kopia lustrzana https://github.com/projecthorus/chasemapper
TDOA plot adjustments, turn rate gating
Mark Jessop
rodzic
32a96b0b91
commit
e01999bd86
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@ -170,6 +170,13 @@ def parse_config_file(filename):
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logging.info("Missing Stadia API Key setting, using default (none)")
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chase_config["stadia_api_key"] = "none"
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try:
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chase_config["turn_rate_threshold"] = config.getfloat("bearings", "turn_rate_threshold")
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except:
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logging.info("Missing turn rate gate setting, using default (4m/s)")
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chase_config["turn_rate_threshold"] = 4.0
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# Telemetry Source Profiles
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_profile_count = config.getint("profile_selection", "profile_count")
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@ -22,7 +22,7 @@ class GenericTrack(object):
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"""
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def __init__(
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self, ascent_averaging=6, landing_rate=5.0, heading_gate_threshold=0.0
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self, ascent_averaging=6, landing_rate=5.0, heading_gate_threshold=0.0, turn_rate_threshold=4.0
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):
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""" Create a GenericTrack Object. """
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@ -32,13 +32,22 @@ class GenericTrack(object):
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self.landing_rate = landing_rate
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# Heading gate threshold (only gate headings if moving faster than this value in m/s)
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self.heading_gate_threshold = heading_gate_threshold
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# Turn rate threshold - only gate headings if turning *slower* than this value in degrees/sec
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self.turn_rate_threshold = turn_rate_threshold
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self.ascent_rate = 0.0
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self.heading = 0.0
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self.turn_rate = 100.0
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self.heading_valid = False
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self.speed = 0.0
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self.is_descending = False
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self.supplied_heading = False
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self.prev_heading = 0.0
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self.prev_time = 0.0
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# Internal store of track history data.
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# Data is stored as a list-of-lists, with elements of [datetime, lat, lon, alt, comment]
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self.track_history = []
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@ -60,12 +69,20 @@ class GenericTrack(object):
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_comment = ""
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self.track_history.append([_datetime, _lat, _lon, _alt, _comment])
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self.update_states()
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# If we have been supplied a 'true' heading with the position, override the state to use that.
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# In this case we are assuming that the heading is being provided by some form of magnetic compass,
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# and is valid even when the car is stationary.
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if "heading" in data_dict:
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# Rotate heading data if we have enough data
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if len(self.track_history) >=2:
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self.prev_time = self.track_history[-2][0]
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self.prev_heading = self.heading
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self.heading = data_dict["heading"]
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self.heading_valid = True
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self.supplied_heading = True
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self.update_states()
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return self.get_latest_state()
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except:
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@ -88,6 +105,7 @@ class GenericTrack(object):
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"landing_rate": self.landing_rate,
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"heading": self.heading,
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"heading_valid": self.heading_valid,
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"turn_rate": self.turn_rate,
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"speed": self.speed,
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}
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return _state
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@ -139,12 +157,20 @@ class GenericTrack(object):
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else:
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_pos_1 = self.track_history[-2]
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_pos_2 = self.track_history[-1]
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# Save previous heading.
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self.prev_heading = self.heading
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self.prev_time = _pos_1[0]
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# Calculate new heading
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_pos_info = position_info(
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(_pos_1[1], _pos_1[2], _pos_1[3]), (_pos_2[1], _pos_2[2], _pos_2[3])
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)
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return _pos_info["bearing"]
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self.heading = _pos_info["bearing"]
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return self.heading
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def calculate_speed(self):
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""" Calculate Payload Speed in metres per second """
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@ -171,16 +197,49 @@ class GenericTrack(object):
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return _speed
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def calculate_turn_rate(self):
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""" Calculate heading rate based on previous heading and current heading """
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if len(self.track_history) > 2:
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# Grab current time
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_current_time = self.track_history[-1][0]
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_time_delta = (_current_time - self.prev_time).total_seconds()
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_heading_delta = (self.heading - self.prev_heading) % 360.0
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if _heading_delta >= 180.0:
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_heading_delta -= 360.0
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self.turn_rate = abs(_heading_delta)/_time_delta
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return self.turn_rate
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def update_states(self):
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""" Update internal states based on the current data """
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self.ascent_rate = self.calculate_ascent_rate()
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self.speed = self.calculate_speed()
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self.heading = self.calculate_heading()
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if self.speed > self.heading_gate_threshold:
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self.heading_valid = True
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# If we haven't been supplied a heading, calculate one
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if not self.supplied_heading:
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self.heading = self.calculate_heading()
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# Calculate the turn rate
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self.calculate_turn_rate()
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if self.supplied_heading:
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# Heading supplied - only threshold on turn rate.
