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Safehome : read

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This commit is contained in:
ArnoTlse 2021-03-22 21:47:02 +01:00
parent cf80f8c9ab
commit a81050d121
11 changed files with 347 additions and 30 deletions
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2
gulpfile.js
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@ -120,6 +120,8 @@ sources.js = [
'./js/appUpdater.js',
'./js/feature_framework.js',
'./js/defaults_dialog.js',
'./js/safehomeCollection.js',
'./js/safehome.js',
'./node_modules/openlayers/dist/ol.js'
];

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images/icons/cf_icon_safehome.png Normal file
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images/icons/cf_icon_safehome_used.png Normal file
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9
js/fc.js
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@ -61,7 +61,7 @@ var CONFIG,
OUTPUT_MAPPING,
SETTINGS,
BRAKING_CONFIG,
SAFEHOME;
SAFEHOMES;
var FC = {
MAX_SERVO_RATE: 125,
@ -546,12 +546,15 @@ var FC = {
SETTINGS = {};
SAFEHOME = {
/* SAFEHOME = {
bufferPoint : {
number: 0,
enabled: 0,
lon: 0,
lat: 0
};
}
}; */
SAFEHOMES = new SafehomeCollection();
},
getOutputUsages: function() {
return {

6
js/msp/MSPCodes.js
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@ -217,6 +217,12 @@ var MSPCodes = {
MSP2_INAV_OPFLOW_CALIBRATION: 0x2032,
MSP2_INAV_FWUPDT_PREPARE: 0x2033,
MSP2_INAV_FWUPDT_STORE: 0x2034,
MSP2_INAV_FWUPDT_EXEC: 0x2035,
MSP2_INAV_FWUPDT_ROLLBACK_PREPARE: 0x2036,
MSP2_INAV_FWUPDT_ROLLBACK_EXEC: 0x2037,
MSP2_INAV_SAFEHOME: 0x2038,
MSP2_INAV_SET_SAFEHOME: 0x2039
};

48
js/msp/MSPHelper.js
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@ -440,6 +440,7 @@ var mspHelper = (function (gui) {
}
break;
case MSPCodes.MSP_WP:
console.log("data : ",data);
MISSION_PLANER.bufferPoint.number = data.getUint8(0);
MISSION_PLANER.bufferPoint.action = data.getUint8(1);
MISSION_PLANER.bufferPoint.lat = data.getInt32(2, true) / 10000000;
@ -1461,13 +1462,21 @@ var mspHelper = (function (gui) {
SENSOR_DATA.temperature[i] = temp_decidegrees / 10; // °C
}
break;
/* case MSPCodes.MSP2_INAV_SAFEHOME:
SAFEHOME.bufferPoint.number = data.getUint8(0);
SAFEHOME.bufferPoint.enabled = data.getUint8(1);
SAFEHOME.bufferPoint.lon = data.getInt32(2, true);
SAFEHOME.bufferPoint.lat = data.getInt32(6, true);
break; */
case MSPCodes.MSP2_INAV_SAFEHOME:
console.log(MSPCodes.MSP2_INAV_SAFEHOME);
SAFEHOME.number = data.getUint8(0);
SAFEHOME.enable = data.getUint8(1);
SAFEHOME.lon = data.getInt32(2);
SAFEHOME.lat = data.getInt32(3);
SAFEHOMES.put(new Safehome(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true) / 1e7,
data.getInt32(6, true) / 1e7
));
break;
default:
console.log('Unknown code detected: ' + dataHandler.code);
} else {
@ -2099,8 +2108,9 @@ var mspHelper = (function (gui) {
buffer.push(MISSION_PLANER.bufferPoint.endMission); //sbufReadU8(src); // future: to set nav flag
break;
case MSPCodes.MSP_WP:
console.log(MISSION_PLANER.bufferPoint.number);
console.log("MISSION_PLANER.bufferPoint.number : ",MISSION_PLANER.bufferPoint.number);
buffer.push(MISSION_PLANER.bufferPoint.number+1);
console.log("buffer ", buffer);
break;
case MSPCodes.MSP_WP_MISSION_SAVE:
@ -2144,8 +2154,12 @@ var mspHelper = (function (gui) {
buffer.push(BRAKING_CONFIG.bankAngle);
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
/* 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;
@ -2914,6 +2928,26 @@ var mspHelper = (function (gui) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
};
/* self.getSafehomeInfo = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, false, false, callback);
}; */
self.loadSafehomes = function (callback) {
SAFEHOMES.flush();
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
function nextSafehome() {
safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, callback);
}
};
};
self._getSetting = function (name) {
if (SETTINGS[name]) {
return Promise.resolve(SETTINGS[name]);

