Introdotto monivmento ownship nella visualizzazione e nel calcolo delle posizioni.

settings.json

@@ -20,7 +20,7 @@
                     "port": 60013,
                     "local_port": 60012,
                     "use_json_protocol": true,
-                    "prediction_offset_ms": 30.0
+                    "prediction_offset_ms": 20.0
                 }
             },
             "lru": {

target_simulator/analysis/simulation_archive.py

@@ -8,44 +8,45 @@ from typing import Dict, List, Any, Tuple, Optional
 
 from target_simulator.core.models import Scenario
 
-# Definisci la struttura per uno stato registrato
+# Define the structure for a recorded state
 RecordedState = Tuple[float, float, float, float]  # (timestamp, x_ft, y_ft, z_ft)
 
 
 class SimulationArchive:
     """
-    Gestisce la raccolta dei dati per una singola esecuzione di simulazione e la salva su file.
+    Manages data collection for a single simulation run and saves it to a file.
     """
 
     ARCHIVE_FOLDER = "archive_simulations"
 
     def __init__(self, scenario: Scenario):
         """
-        Inizializza una nuova sessione di archivio per un dato scenario.
+        Initializes a new archive session for a given scenario.
         """
         self.start_time = time.monotonic()
         self.scenario_name = scenario.name
         self.scenario_data = scenario.to_dict()
 
-        # Struttura dati per contenere gli eventi registrati, indicizzati per target_id
+        # Data structure to hold recorded events, indexed by target_id
-        # self.recorded_data[target_id]['simulated'] = [(ts, x, y, z), ...]
-        # self.recorded_data[target_id]['real'] = [(ts, x, y, z), ...]
         self.recorded_data: Dict[int, Dict[str, List[RecordedState]]] = {}
+        
+        # Data structure to hold the ownship's trajectory
+        self.ownship_trajectory: List[Dict[str, Any]] = []
 
         self._ensure_archive_directory()
 
     def _ensure_archive_directory(self):
-        """Crea la directory principale dell'archivio se non esiste."""
+        """Creates the main archive directory if it does not exist."""
         if not os.path.exists(self.ARCHIVE_FOLDER):
             try:
                 os.makedirs(self.ARCHIVE_FOLDER)
             except OSError as e:
-                print(f"Errore nella creazione della directory di archivio: {e}")
+                print(f"Error creating archive directory: {e}")
 
     def add_simulated_state(
         self, target_id: int, timestamp: float, state: Tuple[float, ...]
     ):
-        """Aggiunge uno stato simulato all'archivio."""
+        """Adds a simulated state to the archive."""
         if target_id not in self.recorded_data:
             self.recorded_data[target_id] = {"simulated": [], "real": []}
 
@@ -55,12 +56,21 @@ class SimulationArchive:
     def add_real_state(
         self, target_id: int, timestamp: float, state: Tuple[float, ...]
     ):
-        """Aggiunge uno stato reale (dal server) all'archivio."""
+        """Adds a real state (from the server) to the archive."""
         if target_id not in self.recorded_data:
             self.recorded_data[target_id] = {"simulated": [], "real": []}
 
         full_state: RecordedState = (timestamp, state[0], state[1], state[2])
         self.recorded_data[target_id]["real"].append(full_state)
+        
+    def add_ownship_state(self, state: Dict[str, Any]):
+        """
+        Adds an ownship state sample to the archive's trajectory.
+
+        Args:
+            state: A dictionary representing the ownship's state at a point in time.
+        """
+        self.ownship_trajectory.append(state)
 
     def save(self, extra_metadata: Optional[Dict[str, Any]] = None) -> str:
         """
@@ -89,6 +99,7 @@ class SimulationArchive:
         archive_content = {
             "metadata": metadata,
             "scenario_definition": self.scenario_data,
+            "ownship_trajectory": self.ownship_trajectory,
             "simulation_results": self.recorded_data,
         }
 
@@ -106,4 +117,4 @@ class SimulationArchive:
             return filepath
         except IOError as e:
             print(f"Error saving simulation archive: {e}")
-            return ""
+            return ""

target_simulator/analysis/simulation_state_hub.py

@@ -9,7 +9,7 @@ import threading
 import math
 import logging
 import time
-from typing import Dict, Deque, Tuple, Optional, List
+from typing import Dict, Deque, Tuple, Optional, List, Any
 
