6FPS/car-os
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sensor refactor #1

Merged
ssmith merged 5 commits from sensor-refactor into main 2026-08-02 00:54:20 +00:00
Conversation 0 Commits 5 Files Changed 171
+320 -124
21 changed files with 320 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 8fc5088c01 - Show all commits
bisect.gd
+42
View File
@@ -42,3 +42,45 @@ func bisect(a: Array, x, lo: int = 0, hi=null):
func insort(a: Array, x, lo: int = 0, hi=null):
return insort_right(a, x, lo, hi)
func reverse_insort_right(a: Array, x, lo: int = 0, hi=null):
lo = reverse_bisect_right(a, x, lo, hi)
a.insert(lo, x)
func reverse_bisect_right(a: Array, x, lo: int = 0, hi=null):
if lo < 0:
return
if hi == null:
hi = a.size()
var mid: int = 0
while lo < hi:
mid = (lo + hi) / 2
if -x < -a[mid]:
hi = mid
else:
lo = mid + 1
return lo
func reverse_insort_left(a: Array, x, lo:int = 0, hi=null):
lo = reverse_bisect_left(a, x, lo, hi)
a.insert(lo, x)
func reverse_bisect_left(a: Array, x, lo:int = 0, hi=null):
if lo < 0:
return
if hi == null:
hi = a.size()
var mid: int = 0
while lo < hi:
mid = (lo + hi) / 2
if -a[mid] < -x:
lo = mid + 1
else:
hi = mid
return lo
func reverse_bisect(a: Array, x, lo: int = 0, hi=null):
return reverse_bisect_right(a, x, lo, hi)
func reverse_insort(a: Array, x, lo: int = 0, hi=null):
return reverse_insort_right(a, x, lo, hi)
networking/scripts/udp_broadcast.gd
+27 -16
View File
@@ -5,7 +5,7 @@ extends Node
var udp = PacketPeerUDP.new()
var connected = false
var fast_broadcast_rate = 1.0
var fast_broadcast_rate = 0.5
var slow_broadcast_rate = 10.0
var current_broadcast_rate = fast_broadcast_rate
var last_broadcast = 0
@@ -16,6 +16,7 @@ var thread: Thread
var mutex: Mutex
var signal_queue = []
var exit_thread = false
var use_thread = true
func _ready():
_try_set_ip()
@@ -23,44 +24,54 @@ func _ready():
udp.set_dest_address("192.168.0.255", 5000)
SensorSignals.new_sensor_connected.connect(_on_sensor_connected)
thread = Thread.new()
use_thread = OS.get_processor_count() > 1
mutex = Mutex.new()
thread.start(_thread_function)
if use_thread:
thread = Thread.new()
print('Starting UDP Broadcast thread')
thread.start(_thread_function)
else:
print('UDP server running in single threaded mode')
func _process(delta: float) -> void:
mutex.lock()
last_broadcast += delta
mutex.unlock()
if not use_thread:
_process_broadcast()
func _exit_tree() -> void:
mutex.lock()
exit_thread = true
mutex.unlock()
thread.wait_to_finish()
if use_thread:
mutex.lock()
exit_thread = true
mutex.unlock()
thread.wait_to_finish()
func _thread_function():
print('UDP Broadcast thread started')
while true:
mutex.lock()
var should_exit = exit_thread
mutex.unlock()
if should_exit:
break
if ip_address.length() == 0:
_try_set_ip()
return
mutex.lock()
var do_broadcast = last_broadcast >= current_broadcast_rate
mutex.unlock()
if do_broadcast:
# Try to contact server
mutex.lock()
last_broadcast = 0
mutex.unlock()
var broadcast_str = ip_address + "|%s" % Time.get_datetime_string_from_system(true)
