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waypoint OOP version 1.8

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This commit is contained in:
ArnoTlse 2021-04-13 22:43:35 +02:00
parent 30c3b043a3
commit 3265158791
7 changed files with 193 additions and 175 deletions
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8
js/fc.js
View file

@ -548,14 +548,6 @@ var FC = {
SETTINGS = {};
/* SAFEHOME = {
bufferPoint : {
number: 0,
enabled: 0,
lon: 0,
lat: 0
}
}; */
SAFEHOMES = new SafehomeCollection();
},
getOutputUsages: function() {

60
js/msp/MSPHelper.js
View file

@ -440,7 +440,6 @@ var mspHelper = (function (gui) {
}
break;
case MSPCodes.MSP_WP:
console.log("data : ", data);
MISSION_PLANER.put(new Waypoint(
data.getUint8(0),
data.getUint8(1),
@ -1467,9 +1466,12 @@ var mspHelper = (function (gui) {
SAFEHOMES.put(new Safehome(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true) / 1e7,
data.getInt32(6, true) / 1e7
data.getInt32(2, true),
data.getInt32(6, true)
));
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
console.log('Safehome points saved');
break;
default:
@ -2148,13 +2150,6 @@ var mspHelper = (function (gui) {
buffer.push(BRAKING_CONFIG.bankAngle);
break;
/* case MSPCodes.MSP2_INAV_SAFEHOME:
console.log("SAFEHOME.bufferPoint.number : ",SAFEHOME.bufferPoint.number);
buffer.push(SAFEHOME.bufferPoint.number+1);
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
break; */
default:
return false;
@ -2925,33 +2920,36 @@ var mspHelper = (function (gui) {
self.loadWaypoints = function (callback) {
MISSION_PLANER.reinit();
mspHelper.getMissionInfo();
console.log("MISSION_PLANER.getCountBusyPoints() ", MISSION_PLANER.getCountBusyPoints());
let waypointId = 0;
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getFirstWP);
function getFirstWP() {
console.log("MISSION_PLANER.getCountBusyPoints() ", MISSION_PLANER.getCountBusyPoints());
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint)
};
function nextWaypoint() {
waypointId++;
console.log("Display for LoadInternal");
MISSION_PLANER.missionDisplayDebug();
if (waypointId < MISSION_PLANER.get().length-1) {
console.log("waypointId if ", waypointId);
if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
}
else {
console.log("waypointId else ", waypointId);
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
}
};
function endMission() {
console.log("End");
};
};
self.saveWaypoints = function (callback) {
let waypointId = 0;
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint)
function nextWaypoint() {
waypointId++;
if (waypointId < MISSION_PLANER.get().length-1) {
if (waypointId < MISSION_PLANER.get().length) {
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint);
}
else {
@ -2960,7 +2958,6 @@ var mspHelper = (function (gui) {
};
function endMission() {
GUI.log('End send point');
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
}
};
@ -2980,6 +2977,25 @@ var mspHelper = (function (gui) {
}
};
};
self.saveSafehomes = function (callback) {
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
function nextSendSafehome() {
safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, callback);
}
};
function endSendSafehome() {
console.log("end sending safehome");
};
};
self._getSetting = function (name) {
if (SETTINGS[name]) {

12
js/safeHome.js
View file

@ -21,14 +21,10 @@ let Safehome = function (number, enabled, lat, lon) {
lon = data;
};
self.getLonToMap = function () {
self.getLonMap = function () {
return lon / 1e7;
};
self.setLonFromMap = function (data) {
lon = data * 1e7;
};
self.getLat = function () {
return lat;
};
@ -37,14 +33,10 @@ let Safehome = function (number, enabled, lat, lon) {
lat = data;
};
self.getLatToMap = function () {
self.getLatMap = function () {
return lat / 1e7;
};
self.setLatFromMap = function (data) {
lat = data * 1e7;
};
self.isUsed = function () {
return enabled == 1;
};

