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[doc] Add doc on SHAPEs and INTRUDERs. (#2815)
* [doc] Add doc on SHAPEs and INTRUDERs. * language corrections Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>
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.. user_guide flight_plan
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================
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GCS map graphics
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================
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GCS map can be enriched with intruders and shapes.
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Intruders
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---------
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Intruders represents vehicules that are not managed by paparazzi. They are updated with the `INTRUDER` message.
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Intruders positions are transmitted by the server to the ACs with ACINFO messages.
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.. image:: intruder.png
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The **INTRUDER** message is defined as follow:
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.. code-block:: xml
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<message name="INTRUDER" id="37">
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<field name="id" type="string"/>
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<field name="name" type="string"/>
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<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
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<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
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<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
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<field name="course" type="float" unit="deg"/>
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<field name="speed" type="float" unit="m/s"/>
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<field name="climb" type="float" unit="m/s"/>
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<field name="itow" type="uint32" unit="ms"/>
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</message>
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Latitudes and longitudes are integers in 1e7deg: ``43.123456`` become ``431234560``.
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.. note::
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You can use the **OpenSky-Network Intruders** tool (in the paparazzi center: Tools->OpenSky-Network Intruders) to view ADS-B aircrafts near your ACs.
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The **id** field will be the aircraft's hexadecimal ICAO 24 bits address, and the **name** field its callsign.
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Shapes
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------
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Shapes can be drawn in the GCS by sending the **SHAPE** message defined below.
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.. image:: shapes.png
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.. code-block:: xml
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<message name="SHAPE" id="38">
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<description>
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The SHAPE message used to draw shapes onto the Paparazzi GCS.
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Field name shape is used to define the type of shape i.e. Circle, Polygon, Line, or Text.
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This is indexed from 0-3 respectively.
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Each shape drawn must have an id number associated with it.
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This id number in conjuction with the shapetype will be needed to update or delete the shape.
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A circle can be defined with the same id as a polygon but since they have different shape types they are considered unique.
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linecolor and fillcolor take in a color string ie: "red", "blue"
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opacity will change the level of transparency of the fill.
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0 - Transparent
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1 - Light Fill
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2 - Medium Fill
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3 - Opaque
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Passing a status of 0 will create or update the shape specified by id and type.
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Passing a status of 1 will delete the shape specified by id and type.
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latarr is an array of coordinates that contain the latitude coordinate for each point in the shape.
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The array is comma separated.
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lonarr is similar to latarr but contain the longitude coordinate for each point in the shape.
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Circle and Text type will take the first coordinates given to place the shape.
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Polygon will take all the coordinates given.
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Line will take the first two coordinates given.
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Radius is only used for the circle.
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Text will always be populated with each message using the first set of coordinates.
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The text field can not be blank or have spaces.
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If text is not desired for a shape then pass "NULL" into the text field.
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</description>
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<field name="id" type="uint8"/>
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<field name="linecolor" type="string"/>
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<field name="fillcolor" type="string"/>
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<field name="opacity" type="uint8" values="Transparent|Light|Medium|Opaque"/>
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<field name="shape" type="uint8" values="Circle|Polygon|Line"/>
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<field name="status" type="uint8" values="create|delete"/>
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<field name="latarr" type="int32[]" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
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<field name="lonarr" type="int32[]" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
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<field name="radius" type="float" unit="m"/>
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<field name="text" type="string"/>
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</message>
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The embedded documentation is pretty explicit here.
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How is this different from sectors, and which one should I choose?
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__________________________________________________________________
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Sectors are defined in the flight plan with waypoints, and are embedded in the aircraft. The aircraft can react to it even if telemetry is down.
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It is advised to keep the number of waypoints low, so this limits the sector "resolution".
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Shapes, on the other hand, are simply drawn in the GCS. It means that the aircraft has no knowledge of their existence, so it can't react to them by itself.
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Being purely on the ground station also means that the number of waypoints can be much higher, allowing to draw e.g. detailled curved zones.
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.. image:: complex_shape.png
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Example
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_______
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This is the python script that was used to draw the 3 shapes on the first example.
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.. literalinclude:: shapes_example.py
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Draw shapes from the AC
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-----------------------
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A future feature will be the addition of a DRAW message to the telemetry, that will be translated to a SHAPE message by the server.