print('Broadcasting to UDP: ', broadcast_str)
udp.put_packet(broadcast_str.to_utf8_buffer())
_process_broadcast()
func _process_broadcast():
if ip_address.length() == 0:
_try_set_ip()
return
# Try to contact server
var broadcast_str = ip_address + "|%s" % Time.get_datetime_string_from_system(true)
print('Broadcasting to UDP: ', broadcast_str)
udp.put_packet(broadcast_str.to_utf8_buffer())
func _try_set_ip():
for address in IP.get_local_addresses():
networking/scripts/udp_server.gd
+23 -16
View File
@@ -12,9 +12,10 @@ var awaiting_sensors = {}
var invalid_sensors = {}
var valid_sensors = {}
var use_thread: bool = false
var thread: Thread
var mutex: Mutex
var exit_thread = false
var exit_thread = true
var signal_queue = []
@@ -27,10 +28,16 @@ func _ready():
print('Listening on port: ', port)
mutex = Mutex.new()
thread = Thread.new()
thread.start(_thread_function)
if use_thread:
thread = Thread.new()
print('Starting UDP Server thread')
thread.start(_thread_function)
else:
print('UDP server running in single threaded mode')
func _process(delta: float) -> void:
if not use_thread:
_process_connections()
while signal_queue.size() > 0:
mutex.lock()
var signal_data = signal_queue.pop_front()
@@ -51,10 +58,11 @@ func _process(delta: float) -> void:
DataSignals.magnetometer_data_received.emit(signal_data[1], signal_data[2], signal_data[3])
func _exit_tree() -> void:
mutex.lock()
exit_thread = true
mutex.unlock()
thread.wait_to_finish()
if use_thread:
mutex.lock()
exit_thread = true
mutex.unlock()
thread.wait_to_finish()
func _on_sensor_approved(sensor_ip: String):
mutex.lock()
@@ -72,6 +80,7 @@ func _on_sensor_declined(sensor_ip: String):
mutex.unlock()
func _thread_function():
print('UDP Server thread started')
while true:
mutex.lock()
var should_exit = exit_thread
@@ -177,15 +186,13 @@ func _handle_new_peer_request(peer_ip: String, packet: PackedByteArray):
10 | 1 byte | bool | peer provides quaternion orientation
"""
mutex.lock()
awaiting_sensors[peer_ip] = [
#packet.decode_u8(4),
packet.decode_u8(5),
packet.decode_u8(6),
packet.decode_u8(7),
packet.decode_u8(8),
#packet.decode_u8(9),
#packet.decode_u8(10),
]
print(packet)
print(packet.get(4))
print(0xf1)
if packet.get(4) == 0xf1:
awaiting_sensors[peer_ip] = "VEHICLE"
elif packet.get(4) == 0x23:
awaiting_sensors[peer_ip] = "LIDAR_2D"
signal_queue.append(["sensor_request_received", peer_ip, awaiting_sensors[peer_ip]])
mutex.unlock()
project.godot
+4
View File
@@ -28,6 +28,10 @@ DisplayData="*uid://xunxbytiofa2"
Bisect="*uid://crwgaltrjx4ff"
TimeHelpers="*uid://dqtc81pc74lcr"
[debug]
file_logging/enable_file_logging=true
[display]
window/size/viewport_width=800
sensor_approval/SensorApprovalController.gd
+2 -2
View File
@@ -32,9 +32,9 @@ func _on_settings_closed():
add_child(sensor_approval_nodes[val])
_update_container_position()
func _on_sensor_request_received(sensor_ip: String, data_provided: Array):
func _on_sensor_request_received(sensor_ip: String, sensor_class: String):
sensor_approval_nodes[sensor_ip] = sensor_approval_scene.instantiate()
