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feat(alarm state): refactor to separe alarm state from radar state. Kown issue: alarm state is not correctly mantained

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This commit is contained in:
MarcoJayUsai
2025-03-24 18:42:04 +01:00
parent f7e9fc5cbc
commit 1622d663bb
15 changed files with 174 additions and 253 deletions
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2
backend/core/src/groundunit.cpp
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@@ -609,7 +609,7 @@ string GroundUnit::aimAtPoint(Coords aimTarget) {
Geodesic::WGS84().Direct(position.lat, position.lng, bearing1, r, lat, lng);
taskString = +"Barrel elevation: " + to_string((int) round(barrelElevation)) + "m, bearing: " + to_string((int) round(bearing1)) + "deg";
log(unitName + "(" + name + ")" + " shooting with aim at point method. Barrel elevation: " + to_string(barrelElevation) + "m, bearing: " + to_string(bearing1) + "°");
log(unitName + "(" + name + ")" + " shooting with aim at point method. Barrel elevation: " + to_string(barrelElevation) + "m, bearing: " + to_string(bearing1) + "<EFBFBD>");
std::ostringstream taskSS;
taskSS.precision(10);

6
backend/core/src/scheduler.cpp
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@@ -406,17 +406,17 @@ void Scheduler::handleRequest(string key, json::value value, string username, js
log(username + " set unit " + unit->getUnitName() + "(" + unit->getName() + ") ROE to " + to_string(ROE), true);
}
}
else if (key.compare("commandAlarmState") == 0)
else if (key.compare("setAlarmState") == 0)
{
unsigned int ID = value[L"ID"].as_integer();
unitsManager->acquireControl(ID);
Unit* unit = unitsManager->getGroupLeader(ID);
if (unit != nullptr) {
unsigned char alarmState = value[L"alarmState"].as_integer();
unit->commandAlarmState(alarmState);
unit->setAlarmState(alarmState);
log(username + " set unit " + unit->getUnitName() + "(" + unit->getName() + ") alarm state to " + to_string(alarmState), true);
} else {
log("Error while setting commandAlarmState. Unit does not exist.");
log("Error while setting setAlarmState. Unit does not exist.");
}
}
/************************/

13
backend/core/src/unit.cpp
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@@ -18,7 +18,7 @@ extern UnitsManager* unitsManager;
Unit::Unit(json::value json, unsigned int ID) :
ID(ID)
{
log("Creating unit with ID: " + to_string(ID));
// log("Creating unit with ID: " + to_string(ID));
}
Unit::~Unit()
@@ -83,8 +83,8 @@ void Unit::update(json::value json, double dt)
if (json.has_boolean_field(L"isAlive"))
setAlive(json[L"isAlive"].as_bool());
if (json.has_string_field(L"alarmState")) {
setAlarmState(to_string(json[L"alarmState"]));
if (json.has_boolean_field(L"radarState")) {
setRadarState(json[L"radarState"].as_bool());
}
if (json.has_boolean_field(L"isHuman"))
@@ -154,7 +154,7 @@ void Unit::update(json::value json, double dt)
void Unit::setDefaults(bool force)
{
setAlarmState(ALARM_STATE::AUTO, force);
}
void Unit::runAILoop() {
@@ -256,7 +256,8 @@ void Unit::getData(stringstream& ss, unsigned long long time)
switch (datumIndex) {
case DataIndex::category: appendString(ss, datumIndex, category); break;
case DataIndex::alive: appendNumeric(ss, datumIndex, alive); break;
case DataIndex::alarmState: appendString(ss, datumIndex, alarmState); break;
case DataIndex::alarmState: appendNumeric(ss, datumIndex, alarmState); break;
case DataIndex::radarState: appendNumeric(ss, datumIndex, radarState); break;
case DataIndex::human: appendNumeric(ss, datumIndex, human); break;
case DataIndex::controlled: appendNumeric(ss, datumIndex, controlled); break;
case DataIndex::coalition: appendNumeric(ss, datumIndex, coalition); break;
@@ -473,7 +474,7 @@ void Unit::setROE(unsigned char newROE, bool force)
}
}
void Unit::commandAlarmState(unsigned char newAlarmState, bool force)
void Unit::setAlarmState(unsigned char newAlarmState, bool force)
{
Command* command = dynamic_cast<Command*>(new SetOption(groupName, SetCommandType::ALARM_STATE, static_cast<unsigned int>(newAlarmState)));
scheduler->appendCommand(command);