thooge/esp32-nmea2000-obp60
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General history buffers working; fine tuning required

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This commit is contained in:
Ulrich Meine
2025-12-20 22:42:42 +01:00
parent d655674529
commit 41a8e7d078
5 changed files with 153 additions and 121 deletions
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130
lib/obp60task/OBPDataOperations.cpp
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@@ -1,38 +1,34 @@
#include "OBPDataOperations.h"
#include "BoatDataCalibration.h" // Functions lib for data instance calibration
#include <math.h>
#include <vector>
#include <map>
#include <memory>
// --- Class HstryBuf ---------------
HstryBuf::HstryBuf(const String& name, int size, GwLog* log, BoatValueList* boatValues)
HstryBuf::HstryBuf(const String& name, int size, BoatValueList* boatValues, GwLog* log)
: logger(log), boatDataName(name) {
hstry.resize(size);
hstryBuf.resize(size);
boatValue = boatValues->findValueOrCreate(name);
}
void HstryBuf::init(const String& format, int updFreq, int mltplr, double minVal, double maxVal) {
hstry.setMetaData(boatDataName, format, updFreq, mltplr, minVal, maxVal);
hstryBuf.setMetaData(boatDataName, format, updFreq, mltplr, minVal, maxVal);
hstryMin = minVal;
hstryMax = maxVal;
if (!boatValue->valid) {
boatValue->setFormat(format);
boatValue->value = std::numeric_limits<double>::max();
boatValue->value = std::numeric_limits<double>::max(); // mark current value invalid
}
}
void HstryBuf::add(double value) {
if (value >= hstryMin && value <= hstryMax) {
hstry.add(value);
hstryBuf.add(value);
}
}
void HstryBuf::handle(bool useSimuData) {
GwApi::BoatValue *calBVal;
if (boatValue->valid) {
if (boatValue->valid) { // add calibrated boat value to history buffer
calBVal = new GwApi::BoatValue(boatDataName.c_str());
calBVal->setFormat(boatValue->getFormat());
calBVal->value = boatValue->value;
@@ -41,8 +37,8 @@ void HstryBuf::handle(bool useSimuData) {
add(calBVal->value);
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
double simValue = hstry.getLast();
} else if (useSimuData) { // add simulated value to history buffer
double simValue = hstryBuf.getLast();
if (boatDataName == "TWD" || boatDataName == "AWD") {
simValue += static_cast<double>(random(-349, 349) / 1000.0);
simValue = WindUtils::to2PI(simValue);
@@ -53,48 +49,53 @@ void HstryBuf::handle(bool useSimuData) {
add(simValue);
}
}
// --- End Class HstryBuf ---------------
// --- Class HstryManager ---------------
HstryManager::HstryManager(int size, GwLog* log, BoatValueList* boatValues) {
// Create history buffers for each boat data type
hstryBufs["TWD"] = std::unique_ptr<HstryBuf>(new HstryBuf("TWD", size, log, boatValues));
hstryBufs["TWS"] = std::unique_ptr<HstryBuf>(new HstryBuf("TWS", size, log, boatValues));
hstryBufs["AWD"] = std::unique_ptr<HstryBuf>(new HstryBuf("AWD", size, log, boatValues));
hstryBufs["AWS"] = std::unique_ptr<HstryBuf>(new HstryBuf("AWS", size, log, boatValues));
// Initialize metadata for each buffer
int hstryUpdFreq = 1000; // Update frequency for history buffers in ms
int mltplr = 1000; // Multiplier which transforms original <double> value into buffer type format
double hstryMinVal = 0; // Minimum value for these history buffers
double courseMax = 2 * M_PI;
double speedMax = 65;
mltplr = 10000; // Store 4 decimals for course data