sensor_approval_nodes[sensor_ip].set_provided_data(sensor_ip, data_provided)
sensor_approval_nodes[sensor_ip].set_provided_data(sensor_ip, sensor_class)
if not settings_open:
add_child(sensor_approval_nodes[sensor_ip])
_update_container_position()
sensor_approval/provided_data.gd
+9 -4
View File
@@ -11,9 +11,10 @@ offset | size | type | description
9 | 1 byte | bool | peer provides euler orientation
10 | 1 byte | bool | peer provides quaternion orientation
"""
var data_labels = ["Date Time", "PNT", "Accel", "Gyro", "Magnet", "Euler", "Quat"]
var data_labels = ["Date Time", "PNT", "Accel", "Gyro", "Magnet", "Euler", "Quat", "2D Lidar"]
var provided_data: Array = [0, 0, 0, 0, 0, 0, 0]
var sensor_class: String = ''
var provided_data: Array = [0, 0, 0, 0, 0, 0, 0, 0]
var data_columns: Array
@export var data_column_scene: PackedScene
@@ -35,5 +36,9 @@ func _setup_data_columns():
func _process(delta: float) -> void:
pass
func set_provided_data(incoming_provided_data):
provided_data = incoming_provided_data
func set_provided_data(incoming_sensor_class: String):
sensor_class = incoming_sensor_class.capitalize()
if incoming_sensor_class == "VEHICLE":
provided_data = [0, 1, 1, 1, 1, 0, 0, 0]
elif incoming_sensor_class == "LIDAR_2D":
provided_data = [0, 1, 1, 1, 0, 0, 0, 1]
sensor_approval/sensor_approval.gd
+6 -3
View File
@@ -5,7 +5,7 @@ var ip_label: Label
var data_instance: Node
var sensor_ip: String = "127.0.0.1"
var data_labels = ["PNT", "Accel", "Gyro", "Magnet"]
var data_labels = ["PNT", "Accel", "Gyro", "Magnet", "2D Lidar"]
var provided_data: Array = [0, 0, 0, 0]
var data_columns: Array
@@ -27,11 +27,14 @@ func _setup_data_columns():
column_instance.get_node('DataValue').text = "True"
container.add_child(column_instance)
func set_provided_data(incoming_sensor_ip: String, incoming_provided_data: Array):
func set_provided_data(incoming_sensor_ip: String, sensor_class: String):
sensor_ip = incoming_sensor_ip
ip_label = get_node('HBoxContainer/Label')
ip_label.text = sensor_ip
provided_data = incoming_provided_data
if sensor_class == "VEHICLE":
provided_data = [1, 1, 1, 1, 0]
elif sensor_class == "LIDAR_2D":
provided_data = [1, 1, 1, 0, 1]
if data_columns.size() == 0:
_setup_data_columns()
else:
sensors/lidar_2d_sensor_node.gd
+14
View File
@@ -0,0 +1,14 @@
extends BaseSensorNode
class_name Lidar2DSensorNode
# Called when the node enters the scene tree for the first time.
func _ready() -> void:
pass # Replace with function body.
# Called every frame. 'delta' is the elapsed time since the previous frame.
func _process(delta: float) -> void:
pass
func _get_sensor_class():
return "LIDAR_2D"
sensors/lidar_2d_sensor_node.gd.uid
+1
View File
@@ -0,0 +1 @@
uid://c00jgww14wp8w
sensors/sensor_spawner.gd
+8 -2
View File
@@ -8,8 +8,14 @@ func _ready() -> void:
vehicle = get_parent()
SensorSignals.new_sensor_connected.connect(_on_new_sensor_connected)
func _on_new_sensor_connected(sensor_ip: String, provider_data: Array) -> void:
var sensor_node = VehicleSensorNode.new()
func _on_new_sensor_connected(sensor_ip: String, sensor_type: String) -> void:
var sensor_node: BaseSensorNode
if sensor_type == "VEHICLE":
sensor_node = VehicleSensorNode.new()
elif sensor_type == "LIDAR_2D":
sensor_node = Lidar2DSensorNode.new()
else:
return
sensor_node.ip_address = sensor_ip
add_child(sensor_node)
vehicle.add_sensor_node(sensor_node)
sensors/vehicle_sensor_node.gd
+106 -50
View File
@@ -16,10 +16,12 @@ var gps_timestamps = []
var coordinates = []
var gps_positions = []
var altitudes = []
var alt_coefficients = []
var altitude_m:
get:
return _get_current_altitude()
var speed_data = []
var speed_coefficients = []
var speed_kmh:
get:
return _get_current_speed()
@@ -32,6 +34,12 @@ var pitch_data = []
var pitch_rad: float
var roll_data = []
var roll_rad: float
var lateral_g_data = []
var x_coefficients = []
var y_coefficients = []
var lateral_accel:
get:
return _get_current_gs()
var mag_timestamps = []
var mag_vecs = []
@@ -57,7 +65,7 @@ func _on_gps_data_received(source_ip: String, timestamp_list: Array, new_coordin
var timestamp: float = 3600.*timestamp_list[0] + 60.*timestamp_list[1] + timestamp_list[2] + timestamp_list[3]
if gps_timestamps.size() == max_data_length and not TimeHelpers.is_timestamp_newer_24h(gps_timestamps[-1], timestamp):
return
var insert_idx = Bisect.bisect(gps_timestamps, timestamp)
var insert_idx = Bisect.reverse_bisect(gps_timestamps, timestamp)
var altitude_m = new_coordinates[2] + new_coordinates[3]
var radius_km = (new_coordinates[2] + new_coordinates[3] + Constants.EARTH_RADIUS_M) / 1000.
var pos_x = radius_km * sin(new_coordinates[1]) * cos(new_coordinates[0])
@@ -69,11 +77,13 @@ func _on_gps_data_received(source_ip: String, timestamp_list: Array, new_coordin
altitudes.insert(insert_idx, altitude_m)
speed_data.insert(insert_idx, speed_kmh)
if gps_timestamps.size() > max_data_length:
gps_timestamps.pop_front()
coordinates.pop_front()
gps_positions.pop_front()
altitudes.pop_front()
speed_data.pop_front()
gps_timestamps.pop_back()
coordinates.pop_back()
gps_positions.pop_back()
altitudes.pop_back()
speed_data.pop_back()
_update_alt_coefficients()
_update_speed_coefficients()
func _on_sat_data_received(source_ip: String, timestamp: float):
if source_ip != ip_address:
@@ -85,7 +95,7 @@ func _on_accel_data_received(source_ip: String, timestamp_list: Array, accel: Ve
var timestamp: float = 3600.*timestamp_list[0] + 60.*timestamp_list[1] + timestamp_list[2] + timestamp_list[3]
if accel_timestamps.size() == max_data_length and not TimeHelpers.is_timestamp_newer_24h(accel_timestamps[-1], timestamp):
return
var insert_idx = Bisect.bisect(accel_timestamps, timestamp)
var insert_idx = Bisect.reverse_bisect(accel_timestamps, timestamp)
var x_z = Vector2(g_accel.x, g_accel.z).normalized()
var y_z = Vector2(g_accel.y, g_accel.z).normalized()
var pitch = DOWN.angle_to(x_z)
@@ -95,14 +105,18 @@ func _on_accel_data_received(source_ip: String, timestamp_list: Array, accel: Ve
g_vecs.insert(insert_idx, g_accel)
pitch_data.insert(insert_idx, pitch)
roll_data.insert(insert_idx, roll)
var lateral_g = Vector2(linear_accel.x, linear_accel.y)
