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removed unnecessary function a user had to provide
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Sebastian committed Feb 8, 2024
1 parent 58401e9 commit 21be812
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Showing 2 changed files with 2 additions and 178 deletions.
7 changes: 0 additions & 7 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -50,13 +50,6 @@ struct UserProvidedFunction;
trait ProvidesTraceAndTree {
fn get_trace(logfile: &str, number_skipped_entries: usize) -> Trace;
fn get_tree(number_skipped_entries: usize) -> Tbt;
fn extract_trace(
logfile_folder: &str,
number_skipped_entries: usize,
maneuver_n: u32,
lower: usize,
upper: usize,
) -> String;
}

// A trace consists of the length of the trace (usize) and a hashmap
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173 changes: 2 additions & 171 deletions src/tree/shipdeck_landing/get_trace_and_tree.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,8 @@ use crate::{
csv_reader::read_csv_file,
stl::{stl_reset_count, Stl},
tree::shipdeck_landing::{
atomics::{
constants,
descend_touchdown::descend_touchdown,
in_position::{self},
},
deg45_maneuver::get_45deg_maneuver,
lateral_maneuver::get_lateral_maneuver,
oblique_maneuver::get_oblique_maneuver,
atomics::descend_touchdown::descend_touchdown, deg45_maneuver::get_45deg_maneuver,
lateral_maneuver::get_lateral_maneuver, oblique_maneuver::get_oblique_maneuver,
straight_maneuver::get_straight_maneuver,
},
ProvidesTraceAndTree, Trace, UserProvidedFunction,
Expand Down Expand Up @@ -197,167 +191,4 @@ impl ProvidesTraceAndTree for UserProvidedFunction {
let tbt_tree = TbtNode::sequence(maneuvers, descend);
Tbt::new(tbt_tree)
}

fn extract_trace(
logfile_folder: &str,
number_skipped_entries: usize,
maneuver_n: u32,
lower: usize,
upper: usize,
) -> String {
println!(
"Skipped {number_skipped_entries} of logfile:\n\t{}",
logfile_folder
);
// Ship
let ship_file = format!("{logfile_folder}SIMOUT_Ship.csv");
let trace_ship_xg = read_csv_file(&ship_file, "xg", number_skipped_entries);
let trace_ship_yg = read_csv_file(&ship_file, "yg", number_skipped_entries);
let trace_ship_zg = read_csv_file(&ship_file, "zg", number_skipped_entries);
let trace_ship_ug = read_csv_file(&ship_file, "ug", number_skipped_entries);
let trace_ship_vg = read_csv_file(&ship_file, "vg", number_skipped_entries);
let trace_ship_wg = read_csv_file(&ship_file, "wg", number_skipped_entries);
let trace_ship_psi = read_csv_file(&ship_file, "psi", number_skipped_entries);
let mut touchdown_x = Vec::new();
let mut touchdown_y = Vec::new();
let mut touchdown_z = Vec::new();
for i in 0..trace_ship_xg.len() {
touchdown_z.push(trace_ship_zg[i] * -1.0 + 5.0);
let computed_angle_in_radian = f32::to_radians(180.0) + trace_ship_psi[i];
touchdown_x.push(trace_ship_xg[i] + 60.0 * f32::cos(computed_angle_in_radian));
touchdown_y.push(trace_ship_yg[i] + 60.0 * f32::sin(computed_angle_in_radian));
}

// UAS
let uas_file = format!("{logfile_folder}SIMOUT_UAS.csv");
let trace_uas_time = read_csv_file(&uas_file, "time", number_skipped_entries);
let trace_uas_phi = read_csv_file(&uas_file, "phi", number_skipped_entries);
let trace_uas_theta = read_csv_file(&uas_file, "theta", number_skipped_entries);
let trace_uas_xg = read_csv_file(&uas_file, "xg", number_skipped_entries);
let trace_uas_yg = read_csv_file(&uas_file, "yg", number_skipped_entries);
let mut trace_uas_zg = read_csv_file(&uas_file, "zg", number_skipped_entries);
let trace_uas_ug = read_csv_file(&uas_file, "ug", number_skipped_entries);
let trace_uas_vg = read_csv_file(&uas_file, "vg", number_skipped_entries);
let trace_uas_wg = read_csv_file(&uas_file, "wg", number_skipped_entries);
let trace_uas_psi = read_csv_file(&uas_file, "psi", number_skipped_entries);
for zg in &mut trace_uas_zg {
*zg = -*zg;
}
let mut trace_best_x = Vec::new();
let mut trace_best_y = Vec::new();
let mut trace_best_z = Vec::new();
let mut change_uas_pos = f32::MIN;
let mut change_uas_vel = f32::MIN;
let mut change_uas_h = f32::MIN;
for i in 0..trace_uas_xg.len() {
let ship_x = trace_ship_xg[i];
let ship_y = trace_ship_yg[i];
let ship_z = trace_ship_zg[i];
let ship_heading = trace_ship_psi[i];

