misura delle latenze di comunicazione tra server e client

target_simulator/analysis/simulation_archive.py

@@ -4,7 +4,7 @@ import os
 import json
 import time
 from datetime import datetime
-from typing import Dict, List, Any, Tuple
+from typing import Dict, List, Any, Tuple, Optional
 
 from target_simulator.core.models import Scenario
 
@@ -62,22 +62,32 @@ class SimulationArchive:
         full_state: RecordedState = (timestamp, state[0], state[1], state[2])
         self.recorded_data[target_id]["real"].append(full_state)
 
-    def save(self) -> str:
+    def save(self, extra_metadata: Optional[Dict[str, Any]] = None) -> str:
         """
-        Salva l'archivio completo della simulazione in un file JSON.
+        Saves the complete simulation archive to a JSON file.
-        Il nome del file è generato dal timestamp e dal nome dello scenario.
+        The filename is generated from the timestamp and scenario name.
 
-        Ritorna:
+        Args:
-            Il percorso del file salvato.
+            extra_metadata: An optional dictionary of metadata to add or
+                            overwrite in the final archive file.
+
+        Returns:
+            The path of the saved file.
         """
         end_time = time.monotonic()
 
+        metadata = {
+            "scenario_name": self.scenario_name,
+            "start_timestamp_utc": datetime.utcnow().isoformat(),
+            "duration_seconds": end_time - self.start_time,
+        }
+
+        # Merge extra metadata if provided
+        if extra_metadata:
+            metadata.update(extra_metadata)
+            
         archive_content = {
-            "metadata": {
+            "metadata": metadata,
-                "scenario_name": self.scenario_name,
-                "start_timestamp_utc": datetime.utcnow().isoformat(),
-                "duration_seconds": end_time - self.start_time,
-            },
             "scenario_definition": self.scenario_data,
             "simulation_results": self.recorded_data,
         }
@@ -92,8 +102,8 @@ class SimulationArchive:
         try:
             with open(filepath, "w", encoding="utf-8") as f:
                 json.dump(archive_content, f, indent=4)
-            print(f"Archivio di simulazione salvato in: {filepath}")
+            print(f"Simulation archive saved to: {filepath}")
             return filepath
         except IOError as e:
-            print(f"Errore durante il salvataggio dell'archivio di simulazione: {e}")
+            print(f"Error saving simulation archive: {e}")
             return ""

target_simulator/core/simulation_engine.py

@@ -6,6 +6,7 @@ broadcast target states, supporting different operational modes.
 """
 import threading
 import time
+import copy 
 from queue import Queue
 from typing import Optional
 
@@ -52,6 +53,7 @@ class SimulationEngine(threading.Thread):
         self.archive = archive  # Archive path if needed
         self.time_multiplier = 1.0
         self.update_interval_s = 1.0
+        self.prediction_horizon_s = 0.0  # Latency compensation in seconds
 
         # Determine communication protocol from the communicator's config
         self.use_json_protocol = False
@@ -68,6 +70,14 @@ class SimulationEngine(threading.Thread):
         self._last_tick_time = 0.0
         self._last_update_time = 0.0
         self._is_paused = False
+        
+    def set_prediction_horizon(self, horizon_s: float):
+        """
+        Sets the prediction horizon for latency compensation.
+        This should be the estimated one-way client-to-server latency.
+        """
+        # Set a reasonable cap to avoid excessive prediction
+        self.prediction_horizon_s = max(0.0, min(horizon_s, 1.0))
 
     def load_scenario(self, scenario: Scenario):
         """Loads a new scenario into the engine and resets its simulation state."""
@@ -197,16 +207,30 @@ class SimulationEngine(threading.Thread):
                 if self.communicator and self.communicator.is_open:
                     commands_to_send = []
 