32
js/safehomeCollection.js
View file

@ -96,6 +96,38 @@ let SafehomeCollection = function () {
data[newSafehome.getNumber()] = newSafehome;
};
self.extractBuffer = function(safehomeId) {
let buffer = [];
let safehome = self.getSafehome(safehomeId);
buffer.push(safehome.getNumber()); // sbufReadU8(src); // number
buffer.push(safehome.getEnabled()); // sbufReadU8(src); // action
buffer.push(specificByte(safehome.getLat(), 0)); // sbufReadU32(src); // lat
buffer.push(specificByte(safehome.getLat(), 1));
buffer.push(specificByte(safehome.getLat(), 2));
buffer.push(specificByte(safehome.getLat(), 3));
buffer.push(specificByte(safehome.getLon(), 0)); // sbufReadU32(src); // lon
buffer.push(specificByte(safehome.getLon(), 1));
buffer.push(specificByte(safehome.getLon(), 2));
buffer.push(specificByte(safehome.getLon(), 3));
return buffer;
}
self.safehomeDisplayDebug = function() {
if (data && data.length != 0) {
data.forEach(function (element) {
console.log("N° : ", element.getNumber(),
"Enabled : ", element.getEnabled(),
"Lon : ", element.getLon(),
"Lat : ", element.getLat(),
);
});
}
else {
console.log("Data empty");
}
}
return self;
};

51
js/waypointCollection.js
View file

@ -46,6 +46,10 @@ let WaypointCollection = function () {
self.getCenter = function () {
return center;
};
self.setCenter = function (data) {
center = data;
};
self.setCenterZoom = function (data) {
center.zoom = data;
@ -145,18 +149,25 @@ let WaypointCollection = function () {
data = tmpData;
};
self.update = function (bMWPfile=false) {
self.update = function (bMWPfile=false, bReverse=false) {
let oldWPNumber = 0;
let optionIdx = 0;
let idx = 0;
data.forEach(function (element) {
if (element.isUsed()) {
if (bMWPfile) {
if (bMWPfile && !bReverse) {
element.setNumber(element.getNumber()-1);
if (element.getAction() == MWNP.WPTYPE.JUMP) {
element.setP1(element.getP1()-1);
}
}
else if (bMWPfile && bReverse) {
element.setNumber(element.getNumber()+1);
if (element.getAction() == MWNP.WPTYPE.JUMP) {
element.setP1(element.getP1()+1);
}
}
if ([MWNP.WPTYPE.JUMP,MWNP.WPTYPE.SET_HEAD,MWNP.WPTYPE.RTH].includes(element.getAction())) {
element.setAttachedId(oldWPNumber);
element.setAttachedNumber(optionIdx);
@ -169,7 +180,8 @@ let WaypointCollection = function () {
optionIdx = 0;
idx++;
}
if (element.getNumber() == self.get().length-1) {
console.log(((bMWPfile && bReverse) ? self.get().length : self.get().length-1));
if (element.getNumber() == ((bMWPfile && bReverse) ? self.get().length : self.get().length-1)) {
element.setEndMission(0xA5);
}
else {
@ -255,17 +267,30 @@ let WaypointCollection = function () {
}
self.missionDisplayDebug = function() {
data.forEach(function (element) {
console.log("N° : ", element.getNumber(),
"Action : ", element.getAction(),
"Lon : ", element.getLon(),
"Lat : ", element.getLat(),
"Alt : ", element.getAlt(),
"P1 : ", element.getP1(),
"P2 : ", element.getP2(),
"P3 : ", element.getP3(),
"EndMission : ", element.getEndMission());
if (data && data.length != 0) {
data.forEach(function (element) {
console.log("N° : ", element.getNumber(),
"Action : ", element.getAction(),
"Lon : ", element.getLon(),
"Lat : ", element.getLat(),
"Alt : ", element.getAlt(),
"P1 : ", element.getP1(),
"P2 : ", element.getP2(),
"P3 : ", element.getP3(),
"EndMission : ", element.getEndMission());
});
}
}
self.copy = function(mission){
mission.get().forEach(function (element) {
self.put(element);
});
self.setMaxWaypoints(mission.getMaxWaypoints());
self.setValidMission(mission.getValidMission());
self.setCountBusyPoints(mission.getCountBusyPoints());
self.setVersion(mission.getVersion());
self.setCenter(mission.getCenter());
}
return self;