lateral_g_data.insert(insert_idx, lateral_g.normalized()*lateral_g.length())
if accel_timestamps.size() > max_data_length:
accel_timestamps.pop_front()
linear_vecs.pop_front()
g_vecs.pop_front()
pitch_data.pop_front()
roll_data.pop_front()
accel_timestamps.pop_back()
linear_vecs.pop_back()
g_vecs.pop_back()
pitch_data.pop_back()
roll_data.pop_back()
lateral_g_data.pop_back()
_update_avg_pitch()
_update_avg_roll()
_update_g_coefficients()
func _on_mag_data_received(source_ip: String, timestamp_list: Array, mag_vec: Vector3):
if source_ip != ip_address:
@@ -110,64 +124,106 @@ func _on_mag_data_received(source_ip: String, timestamp_list: Array, mag_vec: Ve
var timestamp: float = 3600.*timestamp_list[0] + 60.*timestamp_list[1] + timestamp_list[2] + timestamp_list[3]
if mag_timestamps.size() == max_data_length and not TimeHelpers.is_timestamp_newer_24h(mag_timestamps[-1], timestamp):
return
var insert_idx = Bisect.bisect(mag_timestamps, timestamp)
var insert_idx = Bisect.reverse_bisect(mag_timestamps, timestamp)
var mag_2d = Vector2(mag_vec.x, mag_vec.y)
mag_2d.normalized()
var new_heading_rad = atan2(-mag_2d.y, mag_2d.x)
if new_heading_rad < 0:
new_heading_rad += 2*PI
mag_timestamps.insert(insert_idx, timestamp)
mag_vecs.insert(insert_idx, mag_vec)
heading_data.insert(insert_idx, new_heading_rad)
if mag_timestamps.size() > max_data_length:
mag_timestamps.pop_front()
mag_vecs.pop_front()
heading_data.pop_front()
_update_avg_heading()
mag_timestamps.pop_back()
mag_vecs.pop_back()
heading_data.pop_back()
func _on_gyro_data_received(source_ip: String, timestamp: float):
if source_ip != ip_address:
return
func get_derrivative(dataset: Array) -> Array:
if dataset.size() < 2:
return [0, []]
var deltas = []
var delta_sum = 0
for i in range(dataset.size()-1):
var delta = dataset[i+1] - dataset[i]
deltas.append(dataset[i+1] - dataset[i])
return [delta_sum / deltas.size(), deltas]
func get_array_avg(dataset: Array):
var data_sum = 0
for i in dataset:
data_sum += i
return data_sum / dataset.size()
func get_coefficients(dataset: Array, order: int):
if order == 0:
return []
if dataset.size() <= order:
order = dataset.size() - 1
var coefficients = []
var tmp_dataset = dataset
var dx_result: Array
for i in range(order):
dx_result = get_derrivative(tmp_dataset)
coefficients.append(dx_result[0])
tmp_dataset = dx_result[1]
return coefficients
func _update_alt_coefficients():
if gps_timestamps.size() < 2:
return
alt_coefficients = get_coefficients(altitudes, 2)
func _get_current_altitude():
if gps_timestamps.size() < 3:
return null
var altitude_dx = []
var alt_dx_sum = 0
var current_timestamp = TimeHelpers.get_current_sensor_time()
for i in range(gps_timestamps.size()-1, 0, -1):
var alt_dx = altitudes[i] - altitudes[i-1]
alt_dx_sum += alt_dx
altitude_dx.append(alt_dx)
var altitude_dx2 = []
var alt_dx2_sum = 0
for i in range(altitude_dx.size()-1):
var alt_dx2 = altitude_dx[i] - altitude_dx[i+1]
alt_dx2_sum += alt_dx2
altitude_dx2.append(alt_dx2)
