From 79d51cfe37be22db0343b33945405c49c8354181 Mon Sep 17 00:00:00 2001
From: Sidi Liang <1467329765@qq.com>
Date: Tue, 20 Apr 2021 23:31:33 +0800
Subject: [PATCH] Radar: Optimazation and improvements
---
Nasal/radar.nas | 83 ++++++++++++++++++++++++++++---------------------
1 file changed, 47 insertions(+), 36 deletions(-)
diff --git a/Nasal/radar.nas b/Nasal/radar.nas
index 98ecca7..f5a514b 100644
--- a/Nasal/radar.nas
+++ b/Nasal/radar.nas
@@ -60,7 +60,7 @@ var MultiplayerCoordManager = {
if (me.nxtupdatetime != 0) {
if (_tm<me.nxtupdatetime) return;
}
- me.nxtupdatetime = _tm + 0.5; # refresh rate at 500ms
+ me.nxtupdatetime = _tm + 0.1; # refresh rate at 100ms
if (size(me.updateKeys) == 0) {
me.updateKeys = keys(me.items);
@@ -98,7 +98,7 @@ var MultiplayerCoordManager = {
var Radar = {
- #//Class for any Parking Radar (currently only support terrain detection) which scans in a sector
+ #//Class for any Parking Radar (currently supports terrain detection and multiplayer(and ai) model detection) which scans in a sector
#//height: height of installation above ground;installCoordX: X coord of installation; installCoordY: Y coord of installation; maxRange: max radar range; maxWidth: width of the sector
#//orientationMode 0:towards back, 180:towards front, 90: towards left, 270:towards right, custom values are accepted(in degrees)
#//updateInterval: update interval of the radar timer, defaults to 0.25
@@ -110,6 +110,9 @@ var Radar = {
#//For follow me EV: height 0.3m; installCoordX:0m; installCoordY:3.8m; maxRange:3m;maxWidth:3m
#//To start scanning: myRadar.init();
#//To Stop: myRadar.stop();
+
+ #//Todo: Add the tilt angle into consideratoin
+
new: func(height, installCoordX, installCoordY, maxRange, maxWidth, orientationMode=0, warnEnabled=1,
updateInterval=0.25, debug=0) {
return { parents:[Radar, Appliance.new()], height: height, installCoordX:installCoordX, installCoordY:installCoordY, maxRange:maxRange, maxWidth:maxWidth, orientationMode:orientationMode, warnEnabled:warnEnabled, debug:debug, radarOutput:10000};
@@ -131,7 +134,9 @@ var Radar = {
vehiclePosition: nil,
coord: nil,
+ vehicleHeadingProp: props.getNode("/orientation/heading-deg",1),
vehicleHeading: nil,
+ vehicleElevProp: props.getNode("/position/altitude-ft",1),
backLonRange: nil,
backLatRange: nil,
@@ -148,6 +153,12 @@ var Radar = {
multiplayerManager: MultiplayerCoordManager.new(), #//Experimental new multiplayer coordinate manager
+ calculateVehicleElevation: func(){
+ #//Return the elevation in METERS
+ var elev_ft = me.vehicleElevProp.getValue();
+ return elev_ft * FT2M;
+ },
+
init: func(){
me.searchAngle = math.acos(me.maxRange / math.sqrt((2/me.maxWidth)*(2/me.maxWidth) + me.maxRange*me.maxRange));
me.tanSearchAngle = math.tan(me.searchAngle);
@@ -188,7 +199,7 @@ var Radar = {
},
getCoord: func(){
- me.vehicleHeading = geo.normdeg(props.getNode("/orientation/heading-deg",1).getValue() + me.orientationMode);
+ me.vehicleHeading = geo.normdeg(me.vehicleHeadingProp.getValue() + me.orientationMode);
me.vehiclePosition = geo.aircraft_position();
me.coord = geo.Coord.new(me.vehiclePosition);
me.coord.apply_course_distance(geo.normdeg(me.vehicleHeading-90), me.installCoordX);
@@ -220,7 +231,10 @@ var Radar = {
return position_val;
},
judgeElev: func(targetElev){
- myElev = me.getElevByCoord(me.coord);
+ #//myElev = me.getElevByCoord(me.coord);
+ myElev = me.calculateVehicleElevation();
+ print("elevgeo: "~me.getElevByCoord(me.coord));
+ print("elevprop: "~me.calculateVehicleElevation());