+                    # Create a list of targets to be sent, potentially predicted
+                    targets_to_send = []
+                    if self.prediction_horizon_s > 0.0 and active_targets:
+                        # Apply prediction
+                        for target in active_targets:
+                            # Create a deep copy to avoid altering the main simulation state
+                            predicted_target = copy.deepcopy(target)
+                            # Advance its state by the prediction horizon
+                            predicted_target.update_state(self.prediction_horizon_s)
+                            targets_to_send.append(predicted_target)
+                    else:
+                        # No prediction, use current state
+                        targets_to_send = active_targets
+
                     # --- Protocol-dependent command generation ---
                     if self.use_json_protocol:
                         # --- JSON Protocol Logic ---
-                        if active_targets:
+                        if targets_to_send:  # Usa la lista (potenzialmente predetta)
                             json_payload = command_builder.build_json_update(
-                                active_targets
+                                targets_to_send
                             )
                             commands_to_send.append(json_payload)
 
-                            # Log to CSV for debugging
+                            # Log to CSV for debugging (log the original state)
                             for target in active_targets:
                                 state_tuple = (
                                     getattr(target, "_pos_x_ft", 0.0),
@@ -223,24 +247,27 @@ class SimulationEngine(threading.Thread):
                                 )
                     else:
                         # --- Legacy Protocol Logic ---
-                        for target in active_targets:
+                        for target in targets_to_send:  # Usa la lista (potenzialmente predetta)
                             cmd = command_builder.build_tgtset_from_target_state(target)
                             commands_to_send.append(cmd)
 
-                            # Log to CSV for debugging
+                            # Log to CSV for debugging (log the original state)
-                            state_tuple = (
+                            # Find the original target corresponding to the predicted one
-                                getattr(target, "_pos_x_ft", 0.0),
+                            original_target = next((t for t in active_targets if t.target_id == target.target_id), None)
-                                getattr(target, "_pos_y_ft", 0.0),
+                            if original_target:
-                                getattr(target, "_pos_z_ft", 0.0),
+                                state_tuple = (
-                            )
+                                    getattr(original_target, "_pos_x_ft", 0.0),
-                            append_sent_position(
+                                    getattr(original_target, "_pos_y_ft", 0.0),
-                                tick_timestamp,
+                                    getattr(original_target, "_pos_z_ft", 0.0),
-                                target.target_id,
+                                )
-                                state_tuple[0],
+                                append_sent_position(
-                                state_tuple[1],
+                                    tick_timestamp,
-                                state_tuple[2],
+                                    original_target.target_id,
-                                cmd,
+                                    state_tuple[0],
-                            )
+                                    state_tuple[1],
+                                    state_tuple[2],
+                                    cmd,
+                                )
 
                     # --- Send the batch of commands ---
                     if commands_to_send:

target_simulator/gui/analysis_window.py

@@ -53,13 +53,19 @@ class AnalysisWindow(tk.Toplevel):
                 archive_data = json.load(f)
         except Exception as e:
             messagebox.showerror(
-                "Errore di Caricamento",
+                "Loading Error",
-                f"Impossibile caricare il file di archivio.\n{e}",
+                f"Could not load archive file.\n{e}",
             )
             self.destroy()
             return
 
-        # Crea un hub temporaneo e popolalo con i dati storici
+        # --- NUOVA AGGIUNTA ---
+        # Extract estimated latency from metadata
+        metadata = archive_data.get("metadata", {})
+        self.estimated_latency_ms = metadata.get("estimated_latency_ms")
+        # --- FINE AGGIUNTA ---
+
+        # Create a temporary hub and populate it with historical data
         self._hub = SimulationStateHub()
         results = archive_data.get("simulation_results", {})
         for target_id_str, data in results.items():
@@ -69,7 +75,7 @@ class AnalysisWindow(tk.Toplevel):
             for state in data.get("real", []):
                 self._hub.add_real_state(target_id, state[0], tuple(state[1:]))
 