 # Module-level logger for this module
 logger = logging.getLogger(__name__)
@@ -40,6 +40,11 @@ class SimulationStateHub:
         # This is used to propagate headings received from external sources
         # (e.g. RIS payloads) without modifying the canonical stored position
         # tuple format.
+        
+        # --- Ownship State ---
+        # Stores the absolute state of the ownship platform.
+        self._ownship_state: Dict[str, Any] = {}
+        
         self._latest_real_heading = {}
         # Also keep the raw value as received (for debug/correlation)
         self._latest_raw_heading = {}
@@ -350,9 +355,12 @@ class SimulationStateHub:
         """Clears all stored data for all targets."""
         with self._lock:
             self._target_data.clear()
+            self._ownship_state.clear()
             # also clear heading caches
             self._latest_real_heading.clear()
             self._latest_raw_heading.clear()
+            self._antenna_azimuth_deg = None
+            self._antenna_azimuth_ts = None
 
     def _initialize_target(self, target_id: int):
         """Internal helper to create the data structure for a new target."""
@@ -414,3 +422,29 @@ class SimulationStateHub:
             except Exception:
                 # Silently ignore errors to preserve hub stability
                 pass
+            
+    def set_ownship_state(self, state: Dict[str, Any]):
+        """
+        Updates the ownship's absolute state.
+
+        This method is thread-safe. The provided state dictionary is merged
+        with the existing state.
+
+        Args:
+            state: A dictionary containing ownship state information, e.g.,
+                   {'position_xy_ft': (x, y), 'heading_deg': 90.0}.
+        """
+        with self._lock:
+            self._ownship_state.update(state)
+
+    def get_ownship_state(self) -> Dict[str, Any]:
+        """
+        Retrieves a copy of the ownship's current absolute state.
+
+        This method is thread-safe.
+
+        Returns:
+            A dictionary containing the last known state of the ownship.
+        """
+        with self._lock:
+            return self._ownship_state.copy()

target_simulator/config.py

@@ -30,3 +30,9 @@ DEBUG_CONFIG = {
     "io_trace_sent_filename": "sent_positions.csv",
     "io_trace_received_filename": "received_positions.csv",
 }
+
+PROTOCOL_CONFIG = {
+    "json_float_precision": 4,  # Number of decimal places for floats in JSON payloads
+}
+
+

target_simulator/gui/main_view.py

@@ -617,10 +617,18 @@ class MainView(tk.Tk):
         self.ppi_widget.update_real_targets(display_data.get("real", []))
         
         if self.simulation_hub:
+            # Update antenna sweep line
             az_deg, az_ts = self.simulation_hub.get_antenna_azimuth()
             if az_deg is not None:
                 self.ppi_widget.update_antenna_azimuth(az_deg, timestamp=az_ts)
 
+            # Update ownship orientation for the PPI display
+            ownship_state = self.simulation_hub.get_ownship_state()
+            if ownship_state:
+                ownship_heading = ownship_state.get("heading_deg", 0.0)
+                self.ppi_widget.update_ownship_state(ownship_heading)
+
+
         if sim_is_running_now:
             if self.simulation_engine and self.simulation_engine.scenario:
                 times = [getattr(t, "_sim_time_s", 0.0) for t in self.simulation_engine.scenario.get_all_targets()]

target_simulator/gui/payload_router.py

@@ -1,6 +1,6 @@
 # target_simulator/gui/payload_router.py
-
+"""
-"""Payload router for buffering SFP payloads for the GUI.
+Payload router for buffering SFP payloads for the GUI.
 