68
js/safeHome.js Normal file
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@ -0,0 +1,68 @@
/*global $*/
'use strict';
let Safehome = function (number, enabled, lat, lon) {
var self = {};
self.getNumber = function () {
return number;
};
self.setNumber = function (data) {
number = data;
};
self.getLon = function () {
return lon;
};
self.setLon = function (data) {
lon = data;
};
self.getLonToMap = function () {
return lon / 1e7;
};
self.setLonFromMap = function (data) {
lon = data * 1e7;
};
self.getLat = function () {
return lat;
};
self.setLat = function (data) {
lat = data;
};
self.getLatToMap = function () {
return lat / 1e7;
};
self.setLatFromMap = function (data) {
lat = data * 1e7;
};
self.isUsed = function () {
return enabled == 1;
};
self.getEnabled = function () {
return enabled;
};
self.setEnabled = function (data) {
enabled = data;
};
self.cleanup = function () {
number = 0;
enabled = 0;
lon = 0;
lat = 0;
};
return self;
};

86
js/safehomeCollection.js Normal file
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@ -0,0 +1,86 @@
/*global ServoMixRule*/
'use strict';
let SafehomeCollection = function () {
let self = {},
data = [],
maxSafehomeCount = 8;
self.setMaxSafehomeCount = function (value) {
maxSafehomeCount = value;
};
self.getMaxSafehomeCount = function () {
return maxSafehomeCount;
}
self.put = function (element) {
data.push(element);
};
self.get = function () {
return data;
};
self.clean = function (index){
data[index].cleanup();
};
self.flush = function () {
data = [];
};
self.inflate = function () {
while (self.hasFreeSlots()) {
self.put(new Safehome(0, 0, 0, 0));
}
};
self.hasFreeSlots = function () {
return data.length < self.getMaxSafehomeCount();
};
self.isSafehomeConfigured = function(safehomeId) {
for (let safehomeIndex in data) {
if (data.hasOwnProperty(safehomeIndex)) {
let safehome = data[safehomeIndex];
if (safehome.getNumber() == safehomeId && safehome.isUsed()) {
return true;
}
}
}
return false;
};
self.getNumberOfConfiguredSafehome = function () {
let count = 0;
for (let i = 0; i < self.getMaxSafehomeCount(); i ++) {
if (self.isSafehomeConfigured(i)) {
count++;
}
}
return count;
};
self.getUsedSafehomeIndexes = function () {
let out = [];
for (let safehomeIndex in data) {
if (data.hasOwnProperty(safehomeIndex)) {
let safehome = data[safehomeIndex];
out.push(safehome.getNumber());
}
}
let unique = [...new Set(out)];
return unique.sort(function(a, b) {
return a-b;
});
}
return self;
};

