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sistemata simulazione con server, target che segue la simulazione

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This commit is contained in:
VALLONGOL 2025-10-27 14:44:52 +01:00
parent 93fc9bba7f
commit 747ec3b40f
10 changed files with 184 additions and 141 deletions
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3
scenarios.json
View File

@ -163,4 +163,5 @@
}
]
}
}
}

2
settings.json
View File

@ -3,7 +3,7 @@
"scan_limit": 60,
"max_range": 100,
"geometry": "1599x1024+501+84",
"last_selected_scenario": "scenario2",
"last_selected_scenario": "scenario1",
"connection": {
"target": {
"type": "sfp",

20
target_simulator/analysis/simulation_state_hub.py
View File

@ -193,4 +193,24 @@ class SimulationStateHub:
if tid in self._latest_raw_heading:
del self._latest_raw_heading[tid]
except Exception:
pass
def clear_real_target_data(self, target_id: int):
"""
Clears only the real data history and heading caches for a specific target,
preserving the simulated data history for analysis.
"""
with self._lock:
try:
tid = int(target_id)
if tid in self._target_data:
self._target_data[tid]["real"].clear()
# Also clear heading caches associated with this real target
if tid in self._latest_real_heading:
del self._latest_real_heading[tid]
if tid in self._latest_raw_heading:
del self._latest_raw_heading[tid]
except Exception:
# Silently ignore errors (e.g., invalid target_id type)
pass

2
target_simulator/core/models.py
View File

@ -349,7 +349,7 @@ class Target:
# Positive azimuth increases counter-clockwise (to the left),
# so compute atan2(x, y) and negate the result to match that
# convention (i.e. east becomes -90°, west becomes +90°).
azimuth_deg = -math.degrees(math.atan2(self._pos_x_ft, self._pos_y_ft))
azimuth_deg = math.degrees(math.atan2(self._pos_x_ft, self._pos_y_ft))
# Normalize angle to [-180, 180]
while azimuth_deg > 180:

61
target_simulator/core/simulation_engine.py
View File

@ -111,17 +111,21 @@ class SimulationEngine(threading.Thread):
self.update_queue.put_nowait("SIMULATION_FINISHED")
break
# --- Communication and Data Hub Logging Step ---
if self.communicator and self.communicator.is_open:
if (current_time - self._last_update_time) >= self.update_interval_s:
self._last_update_time = current_time
# --- Communication, Data Hub, and GUI Update Step ---
if (current_time - self._last_update_time) >= self.update_interval_s:
self._last_update_time = current_time
# Only proceed if the communicator is valid and open
if self.communicator and self.communicator.is_open:
commands_to_send = []
timestamp_for_batch = time.monotonic()
active_targets = [t for t in updated_targets if t.active]
for target in active_targets:
# Build the command string ONCE and reuse it
cmd = command_builder.build_tgtset_from_target_state(target)
commands_to_send.append(cmd)
# 1. Log the simulated state to the hub for analysis
if self.simulation_hub:
state_tuple = (
@ -132,36 +136,31 @@ class SimulationEngine(threading.Thread):
self.simulation_hub.add_simulated_state(
target.target_id, timestamp_for_batch, state_tuple
)
# 1b. Optionally save the sent positions to CSV for debugging
try:
append_sent_position(
timestamp_for_batch,
target.target_id,
state_tuple[0],
state_tuple[1],
state_tuple[2],
command_builder.build_tgtset_from_target_state(target),
)
except Exception:
# Do not break the simulation for logging failures
pass
# 2. Build the command to send to the radar
cmd = command_builder.build_tgtset_from_target_state(target)
commands_to_send.append(cmd)
# 1b. Optionally save sent positions to CSV using the pre-built command
try:
append_sent_position(
timestamp_for_batch,
target.target_id,
state_tuple[0],
state_tuple[1],
state_tuple[2],
cmd, # Use the existing command string
)
except Exception:
pass
# 3. Send all commands in a single batch
if commands_to_send:
self.communicator.send_commands(commands_to_send)
# --- GUI Update Step ---
if self.update_queue:
try:
self.update_queue.put_nowait(updated_targets)
except Queue.Full:
self.logger.warning(
"GUI update queue is full. A frame was skipped."
)
# 4. Update the GUI queue, now synced with the communication update
if self.update_queue:
try:
self.update_queue.put_nowait(updated_targets)
except Queue.Full:
self.logger.warning(
"GUI update queue is full. A frame was skipped."
)
time.sleep(TICK_INTERVAL_S)

