From 7d20d803149abcbea6a7910522383bd84ddaaae8 Mon Sep 17 00:00:00 2001
From: Oleksandr Husak <oleksandr.husak@mailbox.tu-dresden.de>
Date: Mon, 25 Apr 2022 13:53:07 +0200
Subject: [PATCH] way points from new topic
---
README.md | 125 +++++++++++++++++-------
src/app/components/map/map.component.ts | 79 ++++++++++++++-
src/app/model/base-model.ts | 25 ++++-
3 files changed, 185 insertions(+), 44 deletions(-)
diff --git a/README.md b/README.md
index c797cf3..fb19aa7 100644
--- a/README.md
+++ b/README.md
@@ -30,49 +30,98 @@ Connection settings
- 2. Send messages to a `hivemq` public broker
- topic `ipos/client/position`
- new positions
- - ```json
- {
- "objects": [
+ - ```json
{
- "id": "Employee1",
- "sensorId": "UWB_1",
- "type": "HUMAN",
- "sensorType": "UWB",
- "position": {
- "refSystemId": "ROOT",
- "point": {
- "x": 28,
- "y": -12,
- "z": 20
- },
- "accuracy": 1
- },
- "orientation": {
- "x": 0,
- "y": 0,
- "z": -0.7071,
- "w": 0.7071
- },
- "extractedAttributes": {
- "batteryChargeLevel": 70,
- "loadedItems": [23, 1, 25, 17],
- "errors": [2, 1, 6],
- "theta": -0.9
- },
- "lastPosUpdate": "2021-09-14T09:41:20+00:00",
- "zoneDescriptors": [
+ "objects": [
{
- "zoneId": "door_zone",
- "notificationType": "EntryNotification"
+ "id": "Employee1",
+ "sensorId": "UWB_1",
+ "type": "HUMAN",
+ "sensorType": "UWB",
+ "position": {
+ "refSystemId": "ROOT",
+ "point": {
+ "x": 28,
+ "y": -12,
+ "z": 20
+ },
+ "accuracy": 1
+ },
+ "orientation": {
+ "x": 0,
+ "y": 0,
+ "z": -0.7071,
+ "w": 0.7071
+ },
+ "extractedAttributes": {
+ "batteryChargeLevel": 70,
+ "loadedItems": [23, 1, 25, 17],
+ "errors": [2, 1, 6],
+ "theta": -0.9
+ },
+ "lastPosUpdate": "2021-09-14T09:41:20+00:00",
+ "zoneDescriptors": [
+ {
+ "zoneId": "door_zone",
+ "notificationType": "EntryNotification"
+ }
+ ]
}
- ]
+ ],
+ "type": "EntryNotification"
}
- ],
- "type": "EntryNotification"
- }
- ```
+ ```
- More objects can be added to the `"object": []`
- - There are special colours for objects with id `"Employee1"` - `"Employee4"`. Config: [MarkerColorMap](src/environments/environment.ts)
+ - There are special colours for objects. Config: [MarkerColorList](src/environments/environment.ts)
+ - topic `ipos/client/way`
+ - new way points
+ - ```json
+ [
+ {
+ "agentId":"Employee1",
+ "agentType":"HUMAN",
+ "publisher":"main",
+ "position":{
+ "refSystemId":"ROOT",
+ "point":{
+ "x":58,
+ "y":42,
+ "z":20
+ }
+ },
+ "time":"2022-04-14T09:41:20+00:00"
+ },
+ {
+ "agentId":"Employee1",
+ "agentType":"HUMAN",
+ "publisher":"main",
+ "position":{
+ "refSystemId":"ROOT",
+ "point":{
+ "x":18,
+ "y":12,
+ "z":50
+ }
+ },
+ "time":"2022-04-14T09:41:20+00:00"
+ },
+ {
+ "agentId":"Employee2",
+ "agentType":"ROBOT",
+ "publisher":"Employee2",
+ "position":{
+ "refSystemId":"ROOT",
+ "point":{
+ "x":-18,
+ "y":-52,
+ "z":33
+ }
+ },
+ "time":"2022-04-14T10:41:20+00:00"
+ }
+ ]
+
+ ```
- topic `ipos/client/root`
- ```json
{
diff --git a/src/app/components/map/map.component.ts b/src/app/components/map/map.component.ts
index ff0f43a..200622b 100644
--- a/src/app/components/map/map.component.ts
+++ b/src/app/components/map/map.component.ts
@@ -6,7 +6,16 @@ import 'leaflet-arrowheads';
import { IMqttMessage, MqttService } from 'ngx-mqtt';
import { environment, getMarkerConfig} from 'src/environments/environment';
-import {Position, PositionUpdate, RelativePos, WGS84, validateTypePosition, validateTypeAgent} from 'src/app/model/base-model';
+import {
+ Position,
+ PositionUpdate,
+ RelativePos,
+ WGS84,
+ validateTypePosition,
+ validateTypeAgent,
+ WayPoint,
+ isWayPoint
+} from 'src/app/model/base-model';
@Component({
@@ -18,17 +27,20 @@ export class MapComponent implements OnInit {
private subsPosition: Subscription;
private subsRoot: Subscription;
+ private subsWayPoint: Subscription;
private map!: L.Map;
private root!: Position;
