드론 비행 더미데이터 파일

document/dron_test/pav-client.js

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+const net = require('net');
+
+
+const getConnection = (connName, host, port) => {
+    const client = net.connect({port: port, host: host}, function () {
+        console.log(connName + ' Connected: ');
+        console.log('   local = %s:%s', this.localAddress, this.localPort);
+        console.log('   remote = %s:%s', this.remoteAddress, this.remotePort);
+        this.setTimeout(500);
+        this.setEncoding('utf8');
+        this.on('data', function (data) {
+            console.log(connName + " From Server: " + data.toString());
+            // this.end();
+        });
+        this.on('end', function () {
+            console.log(connName + ' Client disconnected');
+        });
+        this.on('error', function (err) {
+            console.log('Socket Error: ', err, JSON.stringify(err));
+        });
+        this.on('timeout', function () {
+            console.log('Socket Timed Out');
+        });
+        this.on('close', function (e) {
+            console.log('Socket Closed', e);
+        });
+    });
+    return client;
+}
+
+const writeData = (socket, data) => {
+    const success = !!socket.write(data);
+    // if (success) {
+    //     (function (socket, data) {
+    //         socket.once('drain', function () {
+    //             writeData(socket, data);
+    //         });
+    //     })(socket, data);
+    // }
+}
+
+// const Dwarves = getConnection("Dwarves");
+// writeData(Dwarves, JSON.stringify(sampleData));
+
+
+
+module.exports = {getConnection, writeData}

document/dron_test/pav-utils.js

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+// degree -> radian 변환
+const deg2rad = deg => {
+  return deg * (Math.PI / 180);
+};
+const rad2deg = rad => {
+  return rad * (180 / Math.PI);
+};
+// 좌표간 거리계산
+const getDistanceFromCoordByMeter = (coord1, coord2) => {
+  const R = 6371; // Radius of the earth in km
+  const dLat = deg2rad(coord2[0] - coord1[0]); // deg2rad below
+  const dLon = deg2rad(coord2[1] - coord1[1]);
+  const a =
+    Math.sin(dLat / 2) * Math.sin(dLat / 2) +
+    Math.cos(deg2rad(coord1[0])) *
+      Math.cos(deg2rad(coord2[0])) *
+      Math.sin(dLon / 2) *
+      Math.sin(dLon / 2);
+  const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+  // var d = R * c; // Distance in km
+  const d = R * c * 1000; // Distance in m
+  return d;
+};
+// 두 좌표사이 특정 거리만큼의 좌표 추출
+const getCoordsFormBetweenCoord = (coord1, coord2, dist) => {
+  // console.log('init ===> ', {coord1, coord2, dist})
+  const r = [];
+  // 처음 좌표
+  r.push(coord1);
+  // 중간 좌표
+  const totalDist = getDistanceFromCoordByMeter(coord1, coord2);
+  const dx = coord2[0] - coord1[0];
+  const singX = dx < 0 ? -1 : 1;
+  const dy = coord2[1] - coord1[1];
+  const singY = dy < 0 ? -1 : 1;
+  const m = dy / dx;
+  const rad = Math.atan(m);
+
+  const currentTotalDist = Math.sqrt(dx ** 2 + dy ** 2);
+  const currentDivDist = (dist * currentTotalDist) / totalDist;
+  const div = Math.floor(currentTotalDist / currentDivDist);
+
+  for (let i = 1; i <= div; i++) {
+    const currentDist = currentDivDist * i;
+    let x = coord1[0];
+    let y = coord1[1];
+    // var heading = Math.atan2(dy, dx) * 180 / Math.PI;
+    // if (heading < 0) {
+    //     heading += 360;
+    // }
+    if (dx === 0) {
+      y += currentDist * singY;
+    } else if (dy === 0) {
+      x += currentDist * singX;
+    } else {
+      const angle = Math.atan2(dy, dx);
+      x += Math.cos(angle) * currentDist;
+      y += Math.sin(angle) * currentDist;
+    }
+    const heading = calculateHeading(
+      r[r.length - 1][0],
+      r[r.length - 1][1],
+      x,
+      y
+    );
+    r.push([x, y, heading]);
+  }
+  // 마지막 좌표
+  r.push(coord2);
+  return r;
+};
+
+function calculateHeading(x1, y1, x2, y2) {
+  var dx = x2 - x1;
+  var dy = y2 - y1;
+  var heading = (Math.atan2(dy, dx) * 180) / Math.PI;
+  if (heading < 0) {
+    heading += 360;
+  }
+  return heading;
+}
+
+const dumyData = {
+  authKey: '1cc2e08e-0c5c-43b2-8d4d-cddd3de558e3',
+  terminalId: 'SANDBOX-01',
+  command: 'SANDBOX',
+  body: [
+    {
+      objectId: 'JAL497',
+      lat: 37.52097,
+      lon: 126.6146,
+      elevType: 'M',
+      elev: 125.4,
+      speedType: 'KM',
+      speed: 145.8,
+      heading: 227.94,
+      terminalRcvDt: '20210629173145',
+      betteryLevel: 91,
+      betteryVoltage: 50,
+      dronStatus: 'TAKEOFF',
+      moveDistance: 120,
+      moveDistanceType: 'M',
+      sensorCo: 100.11,
+      sensorSo2: 200.22,
+      sensorNo2: 300.33,
+      sensorO3: 400.44,
+      sensorDust: 500.55
+    }
+  ]
+};
+
+module.exports = {
+  getDistanceFromCoordByMeter,
+  deg2rad,
+  getCoordsFormBetweenCoord,
+  dumyData
+};
+
+const test = () => {
+  const coord1 = [37.521, 126.6082];
+  // const coord2 = [37.5210, 126.6057]; // x 절편
+  const coord2 = [37.52, 126.6082]; // y 절편
+  // const coord2 = [37.5220, 126.6057]; // 일반
+  const r = getCoordsFormBetweenCoord(coord1, coord2, 10);
+  console.log(r);
+  for (let i = 1; i < r.length; i++) {
+    const dist = getDistanceFromCoordByMeter(r[i - 1], r[i]);
+    console.log(dist);
+  }
+};
+
+// test();
+
+const test2 = () => {
+  let m = 10.5 / 14;
+  console.log(3 / 4, 13.5 / 18, (13.5 - 3) / (18 - 4));
+  let rad = Math.atan(m);
+  let tan = Math.tan(rad);
+  let cos = Math.cos(rad);
+  let sin = Math.sin(rad);
+  console.log({ rad, tan, cos, sin });
+  let x = Math.cos(rad) * 15;
+  let y = Math.sin(rad) * 15;
+  console.log({ x, y });
+};
+// test2();

