diff --git a/.github/workflows/ptcs-ci.yml b/.github/workflows/ptcs-ci.yml index b3683ea..c19654a 100644 --- a/.github/workflows/ptcs-ci.yml +++ b/.github/workflows/ptcs-ci.yml @@ -4,9 +4,9 @@ on: pull_request: paths: - '.github/workflows/ptcs-ci.yml' + - 'ptcs/ptcs_bridge/**' - 'ptcs/ptcs_control/**' - 'ptcs/ptcs_server/**' - - 'ptcs/usb_bt_bridge/**' - 'ptcs/.flake8' - 'ptcs/poetry.lock' - 'ptcs/poetry.toml' @@ -45,13 +45,13 @@ jobs: - name: Sort imports run: | - poetry run isort ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=isort + poetry run isort ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=isort env: REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Format run: | - poetry run black ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=black + poetry run black ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=black env: REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }} @@ -62,12 +62,12 @@ jobs: - name: Lint run: | - poetry run flake8 ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=flake8 + poetry run flake8 ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=flake8 env: REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Typecheck run: | - poetry run mypy ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=mypy + poetry run mypy ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=mypy env: REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/ptcs/poetry.lock b/ptcs/poetry.lock index 2341717..7d76f14 100644 --- a/ptcs/poetry.lock +++ b/ptcs/poetry.lock @@ -75,6 +75,45 @@ d = ["aiohttp (>=3.7.4)"] jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"] uvloop = ["uvloop (>=0.15.2)"] +[[package]] +name = "bleak" +version = "0.21.1" 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0000000..db11549 --- /dev/null +++ b/ptcs/ptcs_bridge/bridge2.py @@ -0,0 +1,20 @@ +import asyncio + +from .train_base import TrainBase + + +class Bridge2: + trains: dict[str, TrainBase] + + def __init__(self) -> None: + self.trains = {} + + def add_train(self, train: TrainBase) -> None: + assert train.id not in self.trains + self.trains[train.id] = train + + async def connect_all(self) -> None: + await asyncio.gather(*(train.connect() for train in self.trains.values())) + + async def disconnect_all(self) -> None: + await asyncio.gather(*(train.disconnect() for train in self.trains.values())) diff --git a/ptcs/usb_bt_bridge/receiver/receiver.ino b/ptcs/ptcs_bridge/receiver/receiver.ino similarity index 100% rename from ptcs/usb_bt_bridge/receiver/receiver.ino rename to ptcs/ptcs_bridge/receiver/receiver.ino diff --git a/ptcs/usb_bt_bridge/send_receive.py b/ptcs/ptcs_bridge/send_receive.py similarity index 100% rename from ptcs/usb_bt_bridge/send_receive.py rename to ptcs/ptcs_bridge/send_receive.py diff --git a/ptcs/ptcs_bridge/train_base.py b/ptcs/ptcs_bridge/train_base.py new file mode 100644 index 0000000..c27eefa --- /dev/null +++ b/ptcs/ptcs_bridge/train_base.py @@ -0,0 +1,23 @@ +from typing import Callable + +NotifyPositionIdCallback = Callable[["TrainBase", int], None] +NotifyRotationCallback = Callable[["TrainBase", int], None] + + +class TrainBase: + id: str + + async def connect(self) -> None: + raise NotImplementedError() + + async def disconnect(self) -> None: + raise NotImplementedError() + + async def send_speed(self, speed: int) -> None: + raise NotImplementedError() + + async def start_notify_position_id(self, callback: NotifyPositionIdCallback) -> None: + raise NotImplementedError() + + async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None: + raise NotImplementedError() diff --git a/ptcs/ptcs_bridge/train_client.py b/ptcs/ptcs_bridge/train_client.py new file mode 100644 index 0000000..85b8e7f --- /dev/null +++ b/ptcs/ptcs_bridge/train_client.py @@ -0,0 +1,82 @@ +import logging +from uuid import UUID + +from bleak import BleakClient +from bleak.backends.characteristic import BleakGATTCharacteristic +from bleak.backends.service import BleakGATTService + +from .train_base import NotifyPositionIdCallback, NotifyRotationCallback, TrainBase + +SERVICE_UUID = UUID("63cb613b-6562-4aa5-b602-030f103834a4") +CHARACTERISTIC_MOTOR_INPUT_UUID = UUID("88c9d9ae-bd53-4ab3-9f42-b3547575a743") +CHARACTERISTIC_POSITION_ID_UUID = UUID("8bcd68d5-78ca-c1c3-d1ba-96d527ce8968") +CHARACTERISTIC_ROTATION_UUID = UUID("aab17457-2755-8b50-caa1-432ff553d533") + + +logger = logging.getLogger(__name__) + + +class TrainClient(TrainBase): + id: str + _client: BleakClient + + def __init__(self, id: str, address: str) -> None: + self.id = id + self._client = BleakClient(address) + + def __str__(self) -> str: + return f"TrainClient({self.id}, {self._client.address})" + + async def connect(self) -> None: + await self._client.connect() + logger.info("%s connected", self) + + async def disconnect(self) -> None: + await self._client.disconnect() + logger.info("%s disconnected", self) + + def _get_service(self) -> BleakGATTService: + service = self._client.services.get_service(SERVICE_UUID) + assert service is not None + return service + + def _get_characteristic(self, uuid: UUID) -> BleakGATTCharacteristic: + service = self._get_service() + characteristic = service.get_characteristic(uuid) + assert characteristic is not None + return characteristic + + def _get_characteristic_motor_input(self) -> BleakGATTCharacteristic: + return self._get_characteristic(CHARACTERISTIC_MOTOR_INPUT_UUID) + + def _get_characteristic_position_id(self) -> BleakGATTCharacteristic: + return self._get_characteristic(CHARACTERISTIC_POSITION_ID_UUID) + + def _get_characteristic_rotation(self) -> BleakGATTCharacteristic: + return self._get_characteristic(CHARACTERISTIC_ROTATION_UUID) + + async def send_speed(self, speed: int) -> None: + assert 0 <= speed <= 255 + characteristic_speed = self._get_characteristic_motor_input() + await self._client.write_gatt_char(characteristic_speed, bytes([speed])) + logger.info("%s send speed %s", self, speed) + + async def start_notify_position_id(self, callback: NotifyPositionIdCallback) -> None: + def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray): + assert len(data) == 1 + position_id = data[0] + logger.info("%s notify position id %s", self, position_id) + callback(self, position_id) + + characteristic_position_id = self._get_characteristic_position_id() + await self._client.start_notify(characteristic_position_id, wrapped_callback) + + async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None: + def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray): + assert len(data) == 1 + assert data[0] == 1 + logger.info("%s notify rotation %s", self, 1) + callback(self, 1) + + characteristic_rotation = self._get_characteristic_rotation() + await self._client.start_notify(characteristic_rotation, wrapped_callback) diff --git a/ptcs/ptcs_bridge/train_simulator.py b/ptcs/ptcs_bridge/train_simulator.py new file mode 100644 index 0000000..69eb85a --- /dev/null +++ b/ptcs/ptcs_bridge/train_simulator.py @@ -0,0 +1,125 @@ +import asyncio +import logging +import math + +from .train_base import NotifyPositionIdCallback, NotifyRotationCallback, TrainBase + +logger = logging.getLogger(__name__) + +_background_tasks: set[asyncio.Task] = set() + + +class TrainSimulator(TrainBase): + """ + BLE 通信を行わず、列車への速度指令とモーター回転通知をシミュレーションする。 + """ + + id: str + _current_speed_cm_s: float + _target_speed_cm_s: float + _total_rotation: float + _task: asyncio.Task | None + _notify_rotation_callback: NotifyRotationCallback | None + + INTERVAL_SECONDS = 0.1 + INPUT_TO_CENTIMETERS_PER_SECOND = 30.0 / 255 + WHEEL_PERIMETER_CENTIMETERS = 2.4 * math.pi + GEAR_RATIO = 175 / 8448 + + def __init__(self, id: str) -> None: + self.id = id + self._current_speed_cm_s = 0.0 + self._target_speed_cm_s = 0.0 + self._total_rotation = 0.0 + self._task = None + self._notify_rotation_callback = None + + def __str__(self) -> str: + return f"TrainSimulator({self.id})" + + async def _loop(self): + while True: + await asyncio.sleep(self.INTERVAL_SECONDS) + + # とりあえず簡単に、即座に指令速度に変わるものとする + prev_speed_cm_s = self._current_speed_cm_s + self._current_speed_cm_s = self._target_speed_cm_s + + delta_cm = (prev_speed_cm_s + self._current_speed_cm_s) / 2 * self.INTERVAL_SECONDS + + prev_total_rotation = self._total_rotation + self._total_rotation += delta_cm / self.WHEEL_PERIMETER_CENTIMETERS / self.GEAR_RATIO + + rotation = math.floor(self._total_rotation) - math.floor(prev_total_rotation) + + if self._notify_rotation_callback is not None: + for _ in range(rotation): + logger.info("%s notify rotation %s", self, 1) + self._notify_rotation_callback(self, 1) + + async def connect(self) -> None: + assert self._task is None + task = asyncio.create_task(self._loop()) + _background_tasks.add(task) + task.add_done_callback(_background_tasks.discard) + self._task = task + logger.info("%s connected", self) + + async def disconnect(self) -> None: + assert self._task is not None + self._task.cancel() + self._task = None + logger.info("%s disconnected", self) + + async def send_speed(self, speed: int) -> None: + assert 0 <= speed <= 255 + self._target_speed_cm_s = speed * self.INPUT_TO_CENTIMETERS_PER_SECOND + logger.info("%s send speed %s", self, speed) + + async def start_notify_position_id(self, callback: NotifyPositionIdCallback) -> None: + raise NotImplementedError() + + async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None: + self._notify_rotation_callback = callback + + +async def main(): + t0 = TrainSimulator("t0") + t1 = TrainSimulator("t1") + await t0.connect() + await t1.connect() + + def handle_rotation(train: TrainSimulator, _rotation: int): + print(f"{train} rotated!") + + await t0.start_notify_rotation(handle_rotation) + await t1.start_notify_rotation(handle_rotation) + + await asyncio.sleep(1.0) + await t0.send_speed(40) + await asyncio.sleep(1.0) + await t0.send_speed(80) + await asyncio.sleep(1.0) + await t0.send_speed(120) + await asyncio.sleep(1.0) + await t0.send_speed(160) + await asyncio.sleep(1.0) + await t0.send_speed(200) + await asyncio.sleep(10.0) + await t0.send_speed(0) + await asyncio.sleep(5.0) + + await t0.disconnect() + await t1.disconnect() + + +if __name__ == "__main__": + logger = logging.getLogger(__name__) + logger.setLevel(logging.INFO) + handler = logging.StreamHandler() + handler.setFormatter(logging.Formatter("[%(levelname)-8s] %(message)s")) + logger.addHandler(handler) + + loop = asyncio.get_event_loop() + loop.create_task(main()) + loop.run_forever() diff --git a/ptcs/ptcs_client/dist/models/TrainState.ts b/ptcs/ptcs_client/dist/models/TrainState.ts index 497ce2f..77b1789 100644 --- a/ptcs/ptcs_client/dist/models/TrainState.ts +++ b/ptcs/ptcs_client/dist/models/TrainState.ts @@ -9,8 +9,11 @@ export type TrainState = { min_input: number; max_input: number; max_speed: number; + length: number; delta_per_motor_rotation: number; - position: DirectedPosition; + head_position: DirectedPosition; + tail_position: DirectedPosition; + covered_section_ids: Array; stop_id: (string | null); stop_distance: number; departure_time: (number | null); diff --git a/ptcs/ptcs_control/components/base.py b/ptcs/ptcs_control/components/base.py index 84d409d..42c63c5 100644 --- a/ptcs/ptcs_control/components/base.py +++ b/ptcs/ptcs_control/components/base.py @@ -1,5 +1,6 @@ from __future__ import annotations +from abc import ABC from dataclasses import dataclass, field from typing import TYPE_CHECKING @@ -8,9 +9,13 @@ @dataclass -class BaseComponent: +class BaseComponent(ABC): + id: str _control: Control | None = field(default=None, init=False) + def __str__(self) -> str: + return f"{self.__class__.__name__}({self.id})" + def verify(self) -> None: assert self._control is not None diff --git a/ptcs/ptcs_control/components/junction.py b/ptcs/ptcs_control/components/junction.py index 09077dc..f0f722f 100644 --- a/ptcs/ptcs_control/components/junction.py +++ b/ptcs/ptcs_control/components/junction.py @@ -81,17 +81,16 @@ def is_toggle_prohibited(self) -> bool: ジャンクションを列車が通過中であり、切り替えてはいけない場合に `True` を返す。 """ - MERGIN: float = 40 # ポイント通過後すぐに切り替えるとまずいので余裕距離をとる - TRAIN_LENGTH: float = 60 # 列車の長さ[cm] NOTE: 将来的には車両等のパラメータとして外に出す + MERGIN: float = 40.0 # ポイント通過後すぐに切り替えるとまずいので余裕距離をとる for train in self.control.trains.values(): # 列車の最後尾からMERGIN離れた位置(tail)を取得 - tail_position = train.position.get_retracted_position(TRAIN_LENGTH + MERGIN) + tail_position = train.head_position.get_retracted_position(train.length + MERGIN) # 列車の先頭は指定されたjunctionに向かっていないが、 # 列車の最後尾は指定されたjunctionに向かっている場合、 # 列車はそのjunctinoを通過中なので、切り替えを禁止する - if train.position.target_junction != self and tail_position.target_junction == self: + if train.head_position.target_junction != self and tail_position.target_junction == self: return True return False # 誰も通過していなければFalseを返す diff --git a/ptcs/ptcs_control/components/position.py b/ptcs/ptcs_control/components/position.py index 53cf335..81fb785 100644 --- a/ptcs/ptcs_control/components/position.py +++ b/ptcs/ptcs_control/components/position.py @@ -62,3 +62,55 @@ def get_retracted_position(self, delta: float) -> DirectedPosition: """ return self.get_reversed().get_advanced_position(delta).get_reversed() + + def get_advanced_position_with_path(self, delta: float) -> tuple[DirectedPosition, list[Section]]: + """ + 現在の位置と方向から距離 `delta` 分だけ進んだ位置と方向を計算し、 + そこまでに通過したセクションとともに返す。 + """ + + path: list[Section] = [] + + section = self.section + target_junction = self.target_junction + mileage = self.mileage + + if target_junction == section.connected_junctions[SectionConnection.B]: + mileage += delta + elif target_junction == section.connected_junctions[SectionConnection.A]: + mileage -= delta + else: + raise + + while mileage > section.length or mileage < 0: + if mileage > section.length: + surplus_mileage = mileage - section.length + elif mileage < 0: + surplus_mileage = -mileage + else: + raise + + section, target_junction = section.get_next_section_and_target_junction(target_junction) + + if target_junction == section.connected_junctions[SectionConnection.B]: + mileage = surplus_mileage + elif target_junction == section.connected_junctions[SectionConnection.A]: + mileage = section.length - surplus_mileage + else: + raise + + path.append(section) + + if path: + path.pop() + + return DirectedPosition(section, target_junction, mileage), path + + def get_retracted_position_with_path(self, delta: float) -> tuple[DirectedPosition, list[Section]]: + """ + 現在の位置と方向から距離 `delta` 分だけ退いた位置と方向を計算し、 + そこまでに通過したセクションとともに返す。 + """ + + position, path = self.get_reversed().get_advanced_position_with_path(delta) + return position.get_reversed(), list(reversed(path)) diff --git a/ptcs/ptcs_control/components/sensor_position.py b/ptcs/ptcs_control/components/sensor_position.py index afc18eb..8734d75 100644 --- a/ptcs/ptcs_control/components/sensor_position.py +++ b/ptcs/ptcs_control/components/sensor_position.py @@ -26,3 +26,8 @@ class SensorPosition(BaseComponent): 具体的には、通った向きがわかるようなセンシング技術を用いるか、 計算で向きを予測するか（限界はある）のどちらか。 """ + + def verify(self) -> None: + super().verify() + assert self.target_junction in self.section.connected_junctions.values(), f"{self}.target_junction is wrong" + assert 0 <= self.mileage <= self.section.length, f"{self}.length is wrong" diff --git a/ptcs/ptcs_control/components/stop.py b/ptcs/ptcs_control/components/stop.py index 342b523..bb7bd1c 100644 --- a/ptcs/ptcs_control/components/stop.py +++ b/ptcs/ptcs_control/components/stop.py @@ -17,3 +17,10 @@ class Stop(BaseComponent): # config position: DirectedPosition + + def verify(self) -> None: + super().verify() + assert ( + self.position.target_junction in self.position.section.connected_junctions.values() + ), f"{self}.position.target_junction is wrong" + assert 0 <= self.position.mileage <= self.position.section.length, f"{self}.position.length is wrong" diff --git a/ptcs/ptcs_control/components/train.py b/ptcs/ptcs_control/components/train.py index 7fc72b3..36bb873 100644 --- a/ptcs/ptcs_control/components/train.py +++ b/ptcs/ptcs_control/components/train.py @@ -25,10 +25,11 @@ class Train(BaseComponent): min_input: int max_input: int max_speed: float + length: float # 列車の長さ[cm] delta_per_motor_rotation: float # モータ1回転で進む距離[cm] # state - position: DirectedPosition # 位置と方向 + head_position: DirectedPosition # 列車先頭の位置と方向 stop: Stop | None = field(default=None) # 列車の停止目標 stop_distance: float = field(default=0.0) # 停止目標までの距離[cm] departure_time: int | None = field(default=None) # 発車予定時刻 @@ -36,6 +37,15 @@ class Train(BaseComponent): # commands speed_command: float = field(default=0.0) # 速度指令値 + def verify(self) -> None: + super().verify() + assert ( + self.head_position.target_junction in self.head_position.section.connected_junctions.values() + ), f"{self}.head_position.target_junction is wrong" + assert ( + 0 <= self.head_position.mileage <= self.head_position.section.length + ), f"{self}.head_position.length is wrong" + def calc_input(self, speed: float) -> int: if speed > self.max_speed: return self.max_input @@ -56,7 +66,7 @@ def move_forward(self, delta: float) -> None: 列車を距離 delta 分だけ進める。 """ - self.position = self.position.get_advanced_position(delta) + self.head_position = self.head_position.get_advanced_position(delta) def fix_position(self, sensor: SensorPosition) -> None: """ @@ -64,7 +74,7 @@ def fix_position(self, sensor: SensorPosition) -> None: TODO: 向きを割り出すためにどうするか """ - self.position = DirectedPosition(sensor.section, sensor.target_junction, sensor.mileage) + self.head_position = DirectedPosition(sensor.section, sensor.target_junction, sensor.mileage) def send_speed_command(self, speed_command: float) -> None: """ @@ -80,9 +90,7 @@ def find_forward_train(self) -> tuple[Train, float] | None: ジャンクションの開通方向によっては先行列車に到達できない場合があり、そのときはNoneを返す。 """ - TRAIN_LENGTH: float = 60 # 列車の長さ[cm] NOTE:将来的には車両のパラメータとして定義 - - section = self.position.section + section = self.head_position.section forward_train: Train | None = None forward_train_distance: float = 99999999 # ありえない大きな値 @@ -91,18 +99,18 @@ def find_forward_train(self) -> tuple[Train, float] | None: # 指定された列車の前方にいる列車のうち、最も近いもの`forward_train`を取得 for other_train in self.control.trains.values(): - if other_train.position.section == self.position.section: + if other_train.head_position.section == self.head_position.section: if other_train != self: if ( # 端点A(target_junction)<---|other_train|--train---<端点B - self.position.target_junction == section.connected_junctions[SectionConnection.A] - and self.position.mileage <= self.position.mileage + self.head_position.target_junction == section.connected_junctions[SectionConnection.A] + and self.head_position.mileage <= self.head_position.mileage ) or ( # 端点A>---train--|other_train|--->端点B(target_junction) - self.position.target_junction == section.connected_junctions[SectionConnection.B] - and self.position.mileage <= other_train.position.mileage + self.head_position.target_junction == section.connected_junctions[SectionConnection.B] + and self.head_position.mileage <= other_train.head_position.mileage ): - distance = abs(self.position.mileage - other_train.position.mileage) + distance = abs(self.head_position.mileage - other_train.head_position.mileage) if distance < forward_train_distance: forward_train = other_train forward_train_distance = distance @@ -110,13 +118,13 @@ def find_forward_train(self) -> tuple[Train, float] | None: # 指定された列車と同一セクションに先行列車が存在しなければ次のセクションに移り、 # 先行列車が見つかるまで繰り返す - section = self.position.section - target_junction = self.position.target_junction + section = self.head_position.section + target_junction = self.head_position.target_junction - if self.position.target_junction == section.connected_junctions[SectionConnection.A]: - distance = self.position.mileage - elif self.position.target_junction == section.connected_junctions[SectionConnection.B]: - distance = section.length - self.position.mileage + if self.head_position.target_junction == section.connected_junctions[SectionConnection.A]: + distance = self.head_position.mileage + elif self.head_position.target_junction == section.connected_junctions[SectionConnection.B]: + distance = section.length - self.head_position.mileage else: raise @@ -127,13 +135,13 @@ def find_forward_train(self) -> tuple[Train, float] | None: section, target_junction = next_section_and_junction for other_train in self.control.trains.values(): - if other_train.position.section == section: + if other_train.head_position.section == section: # 端点A(target_junction)<---|other_train|-----<端点B if target_junction == section.connected_junctions[SectionConnection.A]: - new_distance = distance + section.length - other_train.position.mileage + new_distance = distance + section.length - other_train.head_position.mileage # 端点A>-----|other_train|--->端点B(target_junction) elif target_junction == section.connected_junctions[SectionConnection.B]: - new_distance = distance + other_train.position.mileage + new_distance = distance + other_train.head_position.mileage else: raise @@ -147,7 +155,7 @@ def find_forward_train(self) -> tuple[Train, float] | None: # 先行列車を発見できたら、その最後尾までの距離を計算し、返す if forward_train: - return (forward_train, forward_train_distance - TRAIN_LENGTH) + return forward_train, forward_train_distance - forward_train.length else: return None @@ -158,7 +166,7 @@ def find_forward_stop(self) -> tuple[Stop, float] | None: NOTE: `find_forward_train` とほぼ同じアルゴリズム """ - section = self.position.section + section = self.head_position.section forward_stop: Stop | None = None forward_stop_distance: float = 99999999 # ありえない大きな値 @@ -168,19 +176,19 @@ def find_forward_stop(self) -> tuple[Stop, float] | None: for stop in self.control.stops.values(): if ( - stop.position.section == self.position.section - and stop.position.target_junction == self.position.target_junction + stop.position.section == self.head_position.section + and stop.position.target_junction == self.head_position.target_junction ): if ( # 端点A(target_junction)<---|stop|--train---<端点B - self.position.target_junction == section.connected_junctions[SectionConnection.A] - and stop.position.mileage <= self.position.mileage + self.head_position.target_junction == section.connected_junctions[SectionConnection.A] + and stop.position.mileage <= self.head_position.mileage ) or ( # 端点A>---train--|stop|--->端点B(target_junction) - self.position.target_junction == section.connected_junctions[SectionConnection.B] - and self.position.mileage <= stop.position.mileage + self.head_position.target_junction == section.connected_junctions[SectionConnection.B] + and self.head_position.mileage <= stop.position.mileage ): - distance = abs(self.position.mileage - stop.position.mileage) + distance = abs(self.head_position.mileage - stop.position.mileage) if distance < forward_stop_distance: forward_stop = stop forward_stop_distance = distance @@ -188,13 +196,13 @@ def find_forward_stop(self) -> tuple[Stop, float] | None: # 指定された列車と同一セクションに停止位置が存在しなければ次のセクションに移り、 # 停止位置が見つかるまで繰り返す - section = self.position.section - target_junction = self.position.target_junction + section = self.head_position.section + target_junction = self.head_position.target_junction - if self.position.target_junction == section.connected_junctions[SectionConnection.A]: - distance = self.position.mileage - elif self.position.target_junction == section.connected_junctions[SectionConnection.B]: - distance = section.length - self.position.mileage + if self.head_position.target_junction == section.connected_junctions[SectionConnection.A]: + distance = self.head_position.mileage + elif self.head_position.target_junction == section.connected_junctions[SectionConnection.B]: + distance = section.length - self.head_position.mileage else: raise @@ -234,6 +242,6 @@ def find_forward_stop(self) -> tuple[Stop, float] | None: # 停止目標を発見できたら、そこまでの距離とともに返す if forward_stop: - return (forward_stop, forward_stop_distance) + return forward_stop, forward_stop_distance else: return None diff --git a/ptcs/ptcs_control/constants.py b/ptcs/ptcs_control/constants.py index c03d2b5..e5b3c03 100644 --- a/ptcs/ptcs_control/constants.py +++ b/ptcs/ptcs_control/constants.py @@ -1,7 +1,9 @@ STRAIGHT_RAIL = 21.50 # 直線レール [cm] +STRAIGHT_1_2_RAIL = 10.70 # 1/2直線レール [cm] STRAIGHT_1_4_RAIL = 5.30 # 1/4直線レール [cm] STRAIGHT_1_6_RAIL = 3.65 # 1/6直線レール [cm] CURVE_RAIL = 16.90 # 曲線レール [cm] +OUTER_CURVE_RAIL = 21.60 # 複線外側曲線レール [cm] U_TURN_RAIL = 101.00 # Uターンレール [cm] WATARI_RAIL_A = 18.50 # 複線わたりポイントレール直線部(長) [cm] WATARI_RAIL_B = 3.00 # 複線わたりポイントレール直線部(短) [cm] diff --git a/ptcs/ptcs_control/control.py b/ptcs/ptcs_control/control.py index b7f45b5..7ceaabc 100644 --- a/ptcs/ptcs_control/control.py +++ b/ptcs/ptcs_control/control.py @@ -118,6 +118,11 @@ def _calc_direction(self) -> None: ポイントをどちら向きにするかを計算する。 """ + for junction in self.junctions.values(): + if not junction.is_toggle_prohibited(): + junction.set_direction(junction.direction_command) + return + # junction定義 j0a = self.junctions["j0"] j0b = self.junctions["j1"] @@ -169,13 +174,13 @@ def _calc_direction(self) -> None: # s5にtrainが存在するか s5_exist: bool = False for train in self.trains.values(): - if train.position.section == s1 and train.position.target_junction == j0b: + if train.head_position.section == s1 and train.head_position.target_junction == j0b: s1_j0b_exist = True - if train.position.section == s1 and train.position.target_junction == j1b: + if train.head_position.section == s1 and train.head_position.target_junction == j1b: s1_j1b_exist = True - if train.position.section == s4: + if train.head_position.section == s4: s4_exist = True - if train.position.section == s5: + if train.head_position.section == s5: s5_exist = True # ポイントの向きを判定 @@ -215,15 +220,15 @@ def _calc_speed(self) -> None: distance = 0.0 - current_section = train.position.section - target_junction = train.position.target_junction + current_section = train.head_position.section + target_junction = train.head_position.target_junction while True: next_section, next_junction = current_section.get_next_section_and_target_junction(target_junction) # いま見ているセクションが閉鎖 -> 即時停止 # ただしすでに列車が閉鎖セクションに入ってしまった場合は、駅まで動かしたいので、止めない - if current_section != train.position.section and current_section.is_blocked is True: + if current_section != train.head_position.section and current_section.is_blocked is True: distance += 0 break @@ -238,11 +243,11 @@ def _calc_speed(self) -> None: current_section.get_next_section_and_target_junction_strict(target_junction) is None or next_section.is_blocked is True ): - if current_section == train.position.section: + if current_section == train.head_position.section: if target_junction == current_section.connected_junctions[SectionConnection.A]: - distance += train.position.mileage - MERGIN + distance += train.head_position.mileage - MERGIN elif target_junction == current_section.connected_junctions[SectionConnection.B]: - distance += current_section.length - train.position.mileage - MERGIN + distance += current_section.length - train.head_position.mileage - MERGIN else: raise else: @@ -261,11 +266,17 @@ def _calc_speed(self) -> None: # 停止条件を満たさなければ次に移る else: - if current_section == train.position.section: - if train.position.target_junction == current_section.connected_junctions[SectionConnection.A]: - distance += train.position.mileage - elif train.position.target_junction == current_section.connected_junctions[SectionConnection.B]: - distance += current_section.length - train.position.mileage + if current_section == train.head_position.section: + if ( + train.head_position.target_junction + == current_section.connected_junctions[SectionConnection.A] + ): + distance += train.head_position.mileage + elif ( + train.head_position.target_junction + == current_section.connected_junctions[SectionConnection.B] + ): + distance += current_section.length - train.head_position.mileage else: raise else: diff --git a/ptcs/ptcs_control/mft2023.py b/ptcs/ptcs_control/mft2023.py index 23e7dc9..46a1b20 100644 --- a/ptcs/ptcs_control/mft2023.py +++ b/ptcs/ptcs_control/mft2023.py @@ -9,6 +9,8 @@ from .components.train import Train from .constants import ( CURVE_RAIL, + OUTER_CURVE_RAIL, + STRAIGHT_1_2_RAIL, STRAIGHT_1_4_RAIL, STRAIGHT_RAIL, WATARI_RAIL_A, @@ -36,23 +38,41 @@ def create_control(logger: logging.Logger | None = None) -> Control: s0 = Section( id="s0", - length=WATARI_RAIL_B * 1 + STRAIGHT_RAIL * 14 + CURVE_RAIL * 8 + STRAIGHT_1_4_RAIL * 1 + WATARI_RAIL_A * 1, + length=WATARI_RAIL_A + 7.03 + STRAIGHT_RAIL + CURVE_RAIL + STRAIGHT_RAIL + WATARI_RAIL_A, ) s1 = Section( id="s1", - length=STRAIGHT_RAIL * 3 + WATARI_RAIL_B * 2, + length=WATARI_RAIL_B + + STRAIGHT_RAIL * 4 + + CURVE_RAIL * 3 + + STRAIGHT_RAIL * 4 + + CURVE_RAIL + + STRAIGHT_RAIL * 2 + + 3.67 + + CURVE_RAIL * 2 + + STRAIGHT_1_2_RAIL + + WATARI_RAIL_B, ) s2 = Section( id="s2", - length=WATARI_RAIL_A * 1 + STRAIGHT_RAIL * 6 + CURVE_RAIL * 8 + STRAIGHT_1_4_RAIL * 1 + WATARI_RAIL_B * 1, + length=WATARI_RAIL_B + 4.70 + OUTER_CURVE_RAIL * 2 + WATARI_RAIL_B, ) s3 = Section( id="s3", - length=WATARI_RAIL_A * 2 + STRAIGHT_RAIL * 3, + length=WATARI_RAIL_A + + STRAIGHT_RAIL * 2 + + OUTER_CURVE_RAIL * 2 + + STRAIGHT_RAIL * 2 + + STRAIGHT_1_2_RAIL + + OUTER_CURVE_RAIL * 2 + + STRAIGHT_RAIL * 3 + + OUTER_CURVE_RAIL * 2 + + 6.01 + + WATARI_RAIL_A, ) s4 = Section( id="s4", - length=WATARI_RAIL_C, + length=WATARI_RAIL_C + WATARI_RAIL_C, ) s5 = Section( id="s5", @@ -90,8 +110,9 @@ def create_control(logger: logging.Logger | None = None) -> Control: min_input=70, max_input=130, max_speed=40.0, + length=60.0, delta_per_motor_rotation=0.2435 * 0.9, - position=DirectedPosition( + head_position=DirectedPosition( section=s0, target_junction=j3, mileage=STRAIGHT_RAIL * 4.5 + WATARI_RAIL_B + 1, # 次駅探索の都合上、stopを1cm通り過ぎた場所にしておく @@ -102,8 +123,9 @@ def create_control(logger: logging.Logger | None = None) -> Control: min_input=90, max_input=130, max_speed=40.0, + length=60.0, delta_per_motor_rotation=0.1919 * 1.1 * 0.9, - position=DirectedPosition( + head_position=DirectedPosition( section=s1, target_junction=j0, mileage=STRAIGHT_RAIL * 2.5 + WATARI_RAIL_B + 1, @@ -155,17 +177,17 @@ def create_control(logger: logging.Logger | None = None) -> Control: ), ) - control.add_stop(stop_0) - control.add_stop(stop_1) - control.add_stop(stop_2) - control.add_stop(stop_3) - control.add_stop(stop_4) + # control.add_stop(stop_0) + # control.add_stop(stop_1) + # control.add_stop(stop_2) + # control.add_stop(stop_3) + # control.add_stop(stop_4) station_0 = Station(id="station_0", stops=[stop_0, stop_1]) station_1 = Station(id="station_1", stops=[stop_2, stop_3, stop_4]) - control.add_station(station_0) - control.add_station(station_1) + # control.add_station(station_0) + # control.add_station(station_1) position_173 = SensorPosition( id="position_173", @@ -192,10 +214,10 @@ def create_control(logger: logging.Logger | None = None) -> Control: mileage=WATARI_RAIL_A * 1 + STRAIGHT_RAIL * 5.5 + CURVE_RAIL * 8 + STRAIGHT_1_4_RAIL * 