301 lines
15 KiB
Python
301 lines
15 KiB
Python
# target_simulator/core/models.py
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"""
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Defines the core data models for the application, including 3D dynamic Targets
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with programmable trajectories and Scenarios.
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"""
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from __future__ import annotations
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import math
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from enum import Enum
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from dataclasses import dataclass, field, fields
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from typing import Dict, List, Optional, Tuple
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# --- Constants ---
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MIN_TARGET_ID = 0
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MAX_TARGET_ID = 15
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KNOTS_TO_FPS = 1.68781
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FPS_TO_KNOTS = 1 / KNOTS_TO_FPS
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NM_TO_FT = 6076.12
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G_IN_FPS2 = 32.174 # Standard gravity in ft/s^2
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class ManeuverType(Enum):
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FLY_TO_POINT = "Fly to Point"
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FLY_FOR_DURATION = "Fly for Duration"
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DYNAMIC_MANEUVER = "Dynamic Maneuver"
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class TurnDirection(Enum):
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LEFT = "Left"
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RIGHT = "Right"
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@dataclass
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class Waypoint:
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"""Represents a segment of a target's trajectory, defining a maneuver."""
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maneuver_type: ManeuverType = ManeuverType.FLY_FOR_DURATION
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# --- Common Parameters ---
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duration_s: Optional[float] = 10.0
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# --- Parameters for FLY_TO_POINT ---
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target_range_nm: Optional[float] = None
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target_azimuth_deg: Optional[float] = None
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target_altitude_ft: Optional[float] = None
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# --- Parameters for FLY_FOR_DURATION (constant state) & FLY_TO_POINT (final state) ---
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target_velocity_fps: Optional[float] = None
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target_heading_deg: Optional[float] = None
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# --- Parameters for DYNAMIC_MANEUVER ---
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longitudinal_acceleration_g: Optional[float] = 0.0
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lateral_acceleration_g: Optional[float] = 0.0
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vertical_acceleration_g: Optional[float] = 0.0
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turn_direction: Optional[TurnDirection] = TurnDirection.RIGHT
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def to_dict(self) -> Dict:
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"""Serializes the waypoint to a dictionary."""
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data = {"maneuver_type": self.maneuver_type.value}
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for f in fields(self):
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if not f.name.startswith('_') and f.name != "maneuver_type":
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val = getattr(self, f.name)
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if isinstance(val, Enum):
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data[f.name] = val.value
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elif val is not None:
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data[f.name] = val
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return data
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@dataclass
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class Target:
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"""Represents a dynamic 3D target with a programmable trajectory."""
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target_id: int
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trajectory: List[Waypoint] = field(default_factory=list)
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active: bool = True
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traceable: bool = True
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use_spline: bool = False
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current_range_nm: float = field(init=False, default=0.0)
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current_azimuth_deg: float = field(init=False, default=0.0)
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current_altitude_ft: float = field(init=False, default=0.0)
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current_velocity_fps: float = field(init=False, default=0.0)
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current_heading_deg: float = field(init=False, default=0.0)
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current_pitch_deg: float = field(init=False, default=0.0)
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_pos_x_ft: float = field(init=False, repr=False, default=0.0)
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_pos_y_ft: float = field(init=False, repr=False, default=0.0)
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_pos_z_ft: float = field(init=False, repr=False, default=0.0)
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_sim_time_s: float = field(init=False, default=0.0)
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_total_duration_s: float = field(init=False, default=0.0)
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_path: List[Tuple[float, float, float, float]] = field(init=False, repr=False, default_factory=list)
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def __post_init__(self):
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if not (MIN_TARGET_ID <= self.target_id <= MAX_TARGET_ID):
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raise ValueError(f"Target ID must be between {MIN_TARGET_ID} and {MAX_TARGET_ID}.")
