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This commit is contained in:
Pascal Brisset
2007-06-03 13:19:09 +00:00
parent 4f38ce8e15
commit 55d049bcb1
1 changed files with 9 additions and 7 deletions
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sw/simulator/diffusion.ml
+9 -7
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@@ -4,11 +4,12 @@ module Ground_Pprz = Pprz.Messages(struct let name = "ground" end)
module LL = Latlong
open LL
type plume = { mutable utm_x : float; mutable utm_y : float; mutable value : int }
type plume = { mutable utm_x : float; mutable utm_y : float; mutable value : int; utm_zone : int }
(* NW of Muret ref *)
let muret = utm_of WGS84 {LL.posn_lat=(Deg>>Rad)43.4624; posn_long=(Deg>>Rad)1.2727}
let source = fun () -> { utm_x = muret.LL.utm_x +. 225.; utm_y = muret.LL.utm_y +. 225.; value = 255}
let royan = utm_of WGS84 {LL.posn_lat=(Deg>>Rad)45.726; posn_long=(Deg>>Rad)(-1.2121)}
let source = fun () -> { utm_x = royan.LL.utm_x -. 300.; utm_y = royan.LL.utm_y +. 300.; value = 255; utm_zone = royan.LL.utm_zone}
let available_ids = ref []
let gen_id =
@@ -61,7 +62,7 @@ let send_on_ivy = fun () ->
and vs = ref [] in
Hashtbl.iter (fun id plume ->
ids := string_of_int id :: !ids;
let wgs84 = LL.of_utm WGS84 {LL.utm_zone = 31; utm_x = plume.utm_x; utm_y = plume.utm_y } in
let wgs84 = LL.of_utm WGS84 {LL.utm_zone = plume.utm_zone ; utm_x = plume.utm_x; utm_y = plume.utm_y } in
xs := sprintf "%.6f" ((Rad>>Deg)wgs84.posn_lat) :: !xs;
ys := sprintf "%.6f" ((Rad>>Deg)wgs84.posn_long) :: !ys;
vs := sprintf "%d" plume.value :: !vs)
@@ -87,18 +88,19 @@ let debug = let i = ref 0 in fun () ->
let detect_distance = 20.
let flight_param_msg = fun _sender vs ->
let lat = Pprz.float_assoc "lat" vs
and long = Pprz.float_assoc "long" vs in
let utm_ac = utm_of WGS84 {LL.posn_lat=(Deg>>Rad)lat; posn_long=(Deg>>Rad)long} in
Hashtbl.iter (fun id plume ->
let utm_plume = {LL.utm_zone = 31; utm_x = plume.utm_x; utm_y = plume.utm_y } in
let utm_plume = {LL.utm_zone = plume.utm_zone; utm_x = plume.utm_x; utm_y = plume.utm_y } in
let d = utm_distance utm_ac utm_plume in
if d < detect_distance then begin
let ac_id = Pprz.string_assoc "ac_id" vs in
Ground_Pprz.message_send my_id "DL_SETTING"
["ac_id", Pprz.String ac_id; "index", Pprz.Int 0(***FIXME***); "value", Pprz.Float (float plume.value)]
for i = 0 to 2 do
Ground_Pprz.message_send my_id "DL_SETTING"
["ac_id", Pprz.String ac_id; "index", Pprz.Int i(***FIXME***); "value", Pprz.Float (float plume.value)]
done
end)
plumes