diff --git a/chasemapper/config.py b/chasemapper/config.py
index f1bdf7d..6d15d36 100644
--- a/chasemapper/config.py
+++ b/chasemapper/config.py
@@ -170,6 +170,13 @@ def parse_config_file(filename):
logging.info("Missing Stadia API Key setting, using default (none)")
chase_config["stadia_api_key"] = "none"
+ try:
+ chase_config["turn_rate_threshold"] = config.getfloat("bearings", "turn_rate_threshold")
+ except:
+ logging.info("Missing turn rate gate setting, using default (4m/s)")
+ chase_config["turn_rate_threshold"] = 4.0
+
+
# Telemetry Source Profiles
_profile_count = config.getint("profile_selection", "profile_count")
diff --git a/chasemapper/geometry.py b/chasemapper/geometry.py
index 5beb0b9..3291c40 100644
--- a/chasemapper/geometry.py
+++ b/chasemapper/geometry.py
@@ -22,7 +22,7 @@ class GenericTrack(object):
"""
def __init__(
- self, ascent_averaging=6, landing_rate=5.0, heading_gate_threshold=0.0
+ self, ascent_averaging=6, landing_rate=5.0, heading_gate_threshold=0.0, turn_rate_threshold=4.0
):
""" Create a GenericTrack Object. """
@@ -32,13 +32,22 @@ class GenericTrack(object):
self.landing_rate = landing_rate
# Heading gate threshold (only gate headings if moving faster than this value in m/s)
self.heading_gate_threshold = heading_gate_threshold
+ # Turn rate threshold - only gate headings if turning *slower* than this value in degrees/sec
+ self.turn_rate_threshold = turn_rate_threshold
self.ascent_rate = 0.0
self.heading = 0.0
+ self.turn_rate = 100.0
self.heading_valid = False
self.speed = 0.0
self.is_descending = False
+ self.supplied_heading = False
+
+
+ self.prev_heading = 0.0
+ self.prev_time = 0.0
+
# Internal store of track history data.
# Data is stored as a list-of-lists, with elements of [datetime, lat, lon, alt, comment]
self.track_history = []
@@ -60,12 +69,20 @@ class GenericTrack(object):
_comment = ""
self.track_history.append([_datetime, _lat, _lon, _alt, _comment])
- self.update_states()
# If we have been supplied a 'true' heading with the position, override the state to use that.
+ # In this case we are assuming that the heading is being provided by some form of magnetic compass,
+ # and is valid even when the car is stationary.
if "heading" in data_dict:
+ # Rotate heading data if we have enough data
+ if len(self.track_history) >=2:
+ self.prev_time = self.track_history[-2][0]
+ self.prev_heading = self.heading
+
self.heading = data_dict["heading"]
- self.heading_valid = True
+ self.supplied_heading = True
+
+ self.update_states()
return self.get_latest_state()
except:
@@ -88,6 +105,7 @@ class GenericTrack(object):
"landing_rate": self.landing_rate,
"heading": self.heading,
"heading_valid": self.heading_valid,
+ "turn_rate": self.turn_rate,
"speed": self.speed,
}
return _state
@@ -139,12 +157,20 @@ class GenericTrack(object):
else:
_pos_1 = self.track_history[-2]
_pos_2 = self.track_history[-1]
+
+ # Save previous heading.
