aggiunto il calcolo dei waypoint dinamici sulla tipologia duration

Temp/spline_preview.csv

@@ -1,100 +1,101 @@
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--0.06607373316034426,32.39908856215034
+16.956790443114837,23.52079470674273
--0.8496877568035757,32.660779964488654
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--1.6050406474256338,32.91268923671007
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--2.3275259319823753,33.15392025069089
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--3.0125371374296517,33.38357687830738
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--3.6554677907233284,33.600762991435815
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--4.2517114188192515,33.80458246195249
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--4.796661548673278,33.99413916173369
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--5.285711707241269,34.1685369626557
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--5.714255421479081,34.326879736594805
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settings.json

@@ -114,7 +114,7 @@
                             "target_azimuth_deg": 45.0
                         }
                     ],
-                    "use_spline": true
+                    "use_spline": false
                 },
                 {
                     "target_id": 1,
@@ -170,6 +170,20 @@
                             "target_altitude_ft": 10000.0,
                             "target_range_nm": 20.0,
                             "target_azimuth_deg": 0.0
+                        },
+                        {
+                            "maneuver_type": "Fly for Duration",
+                            "target_velocity_fps": 506.343,
+                            "target_heading_deg": 90.0,
+                            "duration_s": 20.0,
+                            "target_altitude_ft": 10000.0
+                        },
+                        {
+                            "maneuver_type": "Fly for Duration",
+                            "target_velocity_fps": 506.343,
+                            "target_heading_deg": 180.0,
+                            "duration_s": 10.0,
+                            "target_altitude_ft": 10000.0
                         }
                     ],
                     "use_spline": false

target_simulator/gui/ppi_display.py

@@ -195,21 +195,18 @@ class PPIDisplay(ttk.Frame):
             # (la preview spline cancella la classica)
             # Costruisci la lista dei punti da visualizzare
             points = []
+            # Stato corrente: range/azimuth
+            curr_r = None
+            curr_theta = None
             for i, wp in enumerate(waypoints):
                 if getattr(wp, 'maneuver_type', None) == ManeuverType.FLY_TO_POINT:
-                    # Usa range/azimuth
+                    curr_r = getattr(wp, 'target_range_nm', 0)
-                    r = getattr(wp, 'target_range_nm', 0)
+                    curr_theta = math.radians(getattr(wp, 'target_azimuth_deg', 0))
-                    theta = math.radians(getattr(wp, 'target_azimuth_deg', 0))
+                    points.append((curr_theta, curr_r, wp))
-                    points.append((theta, r, wp))
                 elif getattr(wp, 'maneuver_type', None) == ManeuverType.FLY_FOR_DURATION:
-                    # Calcola punto terminale
-                    # Serve punto di partenza
-                    if i == 0:
                     # Se non c'è punto iniziale, ignora
+                    if curr_r is None or curr_theta is None:
                         continue
-                    prev_wp = waypoints[i-1]
-                    r0 = getattr(prev_wp, 'target_range_nm', 0)
-                    theta0 = math.radians(getattr(prev_wp, 'target_azimuth_deg', 0))
                     vel_fps = getattr(wp, 'target_velocity_fps', 0)
                     vel_nmps = vel_fps / NM_TO_FT if vel_fps else 0
                     duration = getattr(wp, 'duration_s', 0)
@@ -217,9 +214,11 @@ class PPIDisplay(ttk.Frame):
                     heading_rad = math.radians(heading_deg)
                     # Calcola delta x/y in coordinate polari
                     dr = vel_nmps * duration
-                    theta1 = theta0 + heading_rad
+                    theta1 = curr_theta + heading_rad
-                    r1 = r0 + dr
+                    r1 = curr_r + dr
-                    points.append((theta1, r1, wp))
+                    curr_r = r1
+                    curr_theta = theta1
+                    points.append((curr_theta, curr_r, wp))
             thetas = [p[0] for p in points]
             rs = [p[1] for p in points]
             if len(thetas) == 1:
@@ -259,13 +258,33 @@ class PPIDisplay(ttk.Frame):
                 start_theta = thetas[0]
                 start_r = rs[0]
                 self._start_plot.set_data([start_theta], [start_r])
-                heading_len = 3
+                # Heading dal primo waypoint
-                heading_theta = start_theta
+                wp0 = points[0][2]
-                heading_r2 = start_r + heading_len
+                heading_deg = getattr(wp0, 'target_heading_deg', None)
-                # Cancella eventuali frecce precedenti
+                if heading_deg is not None:
+                    h_rad = math.radians(heading_deg)
+                    vector_len = self.max_range / 25
+                    x1, y1 = start_r * math.sin(start_theta), start_r * math.cos(start_theta)
+                    dx, dy = vector_len * math.sin(h_rad), vector_len * math.cos(h_rad)
+                    x2, y2 = x1 + dx, y1 + dy
+                    r2, th2 = math.sqrt(x2**2 + y2**2), math.atan2(x2, y2)
                     if hasattr(self, '_heading_artist'):
                         self._heading_artist.remove()
-                self._heading_artist, = self.ax.plot([start_theta, heading_theta], [start_r, heading_r2], color='red', linewidth=1, alpha=0.8)
+                    self._heading_artist, = self.ax.plot([start_theta, th2], [start_r, r2], color='red', linewidth=1.2)
+                # Heading per ogni punto finale FLY_FOR_DURATION
+                for i, (theta, r, wp) in enumerate(points):
+                    if i == 0:
+                        continue
+                    if getattr(wp, 'maneuver_type', None) == ManeuverType.FLY_FOR_DURATION:
+                        heading_deg = getattr(wp, 'target_heading_deg', None)
+                        if heading_deg is not None:
+                            h_rad = math.radians(heading_deg)
+                            vector_len = self.max_range / 25
+                            x1, y1 = r * math.sin(theta), r * math.cos(theta)
+                            dx, dy = vector_len * math.sin(h_rad), vector_len * math.cos(h_rad)
+                            x2, y2 = x1 + dx, y1 + dy
+                            r2, th2 = math.sqrt(x2**2 + y2**2), math.atan2(x2, y2)
+                            self.ax.plot([theta, th2], [r, r2], color='red', linewidth=1.2)
         else:
             # Assume Target object with trajectory and use_spline
             waypoints = getattr(trajectory, "trajectory", [])