agentsInfo: { [key: string]: {} } = {};
markOverlays: { [key: string]: L.LayerGroup<any> } = {};
+ wayPointsOverlays: { [key: string]: L.LayerGroup<any> } = {};
posOverlays: { [key: string]: L.LayerGroup<any> } = {};
constructor(private _mqttService: MqttService) {
this.root = {"refSystemId": "ROOT", "point": {"latitude": 51.02545, "longitude": 13.72295}}
+ // --- Root
this.subsRoot = this._mqttService.observe('ipos/client/root').subscribe((message: IMqttMessage) => {
try {
let root = <Position>JSON.parse(message.payload.toString())
@@ -41,6 +53,7 @@ export class MapComponent implements OnInit {
}
});
+ // --- Agent position
this.subsPosition = this._mqttService.observe('ipos/client/position').subscribe((message: IMqttMessage) => {
try {
let upd: PositionUpdate = <PositionUpdate>JSON.parse(message.payload.toString())
@@ -53,6 +66,24 @@ export class MapComponent implements OnInit {
console.log(e)
}
});
+
+
+ // --- Agent way points
+ this.subsWayPoint = this._mqttService.observe('ipos/client/way').subscribe((message: IMqttMessage) => {
+ try {
+ let points: WayPoint[] = <WayPoint[]>JSON.parse(message.payload.toString())
+
+ console.log(points)
+
+ points.forEach(wayPoint => {
+ if (isWayPoint(wayPoint)) {
+ this.registerWayPoint(wayPoint)
+ }
+ });
+ } catch(e) {
+ console.log(e)
+ }
+ });
}
ngOnInit(): void { }
@@ -86,8 +117,6 @@ export class MapComponent implements OnInit {
// }
// });
-
-
} else {
this.markOverlays[key] = L.layerGroup().addTo(<L.Map>this.map)
}
@@ -111,6 +140,50 @@ export class MapComponent implements OnInit {
this.addMarker(key, pos, props, desc.extractedAttributes?.theta)
}
+ registerWayPoint(wayPoint: WayPoint) {
+ // empty position
+ if (wayPoint.position==undefined) {
+ console.log("Error: empty position.")
+ return
+ }
+
+ // empty position
+ if (Object.values(wayPoint.position).every((e)=>{e==undefined})) {
+ console.log("Error: empty point.")
+ return;
+ }
+
+ let key = wayPoint.agentId
+
+ // --- Marker config
+ let serialNum = Object.keys(this.markOverlays).indexOf(key)
+ var markerConf = getMarkerConfig(serialNum)
+
+ // --- Layer on the map
+ if (!(key in this.wayPointsOverlays)) {
+ this.wayPointsOverlays[key] = L.layerGroup().addTo(<L.Map>this.map)
+ }
+
+ let point = wayPoint.position.point
+
+ if ('x' in point) {
+ var globPos = this.ref2root(point)
+ } else {
+ var globPos = L.latLng([point.latitude, point.longitude]);
+ }
+
+ // --- Marker
+
+ let markerDesc = `<p> \
+ <h4>Way point</h4>
+ <strong>Agent</strong>: ${wayPoint.agentId} <br>\
+ <strong>Time</strong>: ${wayPoint.time} <br>
+ </p>`
+
+ let marker = L.circleMarker(globPos, {radius: 5, color: markerConf.color}).bindPopup(markerDesc).openPopup();
+ marker.addTo(this.wayPointsOverlays[key])
+ }
+
addMarker(key: string, pos: Position, popup: string, theta: number) {
// empty position
diff --git a/src/app/model/base-model.ts b/src/app/model/base-model.ts
index 30864c0..19520ba 100644
--- a/src/app/model/base-model.ts
+++ b/src/app/model/base-model.ts
@@ -7,7 +7,7 @@ export interface PositionUpdate {
export interface Agent {
id: string
sensorId: string
- type: ObjectType
+ type: AgentType
sensorType: SensorType
position: Position
orientation?: Quaternion
@@ -53,7 +53,7 @@ export enum NotificationType {
"Unknown"
}
-enum ObjectType {
+enum AgentType {
"HUMAN",
"BOX",
"ROBOT"
@@ -108,4 +108,23 @@ export function isAgent(obj: any): obj is Agent {
&& "id" in obj
&& "position" in obj
&& isPosition(obj.position)
-}
\ No newline at end of file
+}
+
+
+// --- Way points
+
+export interface WayPoint {
+ "agentId": string
+ "agentType"?: AgentType
+ "publisher"?: string
+ "position": Position
+ "time": string
+}
+
+
+export function isWayPoint(obj: any): obj is WayPoint {
+ return obj
+ && "agentId" in obj
+ && "time" in obj
+ && isPosition(obj.position)
+}
--
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