document/dron_test/pav-warning.js

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+const { getConnection, writeData } = require('./pav-client');
+const { getCoordsFormBetweenCoord, dumyData } = require('./pav-utils');
+
+// const host = '192.168.0.30';
+const host = 'localhost';
+// const host = '211.253.11.189';
+const port = 8082;
+
+// 기본정보
+const prefix = 'PALUTM-';
+
+const pathSampleCoord = [
+  [37.523771, 126.720982],
+  [37.524841, 126.723106],
+  [37.524337, 126.72333],
+  [37.524841, 126.723106],
+  [37.523771, 126.720982]
+];
+// const pathSampleCoord = [
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655],
+//   [42.5515, 126.655]
+// ];
+const divDist = 10; // [m]
+
+// 특정거리에 따른 좌표 추출
+const getCoords = coords => {
+  if (!coords || coords.length < 1) return;
+  const totalCoords = [];
+  for (let j = 1; j < 500; j++) {
+    for (let i = 1; i < coords.length; i++) {
+      const divCoords = getCoordsFormBetweenCoord(
+        coords[i - 1],
+        coords[i],
+        divDist
+      );
+      totalCoords.push(...divCoords);
+    }
+  }
+  return totalCoords;
+};
+
+const getClient = () => {
+  const dronName = prefix + '010';
+
+  const client = {};
+  client.dronName = dronName;
+  client.socket = getConnection(dronName, host, port);
+  client.data = getCoords(pathSampleCoord);
+  return client;
+};
+
+const sendData = (client, cnt) => {
+  const data = {
+    ...dumyData,
+    terminalId: client.dronName,
+    body: [
+      {
+        ...dumyData.body[0],
+        objectId: client.dronName,
+        lat: client.data[cnt][0],
+        lon: client.data[cnt][1],
+        heading: client.data[cnt][2]
+      }
+    ]
+  };
+  writeData(client.socket, JSON.stringify(data));
+  iteratorSendData(++cnt);
+};
+
+const client = getClient();
+
+const iteratorSendData = (cnt = 0) => {
+  if (cnt >= client.data.length) {
+    client.socket.destroy();
+    return;
+  }
+  setTimeout(() => sendData(client, cnt), 1000);
+};
+
+iteratorSendData();