From 78ab1cb85d269d87c3225d32fe4a1125561796d4 Mon Sep 17 00:00:00 2001 From: blinker Date: Fri, 19 Jun 2026 19:37:09 +0000 Subject: [PATCH 01/10] [FEATURE] hw10-threads: implemented thread_safe_target_provider and drone_physics. change createProvider factory. Fix main.cpp and mission_processor to use new targetProvider and drone physics. It works in one thread --- drone_simulation/CMakeLists.txt | 6 + drone_simulation/data/config.json | 5 +- .../include/config_loaders/factory.hpp | 11 +- drone_simulation/include/drone_physics.hpp | 25 + .../include/interfaces/target_provider.hpp | 6 +- .../include/mission_processor.hpp | 52 +- .../providers/json_target_provider.hpp | 16 +- .../providers/thread_safe_target_provider.hpp | 23 + drone_simulation/include/simulation.hpp | 219 +- .../include/thread_safe_queue.hpp | 28 + .../src/config_loaders/factory.cpp | 51 +- drone_simulation/src/drone_physics.cpp | 59 + .../src/drone_states/state_accelerating.cpp | 40 +- .../src/drone_states/state_decelerating.cpp | 36 +- .../src/drone_states/state_moving.cpp | 31 +- .../src/drone_states/state_turning.cpp | 29 +- drone_simulation/src/main.cpp | 128 +- drone_simulation/src/mission_processor.cpp | 97 +- .../src/providers/json_target_provider.cpp | 22 +- .../providers/thread_safe_target_provider.cpp | 47 + drone_simulation/src/simulation.cpp | 464 +- simulation.json | 7003 +++++++++++------ 22 files changed, 5288 insertions(+), 3110 deletions(-) create mode 100644 drone_simulation/include/drone_physics.hpp create mode 100644 drone_simulation/include/providers/thread_safe_target_provider.hpp create mode 100644 drone_simulation/include/thread_safe_queue.hpp create mode 100644 drone_simulation/src/drone_physics.cpp create mode 100644 drone_simulation/src/providers/thread_safe_target_provider.cpp diff --git a/drone_simulation/CMakeLists.txt b/drone_simulation/CMakeLists.txt index 5456da2..0c0a32d 100644 --- a/drone_simulation/CMakeLists.txt +++ b/drone_simulation/CMakeLists.txt @@ -6,6 +6,7 @@ add_library(drone_simulation_lib src/solvers/analytical_solver.cpp src/solvers/table_solver.cpp src/providers/json_target_provider.cpp + src/providers/thread_safe_target_provider.cpp src/config_loaders/file_config_loader.cpp src/config_loaders/factory.cpp src/mission_processor.cpp @@ -14,7 +15,12 @@ add_library(drone_simulation_lib src/drone_states/state_decelerating.cpp src/drone_states/state_turning.cpp src/drone_states/state_moving.cpp + src/drone_physics.cpp ) + +find_package(Threads REQUIRED) +target_link_libraries(drone_simulation_lib PUBLIC Threads::Threads) + target_include_directories(drone_simulation_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) target_compile_options(drone_simulation_lib PRIVATE -Wall -Wextra -pedantic) diff --git a/drone_simulation/data/config.json b/drone_simulation/data/config.json index 1a5e88d..8d6ffc6 100644 --- a/drone_simulation/data/config.json +++ b/drone_simulation/data/config.json @@ -14,7 +14,10 @@ "ammo": "VOG-17", "simulation": { "timeStep": 0.1, - "hitRadius": 2 + "hitRadius": 2, + "targetTimeStep": 0.05, + "physicsTimeStep": 0.01, + "timeScale": 10.0 }, "targetArrayTimeStep": 1 } \ No newline at end of file diff --git a/drone_simulation/include/config_loaders/factory.hpp b/drone_simulation/include/config_loaders/factory.hpp index 62c7b2b..ed2c3d7 100644 --- a/drone_simulation/include/config_loaders/factory.hpp +++ b/drone_simulation/include/config_loaders/factory.hpp @@ -6,13 +6,10 @@ #include "interfaces/target_provider.hpp" #include "interfaces/config_loader.hpp" -enum class SolverType { - ANALYTICAL, - TABLE -}; -enum class ProviderType { JSON }; -enum class LoaderType { FILE }; +enum class SolverType { ANALYTICAL, TABLE }; +enum class ProviderType { JSON, THREAD_SAFE }; +enum class LoaderType { FILE }; std::unique_ptr createSolver(SolverType type, const DroneConfig& config, const std::string tablePath = ""); -std::unique_ptr createProvider(ProviderType type, const std::string path); +std::unique_ptr createProvider(ProviderType type, const std::string path, float arrayTimeStep); std::unique_ptr createLoader(LoaderType type, const std::string c, const std::string a); \ No newline at end of file diff --git a/drone_simulation/include/drone_physics.hpp b/drone_simulation/include/drone_physics.hpp new file mode 100644 index 0000000..a560391 --- /dev/null +++ b/drone_simulation/include/drone_physics.hpp @@ -0,0 +1,25 @@ +#pragma once +#include +#include +#include +#include "simulation.hpp" +#include "interfaces/drone_state.hpp" +#include "thread_safe_queue.hpp" + +class DronePhysics { + DroneContext droneContext; + DroneConfig config; + ThreadSafeQueue commandQueue; + mutable std::mutex mtx; + std::unique_ptr state; + float elapsedTime = 0.0f; + +public: + DronePhysics(const DroneConfig& config); + + auto stepPhysics(float dt) -> void; + auto sendCommand(const DroneCommand& cmd) -> void; + auto getTelemetry() const -> DroneTelemetry; + auto getContext() const -> DroneContext; + auto getStateName() const -> std::string; +}; \ No newline at end of file diff --git a/drone_simulation/include/interfaces/target_provider.hpp b/drone_simulation/include/interfaces/target_provider.hpp index 5b14470..d5cd960 100644 --- a/drone_simulation/include/interfaces/target_provider.hpp +++ b/drone_simulation/include/interfaces/target_provider.hpp @@ -3,7 +3,7 @@ class ITargetProvider { public: - virtual int getTargetCount() = 0; - virtual std::vector& getTarget(int index) = 0; - virtual ~ITargetProvider() {} + virtual int getTargetCount() = 0; + virtual Target getTarget(int index) = 0; + virtual ~ITargetProvider() {} }; \ No newline at end of file diff --git a/drone_simulation/include/mission_processor.hpp b/drone_simulation/include/mission_processor.hpp index 80ff1b0..552ae0a 100644 --- a/drone_simulation/include/mission_processor.hpp +++ b/drone_simulation/include/mission_processor.hpp @@ -2,35 +2,33 @@ #include "interfaces/ballistic_solver.hpp" #include "interfaces/config_loader.hpp" #include "interfaces/target_provider.hpp" -#include "interfaces/drone_state.hpp" - +#include "drone_physics.hpp" class MissionProcessor { - const int MAX_STEPS = 10000; - std::unique_ptr targets; - std::unique_ptr ballisticSolver; - DroneConfig droneConfig; - AmmoParams ammo; - DroneContext droneContext; - int currentStep = 1; - int prevTargetIndex = -1; - float currentTime = 0.0f; - float ammoFlightTime; - float ammoHorizontalFlightDistance; - bool hit = false; - std::unique_ptr state; + const int MAX_STEPS = 10000; + std::unique_ptr targets; + std::unique_ptr ballisticSolver; + DroneConfig droneConfig; + AmmoParams ammo; + int currentStep = 1; + int prevTargetIndex = -1; + float currentTime = 0.0f; + float ammoFlightTime; + float ammoHorizontalFlightDistance; + bool hit = false; + DronePhysics* dronePhysics; - public: - MissionProcessor(std::unique_ptr targetProvider, std::unique_ptr solver); +public: + MissionProcessor(std::unique_ptr targetProvider, std::unique_ptr solver, DronePhysics* physics); - auto init(std::unique_ptr configLoader) -> void; - auto hasNext() -> bool; - auto getCurrentStep() -> int; - auto step() -> SimulationStep; - auto reset() -> void; - auto changeSolver(std::unique_ptr ballisticSolver) -> void; + auto init(std::unique_ptr configLoader) -> void; + auto hasNext() -> bool; + auto getCurrentStep() -> int; + auto step() -> SimulationStep; + auto reset() -> void; + auto changeSolver(std::unique_ptr ballisticSolver) -> void; - private: - auto evaluateTarget(int targetIndex, float currentTime, Coord& outFireCoord) -> float; - auto getSimulationStep(int targetIndex, const Coord& fireCoord) -> SimulationStep; -}; \ No newline at end of file +private: + auto evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float; + auto getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneContext& droneContext) -> SimulationStep; +}; diff --git a/drone_simulation/include/providers/json_target_provider.hpp b/drone_simulation/include/providers/json_target_provider.hpp index eebef6a..f35a284 100644 --- a/drone_simulation/include/providers/json_target_provider.hpp +++ b/drone_simulation/include/providers/json_target_provider.hpp @@ -4,13 +4,13 @@ #include "interfaces/target_provider.hpp" class JsonTargetProvider : public ITargetProvider { - std::vector> targets; - int count; + std::vector> targets; + int count; - public: - JsonTargetProvider(const std::string path); - ~JsonTargetProvider() override; - - auto getTargetCount() -> int override; - auto getTarget(int i) -> std::vector& override; +public: + JsonTargetProvider(const std::string path); + ~JsonTargetProvider() override; + + auto getTargetCount() -> int override; + auto getTarget(int i) -> Target override; }; \ No newline at end of file diff --git a/drone_simulation/include/providers/thread_safe_target_provider.hpp b/drone_simulation/include/providers/thread_safe_target_provider.hpp new file mode 100644 index 0000000..1ef0195 --- /dev/null +++ b/drone_simulation/include/providers/thread_safe_target_provider.hpp @@ -0,0 +1,23 @@ +#pragma once +#include +#include +#include "interfaces/target_provider.hpp" + +class ThreadSafeTargetProvider : public ITargetProvider { + std::vector> trajectories; + // Поточний зріз стану всіх цілей + std::vector currentTargets; + // Для кожної цілі — на якому вузлі вона зараз + std::vector currentIndex; + float arrayTimeStep; + int count; + mutable std::mutex mtx; + +public: + ThreadSafeTargetProvider(const std::string path, float arrayTimeStep); + ~ThreadSafeTargetProvider() override; + + auto getTargetCount() -> int override; + auto getTarget(int i) -> Target override; + auto updateTargets() -> void; +}; \ No newline at end of file diff --git a/drone_simulation/include/simulation.hpp b/drone_simulation/include/simulation.hpp index 9b449f3..4bedd12 100644 --- a/drone_simulation/include/simulation.hpp +++ b/drone_simulation/include/simulation.hpp @@ -8,144 +8,140 @@ using json = nlohmann::json; struct Coord { - float x; - float y; - - Coord operator+(const Coord& other) const { - Coord result; - result.x = x + other.x; - result.y = y + other.y; - return result; - } - - Coord operator-(const Coord& other) const { - Coord result; - result.x = x - other.x; - result.y = y - other.y; - return result; - } - - Coord operator*(float s) const { - Coord result; - result.x = x * s; - result.y = y * s; - return result; - } - - Coord operator/(float s) const { - Coord result; - result.x = x / s; - result.y = y / s; - return result; - } - - bool operator==(const Coord& coordToCompare) const { - const float eps = 1e-6f; - - return fabs(x - coordToCompare.x) < eps && fabs(y - coordToCompare.y) < eps; - } - + float x; + float y; + + Coord operator+(const Coord& other) const + { + Coord result; + result.x = x + other.x; + result.y = y + other.y; + return result; + } + + Coord operator-(const Coord& other) const + { + Coord result; + result.x = x - other.x; + result.y = y - other.y; + return result; + } + + Coord operator*(float s) const + { + Coord result; + result.x = x * s; + result.y = y * s; + return result; + } + + Coord operator/(float s) const + { + Coord result; + result.x = x / s; + result.y = y / s; + return result; + } + + bool operator==(const Coord& coordToCompare) const + { + const float eps = 1e-6f; + + return fabs(x - coordToCompare.x) < eps && fabs(y - coordToCompare.y) < eps; + } }; struct AmmoParams { - std::string name; - float mass; - float drag; - float lift; + std::string name; + float mass; + float drag; + float lift; }; struct DroneConfig { - Coord startPos; - float altitude; - float initialDir; - float attackSpeed; - float accelPath; - std::string ammoName; - float arrayTimeStep; - float simTimeStep; - float hitRadius; - float angularSpeed; - float turnThreshold; + Coord startPos; + float altitude; + float initialDir; + float attackSpeed; + float accelPath; + std::string ammoName; + float arrayTimeStep; + float simTimeStep; + float hitRadius; + float angularSpeed; + float turnThreshold; + float physicsTimeStep; + float timeScale; }; struct DroneContext { - float directionToTarget; - float prevDirectionToTarget; - float speed = 0.0f; - float direction; - float acceleration; - float timeToStop; - Coord position; - const DroneConfig* config; + float directionToTarget; + float prevDirectionToTarget; + float speed = 0.0f; + float direction; + float acceleration; + float timeToStop; + Coord position; + const DroneConfig* config; }; struct SimulationStep { - bool hit = false; - int target; - float droneSpeed = 0.0f; - float droneDirection; - Coord dropPoint; - Coord aimPoint; - Coord predictedTarget; - Coord dronePosition; - std::string droneState; + bool hit = false; + int target; + float droneSpeed = 0.0f; + float droneDirection; + float timeSecSinceStart = 0.0f; + Coord dropPoint; + Coord aimPoint; + Coord predictedTarget; + Coord dronePosition; + std::string droneState; +}; + +struct Target { + Coord pos; + Coord velocity; +}; +struct DroneCommand { + float directionToTarget; + float prevDirectionToTarget; +}; + +struct DroneTelemetry { + Coord pos; + float speed; + float direction; + float timeSecSinceStart; }; -float getDistanceToTarget( - const Coord& target, const Coord& posiiton -); +float getDistanceToTarget(const Coord& target, const Coord& posiiton); -Coord getFireCoords( - const Coord& targetCoord, const Coord& dronePos, const float& ratio -); +Coord getFireCoords(const Coord& targetCoord, const Coord& dronePos, const float& ratio); -Coord getInterpolatedCoords( - const float& currentTime, - const float& arrayTimeStep, - const std::vector& coordInTime -); +Coord getInterpolatedCoords(const float& currentTime, const float& arrayTimeStep, const std::vector& coordInTime); -Coord getPredictedTargetCoords ( - float& currentTime, - float& timePeriod, - const std::vector& coordInTime, - const Coord& target, - float& totalTime - ); +Coord getPredictedTargetCoords( + float& currentTime, float& timePeriod, const std::vector& coordInTime, const Coord& target, float& totalTime); float normalizeAngle(float angle); -float turnDrone( - const float& deltaAngle, - const float& angularSpeed, - const float& simTimeStep, - float droneDir -); +float turnDrone(const float& deltaAngle, const float& angularSpeed, const float& simTimeStep, float droneDir); float getRatio(const float& distanceToTarget, const float& ammoHorizontalFlightDistance); auto updateDronePosition(const DroneContext& context) -> Coord; -float getManeuveringTime( - const float& distanceToTarget, - const float& ammoHorizontalFlightDistance, - const float& attackSpeed, - const float& acceleration, - const float& angularSpeed -); +float getManeuveringTime(const float& distanceToTarget, + const float& ammoHorizontalFlightDistance, + const float& attackSpeed, + const float& acceleration, + const float& angularSpeed); -Coord getBombLandCoord( - const DroneContext& droneContext, - const float& ammoHorizontalFlightDistance -); +Coord getBombLandCoord(const DroneContext& droneContext, const float& ammoHorizontalFlightDistance); void writeSimulationJSONFile(const std::vector& simSteps); -float getAmmoHorizontalFlightDistance( - const float& attackSpeed, - const float& ammoFlightTime, - const AmmoParams& ammo -); +float getAmmoHorizontalFlightDistance(const float& attackSpeed, const float& ammoFlightTime, const AmmoParams& ammo); json parseJSONfile(const std::string& path); @@ -157,10 +153,7 @@ AmmoParams findAmmo(const std::unordered_map& ammoMap, std::vector> fillTargets(json& targetsJSON); -float getAmmoFlightTime( - const DroneConfig& droneConfig, - const AmmoParams& ammo -); +float getAmmoFlightTime(const DroneConfig& droneConfig, const AmmoParams& ammo); float length(const Coord& coord); diff --git a/drone_simulation/include/thread_safe_queue.hpp b/drone_simulation/include/thread_safe_queue.hpp new file mode 100644 index 0000000..8947fd5 --- /dev/null +++ b/drone_simulation/include/thread_safe_queue.hpp @@ -0,0 +1,28 @@ +#pragma once +#include +#include + +template +class ThreadSafeQueue { + std::queue queue; + mutable std::mutex mtx; + +public: + auto push(const T& item) -> void + { + std::lock_guard lock(mtx); + queue.push(item); + } + + auto tryPop(T& out) -> bool + { + std::lock_guard lock(mtx); + if (queue.empty()) { + return false; + } + out = queue.front(); + queue.pop(); + + return true; + } +}; \ No newline at end of file diff --git a/drone_simulation/src/config_loaders/factory.cpp b/drone_simulation/src/config_loaders/factory.cpp index 87319fb..95c3da9 100644 --- a/drone_simulation/src/config_loaders/factory.cpp +++ b/drone_simulation/src/config_loaders/factory.cpp @@ -3,34 +3,41 @@ #include "solvers/analytical_solver.hpp" #include "solvers/table_solver.hpp" #include "providers/json_target_provider.hpp" +#include "providers/thread_safe_target_provider.hpp" #include "config_loaders/file_config_loader.hpp" -auto createSolver(SolverType type, const DroneConfig& config, const std::string tablePath) -> std::unique_ptr { - switch (type) { - case SolverType::ANALYTICAL: - return std::make_unique(config); - - case SolverType::TABLE: - return std::make_unique(config, tablePath); - } - - return nullptr; +auto createSolver(SolverType type, const DroneConfig& config, const std::string tablePath) -> std::unique_ptr +{ + switch (type) { + case SolverType::ANALYTICAL: + return std::make_unique(config); + + case SolverType::TABLE: + return std::make_unique(config, tablePath); + } + + return nullptr; } -auto createProvider(ProviderType type, const std::string param) -> std::unique_ptr { - switch (type) { - case ProviderType::JSON: - return std::make_unique(param); - } +auto createProvider(ProviderType type, const std::string param, float arrayTimeStep) -> std::unique_ptr +{ + switch (type) { + case ProviderType::JSON: + return std::make_unique(param); + + case ProviderType::THREAD_SAFE: + return std::make_unique(param, arrayTimeStep); + } - return nullptr; + return nullptr; } -auto createLoader(LoaderType type, const std::string droneConfigPath, const std::string ammoConfigPath) -> std::unique_ptr { - switch (type) { - case LoaderType::FILE: - return std::make_unique(droneConfigPath, ammoConfigPath); - } +auto createLoader(LoaderType type, const std::string droneConfigPath, const std::string ammoConfigPath) -> std::unique_ptr +{ + switch (type) { + case LoaderType::FILE: + return std::make_unique(droneConfigPath, ammoConfigPath); + } - return nullptr; + return nullptr; } \ No newline at end of file diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp new file mode 100644 index 0000000..1acaef6 --- /dev/null +++ b/drone_simulation/src/drone_physics.cpp @@ -0,0 +1,59 @@ +#include "drone_physics.hpp" +#include "drone_states/state_stopped.hpp" + +DronePhysics::DronePhysics(const DroneConfig& config) + : config(config) +{ + droneContext = {.directionToTarget = 0.0f, + .prevDirectionToTarget = 0.0f, + .speed = 0.0f, + .direction = config.initialDir, + .acceleration = config.attackSpeed * config.attackSpeed / (2.0f * config.accelPath), + .timeToStop = 0.0f, + .position = config.startPos, + .config = &this->config}; + + state = std::make_unique(); +} + +auto DronePhysics::stepPhysics(float dt) -> void +{ + DroneCommand cmd; + if (commandQueue.tryPop(cmd)) { + droneContext.directionToTarget = cmd.directionToTarget; + droneContext.prevDirectionToTarget = cmd.prevDirectionToTarget; + } + + auto nextState = state->execute(droneContext); + if (nextState) { + state = std::move(nextState); + } + + elapsedTime += dt; +} + +auto DronePhysics::sendCommand(const DroneCommand& cmd) -> void +{ + commandQueue.push(cmd); +} + +auto DronePhysics::getTelemetry() const -> DroneTelemetry +{ + std::lock_guard lock(mtx); + + return {.pos = droneContext.position, .speed = droneContext.speed, .direction = droneContext.direction, .timeSecSinceStart = elapsedTime}; +} + +auto DronePhysics::getContext() const -> DroneContext +{ + std::lock_guard lock(mtx); + + return droneContext; +} + +auto DronePhysics::getStateName() const -> std::string +{ + std::lock_guard lock(mtx); + + return state->name(); +} \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_accelerating.cpp b/drone_simulation/src/drone_states/state_accelerating.cpp index bc0916e..34b6065 100644 --- a/drone_simulation/src/drone_states/state_accelerating.cpp +++ b/drone_simulation/src/drone_states/state_accelerating.cpp @@ -3,33 +3,33 @@ #include "drone_states/state_moving.hpp" #include "simulation.hpp" - StateAccelerating::StateAccelerating() {} -auto StateAccelerating::execute(DroneContext& context) -> std::unique_ptr { +auto StateAccelerating::execute(DroneContext& context) -> std::unique_ptr +{ + float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); + context.speed += context.acceleration * context.config->physicsTimeStep; - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.speed += context.acceleration * context.config->simTimeStep; - - if (context.speed > context.config->attackSpeed) { - context.speed = context.config->attackSpeed; - } + if (context.speed > context.config->attackSpeed) { + context.speed = context.config->attackSpeed; + } - context.timeToStop = context.speed / context.acceleration; + context.timeToStop = context.speed / context.acceleration; - if (fabs(deltaAngle) > 1e-3f && fabs(deltaAngle) <= context.config->turnThreshold) { - context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->simTimeStep, context.direction); - } + if (fabs(deltaAngle) > 1e-3f && fabs(deltaAngle) <= context.config->turnThreshold) { + context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->physicsTimeStep, context.direction); + } - context.position = updateDronePosition(context); + context.position = updateDronePosition(context); - if (context.speed >= context.config->attackSpeed) { - return std::make_unique(); - } + if (context.speed >= context.config->attackSpeed) { + return std::make_unique(); + } - return nullptr; -} + return nullptr; +} -auto StateAccelerating::name() const -> std::string { - return NAME; +auto StateAccelerating::name() const -> std::string +{ + return NAME; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_decelerating.cpp b/drone_simulation/src/drone_states/state_decelerating.cpp index e85e4cd..9531268 100644 --- a/drone_simulation/src/drone_states/state_decelerating.cpp +++ b/drone_simulation/src/drone_states/state_decelerating.cpp @@ -6,26 +6,28 @@ StateDecelerating::StateDecelerating() {} -auto StateDecelerating::execute(DroneContext& context) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.position = updateDronePosition(context); - context.speed -= context.acceleration * context.config->simTimeStep; - context.timeToStop = context.speed / context.acceleration; +auto StateDecelerating::execute(DroneContext& context) -> std::unique_ptr +{ + float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); + context.position = updateDronePosition(context); + context.speed -= context.acceleration * context.config->physicsTimeStep; + context.timeToStop = context.speed / context.acceleration; - if (context.speed <= 1e-3f) { - context.speed = 0; - context.timeToStop = 0; + if (context.speed <= 1e-3f) { + context.speed = 0; + context.timeToStop = 0; - return std::make_unique(); - } + return std::make_unique(); + } - if (std::fabs(deltaAngle) <= context.config->turnThreshold) { - return std::make_unique(); - } + if (std::fabs(deltaAngle) <= context.config->turnThreshold) { + return std::make_unique(); + } - return nullptr; -} + return nullptr; +} -auto StateDecelerating::name() const -> std::string { - return NAME; +auto StateDecelerating::name() const -> std::string +{ + return NAME; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_moving.cpp b/drone_simulation/src/drone_states/state_moving.cpp index bfa1a10..9f94186 100644 --- a/drone_simulation/src/drone_states/state_moving.cpp +++ b/drone_simulation/src/drone_states/state_moving.cpp @@ -3,26 +3,27 @@ #include "drone_states/state_decelerating.hpp" #include "simulation.hpp" - StateMoving::StateMoving() {} -auto StateMoving::execute(DroneContext& context) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); +auto StateMoving::execute(DroneContext& context) -> std::unique_ptr +{ + float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - if (fabs(deltaAngle) > 1e-3f && fabs(deltaAngle) <= context.config->turnThreshold) { - context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->simTimeStep, context.direction); - } + if (fabs(deltaAngle) > 1e-3f && fabs(deltaAngle) <= context.config->turnThreshold) { + context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->physicsTimeStep, context.direction); + } - context.timeToStop = context.config->attackSpeed / context.acceleration; - context.position = updateDronePosition(context); + context.timeToStop = context.config->attackSpeed / context.acceleration; + context.position = updateDronePosition(context); - if (fabs(deltaAngle) > context.config->turnThreshold) { - return std::make_unique(); - } + if (fabs(deltaAngle) > context.config->turnThreshold) { + return std::make_unique(); + } - return nullptr; -} + return nullptr; +} -auto StateMoving::name() const -> std::string { - return NAME; +auto StateMoving::name() const -> std::string +{ + return NAME; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_turning.cpp b/drone_simulation/src/drone_states/state_turning.cpp index 85697bc..4438c9c 100644 --- a/drone_simulation/src/drone_states/state_turning.cpp +++ b/drone_simulation/src/drone_states/state_turning.cpp @@ -3,23 +3,22 @@ #include "drone_states/state_accelerating.hpp" #include "simulation.hpp" - StateTurning::StateTurning() {} -auto StateTurning::execute(DroneContext& context) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.direction = turnDrone( - deltaAngle, context.config->angularSpeed, context.config->simTimeStep, context.direction - ); - context.timeToStop = fabs(normalizeAngle(context.prevDirectionToTarget - context.direction)) / context.config->angularSpeed; +auto StateTurning::execute(DroneContext& context) -> std::unique_ptr +{ + float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); + context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->physicsTimeStep, context.direction); + context.timeToStop = fabs(normalizeAngle(context.prevDirectionToTarget - context.direction)) / context.config->angularSpeed; - if (std::fabs(deltaAngle) <= context.config->turnThreshold) { - return std::make_unique(); - } + if (std::fabs(deltaAngle) <= context.config->turnThreshold) { + return std::make_unique(); + } - return nullptr; -} + return nullptr; +} -auto StateTurning::name() const -> std::string { - return NAME; -} +auto StateTurning::name() const -> std::string +{ + return NAME; +} diff --git a/drone_simulation/src/main.cpp b/drone_simulation/src/main.cpp index 812cc84..34fbed0 100644 --- a/drone_simulation/src/main.cpp +++ b/drone_simulation/src/main.cpp @@ -6,73 +6,87 @@ #include "mission_processor.hpp" #include "config_loaders/factory.hpp" #include "drone_states/state_stopped.hpp" +#include "providers/thread_safe_target_provider.hpp" using json = nlohmann::json; -#define ENABLE_LOG 1 -#define ENABLE_DEBUG 0 - +#define ENABLE_LOG 1 +#define ENABLE_DEBUG 0 + #if ENABLE_LOG - #define LOG(msg) std::cout << "[LOG] " << msg << std::endl +#define LOG(msg) std::cout << "[LOG] " << msg << std::endl #else - #define LOG(msg) +#define LOG(msg) #endif - + #if ENABLE_DEBUG - #define DEBUG(msg) std::cout << "[DEBUG] " << msg << std::endl +#define DEBUG(msg) std::cout << "[DEBUG] " << msg << std::endl #else - #define DEBUG(msg) +#define DEBUG(msg) #endif +auto main(int argc, char* argv[]) -> int +{ + try { + const std::string configPath = (argc > 1) ? argv[1] : "config.json"; + const std::string ammoPath = (argc > 2) ? argv[2] : "ammo.json"; + const std::string targetsPath = (argc > 3) ? argv[3] : "targets.json"; + const std::string solverArg = (argc > 4) ? argv[4] : "analytical"; + const std::string ballisticTablePath = (argc > 5) ? argv[5] : "ballistic_table.txt"; + + auto loader = createLoader(LoaderType::FILE, configPath, ammoPath); + + loader->load(); + DroneConfig droneConfig = loader->getConfig(); + DronePhysics physics(droneConfig); + auto targets = std::make_unique(targetsPath, droneConfig.arrayTimeStep); + auto* targetsPtr = targets.get(); + + SolverType solverType = (solverArg == "analytical") ? SolverType::ANALYTICAL : SolverType::TABLE; + auto ballisticSolver = createSolver(solverType, droneConfig, ballisticTablePath); + std::vector simSteps; + + MissionProcessor missionProcessor(std::move(targets), std::move(ballisticSolver), &physics); + missionProcessor.init(std::move(loader)); + + // write initial sim data + simSteps.push_back({.hit = false, + .target = -1, + .droneDirection = droneConfig.initialDir, + .dropPoint = {0, 0}, + .aimPoint = {0, 0}, + .predictedTarget = {0, 0}, + .dronePosition = droneConfig.startPos, + .droneState = StateStopped::NAME}); - auto main(int argc, char* argv[]) -> int { - try { - const std::string configPath = (argc > 1) ? argv[1] : "config.json"; - const std::string ammoPath = (argc > 2) ? argv[2] : "ammo.json"; - const std::string targetsPath = (argc > 3) ? argv[3] : "targets.json"; - const std::string solverArg = (argc > 4) ? argv[4] : "analytical"; - const std::string ballisticTablePath = (argc > 5) ? argv[5] : "ballistic_table.txt"; - - auto loader = createLoader(LoaderType::FILE, configPath, ammoPath); - auto targets = createProvider(ProviderType::JSON, targetsPath); - - loader->load(); - DroneConfig droneConfig = loader->getConfig(); - - SolverType solverType = (solverArg == "analytical") ? SolverType::ANALYTICAL : SolverType::TABLE; - auto ballisticSolver = createSolver(solverType, droneConfig, ballisticTablePath); - std::vector simSteps; - - MissionProcessor missionProcessor(std::move(targets), std::move(ballisticSolver)); - missionProcessor.init(std::move(loader)); - - //write initial sim data - simSteps.push_back({ - .hit = false, - .target = -1, - .droneDirection = droneConfig.initialDir, - .dropPoint = {0, 0}, - .aimPoint = {0, 0}, - .predictedTarget = {0, 0}, - .dronePosition = droneConfig.startPos, - .droneState = StateStopped::NAME - }); - - // simulation loop - while (missionProcessor.hasNext()) { - SimulationStep simulationStep = missionProcessor.step(); - if (simulationStep.target >= 0) { - simSteps.push_back(simulationStep); - } - } - - writeSimulationJSONFile(simSteps); - - return 0; - } catch (const std::exception& error) { - LOG("Error: " << error.what()); - - return 1; + // simulation loop + int physicsStepsPerSim = static_cast(droneConfig.simTimeStep / droneConfig.physicsTimeStep); + float targetUpdateAccum = 0.0f; + + while (missionProcessor.hasNext()) { + for (int i = 0; i < physicsStepsPerSim; i++) { + physics.stepPhysics(droneConfig.physicsTimeStep); + } + + targetUpdateAccum += droneConfig.simTimeStep; + if (targetUpdateAccum >= droneConfig.arrayTimeStep) { + targetsPtr->updateTargets(); + targetUpdateAccum -= droneConfig.arrayTimeStep; + } + + SimulationStep simulationStep = missionProcessor.step(); + if (simulationStep.target >= 0) { + simSteps.push_back(simulationStep); + } } -} + writeSimulationJSONFile(simSteps); + + return 0; + } + catch (const std::exception& error) { + LOG("Error: " << error.what()); + + return 1; + } +} diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index 982f60a..df5d99e 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -3,9 +3,12 @@ #include "mission_processor.hpp" #include "drone_states/state_stopped.hpp" -MissionProcessor::MissionProcessor(std::unique_ptr targetProvider, std::unique_ptr solver) +MissionProcessor::MissionProcessor(std::unique_ptr targetProvider, + std::unique_ptr solver, + DronePhysics* physics) : targets(std::move(targetProvider)) , ballisticSolver(std::move(solver)) + , dronePhysics(physics) { } @@ -17,16 +20,6 @@ auto MissionProcessor::init(std::unique_ptr configLoader) -> void this->ammoFlightTime = getAmmoFlightTime(this->droneConfig, this->ammo); this->ammoHorizontalFlightDistance = getAmmoHorizontalFlightDistance(this->droneConfig.attackSpeed, this->ammoFlightTime, this->ammo); - this->droneContext = { - .directionToTarget = 0.0f, - .prevDirectionToTarget = 0.0f, - .speed = 0.0f, - .direction = this->droneConfig.initialDir, - .acceleration = this->droneConfig.attackSpeed * this->droneConfig.attackSpeed / (2.0f * this->droneConfig.accelPath), - .timeToStop = 0.0f, - .position = this->droneConfig.startPos, - .config = &this->droneConfig}; - this->state = std::make_unique(); } auto MissionProcessor::hasNext() -> bool @@ -44,10 +37,12 @@ auto MissionProcessor::step() -> SimulationStep int bestTargetIndex = -1; float bestTotalTime = INFINITY; Coord bestFireCoord = {.x = 0, .y = 0}; + DroneContext droneContext = this->dronePhysics->getContext(); + DroneTelemetry droneTelemetry = this->dronePhysics->getTelemetry(); for (int i = 0; i < this->targets->getTargetCount(); ++i) { Coord fireCoord; - float totalTime = this->evaluateTarget(i, this->currentTime, fireCoord); + float totalTime = this->evaluateTarget(i, droneContext, fireCoord); if (totalTime < bestTotalTime) { bestTotalTime = totalTime; @@ -63,27 +58,27 @@ auto MissionProcessor::step() -> SimulationStep SimulationStep emptyStep = {.hit = false, .target = -1, - .droneSpeed = this->droneContext.speed, - .droneDirection = this->droneContext.direction, + .droneSpeed = droneContext.speed, + .droneDirection = droneContext.direction, + .timeSecSinceStart = droneTelemetry.timeSecSinceStart, .dropPoint = {0, 0}, .aimPoint = {0, 0}, .predictedTarget = {0, 0}, - .dronePosition = this->droneContext.position, + .dronePosition = droneContext.position, .droneState = StateStopped::NAME}; return emptyStep; } - Coord deltaToFire = bestFireCoord - this->droneContext.position; + Coord deltaToFire = bestFireCoord - droneContext.position; Coord dirVec = normalize(deltaToFire); - this->droneContext.prevDirectionToTarget = this->droneContext.directionToTarget; - this->droneContext.directionToTarget = atan2(dirVec.y, dirVec.x); + float newDirection = atan2(dirVec.y, dirVec.x); - auto nextState = this->state->execute(this->droneContext); - if (nextState) - this->state = std::move(nextState); + this->dronePhysics->sendCommand({.directionToTarget = newDirection, .prevDirectionToTarget = droneContext.directionToTarget}); - SimulationStep simulationStep = this->getSimulationStep(bestTargetIndex, bestFireCoord); + SimulationStep simulationStep = this->getSimulationStep(bestTargetIndex, bestFireCoord, droneContext); + simulationStep.droneState = this->dronePhysics->getStateName(); + simulationStep.timeSecSinceStart = droneTelemetry.timeSecSinceStart; this->hit = simulationStep.hit; this->prevTargetIndex = bestTargetIndex; @@ -99,17 +94,6 @@ auto MissionProcessor::reset() -> void this->prevTargetIndex = -1; this->currentStep = 1; this->currentTime = 0.0f; - - this->droneContext = {.directionToTarget = 0.0f, - .prevDirectionToTarget = this->droneConfig.initialDir, - .speed = 0.0f, - .direction = this->droneConfig.initialDir, - .acceleration = this->droneContext.acceleration, - .timeToStop = 0.0f, - .position = this->droneConfig.startPos, - .config = &this->droneConfig}; - - this->state = std::make_unique(); } auto MissionProcessor::changeSolver(std::unique_ptr ballisticSolver) -> void @@ -117,34 +101,34 @@ auto MissionProcessor::changeSolver(std::unique_ptr ballisticS this->ballisticSolver = std::move(ballisticSolver); } -auto MissionProcessor::evaluateTarget(int targetIndex, float currentTime, Coord& outFireCoord) -> float +auto MissionProcessor::evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float { - Coord target = getInterpolatedCoords(currentTime, this->droneConfig.arrayTimeStep, this->targets->getTarget(targetIndex)); + Target t = this->targets->getTarget(targetIndex); + Coord target = t.pos; - float distanceToTarget = getDistanceToTarget(target, this->droneContext.position); + float distanceToTarget = getDistanceToTarget(target, droneContext.position); if (distanceToTarget < 1e-3f) { std::cout << "Distance to the target " << targetIndex << " is near or less then 0\n" << std::endl; return INFINITY; } float ratio = getRatio(distanceToTarget, this->ammoHorizontalFlightDistance); - Coord fireCoord = getFireCoords(target, this->droneContext.position, ratio); - float distanceToFire = getDistanceToTarget(fireCoord, this->droneContext.position); + Coord fireCoord = getFireCoords(target, droneContext.position, ratio); + float distanceToFire = getDistanceToTarget(fireCoord, droneContext.position); float droneToFireTime = distanceToFire / this->droneConfig.attackSpeed; float totalTimeRough = droneToFireTime + this->ammoFlightTime; - Coord predictedTarget = - getPredictedTargetCoords(currentTime, this->droneConfig.arrayTimeStep, this->targets->getTarget(targetIndex), target, totalTimeRough); + Coord predictedTarget = t.pos + t.velocity * totalTimeRough; - float newDistanceToTarget = getDistanceToTarget(predictedTarget, this->droneContext.position); + float newDistanceToTarget = getDistanceToTarget(predictedTarget, droneContext.position); if (newDistanceToTarget < 1e-3f) { std::cout << "Predicted distance to the target " << targetIndex << " is near or less then 0\n" << std::endl; return INFINITY; } float newRatio = getRatio(newDistanceToTarget, this->ammoHorizontalFlightDistance); - outFireCoord = getFireCoords(predictedTarget, this->droneContext.position, newRatio); - float newDistanceToFire = getDistanceToTarget(outFireCoord, this->droneContext.position); + outFireCoord = getFireCoords(predictedTarget, droneContext.position, newRatio); + float newDistanceToFire = getDistanceToTarget(outFireCoord, droneContext.position); float newDroneToFireTime = newDistanceToFire / this->droneConfig.attackSpeed; float totalTime = newDroneToFireTime + this->ammoFlightTime; @@ -152,26 +136,27 @@ auto MissionProcessor::evaluateTarget(int targetIndex, float currentTime, Coord& totalTime += getManeuveringTime(newDistanceToTarget, this->ammoHorizontalFlightDistance, this->droneConfig.attackSpeed, - this->droneContext.acceleration, + droneContext.acceleration, this->droneConfig.angularSpeed); } if (this->prevTargetIndex != targetIndex && this->prevTargetIndex != -1) { - totalTime += this->droneContext.timeToStop; + totalTime += droneContext.timeToStop; } return totalTime; } -auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord) -> SimulationStep +auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneContext& droneContext) -> SimulationStep { - Coord bombLandCoord = getBombLandCoord(this->droneContext, this->ammoHorizontalFlightDistance); - Coord targetAtImpact = - getInterpolatedCoords(this->currentTime + this->ammoFlightTime, this->droneConfig.arrayTimeStep, this->targets->getTarget(targetIndex)); + Coord bombLandCoord = getBombLandCoord(droneContext, this->ammoHorizontalFlightDistance); + + Target t = this->targets->getTarget(targetIndex); + Coord targetAtImpact = t.pos + t.velocity * this->ammoFlightTime; float bombMissDistance = getDistanceToTarget(bombLandCoord, targetAtImpact); - Coord dir = {.x = std::cos(this->droneContext.direction), .y = std::sin(this->droneContext.direction)}; - Coord aimPoint = this->droneContext.position + dir * this->ammoHorizontalFlightDistance; + Coord dir = {.x = std::cos(droneContext.direction), .y = std::sin(droneContext.direction)}; + Coord aimPoint = droneContext.position + dir * this->ammoHorizontalFlightDistance; bool isHit = bombMissDistance < this->droneConfig.hitRadius || bombLandCoord == targetAtImpact; @@ -182,11 +167,11 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord return {.hit = isHit, .target = targetIndex, - .droneSpeed = this->droneContext.speed, - .droneDirection = this->droneContext.direction, + .droneSpeed = droneContext.speed, + .droneDirection = droneContext.direction, .dropPoint = fireCoord, .aimPoint = aimPoint, .predictedTarget = targetAtImpact, - .dronePosition = this->droneContext.position, - .droneState = this->state->name()}; -} \ No newline at end of file + .dronePosition = droneContext.position, + .droneState = ""}; +} diff --git a/drone_simulation/src/providers/json_target_provider.cpp b/drone_simulation/src/providers/json_target_provider.cpp index fc7a6bc..70492bf 100644 --- a/drone_simulation/src/providers/json_target_provider.cpp +++ b/drone_simulation/src/providers/json_target_provider.cpp @@ -1,18 +1,20 @@ #include "providers/json_target_provider.hpp" -JsonTargetProvider::JsonTargetProvider(const std::string path) { - json jsonFile = parseJSONfile(path); - count = jsonFile["targetCount"]; - targets = fillTargets(jsonFile); +JsonTargetProvider::JsonTargetProvider(const std::string path) +{ + json jsonFile = parseJSONfile(path); + count = jsonFile["targetCount"]; + targets = fillTargets(jsonFile); } -JsonTargetProvider::~JsonTargetProvider() { -} +JsonTargetProvider::~JsonTargetProvider() {} -auto JsonTargetProvider::getTargetCount() -> int { - return count; +auto JsonTargetProvider::getTargetCount() -> int +{ + return count; } -auto JsonTargetProvider::getTarget(int i) -> std::vector& { - return targets[i]; +auto JsonTargetProvider::getTarget(int i) -> Target +{ + return {.pos = {static_cast(i), static_cast(i)}, .velocity = {1, 1}}; } diff --git a/drone_simulation/src/providers/thread_safe_target_provider.cpp b/drone_simulation/src/providers/thread_safe_target_provider.cpp new file mode 100644 index 0000000..11a3406 --- /dev/null +++ b/drone_simulation/src/providers/thread_safe_target_provider.cpp @@ -0,0 +1,47 @@ +#include "providers/thread_safe_target_provider.hpp" + +ThreadSafeTargetProvider::ThreadSafeTargetProvider(const std::string path, float arrayTimeStep) +{ + json jsonFile = parseJSONfile(path); + this->count = jsonFile["targetCount"]; + this->arrayTimeStep = arrayTimeStep; + this->trajectories = fillTargets(jsonFile); + this->currentIndex.resize(this->trajectories.size(), 0); + this->currentTargets.resize(this->trajectories.size()); + + for (size_t i = 0; i < this->trajectories.size(); i++) { + this->currentTargets[i].pos = this->trajectories[i][0]; + + // Швидкість — куди і як швидко ціль рухається + int next = 1 % this->trajectories[i].size(); // наступний вузол (перестраховка якщо всього 1 вузол в массиві позицій цілі) + this->currentTargets[i].velocity = (this->trajectories[i][next] - this->trajectories[i][0]) / arrayTimeStep; + } +} + +ThreadSafeTargetProvider::~ThreadSafeTargetProvider() {} + +auto ThreadSafeTargetProvider::getTargetCount() -> int +{ + return this->count; +} + +auto ThreadSafeTargetProvider::getTarget(int i) -> Target +{ + return this->currentTargets[i]; +} + +auto ThreadSafeTargetProvider::updateTargets() -> void +{ + for (size_t i = 0; i < this->trajectories.size(); i++) { + int size = this->trajectories[i].size(); + + // Просунути індекс на 1, із зацикленням + this->currentIndex[i] = (this->currentIndex[i] + 1) % size; + + int curr = this->currentIndex[i]; + int next = (curr + 1) % size; + + this->currentTargets[i].pos = this->trajectories[i][curr]; + this->currentTargets[i].velocity = (this->trajectories[i][next] - this->trajectories[i][curr]) / this->arrayTimeStep; + } +} \ No newline at end of file diff --git a/drone_simulation/src/simulation.cpp b/drone_simulation/src/simulation.cpp index 01a5c5f..a5f952a 100644 --- a/drone_simulation/src/simulation.cpp +++ b/drone_simulation/src/simulation.cpp @@ -7,309 +7,275 @@ using json = nlohmann::json; -#define ENABLE_LOG 1 -#define ENABLE_DEBUG 0 - +#define ENABLE_LOG 1 +#define ENABLE_DEBUG 0 + #if ENABLE_LOG - #define LOG(msg) std::cout << "[LOG] " << msg << std::endl +#define LOG(msg) std::cout << "[LOG] " << msg << std::endl #else - #define LOG(msg) +#define LOG(msg) #endif - + #if ENABLE_DEBUG - #define DEBUG(msg) std::cout << "[DEBUG] " << msg << std::endl +#define DEBUG(msg) std::cout << "[DEBUG] " << msg << std::endl #else - #define DEBUG(msg) +#define DEBUG(msg) #endif - - -float getDistanceToTarget( - const Coord& target, const Coord& posiiton -) { - return sqrt(pow(target.x - posiiton.x, 2) + pow(target.y - posiiton.y, 2)); +float getDistanceToTarget(const Coord& target, const Coord& posiiton) +{ + return sqrt(pow(target.x - posiiton.x, 2) + pow(target.y - posiiton.y, 2)); } -Coord getFireCoords( - const Coord& targetCoord, const Coord& dronePos, const float& ratio -) { - return dronePos + (targetCoord - dronePos) * ratio; +Coord getFireCoords(const Coord& targetCoord, const Coord& dronePos, const float& ratio) +{ + return dronePos + (targetCoord - dronePos) * ratio; } -Coord getInterpolatedCoords( - const float& currentTime, - const float& arrayTimeStep, - const std::vector& coordInTime -) { - int timeSteps = coordInTime.size(); - int idx = (int)floor(currentTime / arrayTimeStep) % timeSteps; - int next = (idx + 1) % timeSteps; - float frac = (currentTime - idx * arrayTimeStep) / arrayTimeStep; +Coord getInterpolatedCoords(const float& currentTime, const float& arrayTimeStep, const std::vector& coordInTime) +{ + int timeSteps = coordInTime.size(); + int idx = (int)floor(currentTime / arrayTimeStep) % timeSteps; + int next = (idx + 1) % timeSteps; + float frac = (currentTime - idx * arrayTimeStep) / arrayTimeStep; - Coord interpolatedCoord = coordInTime[idx] + (coordInTime[next] - coordInTime[idx]) * frac; + Coord interpolatedCoord = coordInTime[idx] + (coordInTime[next] - coordInTime[idx]) * frac; - return interpolatedCoord; + return interpolatedCoord; } -Coord getPredictedTargetCoords ( - float& currentTime, - float& timePeriod, - const std::vector& coordInTime, - const Coord& target, - float& totalTime - ) { - Coord nextTargetCoord = getInterpolatedCoords(currentTime + timePeriod, timePeriod, coordInTime); - Coord targetVelocity = (nextTargetCoord - target) / timePeriod; - Coord predictedTarget = target + targetVelocity * totalTime; - - return predictedTarget; - } - -float normalizeAngle(float angle) { - while (angle > M_PI) { - angle -= 2 * M_PI; - } - while (angle < -M_PI) { - angle += 2 * M_PI; - } +Coord getPredictedTargetCoords( + float& currentTime, float& timePeriod, const std::vector& coordInTime, const Coord& target, float& totalTime) +{ + Coord nextTargetCoord = getInterpolatedCoords(currentTime + timePeriod, timePeriod, coordInTime); + Coord targetVelocity = (nextTargetCoord - target) / timePeriod; + Coord predictedTarget = target + targetVelocity * totalTime; - return angle; + return predictedTarget; } -float turnDrone( - const float& deltaAngle, - const float& angularSpeed, - const float& simTimeStep, - float droneDir -) { - const float sign = (deltaAngle > 0) ? 