+ self.prev_heading = self.heading
+ self.prev_time = _pos_1[0]
+ # Calculate new heading
_pos_info = position_info(
(_pos_1[1], _pos_1[2], _pos_1[3]), (_pos_2[1], _pos_2[2], _pos_2[3])
)
- return _pos_info["bearing"]
+ self.heading = _pos_info["bearing"]
+
+ return self.heading
+
def calculate_speed(self):
""" Calculate Payload Speed in metres per second """
@@ -171,16 +197,49 @@ class GenericTrack(object):
return _speed
+
+ def calculate_turn_rate(self):
+ """ Calculate heading rate based on previous heading and current heading """
+ if len(self.track_history) > 2:
+ # Grab current time
+ _current_time = self.track_history[-1][0]
+
+ _time_delta = (_current_time - self.prev_time).total_seconds()
+
+ _heading_delta = (self.heading - self.prev_heading) % 360.0
+ if _heading_delta >= 180.0:
+ _heading_delta -= 360.0
+
+ self.turn_rate = abs(_heading_delta)/_time_delta
+
+ return self.turn_rate
+
+
def update_states(self):
""" Update internal states based on the current data """
self.ascent_rate = self.calculate_ascent_rate()
self.speed = self.calculate_speed()
- self.heading = self.calculate_heading()
- if self.speed > self.heading_gate_threshold:
- self.heading_valid = True
+ # If we haven't been supplied a heading, calculate one
+ if not self.supplied_heading:
+ self.heading = self.calculate_heading()
+
+ # Calculate the turn rate
+ self.calculate_turn_rate()
+
+ if self.supplied_heading:
+ # Heading supplied - only threshold on turn rate.
+ if self.turn_rate < self.turn_rate_threshold:
+ self.heading_valid = True
+ else:
+ self.heading_valid = False
+
else:
- self.heading_valid = False
+ # Heading calculated - threshold on speed and turn rate.
+ if (self.speed > self.heading_gate_threshold) and (self.turn_rate < self.turn_rate_threshold):
+ self.heading_valid = True
+ else:
+ self.heading_valid = False
self.is_descending = self.ascent_rate < 0.0
diff --git a/horusmapper.cfg.example b/horusmapper.cfg.example
index 98e53da..40dedb4 100644
--- a/horusmapper.cfg.example
+++ b/horusmapper.cfg.example
@@ -234,17 +234,24 @@ max_bearing_age = 10
# Only consider car headings to be valid if the car speed is greater than this value in *kph*
car_speed_gate = 10
+# Turn rate threshold
+# Only plot bearings if the turn rate of the vehicle is less than this value, in degrees/second
+# This helps avoid plotting bearings when the heading and bearind data might be misaligned during
+# a turn (e.g. around a roundabout)
+# 4 degrees/second seems to work fairly well.
+turn_rate_threshold = 4.0
+
# Visual Settings - these can be adjust in the Web GUI during runtime
# Bearing length in km
bearing_length = 10
# Weight of the bearing lines, in pixels.
-bearing_weight = 0.5
+bearing_weight = 1.0
# Color of the bearings.
-# Valid options are: red, black, blue, green, custom
-bearing_color = black
+# Valid options are: red, black, blue, green, white, custom
+bearing_color = red
# Custom bearing color, in hexadecimal #RRGGBB
bearing_custom_color = #FF0000
diff --git a/horusmapper.py b/horusmapper.py
index 7a7be69..5a6328d 100644
--- a/horusmapper.py
+++ b/horusmapper.py
@@ -1176,6 +1176,7 @@ if __name__ == "__main__":
# Set speed gate for car position object
car_track.heading_gate_threshold = chasemapper_config["car_speed_gate"]
+ car_track.turn_rate_threshold = chasemapper_config["turn_rate_threshold"]
# Start listeners using the default profile selection.
start_listeners(
diff --git a/static/js/bearings.js b/static/js/bearings.js
index 87a36a4..8b64125 100644
--- a/static/js/bearings.js
+++ b/static/js/bearings.js
@@ -28,6 +28,8 @@ var bearing_color = "#000000";
var bearing_max_opacity = 0.8;
var bearing_min_opacity = 0.1;
+var bearing_large_plot = false;
+
// Store for the latest server timestamp.