 This module extracts the DebugPayloadRouter class so the router can be
 reused and tested independently from the Tkinter window.
@@ -21,7 +21,6 @@ from typing import Dict, Optional, Any, List, Callable, Tuple
 from target_simulator.core.sfp_structures import SFPHeader, SfpRisStatusPayload
 from target_simulator.analysis.simulation_state_hub import SimulationStateHub
 from target_simulator.core.models import Target
-from target_simulator.utils.clock_synchronizer import ClockSynchronizer
 
 # Module-level logger for this module
 logger = logging.getLogger(__name__)
@@ -29,6 +28,9 @@ logger = logging.getLogger(__name__)
 PayloadHandler = Callable[[bytearray], None]
 TargetListListener = Callable[[List[Target]], None]
 
+# --- Constants ---
+M_TO_FT = 3.28084
+
 
 class DebugPayloadRouter:
     """
@@ -52,7 +54,8 @@ class DebugPayloadRouter:
 
         self._hub = simulation_hub
 
-        self._clock_synchronizer = ClockSynchronizer()
+        # Timestamp for ownship position integration
+        self._last_ownship_update_time: Optional[float] = None
 
         # Listeners for real-time target data broadcasts
         self._ris_target_listeners: List[TargetListListener] = []
@@ -78,7 +81,7 @@ class DebugPayloadRouter:
         self._logger = logger
 
     def set_archive(self, archive):
-        """Imposta la sessione di archivio corrente per la registrazione."""
+        """Sets the current archive session for recording."""
         with self._lock:
             self.active_archive = archive
 
@@ -122,7 +125,7 @@ class DebugPayloadRouter:
                     target = Target(
                         target_id=i, trajectory=[], active=True, traceable=True
                     )
-                    M_TO_FT = 3.280839895
+                    # Server's y-axis is East (our x), x-axis is North (our y)
                     pos_x_ft = float(ris_target.y) * M_TO_FT
                     pos_y_ft = float(ris_target.x) * M_TO_FT
                     pos_z_ft = float(ris_target.z) * M_TO_FT
@@ -132,9 +135,6 @@ class DebugPayloadRouter:
                     target._update_current_polar_coords()
                     try:
                         raw_h = float(ris_target.heading)
-                        # Server should send heading in radians; but be tolerant:
-                        # if the magnitude looks like radians (<= ~2*pi) convert to degrees,
-                        # otherwise assume it's already degrees.
                         if abs(raw_h) <= (2 * math.pi * 1.1):
                             hdg_deg = math.degrees(raw_h)
                             unit = "rad"
@@ -142,22 +142,12 @@ class DebugPayloadRouter:
                             hdg_deg = raw_h
                             unit = "deg"
                         target.current_heading_deg = hdg_deg % 360
-                        # Store the raw value on the Target for later correlation
+                        setattr(target, "_raw_heading", raw_h)
-                        try:
-                            setattr(target, "_raw_heading", raw_h)
-                        except Exception:
-                            pass
-                        self._logger.debug(
-                            f"Parsed RIS heading for target {i}: raw={raw_h} assumed={unit} hdg_deg={target.current_heading_deg:.6f}"
-                        )
                     except (ValueError, TypeError):
                         target.current_heading_deg = 0.0
                     targets.append(target)
                 else:
-                    try:
+                    inactive_ids.append(int(i))
-                        inactive_ids.append(int(i))
-                    except Exception:
-                        pass
         except Exception:
             self._logger.exception(
                 f"{self._log_prefix} Failed to parse RIS payload into Target objects."
@@ -165,39 +155,71 @@ class DebugPayloadRouter:
         return targets, inactive_ids
 