1.0f : -1.0f; - float step = angularSpeed * simTimeStep; - if (step > fabs(deltaAngle)) { - step = fabs(deltaAngle); - } - droneDir += sign * step; - droneDir = normalizeAngle(droneDir); +float normalizeAngle(float angle) +{ + while (angle > M_PI) { + angle -= 2 * M_PI; + } + while (angle < -M_PI) { + angle += 2 * M_PI; + } + + return angle; +} - return droneDir; +float turnDrone(const float& deltaAngle, const float& angularSpeed, const float& simTimeStep, float droneDir) +{ + const float sign = (deltaAngle > 0) ? 1.0f : -1.0f; + float step = angularSpeed * simTimeStep; + if (step > fabs(deltaAngle)) { + step = fabs(deltaAngle); + } + droneDir += sign * step; + droneDir = normalizeAngle(droneDir); + + return droneDir; } -float getRatio(const float& distanceToTarget, const float& ammoHorizontalFlightDistance) { - return (distanceToTarget - ammoHorizontalFlightDistance) / distanceToTarget; +float getRatio(const float& distanceToTarget, const float& ammoHorizontalFlightDistance) +{ + return (distanceToTarget - ammoHorizontalFlightDistance) / distanceToTarget; } auto updateDronePosition(const DroneContext& context) -> Coord { - Coord position = { - context.position.x, - context.position.y - }; + Coord position = {context.position.x, context.position.y}; - position.x += context.speed * cos(context.direction) * context.config->simTimeStep; - position.y += context.speed * sin(context.direction) * context.config->simTimeStep; + position.x += context.speed * cos(context.direction) * context.config->physicsTimeStep; + position.y += context.speed * sin(context.direction) * context.config->physicsTimeStep; - return position; + return position; } -float getManeuveringTime( - const float& distanceToTarget, - const float& ammoHorizontalFlightDistance, - const float& attackSpeed, - const float& acceleration, - const float& angularSpeed -) { - float overshootDistance = ammoHorizontalFlightDistance - distanceToTarget; - float flyAwayTime = overshootDistance / attackSpeed; - float decelerateTime = attackSpeed / acceleration; - float turnAroundTime = M_PI / angularSpeed; - float accelerateTime = attackSpeed / acceleration; - float flyBackTime = overshootDistance / attackSpeed; - - return flyAwayTime + decelerateTime + turnAroundTime + accelerateTime + flyBackTime; +float getManeuveringTime(const float& distanceToTarget, + const float& ammoHorizontalFlightDistance, + const float& attackSpeed, + const float& acceleration, + const float& angularSpeed) +{ + float overshootDistance = ammoHorizontalFlightDistance - distanceToTarget; + float flyAwayTime = overshootDistance / attackSpeed; + float decelerateTime = attackSpeed / acceleration; + float turnAroundTime = M_PI / angularSpeed; + float accelerateTime = attackSpeed / acceleration; + float flyBackTime = overshootDistance / attackSpeed; + + return flyAwayTime + decelerateTime + turnAroundTime + accelerateTime + flyBackTime; } -Coord getBombLandCoord( - const DroneContext& droneContext, - const float& ammoHorizontalFlightDistance -) { - const float bombLandX = droneContext.position.x + ammoHorizontalFlightDistance * cos(droneContext.direction); - const float bombLandY = droneContext.position.y + ammoHorizontalFlightDistance * sin(droneContext.direction); - Coord bombLandCoord = { - .x = bombLandX, - .y = bombLandY - }; - - return bombLandCoord; -} +Coord getBombLandCoord(const DroneContext& droneContext, const float& ammoHorizontalFlightDistance) +{ + const float bombLandX = droneContext.position.x + ammoHorizontalFlightDistance * cos(droneContext.direction); + const float bombLandY = droneContext.position.y + ammoHorizontalFlightDistance * sin(droneContext.direction); + Coord bombLandCoord = {.x = bombLandX, .y = bombLandY}; -void writeSimulationJSONFile( - const std::vector& simSteps -) { - json out; - out["totalSteps"] = simSteps.size(); - out["steps"] = json::array(); - - for (const SimulationStep& step : simSteps) { - json stepJson; - stepJson["position"] = { - {"x", step.dronePosition.x}, - {"y", step.dronePosition.y} - }; - stepJson["direction"] = step.droneDirection; - stepJson["state"] = step.droneState; - stepJson["targetIndex"] = step.target; - stepJson["dropPoint"] = { - {"x", step.dropPoint.x}, - {"y", step.dropPoint.y} - }; - stepJson["aimPoint"] = { - {"x", step.aimPoint.x}, - {"y", step.aimPoint.y} - }; - stepJson["predictedTarget"] = { - {"x", step.predictedTarget.x}, - {"y", step.predictedTarget.y} - }; - out["steps"].push_back(stepJson); - } - std::ofstream fout("simulation.json"); - fout << out.dump(2); + return bombLandCoord; } -float getAmmoHorizontalFlightDistance( - const float& attackSpeed, - const float& ammoFlightTime, - const AmmoParams& ammo -) { - const float g = 9.81f; - float ammoHorizontalFlightDistance = attackSpeed * ammoFlightTime - - pow(ammoFlightTime, 2) * ammo.drag * attackSpeed / (2 * ammo.mass) - + pow(ammoFlightTime, 3) * (6 * ammo.drag * g * ammo.lift * ammo.mass - 6 * pow(ammo.drag, 2) * (pow(ammo.lift, 2) - 1) * attackSpeed) / (36 * pow(ammo.mass, 2)) - + pow(ammoFlightTime, 4) * (-6 * pow(ammo.drag, 2) * g * ammo.lift * (1 + pow(ammo.lift, 2) + pow(ammo.lift, 4)) * ammo.mass + 3 * pow(ammo.drag, 3) * pow(ammo.lift, 2) * (1 + pow(ammo.lift, 2)) * attackSpeed + 6 * pow(ammo.drag, 3) * pow(ammo.lift, 4) * (1 + pow(ammo.lift, 2)) * attackSpeed) / (36 * pow(1 + pow(ammo.lift, 2), 2) * pow(ammo.mass, 3)) - + pow(ammoFlightTime, 5) * (3 * pow(ammo.drag, 3) * g * pow(ammo.lift, 3) * ammo.mass - 3 * pow(ammo.drag, 4) * pow(ammo.lift, 2) * (1 + pow(ammo.lift, 2)) * attackSpeed) / (36 * (1 + pow(ammo.lift, 2)) * pow(ammo.mass, 4)); - - if (ammoHorizontalFlightDistance < 1e-6f) { - throw std::runtime_error("Horizontal distance to the target should be more than 0\n"); - } +void writeSimulationJSONFile(const std::vector& simSteps) +{ + json out; + out["totalSteps"] = simSteps.size(); + out["steps"] = json::array(); + + for (const SimulationStep& step : simSteps) { + json stepJson; + stepJson["position"] = {{"x", step.dronePosition.x}, {"y", step.dronePosition.y}}; + stepJson["direction"] = step.droneDirection; + stepJson["state"] = step.droneState; + stepJson["targetIndex"] = step.target; + stepJson["dropPoint"] = {{"x", step.dropPoint.x}, {"y", step.dropPoint.y}}; + stepJson["aimPoint"] = {{"x", step.aimPoint.x}, {"y", step.aimPoint.y}}; + stepJson["predictedTarget"] = {{"x", step.predictedTarget.x}, {"y", step.predictedTarget.y}}; + stepJson["timeSecSinceStart"] = step.timeSecSinceStart; + out["steps"].push_back(stepJson); + } + std::ofstream fout("simulation.json"); + fout << out.dump(2); +} - return ammoHorizontalFlightDistance; +float getAmmoHorizontalFlightDistance(const float& attackSpeed, const float& ammoFlightTime, const AmmoParams& ammo) +{ + const float g = 9.81f; + float ammoHorizontalFlightDistance = + attackSpeed * ammoFlightTime - pow(ammoFlightTime, 2) * ammo.drag * attackSpeed / (2 * ammo.mass) + + pow(ammoFlightTime, 3) * (6 * ammo.drag * g * ammo.lift * ammo.mass - 6 * pow(ammo.drag, 2) * (pow(ammo.lift, 2) - 1) * attackSpeed) / + (36 * pow(ammo.mass, 2)) + + pow(ammoFlightTime, 4) * + (-6 * pow(ammo.drag, 2) * g * ammo.lift * (1 + pow(ammo.lift, 2) + pow(ammo.lift, 4)) * ammo.mass + + 3 * pow(ammo.drag, 3) * pow(ammo.lift, 2) * (1 + pow(ammo.lift, 2)) * attackSpeed + + 6 * pow(ammo.drag, 3) * pow(ammo.lift, 4) * (1 + pow(ammo.lift, 2)) * attackSpeed) / + (36 * pow(1 + pow(ammo.lift, 2), 2) * pow(ammo.mass, 3)) + + pow(ammoFlightTime, 5) * + (3 * pow(ammo.drag, 3) * g * pow(ammo.lift, 3) * ammo.mass - + 3 * pow(ammo.drag, 4) * pow(ammo.lift, 2) * (1 + pow(ammo.lift, 2)) * attackSpeed) / + (36 * (1 + pow(ammo.lift, 2)) * pow(ammo.mass, 4)); + + if (ammoHorizontalFlightDistance < 1e-6f) { + throw std::runtime_error("Horizontal distance to the target should be more than 0\n"); + } + + return ammoHorizontalFlightDistance; } -json parseJSONfile(const std::string& path) { - std::ifstream configFile(path); - if (!configFile) { - throw std::runtime_error("Could not open " + path + " file\n "); - } +json parseJSONfile(const std::string& path) +{ + std::ifstream configFile(path); + if (!configFile) { + throw std::runtime_error("Could not open " + path + " file\n "); + } - json configJSON; - configFile >> configJSON; - configFile.close(); + json configJSON; + configFile >> configJSON; + configFile.close(); - return configJSON; + return configJSON; } -DroneConfig readDroneConfig(const std::string& path) { - json configJSON = parseJSONfile(path); - - DroneConfig droneConfig = { - .startPos = { - .x = configJSON["drone"]["position"]["x"], - .y = configJSON["drone"]["position"]["y"] - }, - .altitude = configJSON["drone"]["altitude"], - .initialDir = configJSON["drone"]["initialDirection"], - .attackSpeed = configJSON["drone"]["attackSpeed"], - .accelPath = configJSON["drone"]["accelerationPath"], - .ammoName = "", - .arrayTimeStep = configJSON["targetArrayTimeStep"], - .simTimeStep = configJSON["simulation"]["timeStep"], - .hitRadius = configJSON["simulation"]["hitRadius"], - .angularSpeed = configJSON["drone"]["angularSpeed"], - .turnThreshold = configJSON["drone"]["turnThreshold"], - }; - - droneConfig.ammoName = configJSON["ammo"].get(); - - DEBUG("ammo config: " << droneConfig.ammoName); - - return droneConfig; +DroneConfig readDroneConfig(const std::string& path) +{ + json configJSON = parseJSONfile(path); + + DroneConfig droneConfig = { + .startPos = {.x = configJSON["drone"]["position"]["x"], .y = configJSON["drone"]["position"]["y"]}, + .altitude = configJSON["drone"]["altitude"], + .initialDir = configJSON["drone"]["initialDirection"], + .attackSpeed = configJSON["drone"]["attackSpeed"], + .accelPath = configJSON["drone"]["accelerationPath"], + .ammoName = "", + .arrayTimeStep = configJSON["targetArrayTimeStep"], + .simTimeStep = configJSON["simulation"]["timeStep"], + .hitRadius = configJSON["simulation"]["hitRadius"], + .angularSpeed = configJSON["drone"]["angularSpeed"], + .turnThreshold = configJSON["drone"]["turnThreshold"], + .physicsTimeStep = configJSON["simulation"].value("physicsTimeStep", 0.01f), + .timeScale = configJSON["simulation"].value("timeScale", 10.0f), + }; + + droneConfig.ammoName = configJSON["ammo"].get(); + + DEBUG("ammo config: " << droneConfig.ammoName); + + return droneConfig; } -std::unordered_map getAmmoMap(json& ammoJSON) { - int ammoCount = ammoJSON.size(); - std::unordered_map ammoMap; - - for (int i = 0; i < ammoCount; i++) { - const std::string ammoName = ammoJSON[i]["name"].get(); - AmmoParams ammo = { - .name = ammoName, - .mass = ammoJSON[i]["mass"], - .drag = ammoJSON[i]["drag"], - .lift = ammoJSON[i]["lift"] - }; - ammoMap[ammoName] = ammo; - } +std::unordered_map getAmmoMap(json& ammoJSON) +{ + int ammoCount = ammoJSON.size(); + std::unordered_map ammoMap; - return ammoMap; -} + for (int i = 0; i < ammoCount; i++) { + const std::string ammoName = ammoJSON[i]["name"].get(); + AmmoParams ammo = {.name = ammoName, .mass = ammoJSON[i]["mass"], .drag = ammoJSON[i]["drag"], .lift = ammoJSON[i]["lift"]}; + ammoMap[ammoName] = ammo; + } -AmmoParams findAmmo(const std::unordered_map& ammoMap, const std::string ammoName) { - auto it = ammoMap.find(ammoName); - if (it == ammoMap.end()) { - throw std::runtime_error("Unknown ammo\n"); - } - return it->second; + return ammoMap; } -std::vector> fillTargets(json& targetsJSON) { - int targetsCount = targetsJSON["targetCount"]; - int timeSteps = targetsJSON["timeSteps"]; - - std::vector> targets; - for (int i = 0; i < targetsCount; i++) { - std::vector track; - for (int j = 0; j < timeSteps; j++) { - track.push_back({ - targetsJSON["targets"][i]["positions"][j]["x"], - targetsJSON["targets"][i]["positions"][j]["y"] - }); - } - targets.push_back(track); - } - - return targets; +AmmoParams findAmmo(const std::unordered_map& ammoMap, const std::string ammoName) +{ + auto it = ammoMap.find(ammoName); + if (it == ammoMap.end()) { + throw std::runtime_error("Unknown ammo\n"); + } + return it->second; } - -float getAmmoFlightTime( - const DroneConfig& droneConfig, - const AmmoParams& ammo -) { - const float g = 9.81f; - float a = ammo.drag * g * ammo.mass - 2 * pow(ammo.drag, 2) * ammo.lift * droneConfig.attackSpeed; - float b = -3 * g * pow(ammo.mass, 2) + 3 * ammo.drag * ammo.lift * ammo.mass * droneConfig.attackSpeed; - float c = 6 * pow(ammo.mass, 2) * droneConfig.altitude; - float p = -pow(b, 2) / (3 * pow(a, 2)); - float q = 2 * pow(b, 3) / (27 * pow(a, 3)) + c / a; - float acosArg = 3 * q / (2 * p) * sqrt(-3 / p); - - if (acosArg > 1 || acosArg < -1) { - throw std::runtime_error("Drone position is too high\n"); +std::vector> fillTargets(json& targetsJSON) +{ + int targetsCount = targetsJSON["targetCount"]; + int timeSteps = targetsJSON["timeSteps"]; + + std::vector> targets; + for (int i = 0; i < targetsCount; i++) { + std::vector track; + for (int j = 0; j < timeSteps; j++) { + track.push_back({targetsJSON["targets"][i]["positions"][j]["x"], targetsJSON["targets"][i]["positions"][j]["y"]}); } + targets.push_back(track); + } - float phi = acos(acosArg); - float ammoFlightTime = 2 * sqrt(-p / 3 ) * cos((phi + 4 * M_PI) / 3) - b / (3 * a); - - if (ammoFlightTime <= 0) { - throw std::runtime_error("Ammo flight time should be more than 0\n"); - } + return targets; +} - return ammoFlightTime; +float getAmmoFlightTime(const DroneConfig& droneConfig, const AmmoParams& ammo) +{ + const float g = 9.81f; + float a = ammo.drag * g * ammo.mass - 2 * pow(ammo.drag, 2) * ammo.lift * droneConfig.attackSpeed; + float b = -3 * g * pow(ammo.mass, 2) + 3 * ammo.drag * ammo.lift * ammo.mass * droneConfig.attackSpeed; + float c = 6 * pow(ammo.mass, 2) * droneConfig.altitude; + float p = -pow(b, 2) / (3 * pow(a, 2)); + float q = 2 * pow(b, 3) / (27 * pow(a, 3)) + c / a; + float acosArg = 3 * q / (2 * p) * sqrt(-3 / p); + + if (acosArg > 1 || acosArg < -1) { + throw std::runtime_error("Drone position is too high\n"); + } + + float phi = acos(acosArg); + float ammoFlightTime = 2 * sqrt(-p / 3) * cos((phi + 4 * M_PI) / 3) - b / (3 * a); + + if (ammoFlightTime <= 0) { + throw std::runtime_error("Ammo flight time should be more than 0\n"); + } + + return ammoFlightTime; } -float length(const Coord& coord) { - return std::hypot(coord.x, coord.y); +float length(const Coord& coord) +{ + return std::hypot(coord.x, coord.y); } -Coord normalize(const Coord& coord) { - return coord / length(coord); +Coord normalize(const Coord& coord) +{ + return coord / length(coord); } \ No newline at end of file diff --git a/simulation.json b/simulation.json index 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"targetIndex": 0, + "timeSecSinceStart": 32.00063705444336 }, { "aimPoint": { - "x": 289.35064697265625, - "y": 207.87374877929688 + "x": 283.9496154785156, + "y": 201.947509765625 }, - "direction": 0.598746657371521, + "direction": 0.8064064979553223, "dropPoint": { - "x": 234.48561096191406, - "y": 170.4394073486328 + "x": 237.99798583984375, + "y": 154.02340698242188 }, "position": { - "x": 234.35546875, - "y": 170.35061645507813 + "x": 237.87210083007813, + "y": 153.8921356201172 }, "predictedTarget": { - "x": 290.2904968261719, - "y": 207.572509765625 + "x": 284.3114929199219, + "y": 202.31155395507813 }, "state": "MOVING", - "targetIndex": 0 + "targetIndex": 0, + "timeSecSinceStart": 32.10062026977539 } ], - "totalSteps": 241 + "totalSteps": 322 } \ No newline at end of file From 3e72416a9489ba510325b064558e766f9d5f6159 Mon Sep 17 00:00:00 2001 From: blinker Date: Sat, 20 Jun 2026 11:07:31 +0000 Subject: [PATCH 02/10] [FEATURE] hw10-threads: implementes stop/run/start/isReady methods for drone physics, missionProcessor and target provider. Implemented threads in main.cpp, move all loop logic in mission processor --- .../include/config_loaders/factory.hpp | 2 +- drone_simulation/include/drone_physics.hpp | 27 +- .../include/mission_processor.hpp | 36 +- .../providers/thread_safe_target_provider.hpp | 31 +- .../src/config_loaders/factory.cpp | 4 +- drone_simulation/src/drone_physics.cpp | 63 +- drone_simulation/src/main.cpp | 53 +- drone_simulation/src/mission_processor.cpp | 41 + .../providers/thread_safe_target_provider.cpp | 45 +- simulation.json | 7970 ++++++++++------- 10 files changed, 4826 insertions(+), 3446 deletions(-) diff --git a/drone_simulation/include/config_loaders/factory.hpp b/drone_simulation/include/config_loaders/factory.hpp index ed2c3d7..6fb38c8 100644 --- a/drone_simulation/include/config_loaders/factory.hpp +++ b/drone_simulation/include/config_loaders/factory.hpp @@ -11,5 +11,5 @@ enum class ProviderType { JSON, THREAD_SAFE }; enum class LoaderType { FILE }; std::unique_ptr createSolver(SolverType type, const DroneConfig& config, const std::string tablePath = ""); -std::unique_ptr createProvider(ProviderType type, const std::string path, float arrayTimeStep); +std::unique_ptr createProvider(ProviderType type, const std::string path, float arrayTimeStep, float timeScale); std::unique_ptr createLoader(LoaderType type, const std::string c, const std::string a); \ No newline at end of file diff --git a/drone_simulation/include/drone_physics.hpp b/drone_simulation/include/drone_physics.hpp index a560391..0417ae0 100644 --- a/drone_simulation/include/drone_physics.hpp +++ b/drone_simulation/include/drone_physics.hpp @@ -7,19 +7,28 @@ #include "thread_safe_queue.hpp" class DronePhysics { - DroneContext droneContext; - DroneConfig config; - ThreadSafeQueue commandQueue; - mutable std::mutex mtx; - std::unique_ptr state; - float elapsedTime = 0.0f; - public: DronePhysics(const DroneConfig& config); - auto stepPhysics(float dt) -> void; auto sendCommand(const DroneCommand& cmd) -> void; auto getTelemetry() const -> DroneTelemetry; auto getContext() const -> DroneContext; auto getStateName() const -> std::string; -}; \ No newline at end of file + auto run() -> void; + auto start() -> void; + auto stop() -> void; + auto isThreadReady() const -> bool; + +private: + auto stepPhysics(float dt) -> void; + + DroneContext droneContext; + DroneConfig config; + ThreadSafeQueue commandQueue; + mutable std::mutex mtx; + std::unique_ptr state; + float elapsedTime = 0.0f; + std::atomic ready{false}; + std::atomic running{false}; + std::atomic stopFlag{false}; +}; diff --git a/drone_simulation/include/mission_processor.hpp b/drone_simulation/include/mission_processor.hpp index 552ae0a..8827400 100644 --- a/drone_simulation/include/mission_processor.hpp +++ b/drone_simulation/include/mission_processor.hpp @@ -1,23 +1,13 @@ #pragma once +#include +#include +#include #include "interfaces/ballistic_solver.hpp" #include "interfaces/config_loader.hpp" #include "interfaces/target_provider.hpp" #include "drone_physics.hpp" class MissionProcessor { - const int MAX_STEPS = 10000; - std::unique_ptr targets; - std::unique_ptr ballisticSolver; - DroneConfig droneConfig; - AmmoParams ammo; - int currentStep = 1; - int prevTargetIndex = -1; - float currentTime = 0.0f; - float ammoFlightTime; - float ammoHorizontalFlightDistance; - bool hit = false; - DronePhysics* dronePhysics; - public: MissionProcessor(std::unique_ptr targetProvider, std::unique_ptr solver, DronePhysics* physics); @@ -27,8 +17,28 @@ class MissionProcessor { auto step() -> SimulationStep; auto reset() -> void; auto changeSolver(std::unique_ptr