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self.reset_simulation()
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def reset_simulation(self):
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self._sim_time_s = 0.0
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self._generate_path()
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if self._path:
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initial_pos = self._path[0]
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self._pos_x_ft, self._pos_y_ft, self._pos_z_ft = initial_pos[1], initial_pos[2], initial_pos[3]
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if len(self._path) > 1:
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next_pos = self._path[1]
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dx, dy, dz = next_pos[1] - self._pos_x_ft, next_pos[2] - self._pos_y_ft, next_pos[3] - self._pos_z_ft
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dt = next_pos[0] - initial_pos[0]
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dist_3d, dist_2d = math.sqrt(dx**2 + dy**2 + dz**2), math.sqrt(dx**2 + dy**2)
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self.current_heading_deg = math.degrees(math.atan2(dx, dy)) % 360 if dist_2d > 0.1 else 0.0
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self.current_pitch_deg = math.degrees(math.atan2(dz, dist_2d)) if dist_2d > 0.1 else 0.0
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self.current_velocity_fps = dist_3d / dt if dt > 0 else 0.0
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else:
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self.current_heading_deg, self.current_pitch_deg, self.current_velocity_fps = 0.0, 0.0, 0.0
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else:
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self._pos_x_ft, self._pos_y_ft, self._pos_z_ft = 0.0, 0.0, 0.0
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self.current_velocity_fps, self.current_heading_deg, self.current_pitch_deg = 0.0, 0.0, 0.0
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self._update_current_polar_coords()
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self.active = bool(self.trajectory)
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def _generate_path(self):
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self._path, self._total_duration_s = Target.generate_path_from_waypoints(self.trajectory, self.use_spline)
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@staticmethod
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def generate_path_from_waypoints(waypoints: List[Waypoint], use_spline: bool) -> Tuple[List[Tuple[float, ...]], float]:
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path, total_duration_s = [], 0.0
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if not waypoints or waypoints[0].maneuver_type != ManeuverType.FLY_TO_POINT:
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return path, total_duration_s
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first_wp = waypoints[0]
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keyframes = []
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pos_ft = [
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(first_wp.target_range_nm or 0.0) * NM_TO_FT * math.sin(math.radians(first_wp.target_azimuth_deg or 0.0)),
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(first_wp.target_range_nm or 0.0) * NM_TO_FT * math.cos(math.radians(first_wp.target_azimuth_deg or 0.0)),
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first_wp.target_altitude_ft or 0.0
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]
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heading_rad = math.radians(first_wp.target_heading_deg or 0.0)
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pitch_rad = 0.0
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speed_fps = first_wp.target_velocity_fps or 0.0
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vel_ft_s = [
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speed_fps * math.cos(pitch_rad) * math.sin(heading_rad),
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speed_fps * math.cos(pitch_rad) * math.cos(heading_rad),
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speed_fps * math.sin(pitch_rad)
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]
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keyframes.append((total_duration_s, pos_ft[0], pos_ft[1], pos_ft[2]))
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for i, wp in enumerate(waypoints):
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duration = wp.duration_s or 0.0
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if i == 0: continue
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if wp.maneuver_type == ManeuverType.FLY_TO_POINT:
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start_pos = list(pos_ft)
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start_time = total_duration_s
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target_pos = [
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(wp.target_range_nm or 0.0) * NM_TO_FT * math.sin(math.radians(wp.target_azimuth_deg or 0.0)),
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(wp.target_range_nm or 0.0) * NM_TO_FT * math.cos(math.radians(wp.target_azimuth_deg or 0.0)),
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wp.target_altitude_ft or pos_ft[2]
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]
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time_step, num_steps = 0.1, max(1, int(duration / 0.1))
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for step in range(1, num_steps + 1):
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progress = step / num_steps
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current_time = start_time + progress * duration
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pos_ft = [start_pos[j] + (target_pos[j] - start_pos[j]) * progress for j in range(3)]
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keyframes.append((current_time, pos_ft[0], pos_ft[1], pos_ft[2]))
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total_duration_s += duration
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if wp.target_velocity_fps is not None and wp.target_heading_deg is not None:
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heading_rad = math.radians(wp.target_heading_deg)