hstryBufs["TWD"]->init("formatCourse", hstryUpdFreq, mltplr, hstryMinVal, courseMax);
hstryBufs["AWD"]->init("formatCourse", hstryUpdFreq, mltplr, hstryMinVal, courseMax);
mltplr = 1000; // Store 3 decimals for windspeed data
hstryBufs["TWS"]->init("formatKnots", hstryUpdFreq, mltplr, hstryMinVal, speedMax);
hstryBufs["AWS"]->init("formatKnots", hstryUpdFreq, mltplr, hstryMinVal, speedMax);
// --- Class HstryBuffers ---------------
HstryBuffers::HstryBuffers(int size, BoatValueList* boatValues, GwLog* log)
: size(size), boatValueList(boatValues), logger(log) {
// collect boat values for true wind calculation
awaBVal = boatValues->findValueOrCreate("AWA");
hdtBVal = boatValues->findValueOrCreate("HDT");
hdmBVal = boatValues->findValueOrCreate("HDM");
varBVal = boatValues->findValueOrCreate("VAR");
cogBVal = boatValues->findValueOrCreate("COG");
sogBVal = boatValues->findValueOrCreate("SOG");
awdBVal = boatValues->findValueOrCreate("AWD");
// should have been already all created at true wind object initialization
// potentially to be moved to history buffer handling
awaBVal = boatValueList->findValueOrCreate("AWA");
hdtBVal = boatValueList->findValueOrCreate("HDT");
hdmBVal = boatValueList->findValueOrCreate("HDM");
varBVal = boatValueList->findValueOrCreate("VAR");
cogBVal = boatValueList->findValueOrCreate("COG");
sogBVal = boatValueList->findValueOrCreate("SOG");
awdBVal = boatValueList->findValueOrCreate("AWD");
}
void HstryBuffers::addBuffer(const String& name) {
// Create history buffer for boat data type
if (HstryBuffers::getBuffer(name) != nullptr) { // buffer for this data type already exists
return;
}
hstryBuffers[name] = std::unique_ptr<HstryBuf>(new HstryBuf(name, size, boatValueList, logger));
// Initialize metadata for buffer
// String valueFormat = boatValueList->findValueOrCreate(name)->getFormat().c_str(); // Unfortunately, format is not yet available during system initialization
String valueFormat = bufferParams[name].format; // Data format of boat data type
int hstryUpdFreq = bufferParams[name].hstryUpdFreq; // Update frequency for history buffers in ms
int mltplr = bufferParams[name].mltplr; // default multiplier which transforms original <double> value into buffer type format
double bufferMinVal = bufferParams[name].bufferMinVal; // Min value for this history buffer
double bufferMaxVal = bufferParams[name].bufferMaxVal; // Max value for this history buffer
hstryBuffers[name]->init(valueFormat, hstryUpdFreq, mltplr, bufferMinVal, bufferMaxVal);
LOG_DEBUG(GwLog::DEBUG,"HstryBuffers-new buffer added: name: %s, format: %s, multiplier: %d, min value: %.2f, max value: %.2f", name, valueFormat, mltplr, bufferMinVal, bufferMaxVal);
}
// Handle history buffers for TWD, TWS, AWD, AWS
void HstryManager::handleHstryBufs(bool useSimuData) {
void HstryBuffers::handleHstryBufs(bool useSimuData) {
static double hdt = 20; //initial value only relevant if we use simulation data
GwApi::BoatValue *calBVal; // temp variable just for data calibration -> we don't want to calibrate the original data here
// Handle all registered history buffers
for (auto& pair : hstryBufs) {
for (auto& pair : hstryBuffers) {
auto& buf = pair.second;
buf->handle(useSimuData);
}
@@ -118,8 +119,8 @@ void HstryManager::handleHstryBufs(bool useSimuData) {
awdBVal->value = calBVal->value;
awdBVal->valid = true;
// Find the AWD buffer and add the value.
