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Commit 7d20d803 authored by Oleksandr Husak's avatar Oleksandr Husak
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way points from new topic

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README.md
+ 87
− 38
View file @ 7d20d803
...@@ -30,49 +30,98 @@ Connection settings ...@@ -30,49 +30,98 @@ Connection settings
- 2. Send messages to a `hivemq` public broker - 2. Send messages to a `hivemq` public broker
- topic `ipos/client/position` - topic `ipos/client/position`
- new positions - new positions
- ```json - ```json
{
"objects": [
{ {
"id": "Employee1", "objects": [
"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", "id": "Employee1",
"notificationType": "EntryNotification" "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": []` - 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` - topic `ipos/client/root`
- ```json - ```json
{ {
......
src/app/components/map/map.component.ts
+ 76
− 3
View file @ 7d20d803
...@@ -6,7 +6,16 @@ import 'leaflet-arrowheads'; ...@@ -6,7 +6,16 @@ import 'leaflet-arrowheads';
import { IMqttMessage, MqttService } from 'ngx-mqtt'; import { IMqttMessage, MqttService } from 'ngx-mqtt';
import { environment, getMarkerConfig} from 'src/environments/environment'; 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({ @Component({
...@@ -18,17 +27,20 @@ export class MapComponent implements OnInit { ...@@ -18,17 +27,20 @@ export class MapComponent implements OnInit {
private subsPosition: Subscription; private subsPosition: Subscription;
private subsRoot: Subscription; private subsRoot: Subscription;
private subsWayPoint: Subscription;
private map!: L.Map; private map!: L.Map;
private root!: Position; private root!: Position;
agentsInfo: { [key: string]: {} } = {}; agentsInfo: { [key: string]: {} } = {};
markOverlays: { [key: string]: L.LayerGroup<any> } = {}; markOverlays: { [key: string]: L.LayerGroup<any> } = {};
wayPointsOverlays: { [key: string]: L.LayerGroup<any> } = {};
posOverlays: { [key: string]: L.LayerGroup<any> } = {}; posOverlays: { [key: string]: L.LayerGroup<any> } = {};
constructor(private _mqttService: MqttService) { constructor(private _mqttService: MqttService) {
this.root = {"refSystemId": "ROOT", "point": {"latitude": 51.02545, "longitude": 13.72295}} this.root = {"refSystemId": "ROOT", "point": {"latitude": 51.02545, "longitude": 13.72295}}
// --- Root
this.subsRoot = this._mqttService.observe('ipos/client/root').subscribe((message: IMqttMessage) => { this.subsRoot = this._mqttService.observe('ipos/client/root').subscribe((message: IMqttMessage) => {
try { try {
let root = <Position>JSON.parse(message.payload.toString()) let root = <Position>JSON.parse(message.payload.toString())
...@@ -41,6 +53,7 @@ export class MapComponent implements OnInit { ...@@ -41,6 +53,7 @@ export class MapComponent implements OnInit {
} }
}); });
// --- Agent position
this.subsPosition = this._mqttService.observe('ipos/client/position').subscribe((message: IMqttMessage) => { this.subsPosition = this._mqttService.observe('ipos/client/position').subscribe((message: IMqttMessage) => {
try { try {
let upd: PositionUpdate = <PositionUpdate>JSON.parse(message.payload.toString()) let upd: PositionUpdate = <PositionUpdate>JSON.parse(message.payload.toString())
...@@ -53,6 +66,24 @@ export class MapComponent implements OnInit { ...@@ -53,6 +66,24 @@ export class MapComponent implements OnInit {
console.log(e) 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 { } ngOnInit(): void { }
...@@ -86,8 +117,6 @@ export class MapComponent implements OnInit { ...@@ -86,8 +117,6 @@ export class MapComponent implements OnInit {
// } // }
// }); // });
} else { } else {
this.markOverlays[key] = L.layerGroup().addTo(<L.Map>this.map) this.markOverlays[key] = L.layerGroup().addTo(<L.Map>this.map)
} }
...@@ -111,6 +140,50 @@ export class MapComponent implements OnInit { ...@@ -111,6 +140,50 @@ export class MapComponent implements OnInit {
this.addMarker(key, pos, props, desc.extractedAttributes?.theta) 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) { addMarker(key: string, pos: Position, popup: string, theta: number) {
// empty position // empty position
......
src/app/model/base-model.ts
+ 22
− 3
View file @ 7d20d803
...@@ -7,7 +7,7 @@ export interface PositionUpdate { ...@@ -7,7 +7,7 @@ export interface PositionUpdate {
export interface Agent { export interface Agent {
id: string id: string
sensorId: string sensorId: string
type: ObjectType type: AgentType
sensorType: SensorType sensorType: SensorType
position: Position position: Position
orientation?: Quaternion orientation?: Quaternion
...@@ -53,7 +53,7 @@ export enum NotificationType { ...@@ -53,7 +53,7 @@ export enum NotificationType {
"Unknown" "Unknown"
} }
enum ObjectType { enum AgentType {
"HUMAN", "HUMAN",
"BOX", "BOX",
"ROBOT" "ROBOT"
...@@ -108,4 +108,23 @@ export function isAgent(obj: any): obj is Agent { ...@@ -108,4 +108,23 @@ export function isAgent(obj: any): obj is Agent {
&& "id" in obj && "id" in obj
&& "position" in obj && "position" in obj
&& isPosition(obj.position) && 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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