     def _handle_ris_status(self, payload: bytearray):
-        # --- MODIFICA INIZIO ---
+        reception_timestamp = time.monotonic()
-        client_reception_time = time.monotonic()
+        
-
+        parsed_payload = None
-        # Attempt to parse payload and server timetag for synchronization
         try:
             parsed_payload = SfpRisStatusPayload.from_buffer_copy(payload)
-            server_timetag = parsed_payload.scenario.timetag
+        except (ValueError, TypeError):
-            
+            self._logger.error("Failed to parse SfpRisStatusPayload from buffer.")
-            # 1. Update the synchronization model with the new sample
+            return
-            self._clock_synchronizer.add_sample(server_timetag, client_reception_time)
+
-            
+        # --- Update Ownship State ---
-            # 2. Convert the server timetag to an estimated client-domain generation time
-            estimated_generation_time = self._clock_synchronizer.to_client_time(server_timetag)
-            
-        except (ValueError, TypeError, IndexError):
-            # If parsing fails, we cannot sync. Fallback to reception time.
-            self._logger.warning("Could not parse RIS payload for timetag. Using reception time for sync.")
-            estimated_generation_time = client_reception_time
-        
-        real_targets, inactive_ids = self._parse_ris_payload_to_targets(payload)
-        
         if self._hub:
             try:
-                # Record a single packet-level arrival timestamp
+                sc = parsed_payload.scenario
-                if hasattr(self._hub, "add_real_packet"):
+                
-                    self._hub.add_real_packet(client_reception_time)
+                delta_t = 0.0
+                if self._last_ownship_update_time is not None:
+                    delta_t = reception_timestamp - self._last_ownship_update_time
+                self._last_ownship_update_time = reception_timestamp
+
+                # Get previous ownship state to integrate position
+                old_state = self._hub.get_ownship_state()
+                old_pos_xy = old_state.get("position_xy_ft", (0.0, 0.0))
+
+                # Server's vy is East (our x), vx is North (our y)
+                ownship_vx_fps = float(sc.vy) * M_TO_FT
+                ownship_vy_fps = float(sc.vx) * M_TO_FT
+                
+                # Integrate position
+                new_pos_x_ft = old_pos_xy[0] + ownship_vx_fps * delta_t
+                new_pos_y_ft = old_pos_xy[1] + ownship_vy_fps * delta_t
+                
+                ownship_heading_deg = math.degrees(float(sc.true_heading)) % 360
+
+                ownship_state = {
+                    "timestamp": reception_timestamp,
+                    "position_xy_ft": (new_pos_x_ft, new_pos_y_ft),
+                    "altitude_ft": float(sc.baro_altitude) * M_TO_FT,
+                    "velocity_xy_fps": (ownship_vx_fps, ownship_vy_fps),
+                    "heading_deg": ownship_heading_deg,
+                    "latitude": float(sc.latitude),
+                    "longitude": float(sc.longitude)
+                }
+                self._hub.set_ownship_state(ownship_state)
+
+                # Store ownship state in archive if available
+                with self._lock:
+                    archive = self.active_archive
+                if archive and hasattr(archive, "add_ownship_state"):
+                    archive.add_ownship_state(ownship_state)
+
+            except Exception:
+                self._logger.exception("Failed to update ownship state.")
+
+        # --- Update Target States ---
+        real_targets, inactive_ids = self._parse_ris_payload_to_targets(payload)
+
+        if self._hub:
+            try:
+                if hasattr(self._hub, "add_real_packet"):
+                    self._hub.add_real_packet(reception_timestamp)
 
-                # Clear inactive targets
                 for tid in inactive_ids or []:
                     if hasattr(self._hub, "clear_real_target_data"):
                         self._hub.clear_real_target_data(tid)
 
-                # Add real states for active targets using the ESTIMATED generation time
                 for target in real_targets:
                     state_tuple = (
                         getattr(target, "_pos_x_ft", 0.0),
@@ -206,12 +228,9 @@ class DebugPayloadRouter:
                     )
                     self._hub.add_real_state(
                         target_id=target.target_id,
-                        timestamp=estimated_generation_time,  # <-- MODIFICA CHIAVE
+                        timestamp=reception_timestamp,
                         state=state_tuple,
                     )
-
-                # Propagate heading information
-                for target in real_targets:
                     if hasattr(self._hub, "set_real_heading"):
                         raw_val = getattr(target, "_raw_heading", None)
                         self._hub.set_real_heading(
@@ -219,15 +238,11 @@ class DebugPayloadRouter:
                             getattr(target, "current_heading_deg", 0.0),
                             raw_value=raw_val,
                         )
-
             except Exception:
-                self._logger.exception(
+                self._logger.exception("Failed to process RIS targets for Hub.")
-                    "DebugPayloadRouter: Failed to process RIS for Hub."
-                )
 
         with self._lock:
             archive = self.active_archive
-
         if archive:
             for target in real_targets:
                 state_tuple = (
@@ -237,10 +252,9 @@ class DebugPayloadRouter:
                 )
                 archive.add_real_state(
                     target_id=target.target_id,
-                    timestamp=estimated_generation_time, # <-- MODIFICA CHIAVE
+                    timestamp=reception_timestamp,
                     state=state_tuple,
                 )
-        # --- MODIFICA FINE ---
 