2
tabs/mission_control.html
View file

@ -86,6 +86,8 @@
<a class="ic_hide" href="#" title="Hide"></a>
</div>
<a id="cancelSafehome" class="ic_cancel" href="#" title="Cancel"></a>
<a id="saveEepromSafehomeButton" class="ic_save2Eprom" href="#" title="Save Eeprom Safehome"></a>
<a id="loadEepromSafehomeButton" class="ic_loadFromEprom" href="#" title="Load Eeprom Safehome"></a>
</div>
</div>
<div class="spacer" id="SafehomeContent">

203
tabs/mission_control.js
View file

@ -82,7 +82,7 @@ TABS.mission_control.initialize = function (callback) {
loadChainer.setChain([
mspHelper.getMissionInfo,
//mspHelper.loadWaypoints,
mspHelper.loadSafehomes
//mspHelper.loadSafehomes
]);
loadChainer.setExitPoint(loadHtml);
loadChainer.execute();
@ -379,8 +379,8 @@ TABS.mission_control.initialize = function (callback) {
//////////////////////////////////////////////////////////////////////////////////////////////
// define & init Safehome parameters
//////////////////////////////////////////////////////////////////////////////////////////////
var SAFEHOMES = new SafehomeCollection(); // TO COMMENT FOR RELEASE : DECOMMENT FOR DEBUG
SAFEHOMES.inflate(); // TO COMMENT FOR RELEASE : DECOMMENT FOR DEBUG
//var SAFEHOMES = new SafehomeCollection(); // TO COMMENT FOR RELEASE : DECOMMENT FOR DEBUG
//SAFEHOMES.inflate(); // TO COMMENT FOR RELEASE : DECOMMENT FOR DEBUG
var safehomeRangeRadius = 200; //meters
var safehomeSafeRadius = 50; //meters
@ -466,27 +466,26 @@ TABS.mission_control.initialize = function (callback) {
$row.find(".safehome-number").text(safehome.getNumber()+1);
$row.find(".safehome-enabled-value").prop('checked',safehome.isUsed()).change(function () {
safehome.setEnabled((($(this).prop('checked')) ? true : false));
safehome.setEnabled((($(this).prop('checked')) ? 1 : 0));
SAFEHOMES.updateSafehome(safehome);
cleanSafehomeLayers();
renderSafehomesOnMap();
});
$row.find(".safehome-lon").val(safehome.getLon()).change(function () {
$row.find(".safehome-lon").val(safehome.getLonMap()).change(function () {
safehome.setLon(Math.round(Number($(this).val()) * 10000000));
SAFEHOMES.updateSafehome(safehome);
cleanSafehomeLayers();
renderSafehomesOnMap();
});
$row.find(".safehome-lat").val(safehome.getLat()).change(function () {
$row.find(".safehome-lat").val(safehome.getLatMap()).change(function () {
safehome.setLat(Math.round(Number($(this).val()) * 10000000));
SAFEHOMES.updateSafehome(safehome);
cleanSafehomeLayers();
renderSafehomesOnMap();
});
$row.find("[data-role='safehome-view']").attr("data-index", safehomeIndex);
$row.find("[data-role='safehome-center']").attr("data-index", safehomeIndex);
}
}
@ -541,7 +540,7 @@ TABS.mission_control.initialize = function (callback) {
/*
* add safehome on Map
*/
let coord = ol.proj.fromLonLat([safehome.getLon(), safehome.getLat()]);
let coord = ol.proj.fromLonLat([safehome.getLonMap(), safehome.getLatMap()]);
var iconFeature = new ol.Feature({
geometry: new ol.geom.Point(coord),
name: 'Null Island',
@ -549,16 +548,9 @@ TABS.mission_control.initialize = function (callback) {
rainfall: 500
});
iconFeature.setStyle(getSafehomeIcon(safehome, safehome.isUsed()));
