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feat: Added threshold to unit movement

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Pax1601 2025-09-09 18:24:53 +02:00
parent 4e6701ff01
commit 73a7ea74f3
4 changed files with 11 additions and 3 deletions
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6
backend/core/src/scheduler.cpp
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@ -168,6 +168,12 @@ void Scheduler::handleRequest(string key, json::value value, string username, js
string WP = to_string(i);
double lat = path[i][L"lat"].as_double();
double lng = path[i][L"lng"].as_double();
if (path[i].has_number_field(L"threshold")) {
double threshold = path[i][L"threshold"].as_double();
Coords dest; dest.lat = lat; dest.lng = lng; dest.threshold = threshold;
newPath.push_back(dest);
continue;
}
Coords dest; dest.lat = lat; dest.lng = lng;
newPath.push_back(dest);
}

3
backend/core/src/unit.cpp
View File

@ -765,6 +765,7 @@ void Unit::goToDestination(string enrouteTask)
}
}
// NOTE: if the current active path has a threshold set, that value will be used instead of the passed one
bool Unit::isDestinationReached(double threshold)
{
if (activeDestination != NULL)
@ -774,7 +775,7 @@ bool Unit::isDestinationReached(double threshold)
{
double dist = 0;
Geodesic::WGS84().Inverse(p->getPosition().lat, p->getPosition().lng, activeDestination.lat, activeDestination.lng, dist);
if (dist < threshold)
if (dist < (activeDestination.threshold == 0? threshold: activeDestination.threshold))
{
log(unitName + " destination reached");
return true;

1
backend/utils/include/utils.h
View File

@ -6,6 +6,7 @@ struct Coords {
double lat = 0;
double lng = 0;
double alt = 0;
double threshold = 0; // used for proximity checks only, not part of the actual coordinates
};
struct Offset {

4
backend/utils/src/utils.cpp
View File

@ -64,9 +64,9 @@ std::string random_string(size_t length)
return str;
}
bool operator== (const Coords& a, const Coords& b) { return a.lat == b.lat && a.lng == b.lng && a.alt == b.alt; }
bool operator== (const Coords& a, const Coords& b) { return a.lat == b.lat && a.lng == b.lng && a.alt == b.alt && a.threshold == b.threshold; }
bool operator!= (const Coords& a, const Coords& b) { return !(a == b); }
bool operator== (const Coords& a, const double& b) { return a.lat == b && a.lng == b && a.alt == b; }
bool operator== (const Coords& a, const double& b) { return a.lat == b && a.lng == b && a.alt == b && a.threshold == b }
bool operator!= (const Coords& a, const double& b) { return !(a == b); }
bool operator== (const Offset& a, const Offset& b) { return a.x == b.x && a.y == b.y && a.z == b.z; }