Plot average working now

BOTSlab · Jul 10, 2018 · d9a4b6d · d9a4b6d
1 parent f3825d4
commit d9a4b6d
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Showing 6 changed files with 442 additions and 22 deletions.
diff --git a/js/analysis.js b/js/analysis.js
@@ -43,7 +43,6 @@ class Analyzer {
                             redraw: false
                         });
         } else if (config == "#CONSTRUCT") {
-            // PLACEHOLDER
             this.chart = Highcharts.chart('chartDiv', {
                             chart: { animation: false },
                             title: { text: 'Avg. Puck-Tau Abs. Diff.' },
@@ -89,31 +88,39 @@ class Analyzer {
         }
 
         let timeSecs = timestamp/1000;
-        //console.log(this.seriesIndex);
-        if (forceRedraw || timeSecs - this.lastRedrawTimeSecs >= 1) {
-            // Add point and redraw
-            this.chart.series[this.seriesIndex].addPoint([timeSecs, value], true);
-            this.lastRedrawTimeSecs = timeSecs;
-        } else {
-            // Add point, but defer the redraw.
-            this.chart.series[this.seriesIndex].addPoint([timeSecs, value], false);
-        }
+        let drawNow = forceRedraw || timeSecs - this.lastRedrawTimeSecs >= 1;
 
-        // Compute the average value (over this and past series)
-        if (!this.averageMap.get(timeSecs)) {
-            this.averageMap.set(timeSecs, [value]);
+        // Compute the average value (over this and past series).  We will
+        // use the time as the key into 'averageMap' but it may differ slightly
+        // on subsequent runs.  So we truncate it to three digits here.
+        let timeKey = timeSecs.toFixed(3);
+        if (!this.averageMap.get(timeKey)) {
+            this.averageMap.set(timeKey, [value]);
 
         } else {
-            let array = this.averageMap.get(timeSecs);
+            let array = this.averageMap.get(timeKey);
             array.push(value);
             let sum = array.reduce((a, b) => a + b, 0);
             let average = sum / array.length;
 
             if (this.seriesIndex > 0) {
-                this.chart.series[this.seriesIndex+1].addPoint([timeSecs, average], true);
+                this.chart.series[this.seriesIndex+1].addPoint([timeSecs,
+                                                               average],
+                                                               drawNow);
             }
         }
 
+        if (drawNow) {
+            // Add point and redraw
+            this.chart.series[this.seriesIndex].addPoint([timeSecs, value],
+                                                         true);
+            this.lastRedrawTimeSecs = timeSecs;
+        } else {
+            // Add point, but defer the redraw.
+            this.chart.series[this.seriesIndex].addPoint([timeSecs, value],
+                                                         false);
+        }
+
     }
 
     reset() {
@@ -131,8 +138,14 @@ class Analyzer {
 
         this.chart.addSeries({
             name: "Average",
-            data: []
+            data: [],
+            lineWidth: 10,
+            marker: {
+                enabled: false
+            }
         });
+
+        this.lastRedrawTimeSecs = 0;
     }
 
     // Return the percentage completion as defined in "Cache consensus:

diff --git a/js/distToSegment.js b/js/distToSegment.js
@@ -0,0 +1,14 @@
+// From Grumdig's Javascript answer to this question:
+// https://stackoverflow.com/questions/849211/shortest-distance-between-a-point-and-a-line-segment
+
+function sqr(x) { return x * x }
+function dist2(v, w) { return sqr(v.x - w.x) + sqr(v.y - w.y) }
+function distToSegmentSquared(p, v, w) {
+  var l2 = dist2(v, w);
+  if (l2 == 0) return dist2(p, v);
+  var t = ((p.x - v.x) * (w.x - v.x) + (p.y - v.y) * (w.y - v.y)) / l2;
+  t = Math.max(0, Math.min(1, t));
+  return dist2(p, { x: v.x + t * (w.x - v.x),
+                    y: v.y + t * (w.y - v.y) });
+}
+function distToSegment(p, v, w) { return Math.sqrt(distToSegmentSquared(p, v, w)); }
diff --git a/js/main.js b/js/main.js
@@ -314,7 +314,7 @@ function reset(seedValue) {
         //myGlobals.screenshotCaptureSteps = [10, 100, 1000, 2000, 3000, 4000, 5000, 10000, 15000, 20000];
         */
         myGlobals.screenshotCaptureSteps = [];
-        myGlobals.maxStep = 20000000;
+        myGlobals.maxStep = 2000;
     }
 
     simState.robots = [];
@@ -407,9 +407,9 @@ function manageRobotPopulation() {
         //robot.controller = new TestController();
         //robot.controller = new SimpleAvoidController();
         //robot.controller = new AdvancedClusterController();
-        //robot.controller = new BlocklyController();        
+        robot.controller = new BlocklyController();        
         //robot.controller = new OrbitController();
-        robot.controller = new OrbitalConstructionController();
+        //robot.controller = new OrbitalConstructionController();
         simState.robots.push(robot);
     }
     if (simState.robots.length > myGlobals.nRobots) {

diff --git a/js/vendor/blockly_compressed.js b/js/vendor/blockly_compressed.js
diff --git a/waggle.html b/waggle.html
@@ -79,15 +79,21 @@
     <block type="robot_hold_speed">
       <field name="holdTime">0</field>
     </block>
+<!--
     <block type="robot_hold_speed_slot"></block>
+-->
     <block type="robot_activate_gripper"></block>
     <block type="robot_deactivate_gripper"></block>
+<!--
     <block type="robot_set_speed_slots"></block>
+-->
     <block type="robot_deactivate_flash"></block>
     <block type="robot_emit_pheromone">
       <field name="quantity">10</field>
     </block>
+<!--
     <block type="robot_emit_pheromone_slot"></block>
+-->
     <block type="robot_set_text">
       <field name="text">Hi!</field>
     </block>
@@ -101,16 +107,20 @@
       <field name="variableName">variableA</field>
       <field name="newValue">0</field>
     </block>
+<!--
     <block type="robot_set_variable_slot">
       <field name="variableName">variableA</field>
     </block>
+-->
     <block type="robot_change_variable">
       <field name="variableName">variableA</field>
       <field name="deltaValue">0</field>
     </block>
+<!--
     <block type="robot_change_variable_slot">
       <field name="variableName">variableA</field>
     </block>
+-->
     <block type="robot_get_variable">
       <field name="variableName">variableA</field>
     </block>
@@ -262,6 +272,7 @@ <h2>Waggle 1.0: Visual Programming for Swarm Robotics</h2>
                         <table cellpadding="2" style="width: 100%">
                             <tr>
                             <td><button type="button" id="resetButton">Reset</button></td>
+                            <td><button type="button" id="reseedAndResetButton">Reseed and Reset</button></td>
                             <td><input type="checkbox" id="allowMovementCheckbox">Allow Movement</input></td>
 
                             <td><input type="checkbox" id="showSensorsCheckbox">Show Sensors</input></td>
@@ -285,7 +296,7 @@ <h2>Waggle 1.0: Visual Programming for Swarm Robotics</h2>
 
                             <tr>
                                 <td id='nRedPucksLabel'>Red Pucks</td>
-                                <td><input id='nRedPucksSlider' type='range' min='0' value='1' max='150' step='1'/></td>
+                                <td><input id='nRedPucksSlider' type='range' min='0' value='1' max='250' step='1'/></td>
                                 <td id='nRedPucksText'></td></tr> 
 
                             <tr>