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Improvements to odometry tab
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@jwbonner
jwbonner committed Jan 9, 2022
1 parent 0dece26 commit a3fa6d1
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6 changes: 4 additions & 2 deletions CHANGELOG.md
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* Added support for light and dark field images.
* Updated the 2022 field images to [these renders](https://www.chiefdelphi.com/t/2022-top-down-field-renders/399031).
Lots of feature enhancements to the odometry tab:
* Pose is now stored in a single double array, reducing the number of fields to drag around. This also simplifies some internal logic.
* The "ghost" field allows the robot code to send a supplemental pose that represents a position setpoint or vision measurement.
* The "vision" field allows for drawing a line between the robot and an active vision target.
4 changes: 2 additions & 2 deletions package-lock.json
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2 changes: 1 addition & 1 deletion package.json
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{
"name": "advantage-scope",
"productName": "Advantage Scope",
"version": "1.11.0",
"version": "1.12.0",
"description": "Logging tool from FRC Team 6328.",
"main": "main.js",
"scripts": {
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6 changes: 3 additions & 3 deletions www/index.html
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Expand Up @@ -260,7 +260,7 @@
</tr>
<tr>
<td>
<span class="label">Rotation:</span>
<span class="label" title="Full robot w/ trail (x, y, rotation)">Robot:</span>
<span class="field-name">&lt;Drag Here&gt;</span>
</td>
<td>
Expand All @@ -276,7 +276,7 @@
</tr>
<tr>
<td>
<span class="label">X Position:</span>
<span class="label" title="Supplemental transparent robot w/o trail (x, y, rotation)">Ghost:</span>
<span class="field-name">&lt;Drag Here&gt;</span>
</td>
<td>
Expand All @@ -301,7 +301,7 @@
</tr>
<tr>
<td>
<span class="label">Y Position:</span>
<span class="label" title="Green line from robot to target (x, y)">Vision:</span>
<span class="field-name">&lt;Drag Here&gt;</span>
</td>
<td>
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191 changes: 127 additions & 64 deletions www/modules/odometryRenderer.mjs
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Expand Up @@ -129,75 +129,138 @@ export class OdometryRenderer {
]
}

// Calculate robot position
var robotPos = calcCoordinates(command.pose.position)
var rotation = command.coordinates.unitRotation == "radians" ? command.pose.rotation : command.pose.rotation * (Math.PI / 180)
if (robotRight) rotation += Math.PI
var lengthPixels = pixelsPerInch * (command.coordinates.unitDistance == "inches" ? command.robot.size : command.robot.size * this.#inchesPerMeter)

// Render trail
if (command.pose.trail.length > 0) {
var trailCoordinates = []
var maxDistance = 0
command.pose.trail.forEach(position => {
var coordinates = calcCoordinates(position)
trailCoordinates.push(coordinates)
var distance = (((coordinates[0] - robotPos[0]) ** 2) + ((coordinates[1] - robotPos[1]) ** 2)) ** 0.5
if (distance > maxDistance) maxDistance = distance
})

var gradient = context.createRadialGradient(robotPos[0], robotPos[1], lengthPixels * 0.5, robotPos[0], robotPos[1], maxDistance)
gradient.addColorStop(0, "rgba(170, 170, 170, 1)")
gradient.addColorStop(0.25, "rgba(170, 170, 170, 1)")
gradient.addColorStop(1, "rgba(170, 170, 170, 0)")

context.strokeStyle = gradient
// Calculate robot length
var robotLengthPixels = pixelsPerInch * (command.coordinates.unitDistance == "inches" ? command.robot.size : command.robot.size * this.#inchesPerMeter)

if (command.pose.robotPose != null) {
// Calculate robot position
var robotPos = calcCoordinates(command.pose.robotPose.pose)
var rotation = command.coordinates.unitRotation == "radians" ? command.pose.robotPose.pose[2] : command.pose.robotPose.pose[2] * (Math.PI / 180)
if (robotRight) rotation += Math.PI

