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esp32-nmea2000-obp60
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completely moved to dynamic boatData, first tests

This commit is contained in:
andreas 2021-10-20 21:19:20 +02:00
parent e1e3928062
commit 940d7ea957
4 changed files with 142 additions and 113 deletions
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31
lib/boatData/GwBoatData.h
View File

@ -8,21 +8,24 @@
#define GW_BOAT_VALUE_LEN 32
class GwBoatItemBase{
public:
static const long INVALID_TIME=60000;
static const unsigned long INVALID_TIME=60000;
typedef std::map<String,GwBoatItemBase*> GwBoatItemMap;
protected:
long lastSet;
long invalidTime=INVALID_TIME;
unsigned long lastSet=0;
unsigned long invalidTime=INVALID_TIME;
void uls(){
lastSet=millis();
}
public:
long getLastSet() const {return lastSet;}
bool isValid(long now) const {
unsigned long getLastSet() const {return lastSet;}
bool isValid(unsigned long now=0) const {
if (lastSet == 0) return false;
if (invalidTime == 0) return true;
if (now == 0) now=millis();
return (lastSet + invalidTime) >= now;
}
GwBoatItemBase(long invalidTime=INVALID_TIME){
lastSet=-1;
GwBoatItemBase(unsigned long invalidTime=INVALID_TIME){
lastSet=0;
this->invalidTime=invalidTime;
}
virtual ~GwBoatItemBase(){}
@ -39,7 +42,8 @@ template<class T> class GwBoatItem : public GwBoatItemBase{
T data;
Formatter fmt;
public:
GwBoatItem(long invalidTime=INVALID_TIME,Formatter fmt=NULL): GwBoatItemBase(invalidTime){
GwBoatItem(unsigned long invalidTime=INVALID_TIME,Formatter fmt=NULL):
GwBoatItemBase(invalidTime){
this->fmt=fmt;
}
virtual ~GwBoatItem(){}
@ -51,6 +55,10 @@ template<class T> class GwBoatItem : public GwBoatItemBase{
if (! useFormatter || fmt == NULL) return data;
return (*fmt)(data);
}
T getDataWithDefault(T defaultv){
if (! isValid(millis())) return defaultv;
return data;
}
virtual void toJsonDoc(DynamicJsonDocument *doc,String name){
(*doc)[name]=getData(true);
}
@ -69,6 +77,10 @@ template<class T> class GwBoatItem : public GwBoatItemBase{
friend class GwBoatData;
};
/**
* implement a get for a particular type of boatData
* will create a method get##name##Item that returns a GwBoatItem<type>
* */
#define GWBOATDATA_IMPL_ITEM(type,name) GwBoatItem<type> *get##name##Item(String iname,bool doCreate=true, \
long invalidTime=GwBoatItemBase::INVALID_TIME, GwBoatItem<type>::Formatter fmt=NULL){ \
return GwBoatItem<type>::findOrCreate(&values,iname, doCreate, \
@ -84,7 +96,8 @@ class GwBoatData{
~GwBoatData();
String toJson() const;
GWBOATDATA_IMPL_ITEM(double,Double)
GWBOATDATA_IMPL_ITEM(long,Long)
GWBOATDATA_IMPL_ITEM(long,Long)
GWBOATDATA_IMPL_ITEM(uint32_t,Uint32)
};

184
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
View File

@ -31,24 +31,43 @@ const double radToDeg = 180.0 / M_PI;
static void updateDouble(GwBoatItem<double> *item,double value){
if (value == N2kDoubleNA) return;
if (! item) return;