//iconFeature.setStyle(getSafehomeIcon(safehome, safehome.isUsed()));
var circleFeature = new ol.Feature({
geometry: new ol.geom.Circle(coord, safehomeRangeRadius),
name: 'circleFeature',
population: 4000,
rainfall: 500
});
circleFeature.setStyle(new ol.style.Style({
let circleStyle = new ol.style.Style({
stroke: new ol.style.Stroke({
color: 'rgba(255, 163, 46, 1)',
width: 3,
@ -567,16 +559,9 @@ TABS.mission_control.initialize = function (callback) {
// fill: new ol.style.Fill({
// color: 'rgba(251, 225, 155, 0.1)'
// })
}));
var circleSafeFeature = new ol.Feature({
geometry: new ol.geom.Circle(coord, safehomeSafeRadius),
name: 'circleSafeFeature',
population: 4000,
rainfall: 500
});
circleSafeFeature.setStyle(new ol.style.Style({
let circleSafeStyle = new ol.style.Style({
stroke: new ol.style.Stroke({
color: 'rgba(136, 204, 62, 1)',
width: 3,
@ -585,21 +570,22 @@ TABS.mission_control.initialize = function (callback) {
/* fill: new ol.style.Fill({
color: 'rgba(136, 204, 62, 0.1)'
}) */
}));
});
if (safehome.isUsed()) {
var vectorSource = new ol.source.Vector({
features: [iconFeature]//, circleFeature, circleSafeFeature]
});
}
else {
var vectorSource = new ol.source.Vector({
features: [iconFeature]
});
}
var vectorLayer = new ol.layer.Vector({
source: vectorSource
source: new ol.source.Vector({
features: [iconFeature]
}),
style : function(iconFeature) {
let styles = [getSafehomeIcon(safehome)];
/* console.log(iconFeature.getGeometry().getType());
if (safehome.isUsed()) {
circleStyle.setGeometry(new ol.geom.Circle(iconFeature.getGeometry().getCoordinates(), safehomeRangeRadius));
//circleSafeStyle.setGeometry(new ol.geom.Circle(iconFeature.getGeometry().getCenter(), safehomeSafeRadius));
styles.push(circleStyle);
} */
return styles;
}
});
vectorLayer.kind = "safehome";
@ -996,7 +982,6 @@ TABS.mission_control.initialize = function (callback) {
button.style = 'background: url(\'../images/CF_settings_white.svg\') no-repeat 1px -1px;background-color: rgba(0,60,136,.5);';
var handleShowSettings = function () {
$('#MPeditPoint, #missionPlanerTotalInfo','#missionPlanerTemplate', '#missionPlanerSafehome').hide();
$('#missionPlanerSettings').fadeIn(300);
};
@ -1030,8 +1015,9 @@ TABS.mission_control.initialize = function (callback) {
button.style = 'background: url(\'../images/icons/cf_icon_safehome_white.svg\') no-repeat 1px -1px;background-color: rgba(0,60,136,.5);';
var handleShowSafehome = function () {
$('#MPeditPoint, #missionPlanerTotalInfo','#missionPlanerTemplate', '#missionPlanerSettings').hide();
$('#missionPlanerSafehome').fadeIn(300);
//SAFEHOMES.flush();
//mspHelper.loadSafehomes();
cleanSafehomeLayers();
renderSafehomesTable();
renderSafehomesOnMap();
@ -1115,10 +1101,6 @@ TABS.mission_control.initialize = function (callback) {
tempSH.setLon(Math.round(coord[0] * 10000000));
tempSH.setLat(Math.round(coord[1] * 10000000));
SAFEHOMES.updateSafehome(tempSH);
/* if (tempSH.isUsed()) {
this.layer_.getSource().getFeatures()[1].getGeometry().translate(deltaX, deltaY);
this.layer_.getSource().getFeatures()[0].getGeometry().translate(deltaX, deltaY);
