getMaxHeight
=
function
()
{
return
800
;
};
FixedWingDroneAPI
.
prototype
.
getFlightParameters
=
function
()
{
return
this
.
_flight_parameters
;
};
return
FixedWingDroneAPI
;
}());
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_
droneaaailefix
e_js.xml
→
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_
fixedwingdron
e_js.xml
View file @
d8b91190
...
...
@@ -75,7 +75,7 @@
</item>
<item>
<key>
<string>
default_reference
</string>
</key>
<value>
<string>
gadget_erp5_page_drone_simulator_
droneaaailefix
e.js
</string>
</value>
<value>
<string>
gadget_erp5_page_drone_simulator_
fixedwingdron
e.js
</string>
</value>
</item>
<item>
<key>
<string>
description
</string>
</key>
...
...
@@ -85,7 +85,7 @@
</item>
<item>
<key>
<string>
id
</string>
</key>
<value>
<string>
drone_simulator_
droneaaailefix
e_js
</string>
</value>
<value>
<string>
drone_simulator_
fixedwingdron
e_js
</string>
</value>
</item>
<item>
<key>
<string>
language
</string>
</key>
...
...
@@ -105,7 +105,7 @@
</item>
<item>
<key>
<string>
title
</string>
</key>
<value>
<string>
Drone A Aile Fix
e (API)
</string>
</value>
<value>
<string>
Fixed Wing Dron
e (API)
</string>
</value>
</item>
<item>
<key>
<string>
version
</string>
</key>
...
...
@@ -144,12 +144,6 @@
<persistent>
<string
encoding=
"base64"
>
AAAAAAAAAAQ=
</string>
</persistent>
</value>
</item>
<item>
<key>
<string>
processing_status_workflow
</string>
</key>
<value>
<persistent>
<string
encoding=
"base64"
>
AAAAAAAAAAU=
</string>
</persistent>
</value>
</item>
</dictionary>
</value>
</item>
...
...
@@ -195,7 +189,7 @@
</tuple>
<state>
<tuple>
<float>
16
64807682.76
</float>
<float>
16
74834555.79
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
@@ -244,7 +238,7 @@
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
100
4.62583.63891.22220
</string>
</value>
<value>
<string>
100
6.17822.27350.61713
</string>
</value>
</item>
<item>
<key>
<string>
state
</string>
</key>
...
...
@@ -262,70 +256,7 @@
</tuple>
<state>
<tuple>
<float>
1670856495.99
</float>
<string>
UTC
</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record
id=
"5"
aka=
"AAAAAAAAAAU="
>
<pickle>
<global
name=
"WorkflowHistoryList"
module=
"Products.ERP5Type.Workflow"
/>
</pickle>
<pickle>
<dictionary>
<item>
<key>
<string>
_log
</string>
</key>
<value>
<list>
<dictionary>
<item>
<key>
<string>
action
</string>
</key>
<value>
<none/>
</value>
</item>
<item>
<key>
<string>
actor
</string>
</key>
<value>
<string>
zope
</string>
</value>
</item>
<item>
<key>
<string>
comment
</string>
</key>
<value>
<string></string>
</value>
</item>
<item>
<key>
<string>
error_message
</string>
</key>
<value>
<string></string>
</value>
</item>
<item>
<key>
<string>
external_processing_state
</string>
</key>
<value>
<string>
empty
</string>
</value>
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
0.0.0.0
</string>
</value>
</item>
<item>
<key>
<string>
time
</string>
</key>
<value>
<object>
<klass>
<global
name=
"DateTime"
module=
"DateTime.DateTime"
/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>
1664807031.69
</float>
<float>
1676035583.95
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.js
View file @
d8b91190
/*global BABYLON, RSVP, console,
DroneAaileFix
eAPI, DroneLogAPI, document*/
/*jslint nomen: true, indent: 2, maxlen: 80,
white: true,
todo: true,
/*global BABYLON, RSVP, console,
FixedWingDron
eAPI, DroneLogAPI, document*/
/*jslint nomen: true, indent: 2, maxlen: 80, todo: true,
unparam: true */
var
GAMEPARAMETERS
=
{};
...
...
@@ -14,12 +14,20 @@ var DroneManager = /** @class */ (function () {
this
.
_controlMesh
=
null
;
this
.
_canPlay
=
false
;
this
.
_canCommunicate
=
false
;
this
.
_maxDeceleration
=
0
;
this
.
_maxAcceleration
=
0
;
this
.
_minSpeed
=
0
;
this
.
_maxSpeed
=
0
;
this
.
_minPitchAngle
=
0
;
this
.
_maxPitchAngle
=
0
;
this
.
_maxRollAngle
=
0
;
this
.
_maxSinkRate
=
0
;
this
.
_maxClimbRate
=
0
;
this
.
_maxOrientation
=
0
;
this
.
_speed
=
0
;
this
.
_acceleration
=
0
;
this
.
_direction
=
BABYLON
.
Vector3
.
Zero
();
this
.
_
maxOrientation
=
Math
.
PI
/
4
;
this
.
_direction
=
new
BABYLON
.
Vector3
(
0
,
0
,
1
);
// North
this
.
_
rotationSpeed
=
0.
4
;
this
.
_scene
=
scene
;
this
.
_canUpdate
=
true
;
this
.
_id
=
id
;
...
...
@@ -27,7 +35,10 @@ var DroneManager = /** @class */ (function () {
this
.
_API
=
API
;
// var API created on AI evel
// Create the control mesh
this
.
_controlMesh
=
BABYLON
.
Mesh
.
CreateBox
(
"
droneControl_
"
+
id
,
0.01
,
this
.
_scene
);
"
droneControl_
"
+
id
,
0.01
,
this
.
_scene
);
this
.
_controlMesh
.
isVisible
=
false
;
this
.
_controlMesh
.
computeWorldMatrix
(
true
);
// Create the mesh from the drone prefab
...
...
@@ -47,6 +58,7 @@ var DroneManager = /** @class */ (function () {
}
}
DroneManager
.
prototype
.
_swapAxe
=
function
(
vector
)
{
// swap y and z axis so z axis represents altitude
return
new
BABYLON
.
Vector3
(
vector
.
x
,
vector
.
z
,
vector
.
y
);
};
Object
.
defineProperty
(
DroneManager
.
prototype
,
"
leader_id
"
,
{
...
...
@@ -79,6 +91,7 @@ var DroneManager = /** @class */ (function () {
enumerable
:
true
,
configurable
:
true
});
// swap y and z axis so z axis represents altitude
Object
.
defineProperty
(
DroneManager
.
prototype
,
"
position
"
,
{
get
:
function
()
{
if
(
this
.
_controlMesh
!==
null
)
{
...
...
@@ -94,6 +107,7 @@ var DroneManager = /** @class */ (function () {
enumerable
:
true
,
configurable
:
true
});
// swap y and z axis so z axis represents altitude
Object
.
defineProperty
(
DroneManager
.
prototype
,
"
direction
"
,
{
get
:
function
()
{
return
this
.
_swapAxe
(
this
.
_direction
);
},
enumerable
:
true
,
...
...
@@ -102,23 +116,25 @@ var DroneManager = /** @class */ (function () {
Object
.
defineProperty
(
DroneManager
.
prototype
,
"
worldDirection
"
,
{
get
:
function
()
{
return
new
BABYLON
.