item->update(value);
}
static double formatCourse(double cv){
return cv * radToDeg;
double rt=cv * radToDeg;
if (rt > 360) rt-=360;
if (rt <0) rt+=360;
return rt;
}
static double formatWind(double cv){
double rt=formatCourse(cv);
if (rt > 180) rt=180-rt;
return rt;
}
static double formatKnots(double cv){
return cv* 3600.0/1852.0;
}
uint32_t mtr2nm(uint32_t m){
return m/1852;
}
static void setMax(GwBoatItem<double> *maxItem,GwBoatItem<double> *item){
unsigned long now=millis();
if (! item->isValid(now)) return;
if(item->getData() > maxItem->getData() || ! maxItem->isValid(now)){
maxItem->update(item->getData());
}
}
N2kDataToNMEA0183::N2kDataToNMEA0183(GwLog * logger, GwBoatData *boatData, tNMEA2000 *NMEA2000, tNMEA0183 *NMEA0183) : tNMEA2000::tMsgHandler(0,NMEA2000){
SendNMEA0183MessageCallback=0;
pNMEA0183=NMEA0183;
Variation=N2kDoubleNA;
SecondsSinceMidnight=N2kDoubleNA; DaysSince1970=N2kUInt16NA;
LastPosSend=0;
lastLoopTime=0;
NextRMCSend=millis()+RMCPeriod;
LastWindTime=0;
this->logger=logger;
this->boatData=boatData;
heading=boatData->getDoubleItem(F("Heading"),true,2000,&formatCourse);
@ -57,6 +76,22 @@ N2kDataToNMEA0183::N2kDataToNMEA0183(GwLog * logger, GwBoatData *boatData, tNMEA
altitude=boatData->getDoubleItem(F("Altitude"),true,4000);
cog=boatData->getDoubleItem(F("COG"),true,2000,&formatCourse);
sog=boatData->getDoubleItem(F("SOG"),true,2000,&formatKnots);
stw=boatData->getDoubleItem(F("STW"),true,2000,&formatKnots);
variation=boatData->getDoubleItem(F("Variation"),true,2000,&formatCourse);
tws=boatData->getDoubleItem(F("TWS"),true,2000,&formatKnots);
twd=boatData->getDoubleItem(F("TWD"),true,2000,&formatCourse);
aws=boatData->getDoubleItem(F("AWS"),true,2000,&formatKnots);
awa=boatData->getDoubleItem(F("AWA"),true,2000,&formatWind);
awd=boatData->getDoubleItem(F("AWD"),true,2000,&formatCourse);
maxAws=boatData->getDoubleItem(F("MaxAws"),true,0,&formatKnots);
maxTws=boatData->getDoubleItem(F("MaxTws"),true,0,&formatKnots);
rudderPosition=boatData->getDoubleItem(F("RudderPosition"),true,2000,&formatCourse);
waterTemperature=boatData->getDoubleItem(F("WaterTemperature"),true,2000,&KelvinToC);
waterDepth=boatData->getDoubleItem(F("WaterDepth"),true,2000);
log=boatData->getUint32Item(F("Log"),true,0,mtr2nm);
tripLog=boatData->getUint32Item(F("TripLog"),true,0,mtr2nm);
daysSince1970=boatData->getUint32Item(F("DaysSince1970"),true,2000);
secondsSinceMidnight=boatData->getDoubleItem(F("SecondsSinceMidnight"),true,2000);
}
//*****************************************************************************
@ -82,37 +117,6 @@ void N2kDataToNMEA0183::loop() {
if ( now < (lastLoopTime + 100)) return;
lastLoopTime=now;
SendRMC();
if ( ( LastWindTime + 2000) < now ) {
AWS = N2kDoubleNA;
AWA = N2kDoubleNA;
TWS = N2kDoubleNA;
TWA = N2kDoubleNA;
TWD = N2kDoubleNA;
}
/*
boatData->update(F("Latitude"),Latitude);
boatData->update(F("Longitude"),Longitude);