1, ) - control.add_sensor_position(position_173) - control.add_sensor_position(position_138) - control.add_sensor_position(position_80) - control.add_sensor_position(position_255) + # control.add_sensor_position(position_173) + # control.add_sensor_position(position_138) + # control.add_sensor_position(position_80) + # control.add_sensor_position(position_255) control.verify() return control diff --git a/ptcs/ptcs_server/api.py b/ptcs/ptcs_server/api.py index e2ce6e4..d0a862e 100644 --- a/ptcs/ptcs_server/api.py +++ b/ptcs/ptcs_server/api.py @@ -65,7 +65,7 @@ def update_junction(junction_id: str, params: UpdateJunctionParams, request: Req """ control: Control = request.app.state.control junction = control.junctions[junction_id] - junction.set_direction(params.direction) + junction.direction_command = params.direction @api_router.post("/state/sections/{section_id}/block") diff --git a/ptcs/ptcs_server/bridges.py b/ptcs/ptcs_server/bridges.py index 8597f75..37837f9 100644 --- a/ptcs/ptcs_server/bridges.py +++ b/ptcs/ptcs_server/bridges.py @@ -6,8 +6,8 @@ import serial.tools.list_ports +from ptcs_bridge.bridge import Bridge from ptcs_control.components.sensor_position import SensorPosition -from usb_bt_bridge.bridge import Bridge BridgeTarget = str BridgeDict = dict[BridgeTarget, Bridge] diff --git a/ptcs/ptcs_server/server.py b/ptcs/ptcs_server/server.py index 4c1582d..3adc9de 100644 --- a/ptcs/ptcs_server/server.py +++ b/ptcs/ptcs_server/server.py @@ -1,3 +1,4 @@ +import asyncio import logging import os import threading @@ -9,9 +10,12 @@ from fastapi.staticfiles import StaticFiles from pydantic import BaseModel +from ptcs_bridge.bridge import Bridge +from ptcs_bridge.bridge2 import Bridge2 +from ptcs_bridge.train_base import TrainBase +from ptcs_bridge.train_simulator import TrainSimulator from ptcs_control.control import Control from ptcs_control.mft2023 import create_control -from usb_bt_bridge import Bridge from .api import api_router from .bridges import BridgeManager, BridgeTarget @@ -45,27 +49,54 @@ def create_app() -> FastAPI: def create_app_without_bridge() -> FastAPI: logger = logging.getLogger("uvicorn") + app = FastAPI(generate_unique_id_function=lambda route: route.name) + control = create_control(logger=logger) + app.state.control = control + + # `/api` 以下で API を呼び出す + app.include_router(api_router, prefix="/api") + + # `/` 以下で静的ファイルを配信する + app.mount("/", StaticFiles(directory="./ptcs_ui/dist", html=True), name="static") + + bridge = Bridge2() + bridge.add_train(TrainSimulator("t0")) + bridge.add_train(TrainSimulator("t1")) + + async def loop(): + await bridge.connect_all() + + def handle_notify_rotation(train_client: TrainBase, _rotation: int): + train_control = control.trains.get(train_client.id) + if train_control is None: + return + train_control.move_forward_mr(1) + + for train in bridge.trains.values(): + await train.start_notify_rotation(handle_notify_rotation) - # control 内部の時計を現実世界の時間において進める - def run_clock() -> None: while True: - time.sleep(0.1) + # control 内部の時計を現実世界の時間において進める + await asyncio.sleep(0.1) control.tick() control.update() - clock_thread = threading.Thread(target=run_clock, daemon=True) - clock_thread.start() + for train_id, train_control in control.trains.items(): + train_client = bridge.trains.get(train_id) + if train_client is None: + continue + await train_client.send_speed(train_control.speed_command) - app = FastAPI(generate_unique_id_function=lambda route: route.name) - app.state.control = control - app.state.clock_thread = clock_thread + loop_task = asyncio.create_task(loop()) + app.state.loop_task = loop_task - # `/api` 以下で API を呼び出す - app.include_router(api_router, prefix="/api") + @app.on_event("shutdown") + async def on_shutdown(): + for train in bridge.trains.values(): + await train.send_speed(0) - # `/` 以下で静的ファイルを配信する - app.mount("/", StaticFiles(directory="./ptcs_ui/dist", html=True), name="static") + await bridge.disconnect_all() return app @@ -183,7 +214,7 @@ def serve(*, port: int = DEFAULT_PORT, bridge: bool = False, debug: bool = False port=port, log_level="info", reload=True, - reload_dirs=["ptcs_control", "ptcs_server", "usb_bt_bridge"], + reload_dirs=["ptcs_bridge", "ptcs_control", "ptcs_server"], ) else: uvicorn.run( diff --git a/ptcs/ptcs_server/types/state.py b/ptcs/ptcs_server/types/state.py index 8da20d6..85c548a 100644 --- a/ptcs/ptcs_server/types/state.py +++ b/ptcs/ptcs_server/types/state.py @@ -10,6 +10,7 @@ from ptcs_control.components.junction import JunctionConnection, PointDirection from ptcs_control.components.section import SectionConnection +from ptcs_control.components.train import Train from ptcs_control.control import Control @@ -42,13 +43,43 @@ class TrainState(BaseModel): min_input: int max_input: int max_speed: float + length: float delta_per_motor_rotation: float - position: DirectedPosition + head_position: DirectedPosition + tail_position: DirectedPosition + covered_section_ids: list[str] stop_id: str | None stop_distance: float departure_time: int | None speed_command: float + @staticmethod + def from_control(train: Train) -> TrainState: + tail_position, covered_sections = train.head_position.get_retracted_position_with_path(train.length) + return TrainState( + id=train.id, + min_input=train.min_input, + max_input=train.max_input, + max_speed=train.max_speed, + length=train.length, + delta_per_motor_rotation=train.delta_per_motor_rotation, + head_position=DirectedPosition( + section_id=train.head_position.section.id, + target_junction_id=train.head_position.target_junction.id, + mileage=train.head_position.mileage, + ), + tail_position=DirectedPosition( + section_id=tail_position.section.id, + target_junction_id=tail_position.target_junction.id, + mileage=tail_position.mileage, + ), + covered_section_ids=[section.id for section in covered_sections], + stop_id=train.stop.id if train.stop else None, + stop_distance=train.stop_distance, + departure_time=train.departure_time, + speed_command=train.speed_command, + ) + class StopState(BaseModel): id: str @@ -101,25 +132,7 @@ def get_state_from_control(control: Control) -> RailwayState: ) for section in control.sections.values() }, - trains={ - train.id: TrainState( - id=train.id, - min_input=train.min_input, - max_input=train.max_input, - max_speed=train.max_speed, - delta_per_motor_rotation=train.delta_per_motor_rotation, - position=DirectedPosition( - section_id=train.position.section.id, - 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b/ptcs/ptcs_ui/dist/index.html @@ -5,7 +5,7 @@ Plarailers Train Control System - +