Vector3
(
this
.
_direction
.
x
,
this
.
_direction
.
y
,
this
.
_direction
.
z
);
this
.
_direction
.
x
,
this
.
_direction
.
y
,
this
.
_direction
.
z
);
},
enumerable
:
true
,
configurable
:
true
});
DroneManager
.
prototype
.
internal_start
=
function
()
{
this
.
_maxAcceleration
=
GAMEPARAMETERS
.
drone
.
maxAcceleration
;
this
.
_maxSpeed
=
this
.
_API
.
getMaxSpeed
();
this
.
_API
.
internal_start
();
this
.
_canPlay
=
true
;
this
.
_canCommunicate
=
true
;
try
{
return
this
.
onStart
();
}
catch
(
error
)
{
console
.
warn
(
'
Drone crashed on start due to error:
'
,
error
);
this
.
_internal_crash
(
error
);
}
DroneManager
.
prototype
.
internal_start
=
function
(
initial_position
)
{
this
.
_API
.
internal_start
(
this
);
this
.
_canPlay
=
true
;
this
.
_canCommunicate
=
true
;
this
.
_targetCoordinates
=
initial_position
;
try
{
return
this
.
onStart
();
}
catch
(
error
)
{
console
.
warn
(
'
Drone crashed on start due to error:
'
,
error
);
this
.
_internal_crash
(
error
);
}
};
/**
* Set a target point to move
...
...
@@ -127,29 +143,17 @@ var DroneManager = /** @class */ (function () {
if
(
!
this
.
_canPlay
)
{
return
;
}
return
this
.
_API
.
internal_setTargetCoordinates
(
this
,
x
,
y
,
z
);
//convert real geo-coordinates to virtual x-y coordinates
this
.
_targetCoordinates
=
this
.
_API
.
processCoordinates
(
x
,
y
,
z
);
return
this
.
_API
.
internal_setTargetCoordinates
(
this
,
this
.
_targetCoordinates
);
};
DroneManager
.
prototype
.
internal_update
=
function
(
delta_time
)
{
var
context
=
this
,
updateSpeed
;
var
context
=
this
;
if
(
this
.
_controlMesh
)
{
context
.
_speed
+=
context
.
_acceleration
*
delta_time
/
1000
;
if
(
context
.
_speed
>
context
.
_maxSpeed
)
{
context
.
_speed
=
context
.
_maxSpeed
;
}
if
(
context
.
_speed
<
-
context
.
_maxSpeed
)
{
context
.
_speed
=
-
context
.
_maxSpeed
;
}
updateSpeed
=
context
.
_speed
*
delta_time
/
1000
;
if
(
context
.
_direction
.
x
!==
0
||
context
.
_direction
.
y
!==
0
||
context
.
_direction
.
z
!==
0
)
{
context
.
_controlMesh
.
position
.
addInPlace
(
new
BABYLON
.
Vector3
(
context
.
_direction
.
x
*
updateSpeed
,
context
.
_direction
.
y
*
updateSpeed
,
context
.
_direction
.
z
*
updateSpeed
));
}
context
.
_controlMesh
.
computeWorldMatrix
(
true
);
context
.
_mesh
.
computeWorldMatrix
(
true
);
context
.
_API
.
internal_update
(
context
,
delta_time
);
if
(
context
.
_canUpdate
)
{
context
.
_canUpdate
=
false
;
return
new
RSVP
.
Queue
()
...
...
@@ -163,7 +167,11 @@ var DroneManager = /** @class */ (function () {
context
.
_internal_crash
(
error
);
})
.
push
(
function
()
{
context
.
_API
.
internal_update
(
context
);
context
.
_API
.
internal_post_update
(
context
);
})
.
push
(
undefined
,
function
(
error
)
{
console
.
warn
(
'
Drone crashed on update due to error:
'
,
error
);
context
.
_internal_crash
(
error
);
});
}
return
;
...
...
@@ -181,29 +189,19 @@ var DroneManager = /** @class */ (function () {
this
.
onTouched
();
};
DroneManager
.
prototype
.
setStartingPosition
=
function
(
x
,
y
,
z
)
{
if
(
isNaN
(
x
)
||
isNaN
(
y
)
||
isNaN
(
z
))
{
if
(
isNaN
(
x
)
||
isNaN
(
y
)
||
isNaN
(
z
))
{
throw
new
Error
(
'
Position coordinates must be numbers
'
);
}
if
(
!
this
.
_canPlay
)
{
if
(
z
<=
0.05
)
{
z
=
0.05
;
}
this
.
_controlMesh
.
position
=
new
BABYLON
.
Vector3
(
x
,
z
,
y
);
}
this
.
_controlMesh
.
computeWorldMatrix
(
true
);
this
.
_mesh
.
computeWorldMatrix
(
true
);
return
this
.
_API
.
setStartingPosition
(
this
,
x
,
y
,
z
);
};
DroneManager
.
prototype
.
set
Acceleration
=
function
(
factor
)
{
DroneManager
.
prototype
.
set
Speed
=
function
(
speed
)
{
if
(
!
this
.
_canPlay
)
{
return
;
}
if
(
isNaN
(
factor
))
{
throw
new
Error
(
'
Acceleration
must be a number
'
);
if
(
isNaN
(
speed
))
{
throw
new
Error
(
'
Speed
must be a number
'
);
}
if
(
factor
>
this
.
_maxAcceleration
)
{
factor
=
this
.
_maxAcceleration
;
}
this
.
_acceleration
=
factor
;
return
this
.
_API
.
setSpeed
(
this
,
speed
);
};
DroneManager
.
prototype
.
setDirection
=
function
(
x
,
y
,
z
)
{
if
(
!
this
.
_canPlay
)
{
...
...
@@ -212,8 +210,24 @@ var DroneManager = /** @class */ (function () {
if
(
isNaN
(
x
)
||
isNaN
(
y
)
||
isNaN
(
z
))
{
throw
new
Error
(
'
Direction coordinates must be numbers
'
);
}
// swap y and z axis so z axis represents altitude
this
.
_direction
=
new
BABYLON
.
Vector3
(
x
,
z
,
y
).
normalize
();
};
//TODO rotation
DroneManager
.
prototype
.
setRotation
=
function
(
x
,
y
,
z
)
{
if
(
!
this
.
_canPlay
)
{
return
;
}
return
this
.
_API
.
setRotation
(
this
,
x
,
y
,
z
);
};
DroneManager
.
prototype
.
setRotationBy
=
function
(
x
,
y
,
z
)
{
if
(
!
this
.
_canPlay
)
{
return
;
}
return
this
.
_API
.
setRotation
(
this
,
x
,
y
,
z
);
};
/**
* Send a message to drones
* @param msg The message to send
...
...
@@ -248,7 +262,7 @@ var DroneManager = /** @class */ (function () {
return
this
.
_API
.
getMinHeight
();
};
DroneManager
.
prototype
.
getInitialAltitude
=
function
()
{
return
this
.
_API
.
getInitialAltitude
();
return
this
.
_API
.
getInitialAltitude
();
};
DroneManager
.
prototype
.
getAltitudeAbs
=
function
()
{
if
(
this
.
_controlMesh
)
{
...
...