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speed_fps = wp.target_velocity_fps
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vel_ft_s = [speed_fps * math.sin(heading_rad), speed_fps * math.cos(heading_rad), 0]
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elif wp.maneuver_type == ManeuverType.FLY_FOR_DURATION:
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speed_fps = wp.target_velocity_fps if wp.target_velocity_fps is not None else speed_fps
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heading_rad = math.radians(wp.target_heading_deg) if wp.target_heading_deg is not None else heading_rad
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dist_moved = speed_fps * duration
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pos_ft[0] += dist_moved * math.sin(heading_rad)
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pos_ft[1] += dist_moved * math.cos(heading_rad)
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if wp.target_altitude_ft is not None: pos_ft[2] = wp.target_altitude_ft
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total_duration_s += duration
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keyframes.append((total_duration_s, pos_ft[0], pos_ft[1], pos_ft[2]))
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elif wp.maneuver_type == ManeuverType.DYNAMIC_MANEUVER:
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time_step, num_steps = 0.1, int(duration / 0.1)
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accel_lon_fps2 = (wp.longitudinal_acceleration_g or 0.0) * G_IN_FPS2
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accel_lat_fps2 = (wp.lateral_acceleration_g or 0.0) * G_IN_FPS2
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accel_ver_fps2 = (wp.vertical_acceleration_g or 0.0) * G_IN_FPS2
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dir_multiplier = 1.0 if wp.turn_direction == TurnDirection.RIGHT else -1.0
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for _ in range(num_steps):
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pos_ft = [pos_ft[j] + vel_ft_s[j] * time_step for j in range(3)]
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current_speed_fps = math.sqrt(sum(v**2 for v in vel_ft_s))
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if current_speed_fps < 0.1:
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heading_rad = math.atan2(vel_ft_s[0], vel_ft_s[1])
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vel_ft_s[0] += accel_lon_fps2 * math.sin(heading_rad) * time_step
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vel_ft_s[1] += accel_lon_fps2 * math.cos(heading_rad) * time_step
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else:
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vel_unit_vec = [v / current_speed_fps for v in vel_ft_s]
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vel_ft_s = [vel_ft_s[j] + vel_unit_vec[j] * accel_lon_fps2 * time_step for j in range(3)]
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turn_rate_rad_s = accel_lat_fps2 / current_speed_fps
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angle_change = turn_rate_rad_s * time_step * dir_multiplier
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vx, vy = vel_ft_s[0], vel_ft_s[1]
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vel_ft_s[0] = vx * math.cos(angle_change) - vy * math.sin(angle_change)
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vel_ft_s[1] = vx * math.sin(angle_change) + vy * math.cos(angle_change)
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vel_ft_s[2] += accel_ver_fps2 * time_step
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total_duration_s += time_step
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keyframes.append((total_duration_s, pos_ft[0], pos_ft[1], pos_ft[2]))
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if use_spline and len(keyframes) >= 4:
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from target_simulator.utils.spline import catmull_rom_spline
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points_to_spline = [p[1:] for p in keyframes]
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final_path = []
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splined_points = catmull_rom_spline(points_to_spline, num_points=max(len(keyframes), 100))
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for i, point in enumerate(splined_points):
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time = (i / (len(splined_points) - 1)) * total_duration_s if len(splined_points) > 1 else 0.0
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final_path.append((time, point[0], point[1], point[2]))
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return final_path, total_duration_s
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return keyframes, total_duration_s
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def update_state(self, delta_time_s: float):
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if not self.active or not self._path: return
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self._sim_time_s += delta_time_s
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current_sim_time = min(self._sim_time_s, self._total_duration_s)
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if current_sim_time >= self._total_duration_s:
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final_pos = self._path[-1]
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self._pos_x_ft, self._pos_y_ft, self._pos_z_ft = final_pos[1], final_pos[2], final_pos[3]
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self.current_velocity_fps = 0.0
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if self._sim_time_s >= self._total_duration_s: self.active = False
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else:
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p1, p2 = self._path[0], self._path[-1]
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for i in range(len(self._path) - 1):
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if self._path[i][0] <= current_sim_time <= self._path[i+1][0]:
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p1, p2 = self._path[i], self._path[i+1]
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break
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segment_duration = p2[0] - p1[0]
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progress = (current_sim_time - p1[0]) / segment_duration if segment_duration > 0 else 1.0
