sistemata rotazione antenna in base al ptaz
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VALLONGOL
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a6d679e7a5
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48bfc9f730
@ -289,21 +289,16 @@ class SimulationStateHub:
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"""
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try:
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ts = float(timestamp) if timestamp is not None else time.monotonic()
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# Apply platform azimuth inversion: many external sources use an
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# opposite angular convention. Store the raw value and keep the
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# inverted/normalized value for internal use.
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raw = None
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try:
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# The antenna azimuth provided by external sources should be
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# treated as raw and stored as-is (normalized to [0,360)). Do not
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# invert it here — only platform/heading values use the inverted
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# internal convention.
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raw = float(azimuth_deg)
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except Exception:
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raw = None
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az_inverted = _invert_azimuth_deg(raw)
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if az_inverted is None:
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return
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az = raw % 360
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except Exception:
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return
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with self._lock:
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self._antenna_azimuth_deg = az_inverted
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self._antenna_azimuth_deg = az
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self._antenna_azimuth_ts = ts
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self._antenna_azimuth_raw = raw
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@ -802,31 +802,77 @@ class MainView(tk.Tk):
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if self.simulation_hub:
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# Update antenna sweep line
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if self.ppi_widget.animate_antenna_var.get():
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az_deg, _ = self.simulation_hub.get_antenna_azimuth()
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antenna_srv, _ = self.simulation_hub.get_antenna_azimuth()
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# Compute displayed antenna azimuth depending on display mode
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# North-Up: use server-provided antenna azimuth directly
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# Heading-Up: express antenna azimuth in body (muso) reference
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antenna_display = None
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if antenna_srv is not None:
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try:
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# Debug: record the value read from the hub and hub identity
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# Log solo se l'azimuth è valido (non None)
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if az_deg is not None:
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self.logger.debug(
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"MainView: read antenna az from hub -> az=%s hub_id=%s",
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az_deg,
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id(self._hub),
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mode = self.ppi_widget.display_mode_var.get()
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# Prefer raw heading when present for correct arithmetic
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ownship_state = self.simulation_hub.get_ownship_state() or {}
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platform_h_raw = ownship_state.get(
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"heading_deg_raw", ownship_state.get("heading_deg", 0.0)
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)
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platform_h_raw = float(platform_h_raw) if platform_h_raw is not None else 0.0
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if mode == "North-Up":
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antenna_display = float(antenna_srv)
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else: # Heading-Up
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# Convert antenna (absolute wrt North) into body-referenced
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# angle by adding twice the platform heading. The
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# antenna offsets are expressed relative to the nose
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# and earlier logic used 2×heading to compute the
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# plotted antenna position so preserve that.
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antenna_display = float(antenna_srv) #- (0.25 * platform_h_raw)
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# Normalize into (-180, 180]
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while antenna_display > 180:
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antenna_display -= 360
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while antenna_display <= -180:
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antenna_display += 360
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except Exception:
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pass
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if az_deg is not None:
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self.ppi_widget.render_antenna_line(az_deg)
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antenna_display = float(antenna_srv)
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# Render (or hide) the antenna using the final display angle
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if antenna_display is not None:
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self.ppi_widget.render_antenna_line(antenna_display)
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else:
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self.ppi_widget.render_antenna_line(None) # Hide if no data
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self.ppi_widget.render_antenna_line(None)
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else:
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self.ppi_widget.render_antenna_line(None) # Hide if animation is off
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# Update ownship state for both PPI orientation and status display
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# Use the raw heading (if available) for visualization, since the
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# hub stores an inverted heading for internal reasons. Preserve
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# the full state for controls but display heading_raw when present.
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ownship_state = self.simulation_hub.get_ownship_state()
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if ownship_state:
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ownship_heading = ownship_state.get("heading_deg", 0.0)
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self.ppi_widget.update_ownship_state(ownship_heading)
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self.simulation_controls.update_ownship_display(ownship_state)
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# Prefer raw heading if present
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ownship_heading_raw = ownship_state.get(
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"heading_deg_raw", ownship_state.get("heading_deg", 0.0)
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)
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# Convert raw heading to PPI convention: external/raw positive
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# is to the right (clockwise), while Matplotlib/PPI uses
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# positive CCW (to the left). Negate the raw heading for
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# visualisation only so the ownship points in the expected
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# direction on the PPI. Keep the raw value for controls.
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try:
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ownship_heading_for_ppi = (-float(ownship_heading_raw)) % 360
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except Exception:
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ownship_heading_for_ppi = ownship_heading_raw
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self.ppi_widget.update_ownship_state(ownship_heading_for_ppi)
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# Prepare a display-friendly copy where heading_deg shows the raw value
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display_state = dict(ownship_state)
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if "heading_deg_raw" in display_state:
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try:
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display_state["heading_deg"] = display_state["heading_deg_raw"]
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except Exception:
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pass
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self.simulation_controls.update_ownship_display(display_state)
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else:
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# Ensure display is cleared if no ownship data is present
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ownship_state = {}
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@ -733,32 +733,20 @@ class PPIDisplay(ttk.Frame):
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else:
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az_float = float(az_deg)
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# WORKING SOLUTION confirmed by user:
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# North-Up with heading=+10°:
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# - Server sends ant_nav_az from +50° to -70°
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# - Add 2×heading: result is +70° to -50° ✓ CORRECT
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#
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# Heading-Up with heading=+10°:
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# - Grid is rotated by -10° (via set_theta_offset)
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# - Scan lines are drawn at heading ± limit
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# - Antenna needs same transformation as scan lines
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#
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# Solution: use SAME formula for both modes
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# - North-Up: add 2×heading
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# - Heading-Up: add 2×heading (counter-rotates for the rotated grid)
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# Treat the provided az_deg as the final absolute antenna
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# azimuth (degrees relative to North, positive=CCW). The
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# caller (MainView) computes North-Up vs Heading-Up logic.
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final_az_for_plot = az_float
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final_az_for_plot = az_float + (2.0 * self.ownship_heading_deg)
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# Normalize to [-180, 180] range
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# Normalize to (-180, 180]
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while final_az_for_plot > 180:
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final_az_for_plot -= 360
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while final_az_for_plot < -180:
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while final_az_for_plot <= -180:
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final_az_for_plot += 360
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# Convert final angle to theta for Matplotlib (0=N, positive=CCW)
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theta = np.deg2rad(final_az_for_plot)
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max_r = self.ax.get_ylim()[1]
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self._antenna_line_artist.set_data([theta, theta], [0, max_r])
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self._antenna_line_artist.set_visible(True)
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