@@ -269,6 +283,7 @@ var DroneManager = /** @class */ (function () {
};
DroneManager
.
prototype
.
getCurrentPosition
=
function
()
{
if
(
this
.
_controlMesh
)
{
// swap y and z axis so z axis represents altitude
return
this
.
_API
.
getCurrentPosition
(
this
.
_controlMesh
.
position
.
x
,
this
.
_controlMesh
.
position
.
z
,
...
...
@@ -281,7 +296,7 @@ var DroneManager = /** @class */ (function () {
if
(
!
this
.
_canPlay
)
{
return
;
}
return
this
.
_API
.
setAltitude
(
altitude
,
this
);
return
this
.
_API
.
setAltitude
(
this
,
altitude
);
};
/**
* Make the drone loiter (circle with a set radius)
...
...
@@ -299,7 +314,16 @@ var DroneManager = /** @class */ (function () {
return
null
;
};
DroneManager
.
prototype
.
getYaw
=
function
()
{
return
0
;
return
this
.
_API
.
getYaw
(
this
);
};
DroneManager
.
prototype
.
getSpeed
=
function
()
{
return
this
.
_speed
;
};
DroneManager
.
prototype
.
getClimbRate
=
function
()
{
return
this
.
_API
.
getClimbRate
(
this
);
};
DroneManager
.
prototype
.
getSinkRate
=
function
()
{
return
this
.
_API
.
getSinkRate
();
};
DroneManager
.
prototype
.
triggerParachute
=
function
()
{
return
this
.
_API
.
triggerParachute
(
this
);
...
...
@@ -316,26 +340,27 @@ var DroneManager = /** @class */ (function () {
* @param checkpoint to be set
*/
DroneManager
.
prototype
.
setCheckpoint
=
function
(
checkpoint
)
{
//TODO
return
checkpoint
;
};
/**
* Function called on game start
*/
DroneManager
.
prototype
.
onStart
=
function
()
{
return
;};
DroneManager
.
prototype
.
onStart
=
function
()
{
return
;
};
/**
* Function called on game update
* @param timestamp The tic value
*/
DroneManager
.
prototype
.
onUpdate
=
function
()
{
return
;};
DroneManager
.
prototype
.
onUpdate
=
function
()
{
return
;
};
/**
* Function called when drone crashes
*/
DroneManager
.
prototype
.
onTouched
=
function
()
{
return
;};
DroneManager
.
prototype
.
onTouched
=
function
()
{
return
;
};
/**
* Function called when a message is received
* @param msg The message
*/
DroneManager
.
prototype
.
onGetMsg
=
function
()
{
return
;};
DroneManager
.
prototype
.
onGetMsg
=
function
()
{
return
;
};
return
DroneManager
;
}());
...
...
@@ -367,7 +392,8 @@ var MapManager = /** @class */ (function () {
position
=
map
.
normalize
(
map
.
longitudToX
(
initial_position
.
longitude
,
map_size
),
map
.
latitudeToY
(
initial_position
.
latitude
,
map_size
),
map_info
);
map_info
);
map_info
.
initial_position
=
{
"
x
"
:
position
[
0
],
"
y
"
:
position
[
1
],
...
...
@@ -498,11 +524,10 @@ var GameManager = /** @class */ (function () {
if
(
GAMEPARAMETERS
.
draw_flight_path
)
{
this
.
_last_position_drawn
=
[];
this
.
_trace_objects_per_drone
=
[];
header_list
=
[
"
timestamp;
"
,
"
latitude;
"
,
"
longitude;
"
,
"
AMSL (m);
"
,
"
rel altitude (m);
"
,
"
pitch (°);
"
,
"
roll(°);
"
,
"
yaw(°);
"
,
"
air speed (m/s);
"
,
"
throttle(%);
"
,
header_list
=
[
"
timestamp
"
,
"
latitude
"
,
"
longitude
"
,
"
AMSL (m)
"
,
"
rel altitude (m)
"
,
"
yaw(°)
"
,
"
air speed (m/s)
"
,
"
climb rate(m/s)
"
];
for
(
drone
=
0
;
drone
<
GAMEPARAMETERS
.
droneList
.
length
;
drone
+=
1
)
{
for
(
drone
=
0
;
drone
<
GAMEPARAMETERS
.
droneList
.
length
;
drone
+=
1
)
{
this
.
_flight_log
[
drone
]
=
[];
this
.
_flight_log
[
drone
].
push
(
header_list
);
this
.
_log_count
[
drone
]
=
0
;
...
...
@@ -523,7 +548,7 @@ var GameManager = /** @class */ (function () {
];
}
this
.
APIs_dict
=
{
DroneAaileFixeAPI
:
DroneAaileFix
eAPI
,
FixedWingDroneAPI
:
FixedWingDron
eAPI
,
DroneLogAPI
:
DroneLogAPI
};
}
...
...
@@ -557,20 +582,25 @@ var GameManager = /** @class */ (function () {
if
((
_this
.
_canUpdate
)
&&
(
_this
.
ongoing_update_promise
===
null
)
&&
(
0
<
_this
.
waiting_update_count
))
{
_this
.
ongoing_update_promise
=
_this
.
_update
(
TIME_DELTA
,
(
_this
.
waiting_update_count
===
1
))
.
push
(
function
()
{
_this
.
waiting_update_count
-=
1
;
_this
.
ongoing_update_promise
=
null
;
triggerUpdateIfPossible
();
})
.
push
(
undefined
,
function
(
error
)
{
console
.
log
(
"
ERROR on update:
"
,
error
);
console
.
log
(
"
rejecting finish_deferred promise...
"
);
_this
.
finish_deferred
.
reject
.
bind
(
_this
.
finish_deferred
);
});
TIME_DELTA
,
(
_this
.
waiting_update_count
===
1
)
).
push
(
function
()
{
_this
.
waiting_update_count
-=
1
;
_this
.
ongoing_update_promise
=
null
;
triggerUpdateIfPossible
();
}).
push
(
undefined
,
function
(
error
)
{
console
.
log
(
"
ERROR on Game Manager update:
"
,
error
);
_this
.
finish_deferred
.
reject
.
bind
(
_this
.
finish_deferred
);
});
}
}
triggerUpdateIfPossible
();
try
{
triggerUpdateIfPossible
();
}
catch
(
error
)
{
console
.
log
(
"
ERROR on Game Manager update:
"
,
error
);
_this
.
finish_deferred
.
reject
.
bind
(
_this
.
finish_deferred
);
throw
error
;
}
};
GameManager
.
prototype
.
delay
=
function
(
callback
,
millisecond
)
{
...
...
@@ -582,7 +612,8 @@ var GameManager = /** @class */ (function () {
};
GameManager
.
prototype
.
_checkDroneRules
=
function
(
drone
)
{
//TODO move this to API methods
//TODO move this to API methods.
//each type of drone should define its rules
if
(
drone
.
getCurrentPosition
())
{
return
drone
.
getCurrentPosition
().
z
>
1
;
}
...
...
@@ -631,57 +662,72 @@ var GameManager = /** @class */ (function () {
GameManager
.
prototype
.
_updateTimeAndLog
=
function
(
delta_time
)
{
this
.
_game_duration
+=
delta_time
;
var
seconds
=
Math
.
floor
(
this
.