var time_diff = max(0, TimeHelpers.calc_time_diff_24h(gps_timestamps[-1], current_timestamp))
var dv = alt_dx2_sum/altitude_dx2.size()
var dx = alt_dx_sum / altitude_dx.size()
return altitudes[-1] + ((dx + (dv * time_diff)) * time_diff)
var time_diff = max(0, TimeHelpers.calc_time_diff_24h(gps_timestamps[0], current_timestamp))
var current_value = altitudes[0]
for idx in range(alt_coefficients.size()):
current_value += alt_coefficients[idx] * (time_diff ** idx+1)
return current_value
func _update_speed_coefficients():
if gps_timestamps.size() < 2:
return
speed_coefficients = get_coefficients(speed_data, 2)
func _get_current_speed():
if gps_timestamps.size() < 3:
return null
var speed_dx = []
var speed_dx_sum = 0
return
var current_timestamp = TimeHelpers.get_current_sensor_time()
for i in range(gps_timestamps.size()-1, 0, -1):
var spd_dx = speed_data[i] - speed_data[i-1]
speed_dx_sum += spd_dx
speed_dx.append(spd_dx)
var speed_dx2 = []
var speed_dx2_sum = 0
for i in range(speed_dx.size()-1):
var spd_dx2 = speed_dx[i] - speed_dx[i+1]
speed_dx2_sum += spd_dx2
speed_dx2.append(spd_dx2)
var time_diff = max(0, TimeHelpers.calc_time_diff_24h(gps_timestamps[-1], current_timestamp))
var dv = speed_dx2_sum/speed_dx2.size()
var dx = speed_dx_sum / speed_dx.size()
return speed_data[-1] + ((dx + (dv * time_diff)) * time_diff)
var current_value = speed_data[0]
for idx in range(speed_coefficients.size()):
current_value += speed_coefficients[idx] * (time_diff ** idx+1)
return current_value
func _update_g_coefficients():
if accel_timestamps.size() < 2:
return
var x_dataset = []
var y_dataset = []
for i in lateral_g_data:
x_dataset.append(i.x)
y_dataset.append(i.y)
x_coefficients = get_coefficients(x_dataset, 3)
y_coefficients = get_coefficients(y_dataset, 3)
func _get_current_gs():
if accel_timestamps.size() < 3:
return
var current_timestamp = TimeHelpers.get_current_sensor_time()
var time_diff = max(0, TimeHelpers.calc_time_diff_24h(accel_timestamps[0], current_timestamp))
var current_x = lateral_g_data[0].x
var current_y = lateral_g_data[0].y
for idx in range(speed_coefficients.size()):
current_x += x_coefficients[idx] * (time_diff ** idx+1)
current_y += y_coefficients[idx] * (time_diff ** idx+1)
return Vector2(current_x, current_y)
func _update_avg_pitch():
var pitch_sum = 0
@@ -183,7 +239,7 @@ func _update_avg_roll():
func _update_avg_heading():
var heading_sum = 0
for i in range(mag_timestamps.size()):
for i in range(min(mag_timestamps.size(), 2)):
heading_sum += heading_data[i]
heading_rad = heading_sum / heading_data.size()
signals/server_signals.gd
+1 -1
View File
@@ -1,5 +1,5 @@
extends Node
signal sensor_request_received(sensor_ip_address: String, data_provided: Array)
signal sensor_request_received(sensor_ip_address: String, sensor_class: String)
signal sensor_approved(sensor_ip_adress: String)
signal sensor_declined(sensor_ip_address: String)
vehicle/scripts/vehicle_node.gd
+18
View File
@@ -16,6 +16,7 @@ var host_id: String = ''
var sensor_nodes = {}
var sensor_classes = {
"VEHICLE": [],
"LIDAR_2D": [],
}
var timer: float = 0.