-        # Crea l'analizzatore con l'hub popolato
+        # Create the analyzer with the populated hub
         self._analyzer = PerformanceAnalyzer(self._hub)
 
     def _populate_analysis(self):
@@ -126,6 +132,17 @@ class AnalysisWindow(tk.Toplevel):
         )
         self.target_selector.pack(side=tk.LEFT, padx=5)
         self.target_selector.bind("<<ComboboxSelected>>", self._on_target_select)
+        
+        if self.estimated_latency_ms is not None:
+            latency_frame = ttk.Frame(top_bar)
+            latency_frame.pack(side=tk.LEFT, padx=(20, 0))
+            ttk.Label(latency_frame, text="Avg. Latency:").pack(side=tk.LEFT)
+            ttk.Label(
+                latency_frame,
+                text=f"{self.estimated_latency_ms:.1f} ms",
+                font=("Segoe UI", 9, "bold"),
+                foreground="blue"
+            ).pack(side=tk.LEFT, padx=4)
 
         columns = ("metric", "x_error", "y_error", "z_error")
         self.stats_tree = ttk.Treeview(left, columns=columns, show="headings")

target_simulator/gui/main_view.py

@@ -130,6 +130,7 @@ class MainView(tk.Tk):
 
         self.after(GUI_REFRESH_RATE_MS, self._gui_refresh_loop)
         self.after(1000, self._update_rate_status)
+        self.after(1000, self._update_latency_status)
 
     def _create_main_layout(self):
         v_pane = ttk.PanedWindow(self, orient=tk.VERTICAL)
@@ -280,6 +281,7 @@ class MainView(tk.Tk):
         self.status_bar.place(relx=0.0, rely=1.0, anchor="sw", relwidth=1.0, height=24)
         self.status_var = self.status_bar.status_var
         self.rate_status_var = self.status_bar.rate_status_var
+        self.latency_status_var = self.status_bar.latency_status_var
         self._status_after_id = None
 
     def show_status_message(self, text: str, timeout_ms: Optional[int] = 3000):
@@ -424,6 +426,32 @@ class MainView(tk.Tk):
             self.logger.debug(f"Error updating rate status: {e}")
         finally:
             self.after(1000, self._update_rate_status)
+            
+    def _update_latency_status(self):
+        """Periodically updates the latency display and prediction horizon."""
+        try:
+            latency_s = 0.0
+            if self.target_communicator and hasattr(self.target_communicator, 'router'):
+                router = self.target_communicator.router()
+                if router:
+                    latency_s = router.get_estimated_latency_s()
+
+            # Update the status bar display
+            if self.latency_status_var:
+                if latency_s > 0:
+                    self.latency_status_var.set(f"Latency: {latency_s * 1000:.1f} ms")
+                else:
+                    self.latency_status_var.set("") # Pulisce se non c'è latenza
+
+            # Update the simulation engine's prediction horizon if it's running
+            if self.simulation_engine and self.simulation_engine.is_running():
+                self.simulation_engine.set_prediction_horizon(latency_s)
+        
+        except Exception as e:
+            self.logger.debug(f"Error updating latency status: {e}")
+        finally:
+            # Schedule the next update
+            self.after(1000, self._update_latency_status)
 
     def _on_seek(self):
         if not self.simulation_engine or not self.simulation_engine.scenario:

target_simulator/gui/payload_router.py

@@ -389,3 +389,14 @@ class DebugPayloadRouter:
     def set_persist(self, enabled: bool):
         with self._lock:
             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/status_bar.py

@@ -31,9 +31,7 @@ class StatusBar(ttk.Frame):
     def __init__(self, parent, resource_poll_s: float = 1.0, height: int = 24):
         super().__init__(parent, relief=tk.SUNKEN)
 
-        # Keep the status bar a fixed small height so it remains visible on
+        # Keep the status bar a fixed small height
-        # vertically-constrained windows. Prevent children from forcing the
-        # frame's size.
         try:
             self.configure(height=int(height))
             self.pack_propagate(False)
@@ -55,33 +53,45 @@ class StatusBar(ttk.Frame):
         self.status_var = tk.StringVar(value="Ready")
         ttk.Label(self, textvariable=self.status_var, anchor=tk.W).pack(side=tk.LEFT, fill=tk.X, expand=True, padx=6)
 