59
target_simulator/gui/main_view.py
View File

@ -803,10 +803,10 @@ class MainView(tk.Tk):
try:
# We process one update at a time to keep the GUI responsive
update = self.gui_update_queue.get_nowait()
try:
self.logger.debug(f"MainView: dequeued GUI update (type={type(update)}) from queue id={id(self.gui_update_queue)}")
except Exception:
pass
# try:
# self.logger.debug(f"MainView: dequeued GUI update (type={type(update)}) from queue id={id(self.gui_update_queue)}")
# except Exception:
# pass
if update == "SIMULATION_FINISHED":
self.logger.info("Simulation finished signal received.")
@ -826,29 +826,25 @@ class MainView(tk.Tk):
# as a lightweight notification that real states were added to
# the hub. Distinguish the two cases:
if len(update) == 0:
# Empty-list used as a hub refresh notification. Do not
# clear the target list; just rebuild the PPI from the hub.
try:
self.logger.debug("MainView: received hub refresh notification from GUI queue.")
except Exception:
pass
# Hub refresh notification (real data arrived).
# Only update the 'real' targets on the PPI display.
# self.logger.debug("MainView: received hub refresh. Updating real targets.")
display_data = self._build_display_data_from_hub()
try:
self.ppi_widget.update_targets(display_data)
except Exception:
self.logger.exception("Failed to update PPI widget from hub display data")
self.ppi_widget.update_real_targets(display_data.get("real", []))
else:
# This update is the list of simulated targets from the engine
# This is an update with simulated targets from the engine.
# Only update the 'simulated' targets on the PPI and the target list.
simulated_targets: List[Target] = update
# self.logger.debug(f"MainView: received simulation update for {len(simulated_targets)} targets.")
# Update the target list view with detailed simulated data
self.target_list.update_target_list(simulated_targets)
# For the PPI, build the comparative data structure from the hub
display_data = self._build_display_data_from_hub()
self.ppi_widget.update_targets(display_data)
# Update only the simulated targets on the PPI
self.ppi_widget.update_simulated_targets(simulated_targets)
# Update progress using target times from scenario
# Update simulation progress bar
try:
# Use the engine's scenario simulated time as elapsed if available
if self.simulation_engine and self.simulation_engine.scenario:
@ -965,7 +961,9 @@ class MainView(tk.Tk):
self.scenario.targets = {t.target_id: t for t in targets}
# 2. Update the PPI display with the latest target list
self.ppi_widget.update_targets(targets)
# Pass an explicit dict so PPIDisplay treats this as a simulated-only
# update and does not accidentally clear real (server) targets.
self.ppi_widget.update_simulated_targets(targets)
# 3. Automatically save the changes to the current scenario file
if self.current_scenario_name:
@ -987,7 +985,8 @@ class MainView(tk.Tk):
targets_to_display = self.scenario.get_all_targets()
self.target_list.update_target_list(targets_to_display)
self.ppi_widget.update_targets(targets_to_display)
# Use an explicit dict to indicate these are simulated scenario targets.
self.ppi_widget.update_simulated_targets(targets_to_display)
def _load_scenarios_into_ui(self):
scenario_names = self.config_manager.get_scenario_names()
@ -1271,15 +1270,15 @@ class MainView(tk.Tk):
theta0_deg = None
theta1_deg = None
self.logger.debug(
"Heading pipeline: TID %s raw=%s hub=%s used=%s theta0=%.3f theta1=%.3f",
tid,
raw_h,
getattr(self.simulation_hub, 'get_real_heading')(tid) if self.simulation_hub else None,
real_target.current_heading_deg,
theta0_deg if theta0_deg is not None else float('nan'),
theta1_deg if theta1_deg is not None else float('nan'),
)
#self.logger.debug(
# "Heading pipeline: TID %s raw=%s hub=%s used=%s theta0=%.3f theta1=%.3f",
# tid,
# raw_h,
# getattr(self.simulation_hub, 'get_real_heading')(tid) if self.simulation_hub else None,
# real_target.current_heading_deg,
# theta0_deg if theta0_deg is not None else float('nan'),
# theta1_deg if theta1_deg is not None else float('nan'),
#)
except Exception:
pass

