FITonyashkii update

FITonyashkii/public/app.js

@@ -29,7 +29,9 @@ class MapInterface {
     this.gridSize = 50;
     this.cellSize = 30;
 
+    // Route state
     this.routeActive = false;
+    this.routeData = []; // массив точек маршрута {x, y}
 
     this.setupCanvas();
     this.setupEventListeners();
@@ -249,22 +251,25 @@ class MapInterface {
     }
   }
 
-  startRoute() {
+
+// Модифицируйте метод startRoute
+startRoute() {
     if (this.ws && this.ws.readyState === WebSocket.OPEN) {
-      const message = {
-        type: "start_route",
-      };
+        const message = {
+            type: "start_route",
+        };
 
-      this.ws.send(JSON.stringify(message));
-      this.routeActive = true;
-      this.updateRouteButton();
-      this.showNotification("Маршрут начат!");
+        this.ws.send(JSON.stringify(message));
+        this.routeActive = true;
+        this.routeData = [];
+        this.updateRouteButton();
+        this.showNotification("Маршрут начат!");
 
-      console.log("Начало маршрута:", message);
+        console.log("Начало маршрута:", message);
     } else {
-      this.showNotification("Нет подключения к серверу", true);
+        this.showNotification("Нет подключения к серверу", true);
     }
-  }
+}
 
   finishRoute() {
     if (this.ws && this.ws.readyState === WebSocket.OPEN) {
@@ -296,6 +301,56 @@ class MapInterface {
     }
   }
 
+  addRoutePoint(x, y) {
+    if (this.routeActive) {
+      this.routeData.push({ x, y });
+    }
+  }
+
+  drawRoute() {
+    if (!this.routeData || this.routeData.length < 2) return;
+
+    this.ctx.strokeStyle = "#a824c9";
+    this.ctx.lineWidth = 4 * this.scale;
+    this.ctx.lineJoin = "round";
+    this.ctx.lineCap = "round";
+    this.ctx.setLineDash([]); 
+
+    this.ctx.beginPath();
+
+    const firstPoint = this.scalePos(this.routeData[0].x, this.routeData[0].y);
+    this.ctx.moveTo(firstPoint.x, firstPoint.y);
+
+    for (let i = 1; i < this.routeData.length; i++) {
+      const point = this.scalePos(this.routeData[i].x, this.routeData[i].y);
+      this.ctx.lineTo(point.x, point.y);
+    }
+
+    this.ctx.stroke();
+
+    if (this.routeData.length > 0) {
+      const startPoint = this.scalePos(this.routeData[0].x, this.routeData[0].y);
+      this.ctx.fillStyle = "#2ecc71"; 
+      this.ctx.beginPath();
+      this.ctx.arc(startPoint.x, startPoint.y, 5 * this.scale, 0, Math.PI * 2);
+      this.ctx.fill();
+
+    }
+
+    // Рисуем конечную точку другим цветом
+    if (this.routeData.length > 1) {
+      const endPoint = this.scalePos(
+        this.routeData[this.routeData.length - 1].x, 
+        this.routeData[this.routeData.length - 1].y
+      );
+      this.ctx.fillStyle = "#e74c3c"; // красный для финиша
+      this.ctx.beginPath();
+      this.ctx.arc(endPoint.x, endPoint.y, 5 * this.scale, 0, Math.PI * 2);
+      this.ctx.fill();
+
+    }
+  }
+
   toggleGrid() {
     this.showGrid = !this.showGrid;
   }
@@ -408,10 +463,26 @@ class MapInterface {
       }
     } else if (data.playerPosition && data.objects) {
       // Full map data format
+      const prevX = this.playerPosition.x;
+      const prevY = this.playerPosition.y;
+
       this.playerPosition = data.playerPosition;
       this.objects = data.objects;
       this.statusValues = data.statusValues || [];
 
+      // Автоматически добавляем точку в маршрут при движении
+      if (this.routeActive) {
+        const distance = Math.sqrt(
+          Math.pow(this.playerPosition.x - prevX, 2) + 
+          Math.pow(this.playerPosition.y - prevY, 2)
+        );
+
+        // Добавляем точку только если перемещение значительное
+        if (distance > 0.1) {
+          this.addRoutePoint(this.playerPosition.x, this.playerPosition.y);
+        }
+      }
+
       const messageLine = document.getElementById("messageLine");
       if (data.messageLine) {
         messageLine.textContent = data.messageLine;
@@ -420,7 +491,23 @@ class MapInterface {
       }
     } else if (data.x !== undefined && data.y !== undefined) {
       // Simple position update
+      const prevX = this.playerPosition.x;
+      const prevY = this.playerPosition.y;
+
       this.playerPosition = { x: data.x, y: data.y };
+
+      // Автоматически добавляем точку в маршрут при движении
+      if (this.routeActive) {
+        const distance = Math.sqrt(
+          Math.pow(this.playerPosition.x - prevX, 2) + 
+          Math.pow(this.playerPosition.y - prevY, 2)
+        );
+
+        // Добавляем точку только если перемещение значительное
+        if (distance > 0.5) {
+          this.addRoutePoint(this.playerPosition.x, this.playerPosition.y);
+        }
+      }
     } else if (data.type === "error") {
       console.error("Ошибка сервера:", data.message);
       this.showNotification("Ошибка: " + data.message, true);
@@ -517,6 +604,9 @@ class MapInterface {
       this.drawGrid();
     }
 