_game_duration
/
1000
),
drone
,
drone_position
,
map_info
,
geo_coordinates
,
position_obj
,
material
,
color
;
if
(
GAMEPARAMETERS
.
log_drone_flight
||
GAMEPARAMETERS
.
draw_flight_path
)
{
for
(
drone
=
0
;
drone
<
GAMEPARAMETERS
.
droneList
.
length
;
drone
+=
1
)
{
if
(
this
.
_droneList
[
drone
].
can_play
)
{
drone_position
=
this
.
_droneList
[
drone
].
position
;
if
(
GAMEPARAMETERS
.
log_drone_flight
)
{
map_info
=
this
.
_mapManager
.
getMapInfo
();
if
(
this
.
_log_count
[
drone
]
===
0
||
this
.
_game_duration
/
this
.
_log_count
[
drone
]
>
1
)
{
this
.
_log_count
[
drone
]
+=
GAMEPARAMETERS
.
log_interval_time
;
geo_coordinates
=
this
.
_mapManager
.
convertToGeoCoordinates
(
drone_position
.
x
,
drone_position
.
y
,
drone_position
.
z
,
map_info
);
this
.
_flight_log
[
drone
].
push
(
[
this
.
_game_duration
,
geo_coordinates
.
x
,
geo_coordinates
.
y
,
map_info
.
start_AMSL
+
drone_position
.
z
,
drone_position
.
z
]);
}
}
if
(
GAMEPARAMETERS
.
draw_flight_path
)
{
//draw drone position every some seconds
if
(
seconds
-
this
.
_last_position_drawn
[
drone
]
>
0.2
)
{
this
.
_last_position_drawn
[
drone
]
=
seconds
;
position_obj
=
BABYLON
.
MeshBuilder
.
CreateBox
(
"
obs_
"
+
seconds
,
{
size
:
1
},
this
.
_scene
);
position_obj
.
position
=
new
BABYLON
.
Vector3
(
drone_position
.
x
,
drone_position
.
z
,
drone_position
.
y
);
position_obj
.
scaling
=
new
BABYLON
.
Vector3
(
4
,
4
,
4
);
material
=
new
BABYLON
.
StandardMaterial
(
this
.
_scene
);
material
.
alpha
=
1
;
color
=
new
BABYLON
.
Color3
(
255
,
0
,
0
);
if
(
this
.
_colors
[
drone
])
{
color
=
this
.
_colors
[
drone
];
this
.
_game_duration
+=
delta_time
;
var
color
,
drone_position
,
game_manager
=
this
,
geo_coordinates
,
log_count
,
map_info
,
map_manager
,
material
,
position_obj
,
seconds
=
Math
.
floor
(
this
.
_game_duration
/
1000
),
trace_objects
;
if
(
GAMEPARAMETERS
.
log_drone_flight
||
GAMEPARAMETERS
.
draw_flight_path
)
{
this
.
_droneList
.
forEach
(
function
(
drone
,
index
)
{
if
(
drone
.
can_play
)
{
drone_position
=
drone
.
position
;
if
(
GAMEPARAMETERS
.
log_drone_flight
)
{
map_manager
=
game_manager
.
_mapManager
;
map_info
=
map_manager
.
getMapInfo
();
log_count
=
game_manager
.
_log_count
[
index
];
if
(
log_count
===
0
||
game_manager
.
_game_duration
/
log_count
>
1
)
{
log_count
+=
GAMEPARAMETERS
.
log_interval_time
;
geo_coordinates
=
map_manager
.
convertToGeoCoordinates
(
drone_position
.
x
,
drone_position
.
y
,
drone_position
.
z
,
map_info
);
game_manager
.
_flight_log
[
index
].
push
([
game_manager
.
_game_duration
,
geo_coordinates
.
x
,
geo_coordinates
.
y
,
map_info
.
start_AMSL
+
drone_position
.
z
,
drone_position
.
z
,
drone
.
getYaw
(),
drone
.
getSpeed
(),
drone
.
getClimbRate
()
]);
}
material
.
diffuseColor
=
color
;
position_obj
.
material
=
material
;
if
(
GAMEPARAMETERS
.
temp_flight_path
)
{
if
(
this
.
_trace_objects_per_drone
[
drone
].
length
===
10
)
{
this
.
_trace_objects_per_drone
[
drone
][
0
].
dispose
();
this
.
_trace_objects_per_drone
[
drone
].
splice
(
0
,
1
);
}
if
(
GAMEPARAMETERS
.
draw_flight_path
)
{
//draw drone position every some seconds
if
(
seconds
-
game_manager
.
_last_position_drawn
[
index
]
>
0.2
)
{
game_manager
.
_last_position_drawn
[
index
]
=
seconds
;
position_obj
=
BABYLON
.
MeshBuilder
.
CreateBox
(
"
obs_
"
+
seconds
,
{
size
:
1
},
game_manager
.
_scene
);
// swap y and z axis so z axis represents altitude
position_obj
.
position
=
new
BABYLON
.
Vector3
(
drone_position
.
x
,
drone_position
.
z
,
drone_position
.
y
);
position_obj
.
scaling
=
new
BABYLON
.
Vector3
(
4
,
4
,
4
);
material
=
new
BABYLON
.
StandardMaterial
(
game_manager
.
_scene
);
material
.
alpha
=
1
;
color
=
new
BABYLON
.
Color3
(
255
,
0
,
0
);
if
(
game_manager
.
_colors
[
index
])
{
color
=
game_manager
.
_colors
[
index
];
}
material
.
diffuseColor
=
color
;
position_obj
.
material
=
material
;
if
(
GAMEPARAMETERS
.
temp_flight_path
)
{
trace_objects
=
game_manager
.
_trace_objects_per_drone
[
index
];
if
(
trace_objects
.
length
===
10
)
{
trace_objects
[
0
].
dispose
();
trace_objects
.
splice
(
0
,
1
);
}
trace_objects
.
push
(
position_obj
);
}
this
.
_trace_objects_per_drone
[
drone
].
push
(
position_obj
);
}
}
}
}
}
);
}
}
};
};
GameManager
.
prototype
.
_timeOut
=
function
()
{
var
seconds
=
Math
.
floor
(
this
.
_game_duration
/
1000
);
...
...
@@ -723,16 +769,27 @@ var GameManager = /** @class */ (function () {
audioEngine
:
false
});
this
.
_scene
=
new
BABYLON
.
Scene
(
this
.
_engine
);
this
.
_scene
.
clearColor
=
new
BABYLON
.
Color4
(
88
/
255
,
171
/
255
,
217
/
255
,
255
/
255
);
this
.
_scene
.
clearColor
=
new
BABYLON
.
Color4
(
88
/
255
,
171
/
255
,
217
/
255
,
255
/
255
);
//removed for event handling
//this._engine.enableOfflineSupport = false;
//this._scene.collisionsEnabled = true;
// Lights
hemi_north
=
new
BABYLON
.
HemisphericLight
(
"
hemiN
"
,
new
BABYLON
.
Vector3
(
1
,
-
1
,
1
),
this
.
_scene
);
"
hemiN
"
,
new
BABYLON
.
Vector3
(
1
,
-
1
,
1
),
this
.
_scene
);
hemi_north
.
intensity
=
0.75
;
hemi_south
=
new
BABYLON
.
HemisphericLight
(
"
hemiS
"
,
new
BABYLON
.
Vector3
(
-
1
,
1
,
-
1
),
this
.