6
target_simulator/gui/payload_router.py
View File

@ -138,12 +138,12 @@ class DebugPayloadRouter:
parsed_for_hub = SfpRisStatusPayload.from_buffer_copy(payload)
ts_s = parsed_for_hub.scenario.timetag / 1000.0
# First: remove any targets that the server marked as inactive (flags == 0)
# First: clear real data for any targets that the server marked as inactive
try:
for i, ris_t in enumerate(parsed_for_hub.tgt.tgt):
try:
if ris_t.flags == 0 and self._hub and hasattr(self._hub, 'remove_target'):
self._hub.remove_target(i)
if ris_t.flags == 0 and self._hub and hasattr(self._hub, 'clear_real_target_data'):
self._hub.clear_real_target_data(i)
except Exception:
pass
except Exception:

168
target_simulator/gui/ppi_display.py
View File

@ -31,7 +31,9 @@ class PPIDisplay(ttk.Frame):
self.scan_limit_deg = scan_limit_deg
self.sim_target_artists, self.real_target_artists = [], []
self.sim_trail_artists, self.real_trail_artists = [], []
self.target_label_artists = []
# Keep label artists separated so we can update simulated labels
# without removing real labels when a simulated-only update happens.
self.sim_label_artists, self.real_label_artists = [], []
self.trail_length = trail_length or self.TRAIL_LENGTH
self._trails = {
"simulated": collections.defaultdict(lambda: collections.deque(maxlen=self.trail_length)),
@ -47,9 +49,12 @@ class PPIDisplay(ttk.Frame):
self._create_plot()
def _on_display_options_changed(self):
# A full redraw is needed, but we don't have the last data sets.
# The best approach is to clear everything. The next update cycle from
# the simulation engine and/or the server communicator will repopulate
# the display with the correct visibility settings.
self.clear_all_targets()
if self.canvas:
# We need to redraw everything to show/hide elements
self.update_targets({}) # This is a trick to trigger a full redraw
self.canvas.draw()
def _create_controls(self):
@ -119,96 +124,113 @@ class PPIDisplay(ttk.Frame):
self.range_selector.bind("<<ComboboxSelected>>", self._on_range_selected)
self._update_scan_lines()
def update_targets(self, targets_data: Union[List[Target], Dict[str, List[Target]]]):
sim_data = targets_data.get("simulated", []) if isinstance(targets_data, dict) else (targets_data if isinstance(targets_data, list) else [])
real_data = targets_data.get("real", []) if isinstance(targets_data, dict) else []
for artists in [self.sim_target_artists, self.real_target_artists, self.sim_trail_artists, self.real_trail_artists, self.target_label_artists]:
for artist in artists:
artist.remove()
artists.clear()
if self.show_sim_points_var.get() or self.show_sim_trail_var.get():
for t in sim_data:
if t.active:
pos = (np.deg2rad(-t.current_azimuth_deg), t.current_range_nm)
self._trails["simulated"][t.target_id].append(pos)
if self.show_real_points_var.get() or self.show_real_trail_var.get():
for t in real_data:
if t.active:
pos = (np.deg2rad(-t.current_azimuth_deg), t.current_range_nm)
self._trails["real"][t.target_id].append(pos)
if self.show_sim_points_var.get():
self._draw_target_visuals([t for t in sim_data if t.active], 'green', self.sim_target_artists)
if self.show_real_points_var.get():
self._draw_target_visuals([t for t in real_data if t.active], 'red', self.real_target_artists)
if self.show_sim_trail_var.get():
self._draw_trails(self._trails["simulated"], 'limegreen', self.sim_trail_artists)
if self.show_real_trail_var.get():
self._draw_trails(self._trails["real"], 'tomato', self.real_trail_artists)
def clear_all_targets(self):
"""Clears all target artists from the display."""
all_artists = (