auto it = hstryBufs.find("AWD");
if (it != hstryBufs.end()) {
auto it = hstryBuffers.find("AWD");
if (it != hstryBuffers.end()) {
it->second->add(calBVal->value);
}
@@ -130,14 +131,14 @@ void HstryManager::handleHstryBufs(bool useSimuData) {
}
}
RingBuffer<uint16_t>* HstryManager::getBuffer(const String& name) {
auto it = hstryBufs.find(name);
if (it != hstryBufs.end()) {
return &it->second->hstry;
RingBuffer<uint16_t>* HstryBuffers::getBuffer(const String& name) {
auto it = hstryBuffers.find(name);
if (it != hstryBuffers.end()) {
return &it->second->hstryBuf;
}
return nullptr;
}
// --- Class HstryBuf ---------------
// --- End Class HstryBuffers ---------------
// --- Class WindUtils --------------
double WindUtils::to2PI(double a)
@@ -277,23 +278,24 @@ bool WindUtils::calcTrueWind(const double* awaVal, const double* awsVal,
}
// Calculate true wind data and add to obp60task boat data list
bool WindUtils::addTrueWind(GwApi* api, BoatValueList* boatValues, GwLog* log) {
//bool WindUtils::addTrueWind(GwApi* api, GwLog* log) {
bool WindUtils::addTrueWind() {
GwLog* logger = log;
// GwLog* logger = log;
double awaVal, awsVal, cogVal, stwVal, sogVal, hdtVal, hdmVal, varVal;
// double awaVal, awsVal, cogVal, stwVal, sogVal, hdtVal, hdmVal, varVal;
double twd, tws, twa;
bool isCalculated = false;
awaVal = awaBVal->valid ? awaBVal->value : DBL_MAX;
awsVal = awsBVal->valid ? awsBVal->value : DBL_MAX;
cogVal = cogBVal->valid ? cogBVal->value : DBL_MAX;
stwVal = stwBVal->valid ? stwBVal->value : DBL_MAX;
sogVal = sogBVal->valid ? sogBVal->value : DBL_MAX;
hdtVal = hdtBVal->valid ? hdtBVal->value : DBL_MAX;
hdmVal = hdmBVal->valid ? hdmBVal->value : DBL_MAX;
varVal = varBVal->valid ? varBVal->value : DBL_MAX;
LOG_DEBUG(GwLog::DEBUG,"obp60task addTrueWind: AWA %.1f, AWS %.1f, COG %.1f, STW %.1f, SOG %.2f, HDT %.1f, HDM %.1f, VAR %.1f", awaBVal->value * RAD_TO_DEG, awsBVal->value * 3.6 / 1.852,
double awaVal = awaBVal->valid ? awaBVal->value : DBL_MAX;
double awsVal = awsBVal->valid ? awsBVal->value : DBL_MAX;
double cogVal = cogBVal->valid ? cogBVal->value : DBL_MAX;
double stwVal = stwBVal->valid ? stwBVal->value : DBL_MAX;
double sogVal = sogBVal->valid ? sogBVal->value : DBL_MAX;
double hdtVal = hdtBVal->valid ? hdtBVal->value : DBL_MAX;
double hdmVal = hdmBVal->valid ? hdmBVal->value : DBL_MAX;
double varVal = varBVal->valid ? varBVal->value : DBL_MAX;
LOG_DEBUG(GwLog::DEBUG,"WindUtils:addTrueWind: AWA %.1f, AWS %.1f, COG %.1f, STW %.1f, SOG %.2f, HDT %.1f, HDM %.1f, VAR %.1f", awaBVal->value * RAD_TO_DEG, awsBVal->value * 3.6 / 1.852,
cogBVal->value * RAD_TO_DEG, stwBVal->value * 3.6 / 1.852, sogBVal->value * 3.6 / 1.852, hdtBVal->value * RAD_TO_DEG, hdmBVal->value * RAD_TO_DEG, varBVal->value * RAD_TO_DEG);
isCalculated = calcTrueWind(&awaVal, &awsVal, &cogVal, &stwVal, &sogVal, &hdtVal, &hdmVal, &varVal, &twd, &tws, &twa);
@@ -312,9 +314,9 @@ bool WindUtils::addTrueWind(GwApi* api, BoatValueList* boatValues, GwLog* log) {
twaBVal->valid = true;
}
}
LOG_DEBUG(GwLog::DEBUG,"obp60task addTrueWind: isCalculated %d, TWD %.1f, TWA %.1f, TWS %.1f", isCalculated, twdBVal->value * RAD_TO_DEG,
LOG_DEBUG(GwLog::DEBUG,"WindUtils:addTrueWind: isCalculated %d, TWD %.1f, TWA %.1f, TWS %.1f", isCalculated, twdBVal->value * RAD_TO_DEG,
twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852);
return isCalculated;
}
// --- Class WindUtils --------------
// --- End Class WindUtils --------------