Merge branch 'main' into Jay/update-codeowner-package-json-fix

Author: FireBoyAJ24

src/local_pathfinding/local_pathfinding/visualizer.py

@@ -83,6 +83,14 @@ def __init__(self, msgs: List[ci.LPathData]):
             *[self._split_coordinates(waypoints) for waypoints in self.all_wp_xy]
         )
 
+        # AIS ships
+        self.ais_ships = self.curr_msg.ais_ships.ships
+        ais_ship_latlons = [ship.lat_lon for ship in self.ais_ships]
+        self.ais_ship_ids = [ship.id for ship in self.ais_ships]
+        ais_ship_xy = cs.latlon_list_to_xy_list(self.reference_latlon, ais_ship_latlons)
+        self.ais_pos_x, self.ais_pos_y = self._split_coordinates(ais_ship_xy)
+        self.ais_headings = [ship.cog.heading for ship in self.ais_ships]
+
         # TODO: Include other LPathData attributes for plotting their data
 
         # Process land obstacles
@@ -508,6 +516,35 @@ def live_update_plot(state: VisualizerState) -> go.Figure:
     y_min = min(state.final_local_wp_y) - 10
     y_max = max(state.final_local_wp_y) + 10
 
+    # Display AIS Ships
+    for x_val, y_val, heading, ais_id in zip(
+        state.ais_pos_x, state.ais_pos_y, state.ais_headings, state.ais_ship_ids
+    ):
+        fig.add_trace(
+            go.Scatter(
+                x=[x_val],
+                y=[y_val],
+                mode="markers",
+                name=f"AIS {str(ais_id)}",
+                hovertemplate=(
+                    f"<b>🚢 AIS Ship {str(ais_id)}</b><br>"
+                    f"X: {x_val:.2f}<br>"
+                    f"Y: {y_val:.2f}<br>"
+                    f"Heading: {heading:.1f}°<extra></extra>"
+                ),
+                marker=dict(
+                    symbol="arrow-wide",
+                    line_color="orange",
+                    color="orange",
+                    line_width=2,
+                    size=15,
+                    angleref="up",
+                    angle=cs.true_bearing_to_plotly_cartesian(heading),
+                ),
+                showlegend=False,
+            )
+        )
+
     # Update Layout
     fig.update_layout(
         title="Path Planning",

src/local_pathfinding/mock_ais_files/ais_ships.csv

@@ -1,6 +1,6 @@
 id,latitude,longitude,heading,speed,rot,width,height
-1,45.0,0.0,90.0,1.0,1,1.0,1.0
-2,45.0,2.0,90.0,15.0,2,2.0,2.0
-3,45.0,3.0,3.0,3.0,3,3.0,3.0
-4,45.0,4.0,4.0,4.0,4,4.0,4.0
-5,45.0,5.0,5.0,5.0,5,5.0,5.0
+1,49.01261318191024,-135.65593922412154,90.0,40.0,30,1.0,1.0
+2,48.67919212345747,-132.94724986187234,90.0,40.0,50,2.0,2.0
+3,48.11352031871804,-135.67990496461405,30,80.0,-50,3,3.0
+4,48.1970229368345,-128.93710143805356,4.0,20.0,-30,4.0,4.0
+5,48.51027819947852,-126.15925374786544,5.0,10.0,20,5.0,5.0