} */
$safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lon').val(Math.round(coord[0] * 10000000) / 10000000);
$safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lat').val(Math.round(coord[1] * 10000000) / 10000000);
}
@ -1187,7 +1169,7 @@ TABS.mission_control.initialize = function (callback) {
else {
control_list = [
new app.PlannerSettingsControl(),
new app.PlannerSafehomeControl() // TO COMMENT FOR RELEASE : DECOMMENT FOR DEBUG
//new app.PlannerSafehomeControl() // TO COMMENT FOR RELEASE : DECOMMENT FOR DEBUG
]
}
@ -1314,7 +1296,7 @@ TABS.mission_control.initialize = function (callback) {
cleanLayers();
redrawLayers();
}
mission.missionDisplayDebug();
//mission.missionDisplayDebug();
});
//////////////////////////////////////////////////////////////////////////
@ -1502,8 +1484,8 @@ TABS.mission_control.initialize = function (callback) {
$safehomesTableBody.on('click', "[data-role='safehome-center']", function (event) {
let mapCenter = map.getView().getCenter();
let tmpSH = SAFEHOMES.getSafehome($(event.currentTarget).attr("data-index"));
tmpSH.setLon(ol.proj.toLonLat(Math.round(mapCenter)[0] * 10000000));
tmpSH.setLat(ol.proj.toLonLat(Math.round(mapCenter)[1] * 10000000));
tmpSH.setLon(Math.round(ol.proj.toLonLat(mapCenter)[0] * 1e7));
tmpSH.setLat(Math.round(ol.proj.toLonLat(mapCenter)[1] * 1e7));
SAFEHOMES.updateSafehome(tmpSH);
renderSafehomesTable();
cleanSafehomeLayers();
@ -1513,6 +1495,31 @@ TABS.mission_control.initialize = function (callback) {
$('#cancelSafehome').on('click', function () {
closeSafehomePanel();
});
$('#loadEepromSafehomeButton').on('click', function () {
$(this).addClass('disabled');
GUI.log('Start of getting Safehome points');
mspHelper.loadSafehomes();
setTimeout(function(){
console.log("debug Safehome after loading");
SAFEHOMES.safehomeDisplayDebug();
renderSafehomesTable();
cleanSafehomeLayers();
renderSafehomesOnMap();
GUI.log('End of getting Safehome points');
$('#loadEepromSafehomeButton').removeClass('disabled');
}, 500);
});
$('#saveEepromSafehomeButton').on('click', function () {
$(this).addClass('disabled');
GUI.log('Start of sending Safehome points');
mspHelper.saveSafehomes();
GUI.log('End of sending Safehome points');
$('#saveEepromSafehomeButton').removeClass('disabled');
});
/////////////////////////////////////////////
// Callback for Remove buttons
/////////////////////////////////////////////
@ -1558,51 +1565,33 @@ TABS.mission_control.initialize = function (callback) {
removeAllWaypoints();
$(this).addClass('disabled');
GUI.log('Start get point');
// Reinit some internal parameters
/* pointForSend = 0;
actionPointForSend = 0;
nonMarkerPoint = [];
nonMarkerPointListRead = [];
var isOptions = false;
var oldMarkers = null; */
//getNextPoint();
mspHelper.loadWaypoints();
mission = MISSION_PLANER
mission.update();
console.log("Display for Load");
mission.missionDisplayDebug();
redrawLayers();
getWaypoints();
GUI.log('End get point');
$('#loadMissionButton').removeClass('disabled');
updateTotalInfo();
});
$('#saveMissionButton').on('click', function () {
$(this).addClass('disabled');