if((myElev + me.height) < targetElev){
return 1;
}else{
@@ -258,6 +272,23 @@ var Radar = {
if(me.debug) var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", sampleCoord.lat(), sampleCoord.lon(), me.coord.alt());
return sampleCoord;
},
+ multiplayerModelDetection: func(targetCoord){
+ foreach(var itemPath; keys(me.multiplayerManager.items)){
+ var item = me.multiplayerManager.items[itemPath];
+ if(item.data != nil){
+ if(math.abs(item.data['alt'] - me.height - me.calculateVehicleElevation()) > 2) continue;
+ var itemCoord = geo.Coord.new();
+ itemCoord.set_latlon(item.data['lat'], item.data['lon']);
+ var multiplayerModelDistanceInMeters = itemCoord.distance_to(targetCoord);
+ if(multiplayerModelDistanceInMeters <= 0.3){#//Value based on guessing
+ var meters = me.coord.distance_to(targetCoord);
+ if(me.debug) var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());
+ return meters;
+ }
+ }
+ }
+ return nil;
+ },
update: func(){
me.getCoord();
me.multiplayerManager.update(); #//Updates the multiplayer coordinates manager at it's own refresh rate
@@ -276,25 +307,15 @@ var Radar = {
var stepLon = 0 - searchWidthLon * percentage;
var targetCoord = me.sample(i, stepLon, searchCoord.lat(), searchCoord.lon());
#//Multiplayer model detection
- foreach(var itemPath; keys(me.multiplayerManager.items)){
- var item = me.multiplayerManager.items[itemPath];
- if(item.data != nil){
- var itemCoord = geo.Coord.new();
- itemCoord.set_latlon(item.data['lat'], item.data['lon']);
- var multiplayerModelDistanceInMeters = itemCoord.distance_to(targetCoord);
- if(multiplayerModelDistanceInMeters <= 0.3){#//Value based on guessing
- var meters = me.coord.distance_to(targetCoord);
- if(me.debug) var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());
- if(me.warnEnabled) me.warnControl(meters);
- else me.radarOutput = meters;
- return;
- }
- }
+ meters = me.multiplayerModelDetection(targetCoord);
+ if(meters != nil){
+ if(me.warnEnabled) me.warnControl(meters);
+ else me.radarOutput = meters;
+ return;
}
-
#//Terrain detection
- targetElev = me.getElevByCoord(targetCoord);
+ var targetElev = me.getElevByCoord(targetCoord);
if(me.judgeElev(targetElev)){
var meters = me.coord.distance_to(targetCoord);
if(me.debug) var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());
@@ -308,25 +329,15 @@ var Radar = {
var stepLon = searchWidthLon * percentage;
var targetCoord = me.sample(i, stepLon, searchCoord.lat(), searchCoord.lon());
#//Multiplayer model detection
- foreach(var itemPath; keys(me.multiplayerManager.items)){
- var item = me.multiplayerManager.items[itemPath];
- if(item.data != nil){
- var itemCoord = geo.Coord.new();
- itemCoord.set_latlon(item.data['lat'], item.data['lon']);
- var multiplayerModelDistanceInMeters = itemCoord.distance_to(targetCoord);
- if(multiplayerModelDistanceInMeters <= 0.3){#//Value based on guessing
- var meters = me.coord.distance_to(targetCoord);
- if(me.debug) var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());
- if(me.warnEnabled) me.warnControl(meters);
- else me.radarOutput = meters;
- return;
- }
- }
+ meters = me.multiplayerModelDetection(targetCoord);
+ if(meters != nil){
+ if(me.warnEnabled) me.warnControl(meters);
+ else me.radarOutput = meters;
+ return
}
-
#//Terrain detection
- targetElev = me.getElevByCoord(targetCoord);
+ var targetElev = me.getElevByCoord(targetCoord);
if(me.judgeElev(targetElev)){
var meters = me.coord.distance_to(targetCoord);
if(me.debug) var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());