From a6eef7d349b0795bff5e8915fce441688466fb0d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=EB=B0=95=EC=9E=AC=EC=9A=B0?= <박재우@host.docker.internal> Date: Thu, 16 Nov 2023 11:22:58 +0900 Subject: [PATCH] =?UTF-8?q?=EB=93=9C=EB=A1=A0=20=EB=B9=84=ED=96=89=20?= =?UTF-8?q?=EB=8D=94=EB=AF=B8=EB=8D=B0=EC=9D=B4=ED=84=B0=20=ED=8C=8C?= =?UTF-8?q?=EC=9D=BC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- document/dron_test/pav-client.js | 47 ++++++++++ document/dron_test/pav-utils.js | 146 ++++++++++++++++++++++++++++++ document/dron_test/pav-warning.js | 88 ++++++++++++++++++ 3 files changed, 281 insertions(+) create mode 100644 document/dron_test/pav-client.js create mode 100644 document/dron_test/pav-utils.js create mode 100644 document/dron_test/pav-warning.js diff --git a/document/dron_test/pav-client.js b/document/dron_test/pav-client.js new file mode 100644 index 00000000..9bde25bf --- /dev/null +++ b/document/dron_test/pav-client.js @@ -0,0 +1,47 @@ +const net = require('net'); + + +const getConnection = (connName, host, port) => { + const client = net.connect({port: port, host: host}, function () { + console.log(connName + ' Connected: '); + console.log(' local = %s:%s', this.localAddress, this.localPort); + console.log(' remote = %s:%s', this.remoteAddress, this.remotePort); + this.setTimeout(500); + this.setEncoding('utf8'); + this.on('data', function (data) { + console.log(connName + " From Server: " + data.toString()); + // this.end(); + }); + this.on('end', function () { + console.log(connName + ' Client disconnected'); + }); + this.on('error', function (err) { + console.log('Socket Error: ', err, JSON.stringify(err)); + }); + this.on('timeout', function () { + console.log('Socket Timed Out'); + }); + this.on('close', function (e) { + console.log('Socket Closed', e); + }); + }); + return client; +} + +const writeData = (socket, data) => { + const success = !!socket.write(data); + // if (success) { + // (function (socket, data) { + // socket.once('drain', function () { + // writeData(socket, data); + // }); + // })(socket, data); + // } +} + +// const Dwarves = getConnection("Dwarves"); +// writeData(Dwarves, JSON.stringify(sampleData)); + + + +module.exports = {getConnection, writeData} diff --git a/document/dron_test/pav-utils.js b/document/dron_test/pav-utils.js new file mode 100644 index 00000000..0e858c24 --- /dev/null +++ b/document/dron_test/pav-utils.js @@ -0,0 +1,146 @@ +// degree -> radian 변환 +const deg2rad = deg => { + return deg * (Math.PI / 180); +}; +const rad2deg = rad => { + return rad * (180 / Math.PI); +}; +// 좌표간 거리계산 +const getDistanceFromCoordByMeter = (coord1, coord2) => { + const R = 6371; // Radius of the earth in km + const dLat = deg2rad(coord2[0] - coord1[0]); // deg2rad below + const dLon = deg2rad(coord2[1] - coord1[1]); + const a = + Math.sin(dLat / 2) * Math.sin(dLat / 2) + + Math.cos(deg2rad(coord1[0])) * + Math.cos(deg2rad(coord2[0])) * + Math.sin(dLon / 2) * + Math.sin(dLon / 2); + const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a)); + // var d = R * c; // Distance in km + const d = R * c * 1000; // Distance in m + return d; +}; +// 두 좌표사이 특정 거리만큼의 좌표 추출 +const getCoordsFormBetweenCoord = (coord1, coord2, dist) => { + // console.log('init ===> ', {coord1, coord2, dist}) + const r = []; + // 처음 좌표 + r.push(coord1); + // 중간 좌표 + const totalDist = getDistanceFromCoordByMeter(coord1, coord2); + const dx = coord2[0] - coord1[0]; + const singX = dx < 0 ? -1 : 1; + const dy = coord2[1] - coord1[1]; + const singY = dy < 0 ? -1 : 1; + const m = dy / dx; + const rad = Math.atan(m); + + const currentTotalDist = Math.sqrt(dx ** 2 + dy ** 2); + const currentDivDist = (dist * currentTotalDist) / totalDist; + const div = Math.floor(currentTotalDist / currentDivDist); + + for (let i = 1; i <= div; i++) { + const currentDist = currentDivDist * i; + let x = coord1[0]; + let y = coord1[1]; + // var heading = Math.atan2(dy, dx) * 180 / Math.PI; + // if (heading < 0) { + // heading += 