_scene
);
"
hemiS
"
,
new
BABYLON
.
Vector3
(
-
1
,
1
,
-
1
),
this
.
_scene
);
hemi_south
.
intensity
=
0.75
;
camera
=
new
BABYLON
.
ArcRotateCamera
(
"
camera
"
,
0
,
1.25
,
800
,
BABYLON
.
Vector3
.
Zero
(),
this
.
_scene
);
...
...
@@ -762,12 +819,15 @@ var GameManager = /** @class */ (function () {
DroneManager
.
Prefab
.
isVisible
=
false
;
//Hack to make advanced texture work
var
documentTmp
=
document
,
advancedTexture
,
count
,
controlMesh
,
rect
,
label
;
controlMesh
,
rect
,
label
;
document
=
undefined
;
advancedTexture
=
BABYLON
.
GUI
.
AdvancedDynamicTexture
.
CreateFullscreenUI
(
"
UI
"
,
true
,
ctx
.
_scene
);
advancedTexture
=
BABYLON
.
GUI
.
AdvancedDynamicTexture
.
CreateFullscreenUI
(
"
UI
"
,
true
,
ctx
.
_scene
);
document
=
documentTmp
;
for
(
count
=
0
;
count
<
GAMEPARAMETERS
.
droneList
.
length
;
count
+=
1
)
{
for
(
count
=
0
;
count
<
GAMEPARAMETERS
.
droneList
.
length
;
count
+=
1
)
{
controlMesh
=
ctx
.
_droneList
[
count
].
infosMesh
;
rect
=
new
BABYLON
.
GUI
.
Rectangle
();
rect
.
width
=
"
10px
"
;
...
...
@@ -818,7 +878,9 @@ var GameManager = /** @class */ (function () {
promise_list
=
[];
_this
.
_droneList
.
forEach
(
function
(
drone
)
{
drone
.
_tick
=
0
;
promise_list
.
push
(
drone
.
internal_start
());
promise_list
.
push
(
drone
.
internal_start
(
_this
.
_mapManager
.
getMapInfo
().
initial_position
));
});
return
RSVP
.
all
(
promise_list
);
})
...
...
@@ -836,28 +898,28 @@ var GameManager = /** @class */ (function () {
droneTask
=
assetManager
.
addMeshTask
(
"
loadingDrone
"
,
""
,
"
assets/drone/
"
,
"
drone.babylon
"
);
droneTask
.
onSuccess
=
function
(
task
)
{
task
.
loadedMeshes
.
forEach
(
function
(
mesh
)
{
mesh
.
isPickable
=
false
;
mesh
.
isVisible
=
false
;
});
DroneManager
.
Prefab
=
_this
.
_scene
.
getMeshByName
(
"
Dummy_Drone
"
);
DroneManager
.
Prefab
.
scaling
=
new
BABYLON
.
Vector3
(
0.006
,
0.006
,
0.006
);
DroneManager
.
Prefab
.
position
=
new
BABYLON
.
Vector3
(
0
,
-
5
,
0
);
task
.
loadedMeshes
.
forEach
(
function
(
mesh
)
{
mesh
.
isPickable
=
false
;
mesh
.
isVisible
=
false
;
});
DroneManager
.
Prefab
=
_this
.
_scene
.
getMeshByName
(
"
Dummy_Drone
"
);
DroneManager
.
Prefab
.
scaling
=
new
BABYLON
.
Vector3
(
0.006
,
0.006
,
0.006
);
DroneManager
.
Prefab
.
position
=
new
BABYLON
.
Vector3
(
0
,
-
5
,
0
);
};
droneTask
.
onError
=
function
()
{
console
.
log
(
"
Error loading 3D model for Drone
"
);
console
.
log
(
"
Error loading 3D model for Drone
"
);
};
// MAP
mapTask
=
assetManager
.
addMeshTask
(
"
loadingMap
"
,
""
,
"
assets/map/
"
,
"
map.babylon
"
);
mapTask
.
onSuccess
=
function
(
task
)
{
task
.
loadedMeshes
.
forEach
(
function
(
mesh
)
{
mesh
.
isPickable
=
false
;
mesh
.
isVisible
=
false
;
});
task
.
loadedMeshes
.
forEach
(
function
(
mesh
)
{
mesh
.
isPickable
=
false
;
mesh
.
isVisible
=
false
;
});
};
mapTask
.
onError
=
function
()
{
console
.
log
(
"
Error loading 3D model for Map
"
);
console
.
log
(
"
Error loading 3D model for Map
"
);
};
assetManager
.
onFinish
=
function
()
{
return
callback
();
...
...
@@ -895,7 +957,7 @@ var GameManager = /** @class */ (function () {
code_eval
=
"
let drone = new DroneManager(ctx._scene,
"
+
index
+
'
, api);
'
+
"
let droneMe = function(NativeDate, me, Math, window, DroneManager,
"
+
"
GameManager, DroneLogAPI,
DroneAaileFix
eAPI, BABYLON,
"
+
"
GameManager, DroneLogAPI,
FixedWingDron
eAPI, BABYLON,
"
+
"
GAMEPARAMETERS) {
"
+
"
var start_time = (new Date(2070, 0, 0, 0, 0, 0, 0)).getTime();
"
+
"
Date.now = function () {
"
+
...
...
@@ -912,13 +974,12 @@ var GameManager = /** @class */ (function () {
}
base
=
code_eval
;
code_eval
+=
code
+
"
}; droneMe(Date, drone, Math, {});
"
;
base
+=
"
};ctx._droneList.push(drone)
"
;
code_eval
+=
"
ctx._droneList.push(drone)
"
;
base
+=
"
};ctx._droneList.push(drone)
"
;
code_eval
+=
"
ctx._droneList.push(drone)
"
;
/*jslint evil: true*/
try
{
eval
(
code_eval
);
}
catch
(
error
)
{
}
catch
(
error
)
{
eval
(
base
);
}
/*jslint evil: false*/
...
...
@@ -941,11 +1002,14 @@ var GameManager = /** @class */ (function () {
if
(
collision_nb
<
max_collision
)
{
i
-=
1
;
}
}
else
{
}
else
{
position_list
.
push
(
position
);
api
=
new
this
.
APIs_dict
[
drone_list
[
i
].
type
](
this
,
drone_list
[
i
],
GAMEPARAMETERS
,
i
);
this
,
drone_list
[
i
],
GAMEPARAMETERS
,
i
);
spawnDrone
(
position
.
x
,
position
.
y
,
position
.
z
,
i
,
drone_list
[
i
],
api
);
}
...
...
@@ -987,4 +1051,4 @@ var runGame, updateGame;
}(
this
));
/******************************************************************************/
\ No newline at end of file
/******************************************************************************/
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_logic_js.xml
View file @
d8b91190
...
...
@@ -144,12 +144,6 @@
<persistent>
<string
encoding=
"base64"
>
AAAAAAAAAAQ=
</string>
</persistent>
</value>
</item>
<item>
<key>
<string>
processing_status_workflow
</string>
</key>
<value>
<persistent>
<string
encoding=
"base64"
>
AAAAAAAAAAU=
</string>
</persistent>
</value>
</item>
</dictionary>
</value>
</item>
...
...