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prev_x, prev_y, prev_z = self._pos_x_ft, self._pos_y_ft, self._pos_z_ft
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self._pos_x_ft = p1[1] + (p2[1] - p1[1]) * progress
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self._pos_y_ft = p1[2] + (p2[2] - p1[2]) * progress
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self._pos_z_ft = p1[3] + (p2[3] - p1[3]) * progress
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dx, dy, dz = self._pos_x_ft - prev_x, self._pos_y_ft - prev_y, self._pos_z_ft - prev_z
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dist_3d, dist_2d = math.sqrt(dx**2 + dy**2 + dz**2), math.sqrt(dx**2 + dy**2)
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if delta_time_s > 0: self.current_velocity_fps = dist_3d / delta_time_s
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if dist_2d > 0.1:
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self.current_heading_deg = math.degrees(math.atan2(dx, dy)) % 360
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self.current_pitch_deg = math.degrees(math.atan2(dz, dist_2d))
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self._update_current_polar_coords()
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def _update_current_polar_coords(self):
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self.current_range_nm = math.sqrt(self._pos_x_ft**2 + self._pos_y_ft**2) / NM_TO_FT
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self.current_azimuth_deg = math.degrees(math.atan2(self._pos_x_ft, self._pos_y_ft)) % 360
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self.current_altitude_ft = self._pos_z_ft
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def to_dict(self) -> Dict:
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return { "target_id": self.target_id, "active": self.active, "traceable": self.traceable, "trajectory": [wp.to_dict() for wp in self.trajectory], "use_spline": self.use_spline }
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class Scenario:
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def __init__(self, name: str = "Untitled Scenario"):
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self.name = name
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self.targets: Dict[int, Target] = {}
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def add_target(self, target: Target):
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self.targets[target.target_id] = target
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def get_target(self, target_id: int) -> Optional[Target]:
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return self.targets.get(target_id)
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def remove_target(self, target_id: int):
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if target_id in self.targets: del self.targets[target_id]
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def get_all_targets(self) -> List[Target]:
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return list(self.targets.values())
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def reset_simulation(self):
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for target in self.targets.values(): target.reset_simulation()
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def update_state(self, delta_time_s: float):
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for target in self.targets.values(): target.update_state(delta_time_s)
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def is_finished(self) -> bool:
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return all(not target.active for target in self.targets.values())
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def to_dict(self) -> Dict:
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return { "name": self.name, "targets": [target.to_dict() for target in self.get_all_targets()] }
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@classmethod
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def from_dict(cls, data: Dict) -> Scenario:
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scenario = cls(name=data.get("name", "Loaded Scenario"))
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for target_data in data.get("targets", []):
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try:
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waypoints = []
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for wp_data in target_data.get("trajectory", []):
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# --- BACKWARD COMPATIBILITY ---
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# Convert old Constant Turn to new Dynamic Maneuver
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if wp_data.get("maneuver_type") == "Constant Turn":
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wp_data["maneuver_type"] = "Dynamic Maneuver"
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wp_data["longitudinal_acceleration_g"] = 0.0
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wp_data["vertical_acceleration_g"] = 0.0
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wp_data["maneuver_type"] = ManeuverType(wp_data["maneuver_type"])
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if "turn_direction" in wp_data and wp_data["turn_direction"]:
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wp_data["turn_direction"] = TurnDirection(wp_data["turn_direction"])
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valid_keys = {f.name for f in fields(Waypoint)}
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filtered_wp_data = {k: v for k, v in wp_data.items() if k in valid_keys}
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waypoints.append(Waypoint(**filtered_wp_data))
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target = Target(target_id=target_data["target_id"], active=target_data.get("active", True), traceable=target_data.get("traceable", True), trajectory=waypoints, use_spline=target_data.get("use_spline", False))
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scenario.add_target(target)
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except Exception as e:
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print(f"Skipping invalid target data: {target_data}. Error: {e}")
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return scenario |