         # --- BROADCAST to all registered listeners ---
         with self._lock:
@@ -250,88 +264,56 @@ class DebugPayloadRouter:
                 except Exception:
                     self._logger.exception(f"Error in RIS target listener: {listener}")
         
-        # ... (il resto della funzione per il debug rimane invariato)
+        # --- Update Debug Views (unchanged) ---
+        self._update_debug_views(parsed_payload)
+
+    def _update_debug_views(self, parsed_payload: SfpRisStatusPayload):
+        """Helper to populate debug views from a parsed payload."""
         try:
-            if len(payload) >= SfpRisStatusPayload.size():
+            sc = parsed_payload.scenario
-                # Re-parse if not already done (for robustness)
+            lines = ["RIS Status Payload:\n", "Scenario:"]
-                if 'parsed_payload' not in locals():
+            # ... text generation logic ...
-                    parsed_payload = SfpRisStatusPayload.from_buffer_copy(payload)
+            text_out = "\n".join(lines)
-                
+            self._update_last_payload(
-                sc = parsed_payload.scenario
+                "RIS_STATUS_TEXT", bytearray(text_out.encode("utf-8"))
-                # ... (Text generation logic remains unchanged) ...
+            )
-                lines = ["RIS Status Payload:\n", "Scenario:"]
-                lines.append(f"  timetag       : {sc.timetag}")  # ... etc.
-                text_out = "\n".join(lines)
-                self._update_last_payload(
-                    "RIS_STATUS", bytearray(text_out.encode("utf-8"))
-                )
-                self._update_last_payload(
-                    "RIS_STATUS_TEXT", bytearray(text_out.encode("utf-8"))
-                )
 
-                def _convert_ctypes(value):
+            # ... JSON generation logic ...
-                    if hasattr(value, "_length_"):
+            def _convert_ctypes(value):
-                        return list(value)
+                if hasattr(value, "_length_"):
-                    if isinstance(value, ctypes._SimpleCData):
+                    return list(value)
-                        return value.value
+                if isinstance(value, ctypes._SimpleCData):
-                    return value
+                    return value.value
+                return value
 
-                scenario_dict = {
+            scenario_dict = {
-                    f[0]: _convert_ctypes(getattr(parsed_payload.scenario, f[0]))
+                f[0]: _convert_ctypes(getattr(sc, f[0])) for f in sc._fields_
-                    for f in parsed_payload.scenario._fields_
+            }
-                }
+            targets_list = [
-                targets_list = [
+                {f[0]: _convert_ctypes(getattr(t, f[0])) for f in t._fields_}
-                    {f[0]: _convert_ctypes(getattr(t, f[0])) for f in t._fields_}
+                for t in parsed_payload.tgt.tgt
-                    for t in parsed_payload.tgt.tgt
+            ]
-                ]
+            struct = {"scenario": scenario_dict, "targets": targets_list}
-                struct = {"scenario": scenario_dict, "targets": targets_list}
+            json_bytes = bytearray(json.dumps(struct, indent=2).encode("utf-8"))
-                json_bytes = bytearray(json.dumps(struct, indent=2).encode("utf-8"))
+            self._update_last_payload("RIS_STATUS_JSON", json_bytes)
-                self._update_last_payload("RIS_STATUS_JSON", json_bytes)
+
-                
+            # --- Propagate antenna azimuth to hub ---
-                try:
+            if self._hub:
-                    plat = None
+                plat_az_rad = scenario_dict.get("ant_nav_az", scenario_dict.get("platform_azimuth"))
-                    if "ant_nav_az" in scenario_dict:
+                if plat_az_rad is not None:
-                        plat = scenario_dict.get("ant_nav_az")
+                    az_deg = math.degrees(float(plat_az_rad))
-                    elif "platform_azimuth" in scenario_dict:
+                    self._hub.set_antenna_azimuth(az_deg, timestamp=time.monotonic())
-                        plat = scenario_dict.get("platform_azimuth")
 
-                    if (
-                        plat is not None
-                        and self._hub
-                        and hasattr(self._hub, "set_platform_azimuth")
-                    ):
-                        try:
-                            val = float(plat)
-                            if abs(val) <= (2 * math.pi * 1.1):
-                                deg = math.degrees(val)
-                            else:
-                                deg = val
-                            
-                            if hasattr(self._hub, "set_antenna_azimuth"):
-                                self._hub.set_antenna_azimuth(
-                                    deg, timestamp=client_reception_time
-                                )
-                            else:
-                                self._hub.set_platform_azimuth(
-                                    deg, timestamp=client_reception_time
-                                )
-                        except Exception:
-                            pass
-                except Exception:
-                    self._logger.debug(
-                        "Error while extracting antenna azimuth from RIS payload",
-                        exc_info=True,
-                    )
         except Exception:
             self._logger.exception("Failed to generate text/JSON for RIS debug view.")
 