MISSION_PLANER = mission ;
GUI.log('Start send point');
MISSION_PLANER.reinit();
MISSION_PLANER.copy(mission);
MISSION_PLANER.update(true, true);
mspHelper.saveWaypoints();
console.log("MISSION_PLANER.isValidMission ",MISSION_PLANER.getValidMission());
mission = MISSION_PLANER;
console.log("Display for save");
mission.missionDisplayDebug();
$('#saveMissionButton').removeClass('disabled');
updateTotalInfo();
// Reinit some internal parameters
/* pointForSend = 0;
actionPointForSend = 0;
nonMarkerPoint = [];
nonMarkerPointListRead = [];
var isOptions = false;
var oldMarkers = null; */
//sendNextPoint();
setTimeout(function(){
GUI.log('End send point');
$('#saveMissionButton').removeClass('disabled');
mission.setMaxWaypoints(MISSION_PLANER.getMaxWaypoints());
mission.setValidMission(MISSION_PLANER.getValidMission());
mission.setCountBusyPoints(MISSION_PLANER.getCountBusyPoints());
updateTotalInfo();
}, 2000);
});
$('#loadEepromMissionButton').on('click', function () {
if (markers.length && !confirm(chrome.i18n.getMessage('confirm_delete_all_points'))) return;
removeAllWaypoints();
GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getPointsFromEprom);
MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getWaypoints);
});
$('#saveEepromMissionButton').on('click', function () {
@ -1786,51 +1775,21 @@ TABS.mission_control.initialize = function (callback) {
// Load/Save FC mission Toolbox
//
/////////////////////////////////////////////
// New: function to get number of Non Marker points such as JUMP, SET_HEAD and RTH
function getNumberOfNonMarkerForJump2(nonMarkerPointList, numTargetMarker) {
for (i = 1; i < nonMarkerPointList.length; i++) {
if (numTargetMarker>=nonMarkerPointList[i-1]) {
numTargetMarker++;
}
else {
return numTargetMarker;
}
}
}
// New: Reversed function to get number of Non Marker points such as JUMP, SET_HEAD and RTH
function getNumberOfNonMarkerForJumpReversed(nonMarkerPointList, numTargetMarker) {
var numTargetMarkerOut = 0;
for (i = 1; i < nonMarkerPointList.length; i++) {
if (numTargetMarker>=nonMarkerPointList[i-1]) {
numTargetMarkerOut++;
}
else {
return numTargetMarker-numTargetMarkerOut;
}
}
function getWaypoints() {
mspHelper.loadWaypoints();
setTimeout(function(){
console.log("getWaypoint MISSION_PLANER 0 ");
console.log(MISSION_PLANER.missionDisplayDebug());
mission.reinit();
mission.copy(MISSION_PLANER);
mission.update(true);
console.log("getWaypoint 0 ");
console.log(mission.missionDisplayDebug());
redrawLayers();
updateTotalInfo();
}, 2000);
}
function getPointsFromEprom() {
/* pointForSend = 0;
actionPointForSend = 0;
nonMarkerPoint = [];
nonMarkerPointListRead = [];
isOptions = false;
oldMarkers = null;
pointFromBuffer = {}; */
//MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getNextPoint);
mspHelper.getMissionInfo();
mspHelper.loadWaypoints();
mission = MISSION_PLANER
mission.update();
console.log("Display for getfromEprom");
mission.missionDisplayDebug();
redrawLayers();
GUI.log('End get point');
$('#loadMissionButton').removeClass('disabled');
updateTotalInfo();
}
function endGetPoint() {
GUI.log('End get point');