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if self.turn_rate < self.turn_rate_threshold:
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self.heading_valid = True
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else:
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self.heading_valid = False
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else:
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self.heading_valid = False
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# Heading calculated - threshold on speed and turn rate.
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if (self.speed > self.heading_gate_threshold) and (self.turn_rate < self.turn_rate_threshold):
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self.heading_valid = True
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else:
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self.heading_valid = False
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self.is_descending = self.ascent_rate < 0.0
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@ -234,17 +234,24 @@ max_bearing_age = 10
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# Only consider car headings to be valid if the car speed is greater than this value in *kph*
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car_speed_gate = 10
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# Turn rate threshold
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# Only plot bearings if the turn rate of the vehicle is less than this value, in degrees/second
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# This helps avoid plotting bearings when the heading and bearind data might be misaligned during
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# a turn (e.g. around a roundabout)
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# 4 degrees/second seems to work fairly well.
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turn_rate_threshold = 4.0
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# Visual Settings - these can be adjust in the Web GUI during runtime
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# Bearing length in km
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bearing_length = 10
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# Weight of the bearing lines, in pixels.
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bearing_weight = 0.5
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bearing_weight = 1.0
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# Color of the bearings.
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# Valid options are: red, black, blue, green, custom
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bearing_color = black
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# Valid options are: red, black, blue, green, white, custom
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bearing_color = red
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# Custom bearing color, in hexadecimal #RRGGBB
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bearing_custom_color = #FF0000
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@ -1176,6 +1176,7 @@ if __name__ == "__main__":
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# Set speed gate for car position object
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car_track.heading_gate_threshold = chasemapper_config["car_speed_gate"]
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car_track.turn_rate_threshold = chasemapper_config["turn_rate_threshold"]
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# Start listeners using the default profile selection.
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start_listeners(
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@ -28,6 +28,8 @@ var bearing_color = "#000000";
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var bearing_max_opacity = 0.8;
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var bearing_min_opacity = 0.1;
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var bearing_large_plot = false;
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// Store for the latest server timestamp.
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// Start out with just our own local timestamp.
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var latest_server_timestamp = Date.now()/1000.0;
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@ -51,9 +53,11 @@ function updateBearingSettings(){
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} else if (_bearing_color == "blue"){
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bearing_color = "#0000FF";
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} else if (_bearing_color == "green"){
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bearing__color = "#00FF00";
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bearing_color = "#00AA00";
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} else if (_bearing_color == "white"){
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bearing_color = "#FFFFFF";
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} else if (_bearing_color == "custom"){
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bearing_color = _ring_custom_color;
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bearing_color = _bearing_custom_color;
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}
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}
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@ -115,19 +119,25 @@ function addBearing(timestamp, bearing, live){
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opacity: _opacity
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});
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if ( (bearingValid(bearing_store[timestamp]) == true) && (document.getElementById("bearingsEnabled").checked == true) ){
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_bearing_valid = bearingValid(bearing_store[timestamp]);
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if ( (_bearing_valid == true) && (document.getElementById("bearingsEnabled").checked == true) ){
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bearing_store[timestamp].line.addTo(map);
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}
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if ( (live == true) && (document.getElementById("bearingsEnabled").checked == true) ){
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if(_raw_bearing_angles.length > 0){
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$("#bearing_table").tabulator("setData", [{id:1, bearing: bearing_store[timestamp].raw_bearing.toFixed(0), confidence: bearing_store[timestamp].confidence.toFixed(0), power: bearing_store[timestamp].power.toFixed(0)}]);
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if (bearing_store[timestamp].confidence > bearing_confidence_threshold){
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_valid_text = "YES";
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}else {
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_valid_text = "NO";
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}
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$("#bearing_table").tabulator("setData", [{id:1, valid_bearing:_valid_text, bearing: bearing_store[timestamp].raw_bearing.toFixed(0), confidence: bearing_store[timestamp].confidence.toFixed(0), power: bearing_store[timestamp].power.toFixed(0)}]);
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$("#bearing_table").show();
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if(document.getElementById("tdoaEnabled").checked == true){
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bearingPlotRender(_raw_bearing_angles, _raw_doa);
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_valid_tdoa = bearing_store[timestamp].confidence > bearing_confidence_threshold;
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bearingPlotRender(_raw_bearing_angles, _raw_doa, _valid_tdoa);
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$('#bearing_plot').show();
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}else{
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$('#bearing_plot').hide();
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@ -273,6 +283,8 @@ function toggleBearingsOnlyMode(){
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$("#summary_table").hide();
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$("#telem_table_btn").hide();