boatData->update(F("Altitude"),Altitude);
boatData->update(F("Heading"),Heading * radToDeg);
boatData->update(F("COG"),COG * radToDeg);
boatData->update(F("SOG"),SOG * 3600.0/1852.0);
boatData->update(F("STW"),STW * 3600.0/1852.0);
boatData->update(F("AWS"),AWS * 3600.0/1852.0);
boatData->update(F("TWS"),TWS * 3600.0/1852.0);
boatData->update(F("MaxAws"),MaxAws * 3600.0/1852.0);
boatData->update(F("MaxTws"),MaxTws * 3600.0/1852.0);
boatData->update(F("AWA"),AWA * radToDeg);
boatData->update(F("TWA"),TWA * radToDeg);
boatData->update(F("TWD"),TWD * radToDeg);
boatData->update(F("TripLog"),TripLog / 1825.0);
boatData->update(F("Log"),Log / 1825.0);
boatData->update(F("RudderPosition"),RudderPosition * radToDeg);
boatData->update(F("WaterTemperature"),KelvinToC(WaterTemperature)) ;
boatData->update(F("WaterDepth"),WaterDepth);
boatData->update(F("Variation"),Variation *radToDeg);
boatData->update(F("GPSTime"),SecondsSinceMidnight);
boatData->update(F("DaysSince1970"),(long)DaysSince1970);
*/
}
//*****************************************************************************
@ -126,16 +130,16 @@ void N2kDataToNMEA0183::HandleHeading(const tN2kMsg &N2kMsg) {
unsigned char SID;
tN2kHeadingReference ref;
double _Deviation = 0;
double _Variation;
double Variation;
tNMEA0183Msg NMEA0183Msg;
double Heading;
if ( ParseN2kHeading(N2kMsg, SID, Heading, _Deviation, _Variation, ref) ) {
if ( ParseN2kHeading(N2kMsg, SID, Heading, _Deviation, Variation, ref) ) {
if ( ref == N2khr_magnetic ) {
if ( !N2kIsNA(_Variation) ) Variation = _Variation; // Update Variation
if ( !N2kIsNA(Heading) && !N2kIsNA(Variation) ) Heading -= Variation;
updateDouble(variation,Variation); // Update Variation
if ( !N2kIsNA(Heading) && variation->isValid(millis()) ) Heading -= variation->getData();
}
updateDouble(heading,Heading);
if ( NMEA0183SetHDG(NMEA0183Msg, Heading, _Deviation, Variation) ) {
if ( NMEA0183SetHDG(NMEA0183Msg, heading->getDataWithDefault(NMEA0183DoubleNA), _Deviation, variation->getDataWithDefault(NMEA0183DoubleNA)) ) {
SendMessage(NMEA0183Msg);
}
}
@ -146,8 +150,10 @@ void N2kDataToNMEA0183::HandleVariation(const tN2kMsg &N2kMsg) {
unsigned char SID;
tN2kMagneticVariation Source;
uint16_t DaysSince1970;
double Variation;
ParseN2kMagneticVariation(N2kMsg, SID, Source, DaysSince1970, Variation);
updateDouble(variation,Variation);
if (DaysSince1970 != N2kUInt16NA && DaysSince1970 != 0) daysSince1970->update(DaysSince1970);
}
//*****************************************************************************
@ -159,8 +165,9 @@ void N2kDataToNMEA0183::HandleBoatSpeed(const tN2kMsg &N2kMsg) {
if ( ParseN2kBoatSpeed(N2kMsg, SID, WaterReferenced, GroundReferenced, SWRT) ) {
tNMEA0183Msg NMEA0183Msg;
STW=WaterReferenced;
double MagneticHeading = ( heading->isValid(millis()) && !N2kIsNA(Variation) ? heading->getData() + Variation : NMEA0183DoubleNA);
updateDouble(stw,WaterReferenced);
unsigned long now=millis();
