Add time-since-last-target to server
And draw little cameras on the robot that turn green when we got a
target from that camera in the last 0.25sec.
Change-Id: Icd6107163fd3f5145fcba69ac6ebb2700f602f8d
diff --git a/y2019/vision/server/www/robot.ts b/y2019/vision/server/www/robot.ts
index bc1f47f..489112c 100644
--- a/y2019/vision/server/www/robot.ts
+++ b/y2019/vision/server/www/robot.ts
@@ -1,9 +1,22 @@
import {IN_TO_M, FT_TO_M} from './constants';
+import {CAMERA_POSES} from './camera_constants';
const ROBOT_WIDTH = 25 * IN_TO_M;
const ROBOT_LENGTH = 31 * IN_TO_M;
+const CAMERA_SCALE = 0.3;
-export function drawRobot(ctx : CanvasRenderingContext2D, x : number, y : number, theta : number) : void {
+function drawCamera(ctx : canvasRenderingContext2d, pose : {x : number, y : number, theta : number}) : void {
+ ctx.beginPath();
+ ctx.moveTo(pose.x, pose.y);
+ ctx.lineTo(pose.x + CAMERA_SCALE * Math.cos(pose.theta + Math.PI / 4.0),
+ pose.y + CAMERA_SCALE * Math.sin(pose.theta + Math.PI / 4.0));
+ ctx.lineTo(pose.x + CAMERA_SCALE * Math.cos(pose.theta - Math.PI / 4.0),
+ pose.y + CAMERA_SCALE * Math.sin(pose.theta - Math.PI / 4.0));
+ ctx.closePath();
+ ctx.stroke();
+}
+
+export function drawRobot(ctx : CanvasRenderingContext2D, x : number, y : number, theta : number, camera_colors : string[]) : void {
ctx.save();
ctx.translate(x, y);
ctx.rotate(theta);
@@ -11,11 +24,18 @@
ctx.fillStyle = 'blue';
ctx.fillRect(-ROBOT_LENGTH / 2, -ROBOT_WIDTH / 2, ROBOT_LENGTH, ROBOT_WIDTH);
+ ctx.beginPath();
+ ctx.strokeStyle = 'black';
ctx.moveTo(ROBOT_LENGTH / 2, -ROBOT_WIDTH/2);
ctx.lineTo(ROBOT_LENGTH / 2 + 0.1, 0);
ctx.lineTo(ROBOT_LENGTH / 2, ROBOT_WIDTH/2);
ctx.closePath();
ctx.stroke();
+ ctx.lineWidth = 3.0 * ctx.lineWidth;
+ for (let ii of [0, 1, 2, 3, 4]) {
+ ctx.strokeStyle = camera_colors[ii];
+ drawCamera(ctx, CAMERA_POSES[ii]);
+ }
ctx.restore();
}