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$("#telem_table").hide();
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$("#payload_age").hide();
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$("#pred_age").hide();
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bearings_only_mode = true;
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@ -283,6 +295,8 @@ function toggleBearingsOnlyMode(){
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$("#summary_table").show();
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$("#telem_table_btn").show();
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$("#telem_table").show();
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$("#payload_age").show();
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$("#pred_age").show();
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bearings_only_mode = false;
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@ -302,45 +316,78 @@ function flushBearings(){
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}
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function bearingPlotRender(angles, doa){
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var _config = {
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"data": [{
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"t": angles,// [0,45,90,135,180,215,270,315], // theta values (x axis)
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"r": doa,//[-4,-3,-2,-1,0,-1,-2,-3,-4], // radial values (y axis)
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"name": "DOA", // name for the legend
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"visible": true,
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"color": "blue", // color of data element
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"opacity": 0.8,
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"strokeColor": "blue",
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"strokeDash": "solid", // solid, dot, dash (default)
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"strokeSize": 2,
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"visibleInLegend": false,
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"geometry": "LinePlot" // AreaChart, BarChart, DotPlot, LinePlot (default)
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}],
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"layout": {
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"height": 250, // (default: 450)
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"width": 250,
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"orientation":-90,
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"showlegend": false,
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"backgroundColor": "ghostwhite",
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"radialAxis": {
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"domain": µ.DATAEXTENT,
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"visible": true
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},
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"margin": {
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"top": 20,
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"right": 20,
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"bottom": 20,
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"left": 20
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},
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}};
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function bearingPlotRender(angles, doa, data_valid){
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// Trying a colorblind-friendly color scheme.
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if(data_valid == true){
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_stroke_color = "#1A85FF";
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} else {
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_stroke_color = "#D41159";
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}
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if(document.getElementById("bigTDOAEnabled").checked){
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_plot_dim = 400;
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}else{
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_plot_dim = 250;
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}
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if(dark_mode == true){
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_bg_color = "none";
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} else {
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_bg_color = "ghostwhite";
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}
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var _config = {
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"data": [{
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"t": angles,// [0,45,90,135,180,215,270,315], // theta values (x axis)
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"r": doa,//[-4,-3,-2,-1,0,-1,-2,-3,-4], // radial values (y axis)
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"name": "DOA", // name for the legend
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"visible": true,
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"color": _stroke_color, // color of data element
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"opacity": 1,
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"strokeColor": _stroke_color,
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"strokeDash": "solid", // solid, dot, dash (default)
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"strokeSize": 2,
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"visibleInLegend": false,
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"geometry": "AreaChart" // AreaChart, BarChart, DotPlot, LinePlot (default)
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}],
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"layout": {
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"height": _plot_dim, // (default: 450)
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"width": _plot_dim,
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"orientation":-90,
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"showlegend": false,
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"backgroundColor": _bg_color, // "ghostwhite",
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"radialAxis": {
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"domain": µ.DATAEXTENT,
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"visible": true
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},
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"margin": {
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"top": 20,
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"right": 20,
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"bottom": 20,
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"left": 20
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},
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}};
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micropolar.Axis() // instantiate a new axis
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.config(_config) // configure it
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.render(d3.select('#bearing_plot'));
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}
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function toggle_bearing_plot_size(){
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if(bearing_large_plot == true){
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bearing_large_plot = false;
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}else{
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bearing_large_plot = true;
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}
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console.log(bearing_large_plot);
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};
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// TODO: This is not working
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$("#bearing_plot").click(toggle_bearing_plot_size);
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/**
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Returns the point that is a distance and heading away from
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the given origin point.