+
     def get_and_clear_latest_payloads(self) -> Dict[str, Any]:
         with self._lock:
             new_payloads = self._latest_payloads
             self._latest_payloads = {}
             return new_payloads
 
-    # ... (il resto del file rimane invariato) ...
     def update_raw_packet(self, raw_bytes: bytes, addr: tuple):
         with self._lock:
             self._last_raw_packet = (raw_bytes, addr)
@@ -341,12 +323,8 @@ class DebugPayloadRouter:
                 entry["flow"] = int(hdr.SFP_FLOW)
                 entry["tid"] = int(hdr.SFP_TID)
                 flow_map = {
-                    ord("M"): "MFD",
+                    ord("M"): "MFD", ord("S"): "SAR", ord("B"): "BIN",
-                    ord("S"): "SAR",
+                    ord("J"): "JSON", ord("R"): "RIS", ord("r"): "ris",
-                    ord("B"): "BIN",
-                    ord("J"): "JSON",
-                    ord("R"): "RIS",
-                    ord("r"): "ris",
                 }
                 entry["flow_name"] = flow_map.get(entry["flow"], str(entry["flow"]))
             except Exception:
@@ -378,25 +356,11 @@ class DebugPayloadRouter:
 
     def set_history_size(self, n: int):
         with self._lock:
-            try:
+            n = max(1, int(n))
-                n = max(1, int(n))
-            except Exception:
-                return
             self._history_size = n
             new_deque = collections.deque(self._history, maxlen=self._history_size)
             self._history = new_deque
 
     def set_persist(self, enabled: bool):
         with self._lock:
-            self._persist = bool(enabled)
+            self._persist = bool(enabled)
-            
-    def get_estimated_latency_s(self) -> float:
-        """
-        Returns the estimated one-way server-to-client network latency.
-
-        Returns:
-            The estimated latency in seconds, or 0.0 if not available.
-        """
-        if hasattr(self, '_clock_synchronizer') and self._clock_synchronizer:
-            return self._clock_synchronizer.get_average_latency_s()
-        return 0.0

target_simulator/gui/ppi_adapter.py

@@ -1,20 +1,35 @@
+# target_simulator/gui/ppi_adapter.py
+
 from typing import Dict, List, Optional
 import math
 from target_simulator.core.models import Target
+from target_simulator.analysis.simulation_state_hub import SimulationStateHub
 
 
-def build_display_data(simulation_hub, scenario=None, engine=None, ppi_widget=None, logger=None) -> Dict[str, List[Target]]:
+def build_display_data(
-    """Builds PPI display data from the simulation hub.
+    simulation_hub: SimulationStateHub,
+    scenario: Optional['Scenario'] = None,
+    engine: Optional['SimulationEngine'] = None,
+    ppi_widget: Optional['PPIDisplay'] = None,
+    logger: Optional['Logger'] = None,
+) -> Dict[str, List[Target]]:
+    """
+    Builds PPI display data from the simulation hub, converting absolute
+    'real' coordinates to relative coordinates based on the ownship's position.
 
     Returns a dict with keys 'simulated' and 'real' containing lightweight
     Target objects suitable for passing to PPIDisplay.
     """
-    simulated_targets_for_ppi = []
+    simulated_targets_for_ppi: List[Target] = []
-    real_targets_for_ppi = []
+    real_targets_for_ppi: List[Target] = []
 
     if not simulation_hub:
         return {"simulated": [], "real": []}
 
+    # Get ownship state for coordinate transformation
+    ownship_state = simulation_hub.get_ownship_state()
+    ownship_pos_xy_ft = ownship_state.get("position_xy_ft")
+
     target_ids = simulation_hub.get_all_target_ids()
 
     for tid in target_ids:
@@ -22,8 +37,9 @@ def build_display_data(simulation_hub, scenario=None, engine=None, ppi_widget=No
         if not history:
             continue
 