// Start out with just our own local timestamp.
var latest_server_timestamp = Date.now()/1000.0;
@@ -51,9 +53,11 @@ function updateBearingSettings(){
} else if (_bearing_color == "blue"){
bearing_color = "#0000FF";
} else if (_bearing_color == "green"){
- bearing__color = "#00FF00";
+ bearing_color = "#00AA00";
+ } else if (_bearing_color == "white"){
+ bearing_color = "#FFFFFF";
} else if (_bearing_color == "custom"){
- bearing_color = _ring_custom_color;
+ bearing_color = _bearing_custom_color;
}
}
@@ -115,19 +119,25 @@ function addBearing(timestamp, bearing, live){
opacity: _opacity
});
-
- if ( (bearingValid(bearing_store[timestamp]) == true) && (document.getElementById("bearingsEnabled").checked == true) ){
+ _bearing_valid = bearingValid(bearing_store[timestamp]);
+ if ( (_bearing_valid == true) && (document.getElementById("bearingsEnabled").checked == true) ){
bearing_store[timestamp].line.addTo(map);
}
if ( (live == true) && (document.getElementById("bearingsEnabled").checked == true) ){
if(_raw_bearing_angles.length > 0){
- $("#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)}]);
+ if (bearing_store[timestamp].confidence > bearing_confidence_threshold){
+ _valid_text = "YES";
+ }else {
+ _valid_text = "NO";
+ }
+ $("#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)}]);
$("#bearing_table").show();
if(document.getElementById("tdoaEnabled").checked == true){
- bearingPlotRender(_raw_bearing_angles, _raw_doa);
+ _valid_tdoa = bearing_store[timestamp].confidence > bearing_confidence_threshold;
+ bearingPlotRender(_raw_bearing_angles, _raw_doa, _valid_tdoa);
$('#bearing_plot').show();
}else{
$('#bearing_plot').hide();
@@ -273,6 +283,8 @@ function toggleBearingsOnlyMode(){
$("#summary_table").hide();
$("#telem_table_btn").hide();
$("#telem_table").hide();
+ $("#payload_age").hide();
+ $("#pred_age").hide();
bearings_only_mode = true;
@@ -283,6 +295,8 @@ function toggleBearingsOnlyMode(){
$("#summary_table").show();
$("#telem_table_btn").show();
$("#telem_table").show();
+ $("#payload_age").show();
+ $("#pred_age").show();
bearings_only_mode = false;
@@ -302,45 +316,78 @@ function flushBearings(){
}
-function bearingPlotRender(angles, doa){
-var _config = {
- "data": [{
- "t": angles,// [0,45,90,135,180,215,270,315], // theta values (x axis)
- "r": doa,//[-4,-3,-2,-1,0,-1,-2,-3,-4], // radial values (y axis)
- "name": "DOA", // name for the legend
- "visible": true,
- "color": "blue", // color of data element
- "opacity": 0.8,
- "strokeColor": "blue",
- "strokeDash": "solid", // solid, dot, dash (default)
- "strokeSize": 2,
- "visibleInLegend": false,
- "geometry": "LinePlot" // AreaChart, BarChart, DotPlot, LinePlot (default)
- }],
- "layout": {
- "height": 250, // (default: 450)
- "width": 250,
- "orientation":-90,
- "showlegend": false,
- "backgroundColor": "ghostwhite",
- "radialAxis": {
- "domain": µ.DATAEXTENT,
- "visible": true
- },
- "margin": {
- "top": 20,
- "right": 20,
- "bottom": 20,
- "left": 20
- },
- }};
+function bearingPlotRender(angles, doa, data_valid){
+
+ // Trying a colorblind-friendly color scheme.