self.sim_target_artists + self.real_target_artists +
self.sim_trail_artists + self.real_trail_artists +
self.sim_label_artists + self.real_label_artists
)
for artist in all_artists:
artist.remove()
self.sim_target_artists.clear()
self.real_target_artists.clear()
self.sim_trail_artists.clear()
self.real_trail_artists.clear()
self.sim_label_artists.clear()
self.real_label_artists.clear()
def update_simulated_targets(self, targets: List[Target]):
"""Updates and redraws only the simulated targets."""
self._update_target_category(targets, "simulated")
if self.canvas:
self.canvas.draw()
def _draw_target_visuals(self, targets: List[Target], color: str, artist_list: List):
def update_real_targets(self, targets: List[Target]):
"""Updates and redraws only the real targets."""
self._update_target_category(targets, "real")
if self.canvas:
self.canvas.draw()
def _update_target_category(self, new_data: List[Target], category: str):
"""
Generic helper to update targets for a specific category ('simulated' or 'real').
"""
if category == "simulated":
target_artists = self.sim_target_artists
trail_artists = self.sim_trail_artists
label_artists = self.sim_label_artists
trail_data = self._trails["simulated"]
show_points = self.show_sim_points_var.get()
show_trail = self.show_sim_trail_var.get()
color = 'green'
trail_color = 'limegreen'
else: # "real"
target_artists = self.real_target_artists
trail_artists = self.real_trail_artists
label_artists = self.real_label_artists
trail_data = self._trails["real"]
show_points = self.show_real_points_var.get()
show_trail = self.show_real_trail_var.get()
color = 'red'
trail_color = 'tomato'
# 1. Clear existing artists for this category
for artist in target_artists + trail_artists + label_artists:
artist.remove()
target_artists.clear()
trail_artists.clear()
label_artists.clear()
# 2. Update trail data
if show_points or show_trail:
for t in new_data:
if t.active:
pos = (np.deg2rad(-t.current_azimuth_deg), t.current_range_nm)
trail_data[t.target_id].append(pos)
# 3. Draw new visuals
if show_points:
self._draw_target_visuals([t for t in new_data if t.active], color, target_artists, label_artists)
if show_trail:
self._draw_trails(trail_data, trail_color, trail_artists)
def _draw_target_visuals(self, targets: List[Target], color: str, artist_list: List, label_artist_list: List):
vector_len_nm = self.range_var.get() / 20.0
logger = logging.getLogger(__name__)
# Determine marker size based on the target type (color)
marker_size = 6 if color == 'red' else 8 # Simulated targets (green) are smaller
for target in targets:
# Plotting position (theta, r)
r_nm = target.current_range_nm
theta_rad_plot = np.deg2rad(-target.current_azimuth_deg)
(dot,) = self.ax.plot(theta_rad_plot, r_nm, "o", markersize=6, color=color)
# MODIFICATION: Removed negation. The azimuth from the model is now used directly.
theta_rad_plot = np.deg2rad(target.current_azimuth_deg)
(dot,) = self.ax.plot(theta_rad_plot, r_nm, "o", markersize=marker_size, color=color)
artist_list.append(dot)
# --- Robust Vector Calculation ---
# 1. Convert target position to internal Cartesian (x=East, y=North)
# Use math.* for scalar computations to avoid accidental array behaviors
az_rad_model = math.radians(target.current_azimuth_deg)
x_start_nm = r_nm * math.sin(az_rad_model)
y_start_nm = r_nm * math.cos(az_rad_model)
# 2. Calculate vector displacement in Cartesian from heading
# Heading is defined as degrees clockwise from North (0 = North),
# so the unit vector in Cartesian (East, North) is (sin(h), cos(h)).
# Invert the sign of the heading angle for plotting so the
# drawn heading arrow follows the same angular convention used
# for positions (theta_plot = -azimuth). Using -heading here
# ensures left/right orientation matches the displayed azimuth.
hdg_rad_plot = math.radians(-target.current_heading_deg)