ballisticSolver) -> void; + auto run() -> void; + auto start() -> void; + auto isThreadReady() const -> bool; + auto getSteps() const -> const std::vector&; private: auto evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float; auto getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneContext& droneContext) -> SimulationStep; + + const int MAX_STEPS = 10000; + std::unique_ptr targets; + std::unique_ptr ballisticSolver; + DroneConfig droneConfig; + AmmoParams ammo; + int currentStep = 1; + int prevTargetIndex = -1; + float currentTime = 0.0f; + float ammoFlightTime; + float ammoHorizontalFlightDistance; + bool hit = false; + DronePhysics* dronePhysics; + std::atomic ready{false}; + std::atomic running{false}; + std::vector simulationSteps; }; diff --git a/drone_simulation/include/providers/thread_safe_target_provider.hpp b/drone_simulation/include/providers/thread_safe_target_provider.hpp index 1ef0195..7d18792 100644 --- a/drone_simulation/include/providers/thread_safe_target_provider.hpp +++ b/drone_simulation/include/providers/thread_safe_target_provider.hpp @@ -1,23 +1,32 @@ #pragma once #include #include +#include #include "interfaces/target_provider.hpp" class ThreadSafeTargetProvider : public ITargetProvider { - std::vector> trajectories; - // Поточний зріз стану всіх цілей - std::vector currentTargets; - // Для кожної цілі — на якому вузлі вона зараз - std::vector currentIndex; - float arrayTimeStep; - int count; - mutable std::mutex mtx; - public: - ThreadSafeTargetProvider(const std::string path, float arrayTimeStep); + ThreadSafeTargetProvider(const std::string path, float arrayTimeStep, float timeScale); ~ThreadSafeTargetProvider() override; auto getTargetCount() -> int override; auto getTarget(int i) -> Target override; + auto run() -> void; + auto start() -> void; + auto stop() -> void; + auto isThreadReady() const -> bool; + +private: auto updateTargets() -> void; -}; \ No newline at end of file + + std::vector> trajectories; + std::vector currentTargets; + std::vector currentIndex; + float arrayTimeStep; + int count; + float timeScale; + mutable std::mutex mtx; + std::atomic ready{false}; + std::atomic running{false}; + std::atomic stopFlag{false}; +}; diff --git a/drone_simulation/src/config_loaders/factory.cpp b/drone_simulation/src/config_loaders/factory.cpp index 95c3da9..a98e4a0 100644 --- a/drone_simulation/src/config_loaders/factory.cpp +++ b/drone_simulation/src/config_loaders/factory.cpp @@ -19,14 +19,14 @@ auto createSolver(SolverType type, const DroneConfig& config, const std::string return nullptr; } -auto createProvider(ProviderType type, const std::string param, float arrayTimeStep) -> std::unique_ptr +auto createProvider(ProviderType type, const std::string param, float arrayTimeStep, float timeScale) -> std::unique_ptr { switch (type) { case ProviderType::JSON: return std::make_unique(param); case ProviderType::THREAD_SAFE: - return std::make_unique(param, arrayTimeStep); + return std::make_unique(param, arrayTimeStep, timeScale); } return nullptr; diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp index 1acaef6..55e4a1b 100644 --- a/drone_simulation/src/drone_physics.cpp +++ b/drone_simulation/src/drone_physics.cpp @@ -1,40 +1,42 @@ +#include #include "drone_physics.hpp" #include "drone_states/state_stopped.hpp" DronePhysics::DronePhysics(const DroneConfig& config) : config(config) { - droneContext = {.directionToTarget = 0.0f, - .prevDirectionToTarget = 0.0f, - .speed = 0.0f, - .direction = config.initialDir, - .acceleration = config.attackSpeed * config.attackSpeed / (2.0f * config.accelPath), - .timeToStop = 0.0f, - .position = config.startPos, - .config = &this->config}; + this->droneContext = {.directionToTarget = 0.0f, + .prevDirectionToTarget = 0.0f, + .speed = 0.0f, + .direction = config.initialDir, + .acceleration = config.attackSpeed * config.attackSpeed / (2.0f * config.accelPath), + .timeToStop = 0.0f, + .position = config.startPos, + .config = &this->config}; - state = std::make_unique(); + this->state = std::make_unique(); } auto DronePhysics::stepPhysics(float dt) -> void { + std::lock_guard lock(mtx); DroneCommand cmd; - if (commandQueue.tryPop(cmd)) { - droneContext.directionToTarget = cmd.directionToTarget; - droneContext.prevDirectionToTarget = cmd.prevDirectionToTarget; + if (this->commandQueue.tryPop(cmd)) { + this->droneContext.directionToTarget = cmd.directionToTarget; + this->droneContext.prevDirectionToTarget = cmd.prevDirectionToTarget; } - auto nextState = state->execute(droneContext); + auto nextState = this->state->execute(droneContext); if (nextState) { - state = std::move(nextState); + this->state = std::move(nextState); } - elapsedTime += dt; + this->elapsedTime += dt; } auto DronePhysics::sendCommand(const DroneCommand& cmd) -> void { - commandQueue.push(cmd); + this->commandQueue.push(cmd); } auto DronePhysics::getTelemetry() const -> DroneTelemetry @@ -56,4 +58,33 @@ auto DronePhysics::getStateName() const -> std::string std::lock_guard lock(mtx); return state->name(); +} + +auto DronePhysics::run() -> void +{ + this->ready.store(true); + + while (!this->running.load()) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + while (!this->stopFlag.load()) { + stepPhysics(this->config.physicsTimeStep); + std::this_thread::sleep_for(std::chrono::duration(this->config.physicsTimeStep / this->config.timeScale)); + } +} + +auto DronePhysics::start() -> void +{ + this->running.store(true); +} + +auto DronePhysics::stop() -> void +{ + this->stopFlag.store(true); +} + +auto DronePhysics::isThreadReady() const -> bool +{ + return this->ready.load(); } \ No newline at end of file diff --git a/drone_simulation/src/main.cpp b/drone_simulation/src/main.cpp index 34fbed0..e0dd035 100644 --- a/drone_simulation/src/main.cpp +++ b/drone_simulation/src/main.cpp @@ -5,7 +5,6 @@ #include "simulation.hpp" #include "mission_processor.hpp" #include "config_loaders/factory.hpp" -#include "drone_states/state_stopped.hpp" #include "providers/thread_safe_target_provider.hpp" using json = nlohmann::json; @@ -39,48 +38,36 @@ auto main(int argc, char* argv[]) -> int loader->load(); DroneConfig droneConfig = loader->getConfig(); DronePhysics physics(droneConfig); - auto targets = std::make_unique(targetsPath, droneConfig.arrayTimeStep); + auto targets = std::make_unique(targetsPath, droneConfig.arrayTimeStep, droneConfig.timeScale); auto* targetsPtr = targets.get(); SolverType solverType = (solverArg == "analytical") ? SolverType::ANALYTICAL : SolverType::TABLE; auto ballisticSolver = createSolver(solverType, droneConfig, ballisticTablePath); - std::vector simSteps; MissionProcessor missionProcessor(std::move(targets), std::move(ballisticSolver), &physics); missionProcessor.init(std::move(loader)); - // write initial sim data - simSteps.push_back({.hit = false, - .target = -1, - .droneDirection = droneConfig.initialDir, - .dropPoint = {0, 0}, - .aimPoint = {0, 0}, - .predictedTarget = {0, 0}, - .dronePosition = droneConfig.startPos, - .droneState = StateStopped::NAME}); - - // simulation loop - int physicsStepsPerSim = static_cast(droneConfig.simTimeStep / droneConfig.physicsTimeStep); - float targetUpdateAccum = 0.0f; - - while (missionProcessor.hasNext()) { - for (int i = 0; i < physicsStepsPerSim; i++) { - physics.stepPhysics(droneConfig.physicsTimeStep); - } - - targetUpdateAccum += droneConfig.simTimeStep; - if (targetUpdateAccum >= droneConfig.arrayTimeStep) { - targetsPtr->updateTargets(); - targetUpdateAccum -= droneConfig.arrayTimeStep; - } - - SimulationStep simulationStep = missionProcessor.step(); - if (simulationStep.target >= 0) { - simSteps.push_back(simulationStep); - } + std::thread providerThread(&ThreadSafeTargetProvider::run, targetsPtr); + std::thread physicsThread(&DronePhysics::run, &physics); + std::thread missionThread(&MissionProcessor::run, &missionProcessor); + + while (!targetsPtr->isThreadReady() || !physics.isThreadReady() || !missionProcessor.isThreadReady()) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); } - writeSimulationJSONFile(simSteps); + targetsPtr->start(); + physics.start(); + missionProcessor.start(); + + missionThread.join(); + + physics.stop(); + targetsPtr->stop(); + + physicsThread.join(); + providerThread.join(); + + writeSimulationJSONFile(missionProcessor.getSteps()); return 0; } diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index df5d99e..07fc57a 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -175,3 +175,44 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord .dronePosition = droneContext.position, .droneState = ""}; } + +auto MissionProcessor::start() -> void +{ + this->running.store(true); +} + +auto MissionProcessor::isThreadReady() const -> bool +{ + return this->ready.load(); +} + +auto MissionProcessor::getSteps() const -> const std::vector& +{ + return this->simulationSteps; +} + +void MissionProcessor::run() +{ + this->ready.store(true); + + while (!this->running.load()) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + this->simulationSteps.push_back({.hit = false, + .target = -1, + .droneDirection = this->droneConfig.initialDir, + .dropPoint = {0, 0}, + .aimPoint = {0, 0}, + .predictedTarget = {0, 0}, + .dronePosition = this->droneConfig.startPos, + .droneState = StateStopped::NAME}); + + while (this->hasNext()) { + SimulationStep simulationStep = this->step(); + if (simulationStep.target >= 0) { + this->simulationSteps.push_back(simulationStep); + } + std::this_thread::sleep_for(std::chrono::duration(this->droneConfig.simTimeStep / this->droneConfig.timeScale)); + } +} \ No newline at end of file diff --git a/drone_simulation/src/providers/thread_safe_target_provider.cpp b/drone_simulation/src/providers/thread_safe_target_provider.cpp index 11a3406..56e0858 100644 --- a/drone_simulation/src/providers/thread_safe_target_provider.cpp +++ b/drone_simulation/src/providers/thread_safe_target_provider.cpp @@ -1,10 +1,12 @@ +#include #include "providers/thread_safe_target_provider.hpp" -ThreadSafeTargetProvider::ThreadSafeTargetProvider(const std::string path, float arrayTimeStep) +ThreadSafeTargetProvider::ThreadSafeTargetProvider(const std::string path, float arrayTimeStep, float timeScale) + : arrayTimeStep(arrayTimeStep) + , timeScale(timeScale) { json jsonFile = parseJSONfile(path); this->count = jsonFile["targetCount"]; - this->arrayTimeStep = arrayTimeStep; this->trajectories = fillTargets(jsonFile); this->currentIndex.resize(this->trajectories.size(), 0); this->currentTargets.resize(this->trajectories.size()); @@ -22,11 +24,15 @@ ThreadSafeTargetProvider::~ThreadSafeTargetProvider() {} auto ThreadSafeTargetProvider::getTargetCount() -> int { + std::lock_guard lock(mtx); + return this->count; } auto ThreadSafeTargetProvider::getTarget(int i) -> Target { + std::lock_guard lock(mtx); + return this->currentTargets[i]; } @@ -35,7 +41,7 @@ auto ThreadSafeTargetProvider::updateTargets() -> void for (size_t i = 0; i < this->trajectories.size(); i++) { int size = this->trajectories[i].size(); - // Просунути індекс на 1, із зацикленням + // +1 index, із зацикленням this->currentIndex[i] = (this->currentIndex[i] + 1) % size; int curr = this->currentIndex[i]; @@ -44,4 +50,37 @@ auto ThreadSafeTargetProvider::updateTargets() -> void this->currentTargets[i].pos = this->trajectories[i][curr]; this->currentTargets[i].velocity = (this->trajectories[i][next] - this->trajectories[i][curr]) / this->arrayTimeStep; } +} + +auto ThreadSafeTargetProvider::run() -> void +{ + this->ready.store(true); + + while (!this->running.load()) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + while (!this->stopFlag.load()) { + { + std::lock_guard lock(mtx); + this->updateTargets(); + } + + std::this_thread::sleep_for(std::chrono::duration(this->arrayTimeStep / this->timeScale)); + } +} + +auto ThreadSafeTargetProvider::start() -> void +{ + this->running.store(true); +} + +auto ThreadSafeTargetProvider::stop() -> void +{ + this->stopFlag.store(true); +} + +auto ThreadSafeTargetProvider::isThreadReady() const -> bool +{ + return this->ready.load(); } \ No newline at end of file diff --git a/simulation.json b/simulation.json index e2e9b16..233b453 100644 --- a/simulation.json +++ b/simulation.json @@ -24,7066 +24,8320 @@ }, { "aimPoint": { - "x": 66.58682250976563, + "x": 66.57669830322266, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 260.4175720214844, - "y": 181.87193298339844 + "x": 260.41705322265625, + "y": 181.8731689453125 }, "position": { - "x": 0.010124999098479748, + "x": 0.0, "y": 0.0 }, "predictedTarget": { "x": 315.0, "y": 203.6439666748047 }, - "state": "ACCELERATING", + "state": "STOPPED", "targetIndex": 0, - "timeSecSinceStart": 0.09999998658895493 + "timeSecSinceStart": 0.0 }, { "aimPoint": { - "x": 66.61944580078125, - "y": 0.0 + "x": 66.56338500976563, + "y": 1.3314450979232788 }, - "direction": 0.0, + "direction": 0.019999999552965164, "dropPoint": { - "x": 260.4193115234375, - "y": 181.8679962158203 + "x": 255.7695770263672, + "y": 182.19003295898438 }, "position": { - "x": 0.042750000953674316, + "x": 0.0, "y": 0.0 }, "predictedTarget": { - "x": 315.0, - "y": 203.6439666748047 + "x": 314.0889587402344, + "y": 204.4439697265625 }, - "state": "ACCELERATING", + "state": "TURNING", "targetIndex": 0, - "timeSecSinceStart": 0.20000001788139343 + "timeSecSinceStart": 0.04999999701976776 }, { "aimPoint": { - "x": 66.67457580566406, - "y": 0.0 + "x": 66.49349212646484, + "y": 3.3274476528167725 }, - "direction": 0.0, + "direction": 0.04999999329447746, "dropPoint": { - "x": 260.4222412109375, - "y": 181.861328125 + "x": 255.7695770263672, + "y": 182.19003295898438 }, "position": { - "x": 0.09787502139806747, + "x": 0.0, "y": 0.0 }, "predictedTarget": { - "x": 315.0, - "y": 203.6439666748047 + "x": 314.0889587402344, + "y": 204.4439697265625 }, - "state": "ACCELERATING", + "state": "TURNING", "targetIndex": 0, - "timeSecSinceStart": 0.29999998211860657 + "timeSecSinceStart": 0.10999998450279236 }, { "aimPoint": { - "x": 66.752197265625, - "y": 0.0 + "x": 66.38954162597656, + "y": 4.988572120666504 }, - "direction": 0.0, + "direction": 0.07499999552965164, "dropPoint": { - "x": 260.4263916015625, - "y": 181.85191345214844 + "x": 255.7695770263672, + "y": 182.19003295898438 }, "position": { 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"y": 159.48507690429688 }, "position": { - "x": 231.66864013671875, - "y": 147.3717498779297 + "x": 225.7422332763672, + "y": 156.2739715576172 }, "predictedTarget": { - "x": 285.0115051269531, - "y": 203.36700439453125 + "x": 289.2330017089844, + "y": 192.41148376464844 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 31.500625610351563 + "timeSecSinceStart": 22.830427169799805 }, { "aimPoint": { - "x": 278.5340270996094, - "y": 196.74850463867188 + "x": 284.699462890625, + "y": 189.401123046875 }, - "direction": 0.8114859461784363, + "direction": 0.511922299861908, "dropPoint": { - "x": 238.51480102539063, - "y": 154.57550048828125 + "x": 231.43431091308594, + "y": 159.4824676513672 }, "position": { - "x": 232.70120239257813, - "y": 148.45970153808594 + "x": 226.65760803222656, + "y": 156.78826904296875 }, "predictedTarget": { - "x": 285.0115051269531, - "y": 203.36700439453125 + "x": 289.2330017089844, + "y": 192.41148376464844 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 31.600627899169922 + "timeSecSinceStart": 22.900428771972656 }, { "aimPoint": { - "x": 279.56658935546875, - "y": 197.83645629882813 + "x": 285.2995300292969, + "y": 189.86399841308594 }, - "direction": 0.8114859461784363, + "direction": 0.5135501623153687, "dropPoint": { - "x": 238.57785034179688, - "y": 154.64208984375 + "x": 231.4250946044922, + "y": 159.48069763183594 }, "position": { - "x": 233.7337646484375, - "y": 149.5476531982422 + "x": 227.3108367919922, + "y": 157.1566925048828 }, "predictedTarget": { - "x": 285.0115051269531, - "y": 203.36700439453125 + "x": 289.2330017089844, + "y": 192.41148376464844 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 31.70063018798828 + "timeSecSinceStart": 22.950429916381836 }, { "aimPoint": { - "x": 280.5991516113281, - "y": 198.92440795898438 + "x": 285.9527587890625, + "y": 190.232421875 }, - "direction": 0.8114859461784363, + "direction": 0.5135501623153687, "dropPoint": { - "x": 238.64065551757813, - "y": 154.7089385986328 + "x": 231.41635131835938, + "y": 159.47813415527344 }, "position": { - "x": 234.76632690429688, - "y": 150.63560485839844 + "x": 227.9640655517578, + "y": 157.52511596679688 }, "predictedTarget": { - "x": 285.0115051269531, - "y": 203.36700439453125 + "x": 289.2330017089844, + "y": 192.41148376464844 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 31.80063247680664 + "timeSecSinceStart": 23.000431060791016 }, { "aimPoint": { - "x": 281.68377685546875, - "y": 199.96298217773438 + "x": 286.8247375488281, + "y": 190.82357788085938 }, - "direction": 0.8104323744773865, + "direction": 0.5148301720619202, "dropPoint": { - "x": 238.7042694091797, - "y": 154.77500915527344 + "x": 231.404296875, + "y": 159.4743194580078 }, "position": { - "x": 235.80010986328125, - "y": 151.7224884033203 + "x": 228.87794494628906, + "y": 158.04208374023438 }, "predictedTarget": { - "x": 285.0115051269531, - "y": 203.36700439453125 + "x": 289.2330017089844, + "y": 192.41148376464844 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 31.900634765625 + "timeSecSinceStart": 23.070432662963867 }, { "aimPoint": { - "x": 282.7175598144531, - "y": 201.04986572265625 + "x": 287.6080627441406, + "y": 191.26669311523438 }, - "direction": 0.8104323744773865, + "direction": 0.5148301720619202, "dropPoint": { - "x": 237.92947387695313, - "y": 153.9519805908203 + "x": 231.92958068847656, + "y": 159.72447204589844 }, "position": { - "x": 236.83389282226563, - "y": 152.8093719482422 + "x": 229.66127014160156, + "y": 158.48519897460938 }, "predictedTarget": { - "x": 284.3114929199219, - "y": 202.31155395507813 + "x": 290.28839111328125, + "y": 191.7115478515625 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 32.00063705444336 + "timeSecSinceStart": 23.130434036254883 }, { "aimPoint": { - "x": 283.9496154785156, - "y": 201.947509765625 + "x": 288.8756103515625, + "y": 190.83895874023438 }, - "direction": 0.8064064979553223, + "direction": 0.5000303387641907, "dropPoint": { - "x": 237.99798583984375, - "y": 154.02340698242188 + "x": 231.9132843017578, + "y": 159.71957397460938 }, "position": { - "x": 237.87210083007813, - "y": 153.8921356201172 + "x": 230.4500274658203, + "y": 158.9186248779297 }, "predictedTarget": { - "x": 284.3114929199219, - "y": 202.31155395507813 + "x": 290.28839111328125, + "y": 191.7115478515625 }, "state": "MOVING", "targetIndex": 0, - "timeSecSinceStart": 32.10062026977539 + "timeSecSinceStart": 23.1904354095459 } ], - "totalSteps": 322 + "totalSteps": 379 } \ No newline at end of file From bc582977044ee3d5142dd89619be7aa36d3a4d22 Mon Sep 17 00:00:00 2001 From: blinker Date: Mon, 22 Jun 2026 19:05:10 +0000 Subject: [PATCH 03/10] [FIX] fix includes --- .../include/interfaces/ballistic_solver.hpp | 10 +++------- .../include/interfaces/config_loader.hpp | 10 +++++----- .../include/interfaces/target_provider.hpp | 2 +- .../include/solvers/table_solver.hpp | 16 ++++++---------- drone_simulation/src/drone_physics.cpp | 2 +- drone_simulation/src/mission_processor.cpp | 4 ++-- drone_simulation/src/simulation.cpp | 4 ++-- 7 files changed, 20 insertions(+), 28 deletions(-) diff --git a/drone_simulation/include/interfaces/ballistic_solver.hpp b/drone_simulation/include/interfaces/ballistic_solver.hpp index d2088c3..33e123f 100644 --- a/drone_simulation/include/interfaces/ballistic_solver.hpp +++ b/drone_simulation/include/interfaces/ballistic_solver.hpp @@ -1,12 +1,8 @@ #pragma once -#include "../simulation.hpp" +#include "simulation.hpp" class IBallisticSolver { public: - virtual Coord solve( - const Coord& dronePosition, - const Coord& targetPosition, - const AmmoParams& ammmo - ) = 0; - virtual ~IBallisticSolver() {} + virtual Coord solve(const Coord& dronePosition, const Coord& targetPosition, const AmmoParams& ammmo) = 0; + virtual ~IBallisticSolver() {} }; \ No newline at end of file diff --git a/drone_simulation/include/interfaces/config_loader.hpp b/drone_simulation/include/interfaces/config_loader.hpp index b6b93d2..385223f 100644 --- a/drone_simulation/include/interfaces/config_loader.hpp +++ b/drone_simulation/include/interfaces/config_loader.hpp @@ -1,10 +1,10 @@ #pragma once -#include "../simulation.hpp" +#include "simulation.hpp" class IConfigLoader { public: - virtual void load() = 0; - virtual DroneConfig getConfig() = 0; - virtual AmmoParams getAmmoParams() = 0; - virtual ~IConfigLoader() {} + virtual void load() = 0; + virtual DroneConfig getConfig() = 0; + virtual AmmoParams getAmmoParams() = 0; + virtual ~IConfigLoader() {} }; \ No newline at end of file diff --git a/drone_simulation/include/interfaces/target_provider.hpp b/drone_simulation/include/interfaces/target_provider.hpp index d5cd960..055970c 100644 --- a/drone_simulation/include/interfaces/target_provider.hpp +++ b/drone_simulation/include/interfaces/target_provider.hpp @@ -1,5 +1,5 @@ #pragma once -#include "../simulation.hpp" +#include "simulation.hpp" class ITargetProvider { public: diff --git a/drone_simulation/include/solvers/table_solver.hpp b/drone_simulation/include/solvers/table_solver.hpp index 75e19b5..f06017d 100644 --- a/drone_simulation/include/solvers/table_solver.hpp +++ b/drone_simulation/include/solvers/table_solver.hpp @@ -1,18 +1,14 @@ #pragma once #include "interfaces/ballistic_solver.hpp" -#include "ballistic_table.hpp" +#include "solvers/ballistic_table.hpp" class TableSolver : public IBallisticSolver { - DroneConfig droneConfig; - BallisticTable table; + DroneConfig droneConfig; + BallisticTable table; - public: - TableSolver(const DroneConfig& config, std::string table_path); +public: + TableSolver(const