initial commit

2026-07-04 18:22:23 -06:00
commit 55522fc6fc
272 changed files with 12391 additions and 0 deletions
@@ -0,0 +1,101 @@
+extends Node3D
+class_name SatelliteWidget3dNode
+
+var sensor_class: String
+var used_sensors: Dictionary = {}
+
+var host_vehicle: VehicleNode
+var vehicle_3d_node: Node3D
+var vehicle_position: Vector3 = Vector3.ZERO
+var sat_scene: PackedScene = preload("res://widgets/satellites/satellite.tscn")
+var sat_nodes = {}
+var need_sat_update: bool = true
+var sat_update_timer: float = 0
+var sat_update_rate: float = 60.
+
+var lines = []
+
+var GPS_ALT_KM = 20_200
+
+# Called when the node enters the scene tree for the first time.
+func _ready() -> void:
+	GPS_ALT_KM += Constants.EARTH_RADIUS_KM
+	Signals.vehicle_added.connect(_on_vehicle_added)
+	Signals.requested_host_vehicle.emit(self)
+	Signals.sat_position_updated.connect(_on_sat_position_updated)
+	Signals.position_updated.connect(_on_position_updated)
+
+func _process(delta: float):
+	sat_update_timer += delta
+	if sat_update_timer >= sat_update_rate:
+		sat_update_timer = 0
+		need_sat_update = true
+	if host_vehicle != null:
+		return
+	Signals.requested_host_vehicle.emit(self)
+
+func _on_vehicle_added(new_vehicle):
+	host_vehicle = new_vehicle
+
+func set_host_vehicle(new_vehicle):
+	host_vehicle = new_vehicle
+	vehicle_3d_node = Node3D.new()
+	add_child(vehicle_3d_node)
+
+func check_valid_sensor(sensor_ip: String, sensor_class: String):
+	if host_vehicle == null:
+		return false
+	if sensor_ip not in host_vehicle.sensors:
+		return false
+	if sensor_class == null:
+		return true
+	if sensor_class not in host_vehicle.sensor_classes:
+		return false
+	if sensor_ip not in host_vehicle.sensor_classes[sensor_class]:
+		return false
+	return true
+
+func _on_sat_position_updated(sensor_ip: String, sat_position_data: Array):
+	if vehicle_3d_node == null:
+		return
+	if not need_sat_update:
+		return
+	need_sat_update = false
+	var current_sat_ids = []
+	for sat_data in sat_position_data:
+		var sat_id = sat_data[0]
+		var el_rad = deg_to_rad(sat_data[1])
+		var az_rad = deg_to_rad(sat_data[2])
+		current_sat_ids.append(sat_id)
+		if sat_id not in sat_nodes:
+			_create_sat_node(sat_id)
+		_update_sat_position(sat_id, el_rad, az_rad)
+	for old_sat_id in sat_nodes.keys():
+		if old_sat_id not in current_sat_ids:
+			vehicle_3d_node.remove_child(sat_nodes[old_sat_id])
+			sat_nodes[old_sat_id].queue_free()
+			sat_nodes.erase(old_sat_id)
+
+func _create_sat_node(sat_id: String):
+	var new_sat_node = sat_scene.instantiate()
+	sat_nodes[sat_id] = new_sat_node
+	vehicle_3d_node.add_child(new_sat_node)
+
+func _update_sat_position(sat_id, el_rad, az_rad):
+	# vehicle node is rotated to SEZ.
+	# Az is rotated clockwise from north
+	# 0 el is horizon. 90 is zenith
+	var x = sin(el_rad) * cos(az_rad + PI)
+	var y = sin(el_rad) * sin(az_rad + PI)
+	var z = cos(el_rad)
+	var sat_position = Vector3(x, y, z)
+	var global_sat_position = ((vehicle_position.normalized() + sat_position) * GPS_ALT_KM)
+	var local_sat_position = global_sat_position - vehicle_position
+	sat_nodes[sat_id].position = Vector3(local_sat_position.x, local_sat_position.z, local_sat_position.y)
+	
+func _on_position_updated(sensor_ip: String, physics_position: Vector3):
+	if vehicle_3d_node == null:
+		return
+	vehicle_position = physics_position
+	vehicle_3d_node.position = Vector3(physics_position.x, physics_position.z, physics_position.y)
+