# MODIFICATION: Heading should also be consistent.
# A positive heading (e.g. 10 deg) means turning left (CCW), which matches
# the standard polar plot direction.
hdg_rad_plot = math.radians(target.current_heading_deg)
dx_nm = vector_len_nm * math.sin(hdg_rad_plot)
dy_nm = vector_len_nm * math.cos(hdg_rad_plot)
# 3. Find end point in Cartesian
x_end_nm = x_start_nm + dx_nm
y_end_nm = y_start_nm + dy_nm
# 4. Convert start and end points to plotting coordinates (theta_plot, r)
r_end_nm = math.hypot(x_end_nm, y_end_nm)
theta_end_rad_plot = -math.atan2(x_end_nm, y_end_nm)
# MODIFICATION: Removed negation here as well for consistency.
theta_end_rad_plot = math.atan2(x_end_nm, y_end_nm)
(line,) = self.ax.plot([theta_rad_plot, theta_end_rad_plot], [r_nm, r_end_nm], color=color, linewidth=1.2)
artist_list.append(line)
# Debug log: useful to diagnose heading vs plotting coordinates
#try:
# logger.debug(
# "PPIDisplay: TID %s az=%.6f hdg=%.6f theta0_deg=%.3f theta1_deg=%.3f x_start=%.3f y_start=%.3f x_end=%.3f y_end=%.3f",
# target.target_id,
# target.current_azimuth_deg,
# target.current_heading_deg,
# math.degrees(theta_rad_plot),
# math.degrees(theta_end_rad_plot),
# x_start_nm,
# y_start_nm,
# x_end_nm,
# y_end_nm,
# )
#except Exception:
# pass
txt = self.ax.text(theta_rad_plot, r_nm + (vector_len_nm * 0.5), str(target.target_id), color="white", fontsize=8, ha="center", va="bottom")
self.target_label_artists.append(txt)
label_artist_list.append(txt)
def _draw_trails(self, trail_data: Dict, color: str, artist_list: List):
for trail in trail_data.values():
@ -220,7 +242,9 @@ class PPIDisplay(ttk.Frame):
def clear_trails(self):
self._trails["simulated"].clear()
self._trails["real"].clear()
self.update_targets({})
self.clear_all_targets()
if self.canvas:
self.canvas.draw()
def _update_scan_lines(self):
max_r = self.ax.get_ylim()[1]
@ -250,9 +274,9 @@ class PPIDisplay(ttk.Frame):
for point in path:
x_ft, y_ft = point[1], point[2]
r_ft = math.sqrt(x_ft**2 + y_ft**2)
# Use the same plotting convention used elsewhere: theta_plot = atan2(x, y)
# (update_targets computes theta via -current_azimuth_deg where
# current_azimuth_deg = -degrees(atan2(x,y)), which yields atan2(x,y)).
# Use the same plotting convention used elsewhere: theta_plot = atan2(x, y).
# This convention is established in the _draw_target_visuals helper,
# which computes theta via -current_azimuth_deg.
az_rad_plot = math.atan2(x_ft, y_ft)
path_rs.append(r_ft / NM_TO_FT)
path_thetas.append(az_rad_plot)

2
target_simulator/gui/trajectory_editor_window.py
View File

@ -339,7 +339,7 @@ class TrajectoryEditorWindow(tk.Toplevel):
self.sim_time_label.config(
text=f"{sim_time:.1f}s / {self.total_sim_time:.1f}s"
)
self.ppi_preview.update_targets(update)
self.ppi_preview.update_simulated_targets(update)
finally:
if self.is_preview_running.get():
self.after(GUI_QUEUE_POLL_INTERVAL_MS, self._process_preview_queue)

2
tests/gui/test_trajectory_editor_window.py
View File

@ -71,7 +71,7 @@ def _make_window():
inst.is_paused = DummyVar(False)
inst.wp_tree = FakeTree()
inst.ppi_preview = types.SimpleNamespace(
draw_trajectory_preview=lambda **k: None, update_targets=lambda u: None
draw_trajectory_preview=lambda **k: None, update_simulated_targets=lambda u: None
)
inst.sim_progress_var = DummyVar(0.0)
inst.sim_time_label = DummyLabel()