@@ -195,7 +189,7 @@
</tuple>
<state>
<tuple>
<float>
16
62477480.35
</float>
<float>
16
74834569.27
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
@@ -244,7 +238,7 @@
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
100
4.32349.9544.44100
</string>
</value>
<value>
<string>
100
6.2016.60568.40294
</string>
</value>
</item>
<item>
<key>
<string>
state
</string>
</key>
...
...
@@ -262,70 +256,7 @@
</tuple>
<state>
<tuple>
<float>
1670852474.69
</float>
<string>
UTC
</string>
</tuple>
</state>
</object>
</value>
</item>
</dictionary>
</list>
</value>
</item>
</dictionary>
</pickle>
</record>
<record
id=
"5"
aka=
"AAAAAAAAAAU="
>
<pickle>
<global
name=
"WorkflowHistoryList"
module=
"Products.ERP5Type.Workflow"
/>
</pickle>
<pickle>
<dictionary>
<item>
<key>
<string>
_log
</string>
</key>
<value>
<list>
<dictionary>
<item>
<key>
<string>
action
</string>
</key>
<value>
<none/>
</value>
</item>
<item>
<key>
<string>
actor
</string>
</key>
<value>
<string>
zope
</string>
</value>
</item>
<item>
<key>
<string>
comment
</string>
</key>
<value>
<string></string>
</value>
</item>
<item>
<key>
<string>
error_message
</string>
</key>
<value>
<string></string>
</value>
</item>
<item>
<key>
<string>
external_processing_state
</string>
</key>
<value>
<string>
empty
</string>
</value>
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
0.0.0.0
</string>
</value>
</item>
<item>
<key>
<string>
time
</string>
</key>
<value>
<object>
<klass>
<global
name=
"DateTime"
module=
"DateTime.DateTime"
/>
</klass>
<tuple>
<none/>
</tuple>
<state>
<tuple>
<float>
1662477378.07
</float>
<float>
1675086932.85
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.js
View file @
d8b91190
...
...
@@ -13,7 +13,7 @@
HEIGHT
=
340
,
LOGIC_FILE_LIST
=
[
'
gadget_erp5_page_drone_simulator_logic.js
'
,
'
gadget_erp5_page_drone_simulator_
droneaaailefix
e.js
'
,
'
gadget_erp5_page_drone_simulator_
fixedwingdron
e.js
'
,
'
gadget_erp5_page_drone_simulator_dronelogfollower.js
'
];
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_log_page_js.xml
View file @
d8b91190
...
...
@@ -244,7 +244,7 @@
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
1005.
1310.34623.11861
</string>
</value>
<value>
<string>
1005.
28725.31731.34065
</string>
</value>
</item>
<item>
<key>
<string>
state
</string>
</key>
...
...
@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>
167
1112620.77
</float>
<float>
167
2757496.65
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js
View file @
d8b91190
...
...
@@ -3,17 +3,25 @@
(
function
(
window
,
rJS
,
domsugar
,
document
,
Blob
)
{
"
use strict
"
;
//Default values
//Default values
- TODO: get them from the drone API
var
SIMULATION_SPEED
=
200
,
SIMULATION_TIME
=
1500
,
MAX_SPEED
=
7.5
,
//16.666667,
MAX_ACCELERATION
=
1
,
min_lat
=
45.6364
,
max_lat
=
45.65
,
min_lon
=
14.2521
,
max_lon
=
14.2766
,
map_height
=
100
,
start_AMSL
=
595
,
DEFAULT_SPEED
=
16
,
MAX_ACCELERATION
=
6
,
MAX_DECELERATION
=
1
,
MIN_SPEED
=
12
,
MAX_SPEED
=
26
,
MAX_ROLL
=
35
,
MIN_PITCH
=
-
20
,
MAX_PITCH
=
25
,
MAX_CLIMB_RATE
=
8
,
MAX_SINK_RATE
=
3
,
INITIAL_POSITION
=
{
"
latitude
"
:
45.6412
,
"
longitude
"
:
14.2658
,
...
...
@@ -122,7 +130,7 @@
HEIGHT
=
340
,
LOGIC_FILE_LIST
=
[
'
gadget_erp5_page_drone_simulator_logic.js
'
,
'
gadget_erp5_page_drone_simulator_
droneaaailefix
e.js
'
,
'
gadget_erp5_page_drone_simulator_
fixedwingdron
e.js
'
,
'
gadget_erp5_page_drone_simulator_dronelogfollower.js
'
];
...
...
@@ -131,6 +139,7 @@
// Acquired methods
/////////////////////////////////////////////////////////////////
.
declareAcquiredMethod
(
"
updateHeader
"
,
"
updateHeader
"
)
.
declareAcquiredMethod
(
"
notifySubmitted
"
,
"
notifySubmitted
"
)
.
allowPublicAcquisition
(
'
notifySubmit
'
,
function
()
{
return
this
.
triggerSubmit
();
...
...
@@ -167,7 +176,7 @@
"
editable
"
:
1
,
"
key
"
:
"
simulation_speed
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Integer
Field
"
},
"
my_simulation_time
"
:
{
"
description
"
:
"
Duration of the simulation (in seconds)
"
,
...
...
@@ -178,29 +187,117 @@
"
editable
"
:
1
,
"
key
"
:
"
simulation_time
"
,
"
hidden
"
:
0
,
"
type
"
:
"
StringField
"
"
type
"
:
"
IntegerField
"
},
"
my_drone_min_speed
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone min speed
"
,
"
default
"
:
MIN_SPEED
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_min_speed
"
,
"
hidden
"
:
0
,
"
type
"
:
"
IntegerField
"
},
"
my_drone_speed
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone speed
"
,
"
default
"
:
MAX
_SPEED
,
"
default
"
:
DEFAULT
_SPEED
,
"
css_class
"
:
""
,
"
required
"
:
1
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_speed
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_drone_
acceleration
"
:
{
"
my_drone_
max_speed
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone Acceleration
"
,
"
title
"
:
"
Drone max speed
"
,
"
default
"
:
MAX_SPEED
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_max_speed
"
,
"
hidden
"
:
0
,
"
type
"
:
"
IntegerField
"
},
"
my_drone_max_acceleration
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone max Acceleration
"
,
"
default
"
:
MAX_ACCELERATION
,
"
css_class
"
:
""
,
"
required
"
:
1
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_max_acceleration
"
,
"
hidden
"
:
0
,
"
type
"
:
"
IntegerField
"
},
"
my_drone_max_deceleration
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone max Deceleration
"
,
"
default
"
:
MAX_DECELERATION
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_
ac
celeration
"
,
"
key
"
:
"
drone_
max_de
celeration
"
,
"
hidden
"
:
0
,
"
type
"
:
"
StringField
"
"
type
"
:
"
IntegerField
"
},
"
my_drone_max_roll
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone max roll
"
,
"
default
"
:
MAX_ROLL
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_max_roll
"
,
"
hidden
"
:
0
,
"
type
"
:
"
FloatField
"
},
"
my_drone_min_pitch
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone min pitch
"
,
"
default
"
:
MIN_PITCH
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_min_pitch
"
,
"
hidden
"
:
0
,
"
type
"
:
"
FloatField
"
},
"
my_drone_max_pitch
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone max pitch
"
,
"
default
"
:
MAX_PITCH
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_max_pitch
"
,
"
hidden
"
:
0
,
"
type
"
:
"
FloatField
"
},
"
my_drone_max_sink_rate
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone max sink rate
"
,
"
default
"
:
MAX_SINK_RATE
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_max_sink_rate
"
,
"
hidden
"
:
0
,
"
type
"
:
"
FloatField
"
},
"
my_drone_max_climb_rate
"
:
{
"
description
"
:
""
,
"
title
"
:
"
Drone max climb rate
"
,
"
default
"
:
MAX_CLIMB_RATE
,
"
css_class
"
:
""
,
"
required
"
:
0
,
"
editable
"
:
1
,
"
key
"
:
"
drone_max_climb_rate
"
,
"
hidden
"
:
0
,
"
type
"
:
"
FloatField
"
},
"
my_minimum_latitud
"
:
{
"
description
"
:
""
,
...