// Render trail
if (command.pose.robotPose.trail.filter(x => x != null).length > 0) {
var trailCoordinates = []
var maxDistance = 0
command.pose.robotPose.trail.forEach(position => {
if (position == null) {
trailCoordinates.push(null)
} else {
var coordinates = calcCoordinates(position)
trailCoordinates.push(coordinates)
var distance = (((coordinates[0] - robotPos[0]) ** 2) + ((coordinates[1] - robotPos[1]) ** 2)) ** 0.5
if (distance > maxDistance) maxDistance = distance
}
})

var gradient = context.createRadialGradient(robotPos[0], robotPos[1], robotLengthPixels * 0.5, robotPos[0], robotPos[1], maxDistance)
gradient.addColorStop(0, "rgba(170, 170, 170, 1)")
gradient.addColorStop(0.25, "rgba(170, 170, 170, 1)")
gradient.addColorStop(1, "rgba(170, 170, 170, 0)")

context.strokeStyle = gradient
context.lineWidth = 1 * pixelsPerInch
context.lineCap = "round"
context.lineJoin = "round"
context.beginPath()
var firstPoint = true
trailCoordinates.forEach(position => {
if (position == null) {
context.stroke()
context.beginPath()
firstPoint = true
} else {
if (firstPoint) {
context.moveTo(position[0], position[1])
firstPoint = false
} else {
context.lineTo(position[0], position[1])
}
}
})
context.stroke()
}

// Render vision line
if (command.pose.visionCoordinates != null) {
var visionCoordinates = calcCoordinates(command.pose.visionCoordinates)
context.strokeStyle = "lightgreen"
context.lineWidth = 1 * pixelsPerInch
context.beginPath()
context.moveTo(robotPos[0], robotPos[1])
context.lineTo(visionCoordinates[0], visionCoordinates[1])
context.stroke()
}

// Render robot
context.fillStyle = "#222"
context.strokeStyle = command.robot.alliance
context.lineWidth = 3 * pixelsPerInch
var backLeft = transform([robotLengthPixels * -0.5, robotLengthPixels * -0.5], rotation, robotPos)
var frontLeft = transform([robotLengthPixels * 0.5, robotLengthPixels * -0.5], rotation, robotPos)
var frontRight = transform([robotLengthPixels * 0.5, robotLengthPixels * 0.5], rotation, robotPos)
var backRight = transform([robotLengthPixels * -0.5, robotLengthPixels * 0.5], rotation, robotPos)
context.beginPath()
context.moveTo(frontLeft[0], frontLeft[1])
context.lineTo(frontRight[0], frontRight[1])
context.lineTo(backRight[0], backRight[1])
context.lineTo(backLeft[0], backLeft[1])
context.closePath()
context.fill()
context.stroke()

context.strokeStyle = "white"
context.lineWidth = 1 * pixelsPerInch
context.lineCap = "round"
context.lineJoin = "round"
var arrowBack = transform([robotLengthPixels * -0.3, 0], rotation, robotPos)
var arrowFront = transform([robotLengthPixels * 0.3, 0], rotation, robotPos)
var arrowLeft = transform([robotLengthPixels * 0.15, robotLengthPixels * -0.15], rotation, robotPos)
var arrowRight = transform([robotLengthPixels * 0.15, robotLengthPixels * 0.15], rotation, robotPos)
context.beginPath()
var firstPoint = true
trailCoordinates.forEach(position => {
if (firstPoint) {
context.moveTo(position[0], position[1])
firstPoint = false
} else {
context.lineTo(position[0], position[1])
}
})
context.moveTo(arrowBack[0], arrowBack[1])
context.lineTo(arrowFront[0], arrowFront[1])
context.moveTo(arrowLeft[0], arrowLeft[1])
context.lineTo(arrowFront[0], arrowFront[1])
context.lineTo(arrowRight[0], arrowRight[1])
context.stroke()
}