DroneConfig& config, std::string table_path); - auto solve( - const Coord& dronePosition, - const Coord& targetPosition, - const AmmoParams& ammo - ) -> Coord override; + auto solve(const Coord& dronePosition, const Coord& targetPosition, const AmmoParams& ammo) -> Coord override; }; \ No newline at end of file diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp index 55e4a1b..38c0643 100644 --- a/drone_simulation/src/drone_physics.cpp +++ b/drone_simulation/src/drone_physics.cpp @@ -69,7 +69,7 @@ auto DronePhysics::run() -> void } while (!this->stopFlag.load()) { - stepPhysics(this->config.physicsTimeStep); + this->stepPhysics(this->config.physicsTimeStep); std::this_thread::sleep_for(std::chrono::duration(this->config.physicsTimeStep / this->config.timeScale)); } } diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index 07fc57a..45ebca2 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -151,8 +151,8 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord { Coord bombLandCoord = getBombLandCoord(droneContext, this->ammoHorizontalFlightDistance); - Target t = this->targets->getTarget(targetIndex); - Coord targetAtImpact = t.pos + t.velocity * this->ammoFlightTime; + Target target = this->targets->getTarget(targetIndex); + Coord targetAtImpact = target.pos + target.velocity * this->ammoFlightTime; float bombMissDistance = getDistanceToTarget(bombLandCoord, targetAtImpact); Coord dir = {.x = std::cos(droneContext.direction), .y = std::sin(droneContext.direction)}; diff --git a/drone_simulation/src/simulation.cpp b/drone_simulation/src/simulation.cpp index a5f952a..db1f35d 100644 --- a/drone_simulation/src/simulation.cpp +++ b/drone_simulation/src/simulation.cpp @@ -2,8 +2,8 @@ #include #include #include -#include "../include/json.hpp" -#include "../include/simulation.hpp" +#include "json.hpp" +#include "simulation.hpp" using json = nlohmann::json; From 5fb72bc8ac382feae22051d52faae5002e7494ee Mon Sep 17 00:00:00 2001 From: blinker Date: Mon, 22 Jun 2026 20:37:45 +0000 Subject: [PATCH 04/10] [FEATURE] hw-10-threads: refactored. move private method to the bootpm of a class. Fix MissionProcessor: call this->dronePhysics->sendCommand at the end of the mission step --- .../include/mission_processor.hpp | 2 +- drone_simulation/src/drone_physics.cpp | 34 +- drone_simulation/src/mission_processor.cpp | 89 +- .../providers/thread_safe_target_provider.cpp | 32 +- simulation.json | 30906 ++++++++++++++-- 5 files changed, 27697 insertions(+), 3366 deletions(-) diff --git a/drone_simulation/include/mission_processor.hpp b/drone_simulation/include/mission_processor.hpp index 8827400..4692a22 100644 --- a/drone_simulation/include/mission_processor.hpp +++ b/drone_simulation/include/mission_processor.hpp @@ -12,7 +12,6 @@ class MissionProcessor { MissionProcessor(std::unique_ptr targetProvider, std::unique_ptr solver, DronePhysics* physics); auto init(std::unique_ptr configLoader) -> void; - auto hasNext() -> bool; auto getCurrentStep() -> int; auto step() -> SimulationStep; auto reset() -> void; @@ -25,6 +24,7 @@ class MissionProcessor { private: auto evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float; auto getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneContext& droneContext) -> SimulationStep; + auto hasNext() -> bool; const int MAX_STEPS = 10000; std::unique_ptr targets; diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp index 38c0643..74bbca3 100644 --- a/drone_simulation/src/drone_physics.cpp +++ b/drone_simulation/src/drone_physics.cpp @@ -17,23 +17,6 @@ DronePhysics::DronePhysics(const DroneConfig& config) this->state = std::make_unique(); } -auto DronePhysics::stepPhysics(float dt) -> void -{ - std::lock_guard lock(mtx); - DroneCommand cmd; - if (this->commandQueue.tryPop(cmd)) { - this->droneContext.directionToTarget = cmd.directionToTarget; - this->droneContext.prevDirectionToTarget = cmd.prevDirectionToTarget; - } - - auto nextState = this->state->execute(droneContext); - if (nextState) { - this->state = std::move(nextState); - } - - this->elapsedTime += dt; -} - auto DronePhysics::sendCommand(const DroneCommand& cmd) -> void { this->commandQueue.push(cmd); @@ -87,4 +70,21 @@ auto DronePhysics::stop() -> void auto DronePhysics::isThreadReady() const -> bool { return this->ready.load(); +} + +auto DronePhysics::stepPhysics(float dt) -> void +{ + std::lock_guard lock(mtx); + DroneCommand cmd; + if (this->commandQueue.tryPop(cmd)) { + this->droneContext.directionToTarget = cmd.directionToTarget; + this->droneContext.prevDirectionToTarget = cmd.prevDirectionToTarget; + } + + auto nextState = this->state->execute(droneContext); + if (nextState) { + this->state = std::move(nextState); + } + + this->elapsedTime += dt; } \ No newline at end of file diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index 45ebca2..040325a 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -22,11 +22,6 @@ auto MissionProcessor::init(std::unique_ptr configLoader) -> void this->ammoHorizontalFlightDistance = getAmmoHorizontalFlightDistance(this->droneConfig.attackSpeed, this->ammoFlightTime, this->ammo); } -auto MissionProcessor::hasNext() -> bool -{ - return this->currentStep <= this->MAX_STEPS && !this->hit; -} - auto MissionProcessor::getCurrentStep() -> int { return this->currentStep; @@ -74,8 +69,6 @@ auto MissionProcessor::step() -> SimulationStep Coord dirVec = normalize(deltaToFire); float newDirection = atan2(dirVec.y, dirVec.x); - this->dronePhysics->sendCommand({.directionToTarget = newDirection, .prevDirectionToTarget = droneContext.directionToTarget}); - SimulationStep simulationStep = this->getSimulationStep(bestTargetIndex, bestFireCoord, droneContext); simulationStep.droneState = this->dronePhysics->getStateName(); simulationStep.timeSecSinceStart = droneTelemetry.timeSecSinceStart; @@ -84,6 +77,7 @@ auto MissionProcessor::step() -> SimulationStep this->prevTargetIndex = bestTargetIndex; this->currentStep++; this->currentTime += this->droneConfig.simTimeStep; + this->dronePhysics->sendCommand({.directionToTarget = newDirection, .prevDirectionToTarget = droneContext.directionToTarget}); return simulationStep; } @@ -101,6 +95,47 @@ auto MissionProcessor::changeSolver(std::unique_ptr ballisticS this->ballisticSolver = std::move(ballisticSolver); } +auto MissionProcessor::start() -> void +{ + this->running.store(true); +} + +auto MissionProcessor::isThreadReady() const -> bool +{ + return this->ready.load(); +} + +auto MissionProcessor::getSteps() const -> const std::vector& +{ + return this->simulationSteps; +} + +void MissionProcessor::run() +{ + this->ready.store(true); + + while (!this->running.load()) { + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + this->simulationSteps.push_back({.hit = false, + .target = -1, + .droneDirection = this->droneConfig.initialDir, + .dropPoint = {0, 0}, + .aimPoint = {0, 0}, + .predictedTarget = {0, 0}, + .dronePosition = this->droneConfig.startPos, + .droneState = StateStopped::NAME}); + + while (this->hasNext()) { + SimulationStep simulationStep = this->step(); + if (simulationStep.target >= 0) { + this->simulationSteps.push_back(simulationStep); + } + std::this_thread::sleep_for(std::chrono::duration(this->droneConfig.simTimeStep / this->droneConfig.timeScale)); + } +} + auto MissionProcessor::evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float { Target t = this->targets->getTarget(targetIndex); @@ -176,43 +211,7 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord .droneState = ""}; } -auto MissionProcessor::start() -> void -{ - this->running.store(true); -} - -auto MissionProcessor::isThreadReady() const -> bool -{ - return this->ready.load(); -} - -auto MissionProcessor::getSteps() const -> const std::vector& -{ - return this->simulationSteps; -} - -void MissionProcessor::run() +auto MissionProcessor::hasNext() -> bool { - this->ready.store(true); - - while (!this->running.load()) { - std::this_thread::sleep_for(std::chrono::milliseconds(1)); - } - - this->simulationSteps.push_back({.hit = false, - .target = -1, - .droneDirection = this->droneConfig.initialDir, - .dropPoint = {0, 0}, - .aimPoint = {0, 0}, - .predictedTarget = {0, 0}, - .dronePosition = this->droneConfig.startPos, - .droneState = StateStopped::NAME}); - - while (this->hasNext()) { - SimulationStep simulationStep = this->step(); - if (simulationStep.target >= 0) { - this->simulationSteps.push_back(simulationStep); - } - std::this_thread::sleep_for(std::chrono::duration(this->droneConfig.simTimeStep / this->droneConfig.timeScale)); - } + return this->currentStep <= this->MAX_STEPS && !this->hit; } \ No newline at end of file diff --git a/drone_simulation/src/providers/thread_safe_target_provider.cpp b/drone_simulation/src/providers/thread_safe_target_provider.cpp index 56e0858..22b29bc 100644 --- a/drone_simulation/src/providers/thread_safe_target_provider.cpp +++ b/drone_simulation/src/providers/thread_safe_target_provider.cpp @@ -36,22 +36,6 @@ auto ThreadSafeTargetProvider::getTarget(int i) -> Target return this->currentTargets[i]; } -auto ThreadSafeTargetProvider::updateTargets() -> void -{ - for (size_t i = 0; i < this->trajectories.size(); i++) { - int size = this->trajectories[i].size(); - - // +1 index, із зацикленням - this->currentIndex[i] = (this->currentIndex[i] + 1) % size; - - int curr = this->currentIndex[i]; - int next = (curr + 1) % size; - - this->currentTargets[i].pos = this->trajectories[i][curr]; - this->currentTargets[i].velocity = (this->trajectories[i][next] - this->trajectories[i][curr]) / this->arrayTimeStep; - } -} - auto ThreadSafeTargetProvider::run() -> void { this->ready.store(true); @@ -83,4 +67,20 @@ auto ThreadSafeTargetProvider::stop() -> void auto ThreadSafeTargetProvider::isThreadReady() const -> bool { return this->ready.load(); +} + +auto ThreadSafeTargetProvider::updateTargets() -> void +{ + for (size_t i = 0; i < this->trajectories.size(); i++) { + int size = this->trajectories[i].size(); + + // +1 index, із зацикленням + this->currentIndex[i] = (this->currentIndex[i] + 1) % size; + + int curr = this->currentIndex[i]; + int next = (curr + 1) % size; + + this->currentTargets[i].pos = this->trajectories[i][curr]; + this->currentTargets[i].velocity = (this->trajectories[i][next] - this->trajectories[i][curr]) / this->arrayTimeStep; + } } \ No newline at end of file diff --git a/simulation.json b/simulation.json index 233b453..f4a8d25 100644 --- a/simulation.json +++ b/simulation.json @@ -29,452 +29,474 @@ }, "direction": 0.0, "dropPoint": { - "x": 260.41705322265625, - "y": 181.8731689453125 + "x": 255.7695770263672, + "y": 182.19003295898438 }, "position": { "x": 0.0, "y": 0.0 }, "predictedTarget": { - "x": 315.0, - "y": 203.6439666748047 + "x": 314.0889587402344, + "y": 204.4439697265625 }, - "state": "STOPPED", + "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.0 + "timeSecSinceStart": 0.009999999776482582 }, { "aimPoint": { - "x": 66.56338500976563, - "y": 1.3314450979232788 + "x": 66.5814208984375, + "y": 0.0 }, - "direction": 0.019999999552965164, + "direction": 0.0, "dropPoint": { - "x": 255.7695770263672, - "y": 182.19003295898438 + "x": 255.7698974609375, + "y": 182.18946838378906 }, "position": { - "x": 0.0, + "x": 0.004724999889731407, "y": 0.0 }, "predictedTarget": { "x": 314.0889587402344, "y": 204.4439697265625 }, - "state": "TURNING", + "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.04999999701976776 + "timeSecSinceStart": 0.06999999284744263 }, { "aimPoint": { - "x": 66.49349212646484, - "y": 3.3274476528167725 + "x": 66.59154510498047, + "y": 0.0 }, - "direction": 0.04999999329447746, + "direction": 0.0, "dropPoint": { - "x": 255.7695770263672, - "y": 182.19003295898438 + "x": 255.7705535888672, + "y": 182.188232421875 }, "position": { - 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"ACCELERATING", + "targetIndex": 4, + "timeSecSinceStart": 90.2708740234375 } ], - "totalSteps": 379 + "totalSteps": 1485 } \ No newline at end of file From c31330bf02b854ae2e92f27118a47ff4159e1fe9 Mon Sep 17 00:00:00 2001 From: blinker Date: Mon, 22 Jun 2026 22:14:56 +0000 Subject: [PATCH 05/10] [FEATURE] hw-10-threads: refactored. remove droneContext from MissionProcessor. replace it by telemetry --- drone_simulation/include/drone_physics.hpp | 1 - .../include/mission_processor.hpp | 6 +- drone_simulation/include/simulation.hpp | 2 +- drone_simulation/src/drone_physics.cpp | 7 - drone_simulation/src/mission_processor.cpp | 49 +- drone_simulation/src/simulation.cpp | 6 +- simulation.json | 25720 +++++++--------- 7 files changed, 11441 insertions(+), 14350 deletions(-) diff --git a/drone_simulation/include/drone_physics.hpp b/drone_simulation/include/drone_physics.hpp index 0417ae0..184f358 100644 --- a/drone_simulation/include/drone_physics.hpp +++ b/drone_simulation/include/drone_physics.hpp @@ -12,7 +12,6 @@ class DronePhysics { auto sendCommand(const DroneCommand& cmd) -> void; auto getTelemetry() const -> DroneTelemetry; - auto getContext() const -> DroneContext; auto getStateName() const -> std::string; auto run() -> void; auto start() -> void; diff --git a/drone_simulation/include/mission_processor.hpp b/drone_simulation/include/mission_processor.hpp index 4692a22..8b522eb 100644 --- a/drone_simulation/include/mission_processor.hpp +++ b/drone_simulation/include/mission_processor.hpp @@ -22,8 +22,8 @@ class MissionProcessor { auto getSteps() const -> const std::vector&; private: - auto evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float; - auto getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneContext& droneContext) -> SimulationStep; + auto evaluateTarget(int targetIndex, const DroneTelemetry& telemetry, Coord& outFireCoord) -> float; + auto getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneTelemetry& telemetry) -> SimulationStep; auto hasNext() -> bool; const int MAX_STEPS = 10000; @@ -36,6 +36,8 @@ class MissionProcessor { float currentTime = 0.0f; float ammoFlightTime; float ammoHorizontalFlightDistance; + float acceleration; + float prevDirectionToTarget = 0.0f; bool hit = false; DronePhysics* dronePhysics; std::atomic ready{false}; diff --git a/drone_simulation/include/simulation.hpp b/drone_simulation/include/simulation.hpp index 4bedd12..1e8fec8 100644 --- a/drone_simulation/include/simulation.hpp +++ b/drone_simulation/include/simulation.hpp @@ -137,7 +137,7 @@ float getManeuveringTime(const float& distanceToTarget, const float& acceleration, const float& angularSpeed); -Coord getBombLandCoord(const DroneContext& droneContext, const float& ammoHorizontalFlightDistance); +Coord getBombLandCoord(const DroneTelemetry& telemetry, const float& ammoHorizontalFlightDistance); void writeSimulationJSONFile(const std::vector& simSteps); diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp index 74bbca3..4bad3bf 100644 --- a/drone_simulation/src/drone_physics.cpp +++ b/drone_simulation/src/drone_physics.cpp @@ -29,13 +29,6 @@ auto DronePhysics::getTelemetry() const -> DroneTelemetry return {.pos = droneContext.position, .speed = droneContext.speed, .direction = droneContext.direction, .timeSecSinceStart = elapsedTime}; } -auto DronePhysics::getContext() const -> DroneContext -{ - std::lock_guard lock(mtx); - - return droneContext; -} - auto DronePhysics::getStateName() const -> std::string { std::lock_guard lock(mtx); diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index 040325a..90dea64 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -20,6 +20,7 @@ auto MissionProcessor::init(std::unique_ptr configLoader) -> void this->ammoFlightTime = getAmmoFlightTime(this->droneConfig, this->ammo); this->ammoHorizontalFlightDistance = getAmmoHorizontalFlightDistance(this->droneConfig.attackSpeed, this->ammoFlightTime, this->ammo); + this->acceleration = this->droneConfig.attackSpeed * this->droneConfig.attackSpeed / (2.0f * this->droneConfig.accelPath); } auto MissionProcessor::getCurrentStep() -> int @@ -32,12 +33,11 @@ auto MissionProcessor::step() -> SimulationStep int bestTargetIndex = -1; float bestTotalTime = INFINITY; Coord bestFireCoord = {.x = 0, .y = 0}; - DroneContext droneContext = this->dronePhysics->getContext(); DroneTelemetry droneTelemetry = this->dronePhysics->getTelemetry(); for (int i = 0; i < this->targets->getTargetCount(); ++i) { Coord fireCoord; - float totalTime = this->evaluateTarget(i, droneContext, fireCoord); + float totalTime = this->evaluateTarget(i, droneTelemetry, fireCoord); if (totalTime < bestTotalTime) { bestTotalTime = totalTime; @@ -53,23 +53,23 @@ auto MissionProcessor::step() -> SimulationStep SimulationStep emptyStep = {.hit = false, .target = -1, - .droneSpeed = droneContext.speed, - .droneDirection = droneContext.direction, + .droneSpeed = droneTelemetry.speed, + .droneDirection = droneTelemetry.direction, .timeSecSinceStart = droneTelemetry.timeSecSinceStart, .dropPoint = {0, 0}, .aimPoint = {0, 0}, .predictedTarget = {0, 0}, - .dronePosition = droneContext.position, + .dronePosition = droneTelemetry.pos, .droneState = StateStopped::NAME}; return emptyStep; } - Coord deltaToFire = bestFireCoord - droneContext.position; + Coord deltaToFire = bestFireCoord - droneTelemetry.pos; Coord dirVec = normalize(deltaToFire); float newDirection = atan2(dirVec.y, dirVec.x); - SimulationStep simulationStep = this->getSimulationStep(bestTargetIndex, bestFireCoord, droneContext); + SimulationStep simulationStep = this->getSimulationStep(bestTargetIndex, bestFireCoord, droneTelemetry); simulationStep.droneState = this->dronePhysics->getStateName(); simulationStep.timeSecSinceStart = droneTelemetry.timeSecSinceStart; this->hit = simulationStep.hit; @@ -77,7 +77,8 @@ auto MissionProcessor::step() -> SimulationStep this->prevTargetIndex = bestTargetIndex; this->currentStep++; this->currentTime += this->droneConfig.simTimeStep; - this->dronePhysics->sendCommand({.directionToTarget = newDirection, .prevDirectionToTarget = droneContext.directionToTarget}); + this->dronePhysics->sendCommand({.directionToTarget = newDirection, .prevDirectionToTarget = this->prevDirectionToTarget}); + this->prevDirectionToTarget = newDirection; return simulationStep; } @@ -136,34 +137,34 @@ void MissionProcessor::run() } } -auto MissionProcessor::evaluateTarget(int targetIndex, const DroneContext& droneContext, Coord& outFireCoord) -> float +auto MissionProcessor::evaluateTarget(int targetIndex, const DroneTelemetry& telemetry, Coord& outFireCoord) -> float { Target t = this->targets->getTarget(targetIndex); Coord target = t.pos; - float distanceToTarget = getDistanceToTarget(target, droneContext.position); + float distanceToTarget = getDistanceToTarget(target, telemetry.pos); if (distanceToTarget < 1e-3f) { std::cout << "Distance to the target " << targetIndex << " is near or less then 0\n" << std::endl; return INFINITY; } float ratio = getRatio(distanceToTarget, this->ammoHorizontalFlightDistance); - Coord fireCoord = getFireCoords(target, droneContext.position, ratio); - float distanceToFire = getDistanceToTarget(fireCoord, droneContext.position); + Coord fireCoord = getFireCoords(target, telemetry.pos, ratio); + float distanceToFire = getDistanceToTarget(fireCoord, telemetry.pos); float droneToFireTime = distanceToFire / this->droneConfig.attackSpeed; float totalTimeRough = droneToFireTime + this->ammoFlightTime; Coord predictedTarget = t.pos + t.velocity * totalTimeRough; - float newDistanceToTarget = getDistanceToTarget(predictedTarget, droneContext.position); + float newDistanceToTarget = getDistanceToTarget(predictedTarget, telemetry.pos); if (newDistanceToTarget < 1e-3f) { std::cout << "Predicted distance to the target " << targetIndex << " is near or less then 0\n" << std::endl; return INFINITY; } float newRatio = getRatio(newDistanceToTarget, this->ammoHorizontalFlightDistance); - outFireCoord = getFireCoords(predictedTarget, droneContext.position, newRatio); - float newDistanceToFire = getDistanceToTarget(outFireCoord, droneContext.position); + outFireCoord = getFireCoords(predictedTarget, telemetry.pos, newRatio); + float newDistanceToFire = getDistanceToTarget(outFireCoord, telemetry.pos); float newDroneToFireTime = newDistanceToFire / this->droneConfig.attackSpeed; float totalTime = newDroneToFireTime + this->ammoFlightTime; @@ -171,27 +172,27 @@ auto MissionProcessor::evaluateTarget(int targetIndex, const DroneContext& drone totalTime += getManeuveringTime(newDistanceToTarget, this->ammoHorizontalFlightDistance, this->droneConfig.attackSpeed, - droneContext.acceleration, + this->acceleration, this->droneConfig.angularSpeed); } if (this->prevTargetIndex != targetIndex && this->prevTargetIndex != -1) { - totalTime += droneContext.timeToStop; + totalTime += telemetry.speed / this->acceleration; } return totalTime; } -auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneContext& droneContext) -> SimulationStep +auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord, const DroneTelemetry& telemetry) -> SimulationStep { - Coord bombLandCoord = getBombLandCoord(droneContext, this->ammoHorizontalFlightDistance); + Coord bombLandCoord = getBombLandCoord(telemetry, this->ammoHorizontalFlightDistance); Target target = this->targets->getTarget(targetIndex); Coord targetAtImpact = target.pos + target.velocity * this->ammoFlightTime; float bombMissDistance = getDistanceToTarget(bombLandCoord, targetAtImpact); - Coord dir = {.x = std::cos(droneContext.direction), .y = std::sin(droneContext.direction)}; - Coord aimPoint = droneContext.position + dir * this->ammoHorizontalFlightDistance; + Coord dir = {.x = std::cos(telemetry.direction), .y = std::sin(telemetry.direction)}; + Coord aimPoint = telemetry.pos + dir * this->ammoHorizontalFlightDistance; bool isHit = bombMissDistance < this->droneConfig.hitRadius || bombLandCoord == targetAtImpact; @@ -202,12 +203,12 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord return {.hit = isHit, .target = targetIndex, - .droneSpeed = droneContext.speed, - .droneDirection = droneContext.direction, + .droneSpeed = telemetry.speed, + .droneDirection = telemetry.direction, .dropPoint = fireCoord, .aimPoint = aimPoint, .predictedTarget = targetAtImpact, - .dronePosition = droneContext.position, + .dronePosition = telemetry.pos, .droneState = ""}; } diff --git a/drone_simulation/src/simulation.cpp b/drone_simulation/src/simulation.cpp index db1f35d..2af9c5b 100644 --- a/drone_simulation/src/simulation.cpp +++ b/drone_simulation/src/simulation.cpp @@ -110,10 +110,10 @@ float getManeuveringTime(const float& distanceToTarget, return flyAwayTime + decelerateTime + turnAroundTime + accelerateTime + flyBackTime; } -Coord getBombLandCoord(const DroneContext& droneContext, const float& ammoHorizontalFlightDistance) +Coord getBombLandCoord(const DroneTelemetry& telemetry, const float& ammoHorizontalFlightDistance) { - const float bombLandX = droneContext.position.x + ammoHorizontalFlightDistance * cos(droneContext.direction); - const float bombLandY = droneContext.position.y + ammoHorizontalFlightDistance * sin(droneContext.direction); + const float bombLandX = telemetry.pos.x + ammoHorizontalFlightDistance * cos(telemetry.direction); + const float bombLandY = telemetry.pos.y + ammoHorizontalFlightDistance * sin(telemetry.direction); Coord bombLandCoord = {.x = bombLandX, .y = bombLandY}; return bombLandCoord; diff --git a/simulation.json b/simulation.json index f4a8d25..9f7395f 100644 --- a/simulation.json +++ b/simulation.json @@ -46,16 +46,16 @@ }, { "aimPoint": { - "x": 66.5814208984375, + "x": 66.58007049560547, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.7698974609375, - "y": 182.18946838378906 + "x": 255.7698211669922, + "y": 182.18963623046875 }, "position": { - "x": 0.004724999889731407, + "x": 0.0033749998547136784, "y": 0.0 }, "predictedTarget": { @@ -64,20 +64,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.06999999284744263 + "timeSecSinceStart": 0.059999994933605194 }, { "aimPoint": { - "x": 66.59154510498047, + "x": 66.59424591064453, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.7705535888672, - "y": 182.188232421875 + "x": 255.770751953125, + "y": 182.1879119873047 }, "position": { - "x": 0.014849998988211155, + "x": 0.017549999058246613, "y": 0.0 }, "predictedTarget": { @@ -86,7 +86,7 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.11999998241662979 + "timeSecSinceStart": 0.12999998033046722 }, { "aimPoint": { @@ -112,16 +112,16 @@ }, { "aimPoint": { - "x": 66.63880157470703, + "x": 66.64419555664063, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.77366638183594, - "y": 182.1824951171875 + "x": 255.77401733398438, + "y": 182.1818389892578 }, "position": { - "x": 0.06210000813007355, + "x": 0.06750001013278961, "y": 0.0 }, "predictedTarget": { @@ -130,20 +130,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.24000003933906555 + "timeSecSinceStart": 0.2500000298023224 }, { "aimPoint": { - "x": 66.68132019042969, + "x": 66.68830108642578, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.77647399902344, - "y": 182.1773223876953 + "x": 255.77694702148438, + "y": 182.17648315429688 }, "position": { - "x": 0.10462501645088196, + "x": 0.11160001158714294, "y": 0.0 }, "predictedTarget": { @@ -152,20 +152,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.3099999725818634 + "timeSecSinceStart": 0.31999996304512024 }, { "aimPoint": { - "x": 66.71844482421875, + "x": 66.73487091064453, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.77891540527344, - "y": 182.1728057861328 + "x": 255.77999877929688, + "y": 182.1708221435547 }, "position": { - "x": 0.1417500078678131, + "x": 0.1581750065088272, "y": 0.0 }, "predictedTarget": { @@ -174,20 +174,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.3599999248981476 + "timeSecSinceStart": 0.37999990582466125 }, { "aimPoint": { - "x": 66.77042388916016, + "x": 66.78955078125, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.7823486328125, - "y": 182.16650390625 + "x": 255.78358459472656, + "y": 182.1641845703125 }, "position": { - "x": 0.19372500479221344, + "x": 0.21285000443458557, "y": 0.0 }, "predictedTarget": { @@ -196,7 +196,7 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.4199998676776886 + "timeSecSinceStart": 0.43999984860420227 }, { "aimPoint": { @@ -222,16 +222,16 @@ }, { "aimPoint": { - "x": 66.89867401123047, + "x": 66.91082000732422, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.66737365722656, - "y": 182.853515625 + "x": 255.66815185546875, + "y": 182.85203552246094 }, "position": { - "x": 0.3219749927520752, + "x": 0.33412498235702515, "y": 0.0 }, "predictedTarget": { @@ -240,7 +240,7 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.539999783039093 + "timeSecSinceStart": 0.5499997735023499 }, { "aimPoint": { @@ -266,16 +266,16 @@ }, { "aimPoint": { - "x": 67.08924865722656, + "x": 67.059326171875, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.67996215820313, - "y": 182.83033752441406 + "x": 255.67796325683594, + "y": 182.83396911621094 }, "position": { - "x": 0.5125499963760376, + "x": 0.48262500762939453, "y": 0.0 }, "predictedTarget": { @@ -284,20 +284,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.6799996495246887 + "timeSecSinceStart": 0.659999668598175 }, { "aimPoint": { - "x": 67.2010726928711, + "x": 67.15179443359375, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.6873779296875, - "y": 182.81674194335938 + "x": 255.68409729003906, + "y": 182.82272338867188 }, "position": { - "x": 0.6243749856948853, + "x": 0.5750999450683594, "y": 0.0 }, "predictedTarget": { @@ -306,20 +306,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.7499995827674866 + "timeSecSinceStart": 0.7199996113777161 }, { "aimPoint": { - "x": 67.30569458007813, + "x": 67.2699203491211, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.69430541992188, - "y": 182.80401611328125 + "x": 255.6919403076172, + "y": 182.80838012695313 }, "position": { - "x": 0.7290000319480896, + "x": 0.6932250261306763, "y": 0.0 }, "predictedTarget": { @@ -328,20 +328,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.8099995255470276 + "timeSecSinceStart": 0.7899995446205139 }, { "aimPoint": { - "x": 67.3990707397461, + "x": 67.37995147705078, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.7004852294922, - "y": 182.7926483154297 + "x": 255.69921875, + "y": 182.7949676513672 }, "position": { - "x": 0.8223751187324524, + "x": 0.8032501339912415, "y": 0.0 }, "predictedTarget": { @@ -350,20 +350,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.8599994778633118 + "timeSecSinceStart": 0.8499994874000549 }, { "aimPoint": { - "x": 67.53924560546875, + "x": 67.4980697631836, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.7097930908203, - "y": 182.7755889892578 + "x": 255.70704650878906, + "y": 182.78060913085938 }, "position": { - "x": 0.9625502228736877, + "x": 0.9213751554489136, "y": 0.0 }, "predictedTarget": { @@ -372,20 +372,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.9299994111061096 + "timeSecSinceStart": 0.909999430179596 }, { "aimPoint": { - "x": 67.64612579345703, + "x": 67.62429809570313, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.71688842773438, - "y": 182.76258850097656 + "x": 255.71543884277344, + "y": 182.76524353027344 }, "position": { - "x": 1.0694252252578735, + "x": 1.047600269317627, "y": 0.0 }, "predictedTarget": { @@ -394,20 +394,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 0.9799993634223938 + "timeSecSinceStart": 0.969999372959137 }, { "aimPoint": { - "x": 67.75862121582031, + "x": 67.73567199707031, "y": 0.0 }, "direction": 0.0, "dropPoint": { - "x": 255.72439575195313, - "y": 182.74888610839844 + "x": 255.72283935546875, + "y": 182.75167846679688 }, "position": { - "x": 1.1819252967834473, + "x": 1.1589752435684204, "y": 0.0 }, "predictedTarget": { @@ -416,20 +416,20 @@ }, "state": "ACCELERATING", "targetIndex": 0, - "timeSecSinceStart": 1.0299993753433228 + "timeSecSinceStart": 1.019999384880066 }, { "aimPoint": { - "x": 67.90104675292969, + "x": 67.85267639160156, 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"ACCELERATING", - "targetIndex": 4, - "timeSecSinceStart": 90.0808334350586 + "targetIndex": 0, + "timeSecSinceStart": 81.18893432617188 }, { "aimPoint": { - "x": 277.3348693847656, - "y": 381.4376220703125 + "x": 287.2948913574219, + "y": 199.18544006347656 }, - "direction": 2.5075724124908447, + "direction": -2.0490927696228027, "dropPoint": { - "x": 329.1243591308594, - "y": 343.35369873046875 + "x": 316.1273498535156, + "y": 254.8018035888672 }, "position": { - "x": 330.9725646972656, - "y": 341.99835205078125 + "x": 317.93798828125, + "y": 258.2909240722656 }, "predictedTarget": { - "x": 274.0654296875, - "y": 382.3330078125 + "x": 285.4555358886719, + "y": 195.75608825683594 }, "state": "ACCELERATING", - "targetIndex": 4, - "timeSecSinceStart": 90.1408462524414 + "targetIndex": 0, + "timeSecSinceStart": 81.24894714355469 }, { "aimPoint": { - "x": 276.5548095703125, - "y": 381.904541015625 + "x": 286.8130187988281, + "y": 198.2559051513672 }, - "direction": 2.508845329284668, + "direction": -2.0490927696228027, "dropPoint": { - "x": 329.05828857421875, - "y": 343.39935302734375 + "x": 316.1422424316406, + "y": 254.8316192626953 }, "position": { - "x": 330.2426452636719, - "y": 342.5335998535156 + "x": 317.45611572265625, + "y": 257.36138916015625 }, "predictedTarget": { - "x": 274.0654296875, - "y": 382.3330078125 + "x": 285.4555358886719, + "y": 195.75608825683594 }, - "state": "ACCELERATING", - "targetIndex": 4, - "timeSecSinceStart": 90.21086120605469 + "state": "MOVING", + "targetIndex": 0, + "timeSecSinceStart": 81.31896209716797 }, { "aimPoint": { - "x": 275.86151123046875, - "y": 382.2856750488281 + "x": 286.3988342285156, + "y": 197.4568328857422 }, - "direction": 2.510369300842285, + "direction": -2.0490927696228027, "dropPoint": { - "x": 329.00140380859375, - "y": 343.439697265625 + "x": 316.1252136230469, + "y": 254.7955780029297 }, "position": { - "x": 329.6092834472656, - "y": 342.99658203125 + "x": 317.04193115234375, + "y": 256.56231689453125 }, "predictedTarget": { - "x": 274.0654296875, - "y": 382.3330078125 + "x": 285.4555358886719, + "y": 195.75608825683594 }, - "state": "ACCELERATING", - "targetIndex": 4, - "timeSecSinceStart": 90.2708740234375 + "state": "MOVING", + "targetIndex": 0, + "timeSecSinceStart": 81.37897491455078 } ], - "totalSteps": 1485 + "totalSteps": 1353 } \ No newline at end of file From 9f1c82591d047c0bfb7162772eb9c8b2879b3b14 Mon Sep 17 00:00:00 2001 From: blinker Date: Tue, 23 Jun 2026 09:39:28 +0000 Subject: [PATCH 06/10] [FEATURE] hw-10-threads: refactored. move state machine to mission processor. keep only changing of drone context in phisycs. mp decide what should be a current state and send command to physics. --- drone_simulation/include/drone_physics.hpp | 6 +- .../drone_states/state_accelerating.hpp | 9 +- .../drone_states/state_decelerating.hpp | 9 +- .../include/drone_states/state_moving.hpp | 9 +- .../include/drone_states/state_stopped.hpp | 9 +- .../include/drone_states/state_turning.hpp | 9 +- .../include/interfaces/drone_state.hpp | 17 +- .../include/mission_processor.hpp | 2 + drone_simulation/include/simulation.hpp | 14 +- drone_simulation/src/drone_physics.cpp | 58 +- .../src/drone_states/state_accelerating.cpp | 19 +- .../src/drone_states/state_decelerating.cpp | 13 +- .../src/drone_states/state_moving.cpp | 11 +- .../src/drone_states/state_stopped.cpp | 19 +- .../src/drone_states/state_turning.cpp | 6 +- drone_simulation/src/mission_processor.cpp | 32 +- drone_simulation/src/simulation.cpp | 2 +- simulation.json | 29354 +++------------- 18 files changed, 4542 insertions(+), 25056 deletions(-) diff --git a/drone_simulation/include/drone_physics.hpp b/drone_simulation/include/drone_physics.hpp index 184f358..2de968d 100644 --- a/drone_simulation/include/drone_physics.hpp +++ b/drone_simulation/include/drone_physics.hpp @@ -3,7 +3,6 @@ #include #include #include "simulation.hpp" -#include "interfaces/drone_state.hpp" #include "thread_safe_queue.hpp" class DronePhysics { @@ -12,7 +11,6 @@ class DronePhysics { auto sendCommand(const DroneCommand& cmd) -> void; auto getTelemetry() const -> DroneTelemetry; - auto getStateName() const -> std::string; auto run() -> void; auto start() -> void; auto stop() -> void; @@ -20,13 +18,15 @@ class DronePhysics { private: auto stepPhysics(float dt) -> void; + auto processState(float dt) -> void; DroneContext droneContext; DroneConfig config; ThreadSafeQueue commandQueue; mutable std::mutex mtx; - std::unique_ptr state; float elapsedTime = 0.0f; + float angleSpeed = 0.0f; + DroneStates currentState = DroneStates::Stopped; std::atomic ready{false}; std::atomic running{false}; std::atomic stopFlag{false}; diff --git a/drone_simulation/include/drone_states/state_accelerating.hpp b/drone_simulation/include/drone_states/state_accelerating.hpp index f35e879..cfa7e2d 100644 --- a/drone_simulation/include/drone_states/state_accelerating.hpp +++ b/drone_simulation/include/drone_states/state_accelerating.hpp @@ -2,10 +2,9 @@ #include "interfaces/drone_state.hpp" class StateAccelerating : public IDroneState { - public: - static constexpr const char* NAME = "ACCELERATING"; - StateAccelerating(); +public: + StateAccelerating(); - auto execute(DroneContext& ctx) -> std::unique_ptr override; - auto name() const -> std::string override; + auto execute(DroneContext& ctx) -> std::unique_ptr override; + auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_decelerating.hpp b/drone_simulation/include/drone_states/state_decelerating.hpp index 583889b..eb68ee2 100644 --- a/drone_simulation/include/drone_states/state_decelerating.hpp +++ b/drone_simulation/include/drone_states/state_decelerating.hpp @@ -2,10 +2,9 @@ #include "interfaces/drone_state.hpp" class StateDecelerating : public IDroneState { - public: - static constexpr const char* NAME = "DECELERATING"; - StateDecelerating(); +public: + StateDecelerating(); - auto execute(DroneContext& context) -> std::unique_ptr override; - auto name() const -> std::string override; + auto execute(DroneContext& context) -> std::unique_ptr override; + auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_moving.hpp b/drone_simulation/include/drone_states/state_moving.hpp index bd95d1c..3beffc0 100644 --- a/drone_simulation/include/drone_states/state_moving.hpp +++ b/drone_simulation/include/drone_states/state_moving.hpp @@ -2,10 +2,9 @@ #include "interfaces/drone_state.hpp" class StateMoving : public IDroneState { - public: - static constexpr const char* NAME = "MOVING"; - StateMoving(); +public: + StateMoving(); - auto execute(DroneContext& context) -> std::unique_ptr override; - auto name() const -> std::string override; + auto execute(DroneContext& context) -> std::unique_ptr override; + auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_stopped.hpp b/drone_simulation/include/drone_states/state_stopped.hpp index 20f1223..2ab6cca 100644 --- a/drone_simulation/include/drone_states/state_stopped.hpp +++ b/drone_simulation/include/drone_states/state_stopped.hpp @@ -2,10 +2,9 @@ #include "interfaces/drone_state.hpp" class StateStopped : public IDroneState { - public: - static constexpr const char* NAME = "STOPPED"; - StateStopped(); +public: + StateStopped(); - auto execute(DroneContext& context) -> std::unique_ptr override; - auto name() const -> std::string override; + auto execute(DroneContext& context) -> std::unique_ptr override; + auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_turning.hpp b/drone_simulation/include/drone_states/state_turning.hpp index 84a060b..bb3cace 100644 --- a/drone_simulation/include/drone_states/state_turning.hpp +++ b/drone_simulation/include/drone_states/state_turning.hpp @@ -2,10 +2,9 @@ #include "interfaces/drone_state.hpp" class StateTurning : public IDroneState { - public: - static constexpr const char* NAME = "TURNING"; - StateTurning(); +public: + StateTurning(); - auto execute(DroneContext& context) -> std::unique_ptr override; - auto name() const -> std::string override; + auto execute(DroneContext& context) -> std::unique_ptr override; + auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/interfaces/drone_state.hpp b/drone_simulation/include/interfaces/drone_state.hpp index 462522a..3954416 100644 --- a/drone_simulation/include/interfaces/drone_state.hpp +++ b/drone_simulation/include/interfaces/drone_state.hpp @@ -5,13 +5,12 @@ class IDroneState { public: - virtual ~IDroneState() = default; - - // Виконати логіку стану, повернути наступний стан. - // Якщо стан не змінився — повернути nullptr - // (головний цикл залишить поточний). - virtual std::unique_ptr execute(DroneContext& context) = 0; - - virtual std::string name() const = 0; -}; + virtual ~IDroneState() = default; + + // Виконати логіку стану, повернути наступний стан. + // Якщо стан не змінився — повернути nullptr + // (головний цикл залишить поточний). + virtual std::unique_ptr execute(DroneContext& context) = 0; + virtual DroneStates name() const = 0; +}; diff --git a/drone_simulation/include/mission_processor.hpp b/drone_simulation/include/mission_processor.hpp index 8b522eb..bc79998 100644 --- a/drone_simulation/include/mission_processor.hpp +++ b/drone_simulation/include/mission_processor.hpp @@ -5,6 +5,7 @@ #include "interfaces/ballistic_solver.hpp" #include "interfaces/config_loader.hpp" #include "interfaces/target_provider.hpp" +#include "interfaces/drone_state.hpp" #include "drone_physics.hpp" class MissionProcessor { @@ -43,4 +44,5 @@ class MissionProcessor { std::atomic ready{false}; std::atomic running{false}; std::vector simulationSteps; + std::unique_ptr droneState; }; diff --git a/drone_simulation/include/simulation.hpp b/drone_simulation/include/simulation.hpp index 1e8fec8..3fd777b 100644 --- a/drone_simulation/include/simulation.hpp +++ b/drone_simulation/include/simulation.hpp @@ -7,6 +7,13 @@ using json = nlohmann::json; +enum class DroneStates { Stopped, Turning, Accelerating, Moving, Decelerating }; + +struct DroneCommand { + DroneStates state; + float angleSpeed; +}; + struct Coord { float x; float y; @@ -95,18 +102,13 @@ struct SimulationStep { Coord aimPoint; Coord predictedTarget; Coord dronePosition; - std::string droneState; + DroneStates droneState = DroneStates::Stopped; }; struct Target { Coord pos; Coord velocity; }; -struct DroneCommand { - float directionToTarget; - float prevDirectionToTarget; -}; - struct DroneTelemetry { Coord pos; float speed; diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp index 4bad3bf..f8bd3ba 100644 --- a/drone_simulation/src/drone_physics.cpp +++ b/drone_simulation/src/drone_physics.cpp @@ -1,6 +1,5 @@ #include #include "drone_physics.hpp" -#include "drone_states/state_stopped.hpp" DronePhysics::DronePhysics(const DroneConfig& config) : config(config) @@ -13,8 +12,6 @@ DronePhysics::DronePhysics(const DroneConfig& config) .timeToStop = 0.0f, .position = config.startPos, .config = &this->config}; - - this->state = std::make_unique(); } auto DronePhysics::sendCommand(const DroneCommand& cmd) -> void @@ -29,13 +26,6 @@ auto DronePhysics::getTelemetry() const -> DroneTelemetry return {.pos = droneContext.position, .speed = droneContext.speed, .direction = droneContext.direction, .timeSecSinceStart = elapsedTime}; } -auto DronePhysics::getStateName() const -> std::string -{ - std::lock_guard lock(mtx); - - return state->name(); -} - auto DronePhysics::run() -> void { this->ready.store(true); @@ -70,14 +60,50 @@ auto DronePhysics::stepPhysics(float dt) -> void std::lock_guard lock(mtx); DroneCommand cmd; if (this->commandQueue.tryPop(cmd)) { - this->droneContext.directionToTarget = cmd.directionToTarget; - this->droneContext.prevDirectionToTarget = cmd.prevDirectionToTarget; + this->currentState = cmd.state; + this->angleSpeed = cmd.angleSpeed; } - auto nextState = this->state->execute(droneContext); - if (nextState) { - this->state = std::move(nextState); - } + this->processState(dt); this->elapsedTime += dt; +} + +auto DronePhysics::processState(float dt) -> void +{ + switch (this->currentState) { + case DroneStates::Stopped: + break; + + case DroneStates::Turning: + droneContext.direction += this->angleSpeed * dt; + droneContext.direction = normalizeAngle(droneContext.direction); + break; + + case DroneStates::Accelerating: + droneContext.speed += droneContext.acceleration * dt; + if (droneContext.speed > config.attackSpeed) + droneContext.speed = config.attackSpeed; + if (std::fabs(this->angleSpeed) > 1e-6f) { + droneContext.direction += this->angleSpeed * dt; + droneContext.direction = normalizeAngle(droneContext.direction); + } + droneContext.position = updateDronePosition(droneContext); + break; + + case DroneStates::Moving: + if (std::fabs(this->angleSpeed) > 1e-6f) { + droneContext.direction += this->angleSpeed * dt; + droneContext.direction = normalizeAngle(droneContext.direction); + } + droneContext.position = updateDronePosition(droneContext); + break; + + case DroneStates::Decelerating: + droneContext.speed -= droneContext.acceleration * dt; + if (droneContext.speed < 0) + droneContext.speed = 0; + droneContext.position = updateDronePosition(droneContext); + break; + } } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_accelerating.cpp b/drone_simulation/src/drone_states/state_accelerating.cpp index 34b6065..6581fe3 100644 --- a/drone_simulation/src/drone_states/state_accelerating.cpp +++ b/drone_simulation/src/drone_states/state_accelerating.cpp @@ -7,21 +7,6 @@ StateAccelerating::StateAccelerating() {} auto StateAccelerating::execute(DroneContext& context) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.speed += context.acceleration * context.config->physicsTimeStep; - - if (context.speed > context.config->attackSpeed) { - context.speed = context.config->attackSpeed; - } - - context.timeToStop = context.speed / context.acceleration; - - if (fabs(deltaAngle) > 1e-3f && fabs(deltaAngle) <= context.config->turnThreshold) { - context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->physicsTimeStep, context.direction); - } - - context.position = updateDronePosition(context); - if (context.speed >= context.config->attackSpeed) { return std::make_unique(); } @@ -29,7 +14,7 @@ auto StateAccelerating::execute(DroneContext& context) -> std::unique_ptr std::string +auto StateAccelerating::name() const -> DroneStates { - return NAME; + return DroneStates::Accelerating; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_decelerating.cpp b/drone_simulation/src/drone_states/state_decelerating.cpp index 9531268..e5f28c7 100644 --- a/drone_simulation/src/drone_states/state_decelerating.cpp +++ b/drone_simulation/src/drone_states/state_decelerating.cpp @@ -8,18 +8,11 @@ StateDecelerating::StateDecelerating() {} auto StateDecelerating::execute(DroneContext& context) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.position = updateDronePosition(context); - context.speed -= context.acceleration * context.config->physicsTimeStep; - context.timeToStop = context.speed / context.acceleration; - if (context.speed <= 1e-3f) { - context.speed = 0; - context.timeToStop = 0; - return std::make_unique(); } + float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); if (std::fabs(deltaAngle) <= context.config->turnThreshold) { return std::make_unique(); } @@ -27,7 +20,7 @@ auto StateDecelerating::execute(DroneContext& context) -> std::unique_ptr std::string +auto StateDecelerating::name() const -> DroneStates { - return NAME; + return DroneStates::Decelerating; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_moving.cpp b/drone_simulation/src/drone_states/state_moving.cpp index 9f94186..5f75040 100644 --- a/drone_simulation/src/drone_states/state_moving.cpp +++ b/drone_simulation/src/drone_states/state_moving.cpp @@ -9,13 +9,6 @@ auto StateMoving::execute(DroneContext& context) -> std::unique_ptr { float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - if (fabs(deltaAngle) > 1e-3f && fabs(deltaAngle) <= context.config->turnThreshold) { - context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->physicsTimeStep, context.direction); - } - - context.timeToStop = context.config->attackSpeed / context.acceleration; - context.position = updateDronePosition(context); - if (fabs(deltaAngle) > context.config->turnThreshold) { return std::make_unique(); } @@ -23,7 +16,7 @@ auto StateMoving::execute(DroneContext& context) -> std::unique_ptr return nullptr; } -auto StateMoving::name() const -> std::string +auto StateMoving::name() const -> DroneStates { - return NAME; + return DroneStates::Moving; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_stopped.cpp b/drone_simulation/src/drone_states/state_stopped.cpp index fe67266..8c66640 100644 --- a/drone_simulation/src/drone_states/state_stopped.cpp +++ b/drone_simulation/src/drone_states/state_stopped.cpp @@ -6,21 +6,18 @@ StateStopped::StateStopped() {} -auto StateStopped::execute(DroneContext& context) -> std::unique_ptr +auto StateStopped::execute(DroneContext& context) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.timeToStop = 0; + float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - if (std::fabs(deltaAngle) > context.config->turnThreshold) { + if (std::fabs(deltaAngle) > context.config->turnThreshold) { + return std::make_unique(); + } - return std::make_unique(); - } - - return std::make_unique(); + return std::make_unique(); } - -auto StateStopped::name() const -> std::string +auto StateStopped::name() const -> DroneStates { - return NAME; + return DroneStates::Stopped; } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_turning.cpp b/drone_simulation/src/drone_states/state_turning.cpp index 4438c9c..a828b52 100644 --- a/drone_simulation/src/drone_states/state_turning.cpp +++ b/drone_simulation/src/drone_states/state_turning.cpp @@ -8,8 +8,6 @@ StateTurning::StateTurning() {} auto StateTurning::execute(DroneContext& context) -> std::unique_ptr { float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - context.direction = turnDrone(deltaAngle, context.config->angularSpeed, context.config->physicsTimeStep, context.direction); - context.timeToStop = fabs(normalizeAngle(context.prevDirectionToTarget - context.direction)) / context.config->angularSpeed; if (std::fabs(deltaAngle) <= context.config->turnThreshold) { return std::make_unique(); @@ -18,7 +16,7 @@ auto StateTurning::execute(DroneContext& context) -> std::unique_ptr std::string +auto StateTurning::name() const -> DroneStates { - return NAME; + return DroneStates::Turning; } diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index 90dea64..bc8836e 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -10,6 +10,7 @@ MissionProcessor::MissionProcessor(std::unique_ptr targetProvid , ballisticSolver(std::move(solver)) , dronePhysics(physics) { + this->droneState = std::make_unique(); } auto MissionProcessor::init(std::unique_ptr configLoader) -> void @@ -60,7 +61,7 @@ auto MissionProcessor::step() -> SimulationStep .aimPoint = {0, 0}, .predictedTarget = {0, 0}, .dronePosition = droneTelemetry.pos, - .droneState = StateStopped::NAME}; + .droneState = DroneStates::Stopped}; return emptyStep; } @@ -69,15 +70,36 @@ auto MissionProcessor::step() -> SimulationStep Coord dirVec = normalize(deltaToFire); float newDirection = atan2(dirVec.y, dirVec.x); + DroneContext droneContext = {.directionToTarget = newDirection, + .prevDirectionToTarget = this->prevDirectionToTarget, + .speed = droneTelemetry.speed, + .direction = droneTelemetry.direction, + .acceleration = this->acceleration, + .timeToStop = droneTelemetry.speed / this->acceleration, + .position = droneTelemetry.pos, + .config = &this->droneConfig}; + + auto nextState = this->droneState->execute(droneContext); + if (nextState) { + this->droneState = std::move(nextState); + } + SimulationStep simulationStep = this->getSimulationStep(bestTargetIndex, bestFireCoord, droneTelemetry); - simulationStep.droneState = this->dronePhysics->getStateName(); simulationStep.timeSecSinceStart = droneTelemetry.timeSecSinceStart; + simulationStep.droneState = this->droneState->name(); + this->hit = simulationStep.hit; + float deltaAngle = normalizeAngle(newDirection - droneTelemetry.direction); + float sign = (deltaAngle > 0) ? 1.0f : -1.0f; + float angleSpeed = sign * std::min(std::fabs(deltaAngle) / droneConfig.simTimeStep, droneConfig.angularSpeed); + + DroneCommand command = {.state = this->droneState->name(), .angleSpeed = angleSpeed}; + this->dronePhysics->sendCommand(command); + this->prevTargetIndex = bestTargetIndex; this->currentStep++; this->currentTime += this->droneConfig.simTimeStep; - this->dronePhysics->sendCommand({.directionToTarget = newDirection, .prevDirectionToTarget = this->prevDirectionToTarget}); this->prevDirectionToTarget = newDirection; return simulationStep; @@ -126,7 +148,7 @@ void MissionProcessor::run() .aimPoint = {0, 0}, .predictedTarget = {0, 0}, .dronePosition = this->droneConfig.startPos, - .droneState = StateStopped::NAME}); + .droneState = DroneStates::Stopped}); while (this->hasNext()) { SimulationStep simulationStep = this->step(); @@ -209,7 +231,7 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord .aimPoint = aimPoint, .predictedTarget = targetAtImpact, .dronePosition = telemetry.pos, - .droneState = ""}; + .droneState = DroneStates::Stopped}; } auto MissionProcessor::hasNext() -> bool diff --git a/drone_simulation/src/simulation.cpp b/drone_simulation/src/simulation.cpp index 2af9c5b..302e384 100644 --- a/drone_simulation/src/simulation.cpp +++ b/drone_simulation/src/simulation.cpp @@ -129,7 +129,7 @@ void writeSimulationJSONFile(const std::vector& simSteps) json stepJson; stepJson["position"] = {{"x", step.dronePosition.x}, {"y", step.dronePosition.y}}; stepJson["direction"] = step.droneDirection; - stepJson["state"] = step.droneState; + stepJson["state"] = static_cast(step.droneState); stepJson["targetIndex"] = step.target; stepJson["dropPoint"] = {{"x", step.dropPoint.x}, {"y", step.dropPoint.y}}; stepJson["aimPoint"] = {{"x", step.aimPoint.x}, {"y", step.aimPoint.y}}; diff --git a/simulation.json b/simulation.json index 9f7395f..4d32768 100644 --- a/simulation.json +++ b/simulation.json @@ -18,7 +18,7 @@ "x": 0.0, "y": 0.0 }, - "state": "STOPPED", + "state": 0, "targetIndex": -1, "timeSecSinceStart": 0.0 }, @@ -40,29732 +40,9206 @@ "x": 314.0889587402344, "y": 204.4439697265625 }, - "state": "ACCELERATING", + "state": 1, "targetIndex": 0, "timeSecSinceStart": 0.009999999776482582 }, { "aimPoint": { - "x": 66.58007049560547, - "y": 0.0 + "x": 66.53592681884766, + "y": 2.3297085762023926 }, - "direction": 0.0, + "direction": 0.034999996423721313, "dropPoint": { - "x": 255.7698211669922, - "y": 182.18963623046875 + "x": 255.7695770263672, + "y": 182.19003295898438 }, "position": { - "x": 0.0033749998547136784, + "x": 0.0, "y": 0.0 }, "predictedTarget": { "x": 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"x": 290.28839111328125, + "y": 191.7115478515625 }, - "state": "MOVING", + "state": 3, "targetIndex": 0, - "timeSecSinceStart": 81.37897491455078 + "timeSecSinceStart": 23.1904354095459 } ], - "totalSteps": 1353 + "totalSteps": 420 } \ No newline at end of file From 036ed3ecc9dd87d040bc79c6dc9ebe5e92757e5b Mon Sep 17 00:00:00 2001 From: blinker Date: Tue, 23 Jun 2026 10:10:19 +0000 Subject: [PATCH 07/10] [FEATURE] hw-10-threads: refactored. created DroneStateInput, used it as interface for IdroneState execute --- .../drone_states/state_accelerating.hpp | 2 +- .../drone_states/state_decelerating.hpp | 2 +- .../include/drone_states/state_moving.hpp | 2 +- .../include/drone_states/state_stopped.hpp | 2 +- .../include/drone_states/state_turning.hpp | 2 +- .../include/interfaces/drone_state.hpp | 2 +- drone_simulation/include/simulation.hpp | 9 +- drone_simulation/src/drone_physics.cpp | 40 +- .../src/drone_states/state_accelerating.cpp | 4 +- .../src/drone_states/state_decelerating.cpp | 7 +- .../src/drone_states/state_moving.cpp | 6 +- .../src/drone_states/state_stopped.cpp | 6 +- .../src/drone_states/state_turning.cpp | 6 +- drone_simulation/src/mission_processor.cpp | 17 +- simulation.json | 6852 ++++++++--------- 15 files changed, 3232 insertions(+), 3727 deletions(-) diff --git a/drone_simulation/include/drone_states/state_accelerating.hpp b/drone_simulation/include/drone_states/state_accelerating.hpp index cfa7e2d..2c6b747 100644 --- a/drone_simulation/include/drone_states/state_accelerating.hpp +++ b/drone_simulation/include/drone_states/state_accelerating.hpp @@ -5,6 +5,6 @@ class StateAccelerating : public IDroneState { public: StateAccelerating(); - auto execute(DroneContext& ctx) -> std::unique_ptr override; + auto execute(const DroneStateInput& input) -> std::unique_ptr override; auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_decelerating.hpp b/drone_simulation/include/drone_states/state_decelerating.hpp index eb68ee2..e22d9a7 100644 --- a/drone_simulation/include/drone_states/state_decelerating.hpp +++ b/drone_simulation/include/drone_states/state_decelerating.hpp @@ -5,6 +5,6 @@ class StateDecelerating : public IDroneState { public: StateDecelerating(); - auto execute(DroneContext& context) -> std::unique_ptr override; + auto execute(const DroneStateInput& input) -> std::unique_ptr override; auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_moving.hpp b/drone_simulation/include/drone_states/state_moving.hpp index 3beffc0..2ce0f4b 100644 --- a/drone_simulation/include/drone_states/state_moving.hpp +++ b/drone_simulation/include/drone_states/state_moving.hpp @@ -5,6 +5,6 @@ class StateMoving : public IDroneState { public: StateMoving(); - auto execute(DroneContext& context) -> std::unique_ptr override; + auto execute(const DroneStateInput& input) -> std::unique_ptr override; auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_stopped.hpp b/drone_simulation/include/drone_states/state_stopped.hpp index 2ab6cca..f69b3ad 100644 --- a/drone_simulation/include/drone_states/state_stopped.hpp +++ b/drone_simulation/include/drone_states/state_stopped.hpp @@ -5,6 +5,6 @@ class StateStopped : public IDroneState { public: StateStopped(); - auto execute(DroneContext& context) -> std::unique_ptr override; + auto execute(const DroneStateInput& input) -> std::unique_ptr override; auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/drone_states/state_turning.hpp b/drone_simulation/include/drone_states/state_turning.hpp index bb3cace..87e54b9 100644 --- a/drone_simulation/include/drone_states/state_turning.hpp +++ b/drone_simulation/include/drone_states/state_turning.hpp @@ -5,6 +5,6 @@ class StateTurning : public IDroneState { public: StateTurning(); - auto execute(DroneContext& context) -> std::unique_ptr override; + auto execute(const DroneStateInput& input) -> std::unique_ptr override; auto name() const -> DroneStates override; }; \ No newline at end of file diff --git a/drone_simulation/include/interfaces/drone_state.hpp b/drone_simulation/include/interfaces/drone_state.hpp index 3954416..b67a562 100644 --- a/drone_simulation/include/interfaces/drone_state.hpp +++ b/drone_simulation/include/interfaces/drone_state.hpp @@ -10,7 +10,7 @@ class IDroneState { // Виконати логіку стану, повернути наступний стан. // Якщо стан не змінився — повернути nullptr // (головний цикл залишить поточний). - virtual std::unique_ptr execute(DroneContext& context) = 0; + virtual std::unique_ptr execute(const DroneStateInput& input) = 0; virtual DroneStates name() const = 0; }; diff --git a/drone_simulation/include/simulation.hpp b/drone_simulation/include/simulation.hpp index 3fd777b..3a3ac75 100644 --- a/drone_simulation/include/simulation.hpp +++ b/drone_simulation/include/simulation.hpp @@ -81,13 +81,16 @@ struct DroneConfig { float timeScale; }; +struct DroneStateInput { + float deltaAngle; + float speed; + const DroneConfig& config; +}; + struct DroneContext { - float directionToTarget; - float prevDirectionToTarget; float speed = 0.0f; float direction; float acceleration; - float timeToStop; Coord position; const DroneConfig* config; }; diff --git a/drone_simulation/src/drone_physics.cpp b/drone_simulation/src/drone_physics.cpp index f8bd3ba..330e7d3 100644 --- a/drone_simulation/src/drone_physics.cpp +++ b/drone_simulation/src/drone_physics.cpp @@ -4,12 +4,9 @@ DronePhysics::DronePhysics(const DroneConfig& config) : config(config) { - this->droneContext = {.directionToTarget = 0.0f, - .prevDirectionToTarget = 0.0f, - .speed = 0.0f, + this->droneContext = {.speed = 0.0f, .direction = config.initialDir, .acceleration = config.attackSpeed * config.attackSpeed / (2.0f * config.accelPath), - .timeToStop = 0.0f, .position = config.startPos, .config = &this->config}; } @@ -23,7 +20,10 @@ auto DronePhysics::getTelemetry() const -> DroneTelemetry { std::lock_guard lock(mtx); - return {.pos = droneContext.position, .speed = droneContext.speed, .direction = droneContext.direction, .timeSecSinceStart = elapsedTime}; + return {.pos = this->droneContext.position, + .speed = this->droneContext.speed, + .direction = this->droneContext.direction, + .timeSecSinceStart = elapsedTime}; } auto DronePhysics::run() -> void @@ -76,34 +76,34 @@ auto DronePhysics::processState(float dt) -> void break; case DroneStates::Turning: - droneContext.direction += this->angleSpeed * dt; - droneContext.direction = normalizeAngle(droneContext.direction); + this->droneContext.direction += this->angleSpeed * dt; + this->droneContext.direction = normalizeAngle(this->droneContext.direction); break; case DroneStates::Accelerating: - droneContext.speed += droneContext.acceleration * dt; - if (droneContext.speed > config.attackSpeed) - droneContext.speed = config.attackSpeed; + this->droneContext.speed += this->droneContext.acceleration * dt; + if (this->droneContext.speed > this->config.attackSpeed) + this->droneContext.speed = this->config.attackSpeed; if (std::fabs(this->angleSpeed) > 1e-6f) { - droneContext.direction += this->angleSpeed * dt; - droneContext.direction = normalizeAngle(droneContext.direction); + this->droneContext.direction += this->angleSpeed * dt; + this->droneContext.direction = normalizeAngle(this->droneContext.direction); } - droneContext.position = updateDronePosition(droneContext); + this->droneContext.position = updateDronePosition(this->droneContext); break; case DroneStates::Moving: if (std::fabs(this->angleSpeed) > 1e-6f) { - droneContext.direction += this->angleSpeed * dt; - droneContext.direction = normalizeAngle(droneContext.direction); + this->droneContext.direction += this->angleSpeed * dt; + this->droneContext.direction = normalizeAngle(this->droneContext.direction); } - droneContext.position = updateDronePosition(droneContext); + this->droneContext.position = updateDronePosition(this->droneContext); break; case DroneStates::Decelerating: - droneContext.speed -= droneContext.acceleration * dt; - if (droneContext.speed < 0) - droneContext.speed = 0; - droneContext.position = updateDronePosition(droneContext); + this->droneContext.speed -= this->droneContext.acceleration * dt; + if (this->droneContext.speed < 0) + this->droneContext.speed = 0; + this->droneContext.position = updateDronePosition(this->droneContext); break; } } \ No newline at end of file diff --git a/drone_simulation/src/drone_states/state_accelerating.cpp b/drone_simulation/src/drone_states/state_accelerating.cpp index 6581fe3..4f20d23 100644 --- a/drone_simulation/src/drone_states/state_accelerating.cpp +++ b/drone_simulation/src/drone_states/state_accelerating.cpp @@ -5,9 +5,9 @@ StateAccelerating::StateAccelerating() {} -auto StateAccelerating::execute(DroneContext& context) -> std::unique_ptr +auto StateAccelerating::execute(const DroneStateInput& input) -> std::unique_ptr { - if (context.speed >= context.config->attackSpeed) { + if (input.speed >= input.config.attackSpeed) { return std::make_unique(); } diff --git a/drone_simulation/src/drone_states/state_decelerating.cpp b/drone_simulation/src/drone_states/state_decelerating.cpp index e5f28c7..5fa670a 100644 --- a/drone_simulation/src/drone_states/state_decelerating.cpp +++ b/drone_simulation/src/drone_states/state_decelerating.cpp @@ -6,14 +6,13 @@ StateDecelerating::StateDecelerating() {} -auto StateDecelerating::execute(DroneContext& context) -> std::unique_ptr +auto StateDecelerating::execute(const DroneStateInput& input) -> std::unique_ptr { - if (context.speed <= 1e-3f) { + if (input.speed <= 1e-3f) { return std::make_unique(); } - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - if (std::fabs(deltaAngle) <= context.config->turnThreshold) { + if (std::fabs(input.deltaAngle) <= input.config.turnThreshold) { return std::make_unique(); } diff --git a/drone_simulation/src/drone_states/state_moving.cpp b/drone_simulation/src/drone_states/state_moving.cpp index 5f75040..6b7178e 100644 --- a/drone_simulation/src/drone_states/state_moving.cpp +++ b/drone_simulation/src/drone_states/state_moving.cpp @@ -5,11 +5,9 @@ StateMoving::StateMoving() {} -auto StateMoving::execute(DroneContext& context) -> std::unique_ptr +auto StateMoving::execute(const DroneStateInput& input) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - - if (fabs(deltaAngle) > context.config->turnThreshold) { + if (fabs(input.deltaAngle) > input.config.turnThreshold) { return std::make_unique(); } diff --git a/drone_simulation/src/drone_states/state_stopped.cpp b/drone_simulation/src/drone_states/state_stopped.cpp index 8c66640..4968821 100644 --- a/drone_simulation/src/drone_states/state_stopped.cpp +++ b/drone_simulation/src/drone_states/state_stopped.cpp @@ -6,11 +6,9 @@ StateStopped::StateStopped() {} -auto StateStopped::execute(DroneContext& context) -> std::unique_ptr +auto StateStopped::execute(const DroneStateInput& input) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - - if (std::fabs(deltaAngle) > context.config->turnThreshold) { + if (std::fabs(input.deltaAngle) > input.config.turnThreshold) { return std::make_unique(); } diff --git a/drone_simulation/src/drone_states/state_turning.cpp b/drone_simulation/src/drone_states/state_turning.cpp index a828b52..4487f35 100644 --- a/drone_simulation/src/drone_states/state_turning.cpp +++ b/drone_simulation/src/drone_states/state_turning.cpp @@ -5,11 +5,9 @@ StateTurning::StateTurning() {} -auto StateTurning::execute(DroneContext& context) -> std::unique_ptr +auto StateTurning::execute(const DroneStateInput& input) -> std::unique_ptr { - float deltaAngle = normalizeAngle(context.directionToTarget - context.direction); - - if (std::fabs(deltaAngle) <= context.config->turnThreshold) { + if (std::fabs(input.deltaAngle) <= input.config.turnThreshold) { return std::make_unique(); } diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index bc8836e..f00d6ad 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -70,16 +70,10 @@ auto MissionProcessor::step() -> SimulationStep Coord dirVec = normalize(deltaToFire); float newDirection = atan2(dirVec.y, dirVec.x); - DroneContext droneContext = {.directionToTarget = newDirection, - .prevDirectionToTarget = this->prevDirectionToTarget, - .speed = droneTelemetry.speed, - .direction = droneTelemetry.direction, - .acceleration = this->acceleration, - .timeToStop = droneTelemetry.speed / this->acceleration, - .position = droneTelemetry.pos, - .config = &this->droneConfig}; - - auto nextState = this->droneState->execute(droneContext); + float deltaAngle = normalizeAngle(newDirection - droneTelemetry.direction); + + DroneStateInput stateInput = {.deltaAngle = deltaAngle, .speed = droneTelemetry.speed, .config = this->droneConfig}; + auto nextState = this->droneState->execute(stateInput); if (nextState) { this->droneState = std::move(nextState); } @@ -90,9 +84,8 @@ auto MissionProcessor::step() -> SimulationStep this->hit = simulationStep.hit; - float deltaAngle = normalizeAngle(newDirection - droneTelemetry.direction); float sign = (deltaAngle > 0) ? 