14
src/css/tabs/mission_planer.css
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@ -236,29 +236,29 @@
top: 100px;
}
.tab-mission-control .missionTable {
.tab-mission-control .safehomesTable {
width: 100%;
text-align: center;
}
.tab-mission-control .missionTable thead {
.tab-mission-control .safehomesTable thead {
display: table-header-group !important;
}
.tab-mission-control .missionTable thead tr {
.tab-mission-control .safehomesTable thead tr {
border-left: 1px solid #e4e4e4;
border-right: 1px solid #e4e4e4;
background-color: #828885;
color: #FFF;
}
.tab-mission-control .missionTable td,
.tab-mission-control .missionTable th {
.tab-mission-control .safehomesTable td,
.tab-mission-control .safehomesTable th {
padding: 2px;
height: 2.5em;
}
.tab-mission-control .missionTable tr:nth-child(even) td,
.tab-mission-control .missionTable tr:nth-child(even) th {
.tab-mission-control .safehomesTable tr:nth-child(even) td,
.tab-mission-control .safehomesTable tr:nth-child(even) th {
background-color: #ebe7e7;
}

2
tabs/mission_control.html
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@ -32,7 +32,7 @@
</div>
<div class="spacer">
<div>
<table class="mixer-table logic__table">
<table class="safehomesTable">
<thead>
<tr>
<th style="width: 50px" data-i18n="SafehomeSelected"></th>

