ParkingRadar: Added feature
This commit is contained in:
Sidi Liang
parent
cbf50aaa4e
commit
d3c9d28a44
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@ -0,0 +1,125 @@
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#Parking radar by Sidi Liang
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var Radar = {
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#//Class for any Parking Radar (currently only support terrain detection)
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#//height: height of installation above ground;installCoord: coord of installation; maxRange: max radar range
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#//For this vehicle: height 0.3m; installCoord:3.78m; maxRange:7m; maxWidth:3m
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#//To start scanning: myRadar.init();
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#//To Stop: myRadar.stop();
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new: func(height, installCoord, maxRange, maxWidth) {
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return { parents:[Radar, followme.Appliance.new()], height: height, installCoord:installCoord, maxRange:maxRange, maxWidth:maxWidth};
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},
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height: 0.3, #METERS
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installCoord:3.7, #METERS
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maxRange:7, #METERS
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maxWidth:2, #METERS
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radarTimer: nil,
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vehiclePosition: nil,
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coord: nil,
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vehicleHeading: nil,
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backLonRange: nil,
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backLatRange: nil,
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widthLonRange:nil,
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widthLatRange:nil,
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init: func(){
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me.getCoord();
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me.backLatRange = me.calculateLatChange(me.maxRange);
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me.backLonRange = me.calculateLonChange(me.maxRange, me.coord);
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me.widthLatRange = me.calculateLatChange(me.maxWidth);
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me.widthLonRange = me.calculateLonChange(me.maxWidth, me.coord);
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if(me.radarTimer == nil) me.radarTimer = maketimer(0.2, func me.update());
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me.radarTimer.start();
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},
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stop: func(){
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me.radarTimer.stop();
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},
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getCoord: func(){
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me.vehicleHeading = props.getNode("/orientation/heading-deg",1).getValue();
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me.vehiclePosition = geo.aircraft_position();
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me.coord = geo.Coord.new(me.vehiclePosition);
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me.coord.apply_course_distance(me.vehicleHeading, -me.installCoord);
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#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", me.coord);
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},
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calculateLonChange: func(meters, coord){
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var earthLength = 2 * 6378137 * math.pi; #equator
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var lat2EarthLength = earthLength * math.cos(math.abs(coord.lat()));
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var lonChange = meters * (360/lat2EarthLength);
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return math.abs(lonChange);
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},
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calculateLatChange: func(meters){
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return meters * 0.000008983152841195214;
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},
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calculateMeterChangebyLat: func(lat){
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return lat / 0.000008983152841195214;
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},
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getElevByCoord: func(coord){
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return geo.elevation(coord.lat(), coord.lon());
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},
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position_change: func(position_val,value){
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if(position_val+value>180)
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position_val += value-360;
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else if(position_val+value<-180)
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position_val += value+360;
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else
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position_val += value;
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return position_val;
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},
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judgeElev: func(targetElev){
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myElev = me.getElevByCoord(me.coord);
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if((myElev + me.height) < targetElev){
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return 1;
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}else{
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return 0;
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}
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},
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warn: func(targetCoord){
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var meters = me.coord.distance_to(targetCoord);
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print("Caution! something behind at approximatly "~meters~" meters");
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var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord);
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},
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sample: func(stepLat, stepLon, searchLat, searchLon){ # returns an elevtion
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var latChange = math.sin(math.pi * me.vehicleHeading/180);
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var lonChange = -math.cos(math.pi * me.vehicleHeading/180);
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var coord = geo.Coord.new();
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coord.set_latlon(me.position_change(searchLat,stepLat*latChange), me.position_change(searchLon,stepLon*lonChange));
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return coord;
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},
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update: func(){
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me.getCoord();
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var searchDis = 0.01;#Meters
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var searchStep = 0.1;#Meters
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while(searchDis <= me.maxRange){
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var searchCoord = geo.Coord.new();
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searchCoord.set_latlon(me.coord.lat(), me.coord.lon());
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searchCoord.apply_course_distance(me.vehicleHeading, 0-searchDis);
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for(var i = 0; i > (0 - me.widthLatRange/2); i -= 0.000001){
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var percentage = (0-i)/(me.widthLatRange/2); #use approximate value to reduce cost
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var stepLon = 0 - me.widthLonRange * percentage;
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var targetCoord = me.sample(i, stepLon, searchCoord.lat(), searchCoord.lon());
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targetElev = me.getElevByCoord(targetCoord);
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if(me.judgeElev(targetElev)){
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me.warn(targetCoord);
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return;
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}
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}
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for(var i = 0; i < me.widthLatRange/2; i += 0.000001){
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var percentage = i/(me.widthLatRange/2); #use approximate value to reduce cost
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var stepLon = me.widthLonRange * percentage;
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var targetCoord = me.sample(i, stepLon, searchCoord.lat(), searchCoord.lon());
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targetElev = me.getElevByCoord(targetCoord);
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if(me.judgeElev(targetElev)){
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me.warn(targetCoord);
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return;
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}
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}
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searchStep += 0.1;
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searchDis += searchStep;
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}
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print("All clear");
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},
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};
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var parkingRadar = Radar.new(0.3, 3.7, 7, 2);
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@ -0,0 +1,276 @@
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AC3Db
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MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000 amb 0.0000 0.0000 0.0000 emis 1.000 0.173 0.545 spec 0.0000 0.0000 0.0000 shi 50 trans 0.0000
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OBJECT world
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name "Blender_exporter_v2.26__waypoint.ac"
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kids 3
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OBJECT poly
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name "Waypoint"
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data 11
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Circle.mesh
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crease 40.0
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numvert 33
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0.03902 0.2 -0.19616
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0.07654 0.2 -0.18478
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0.11111 0.2 -0.16629
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0.14142 0.2 -0.14142
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0.16629 0.2 -0.11111
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0.18478 0.2 -0.07654
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0.19616 0.2 -0.03902
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0.2 0.2 0
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0.19616 0.2 0.03902
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0.18478 0.2 0.07654