+    // Draw route (добавляем эту строку)
+    this.drawRoute();
+
     // Draw objects
     this.drawObjects();
 
@@ -528,7 +618,7 @@ class MapInterface {
   scalePos(x, y) {
     return {
       x: x * this.cellSize * this.scale + this.offsetX,
-      y: y * this.cellSize * this.scale * -1 + this.offsetY,
+      y: -y * this.cellSize * this.scale + this.offsetY,
     };
   }
 
@@ -658,4 +748,4 @@ document.addEventListener("visibilitychange", function () {
   ) {
     window.mapInterface.connect();
   }
-});
+});

FITonyashkii/server/beacons.txt

@@ -1,9 +1,9 @@
-Name;X;Y
-beacon_1;-7.2;-4.8
-beacon_2;3;-4.8
-beacon_3;9.6;-0.6
-beacon_4;-13.8;-1.8
-beacon_5;-9;4.2
-beacon_6;6;9
-beacon_7;-13.2;10.8
+Name;X;Y
+beacon_1;-7.2;-4.8
+beacon_2;3;-4.8
+beacon_3;9.6;-0.6
+beacon_4;-13.8;-1.8
+beacon_5;-9;4.2
+beacon_6;6;9
+beacon_7;-13.2;10.8
 beacon_8;-3;2.4

FITonyashkii/server/config.py

@@ -1,2 +1,3 @@
 
 MIN_DISTANCE_TO_UPDATE_ROUTE = 1.0  # meters
+BROADCAST_FREQUENCY = 1.0

FITonyashkii/server/rssi_filter.py

@@ -6,7 +6,7 @@
 class KalmanFilterManager:
     def __init__(self):
         self.filters: Dict[str, Any] = {}
-        self.measurement_uncertainty = 100
+        self.measurement_uncertainty = 120
 
     def initialize_kalman_filter(self):
         # Initialize the Kalman Filter

FITonyashkii/server/rssi_locator.py

@@ -50,5 +50,5 @@ def on_data(self, device_name: str, rssi: int, tx_power: int = -46):
             position = self.solver.get_position(self.filtered_rssi)
             # print(position)
             if position:
-                self.x = 0.9 * self.x + 0.1*position[0]
-                self.y = 0.9 * self.y + 0.1*position[1]
+                self.x = 0.95 * self.x + 0.05 * position[0]
+                self.y = 0.95 * self.y + 0.05 * position[1]

FITonyashkii/server/server.py

@@ -53,7 +53,6 @@ def __init__(
     async def websocket_handler(self, websocket):
         self.connected_clients.add(websocket)
         print(f"WebSocket client connected from {websocket.remote_address}")
-        await self.broadcast_state()
         try:
             async for message in websocket:
                 try:
@@ -192,6 +191,11 @@ async def broadcast_state(self):
                     await client.send(message)
                 except websockets.exceptions.ConnectionClosed:
                     self.connected_clients.discard(client)
+
+    async def broadcast_task(self):
+        while True:
+            await self.broadcast_state()
+            await asyncio.sleep(config.BROADCAST_FREQUENCY)
 
     def update(self, udp_data):
         current_time = int(datetime.now().timestamp())
@@ -221,8 +225,6 @@ def update(self, udp_data):
                 if distance >= config.MIN_DISTANCE_TO_UPDATE_ROUTE:
                     self.route_data.append((self.locator.x, self.locator.y))
 
-        asyncio.create_task(self.broadcast_state())
-
     class UDPServerProtocol(asyncio.DatagramProtocol):
         def __init__(self, server):
             self.server = server
@@ -257,6 +259,7 @@ async def start(self):
         print(f"Starting WebSocket server on ws://{self.ws_host}:{self.ws_port}")
         await websockets.serve(self.websocket_handler, self.ws_host, self.ws_port)
         asyncio.create_task(self.udp_server())
+        asyncio.create_task(self.broadcast_task())
         await asyncio.Future()  # Run forever
 
 

FITonyashkii/server/solver.py

@@ -2,7 +2,7 @@
 
 
 class Solver:
-    def __init__(self, beacons: Iterable, tx: int = -65, n: float = 1.5):
+    def __init__(self, beacons: Iterable, tx: int = -65, n: float = 1.0):
         self.beacons = {
             beacon.name: (float(beacon.x), float(beacon.y)) for beacon in beacons
         }
@@ -23,7 +23,7 @@ def get_position(self, rssies: Dict):
             x, y = self.beacons[beacon_name]
             distance = float(self.get_distance(beacon_rssi))
             # Use inverse distance as weight (closer beacons have more influence)
-            weight = 1.0 / (distance + 0.1)  # Add small value to avoid division by zero
+            weight = 1.0 / (distance + 0.05)  # Add small value to avoid division by zero
             weighted_x += x * weight
             weighted_y += y * weight
             total_weight += weight