Create workspace from previous implementation files

simulation-tools/src/nav_dev/error_report.rs

@@ -0,0 +1,59 @@
+use chrono::{DateTime, Utc};
+use influxdb::InfluxDbWriteable;
+use kairo_common::helper::for_async::get_influx_cli;
+use serde::Serialize;
+use tokio::time;
+
+use kairo_common::{influxdb_models::KnownPosition, Point};
+
+use crate::Config;
+
+#[derive(Debug, Serialize, InfluxDbWriteable)]
+pub struct Error {
+    error: f64,
+    speed: f64,
+    time: DateTime<Utc>,
+}
+
+pub async fn thread(config: Config) {
+    let period = time::Duration::from_millis(500);
+
+    let mut position = Point::new(config.radius, 0.0);
+    let mut speed = position;
+    position.rotate_by(f64::to_radians(config.angle_step));
+    speed -= position;
+
+    let speed = speed.module();
+
+    loop {
+        let start = time::Instant::now();
+
+        let real = KnownPosition::get_last_for("real", 1).await;
+        let calc = KnownPosition::get_last_for(config.id.as_str(), 1).await;
+        if real.is_ok() && calc.is_ok() {
+            let real = real.unwrap();
+            let calc = calc.unwrap();
+
+            if real.is_some() && calc.is_some() {
+                let real = real.unwrap();
+                let calc = calc.unwrap();
+                #[allow(non_snake_case)]
+                let Δx = real.x - calc.x;
+                #[allow(non_snake_case)]
+                let Δy = real.y - calc.y;
+                let error = Error {
+                    speed,
+                    error: f64::sqrt(Δx.powi(2) + Δy.powi(2)),
+                    time: chrono::Utc::now(),
+                };
+
+                let table_name = format!("error_{}", config.id.as_str());
+                get_influx_cli()
+                    .query(error.into_query(table_name.as_str()))
+                    .await
+                    .unwrap();
+            }
+            time::sleep(period - start.elapsed()).await;
+        }
+    }
+}