node ranging → show calculated position and diffs

src/c3nav/mesh/consumers.py

@@ -269,6 +269,22 @@ class MeshConsumer(AsyncWebsocketConsumer):
         })
         print("MESH %s: [%s] %s" % (self.uplink.node, address, text))
 
+    async def check_ota(self, addresses):
+        recipients = await self.get_nodes_with_ota(addresses)
+        for address, recipient in recipients.items():
+            if not recipient:
+                continue
+            await self.check_ota_recipient(address, recipient)
+
+    @database_sync_to_async
+    def get_nodes_with_ota(self, addresses) -> dict:
+        return {node.address: node.current_ota
+                for node in MeshNode.objects.filter(address__in=addresses).prefetch_ota()}
+
+    async def check_ota_recipient(self, address, update):
+        print('checking OTA recipient', address, update)
+        pass
+
     async def add_dst_nodes(self, nodes=None, addresses=None):
         nodes = list(nodes) if nodes else []
         addresses = set(addresses) if addresses else set()
@@ -299,6 +315,8 @@ class MeshConsumer(AsyncWebsocketConsumer):
                 )
             )
 
+            await self.check_ota([address])
+
     @database_sync_to_async
     def _add_destination(self, address):
         with transaction.atomic():
@@ -406,8 +424,24 @@ class MeshUIConsumer(AsyncJsonWebsocketConsumer):
             else:
                 if value != filter_value:
                     return
+        if data["msg"]["msg_type"] == MeshMessageType.LOCATE_RANGE_RESULTS.name:
+            data = data.copy()
+            location = await self.locator(data["msg"])
+            data["position"] = None if not location else (int(location.x*100), int(location.y*100), int(location.z*100))
         await self.send_json(data)
 
+    @database_sync_to_async
+    def locator(self, msg):
+        locator = RangeLocator.load()
+        return locator.locate(
+            {
+                r["peer"]: r["distance"]
+                for r in msg["ranges"]
+                if r["distance"] != 0xFFFF
+            },
+            None
+        )
+
     async def disconnect(self, code):
         await self.channel_layer.group_discard("mesh_log", self.channel_name)
         await self.channel_layer.group_discard("mesh_msg_sent", self.channel_name)

src/c3nav/mesh/templates/mesh/fragment_mesh_websocket.html

@@ -105,6 +105,27 @@ function connect() {
                     for (cell of document.querySelectorAll(`[data-range-from="${src_node}"]:not([data-range-to="${src_node}"])`)) {
                         cell.innerText = "-";
                     }
+                    cell = document.querySelector(`[data-range-location="${src_node}"]`);
+                    if (!cell) break;
+                    if (data.position) {
+                        cell.innerHTML = `Location (${data.position[0]}, ${data.position[1]}, ${data.position[2]})`;
+                        if (src_node in nodes_xyz) {
+                            cell.innerHTML += `<br><em>Actual: (${nodes_xyz[src_node][0]}, ${nodes_xyz[src_node][1]}, ${nodes_xyz[src_node][2]})</em>`;
+                            cell.innerHTML += `<br><em>Diff: (${data.position[0]-nodes_xyz[src_node][0]}, ${data.position[1]-nodes_xyz[src_node][1]}, ${data.position[2]-nodes_xyz[src_node][2]})</em>`;
+
+                            cell.innerHTML += '<br><em>XY: '+String(Math.round(Math.sqrt(
+                                Math.pow(nodes_xyz[src_node][0]-data.position[0], 2) +
+                                Math.pow(nodes_xyz[src_node][1]-data.position[1], 2)
+                            )))+' // XYZ: '+String(Math.round(Math.sqrt(
+                                Math.pow(nodes_xyz[src_node][0]-data.position[0], 2) +
+                                Math.pow(nodes_xyz[src_node][1]-data.position[1], 2) +
+                                Math.pow(nodes_xyz[src_node][2]-data.position[2], 2)
+                            )));
+
+                        }
+                    } else {
+                        cell.innerHTML = '';
+                    }
                     for (var i=0;i<data.msg.ranges.length;i++) {
                         let range = data.msg.ranges[i];
                         peer_node = range.peer;

src/c3nav/mesh/templates/mesh/mesh_ranging.html

@@ -26,6 +26,13 @@
                 {% endfor %}
             </tr>
             {% endfor %}
+
+            <tr>
+                <td></td>
+                {% for range_from in ranging_form.cleaned_data.range_from %}
+                    <td data-range-location="{{ range_from }}"></td>
+                {% endfor %}
+            </tr>
         </table>
     {% endif %}
 

src/c3nav/routing/rangelocator.py

@@ -126,7 +126,8 @@ class RangeLocator:
             y=results.x[1]/100,
             permissions=(),
             icon='my_location'
-        )
+        )#
+        location.z = results.x[2]
 
         pprint(relevant_ranges)
         print("measured ranges:", ", ".join(("%.2f" % i) for i in tuple(np_ranges[:, 3])))