+ if(data_valid == true){
+ _stroke_color = "#1A85FF";
+ } else {
+ _stroke_color = "#D41159";
+ }
+
+ if(document.getElementById("bigTDOAEnabled").checked){
+ _plot_dim = 400;
+ }else{
+ _plot_dim = 250;
+ }
+
+ if(dark_mode == true){
+ _bg_color = "none";
+ } else {
+ _bg_color = "ghostwhite";
+ }
+
+ var _config = {
+ "data": [{
+ "t": angles,// [0,45,90,135,180,215,270,315], // theta values (x axis)
+ "r": doa,//[-4,-3,-2,-1,0,-1,-2,-3,-4], // radial values (y axis)
+ "name": "DOA", // name for the legend
+ "visible": true,
+ "color": _stroke_color, // color of data element
+ "opacity": 1,
+ "strokeColor": _stroke_color,
+ "strokeDash": "solid", // solid, dot, dash (default)
+ "strokeSize": 2,
+ "visibleInLegend": false,
+ "geometry": "AreaChart" // AreaChart, BarChart, DotPlot, LinePlot (default)
+ }],
+ "layout": {
+ "height": _plot_dim, // (default: 450)
+ "width": _plot_dim,
+ "orientation":-90,
+ "showlegend": false,
+ "backgroundColor": _bg_color, // "ghostwhite",
+ "radialAxis": {
+ "domain": µ.DATAEXTENT,
+ "visible": true
+ },
+ "margin": {
+ "top": 20,
+ "right": 20,
+ "bottom": 20,
+ "left": 20
+ },
+ }};
micropolar.Axis() // instantiate a new axis
.config(_config) // configure it
.render(d3.select('#bearing_plot'));
}
+function toggle_bearing_plot_size(){
+ if(bearing_large_plot == true){
+ bearing_large_plot = false;
+ }else{
+ bearing_large_plot = true;
+ }
+
+ console.log(bearing_large_plot);
+};
+
+// TODO: This is not working
+$("#bearing_plot").click(toggle_bearing_plot_size);
+
/**
Returns the point that is a distance and heading away from
the given origin point.
diff --git a/static/js/tables.js b/static/js/tables.js
index b22c11f..7f9b016 100644
--- a/static/js/tables.js
+++ b/static/js/tables.js
@@ -202,11 +202,12 @@ function initTables(){
layoutColumnsOnNewData:true,
//selectable:1, // TODO...
columns:[ //Define Table Columns
+ {title:"Valid", field:'valid_bearing', headerSort:false},
{title:"Bearing", field:"bearing", headerSort:false},
{title:"Score", field:'confidence', headerSort:false},
{title:"Power", field:'power', headerSort:false}
],
- data:[{id: 1, bearing:0.0, confidence:0.0}]
+ data:[{id: 1, valid_bearing:"NO", bearing:0.0, confidence:0.0, power:0.0}]
});
$("#bearing_table").hide();
@@ -260,11 +261,12 @@ function initTablesImperial(){
layoutColumnsOnNewData:true,
//selectable:1, // TODO...
columns:[ //Define Table Columns
+ {title:"Valid", field:'valid_bearing', headerSort:false},
{title:"Bearing", field:"bearing", headerSort:false},
{title:"Score", field:'confidence', headerSort:false},
{title:"Power", field:'power', headerSort:false}
],
- data:[{id: 1, bearing:0.0, confidence:0.0}]
+ data:[{id: 1, valid_bearing:"NO", bearing:0.0, confidence:0.0, power:0.0}]
});
$("#bearing_table").hide();
diff --git a/templates/index.html b/templates/index.html
index fef7214..21cd3f2 100644
--- a/templates/index.html
+++ b/templates/index.html
@@ -96,6 +96,10 @@
// Functions defined later.
var setChaseCarTrack;
+ // Global dark mode setting
+ var dark_mode = false;
+ var dark_mode_layers = ["Alidade Smooth Dark", "Dark Matter"];
+
// Leaflet map instance.
var map;
// Routing Engine
@@ -463,6 +467,14 @@
map.on('dragend',mapMovedEvent);
+ map.on('baselayerchange', function (e) {
+ if(dark_mode_layers.includes(e.name)){
+ dark_mode = true;
+ }else {
+ dark_mode = false;
+ }
+ });
+
initTables();
@@ -867,6 +879,10 @@
Enable TDOA Plot
+
+ Big TDOA Plot
+
+
Confidence Threshold
@@ -892,7 +908,7 @@
Bearing Length (km)
- Bearing Weight (px)
+ Bearing Weight (px)
Bearing Min Opacity
@@ -904,6 +920,7 @@
Bearing Color