1.0f : -1.0f; - float angleSpeed = sign * std::min(std::fabs(deltaAngle) / droneConfig.simTimeStep, droneConfig.angularSpeed); + float angleSpeed = sign * std::min(std::fabs(deltaAngle) / this->droneConfig.simTimeStep, this->droneConfig.angularSpeed); DroneCommand command = {.state = this->droneState->name(), .angleSpeed = angleSpeed}; this->dronePhysics->sendCommand(command); diff --git a/simulation.json b/simulation.json index 4d32768..dfea5a4 100644 --- a/simulation.json +++ b/simulation.json @@ -46,10 +46,10 @@ }, { "aimPoint": { - "x": 66.53592681884766, - "y": 2.3297085762023926 + "x": 66.55589294433594, + "y": 1.6642439365386963 }, - "direction": 0.034999996423721313, + "direction": 0.02499999850988388, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -64,14 +64,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.07999999076128006 + "timeSecSinceStart": 0.059999994933605194 }, { "aimPoint": { - "x": 66.45689392089844, - "y": 3.9922049045562744 + "x": 66.47602844238281, + "y": 3.659872055053711 }, - "direction": 0.059999991208314896, + "direction": 0.05499999225139618, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -86,14 +86,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.12999998033046722 + "timeSecSinceStart": 0.11999998241662979 }, { "aimPoint": { - "x": 66.30724334716797, - "y": 5.983817100524902 + "x": 66.36376953125, + "y": 5.320456027984619 }, - "direction": 0.09000000357627869, + "direction": 0.07999999821186066, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -108,14 +108,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.1900000125169754 + "timeSecSinceStart": 0.17000000178813934 }, { "aimPoint": { - "x": 66.13694763183594, - "y": 7.639456748962402 + "x": 66.17431640625, + "y": 7.308677673339844 }, - "direction": 0.11500001698732376, + "direction": 0.11000001430511475, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -130,14 +130,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.24000003933906555 + "timeSecSinceStart": 0.23000003397464752 }, { "aimPoint": { - "x": 65.9253158569336, - "y": 9.29032039642334 + "x": 65.97093963623047, + "y": 8.960578918457031 }, - "direction": 0.14000000059604645, + "direction": 0.13500000536441803, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -152,14 +152,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.28999999165534973 + "timeSecSinceStart": 0.2800000011920929 }, { "aimPoint": { - "x": 65.61698150634766, - "y": 11.26360034942627 + "x": 65.67247772216797, + "y": 10.935376167297363 }, - "direction": 0.16999997198581696, + "direction": 0.16499997675418854, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -174,14 +174,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.34999993443489075 + "timeSecSinceStart": 0.3399999439716339 }, { "aimPoint": { - "x": 65.3149185180664, - "y": 12.900333404541016 + "x": 65.37860107421875, + "y": 12.573598861694336 }, - "direction": 0.19499994814395905, + "direction": 0.18999995291233063, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -196,14 +196,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.3999998867511749 + "timeSecSinceStart": 0.3899998962879181 }, { "aimPoint": { - "x": 64.89857482910156, - "y": 14.853679656982422 + "x": 64.97203063964844, + "y": 14.529003143310547 }, - "direction": 0.22499991953372955, + "direction": 0.21999992430210114, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -218,14 +218,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.45999982953071594 + "timeSecSinceStart": 0.4499998390674591 }, { "aimPoint": { - "x": 64.50698852539063, - "y": 16.471332550048828 + "x": 64.58853912353516, + "y": 16.148591995239258 }, - "direction": 0.24999989569187164, + "direction": 0.24499990046024323, "dropPoint": { "x": 255.7695770263672, "y": 182.19003295898438 @@ -240,14 +240,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.5099998116493225 + "timeSecSinceStart": 0.4999997913837433 }, { "aimPoint": { - "x": 63.9838981628418, - "y": 18.398839950561523 + "x": 64.16468811035156, + "y": 17.75809097290039 }, - "direction": 0.27999988198280334, + "direction": 0.2699998915195465, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -262,14 +262,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.5699997544288635 + "timeSecSinceStart": 0.5499997735023499 }, { "aimPoint": { - "x": 63.50398254394531, - "y": 19.992517471313477 + "x": 63.6031494140625, + "y": 19.67475128173828 }, - "direction": 0.30499985814094543, + "direction": 0.299999862909317, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -284,14 +284,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.6199997067451477 + "timeSecSinceStart": 0.6099997162818909 }, { "aimPoint": { - "x": 62.87572479248047, - "y": 21.888355255126953 + "x": 63.091461181640625, + "y": 21.258514404296875 }, - "direction": 0.33499982953071594, + "direction": 0.3249998390674591, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -306,14 +306,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.6799996495246887 + "timeSecSinceStart": 0.659999668598175 }, { "aimPoint": { - "x": 62.190879821777344, - "y": 23.764493942260742 + "x": 62.425411224365234, + "y": 23.141407012939453 }, - "direction": 0.36499980092048645, + "direction": 0.3549998104572296, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -328,14 +328,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.7399995923042297 + "timeSecSinceStart": 0.7199996113777161 }, { "aimPoint": { - "x": 61.577396392822266, - "y": 25.311674118041992 + "x": 61.827430725097656, + "y": 24.69464683532715 }, - "direction": 0.38999977707862854, + "direction": 0.3799997866153717, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -350,14 +350,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.7899995446205139 + "timeSecSinceStart": 0.7699995636940002 }, { "aimPoint": { - "x": 60.79045486450195, - "y": 27.147329330444336 + "x": 61.05888366699219, + "y": 26.53807830810547 }, - "direction": 0.41999974846839905, + "direction": 0.4099997580051422, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -372,14 +372,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.8499994874000549 + "timeSecSinceStart": 0.8299995064735413 }, { "aimPoint": { - "x": 60.09284591674805, - "y": 28.658447265625 + "x": 60.37641906738281, + "y": 28.05609703063965 }, - "direction": 0.44499972462654114, + "direction": 0.4349997341632843, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -394,14 +394,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.8999994397163391 + "timeSecSinceStart": 0.8799994587898254 }, { "aimPoint": { - "x": 59.35768127441406, - "y": 30.151655197143555 + "x": 59.50769805908203, + "y": 29.8544921875 }, - "direction": 0.4699997007846832, + "direction": 0.4649997055530548, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -416,14 +416,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 0.9499993920326233 + "timeSecSinceStart": 0.9399994015693665 }, { "aimPoint": { - "x": 58.42655944824219, - "y": 31.918550491333008 + "x": 58.58542251586914, + "y": 31.626020431518555 }, - "direction": 0.49999967217445374, + "direction": 0.4949996769428253, "dropPoint": { "x": 255.64608764648438, "y": 182.89263916015625 @@ -438,14 +438,36 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 1.009999394416809 + "timeSecSinceStart": 0.9999993443489075 }, { "aimPoint": { - "x": 57.44285583496094, - "y": 33.65671920776367 + "x": 57.77654266357422, + "y": 33.08061981201172 }, - "direction": 0.5299996733665466, + "direction": 0.5199996829032898, + "dropPoint": { + "x": 255.64608764648438, + "y": 182.89263916015625 + }, + "position": { + "x": 0.0, + "y": 0.0 + }, + "predictedTarget": { + "x": 313.8890686035156, + "y": 205.24391174316406 + }, + "state": 1, + "targetIndex": 0, + "timeSecSinceStart": 1.0499993562698364 + }, + { + "aimPoint": { + "x": 56.758277893066406, + "y": 34.798770904541016 + }, + "direction": 0.5499996542930603, "dropPoint": { "x": 250.60279846191406, "y": 180.96302795410156 @@ -460,14 +482,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 1.06999933719635 + "timeSecSinceStart": 1.1099992990493774 }, { "aimPoint": { - "x": 56.58357620239258, - "y": 35.08212661743164 + "x": 55.87066650390625, + "y": 36.20670700073242 }, - "direction": 0.5549996495246887, + "direction": 0.5749996304512024, "dropPoint": { "x": 250.60279846191406, "y": 180.96302795410156 @@ -482,14 +504,14 @@ }, "state": 1, "targetIndex": 0, - "timeSecSinceStart": 1.1199992895126343 + "timeSecSinceStart": 1.1599992513656616 }, { "aimPoint": { - "x": 55.688934326171875, - "y": 36.48560333251953 + "x": 54.94813537597656, + "y": 37.592010498046875 }, - "direction": 0.5799996256828308, + "direction": 0.5999996066093445, "dropPoint": { "x": 250.60279846191406, "y": 180.96302795410156 @@ -504,21 +526,21 @@ }, "state": 2, "targetIndex": 0, - "timeSecSinceStart": 1.1699992418289185 + "timeSecSinceStart": 1.2099992036819458 }, { "aimPoint": { - 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"predictedTarget": { - "x": 290.28839111328125, - "y": 191.7115478515625 - }, - "state": 3, - "targetIndex": 0, - "timeSecSinceStart": 22.960430145263672 - }, - { - "aimPoint": { - "x": 286.15020751953125, - "y": 189.27862548828125 - }, - "direction": 0.5022813677787781, - "dropPoint": { - "x": 232.0648956298828, - "y": 159.56402587890625 - }, - "position": { - "x": 227.796630859375, - "y": 157.22683715820313 - }, - "predictedTarget": { - "x": 290.28839111328125, - "y": 191.7115478515625 - }, - "state": 3, - "targetIndex": 0, - "timeSecSinceStart": 23.020431518554688 - }, - { - "aimPoint": { - "x": 286.96429443359375, - "y": 189.6658935546875 - }, - "direction": 0.501499593257904, - "dropPoint": { - "x": 232.04843139648438, - "y": 159.5594482421875 - }, - "position": { - "x": 228.58566284179688, - "y": 157.6597442626953 - }, - "predictedTarget": { - "x": 290.28839111328125, - "y": 191.7115478515625 - }, - "state": 3, - "targetIndex": 0, - "timeSecSinceStart": 23.080432891845703 - }, - { - "aimPoint": { - "x": 287.7481384277344, - "y": 190.10826110839844 - }, - "direction": 0.5016644597053528, - "dropPoint": { - "x": 232.03280639648438, - "y": 159.55352783203125 - }, - "position": { - "x": 229.3748016357422, - "y": 158.0924835205078 - }, - "predictedTarget": { - "x": 290.28839111328125, - "y": 191.7115478515625 - }, - "state": 3, - "targetIndex": 0, - "timeSecSinceStart": 23.14043426513672 - }, - { - "aimPoint": { - "x": 288.3907165527344, - "y": 190.49627685546875 - }, - "direction": 0.5021299719810486, - "dropPoint": { - "x": 232.0202178955078, - "y": 159.54786682128906 - }, - "position": { - "x": 230.03228759765625, - "y": 158.45333862304688 - }, - "predictedTarget": { - "x": 290.28839111328125, - "y": 191.7115478515625 - }, - "state": 3, - "targetIndex": 0, - "timeSecSinceStart": 23.1904354095459 - }, - { - "aimPoint": { - "x": 289.2847595214844, - "y": 191.049560546875 - }, - "direction": 0.5029444098472595, - "dropPoint": { - "x": 232.00318908691406, - "y": 159.53897094726563 - }, - "position": { - "x": 230.9524383544922, - "y": 158.95909118652344 - }, - "predictedTarget": { - "x": 290.28839111328125, - "y": 191.7115478515625 - }, - "state": 3, - "targetIndex": 0, - "timeSecSinceStart": 23.26043701171875 - } - ], - "totalSteps": 398 -} \ No newline at end of file From 7f52b90e811b6995d688ee35bfeabae364d76d36 Mon Sep 17 00:00:00 2001 From: blinker Date: Tue, 23 Jun 2026 21:00:36 +0000 Subject: [PATCH 09/10] [FEATURE] hw-10-threads: make DronePhysics unique pointer --- drone_simulation/src/main.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/drone_simulation/src/main.cpp b/drone_simulation/src/main.cpp index e0dd035..88296ea 100644 --- a/drone_simulation/src/main.cpp +++ b/drone_simulation/src/main.cpp @@ -37,31 +37,32 @@ auto main(int argc, char* argv[]) -> int loader->load(); DroneConfig droneConfig = loader->getConfig(); - DronePhysics physics(droneConfig); + auto physics = std::make_unique(droneConfig); auto targets = std::make_unique(targetsPath, droneConfig.arrayTimeStep, droneConfig.timeScale); auto* targetsPtr = targets.get(); + auto* physicsPtr = physics.get(); SolverType solverType = (solverArg == "analytical") ? SolverType::ANALYTICAL : SolverType::TABLE; auto ballisticSolver = createSolver(solverType, droneConfig, ballisticTablePath); - MissionProcessor missionProcessor(std::move(targets), std::move(ballisticSolver), &physics); + MissionProcessor missionProcessor(std::move(targets), std::move(ballisticSolver), physicsPtr); missionProcessor.init(std::move(loader)); std::thread providerThread(&ThreadSafeTargetProvider::run, targetsPtr); - std::thread physicsThread(&DronePhysics::run, &physics); + std::thread physicsThread(&DronePhysics::run, physicsPtr); std::thread missionThread(&MissionProcessor::run, &missionProcessor); - while (!targetsPtr->isThreadReady() || !physics.isThreadReady() || !missionProcessor.isThreadReady()) { + while (!targetsPtr->isThreadReady() || !physicsPtr->isThreadReady() || !missionProcessor.isThreadReady()) { std::this_thread::sleep_for(std::chrono::milliseconds(1)); } targetsPtr->start(); - physics.start(); + physicsPtr->start(); missionProcessor.start(); missionThread.join(); - physics.stop(); + physicsPtr->stop(); targetsPtr->stop(); physicsThread.join(); From 5a0a1d2b25fe03c072597a1d2df29dfe0571283e Mon Sep 17 00:00:00 2001 From: blinker Date: Thu, 2 Jul 2026 19:52:17 +0000 Subject: [PATCH 10/10] [FIX] use ballistic solver instead of simulation functions. CHange solver interface. Solve return BallisticResult --- .../include/interfaces/ballistic_solver.hpp | 7 +++++- .../include/solvers/analytical_solver.hpp | 12 ++++------ .../include/solvers/table_solver.hpp | 2 +- drone_simulation/src/main.cpp | 8 ++++++- drone_simulation/src/mission_processor.cpp | 13 +++-------- drone_simulation/src/simulation.cpp | 2 +- .../src/solvers/analytical_solver.cpp | 8 +++---- drone_simulation/src/solvers/table_solver.cpp | 22 ++++++++----------- 8 files changed, 34 insertions(+), 40 deletions(-) diff --git a/drone_simulation/include/interfaces/ballistic_solver.hpp b/drone_simulation/include/interfaces/ballistic_solver.hpp index 33e123f..9d00630 100644 --- a/drone_simulation/include/interfaces/ballistic_solver.hpp +++ b/drone_simulation/include/interfaces/ballistic_solver.hpp @@ -1,8 +1,13 @@ #pragma once #include "simulation.hpp" +struct BallisticResult { + float flightTime; + float hDist; +}; + class IBallisticSolver { public: - virtual Coord solve(const Coord& dronePosition, const Coord& targetPosition, const AmmoParams& ammmo) = 0; + virtual BallisticResult solve(const AmmoParams& ammo) = 0; virtual ~IBallisticSolver() {} }; \ No newline at end of file diff --git a/drone_simulation/include/solvers/analytical_solver.hpp b/drone_simulation/include/solvers/analytical_solver.hpp index 7b17729..4cbaed9 100644 --- a/drone_simulation/include/solvers/analytical_solver.hpp +++ b/drone_simulation/include/solvers/analytical_solver.hpp @@ -3,14 +3,10 @@ #include "interfaces/ballistic_solver.hpp" class AnalyticalSolver : public IBallisticSolver { - DroneConfig droneConfig; + DroneConfig droneConfig; - public: - AnalyticalSolver(const DroneConfig& config); +public: + AnalyticalSolver(const DroneConfig& config); - auto solve( - const Coord& dronePosition, - const Coord& targetPosition, - const AmmoParams& ammo - ) -> Coord override; + auto solve(const AmmoParams& ammo) -> BallisticResult override; }; \ No newline at end of file diff --git a/drone_simulation/include/solvers/table_solver.hpp b/drone_simulation/include/solvers/table_solver.hpp index f06017d..e85d239 100644 --- a/drone_simulation/include/solvers/table_solver.hpp +++ b/drone_simulation/include/solvers/table_solver.hpp @@ -10,5 +10,5 @@ class TableSolver : public IBallisticSolver { public: TableSolver(const DroneConfig& config, std::string table_path); - auto solve(const Coord& dronePosition, const Coord& targetPosition, const AmmoParams& ammo) -> Coord override; + auto solve(const AmmoParams& ammo) -> BallisticResult override; }; \ No newline at end of file diff --git a/drone_simulation/src/main.cpp b/drone_simulation/src/main.cpp index 88296ea..afe4b94 100644 --- a/drone_simulation/src/main.cpp +++ b/drone_simulation/src/main.cpp @@ -9,7 +9,7 @@ using json = nlohmann::json; -#define ENABLE_LOG 1 +#define ENABLE_LOG 0 #define ENABLE_DEBUG 0 #if ENABLE_LOG @@ -45,6 +45,12 @@ auto main(int argc, char* argv[]) -> int SolverType solverType = (solverArg == "analytical") ? SolverType::ANALYTICAL : SolverType::TABLE; auto ballisticSolver = createSolver(solverType, droneConfig, ballisticTablePath); + if (ballisticSolver == nullptr) { + LOG("Error: " << "Unknown ballistic solver"); + + return 1; + } + MissionProcessor missionProcessor(std::move(targets), std::move(ballisticSolver), physicsPtr); missionProcessor.init(std::move(loader)); diff --git a/drone_simulation/src/mission_processor.cpp b/drone_simulation/src/mission_processor.cpp index f00d6ad..9250968 100644 --- a/drone_simulation/src/mission_processor.cpp +++ b/drone_simulation/src/mission_processor.cpp @@ -19,8 +19,9 @@ auto MissionProcessor::init(std::unique_ptr configLoader) -> void this->droneConfig = configLoader->getConfig(); this->ammo = configLoader->getAmmoParams(); - this->ammoFlightTime = getAmmoFlightTime(this->droneConfig, this->ammo); - this->ammoHorizontalFlightDistance = getAmmoHorizontalFlightDistance(this->droneConfig.attackSpeed, this->ammoFlightTime, this->ammo); + BallisticResult ballisticResult = this->ballisticSolver->solve(this->ammo); + this->ammoFlightTime = ballisticResult.flightTime; + this->ammoHorizontalFlightDistance = ballisticResult.hDist; this->acceleration = this->droneConfig.attackSpeed * this->droneConfig.attackSpeed / (2.0f * this->droneConfig.accelPath); } @@ -48,7 +49,6 @@ auto MissionProcessor::step() -> SimulationStep } if (bestTargetIndex < 0) { - std::cout << "No valid target at this step, skipping" << std::endl; ++this->currentStep; this->currentTime += this->droneConfig.simTimeStep; @@ -159,7 +159,6 @@ auto MissionProcessor::evaluateTarget(int targetIndex, const DroneTelemetry& tel float distanceToTarget = getDistanceToTarget(target, telemetry.pos); if (distanceToTarget < 1e-3f) { - std::cout << "Distance to the target " << targetIndex << " is near or less then 0\n" << std::endl; return INFINITY; } float ratio = getRatio(distanceToTarget, this->ammoHorizontalFlightDistance); @@ -173,7 +172,6 @@ auto MissionProcessor::evaluateTarget(int targetIndex, const DroneTelemetry& tel float newDistanceToTarget = getDistanceToTarget(predictedTarget, telemetry.pos); if (newDistanceToTarget < 1e-3f) { - std::cout << "Predicted distance to the target " << targetIndex << " is near or less then 0\n" << std::endl; return INFINITY; } @@ -211,11 +209,6 @@ auto MissionProcessor::getSimulationStep(int targetIndex, const Coord& fireCoord bool isHit = bombMissDistance < this->droneConfig.hitRadius || bombLandCoord == targetAtImpact; - if (isHit) { - std::cout << (bombLandCoord == targetAtImpact ? "Direct hit" : "Drone hit the target. Bomb miss: ") - << (bombLandCoord == targetAtImpact ? "" : std::to_string(bombMissDistance)) << std::endl; - } - return {.hit = isHit, .target = targetIndex, .droneSpeed = telemetry.speed, diff --git a/drone_simulation/src/simulation.cpp b/drone_simulation/src/simulation.cpp index 302e384..06308ab 100644 --- a/drone_simulation/src/simulation.cpp +++ b/drone_simulation/src/simulation.cpp @@ -7,7 +7,7 @@ using json = nlohmann::json; -#define ENABLE_LOG 1 +#define ENABLE_LOG 0 #define ENABLE_DEBUG 0 #if ENABLE_LOG diff --git a/drone_simulation/src/solvers/analytical_solver.cpp b/drone_simulation/src/solvers/analytical_solver.cpp index 43db77e..89497c7 100644 --- a/drone_simulation/src/solvers/analytical_solver.cpp +++ b/drone_simulation/src/solvers/analytical_solver.cpp @@ -5,12 +5,10 @@ AnalyticalSolver::AnalyticalSolver(const DroneConfig& config) { } -auto AnalyticalSolver::solve(const Coord& dronePosition, const Coord& targetPosition, const AmmoParams& ammo) -> Coord +auto AnalyticalSolver::solve(const AmmoParams& ammo) -> BallisticResult { float flightTime = getAmmoFlightTime(droneConfig, ammo); - float ammoHorizontalFlightDistance = getAmmoHorizontalFlightDistance(droneConfig.attackSpeed, flightTime, ammo); - float distanceToTarget = getDistanceToTarget(targetPosition, dronePosition); - float ratio = getRatio(distanceToTarget, ammoHorizontalFlightDistance); + float hDist = getAmmoHorizontalFlightDistance(droneConfig.attackSpeed, flightTime, ammo); - return getFireCoords(targetPosition, dronePosition, std::max(ratio, 0.01f)); + return {.flightTime = flightTime, .hDist = hDist}; } \ No newline at end of file diff --git a/drone_simulation/src/solvers/table_solver.cpp b/drone_simulation/src/solvers/table_solver.cpp index cf35c99..8ccae90 100644 --- a/drone_simulation/src/solvers/table_solver.cpp +++ b/drone_simulation/src/solvers/table_solver.cpp @@ -1,18 +1,14 @@ #include "solvers/table_solver.hpp" - -TableSolver::TableSolver(const DroneConfig& config, std::string path): droneConfig(config) { - this->table.load(path); +TableSolver::TableSolver(const DroneConfig& config, std::string path) + : droneConfig(config) +{ + this->table.load(path); } -auto TableSolver::solve( - const Coord& dronePosition, - const Coord& targetPosition, - const AmmoParams& ammo -) -> Coord { - Result result = this->table.lookup(this->droneConfig.altitude, this->droneConfig.attackSpeed, ammo.mass, ammo.drag, ammo.lift); - float distanceToTarget = getDistanceToTarget(targetPosition, dronePosition); - float ratio = getRatio(distanceToTarget, result.hDist); - - return getFireCoords(targetPosition, dronePosition, ratio); +auto TableSolver::solve(const AmmoParams& ammo) -> BallisticResult +{ + Result result = this->table.lookup(this->droneConfig.altitude, this->droneConfig.attackSpeed, ammo.mass, ammo.drag, ammo.lift); + + return {.flightTime = result.t, .hDist = result.hDist}; } \ No newline at end of file