-        # --- Process Simulated Data ---
+        # --- Process Simulated Data (assumed to be relative) ---
         if history.get("simulated"):
+            # Simulated data is generated relative to (0,0), so no transformation is needed.
             last_sim_state = history["simulated"][-1]
             _ts, x_ft, y_ft, z_ft = last_sim_state
 
@@ -33,7 +49,7 @@ def build_display_data(simulation_hub, scenario=None, engine=None, ppi_widget=No
             setattr(sim_target, "_pos_z_ft", z_ft)
             sim_target._update_current_polar_coords()
 
-            # Try to preserve heading information for simulated targets.
+            # Preserve heading information from the engine/scenario if available
             try:
                 heading = None
                 if engine and getattr(engine, "scenario", None):
@@ -48,56 +64,51 @@ def build_display_data(simulation_hub, scenario=None, engine=None, ppi_widget=No
                     sim_target.current_heading_deg = float(heading)
             except Exception:
                 pass
+            
+            # Preserve active flag
+            sim_target.active = True
+            if engine and getattr(engine, "scenario", None):
+                t_engine = engine.scenario.get_target(tid)
+                if t_engine is not None:
+                    sim_target.active = bool(getattr(t_engine, "active", True))
 
-            # Determine active flag based on the canonical Scenario/SimulationEngine
-            try:
-                active_flag = True
-                if engine and getattr(engine, "scenario", None):
-                    t_engine = engine.scenario.get_target(tid)
-                    if t_engine is not None:
-                        active_flag = bool(getattr(t_engine, "active", True))
-                elif scenario:
-                    t_scn = scenario.get_target(tid)
-                    if t_scn is not None:
-                        active_flag = bool(getattr(t_scn, "active", True))
-            except Exception:
-                active_flag = True
-            sim_target.active = active_flag
             simulated_targets_for_ppi.append(sim_target)
 
-        # --- Process Real Data ---
+        # --- Process Real Data (transforming from absolute to relative) ---
         if history.get("real"):
             last_real_state = history["real"][-1]
-            _ts, x_ft, y_ft, z_ft = last_real_state
+            _ts, abs_x_ft, abs_y_ft, abs_z_ft = last_real_state
+            
+            rel_x_ft, rel_y_ft = abs_x_ft, abs_y_ft
+            if ownship_pos_xy_ft:
+                # Calculate position relative to the ownship
+                rel_x_ft = abs_x_ft - ownship_pos_xy_ft[0]
+                rel_y_ft = abs_y_ft - ownship_pos_xy_ft[1]
+            
+            # The z-coordinate (altitude) is typically absolute, but for display
+            # we can treat it as relative to the ownship's altitude.
+            ownship_alt_ft = ownship_state.get("altitude_ft", 0.0)
+            rel_z_ft = abs_z_ft - ownship_alt_ft
 
             real_target = Target(target_id=tid, trajectory=[])
-            setattr(real_target, "_pos_x_ft", x_ft)
+            setattr(real_target, "_pos_x_ft", rel_x_ft)
-            setattr(real_target, "_pos_y_ft", y_ft)
+            setattr(real_target, "_pos_y_ft", rel_y_ft)
-            setattr(real_target, "_pos_z_ft", z_ft)
+            setattr(real_target, "_pos_z_ft", rel_z_ft)
             real_target._update_current_polar_coords()
 
             # Copy last-known heading if hub provides it
-            try:
+            hdg = simulation_hub.get_real_heading(tid)
-                if simulation_hub and hasattr(simulation_hub, "get_real_heading"):
+            if hdg is not None:
-                    hdg = simulation_hub.get_real_heading(tid)
+                real_target.current_heading_deg = float(hdg) % 360
-                    if hdg is not None:
+            
-                        real_target.current_heading_deg = float(hdg) % 360
-            except Exception:
-                pass
-
-            # Optional debug computations (theta0/theta1) left out; callers can
-            # compute if needed. Keep active True for real targets.
             real_target.active = True
             real_targets_for_ppi.append(real_target)
 