double MagneticHeading = ( heading->isValid(now) && variation->isValid(now)) ? heading->getData() + variation->getData() : NMEA0183DoubleNA;
if ( NMEA0183SetVHW(NMEA0183Msg, heading->getData(), MagneticHeading, WaterReferenced) ) {
SendMessage(NMEA0183Msg);
}
@ -173,11 +180,11 @@ void N2kDataToNMEA0183::HandleDepth(const tN2kMsg &N2kMsg) {
double DepthBelowTransducer;
double Offset;
double Range;
double WaterDepth;
if ( ParseN2kWaterDepth(N2kMsg, SID, DepthBelowTransducer, Offset, Range) ) {
WaterDepth=DepthBelowTransducer+Offset;
updateDouble(waterDepth,WaterDepth);
tNMEA0183Msg NMEA0183Msg;
if ( NMEA0183SetDPT(NMEA0183Msg, DepthBelowTransducer, Offset) ) {
SendMessage(NMEA0183Msg);
@ -206,12 +213,15 @@ void N2kDataToNMEA0183::HandleCOGSOG(const tN2kMsg &N2kMsg) {
double COG;
double SOG;
if ( ParseN2kCOGSOGRapid(N2kMsg, SID, HeadingReference, COG, SOG) ) {
cog->update(COG);
sog->update(SOG);
double MCOG = ( !N2kIsNA(COG) && !N2kIsNA(Variation) ? COG - Variation : NMEA0183DoubleNA );
updateDouble(cog,COG);
updateDouble(sog,SOG);
double MCOG = ( !N2kIsNA(COG) && variation->isValid()) ? COG - variation->getData() : NMEA0183DoubleNA ;
if ( HeadingReference == N2khr_magnetic ) {
MCOG = COG;
if ( !N2kIsNA(Variation) ) COG -= Variation;
if ( variation->isValid() ) {
COG -= variation->getData();
updateDouble(cog,COG);
}
}
if ( NMEA0183SetVTG(NMEA0183Msg, COG, MCOG, SOG) ) {
SendMessage(NMEA0183Msg);
@ -235,12 +245,16 @@ void N2kDataToNMEA0183::HandleGNSS(const tN2kMsg &N2kMsg) {
double Latitude;
double Longitude;
double Altitude;
uint16_t DaysSince1970;
double SecondsSinceMidnight;
if ( ParseN2kGNSS(N2kMsg, SID, DaysSince1970, SecondsSinceMidnight, Latitude, Longitude, Altitude, GNSStype, GNSSmethod,
nSatellites, HDOP, PDOP, GeoidalSeparation,
nReferenceStations, ReferenceStationType, ReferenceSationID, AgeOfCorrection) ) {
updateDouble(latitude,Latitude);
updateDouble(longitude,Longitude);
updateDouble(altitude,Altitude);
updateDouble(secondsSinceMidnight,SecondsSinceMidnight);
if (DaysSince1970 != N2kUInt16NA && DaysSince1970 !=0) daysSince1970->update(DaysSince1970);
}
}
@ -253,56 +267,47 @@ void N2kDataToNMEA0183::HandleWind(const tN2kMsg &N2kMsg) {
double x, y;
double WindAngle, WindSpeed;
// double TWS, TWA, AWD;
if ( ParseN2kWindSpeed(N2kMsg, SID, WindSpeed, WindAngle, WindReference) ) {
tNMEA0183Msg NMEA0183Msg;
LastWindTime = millis();
if ( WindReference == N2kWind_Apparent ) {
NMEA0183Reference = NMEA0183Wind_Apparent;
AWA=WindAngle;
AWS=WindSpeed;
if (AWS > MaxAws) MaxAws=AWS;
updateDouble(awa,WindAngle);
updateDouble(aws,WindSpeed);
setMax(maxAws,aws);
}
if ( NMEA0183SetMWV(NMEA0183Msg, WindAngle*radToDeg, NMEA0183Reference , WindSpeed)) SendMessage(NMEA0183Msg);
if ( NMEA0183SetMWV(NMEA0183Msg, formatCourse(WindAngle), NMEA0183Reference , WindSpeed)) SendMessage(NMEA0183Msg);
if (WindReference == N2kWind_Apparent && sog->isValid(millis())) { // Lets calculate and send TWS/TWA if SOG is available