360; + // } + if (dx === 0) { + y += currentDist * singY; + } else if (dy === 0) { + x += currentDist * singX; + } else { + const angle = Math.atan2(dy, dx); + x += Math.cos(angle) * currentDist; + y += Math.sin(angle) * currentDist; + } + const heading = calculateHeading( + r[r.length - 1][0], + r[r.length - 1][1], + x, + y + ); + r.push([x, y, heading]); + } + // 마지막 좌표 + r.push(coord2); + return r; +}; + +function calculateHeading(x1, y1, x2, y2) { + var dx = x2 - x1; + var dy = y2 - y1; + var heading = (Math.atan2(dy, dx) * 180) / Math.PI; + if (heading < 0) { + heading += 360; + } + return heading; +} + +const dumyData = { + authKey: '1cc2e08e-0c5c-43b2-8d4d-cddd3de558e3', + terminalId: 'SANDBOX-01', + command: 'SANDBOX', + body: [ + { + objectId: 'JAL497', + lat: 37.52097, + lon: 126.6146, + elevType: 'M', + elev: 125.4, + speedType: 'KM', + speed: 145.8, + heading: 227.94, + terminalRcvDt: '20210629173145', + betteryLevel: 91, + betteryVoltage: 50, + dronStatus: 'TAKEOFF', + moveDistance: 120, + moveDistanceType: 'M', + sensorCo: 100.11, + sensorSo2: 200.22, + sensorNo2: 300.33, + sensorO3: 400.44, + sensorDust: 500.55 + } + ] +}; + +module.exports = { + getDistanceFromCoordByMeter, + deg2rad, + getCoordsFormBetweenCoord, + dumyData +}; + +const test = () => { + const coord1 = [37.521, 126.6082]; + // const coord2 = [37.5210, 126.6057]; // x 절편 + const coord2 = [37.52, 126.6082]; // y 절편 + // const coord2 = [37.5220, 126.6057]; // 일반 + const r = getCoordsFormBetweenCoord(coord1, coord2, 10); + console.log(r); + for (let i = 1; i < r.length; i++) { + const dist = getDistanceFromCoordByMeter(r[i - 1], r[i]); + console.log(dist); + } +}; + +// test(); + +const test2 = () => { + let m = 10.5 / 14; + console.log(3 / 4, 13.5 / 18, (13.5 - 3) / (18 - 4)); + let rad = Math.atan(m); + let tan = Math.tan(rad); + let cos = Math.cos(rad); + let sin = Math.sin(rad); + console.log({ rad, tan, cos, sin }); + let x = Math.cos(rad) * 15; + let y = Math.sin(rad) * 15; + console.log({ x, y }); +}; +// test2(); diff --git a/document/dron_test/pav-warning.js b/document/dron_test/pav-warning.js new file mode 100644 index 00000000..70b422bc --- /dev/null +++ b/document/dron_test/pav-warning.js @@ -0,0 +1,88 @@ +const { getConnection, writeData } = require('./pav-client'); +const { getCoordsFormBetweenCoord, dumyData } = require('./pav-utils'); + +// const host = '192.168.0.30'; +const host = 'localhost'; +// const host = '211.253.11.189'; +const port = 8082; + +// 기본정보 +const prefix = 'PALUTM-'; + +const pathSampleCoord = [ + [37.523771, 126.720982], + [37.524841, 126.723106], + [37.524337, 126.72333], + [37.524841, 126.723106], + [37.523771, 126.720982] +]; +// const pathSampleCoord = [ +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655], +// [42.5515, 126.655] +// ]; +const divDist = 10; // [m] + +// 특정거리에 따른 좌표 추출 +const getCoords = coords => { + if (!coords || coords.length < 1) return; + const totalCoords = []; + for (let j = 1; j < 500; j++) { + for (let i = 1; i < coords.length; i++) { + const divCoords = getCoordsFormBetweenCoord( + coords[i - 1], + coords[i], + divDist + ); + totalCoords.push(...divCoords); + } + } + return totalCoords; +}; + +const getClient = () => { + const dronName = prefix + '010'; + + const client = {}; + client.dronName = dronName; + client.socket = getConnection(dronName, host, port); + client.data = getCoords(pathSampleCoord); + return client; +}; + +const sendData = (client, cnt) => { + const data = { + ...dumyData, + terminalId: client.dronName, + body: [ + { + ...dumyData.body[0], + objectId: client.dronName, + lat: client.data[cnt][0], + lon: client.data[cnt][1], + heading: client.data[cnt][2] + } + ] + }; + writeData(client.socket, JSON.stringify(data)); + iteratorSendData(++cnt); +}; + +const client = getClient(); + +const iteratorSendData = (cnt = 0) => { + if (cnt >= client.data.length) { + client.socket.destroy(); + return; + } + setTimeout(() => sendData(client, cnt), 1000); +}; + +iteratorSendData();