...
@@ -211,7 +308,7 @@
"
editable
"
:
1
,
"
key
"
:
"
min_lat
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_maximum_latitud
"
:
{
"
description
"
:
""
,
...
...
@@ -222,7 +319,7 @@
"
editable
"
:
1
,
"
key
"
:
"
max_lat
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_minimum_longitud
"
:
{
"
description
"
:
""
,
...
...
@@ -233,7 +330,7 @@
"
editable
"
:
1
,
"
key
"
:
"
min_lon
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_maximum_longitud
"
:
{
"
description
"
:
""
,
...
...
@@ -244,7 +341,7 @@
"
editable
"
:
1
,
"
key
"
:
"
max_lon
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_start_AMSL
"
:
{
"
description
"
:
""
,
...
...
@@ -255,7 +352,7 @@
"
editable
"
:
1
,
"
key
"
:
"
start_AMSL
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_map_height
"
:
{
"
description
"
:
""
,
...
...
@@ -266,7 +363,7 @@
"
editable
"
:
1
,
"
key
"
:
"
map_height
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Integer
Field
"
},
"
my_init_pos_lon
"
:
{
"
description
"
:
""
,
...
...
@@ -277,7 +374,7 @@
"
editable
"
:
1
,
"
key
"
:
"
init_pos_lon
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_init_pos_lat
"
:
{
"
description
"
:
""
,
...
...
@@ -288,7 +385,7 @@
"
editable
"
:
1
,
"
key
"
:
"
init_pos_lat
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_init_pos_z
"
:
{
"
description
"
:
""
,
...
...
@@ -299,7 +396,7 @@
"
editable
"
:
1
,
"
key
"
:
"
init_pos_z
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Float
Field
"
},
"
my_number_of_drones
"
:
{
"
description
"
:
""
,
...
...
@@ -310,7 +407,7 @@
"
editable
"
:
1
,
"
key
"
:
"
number_of_drones
"
,
"
hidden
"
:
0
,
"
type
"
:
"
String
Field
"
"
type
"
:
"
Integer
Field
"
},
"
my_script
"
:
{
"
default
"
:
DEFAULT_SCRIPT_CONTENT
,
...
...
@@ -334,14 +431,17 @@
form_definition
:
{
group_list
:
[[
"
left
"
,
[[
"
my_simulation_speed
"
],
[
"
my_simulation_time
"
],
[
"
my_drone_speed
"
],
[
"
my_drone_acceleration
"
],
[
"
my_number_of_drones
"
],
[
"
my_map_height
"
],
[
"
my_start_AMSL
"
]]
[[
"
my_simulation_speed
"
],
[
"
my_simulation_time
"
],
[
"
my_number_of_drones
"
],
[
"
my_minimum_latitud
"
],
[
"
my_maximum_latitud
"
],
[
"
my_minimum_longitud
"
],
[
"
my_maximum_longitud
"
],
[
"
my_init_pos_lat
"
],
[
"
my_init_pos_lon
"
],
[
"
my_init_pos_z
"
],
[
"
my_map_height
"
]]
],
[
"
right
"
,
[[
"
my_minimum_latitud
"
],
[
"
my_maximum_latitud
"
],
[
"
my_minimum_longitud
"
],
[
"
my_maximum_longitud
"
],
[
"
my_init_pos_lat
"
],
[
"
my_init_pos_lon
"
],
[
"
my_init_pos_z
"
]]
[[
"
my_start_AMSL
"
],
[
"
my_drone_min_speed
"
],
[
"
my_drone_speed
"
],
[
"
my_drone_max_speed
"
],
[
"
my_drone_max_acceleration
"
],
[
"
my_drone_max_deceleration
"
],
[
"
my_drone_max_roll
"
],
[
"
my_drone_min_pitch
"
],
[
"
my_drone_max_pitch
"
],
[
"
my_drone_max_sink_rate
"
],
[
"
my_drone_max_climb_rate
"
]]
],
[
"
bottom
"
,
[[
"
my_script
"
]]
...
...
@@ -358,23 +458,31 @@
})
.
declareJob
(
'
runGame
'
,
function
runGame
(
options
)
{
var
gadget
=
this
,
simulator
,
i
,
var
gadget
=
this
,
i
,
fragment
=
gadget
.
element
.
querySelector
(
'
.simulator_div
'
),
game_parameters_json
;
fragment
=
domsugar
(
gadget
.
element
.
querySelector
(
'
.simulator_div
'
),
[
domsugar
(
'
div
'
)]).
firstElementChild
;
DRONE_LIST
=
[];
for
(
i
=
0
;
i
<
options
.
number_of_drones
;
i
+=
1
)
{
DRONE_LIST
[
i
]
=
{
"
id
"
:
i
,
"
type
"
:
"
DroneAaileFix
eAPI
"
,
DRONE_LIST
[
i
]
=
{
"
id
"
:
i
,
"
type
"
:
"
FixedWingDron
eAPI
"
,
"
script_content
"
:
options
.
script
};
}
game_parameters_json
=
{
"
drone
"
:
{
"
maxAcceleration
"
:
parseFloat
(
options
.
drone_acceleration
),
"
maxSpeed
"
:
parseFloat
(
options
.
drone_speed
)
"
maxAcceleration
"
:
parseInt
(
options
.
drone_max_acceleration
,
10
),
"
maxDeceleration
"
:
parseInt
(
options
.
drone_max_deceleration
,
10
),
"
minSpeed
"
:
parseInt
(
options
.
drone_min_speed
,
10
),
"
speed
"
:
parseFloat
(
options
.
drone_speed
),
"
maxSpeed
"
:
parseInt
(
options
.
drone_max_speed
,
10
),
"
maxRoll
"
:
parseFloat
(
options
.
drone_max_roll
),
"
minPitchAngle
"
:
parseFloat
(
options
.
drone_min_pitch
),
"
maxPitchAngle
"
:
parseFloat
(
options
.
drone_max_pitch
),
"
maxSinkRate
"
:
parseFloat
(
options
.
drone_max_sink_rate
),
"
maxClimbRate
"
:
parseFloat
(
options
.
drone_max_climb_rate
)
},
"
gameTime
"
:
parse
Float
(
options
.
simulation_time
),
"
simulation_speed
"
:
parse
Float
(
options
.
simulation_speed
),
"
gameTime
"
:
parse
Int
(
options
.
simulation_time
,
10
),
"
simulation_speed
"
:
parse
Int
(
options
.
simulation_speed
,
10
),
"
latency
"
:
{
"
information
"
:
0
,
"
communication
"
:
0
...