if (WindReference == N2kWind_Apparent && sog->isValid()) { // Lets calculate and send TWS/TWA if SOG is available
AWD=WindAngle*radToDeg + heading->getData()*radToDeg;
if (AWD>360) AWD=AWD-360;
if (AWD<0) AWD=AWD+360;
x = WindSpeed * cos(WindAngle);
y = WindSpeed * sin(WindAngle);
TWA = atan2(y, -sog->getData() + x);
TWS = sqrt(( y*y) + ((- sog->getData()+x)*(-sog->getData()+x)));
updateDouble(twd,atan2(y, -sog->getData() + x));
updateDouble(tws,sqrt(( y*y) + ((- sog->getData()+x)*(-sog->getData()+x))));
if (TWS > MaxTws) MaxTws=TWS;
TWA = TWA * radToDeg +360;
if (TWA>360) TWA=TWA-360;
if (TWA<0) TWA=TWA+360;
setMax(maxTws,tws);
NMEA0183Reference = NMEA0183Wind_True;
if ( NMEA0183SetMWV(NMEA0183Msg, TWA, NMEA0183Reference , TWS)) SendMessage(NMEA0183Msg);
if ( NMEA0183SetMWV(NMEA0183Msg,
formatCourse(twd->getData()),
NMEA0183Reference ,
tws->getDataWithDefault(NMEA0183DoubleNA))) SendMessage(NMEA0183Msg);
double magnetic=twd->getData();
if (variation->isValid()) magnetic-=variation->getData();
if ( !NMEA0183Msg.Init("MWD", "GP") ) return;
if ( !NMEA0183Msg.AddDoubleField(AWD) ) return;
if ( !NMEA0183Msg.AddDoubleField(formatCourse(twd->getData())) ) return;
if ( !NMEA0183Msg.AddStrField("T") ) return;
if ( !NMEA0183Msg.AddDoubleField(AWD) ) return;
if ( !NMEA0183Msg.AddDoubleField(formatCourse(magnetic)) ) return;
if ( !NMEA0183Msg.AddStrField("M") ) return;
if ( !NMEA0183Msg.AddDoubleField(TWS/0.514444) ) return;
if ( !NMEA0183Msg.AddDoubleField(tws->getData()/0.514444) ) return;
if ( !NMEA0183Msg.AddStrField("N") ) return;
if ( !NMEA0183Msg.AddDoubleField(TWS) ) return;
if ( !NMEA0183Msg.AddDoubleField(tws->getData()) ) return;
if ( !NMEA0183Msg.AddStrField("M") ) return;
SendMessage(NMEA0183Msg);
TWA=TWA/radToDeg;
}
}
@ -312,7 +317,17 @@ void N2kDataToNMEA0183::HandleWind(const tN2kMsg &N2kMsg) {
long now=millis();
if ( NextRMCSend <= millis() && latitude->isValid(now) ) {
tNMEA0183Msg NMEA0183Msg;
if ( NMEA0183SetRMC(NMEA0183Msg, SecondsSinceMidnight, latitude->getData(), longitude->getData(), cog->getData(), sog->getData(), DaysSince1970, Variation) ) {
if ( NMEA0183SetRMC(NMEA0183Msg,
secondsSinceMidnight->getDataWithDefault(NMEA0183DoubleNA),
latitude->getDataWithDefault(NMEA0183DoubleNA),
longitude->getDataWithDefault(NMEA0183DoubleNA),
cog->getDataWithDefault(NMEA0183DoubleNA),
sog->getDataWithDefault(NMEA0183DoubleNA),
daysSince1970->getDataWithDefault(NMEA0183UInt32NA),
variation->getDataWithDefault(NMEA0183DoubleNA)
)
) {
SendMessage(NMEA0183Msg);
}
SetNextRMCSend();
@ -324,9 +339,11 @@ void N2kDataToNMEA0183::HandleWind(const tN2kMsg &N2kMsg) {
void N2kDataToNMEA0183::HandleLog(const tN2kMsg & N2kMsg) {
uint16_t DaysSince1970;
double SecondsSinceMidnight;
uint32_t Log,TripLog;
if ( ParseN2kDistanceLog(N2kMsg, DaysSince1970, SecondsSinceMidnight, Log, TripLog) ) {
if (Log != N2kUInt32NA) log->update(Log);