-        # Right: rate and resource indicators
+        # Right: rate, latency, and resource indicators
-        try:
-            self.rate_status_var = tk.StringVar(value="")
-            ttk.Label(self, textvariable=self.rate_status_var, anchor=tk.E).pack(side=tk.RIGHT, padx=(6, 8))
-        except Exception:
-            self.rate_status_var = None
-
-        # Resource usage (optional). We create the var even if psutil missing so
-        # callers can safely call getattr(..., 'resource_var', None).
         try:
+            # Resource usage (optional) - pack this first to appear on the far right
             self.resource_var = tk.StringVar(value="")
             ttk.Label(self, textvariable=self.resource_var, anchor=tk.E).pack(side=tk.RIGHT, padx=(6, 8))
         except Exception:
             self.resource_var = None
 
+        # Separator before latency
+        ttk.Separator(self, orient=tk.VERTICAL).pack(side=tk.RIGHT, fill=tk.Y, padx=5, pady=4)
+        
+        try:
+            # Latency indicator
+            self.latency_status_var = tk.StringVar(value="")
+            ttk.Label(self, textvariable=self.latency_status_var, anchor=tk.E).pack(side=tk.RIGHT, padx=(0, 6))
+        except Exception:
+            self.latency_status_var = None
+
+        # Separator before rate
+        ttk.Separator(self, orient=tk.VERTICAL).pack(side=tk.RIGHT, fill=tk.Y, padx=5, pady=4)
+        
+        try:
+            self.rate_status_var = tk.StringVar(value="")
+            ttk.Label(self, textvariable=self.rate_status_var, anchor=tk.E).pack(side=tk.RIGHT, padx=(0, 6))
+        except Exception:
+            self.rate_status_var = None
+
+
         # Internal state
         self._status_after_id: Optional[str] = None
         self._res_stop_event = threading.Event()
         self._res_thread: Optional[threading.Thread] = None
         self._resource_poll_s = float(resource_poll_s)
 
-        # Start background monitor if psutil is available and we have a var
+        # Start background monitor if psutil is available
         if _HAS_PSUTIL and self.resource_var is not None:
             try:
                 self.start_resource_monitor(self._resource_poll_s)
             except Exception:
-                # Don't fail construction if monitor can't start
                 pass
 
     def _draw_status_indicator(self, canvas: tk.Canvas, color: str) -> None:

target_simulator/simulation/simulation_controller.py

@@ -172,7 +172,24 @@ class SimulationController:
     def _stop_or_finish_simulation(self, main_view, was_stopped_by_user: bool):
         """Unified logic for handling simulation end, either by user or naturally."""
         if self.current_archive:
-            self.current_archive.save()
+            # --- NUOVA AGGIUNTA INIZIO ---
+            # Retrieve estimated latency before saving the archive
+            estimated_latency_s = 0.0
+            extra_metadata = {}
+            try:
+                target_comm = getattr(self.communicator_manager, "target_communicator", None)
+                if target_comm and hasattr(target_comm, 'router'):
+                    router = target_comm.router()
+                    if router and hasattr(router, 'get_estimated_latency_s'):
+                        estimated_latency_s = router.get_estimated_latency_s()
+                
+                if estimated_latency_s > 0:
+                    extra_metadata['estimated_latency_ms'] = round(estimated_latency_s * 1000, 2)
+            except Exception as e:
+                self.logger.warning(f"Could not retrieve estimated latency for archive: {e}")
+            # --- NUOVA AGGIUNTA FINE ---
+
+            self.current_archive.save(extra_metadata=extra_metadata)
             self.current_archive = main_view.current_archive = None
             
             target_comm = getattr(self.communicator_manager, "target_communicator", None)