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@ -202,11 +202,12 @@ function initTables(){
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layoutColumnsOnNewData:true,
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//selectable:1, // TODO...
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columns:[ //Define Table Columns
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{title:"Valid", field:'valid_bearing', headerSort:false},
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{title:"Bearing", field:"bearing", headerSort:false},
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{title:"Score", field:'confidence', headerSort:false},
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{title:"Power", field:'power', headerSort:false}
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],
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data:[{id: 1, bearing:0.0, confidence:0.0}]
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data:[{id: 1, valid_bearing:"NO", bearing:0.0, confidence:0.0, power:0.0}]
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});
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$("#bearing_table").hide();
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@ -260,11 +261,12 @@ function initTablesImperial(){
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layoutColumnsOnNewData:true,
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//selectable:1, // TODO...
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columns:[ //Define Table Columns
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{title:"Valid", field:'valid_bearing', headerSort:false},
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{title:"Bearing", field:"bearing", headerSort:false},
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{title:"Score", field:'confidence', headerSort:false},
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{title:"Power", field:'power', headerSort:false}
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],
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data:[{id: 1, bearing:0.0, confidence:0.0}]
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data:[{id: 1, valid_bearing:"NO", bearing:0.0, confidence:0.0, power:0.0}]
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});
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$("#bearing_table").hide();
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@ -96,6 +96,10 @@
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// Functions defined later.
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var setChaseCarTrack;
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// Global dark mode setting
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var dark_mode = false;
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var dark_mode_layers = ["Alidade Smooth Dark", "Dark Matter"];
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// Leaflet map instance.
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var map;
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// Routing Engine
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@ -463,6 +467,14 @@
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map.on('dragend',mapMovedEvent);
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map.on('baselayerchange', function (e) {
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if(dark_mode_layers.includes(e.name)){
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dark_mode = true;
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}else {
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dark_mode = false;
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}
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});
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initTables();
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@ -867,6 +879,10 @@
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<b>Enable TDOA Plot</b> <input type="checkbox" class="paramSelector" id="tdoaEnabled" checked>
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</div>
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<div class="paramRow">
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<b>Big TDOA Plot</b> <input type="checkbox" class="paramSelector" id="bigTDOAEnabled">
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</div>
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<div class="paramRow">
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<b>Confidence Threshold</b><input type="text" class="paramEntry" id="bearingConfidenceThreshold" value="50"><br/>
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</div>
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@ -892,7 +908,7 @@
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<b>Bearing Length (km)</b><input type="text" class="paramEntry" id="bearingLength" value="10"><br/>
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</div>
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<div class="paramRow">
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<b>Bearing Weight (px)</b><input type="text" class="paramEntry" id="bearingWeight" value="0.5"><br/>
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<b>Bearing Weight (px)</b><input type="text" class="paramEntry" id="bearingWeight" value="1.0"><br/>
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</div>
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<div class="paramRow">
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<b>Bearing Min Opacity</b><input type="text" class="paramEntry" id="bearingMinOpacity" value="0.1"><br/>
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@ -904,6 +920,7 @@
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<b>Bearing Color</b>
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<select class="paramSelector" id="bearingColorSelect" name="bearingColorSelect">
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<option value='black'>Black</option>
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<option value='white'>White</option>
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<option value='red'>Red</option>
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<option value='green'>Green</option>
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<option value='blue'>Blue</option>
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Ładowanie…
Reference in New Issue