if (TripLog != N2kUInt32NA) tripLog->update(TripLog);
if (DaysSince1970 != N2kUInt16NA && DaysSince1970 != 0) daysSince1970->update(DaysSince1970);
tNMEA0183Msg NMEA0183Msg;
if ( !NMEA0183Msg.Init("VLW", "GP") ) return;
@ -345,15 +362,17 @@ void N2kDataToNMEA0183::HandleWind(const tN2kMsg &N2kMsg) {
unsigned char Instance;
tN2kRudderDirectionOrder RudderDirectionOrder;
double AngleOrder;
double RudderPosition;
if ( ParseN2kRudder(N2kMsg, RudderPosition, Instance, RudderDirectionOrder, AngleOrder) ) {
updateDouble(rudderPosition,RudderPosition);
if(Instance!=0) return;
tNMEA0183Msg NMEA0183Msg;
if ( !NMEA0183Msg.Init("RSA", "GP") ) return;
if ( !NMEA0183Msg.AddDoubleField(RudderPosition * radToDeg) ) return;
if ( !NMEA0183Msg.AddDoubleField(formatCourse(RudderPosition)) ) return;
if ( !NMEA0183Msg.AddStrField("A") ) return;
if ( !NMEA0183Msg.AddDoubleField(0.0) ) return;
if ( !NMEA0183Msg.AddStrField("A") ) return;
@ -368,9 +387,10 @@ void N2kDataToNMEA0183::HandleWind(const tN2kMsg &N2kMsg) {
unsigned char SID;
double OutsideAmbientAirTemperature;
double AtmosphericPressure;
double WaterTemperature;
if ( ParseN2kPGN130310(N2kMsg, SID, WaterTemperature, OutsideAmbientAirTemperature, AtmosphericPressure) ) {
updateDouble(waterTemperature,WaterTemperature);
tNMEA0183Msg NMEA0183Msg;
if ( !NMEA0183Msg.Init("MTW", "GP") ) return;

38
lib/nmea2kto0183/N2kDataToNMEA0183.h
View File

@ -39,35 +39,33 @@ protected:
GwBoatItem<double> *latitude;
GwBoatItem<double> *longitude;
GwBoatItem<double> * altitude;
double Variation;
GwBoatItem<double> *variation;
GwBoatItem<double> *heading;
GwBoatItem<double> *cog;
GwBoatItem<double> *sog;
double STW;
GwBoatItem<double> *stw;
double TWS;
double TWA;
double TWD;
GwBoatItem<double> *tws;
GwBoatItem<double> *twd;
double AWS;
double AWA;
double AWD;
GwBoatItem<double> *aws;
GwBoatItem<double> *awa;
GwBoatItem<double> *awd;
GwBoatItem<double> *maxAws;
GwBoatItem<double> *maxTws;
GwBoatItem<double> *rudderPosition;
GwBoatItem<double> *waterTemperature;
GwBoatItem<double> *waterDepth;
double MaxAws;
double MaxTws;
GwBoatItem<uint32_t> *tripLog;
GwBoatItem<uint32_t> *log;
GwBoatItem<uint32_t> *daysSince1970;
GwBoatItem<double> *secondsSinceMidnight;
double RudderPosition;
double WaterTemperature;
double WaterDepth;
uint32_t TripLog;
uint32_t Log;
uint16_t DaysSince1970;
double SecondsSinceMidnight;
unsigned long LastPosSend;
unsigned long LastWindTime;
unsigned long NextRMCSend;
unsigned long lastLoopTime;

2
src/main.cpp
View File

@ -210,7 +210,6 @@ void setup() {
webserver.on("/api/resetConfig",web_resetConfig);
webserver.on("/api/boatData",js_boatData);
webserver.onNotFound(handleNotFound);
webserver.begin();
Serial.println("HTTP server started");
@ -308,7 +307,6 @@ void loop() {
preferences.end();
Serial.printf("Address Change: New Address=%d\n", SourceAddress);
}
nmea0183Converter.loop();
// Dummy to empty input buffer to avoid board to stuck with e.g. NMEA Reader