@@ -37,6 +38,10 @@ var pitch_rad: float:
get:
return _get_pitch_rad()
var lateral_accel: Vector2:
get:
return _get_lateral_accel()
var heading_rad: float:
get:
return _get_heading_rad()
@@ -124,6 +129,19 @@ func _get_pitch_rad():
return 0
return pitch_sum / pitch_count
func _get_lateral_accel():
var gs_sum: Vector2 = Vector2.ZERO
var gs_count: int = 0
for sensor_ip in sensor_classes["VEHICLE"]:
var sensor_gs = sensor_nodes[sensor_ip].lateral_accel
if sensor_gs == null:
continue
gs_sum += sensor_gs
gs_count += 1
if gs_count == 0:
return Vector2.ZERO
return gs_sum / gs_count
func _get_heading_rad():
var heading_sum: float = 0
var heading_count: int = 0
views/2d/View2D.tscn
+2 -2
View File
@@ -15,7 +15,7 @@ script = ExtResource("1_n6fjn")
[node name="HUD" type="CanvasLayer" parent="." unique_id=1826106128]
[node name="Compass" parent="HUD" unique_id=2062816665 instance=ExtResource("1_fyqef")]
position = Vector2(114.99999, 538.00006)
position = Vector2(104, 486)
[node name="TotalSatCount" parent="HUD" unique_id=931018379 instance=ExtResource("2_3b2b5")]
visible = false
@@ -64,7 +64,7 @@ scale = Vector2(0.05, 0.05)
sat_category = "QZSS"
[node name="AltitudeWidget" parent="HUD" unique_id=1004159593 instance=ExtResource("3_g6l6n")]
position = Vector2(243, 494)
position = Vector2(170, 481)
[node name="AccelerometerWidget" parent="HUD" unique_id=1057256615 instance=ExtResource("4_qui0h")]
position = Vector2(675, 400)
views/ViewController.gd
+1 -1
View File
@@ -25,7 +25,7 @@ func _ready() -> void:
func add_widget(widget_type: String, widget_position: Vector2, widget_scale: float):
pass
func _on_sensor_request_received(sensor_ip, sensor_data):
func _on_sensor_request_received(sensor_ip, sensor_class):
_on_open_settings_pressed()
func _on_sensor_approced(sensor_ip):
widgets/accelerometer/scripts/accelerometer_widget_node.gd
+10 -11
View File
@@ -11,7 +11,6 @@ var origin: Vector2 = Vector2(0., 0.)
# Called when the node enters the scene tree for the first time.
func _ready() -> void:
super._ready()
Signals.linear_acceleration_updated.connect(_on_linear_acceleration_updated)
label = get_node('Label')
accel_vector = get_node("AccelVector")
accel_vector.points = [origin, origin]
@@ -20,13 +19,13 @@ func _ready() -> void:
y_vector = get_node("YVector")
y_vector.points = [origin, origin]
func _on_linear_acceleration_updated(sensor_ip: String, linear_acceleration: Array):
var accel_vec = Vector2(-linear_acceleration[1], linear_acceleration[0])
var vec_norm: Vector2 = accel_vec.normalized()
var vec_length: float = accel_vec.length()
var accel_g = vec_length / Constants.g
var x_vec = Vector2(vec_norm.x*vec_length, 0)
accel_vector.points = [origin, accel_vec * 10]
x_vector.points = [origin, x_vec * 10]
y_vector.points = [x_vec * 10, accel_vec * 10]
label.text = str(round(accel_g*100)/100) + ' g'
func _update_data():
if y_vector == null:
return
var lateral_gs = host_vehicle.lateral_accel
var accel_g = lateral_gs.length() / Constants.g
var x_vec = Vector2(lateral_gs.x, 0)
accel_vector.points = [origin, lateral_gs * 4]
x_vector.points = [origin, x_vec * 4]
y_vector.points = [x_vec * 4, lateral_gs * 4]
label.text = str(round(accel_g*10)/10) + ' g'
widgets/altitude/altitude_widget.tscn
+8 -8
View File
@@ -8,22 +8,22 @@ script = ExtResource("1_hmdxp")
metadata/_custom_type_script = "uid://b3rfje1auw6to"
[node name="Panel" type="Panel" parent="." unique_id=1393400967]
offset_right = 306.0
offset_bottom = 70.0
offset_right = 460.0
offset_bottom = 120.0
[node name="Label" type="Label" parent="." unique_id=1070194714]
offset_right = 306.0
offset_bottom = 70.0
theme_override_font_sizes/font_size = 32
text = "Altitude: 99999 ft"
offset_right = 460.0
offset_bottom = 120.0
theme_override_font_sizes/font_size = 80
text = "Alt: 99999 ft"
horizontal_alignment = 1
vertical_alignment = 1
[node name="MovableControl" type="Control" parent="." unique_id=1186292353 node_paths=PackedStringArray("move_target")]
layout_mode = 3
anchors_preset = 0
offset_right = 306.0
offset_bottom = 70.0
offset_right = 460.0
offset_bottom = 120.0
mouse_filter = 1
script = ExtResource("2_34sps")
move_target = NodePath("..")