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This will allow to draw shapes on the GCS directly from the AC.
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GCS position
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------------
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The GCS displays its position on the map when receiving a ``FLIGHT_PARAM`` message with the **ac_id** set to ``GCS``.
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This is used by the *rtcm2ivy* tool, that transmit the RTK corrections of a base station, and by the *GPSd position display* tool, dedicated to this task.
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Plumes
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------
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.. code-block:: xml
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<message name="PLUMES" id="100">
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<field name="ids" type="string" format="csv"/>
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<field name="lats" type="string" format="csv"/>
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<field name="longs" type="string" format="csv"/>
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<field name="values" type="string" format="csv"/>
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</message>
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@@ -15,5 +15,6 @@ Start conquering the wolrd, by making incredible :doc:`flight_plans`!
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flight_plans
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communication
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radio
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gcs_graphics
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directories_structure
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#!/usr/bin/python3
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import sys
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from os import path, getenv
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import time
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from enum import Enum
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PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.dirname(path.abspath(__file__))))
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sys.path.append(PPRZ_HOME + "/var/lib/python")
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sys.path.append(PPRZ_HOME + "/sw/lib/python")
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from pprzlink.ivy import IvyMessagesInterface
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from pprzlink.message import PprzMessage
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from pprz_connect import PprzConnect
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class Shape(Enum):
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CIRCLE = 0
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POLYGON = 1
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LINE = 2
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TEXT = 3
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class Opacity(Enum):
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TRANSPARENT = 0
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LIGHT_FILL = 1
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MEDIUM_FILL = 2
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OPAQUE = 3
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class Status(Enum):
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CREATE = 0
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DELETE = 1
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POLYGON_COORDS = [
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(43.462, 1.272),
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(43.4622, 1.2684),
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(43.4628, 1.2686),
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(43.464, 1.2710),
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(43.4657, 1.2714),
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(43.4656, 1.2738)
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]
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def polygon(shape_id):
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msg_shape = PprzMessage("ground", "SHAPE")
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msg_shape['id'] = shape_id
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msg_shape['linecolor'] = 'red'
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msg_shape['fillcolor'] = 'red'
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msg_shape['opacity'] = Opacity.LIGHT_FILL.value
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msg_shape['shape'] = Shape.POLYGON.value
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msg_shape['status'] = Status.CREATE.value
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lonarr = []
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latarr = []
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for coord in POLYGON_COORDS:
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latarr.append(int(coord[0] * 1e7))
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lonarr.append(int(coord[1] * 1e7))
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msg_shape['latarr'] = latarr
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msg_shape['lonarr'] = lonarr
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msg_shape['text'] = "Crop"
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return msg_shape
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def circle(shape_id):
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msg_shape = PprzMessage("ground", "SHAPE")
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msg_shape['id'] = shape_id
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msg_shape['linecolor'] = 'green'
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msg_shape['fillcolor'] = 'yellow'
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msg_shape['opacity'] = Opacity.MEDIUM_FILL.value
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msg_shape['shape'] = Shape.CIRCLE.value
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msg_shape['status'] = Status.CREATE.value
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msg_shape['latarr'] = [int(43.4640*1e7)]
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msg_shape['lonarr'] = [int(1.275*1e7)]
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msg_shape['radius'] = int(100)
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msg_shape['text'] = "hello"
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return msg_shape
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def line(shape_id):
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msg_shape = PprzMessage("ground", "SHAPE")
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msg_shape['id'] = shape_id
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msg_shape['linecolor'] = 'purple'
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msg_shape['shape'] = Shape.LINE.value
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msg_shape['status'] = Status.CREATE.value
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msg_shape['latarr'] = [int(43.46296*1e7), int(43.46216*1e7)]
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msg_shape['lonarr'] = [int(1.272*1e7), int(1.2744*1e7)]
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msg_shape['text'] = "runway"
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return msg_shape
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if __name__ == '__main__':
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ivy = IvyMessagesInterface("Shape drawer")
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# wait for ivy to be correctly started
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time.sleep(0.1)
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msg = polygon(1)
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ivy.send(msg)
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msg = circle(2)
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ivy.send(msg)
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msg = line(3)
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ivy.send(msg)
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ivy.shutdown()
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