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tripod.go
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tripod.go
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// Copyright (C) 2021 David Vogel
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Affero General Public License as
// published by the Free Software Foundation, either version 3 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Affero General Public License for more details.
//
// You should have received a copy of the GNU Affero General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
package main
import (
"encoding/json"
"math"
"sort"
"time"
"github.com/vugu/vgrouter"
"github.com/vugu/vugu"
)
type Tripod struct {
vgrouter.NavigatorRef `json:"-"`
site *Site
key string
Name string
CreatedAt time.Time
Position CoordinateOptimizable // Pivot point of the tripod.
Accuracy Distance // Accuracy of the measurement.
Offset, OffsetSide Distance // Offset of the rangefinder from the pivot point.
OffsetLocked, OffsetSideLocked bool // Prevent the values from being optimized.
Measurements map[string]*TripodMeasurement // List of measurements.
ignoredPoints []string // List of point keys that will not be suggested anymore.
}
func (s *Site) NewTripod(name string) *Tripod {
t := new(Tripod)
t.initData()
t.initReferences(s, s.shortIDGen.MustGenerate())
t.Name = name
return t
}
// initData initializes the object with default values and other stuff.
func (t *Tripod) initData() {
t.CreatedAt = time.Now()
t.Accuracy = 0.01
t.OffsetLocked = false
t.OffsetSideLocked = true
t.Measurements = map[string]*TripodMeasurement{}
}
// initReferences updates references from and to this object and its key.
// This is only used internally to update references for copies or marshalled objects.
// This can't be used on its own to transfer an object from one parent to another.
func (t *Tripod) initReferences(newParent *Site, newKey string) {
t.site, t.key = newParent, newKey
t.site.Tripods[t.Key()] = t
}
func (t *Tripod) handleAdd(event vugu.DOMEvent) {
measurement := t.NewMeasurement()
t.Navigate("/tripod/"+t.Key()+"/measurement/"+measurement.Key(), nil)
}
func (t *Tripod) Key() string {
return t.key
}
func (t *Tripod) Delete() {
delete(t.site.Tripods, t.Key())
}
// Copy returns a copy of the given object.
// Expensive data like images will not be copied, but referenced.
func (t *Tripod) Copy(newParent *Site, newKey string) *Tripod {
copy := new(Tripod)
copy.initData()
copy.initReferences(newParent, newKey)
copy.Name = t.Name
copy.CreatedAt = t.CreatedAt
copy.Position = t.Position
copy.Accuracy = t.Accuracy
copy.Offset = t.Offset
copy.OffsetSide = t.OffsetSide
copy.OffsetLocked = t.OffsetLocked
copy.OffsetSideLocked = t.OffsetSideLocked
// Generate copies of all children.
for k, v := range t.Measurements {
v.Copy(copy, k)
}
return copy
}
func (t *Tripod) UnmarshalJSON(data []byte) error {
t.initData()
// Unmarshal structure normally. Cast it into a different type to prevent recursion with json.Unmarshal.
type tempType *Tripod
if err := json.Unmarshal(data, tempType(t)); err != nil {
return err
}
// Update parent references and keys.
for k, v := range t.Measurements {
v.initReferences(t, k)
}
return nil
}
// GetTweakablesAndResiduals returns a list of tweakable variables and residuals.
func (t *Tripod) GetTweakablesAndResiduals() ([]Tweakable, []Residualer) {
tweakables, residuals := []Tweakable{}, []Residualer{}
if !t.OffsetLocked {
tweakables = append(tweakables, &t.Offset)
}
if !t.OffsetSideLocked {
tweakables = append(tweakables, &t.OffsetSide)
}
for _, measurement := range t.MeasurementsSorted() {
newTweakables, newResiduals := measurement.GetTweakablesAndResiduals()
tweakables, residuals = append(tweakables, newTweakables...), append(residuals, newResiduals...)
}
newTweakables, newResiduals := t.Position.GetTweakablesAndResiduals()
tweakables, residuals = append(tweakables, newTweakables...), append(residuals, newResiduals...)
return tweakables, residuals
}
// MeasurementsSorted returns the measurements of the tripod as a list sorted by date.
// TODO: Replace with generics once they are available. It's one of the few cases where they are really needed
func (t *Tripod) MeasurementsSorted() []*TripodMeasurement {
measurements := make([]*TripodMeasurement, 0, len(t.Measurements))
for _, measurement := range t.Measurements {
measurements = append(measurements, measurement)
}
sort.Slice(measurements, func(i, j int) bool {
return measurements[i].CreatedAt.After(measurements[j].CreatedAt)
})
return measurements
}
// PointUsed returns whether the point is already used in some measurement.
func (t *Tripod) PointUsed(point *Point) bool {
if point == nil {
return false
}
for _, measurement := range t.Measurements {
if measurement.PointKey == point.Key() {
return true
}
}
return false
}
// PointSuggestionAllowed returns whether the point is allowed to be used as suggestion.
func (t *Tripod) PointSuggestionAllowed(point *Point) bool {
if point == nil {
return false
}
for _, pointKey := range t.ignoredPoints {
if pointKey == point.Key() {
return false
}
}
return true
}
// SuggestPoint returns a point that should be measured next.
func (t *Tripod) SuggestPoint() *Point {
// Go through all measurements, beginning from the newest.
// Search for a measurement with a valid point, use that point as "previous point".
for _, measurement := range t.MeasurementsSorted() {
if previousPoint, ok := t.site.Points[measurement.PointKey]; ok {
// Find unused point that is closest to the previous point.
closestPoint, closestDist := (*Point)(nil), Distance(math.Inf(1))
for _, point := range t.site.Points {
dist := point.Position.Distance(previousPoint.Position.Coordinate) // TODO: Use squared distance here
if closestDist > dist && t.PointSuggestionAllowed(point) && !t.PointUsed(point) {
closestDist, closestPoint = dist, point
}
}
return closestPoint
}
}
return nil
}