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esp32-nmea2000-obp60
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Merge pull request #203 from Scorgan01/PageWindPlot 

History Buffer + Wind Calculation CleanUp
This commit is contained in:
Norbert Walter 2025-08-27 23:15:15 +02:00 committed by GitHub
parent ac86bfb304 851149bae6
commit be946440d3
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GPG Key ID: B5690EEEBB952194
9 changed files with 439 additions and 394 deletions
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3
lib/obp60task/BoatDataCalibration.h
View File

@ -3,7 +3,8 @@
#ifndef _BOATDATACALIBRATION_H
#define _BOATDATACALIBRATION_H
#include "Pagedata.h"
// #include "Pagedata.h"
#include "GwApi.h"
#include <string>
#include <unordered_map>

221
lib/obp60task/OBPDataOperations.cpp
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@ -1,5 +1,147 @@
#include "OBPDataOperations.h"
// --- Class HstryBuf ---------------
// Init history buffers for selected boat data
void HstryBuf::init(BoatValueList* boatValues, GwLog *log) {
logger = log;
int hstryUpdFreq = 1000; // Update frequency for history buffers in ms
int hstryMinVal = 0; // Minimum value for these history buffers
twdHstryMax = 6283; // Max value for wind direction (TWD, AWD) in rad [0...2*PI], shifted by 1000 for 3 decimals
twsHstryMax = 65000; // Max value for wind speed (TWS, AWS) in m/s [0..65], shifted by 1000 for 3 decimals
awdHstryMax = twdHstryMax;
awsHstryMax = twsHstryMax;
twdHstryMin = hstryMinVal;
twsHstryMin = hstryMinVal;
awdHstryMin = hstryMinVal;
awsHstryMin = hstryMinVal;
const double DBL_MAX = std::numeric_limits<double>::max();
// Initialize history buffers with meta data
hstryBufList.twdHstry->setMetaData("TWD", "formatCourse", hstryUpdFreq, hstryMinVal, twdHstryMax);
hstryBufList.twsHstry->setMetaData("TWS", "formatKnots", hstryUpdFreq, hstryMinVal, twsHstryMax);
hstryBufList.awdHstry->setMetaData("AWD", "formatCourse", hstryUpdFreq, hstryMinVal, twdHstryMax);
hstryBufList.awsHstry->setMetaData("AWS", "formatKnots", hstryUpdFreq, hstryMinVal, twsHstryMax);
// create boat values for history data types, if they don't exist yet
twdBVal = boatValues->findValueOrCreate(hstryBufList.twdHstry->getName());
twsBVal = boatValues->findValueOrCreate(hstryBufList.twsHstry->getName());
twaBVal = boatValues->findValueOrCreate("TWA");
awdBVal = boatValues->findValueOrCreate(hstryBufList.awdHstry->getName());
awsBVal = boatValues->findValueOrCreate(hstryBufList.awsHstry->getName());
if (!awdBVal->valid) { // AWD usually does not exist
awdBVal->setFormat(hstryBufList.awdHstry->getFormat());
awdBVal->value = DBL_MAX;
}
// 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");
}
// Handle history buffers for TWD, TWS, AWD, AWS
//void HstryBuf::handleHstryBuf(GwApi* api, BoatValueList* boatValues, bool useSimuData) {
void HstryBuf::handleHstryBuf(bool useSimuData) {
static int16_t twd = 20; //initial value only relevant if we use simulation data
static uint16_t tws = 20; //initial value only relevant if we use simulation data
static double awd, aws, 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
LOG_DEBUG(GwLog::DEBUG,"obp60task handleHstryBuf: TWD_isValid? %d, twdBVal: %.1f, twaBVal: %.1f, twsBVal: %.1f", twdBVal->valid, twdBVal->value * RAD_TO_DEG,
twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852);
if (twdBVal->valid) {
calBVal = new GwApi::BoatValue("TWD"); // temporary solution for calibration of history buffer values
calBVal->setFormat(twdBVal->getFormat());
calBVal->value = twdBVal->value;
calBVal->valid = twdBVal->valid;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
twd = static_cast<int16_t>(std::round(calBVal->value * 1000.0));
if (twd >= twdHstryMin && twd <= twdHstryMax) {
hstryBufList.twdHstry->add(twd);
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
twd += random(-20, 20);
twd = WindUtils::to360(twd);
hstryBufList.twdHstry->add(static_cast<int16_t>(DegToRad(twd) * 1000.0));
}
if (twsBVal->valid) {
calBVal = new GwApi::BoatValue("TWS"); // temporary solution for calibration of history buffer values
calBVal->setFormat(twsBVal->getFormat());
calBVal->value = twsBVal->value;
calBVal->valid = twsBVal->valid;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
tws = static_cast<uint16_t>(std::round(calBVal->value * 1000));
if (tws >= twsHstryMin && tws <= twsHstryMax) {
hstryBufList.twsHstry->add(tws);
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
tws += random(-5000, 5000); // TWS value in m/s; expands to 3 decimals