136
tabs/mission_control.js
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@ -66,7 +66,8 @@ TABS.mission_control.initialize = function (callback) {
if (CONFIGURATOR.connectionValid) {
var loadChainer = new MSPChainerClass();
loadChainer.setChain([
mspHelper.getMissionInfo
mspHelper.getMissionInfo,
mspHelper.loadSafehomes
]);
loadChainer.setExitPoint(loadHtml);
loadChainer.execute();
@ -93,6 +94,10 @@ TABS.mission_control.initialize = function (callback) {
isOffline = true;
}
$safehomesTable = $('.safehomesTable');
$safehomesTableBody = $safehomesTable.find('tbody');
if (typeof require !== "undefined") {
loadSettings();
// let the dom load finish, avoiding the resizing of the map
@ -327,6 +332,7 @@ TABS.mission_control.initialize = function (callback) {
var pointForSend = 0;
var actionPointForSend = 0;
var settings = { speed: 0, alt: 5000};
var safehomeFromBuffer = [];
/////////////////////////////////////////////
// Reinit Form
@ -380,14 +386,64 @@ TABS.mission_control.initialize = function (callback) {
/////////////////////////////////////////////
// Manage Safehome
/////////////////////////////////////////////
function getSafeHomePointFromFC() {
console.log("Test");
function renderSafehomesTable() {
/*
* Process safehome table UI
*/
let safehomes = SAFEHOMES.get();
$safehomesTableBody.find("*").remove();
for (let safehomeIndex in safehomes) {
if (safehomes.hasOwnProperty(safehomeIndex)) {
const safehome = safehomes[safehomeIndex];
console.log(safehome.getEnabled());
$safehomesTableBody.append('\
<tr>\
<td><input type="checkbox" class="toggle safehome-view-value"/></td> \
<td><span class="safehome-number"/></td>\
<td class="safehome-enabled"><input type="checkbox" class="toggle safehome-enabled-value"/></td> \
<td><input type="number" class="safehome-lon" step="1e-7"/></td>\
<td><input type="number" class="safehome-lat" step="1e-7"/></td>\
</tr>\
');
const $row = $safehomesTableBody.find('tr:last');
/* $row.find(".safehome-view-value").prop('checked',true)).change(function () {
}); */
$row.find(".safehome-number").text(safehome.getNumber()+1);
$row.find(".safehome-enabled-value").prop('checked',safehome.isUsed()).change(function () {
safehome.setEnabled($(this).val());
});
$row.find(".safehome-lon").val(safehome.getLon()).change(function () {
safehome.setLon($(this).val());
});
$row.find(".safehome-lat").val(safehome.getLat()).change(function () {
safehome.setLat($(this).val());
});
$row.find("[data-role='role-servo-delete']").attr("data-index", safehomeIndex);
}
}
GUI.switchery();
localize();
}
function loadSafehome() {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, false, false, getSafeHomePointFromFC);
}
function renderSafehomesOnMap(safehomes) {
/*
* Process safehome on Map
*/
safehomes.get().forEach(function (safehome) {
console.log(safehome.getNumber());
map.addLayer(addSafeHomeMarker(safehome));
});
}
/////////////////////////////////////////////
// Manage Plotting functions
/////////////////////////////////////////////
@ -411,7 +467,7 @@ TABS.mission_control.initialize = function (callback) {
$('#missionDistance').text(0);
map.getLayers().forEach(function (t) {
if (t instanceof ol.layer.Vector && typeof t.alt !== 'undefined') {
if (t instanceof ol.layer.Vector && typeof t.alt !== 'undefined' && t.kind == "marker") {
var geometry = t.getSource().getFeatures()[0].getGeometry();
var action = t.action;
var markerNumber = t.number;
@ -548,7 +604,7 @@ TABS.mission_control.initialize = function (callback) {
population: 4000,
rainfall: 500
});
console.log(_pos);
iconFeature.setStyle(getPointIcon(_action, false, String(markers.length)));
var vectorSource = new ol.source.Vector({
@ -559,6 +615,7 @@ TABS.mission_control.initialize = function (callback) {
source: vectorSource
});
vectorLayer.kind = "marker";
vectorLayer.alt = _alt;
vectorLayer.number = markers.length;
vectorLayer.action = _action;
@ -572,6 +629,55 @@ TABS.mission_control.initialize = function (callback) {
return vectorLayer;
}
function getSafehomeIcon(safehome) {
return new ol.style.Style({
image: new ol.style.Icon(({
anchor: [0.5, 1],
opacity: 1,
scale: 0.5,
src: '../images/icons/cf_icon_safehome' + (safehome.isUsed() ? '_used' : '')+ '.png'
})),
text: new ol.style.Text(({
text: String(Number(safehome.getNumber())+1),
font: '12px sans-serif',
offsetY: -15,
offsetX: -2,
fill: new ol.style.Fill({
color: '#FFFFFF'
}),
stroke: new ol.style.Stroke({
color: '#FFFFFF'
}),
}))
});
}
function addSafeHomeMarker(safehome) {
var coord = ol.proj.fromLonLat([safehome.getLon(), safehome.getLat()]);
console.log(coord);
var iconFeature = new ol.Feature({
geometry: new ol.geom.Point(coord),
name: 'Null Island',
population: 4000,
rainfall: 500
});
iconFeature.setStyle(getSafehomeIcon(safehome));
var vectorSource = new ol.source.Vector({
features: [iconFeature]
});
var vectorLayer = new ol.layer.Vector({
source: vectorSource
});
vectorLayer.kind = "safehome";
return vectorLayer;
}
/////////////////////////////////////////////
// Manage Map construction
/////////////////////////////////////////////
@ -671,7 +777,8 @@ TABS.mission_control.initialize = function (callback) {
var handleShowSafehome = function () {
$('#MPeditPoint, #missionPlanerTotalInfo','#missionPlanerTemplate', '#missionPlanerSettings').hide();
$('#missionPlanerSafeHome').fadeIn(300);
loadSafehome();
renderSafehomesTable();
renderSafehomesOnMap(SAFEHOMES);
};
button.addEventListener('click', handleShowSafehome, false);
@ -1098,6 +1205,17 @@ TABS.mission_control.initialize = function (callback) {
closeSettingsPanel();
});
$('#saveSafehome').on('click', function () {
//settings = { speed: $('#MPdefaultPointSpeed').val(), alt: $('#MPdefaultPointAlt').val() };
//saveSettings();
//closeSettingsPanel();
});
$('#cancelSafehome').on('click', function () {
loadSettings();
closeSettingsPanel();
});
// Add function to update parameter i field in the selected Edit WP Box
$('#pointType').on('change', function () {