let (best_x, best_y, best_z) = match maneuver_n {
0 => in_position::get_best_position(
constants::Deg45::HeightAboveShip.value(),
constants::Deg45::DistanceToShip.value(),
constants::Deg45::AngleToShip.value(),
ship_x,
ship_y,
ship_z,
ship_heading,
),
1 => in_position::get_best_position(
constants::Lateral::HeightAboveShip.value(),
constants::Lateral::DistanceToShip.value(),
constants::Lateral::AngleToShip.value(),
ship_x,
ship_y,
ship_z,
ship_heading,
),
2 => in_position::get_best_position(
constants::Oblique::HeightAboveShip.value(),
constants::Oblique::DistanceToShip.value(),
constants::Oblique::AngleToShip.value(),
ship_x,
ship_y,
ship_z,
ship_heading,
),
3 => in_position::get_best_position(
constants::Straight::HeightAboveShip.value(),
constants::Straight::DistanceToShip.value(),
constants::Straight::AngleToShip.value(),
ship_x,
ship_y,
ship_z,
ship_heading,
),
_ => panic!("Invalid maneuver!"),
};
trace_best_x.push(best_x);
trace_best_y.push(best_y);
trace_best_z.push(best_z);
// Compute maximal and minimal changes
if i > 0 {
let o_x = trace_uas_xg[i];
let n_x = trace_uas_xg[i - 1];
let o_y = trace_uas_yg[i];
let n_y = trace_uas_yg[i - 1];
let o_z = trace_uas_zg[i];
let n_z = trace_uas_zg[i - 1];
let o_u = trace_uas_ug[i];
let n_u = trace_uas_ug[i - 1];
let o_v = trace_uas_vg[i];
let n_v = trace_uas_vg[i - 1];
let o_w = trace_uas_wg[i];
let n_w = trace_uas_wg[i - 1];
let o_h = trace_uas_psi[i];
let n_h = trace_uas_psi[i - 1];
let change_pos =
(o_x - n_x).powf(2.0) + (o_y - n_y).powf(2.0) + (o_z - n_z).powf(2.0);
let change_vel =
(o_u - n_u).powf(2.0) + (o_v - n_v).powf(2.0) + (o_w - n_w).powf(2.0);
let change_h = f32::abs(o_h - n_h);
change_uas_pos = f32::max(change_uas_pos, change_pos);
change_uas_vel = f32::max(change_uas_vel, change_vel);
change_uas_h = f32::max(change_uas_h, change_h);
}
}

assert_eq!(trace_ship_xg.len(), trace_best_x.len());
let header = "time,phi,theta,uas_x,uas_y,uas_z,uas_u,uas_v,uas_w,uas_h,ship_x,ship_y,ship_z,td_x,td_y,td_z,ship_u,ship_v,ship_w,ship_h,best_x,best_y,best_z,c_pos,c_vel,c_h\n".to_string();
let mut rows = String::new();
for i in lower..(upper + 1) {
rows += &format!(
"{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{}\n",
trace_uas_time[i],
trace_uas_phi[i],
trace_uas_theta[i],
trace_uas_xg[i],
trace_uas_yg[i],
trace_uas_zg[i],
trace_uas_ug[i],
trace_uas_vg[i],
trace_uas_wg[i],
trace_uas_psi[i],
trace_ship_xg[i],
trace_ship_yg[i],
trace_ship_zg[i],
touchdown_x[i],
touchdown_y[i],
touchdown_z[i],
trace_ship_ug[i],
trace_ship_vg[i],
trace_ship_wg[i],
trace_ship_psi[i],
trace_best_x[i],
trace_best_y[i],
trace_best_z[i],
change_uas_pos,
change_uas_vel,
change_uas_h,
);
}
header + &rows
}
}

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