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@jumpjack
jumpjack authored Nov 23, 2024
1 parent c038635 commit 27f85dd
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271 changes: 271 additions & 0 deletions MER-traverse-2d.html
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<!--
Turns rover motion files (SVF and RVF) into JSON arrays.
Saves into JSON file.
To do: plot data with plotly, see traverse2d.html
-->
<!DOCTYPE html>
<html>
<head>
<title>RVF File Processor & 2D Viewer</title>

</head>
<body>
<div class="container">
<div class="controls">
<h2>File Input</h2>
<div class="file-input">
<label>Master SVF:</label><br>
<input type="file" id="masterFile" accept=".svf">
</div>
<div class="file-input">
<label>Secondary RVF Files:</label><br>
<input type="file" id="secondaryFiles" accept=".rvf" multiple>
</div>
<button id="saveButton" style="margin-top: 20px;">Salva dati su file</button><br>
<button id="processButton" disabled>ELABORA</button>
</div>

</div>

<script>
let masterData = null;
let secondaryData = [];
let siteOffsets = [];
let drives = {};

// Funzione per convertire quaternione in Euler angles (yaw, pitch, roll)
function quaternionToEuler(q) {
let yaw = Math.atan2(2*(q.s*q.v3 + q.v1*q.v2), 1 - 2*(q.v2*q.v2 + q.v3*q.v3));
let pitch = Math.asin(2*(q.s*q.v2 - q.v3*q.v1));
let roll = Math.atan2(2*(q.s*q.v1 + q.v2*q.v3), 1 - 2*(q.v1*q.v1 + q.v2*q.v2));
return { yaw, pitch, roll };
}

// Event listeners per i file
document.getElementById('masterFile').addEventListener('change', async (e) => {
const file = e.target.files[0];
const text = await file.text();
masterData = new DOMParser().parseFromString(text, 'text/xml');
updateProcessButton();
processMasterFile();
});

// Event listener per i file secondari
document.getElementById('secondaryFiles').addEventListener('change', async (e) => {
secondaryData = [];

// Ordina i file in base al nome
const files = Array.from(e.target.files).sort((a, b) => a.name.localeCompare(b.name));

for (let file of files) {
const text = await file.text();
console.log(file.name); // Per verifica
secondaryData.push(new DOMParser().parseFromString(text, 'text/xml'));
}

updateProcessButton();
processSecondaryFiles();
});


function updateProcessButton() {
button = document.getElementById('processButton');
button.disabled = !(masterData && secondaryData.length > 0 );
button = document.getElementById('saveButton');
saveButton.disabled = !(masterData && secondaryData.length > 0 );
}

function processMasterFile() {
siteOffsets = [];
const solutions = masterData.getElementsByTagName('solution');
let cumulativeOffset = { x: 0, y: 0, z: 0 };

for (let solution of solutions) {
//console.log("solution", solution);
if (solution.getAttribute('name') === 'SITE_FRAME') {
const index1 = parseInt(solution.getAttribute('index1'));
//console.log(" site found", index1);
const offset = solution.getElementsByTagName('offset')[0];
//console.log(" offset=", offset);
const relativeOffset = {
x: parseFloat(offset.getAttribute('x')),
y: parseFloat(offset.getAttribute('y')),
z: parseFloat(offset.getAttribute('z'))
};
//console.log(" relativeOffset=", relativeOffset);

cumulativeOffset = {
x: cumulativeOffset.x + relativeOffset.x,
y: cumulativeOffset.y + relativeOffset.y,
z: cumulativeOffset.z + relativeOffset.z
};

//console.log(" cumulativeOffset=", cumulativeOffset);
siteOffsets.push({
index1,
relativeOffset,
cumulativeOffset: {...cumulativeOffset}
});
}
}
}

function processSecondaryFiles() {
drives = {};

// Per ogni documento XML secondario
for (let doc of secondaryData) {
//console.log(doc)
const solutions = doc.getElementsByTagName('solution');
// Per ogni solution nel documento
for (let solution of solutions) {
if (solution.getAttribute('name') === 'ROVER_FRAME') {
const site = parseInt(solution.getAttribute('index1'));
const drive = parseInt(solution.getAttribute('index2'));