...
@@ -384,7 +492,7 @@
"
max_lat
"
:
parseFloat
(
options
.
max_lat
),
"
min_lon
"
:
parseFloat
(
options
.
min_lon
),
"
max_lon
"
:
parseFloat
(
options
.
max_lon
),
"
height
"
:
parse
Float
(
options
.
map_height
),
"
height
"
:
parse
Int
(
options
.
map_height
,
10
),
"
start_AMSL
"
:
parseFloat
(
options
.
start_AMSL
)
},
"
initialPosition
"
:
{
...
...
@@ -418,10 +526,10 @@
"
url
"
:
"
babylonjs.gadget.html
"
,
"
sandbox
"
:
"
public
"
,
"
renderjs_extra
"
:
'
{"autorun": false, "width":
'
+
WIDTH
+
'
,
'
+
'
"height":
'
+
HEIGHT
+
'
,
'
+
'
"logic_file_list":
'
+
JSON
.
stringify
(
LOGIC_FILE_LIST
)
+
'
,
'
+
'
"game_parameters":
'
+
JSON
.
stringify
(
game_parameters_json
)
+
'
}
'
'
"height":
'
+
HEIGHT
+
'
,
'
+
'
"logic_file_list":
'
+
JSON
.
stringify
(
LOGIC_FILE_LIST
)
+
'
,
'
+
'
"game_parameters":
'
+
JSON
.
stringify
(
game_parameters_json
)
+
'
}
'
}
}},
"
_links
"
:
{
...
...
@@ -445,28 +553,34 @@
return
form_gadget
.
getContent
();
})
.
push
(
function
(
result
)
{
var
i
=
0
,
log_content
,
blob
,
a
,
log
,
div
;
for
(
var
key
in
result
)
{
log_content
=
result
[
key
].
join
(
'
\n
'
).
replaceAll
(
"
,
"
,
"
;
"
);
blob
=
new
Blob
([
log_content
],
{
type
:
'
text/plain
'
});
a
=
domsugar
(
'
a
'
,
{
text
:
'
Download Simulation LOG
'
+
i
,
download
:
'
simulation_log_
'
+
i
+
'
.txt
'
,
href
:
window
.
URL
.
createObjectURL
(
blob
)
});
log
=
domsugar
(
'
textarea
'
,
{
value
:
log_content
});
div
=
domsugar
(
'
div
'
,
[
a
]);
a
.
dataset
.
downloadurl
=
[
'
text/plain
'
,
a
.
download
,
a
.
href
].
join
(
'
:
'
);
document
.
querySelector
(
'
.container
'
).
appendChild
(
div
);
document
.
querySelector
(
'
.container
'
).
appendChild
(
log
);
i
++
;
var
a
,
blob
,
div
,
key
,
log
,
log_content
;
i
=
0
;
for
(
key
in
result
)
{
if
(
result
.
hasOwnProperty
(
key
))
{
log_content
=
result
[
key
].
join
(
'
\n
'
).
replaceAll
(
"
,
"
,
"
;
"
);
blob
=
new
Blob
([
log_content
],
{
type
:
'
text/plain
'
});
a
=
domsugar
(
'
a
'
,
{
text
:
'
Download Simulation LOG
'
+
i
,
download
:
'
simulation_log_
'
+
i
+
'
_speed_
'
+
game_parameters_json
.
drone
.
speed
+
'
_max-roll_
'
+
game_parameters_json
.
drone
.
maxRoll
+
'
_min-pitch_
'
+
game_parameters_json
.
drone
.
minPitchAngle
+
'
_max-pitch_
'
+
game_parameters_json
.
drone
.
maxPitchAngle
+
'
.txt
'
,
href
:
window
.
URL
.
createObjectURL
(
blob
)
});
log
=
domsugar
(
'
textarea
'
,
{
value
:
log_content
});
div
=
domsugar
(
'
div
'
,
[
a
]);
a
.
dataset
.
downloadurl
=
[
'
text/plain
'
,
a
.
download
,
a
.
href
].
join
(
'
:
'
);
document
.
querySelector
(
'
.container
'
).
appendChild
(
div
);
document
.
querySelector
(
'
.container
'
).
appendChild
(
log
);
i
+=
1
;
}
}
},
function
(
error
)
{
return
gadget
.
notifySubmitted
({
message
:
"
Error:
"
+
error
.
message
,
status
:
'
error
'
});
});
});
...
...
bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml
View file @
d8b91190
...
...
@@ -244,7 +244,7 @@
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
100
5.37533.1915.8379
</string>
</value>
<value>
<string>
100
6.17791.59880.25668
</string>
</value>
</item>
<item>
<key>
<string>
state
</string>
</key>
...
...
@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>
167
3286304.13
</float>
<float>
167
6033282.59
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
bt5/erp5_officejs_drone_simulator/SkinTemplateItem/portal_skins/erp5_officejs_drone_simulator/WebSection_getDroneSimulatorPrecacheManifestList.py
View file @
d8b91190
...
...
@@ -6,7 +6,7 @@ url_list = [
"gadget_erp5_page_drone_simulator_log_page.js"
,
"gadget_erp5_panel_drone_simulator.html"
,
"gadget_erp5_panel_drone_simulator.js"
,
"gadget_erp5_page_drone_simulator_
droneaaailefix
e.js"
,
"gadget_erp5_page_drone_simulator_
fixedwingdron
e.js"
,
"gadget_erp5_page_drone_simulator_dronelogfollower.js"
,
"drone.png"
,
"gadget_officejs_drone_simulator.json"
,
...
...
bt5/erp5_web_renderjs_ui/PathTemplateItem/web_page_module/rjs_babylonjs_web_worker_js.js
View file @
d8b91190
...
...
@@ -52,10 +52,16 @@ function mainToWorker(evt) {
})
.
push
(
function
()
{
return
postMessage
({
'
type
'
:
'
updated
'
});
},
function
(
error
)
{
console
.
log
(
"
ERROR:
"
,
error
);
return
postMessage
({
'
type
'
:
'
error
'
,
'
error
'
:
error
});
});
case
'
event
'
:
handleEvent
(
evt
.
data
);
break
;
return
new
RSVP
.
Queue
(
handleEvent
(
evt
.
data
))
.
push
(
undefined
,
function
(
error
)
{
console
.
log
(
"
ERROR:
"
,
error
);
return
postMessage
({
'
type
'
:
'
error
'
,
'
error
'
:
error
});
});
default
:
throw
new
Error
(
'
Unsupported message
'
+
JSON
.
stringify
(
evt
.
data
));
}
...
...
bt5/erp5_web_renderjs_ui/PathTemplateItem/web_page_module/rjs_babylonjs_web_worker_js.xml
View file @
d8b91190
...
...
@@ -244,7 +244,7 @@
</item>
<item>
<key>
<string>
serial
</string>
</key>
<value>
<string>
100
4.22590.57904.22954
</string>
</value>
<value>
<string>
100
5.41422.8371.11861
</string>
</value>
</item>
<item>
<key>
<string>
state
</string>
</key>
...
...
@@ -262,7 +262,7 @@
</tuple>
<state>
<tuple>
<float>
167
1113075.12
</float>
<float>
167
4224630.4
</float>
<string>
UTC
</string>
</tuple>
</state>
...
...
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