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0.16629 0.2 0.11111
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0.14142 0.2 0.14142
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0.11111 0.2 0.16629
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0.07654 0.2 0.18478
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0.03902 0.2 0.19616
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0 0.2 0.2
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-0.03902 0.2 0.19616
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-0.07654 0.2 0.18478
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-0.11111 0.2 0.16629
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-0.14142 0.2 0.14142
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-0.16629 0.2 0.11111
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-0.18478 0.2 0.07654
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-0.19616 0.2 0.03902
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-0.2 0.2 0
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-0.19616 0.2 -0.03902
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-0.18478 0.2 -0.07654
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-0.16629 0.2 -0.11111
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-0.14142 0.2 -0.14142
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-0.11111 0.2 -0.16629
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-0.07654 0.2 -0.18478
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-0.03902 0.2 -0.19616
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0 0.2 -0.2
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0 0.2 0
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numsurf 32
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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18 0.090277 0.292133
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17 0.101082 0.26903
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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31 0.125 0.75
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30 0.112807 0.745197
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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4 0.176967 0.638893
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3 0.169194 0.676777
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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17 0.101082 0.26903
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16 0.112807 0.254804
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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30 0.112807 0.745197
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29 0.101082 0.73097
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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3 0.169194 0.676777
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2 0.159723 0.707868
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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16 0.112807 0.254804
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15 0.125 0.25
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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29 0.101082 0.73097
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28 0.090277 0.707868
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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2 0.159723 0.707868
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1 0.148918 0.73097
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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15 0.125 0.25
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14 0.137193 0.254804
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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28 0.090277 0.707868
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27 0.080806 0.676777
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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1 0.148918 0.73097
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0 0.137193 0.745197
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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14 0.137193 0.254804
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13 0.148918 0.26903
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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27 0.080806 0.676777
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26 0.073033 0.638893
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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0 0.137193 0.745197
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31 0.125 0.75
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SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
13 0.148918 0.26903
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||||
12 0.159723 0.292133
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||||
SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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26 0.073033 0.638893
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25 0.067258 0.595671
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||||
SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
12 0.159723 0.292133
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||||
11 0.169194 0.323224
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||||
SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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25 0.067258 0.595671
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||||
24 0.063701 0.548773
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||||
SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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||||
11 0.169194 0.323224
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10 0.176967 0.361108
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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||||
24 0.063701 0.548773
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23 0.0625 0.5
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||||
SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
10 0.176967 0.361108
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9 0.182743 0.404329
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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23 0.0625 0.5
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22 0.063701 0.451228
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SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
9 0.182743 0.404329
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||||
8 0.186299 0.451228
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SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
22 0.063701 0.451228
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||||
21 0.067258 0.404329
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||||
SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
8 0.186299 0.451228
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7 0.1875 0.5
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SURF 0X0
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mat 0
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refs 3
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32 0.125 0.5
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21 0.067258 0.404329
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20 0.073033 0.361108
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SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
7 0.1875 0.5
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6 0.186299 0.548773
|
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SURF 0X0
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mat 0
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refs 3
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||||
32 0.125 0.5
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||||
20 0.073033 0.361108
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||||
19 0.080806 0.323223
|
||||
SURF 0X0
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||||
mat 0
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||||
refs 3
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||||
32 0.125 0.5
|
||||
6 0.186299 0.548773
|
||||
5 0.182742 0.595671
|
||||
SURF 0X0
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||||
mat 0
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||||
refs 3
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||||
32 0.125 0.5
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||||
19 0.080806 0.323223
|
||||
18 0.090277 0.292133
|
||||
SURF 0X0
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||||
mat 0
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||||
refs 3
|
||||
32 0.125 0.5
|
||||
5 0.182742 0.595671
|
||||
4 0.176967 0.638893
|
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kids 0
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OBJECT poly
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name "WingtipL"
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data 15
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Circle.mesh.001
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crease 40.0
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numvert 4
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-0.1 0.2 -0.1
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-0.1 0.2 0.1
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0.1 0.2 -0.1
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0.1 0.2 0.1
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numsurf 1
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SURF 0X0
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||||
mat 0
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||||
refs 4
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||||
0 0 0
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1 0 0
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3 0 0
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2 0 0
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kids 0
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||||
OBJECT poly
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||||
name "WingtipR"
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data 15
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||||
Circle.mesh.007
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crease 40.0
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numvert 4
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-0.1 0.2 -0.1
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-0.1 0.2 0.1
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0.1 0.2 -0.1
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0.1 0.2 0.1
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numsurf 1
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||||
SURF 0X0
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||||
mat 0
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||||
refs 4
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||||
0 0 0
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||||
1 0 0
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||||
3 0 0
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||||
2 0 0
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||||
kids 0
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@ -708,6 +708,7 @@
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<file>Aircraft/followme_e-tron/Nasal/electrical.nas</file>
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<file>Aircraft/followme_e-tron/Nasal/systems.nas</file>
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<file>Aircraft/followme_e-tron/Nasal/steering.nas</file>
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<file>Aircraft/followme_e-tron/Nasal/radar.nas</file>
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</followme>
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<!--<screen>
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<file>Aircraft/followme_e-tron/Nasal/SmartScreen.nas</file>
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