diff --git a/ptcs/ptcs_ui/src/components/Debugger.tsx b/ptcs/ptcs_ui/src/components/Debugger.tsx index b0c333a..59810f2 100644 --- a/ptcs/ptcs_ui/src/components/Debugger.tsx +++ b/ptcs/ptcs_ui/src/components/Debugger.tsx @@ -1,5 +1,5 @@ import { Button, Group } from "@mantine/core"; -import { DefaultService } from "ptcs_client"; +import { DefaultService, PointDirection } from "ptcs_client"; import React, { useContext } from "react"; import { RailwayStateContext } from "../contexts"; @@ -9,6 +9,10 @@ export const Debugger: React.FC = () => { + + + + @@ -68,6 +72,42 @@ const PutTrainButton: React.FC = ({ id, positionId }) => { ); }; +interface ToggleJunctionButtonProps { + id: string; +} + +const ToggleJunctionButton: React.FC = ({ id }) => { + const railwayState = useContext(RailwayStateContext); + + if (!railwayState) return null; + + const junctionState = railwayState.junctions[id]; + + return ( + + ); +}; + interface BlockSectionButtonProps { id: string; } diff --git a/ptcs/ptcs_ui/src/components/Railway.tsx b/ptcs/ptcs_ui/src/components/Railway.tsx index df4b325..ee3834f 100644 --- a/ptcs/ptcs_ui/src/components/Railway.tsx +++ b/ptcs/ptcs_ui/src/components/Railway.tsx @@ -5,15 +5,21 @@ import { Train } from "./Train"; import { Junction } from "./Junction"; import { useContext } from "react"; import { Stop } from "./Stop"; +import { useMantineTheme } from "@mantine/core"; export const Railway: React.FC = ({ children }) => { + const theme = useMantineTheme(); const railwayUI = useContext(RailwayUIContext); if (!railwayUI) return null; return ( - + {Object.entries(railwayUI.platforms).map(([id, platform]) => ( ))} diff --git a/ptcs/ptcs_ui/src/components/Train.tsx b/ptcs/ptcs_ui/src/components/Train.tsx index 0a33082..3ca17c5 100644 --- a/ptcs/ptcs_ui/src/components/Train.tsx +++ b/ptcs/ptcs_ui/src/components/Train.tsx @@ -2,7 +2,13 @@ import { useContext } from "react"; import { useMantineTheme } from "@mantine/core"; import { RailwayStateContext, RailwayUIContext } from "../contexts"; import { calculatePositionAndDirection } from "../lib/point"; -import { SectionConnection } from "ptcs_client"; +import { + DirectedPosition, + RailwayState, + SectionConnection, + TrainState, +} from "ptcs_client"; +import { RailwayUI } from "../types"; interface TrainProps { id: string; @@ -19,40 +25,219 @@ export const Train: React.FC = ({ id }) => { } const trainState = railwayState.trains[id]; - const currentSectionState = - railwayState.sections[trainState.position.section_id]; - const currentSectionUI = railwayUI.sections[trainState.position.section_id]; + + const { position: headPosition, angle: headAngle } = + calculatePositionAndAngle( + trainState.head_position, + railwayState, + railwayUI + ); + const { position: tailPosition, angle: tailAngle } = + calculatePositionAndAngle( + trainState.tail_position, + railwayState, + railwayUI + ); + + const path = calculatePath(trainState, railwayState, railwayUI); + + const trainUI = railwayUI.trains[id]; + + return ( + <> + `${p.x},${p.y}`).join(" ")} + fill="none" + stroke={trainUI.fill} + strokeWidth={4} + strokeLinecap="round" + strokeLinejoin="miter" + /> + + + + + {trainState.departure_time != null && ( + + + {trainState.departure_time - railwayState.current_time} + + + )} + + + + + + + + ); +}; + +const calculatePositionAndAngle = ( + trainPosition: DirectedPosition, + railwayState: RailwayState, + railwayUI: RailwayUI +): { position: { x: number; y: number }; angle: number } => { + const currentSectionState = railwayState.sections[trainPosition.section_id]; + const currentSectionUI = railwayUI.sections[trainPosition.section_id]; const { position, direction } = calculatePositionAndDirection( - trainState.position.mileage / currentSectionState.length, + trainPosition.mileage / currentSectionState.length, currentSectionUI.points ); if ( - trainState.position.target_junction_id === + trainPosition.target_junction_id === currentSectionState.connected_junction_ids[SectionConnection.A] ) { direction.x *= -1; direction.y *= -1; } const angle = (Math.atan2(direction.y, direction.x) / Math.PI) * 180; + return { position, angle }; +}; - const trainUI = railwayUI.trains[id]; +const calculatePath = ( + trainState: TrainState, + railwayState: RailwayState, + railwayUI: RailwayUI +): { x: number; y: number }[] => { + const path: { x: number; y: number }[] = []; - return ( - - - - - {trainState.departure_time != null && ( - - - {trainState.departure_time - railwayState.current_time} - - - )} - - ); + if ( + trainState.head_position.section_id === trainState.tail_position.section_id + ) { + const tailSectionState = + railwayState.sections[trainState.tail_position.section_id]; + const tailSectionUI = + railwayUI.sections[trainState.tail_position.section_id]; + const { + position: tailPosition, + direction: tailDirection, + partitionIndex: tailPartitionIndex, + } = calculatePositionAndDirection( + trainState.tail_position.mileage / tailSectionState.length, + tailSectionUI.points + ); + if ( + trainState.tail_position.target_junction_id === + tailSectionState.connected_junction_ids[SectionConnection.A] + ) { + tailDirection.x *= -1; + tailDirection.y *= -1; + } + + const headSectionState = + railwayState.sections[trainState.head_position.section_id]; + const headSectionUI = + railwayUI.sections[trainState.head_position.section_id]; + const { + position: headPosition, + direction: headDirection, + partitionIndex: headPartitionIndex, + } = calculatePositionAndDirection( + trainState.head_position.mileage / headSectionState.length, + headSectionUI.points + ); + if ( + trainState.head_position.target_junction_id === + headSectionState.connected_junction_ids[SectionConnection.A] + ) { + headDirection.x *= -1; + headDirection.y *= -1; + } + + if (headPartitionIndex <= tailPartitionIndex) { + path.push( + headPosition, + ...headSectionUI.points.slice(headPartitionIndex, tailPartitionIndex), + tailPosition + ); + } else { + path.push( + tailPosition, + ...headSectionUI.points.slice(tailPartitionIndex, headPartitionIndex), + headPosition + ); + } + } else { + const tailSectionState = + railwayState.sections[trainState.tail_position.section_id]; + const tailSectionUI = + railwayUI.sections[trainState.tail_position.section_id]; + const { + position: tailPosition, + direction: tailDirection, + partitionIndex: tailPartitionIndex, + } = calculatePositionAndDirection( + trainState.tail_position.mileage / tailSectionState.length, + tailSectionUI.points + ); + if ( + trainState.tail_position.target_junction_id === + tailSectionState.connected_junction_ids[SectionConnection.B] + ) { + path.push( + tailPosition, + ...tailSectionUI.points.slice(tailPartitionIndex) + ); + } else { + tailDirection.x *= -1; + tailDirection.y *= -1; + path.push( + tailPosition, + ...tailSectionUI.points.slice(0, tailPartitionIndex).reverse() + ); + } + + for (const coveredSectionId of trainState.covered_section_ids) { + const coveredSectionUI = railwayUI.sections[coveredSectionId]; + if ( + coveredSectionUI.points[0].x === path[path.length - 1].x && + coveredSectionUI.points[0].y === path[path.length - 1].y + ) { + path.push(...coveredSectionUI.points); + } else { + path.push(...coveredSectionUI.points.slice().reverse()); + } + } + + const headSectionState = + railwayState.sections[trainState.head_position.section_id]; + const headSectionUI = + railwayUI.sections[trainState.head_position.section_id]; + const { + position: headPosition, + direction: headDirection, + partitionIndex: headPartitionIndex, + } = calculatePositionAndDirection( + trainState.head_position.mileage / headSectionState.length, + headSectionUI.points + ); + if ( + trainState.head_position.target_junction_id === + headSectionState.connected_junction_ids[SectionConnection.B] + ) { + path.push( + ...headSectionUI.points.slice(0, headPartitionIndex), + headPosition + ); + } else { + headDirection.x *= -1; + headDirection.y *= -1; + path.push( + ...headSectionUI.points.slice(headPartitionIndex).reverse(), + headPosition + ); + } + } + + return path; }; diff --git a/ptcs/ptcs_ui/src/lib/point.ts b/ptcs/ptcs_ui/src/lib/point.ts index 6040b38..4d3dac4 100644 --- a/ptcs/ptcs_ui/src/lib/point.ts +++ b/ptcs/ptcs_ui/src/lib/point.ts @@ -15,6 +15,11 @@ export const calculatePositionAndDirection = ( ): { position: { x: number; y: number }; direction: { x: number; y: number }; + /** + * UI 上のパスを `[...points.slice(0, partitionIndex), position]` と + * `[...position, points.slice(partitionIndex)]` とに分割するのに使えるインデックス。 + */ + partitionIndex: number; } => { let totalLength = 0; for (let i = 0; i < points.length - 1; i++) { @@ -27,7 +32,11 @@ export const calculatePositionAndDirection = ( if (targetLength < 0) { const p = points[0]; const q = points[1]; - return { position: p, direction: { x: q.x - p.x, y: q.y - p.y } }; + return { + position: p, + direction: { x: q.x - p.x, y: q.y - p.y }, + partitionIndex: 0, + }; } for (let i = 0; i < points.length - 1; i++) { const p = points[i]; @@ -45,12 +54,17 @@ export const calculatePositionAndDirection = ( x: q.x - p.x, y: q.y - p.y, }, + partitionIndex: i + 1, }; } } { const p = points[points.length - 2]; const q = points[points.length - 1]; - return { position: q, direction: { x: q.x - p.x, y: q.y - p.y } }; + return { + position: q, + direction: { x: q.x - p.x, y: q.y - p.y }, + partitionIndex: points.length, + }; } }; diff --git a/ptcs/ptcs_ui/src/main.tsx b/ptcs/ptcs_ui/src/main.tsx index b5d8946..df04cd3 100644 --- a/ptcs/ptcs_ui/src/main.tsx +++ b/ptcs/ptcs_ui/src/main.tsx @@ -13,7 +13,11 @@ const router = createHashRouter([ ReactDOM.createRoot(document.getElementById("root") as HTMLElement).render( - + diff --git a/ptcs/ptcs_ui/src/pages/Home.tsx b/ptcs/ptcs_ui/src/pages/Home.tsx index fa3d3a9..cc5a07c 100644 --- a/ptcs/ptcs_ui/src/pages/Home.tsx +++ b/ptcs/ptcs_ui/src/pages/Home.tsx @@ -1,4 +1,10 @@ -import { Code, Container, DEFAULT_THEME, Grid, Stack } from "@mantine/core"; +import { + Code, + Container, + DEFAULT_THEME, + Stack, + useMantineTheme, +} from "@mantine/core"; import { DefaultService, RailwayState } from "ptcs_client"; import { Layout } from "../components/Layout"; import { useEffect, useState } from "react"; @@ -94,28 +100,30 @@ const ui: RailwayUI = { }, }, stops: { - stop_0: {}, - stop_1: {}, - stop_2: {}, - stop_3: {}, - stop_4: {}, + // stop_0: {}, + // stop_1: {}, + // stop_2: {}, + // stop_3: {}, + // stop_4: {}, }, }; export const Home: React.FC = () => { + const theme = useMantineTheme(); const [railwayState, setRailwayState] = useState(null); - const [time, setTime] = useState(); + const [time, setTime] = useState(() => new Date()); useEffect(() => { DefaultService.getState().then((state) => { + setTime(new Date()); setRailwayState(state); }); }, []); useEffect(() => { const interval = setInterval(() => { - setTime(new Date()); DefaultService.getState().then((state) => { + setTime(new Date()); setRailwayState(state); }); }, 500); @@ -129,16 +137,20 @@ export const Home: React.FC = () => { - - {time?.toLocaleString()} - + + + + {time.toLocaleString()} + + - - - {JSON.stringify(railwayState, null, 4)} - - - + {JSON.stringify(railwayState, null, 4)} diff --git a/ptcs/pyproject.toml b/ptcs/pyproject.toml index 4e531eb..3d3599c 100644 --- a/ptcs/pyproject.toml +++ b/ptcs/pyproject.toml @@ -5,9 +5,9 @@ description = "" authors = ["UTokyo Plarailers "] readme = "README.md" packages = [ + { include = "ptcs_bridge" }, { include = "ptcs_control" }, { include = "ptcs_server" }, - { include = "usb_bt_bridge" }, ] [tool.poetry.scripts] @@ -17,6 +17,7 @@ scan = "serial.tools.list_ports:main" [tool.poetry.dependencies] python = ">=3.11,<3.12" +bleak = "^0.21.1" click = "^8.1.3" fastapi = "^0.103.1" uvicorn = "^0.23.2" diff --git a/ptcs/usb_bt_bridge/__init__.py b/ptcs/usb_bt_bridge/__init__.py deleted file mode 100644 index 554f954..0000000 --- a/ptcs/usb_bt_bridge/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -__all__ = ["Bridge"] - -from .bridge import Bridge