DAER/visualisation-marsh
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Setup basic scene to move the cube to last data received

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Marek S. Łukasiewicz 2025-01-30 17:11:10 +01:00
parent 73fed102c2
commit 372468b5a1
6 changed files with 59 additions and 4 deletions
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5
SConstruct
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@ -2,6 +2,11 @@
import os
import sys
if not os.path.isdir("modules/mavlink"):
raise UserError("MAVLink sources missing, run git submodule update --init --recursive")
if not os.path.isdir("include/mavlink"):
raise UserError("MAVLink generated headers missing, run python update_mavlink.py")
env = SConscript("modules/godot-cpp/SConstruct")
# For reference:

6
project/aircraft.gd Normal file
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@ -0,0 +1,6 @@
extends Node3D
@export var connector: MarshConnector
func _process(_delta: float) -> void:
transform = connector.get_aircraft()

1
project/aircraft.gd.uid Normal file
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@ -0,0 +1 @@
uid://cx30pr7kn4c74

37
project/main.tscn
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@ -1,5 +1,38 @@
[gd_scene format=3 uid="uid://cjrkxv8ix1h8s"]
[gd_scene load_steps=7 format=3 uid="uid://cjrkxv8ix1h8s"]
[node name="Node3D" type="Node3D"]
[ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft.gd" id="1_ig7tw"]
[sub_resource type="BoxMesh" id="BoxMesh_0xm2m"]
[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_ig7tw"]
[sub_resource type="Sky" id="Sky_0xm2m"]
sky_material = SubResource("ProceduralSkyMaterial_ig7tw")
[sub_resource type="Environment" id="Environment_ig7tw"]
background_mode = 2
sky = SubResource("Sky_0xm2m")
[sub_resource type="CameraAttributesPractical" id="CameraAttributesPractical_0xm2m"]
[node name="Main" type="Node3D"]
[node name="MarshConnector" type="MarshConnector" parent="."]
process_mode = 0
[node name="Aircraft" type="Node3D" parent="." node_paths=PackedStringArray("connector")]
script = ExtResource("1_ig7tw")
connector = NodePath("../MarshConnector")
[node name="MeshInstance3D" type="MeshInstance3D" parent="Aircraft"]
mesh = SubResource("BoxMesh_0xm2m")
[node name="Camera3D" type="Camera3D" parent="."]
transform = Transform3D(-1, -2.26267e-08, 8.44439e-08, 0, 0.965926, 0.258819, -8.74228e-08, 0.258819, -0.965926, 0, 1, -3)
[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
transform = Transform3D(-0.707107, -0.683013, 0.183013, 0, 0.258819, 0.965926, -0.707107, 0.683013, -0.183013, 3, 3, 3)
[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
environment = SubResource("Environment_ig7tw")
camera_attributes = SubResource("CameraAttributesPractical_0xm2m")

11
src/marshconnector.cpp
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@ -6,8 +6,10 @@
#include "godot_cpp/core/math.hpp"
#include "godot_cpp/core/memory.hpp"
#include "godot_cpp/core/print_string.hpp"
#include "godot_cpp/variant/basis.hpp"
#include "godot_cpp/variant/packed_byte_array.hpp"
#include "godot_cpp/variant/quaternion.hpp"
#include "godot_cpp/variant/transform3d.hpp"
#include "godot_cpp/variant/vector3.hpp"
#include "mavlink/all/mavlink.h" // IWYU pragma: keep; always include the mavlink.h file for selected dialect
#include "mavlink/common/mavlink_msg_sim_state.h"
@ -21,6 +23,7 @@ using namespace godot;
void MarshConnector::_bind_methods() {
ClassDB::bind_method(D_METHOD("send_heartbeat"),
&MarshConnector::send_heartbeat);
ClassDB::bind_method(D_METHOD("get_aircraft"), &MarshConnector::get_aircraft);
}
MarshConnector::MarshConnector() {
@ -123,14 +126,18 @@ float MarshConnector::get_parameter(const String &id) {
return Math_NAN;
}
Transform3D MarshConnector::get_aircraft() {
return Transform3D{Basis{last_rotation}, last_location};
}
Vector2 MarshConnector::local_meters_from_global_degrees(double latitude,
double longitude) {
// Convert everything to radians
const double lat = latitude * Math_PI / 180.0;
const double lon = longitude * Math_PI / 180.0;
const double lat0 = parameters[LOCAL_FRAME_LAT] * M_PI / 180.0;
const double lon0 = parameters[LOCAL_FRAME_LON] * M_PI / 180.0;
const double lat0 = parameters[LOCAL_FRAME_LAT] * Math_PI / 180.0;
const double lon0 = parameters[LOCAL_FRAME_LON] * Math_PI / 180.0;
double EARTH_RADIUS = 6371008.7714; // mean radius for WGS-84, in meters

3
src/marshconnector.h
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@ -5,6 +5,7 @@
#include "godot_cpp/classes/packet_peer_udp.hpp"
#include "godot_cpp/classes/timer.hpp"
#include "godot_cpp/variant/quaternion.hpp"
#include "godot_cpp/variant/transform3d.hpp"
#include "godot_cpp/variant/vector2.hpp"
#include "godot_cpp/variant/vector3.hpp"
#include "mavlink/mavlink_types.h"
@ -32,6 +33,8 @@ public:
Error set_parameter(const String &id, float value);
// Get current parameter value
float get_parameter(const String &id);
// Get current state of the aircraft
Transform3D get_aircraft();
// Convert from global coordinates to local position x=north, y=east
// taking into account current configuration.