target_simulator/utils/clock_synchronizer.py

@@ -1,5 +1,3 @@
-# target_simulator/utils/clock_synchronizer.py
-
 """
 Provides a ClockSynchronizer class to model the relationship between a remote
 server's wrapping 32-bit timetag and the local monotonic clock.
@@ -8,22 +6,18 @@ import collections
 import threading
 import time
 from typing import List, Tuple
-
+#NumPy is a strong recommendation for linear regression.
-# NumPy is a strong recommendation for linear regression.
+#If it's not already a dependency, it should be added.
-# If it's not already a dependency, it should be added.
 try:
     import numpy as np
     NUMPY_AVAILABLE = True
 except ImportError:
     NUMPY_AVAILABLE = False
-
-
 class ClockSynchronizer:
     """
     Synchronizes a remote wrapping 32-bit counter with the local monotonic clock
     using linear regression to model clock offset and drift.
     """
-
     # Constants for a 32-bit counter
     _COUNTER_MAX = 2**32
     _WRAP_THRESHOLD = 2**31  # Detect wrap if decrease is > half the max value
@@ -35,7 +29,7 @@ class ClockSynchronizer:
         Args:
             history_size: The number of recent samples to use for regression.
             min_samples_for_fit: The minimum number of samples required to
-                                 perform a linear regression fit.
+                                perform a linear regression fit.
         """
         if not NUMPY_AVAILABLE:
             raise ImportError("NumPy is required for the ClockSynchronizer.")
@@ -52,6 +46,9 @@ class ClockSynchronizer:
         self._m: float = 0.0  # Slope (client seconds per server tick)
         self._b: float = 0.0  # Intercept (client time when server time was 0)
 
+        # Estimated one-way latency from server to client
+        self._average_latency_s: float = 0.0
+
     def add_sample(self, raw_server_timetag: int, client_reception_time: float):
         """
         Adds a new sample pair to update the synchronization model.
@@ -81,7 +78,7 @@ class ClockSynchronizer:
     def _update_model(self):
         """
         Performs linear regression on the stored history to update the
-        model parameters (m and b).
+        model parameters (m and b) and the average latency.
         This method must be called within a locked context.
         """
         if len(self._history) < self._min_samples:
@@ -91,14 +88,24 @@ class ClockSynchronizer:
         x_vals = np.array([sample[0] for sample in self._history])
         y_vals = np.array([sample[1] for sample in self._history])
 
-        # Use polyfit to find the slope (m) and intercept (b) of the best-fit line
         try:
             m, b = np.polyfit(x_vals, y_vals, 1)
             self._m = m
             self._b = b
+
+            # --- Calculate Average Latency ---
+            # Estimated generation time for each sample based on the new model
+            estimated_generation_times = self._m * x_vals + self._b
+            # Latency is the difference between reception and estimated generation
+            latencies = y_vals - estimated_generation_times
+            # Update the average latency, filtering out negative values which are artifacts
+            positive_latencies = latencies[latencies >= 0]
+            if len(positive_latencies) > 0:
+                self._average_latency_s = np.mean(positive_latencies)
+            else:
+                self._average_latency_s = 0.0
+
         except np.linalg.LinAlgError:
-            # This can happen if data is not well-conditioned, though unlikely here.
-            # In this case, we just keep the old model parameters.
             pass
 
     def to_client_time(self, raw_server_timetag: int) -> float:
@@ -113,18 +120,24 @@ class ClockSynchronizer:
             The estimated client monotonic time when the event occurred.
         """
         with self._lock:
-            # Determine the correct wrap count for this specific timestamp.
-            # This handles cases where the timetag might be slightly older
-            # than the most recent sample.
             current_wrap_count = self._wrap_count
             if self._last_raw_timetag is not None:
                 diff = self._last_raw_timetag - raw_server_timetag
                 if diff < -self._WRAP_THRESHOLD:
-                    # This timetag is from just before the last wrap
                     current_wrap_count -= 1
 
             unwrapped_timetag = raw_server_timetag + current_wrap_count * self._COUNTER_MAX
 
-            # Apply the linear model
             estimated_time = self._m * unwrapped_timetag + self._b
-            return estimated_time
+            return estimated_time
+
+    def get_average_latency_s(self) -> float:
+        """
+        Returns the current estimated average one-way network latency from
+        server to client in seconds.
+
+        Returns:
+            The average latency in seconds, or 0.0 if not yet computed.
+        """
+        with self._lock:
+            return self._average_latency_s