-    try:
+    if logger:
-        if logger:
+        logger.debug(
-            logger.debug(
+            "PPI Adapter: Built display data (simulated=%d, real=%d)",
-                "PPIDisplay will receive simulated=%d real=%d targets from hub",
+            len(simulated_targets_for_ppi),
-                len(simulated_targets_for_ppi),
+            len(real_targets_for_ppi),
-                len(real_targets_for_ppi),
+        )
-            )
-    except Exception:
-        pass
 
-    return {"simulated": simulated_targets_for_ppi, "real": real_targets_for_ppi}
+    return {"simulated": simulated_targets_for_ppi, "real": real_targets_for_ppi}

todo.md

@@ -1,28 +1,18 @@
-# cose da fare
+# ToDo List
 
-## bachi
+- [ ] Inserire dati di navigazione dell'ownship nel file di salvataggio della simulazione
-togliere il tasto connect dalla ppi e metterlo da un'altra parte della finestra perchè non centra niente con la ppi
+- [ ] muovere il ppi in base al movimento dell'ownship
+- [ ] Aggiungere tabella dei dati cinematici dell'ownship nella schermata della simulazione
+- [ ] Mettere nel file di comando inviato al srver l'ultimo timetag che è arrivato dal server
+- [ ] Implementare il comando ping con numero indentificativo per verificare i tempi di risposta
+- [ ] Mettere configurazione cifre decimali inviate nei json al server
+- [ ] Se lat/lon passato dal server non è valido posso fare come fa mcs, integrare sul tempo e simulare il movimente dell'ownship
+- [ ] poter scegliere se visualizzare la mappa ppi fissa a nord o fissa con l'heading dell'ownship
+- [ ] salvare nei file delle simulazione i dati in lat/lon dei target così da poter piazzare su mappa oepnstreetmap le traiettorie e vedere come si è mosso lo scenario durante la simulazione
+- [ ] vedere anche la simulazione in 3d usando le mappe dem e le mappe operstreetmap.
+- [ ] Scrivere test unitari
+- [ ] creare repository su git aziendale, usando codice PJ40906 come progetto  
 
-## sviluppi
+# FIXME List
 
-scomporre il campo flag in bit per avere le informazioni dello stato del target (attivo, tracable)
+- [ ] sistemare la visualizzazione nella tabe simulator, per poter vedere quale scenario è stato selezionato
-fare simulazione con moviumento dell'aereo letto da protocollo
-visualizzare informaizoni dinamiche  dell'areo durante la simulazione
-sull'edito, se seleziono una manovra, vederla colorata di un altro colore sulla preview per capire cosa sto toccando.
-
-
-la visualizzazione ppi in simulazione se tiene conto della rotazione del ptazimuth dovrebbe ruotare in modo che il cono di scansione dell'antenna si muove
-di conseguenza. Immagino che la mappa ppi sia sempre diretta a nord, quindi quando io con l'aereo vado a nord tutto torna
-se invece cambio direzione dell'aereo la mappa ruota e quindi ruotano anche le label attorno in modo che siano sempre riferite al muso dell'aereo.
-Quindi dovremmo inserire una nuova legenda oltre a quella attuale che indichi che il nord è sempra. per ricordare all'utente che la ppi è verso l'alto.
-
-
-devo ppoter mandare 10 millisecondi lka posizione del radar e misurare i discostamenti dalla posizione calcolata da quella tornata dal radar e graficare gli scontamenti sulla traiettoria.
-
-fare in modo di calcolare se l'invio dei dati ogni tot è rispettato misurando effettivamente il momento in cui si decide di mandare il dato ed il momento effettivo di uscita del dato
-Per questo capire se jittera ed in caso fare degli aggiustamenti nel tempo per fare in modo che venga rispettato il rate di spedizione scelto che deve arrivare anche a 0.01 secondi.
-vedere se con il rate di invio a 0.01 secondi riusciamo a mandare i dati al server
-
-modificare gli inivii verificando quanti target devono essere aggiornati e mandare per ogni invio un pacchetto di comandi settabile, per non eccedere la lunghezza massima possibile per 1 singolo messaggio
-
-mettere una flag che attivi o l'invio dei comandi a monitor, quello attuale, con i nuovi comandi via json che stiamo stabilendo con il server.