// Ottieni offset e orientamento dalla solution
const offset = solution.getElementsByTagName('offset')[0];
const orientation = solution.getElementsByTagName('orientation')[0];

// Crea oggetto quaternione dai dati
const quaternion = {
s: parseFloat(orientation.getAttribute('s')),
v1: parseFloat(orientation.getAttribute('v1')),
v2: parseFloat(orientation.getAttribute('v2')),
v3: parseFloat(orientation.getAttribute('v3'))
};

// Cerca l'offset cumulativo corrispondente al site
let siteOffset = { x: 0, y: 0, z: 0 }; // valore di default

if (site>0) {
siteOffset = siteOffsets[site-1].cumulativeOffset;
}

// console.log(" siteOffset=", siteOffset);

// Crea oggetto con l'offset del drive
const driveOffset = {
x: parseFloat(offset.getAttribute('x')),
y: parseFloat(offset.getAttribute('y')),
z: parseFloat(offset.getAttribute('z'))
};

// Calcola l'offset totale sommando siteOffset e driveOffset
const totalOffset = {
x: siteOffset.x + driveOffset.x,
y: siteOffset.y + driveOffset.y,
z: siteOffset.z + driveOffset.z
};

// Inizializza l'oggetto per il site se non esiste
if (!drives[site]) {
drives[site] = {};
}

// Memorizza tutti i dati per questa combinazione site/drive
drives[site][drive] = {
offset: driveOffset,
quaternion: quaternion,
euler: quaternionToEuler(quaternion),
totalOffset: totalOffset
};
}
}
}
}



// Funzione di debug
function placeMarkers() {
console.log("Inizio debugWithBoxes");



}


/**
* Calcola la differenza tra i campi euler e totalOffset di due elementi dell'array drives
* @param {Object} drives - Array bidimensionale con indici site e drive
* @param {string|number} site1 - Primo indice site
* @param {string|number} drive1 - Primo indice drive
* @param {string|number} site2 - Secondo indice site
* @param {string|number} drive2 - Secondo indice drive
* @returns {Object} Oggetto contenente le differenze calcolate
*/
function calculateDrivesDifferences(site1, drive1, site2, drive2) {
// Costante per convertire da radianti a gradi
const RAD_TO_DEG = 180 / Math.PI;

// Ottieni i due elementi dall'array
const element1 = drives[site1][drive1];
const element2 = drives[site2][drive2];

// Calcola le differenze per gli angoli di Euler e converti in gradi
const eulerDiffRad = {
yaw: (element1.euler.yaw - element2.euler.yaw),
pitch: (element1.euler.pitch - element2.euler.pitch),
roll: (element1.euler.roll - element2.euler.roll)
};

const eulerDiffDeg = {
yaw: (element1.euler.yaw - element2.euler.yaw) * RAD_TO_DEG,
pitch: (element1.euler.pitch - element2.euler.pitch) * RAD_TO_DEG,
roll: (element1.euler.roll - element2.euler.roll) * RAD_TO_DEG
};

// Calcola le differenze per totalOffset
const totalOffsetDiff = {
x: element1.totalOffset.x - element2.totalOffset.x,
y: element1.totalOffset.y - element2.totalOffset.y,
z: element1.totalOffset.z - element2.totalOffset.z
};

return {
eulerDiffRad,
eulerDiffDeg,
totalOffsetDiff
};
}


// Funzione per salvare i dati su un file JSON
function saveDataToFile(data, filename) {
// Converti i dati in una stringa JSON
const jsonData = "const drives = " + JSON.stringify(data, null, 2);

// Crea un blob con i dati
const blob = new Blob([jsonData], { type: "application/json" });

// Crea un URL per il download
const url = window.URL.createObjectURL(blob);

// Crea un elemento <a> per il download
const a = document.createElement("a");
a.href = url;
a.download = filename;

// Attiva il download
a.click();

// Libera la memoria
window.URL.revokeObjectURL(url);
}

document.getElementById("saveButton").addEventListener("click", () => {
saveDataToFile(drives, "drives.js");
});

document.getElementById("processButton").addEventListener("click", () => {
placeMarkers();
});



</script>
</body>
</html>
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