// Render robot
context.fillStyle = "#222"
context.strokeStyle = command.robot.alliance
context.lineWidth = 3 * pixelsPerInch
var backLeft = transform([lengthPixels * -0.5, lengthPixels * -0.5], rotation, robotPos)
var frontLeft = transform([lengthPixels * 0.5, lengthPixels * -0.5], rotation, robotPos)
var frontRight = transform([lengthPixels * 0.5, lengthPixels * 0.5], rotation, robotPos)
var backRight = transform([lengthPixels * -0.5, lengthPixels * 0.5], rotation, robotPos)
context.beginPath()
context.moveTo(frontLeft[0], frontLeft[1])
context.lineTo(frontRight[0], frontRight[1])
context.lineTo(backRight[0], backRight[1])
context.lineTo(backLeft[0], backLeft[1])
context.closePath()
context.fill()
context.stroke()

context.strokeStyle = "white"
context.lineWidth = 1 * pixelsPerInch
var arrowBack = transform([lengthPixels * -0.3, 0], rotation, robotPos)
var arrowFront = transform([lengthPixels * 0.3, 0], rotation, robotPos)
var arrowLeft = transform([lengthPixels * 0.15, lengthPixels * -0.15], rotation, robotPos)
var arrowRight = transform([lengthPixels * 0.15, lengthPixels * 0.15], rotation, robotPos)
context.beginPath()
context.moveTo(arrowBack[0], arrowBack[1])
context.lineTo(arrowFront[0], arrowFront[1])
context.moveTo(arrowLeft[0], arrowLeft[1])
context.lineTo(arrowFront[0], arrowFront[1])
context.lineTo(arrowRight[0], arrowRight[1])
context.stroke()
// Render ghost robot
if (command.pose.ghostPose != null) {
var robotPos = calcCoordinates(command.pose.ghostPose)
var rotation = command.coordinates.unitRotation == "radians" ? command.pose.ghostPose[2] : command.pose.ghostPose[2] * (Math.PI / 180)
if (robotRight) rotation += Math.PI

context.globalAlpha = 0.5
context.fillStyle = "#222"
context.strokeStyle = command.robot.alliance
context.lineWidth = 3 * pixelsPerInch
var backLeft = transform([robotLengthPixels * -0.5, robotLengthPixels * -0.5], rotation, robotPos)
var frontLeft = transform([robotLengthPixels * 0.5, robotLengthPixels * -0.5], rotation, robotPos)
var frontRight = transform([robotLengthPixels * 0.5, robotLengthPixels * 0.5], rotation, robotPos)
var backRight = transform([robotLengthPixels * -0.5, robotLengthPixels * 0.5], rotation, robotPos)
context.beginPath()
context.moveTo(frontLeft[0], frontLeft[1])
context.lineTo(frontRight[0], frontRight[1])
context.lineTo(backRight[0], backRight[1])
context.lineTo(backLeft[0], backLeft[1])
context.closePath()
context.fill()
context.stroke()

context.strokeStyle = "white"
context.lineWidth = 1 * pixelsPerInch
var arrowBack = transform([robotLengthPixels * -0.3, 0], rotation, robotPos)
var arrowFront = transform([robotLengthPixels * 0.3, 0], rotation, robotPos)
var arrowLeft = transform([robotLengthPixels * 0.15, robotLengthPixels * -0.15], rotation, robotPos)
var arrowRight = transform([robotLengthPixels * 0.15, robotLengthPixels * 0.15], rotation, robotPos)
context.beginPath()
context.moveTo(arrowBack[0], arrowBack[1])
context.lineTo(arrowFront[0], arrowFront[1])
context.moveTo(arrowLeft[0], arrowLeft[1])
context.lineTo(arrowFront[0], arrowFront[1])
context.lineTo(arrowRight[0], arrowRight[1])
context.stroke()
}

// Return target aspect ratio
return fieldWidth / fieldHeight
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