widgets/altitude/scripts/altitude_widget_node.gd
+1 -1
View File
@@ -14,4 +14,4 @@ func _ready() -> void:
func _update_data():
if label_node == null:
return
label_node.text = 'Altitude: ' + str(int(round(host_vehicle.altitude_m * Constants.M2FT))) + ' ft'
label_node.text = 'Alt: ' + str(int(round(host_vehicle.altitude_m * Constants.M2FT))) + ' ft'
widgets/compass/compass_widget_scene.tscn
+9 -3
View File
@@ -14,14 +14,20 @@ scale = Vector2(0.1, 0.1)
texture = ExtResource("2_qf1yp")
[node name="Label" type="Label" parent="." unique_id=338110309]
anchors_preset = 7
anchor_left = 0.5
anchor_top = 1.0
anchor_right = 0.5
anchor_bottom = 1.0
offset_left = -50.0
offset_top = -350.0
offset_top = -300.0
offset_right = 50.0
offset_bottom = -150.0
grow_horizontal = 2
grow_vertical = 0
pivot_offset = Vector2(50, 300)
theme_override_font_sizes/font_size = 80
text = "N"
horizontal_alignment = 1
vertical_alignment = 1
justification_flags = 161
[node name="MovableControl" type="Control" parent="." unique_id=124696843 node_paths=PackedStringArray("move_target")]
widgets/compass/scripts/compass_widget_node.gd
+26 -2
View File
@@ -5,6 +5,7 @@ class_name CompassWidgetNode
@export_range(0., 359., 0.1) var north_deg = 0.
var north_rad: float
var indicator: Sprite2D
var label: Label
# Called when the node enters the scene tree for the first time.
func _ready() -> void:
@@ -13,8 +14,31 @@ func _ready() -> void:
north_deg = 0.
north_rad = deg_to_rad(north_deg)
indicator = get_node("CompassIndicator")
label = get_node("Label")
func _update_data():
if indicator == null:
if label == null:
return
indicator.rotation = host_vehicle.heading_rad
#label.rotation = -host_vehicle.heading_rad
label.text = get_direction_label(host_vehicle.heading_rad)
func get_direction_label(heading_rad):
var heading_deg = rad_to_deg(heading_rad)
if 0 <= heading_deg and heading_deg <= 22.5:
return 'N'
elif 22.5 < heading_deg and heading_deg <= 67.5:
return "NE"
elif 67.5 < heading_deg and heading_deg <= 112.5:
return "E"
elif 112.5 < heading_deg and heading_deg <= 157.5:
return "SE"
elif 157.5 < heading_deg and heading_deg <= 202.5:
return "S"
elif 202.5 < heading_deg and heading_deg <= 247.5:
return "SW"
elif 247.5 < heading_deg and heading_deg <= 292.5:
return "W"
elif 292.5 < heading_deg and heading_deg <= 337.5:
return "NW"
else:
return "N"
widgets/speed/speed_widget.tscn
+2 -2
View File
@@ -14,14 +14,14 @@ offset_bottom = 40.0
[node name="SpeedLabel" type="Label" parent="VBoxContainer" unique_id=2101712075]
custom_minimum_size = Vector2(150, 0)
layout_mode = 2
theme_override_font_sizes/font_size = 48
theme_override_font_sizes/font_size = 80
text = "10"
horizontal_alignment = 1
[node name="UnitLabel" type="Label" parent="VBoxContainer" unique_id=123505815]
custom_minimum_size = Vector2(100, 0)
layout_mode = 2
theme_override_font_sizes/font_size = 16
theme_override_font_sizes/font_size = 26
text = "MPH"
horizontal_alignment = 1