tws = constrain(tws, 0, 25000); // Limit TWS to [0..25] m/s
hstryBufList.twsHstry->add(tws);
}
if (awaBVal->valid) {
if (hdtBVal->valid) {
hdt = hdtBVal->value; // Use HDT if available
} else {
hdt = WindUtils::calcHDT(&hdmBVal->value, &varBVal->value, &cogBVal->value, &sogBVal->value);
}
awd = awaBVal->value + hdt;
awd = WindUtils::to2PI(awd);
calBVal = new GwApi::BoatValue("AWD"); // temporary solution for calibration of history buffer values
calBVal->value = awd;
calBVal->setFormat(awdBVal->getFormat());
calBVal->valid = true;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
awdBVal->value = calBVal->value;
awdBVal->valid = true;
awd = std::round(calBVal->value * 1000.0);
if (awd >= awdHstryMin && awd <= awdHstryMax) {
hstryBufList.awdHstry->add(static_cast<int16_t>(awd));
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
awd += random(-20, 20);
awd = WindUtils::to360(awd);
hstryBufList.awdHstry->add(static_cast<int16_t>(DegToRad(awd) * 1000.0));
}
if (awsBVal->valid) {
calBVal = new GwApi::BoatValue("AWS"); // temporary solution for calibration of history buffer values
calBVal->setFormat(awsBVal->getFormat());
calBVal->value = awsBVal->value;
calBVal->valid = awsBVal->valid;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
aws = std::round(calBVal->value * 1000);
if (aws >= awsHstryMin && aws <= awsHstryMax) {
hstryBufList.awsHstry->add(static_cast<uint16_t>(aws));
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
aws += random(-5000, 5000); // TWS value in m/s; expands to 1 decimal
aws = constrain(aws, 0, 25000); // Limit TWS to [0..25] m/s
hstryBufList.awsHstry->add(aws);
}
}
// --- Class HstryBuf ---------------
// --- Class WindUtils --------------
double WindUtils::to2PI(double a)
{
a = fmod(a, 2 * M_PI);
@ -68,29 +210,25 @@ void WindUtils::calcTwdSA(const double* AWA, const double* AWS,
double awd = *AWA + *HDT;
awd = to2PI(awd);
double stw = -*STW;
// Serial.println("\ncalcTwdSA: AWA: " + String(*AWA) + ", AWS: " + String(*AWS) + ", CTW: " + String(*CTW) + ", STW: " + String(*STW) + ", HDT: " + String(*HDT));
addPolar(&awd, AWS, CTW, &stw, TWD, TWS);
// Normalize TWD and TWA to 0-360°
*TWD = to2PI(*TWD);
*TWA = toPI(*TWD - *HDT);
// Serial.println("calcTwdSA: TWD: " + String(*TWD) + ", TWS: " + String(*TWS));
}
double WindUtils::calcHDT(const double* hdmVal, const double* varVal, const double* cogVal, const double* sogVal)
{
double hdt;
double minSogVal = 0.1; // SOG below this value (m/s) is assumed to be data noise from GPS sensor
static const double DBL_MIN = std::numeric_limits<double>::lowest();
// Serial.println("\ncalcTrueWind: HDT: " + String(*hdtVal) + ", HDM: " + String(*hdmVal) + ", VAR: " + String(*varVal) + ", SOG: " + String(*sogVal) + ", COG: " + String(*cogVal));
if (*hdmVal != DBL_MIN) {
hdt = *hdmVal + (*varVal != DBL_MIN ? *varVal : 0.0); // Use corrected HDM if HDT is not available (or just HDM if VAR is not available)
if (*hdmVal != DBL_MAX) {
hdt = *hdmVal + (*varVal != DBL_MAX ? *varVal : 0.0); // Use corrected HDM if HDT is not available (or just HDM if VAR is not available)
hdt = to2PI(hdt);
} else if (*cogVal != DBL_MIN && *sogVal >= minSogVal) {
} else if (*cogVal != DBL_MAX && *sogVal >= minSogVal) {
hdt = *cogVal; // Use COG as fallback if HDT and HDM are not available, and SOG is not data noise
} else {
hdt = DBL_MIN; // Cannot calculate HDT without valid HDM or HDM+VAR or COG
hdt = DBL_MAX; // Cannot calculate HDT without valid HDM or HDM+VAR or COG
}
return hdt;
@ -103,37 +241,23 @@ bool WindUtils::calcTrueWind(const double* awaVal, const double* awsVal,
double stw, hdt, ctw;
double twd, tws, twa;
double minSogVal = 0.1; // SOG below this value (m/s) is assumed to be data noise from GPS sensor
static const double DBL_MIN = std::numeric_limits<double>::lowest();
// Serial.println("\ncalcTrueWind: HDT: " + String(*hdtVal) + ", HDM: " + String(*hdmVal) + ", VAR: " + String(*varVal) + ", SOG: " + String(*sogVal) + ", COG: " + String(*cogVal));
/* if (*hdtVal != DBL_MIN) {
hdt = *hdtVal; // Use HDT if available
} else {
if (*hdmVal != DBL_MIN) {
hdt = *hdmVal + (*varVal != DBL_MIN ? *varVal : 0.0); // Use corrected HDM if HDT is not available (or just HDM if VAR is not available)
hdt = to2PI(hdt);
} else if (*cogVal != DBL_MIN && *sogVal >= minSogVal) {
hdt = *cogVal; // Use COG as fallback if HDT and HDM are not available, and SOG is not data noise
} else {
return false; // Cannot calculate without valid HDT or HDM+VAR or COG
}
} */
if (*hdtVal != DBL_MIN) {
if (*hdtVal != DBL_MAX) {
hdt = *hdtVal; // Use HDT if available
} else {
hdt = calcHDT(hdmVal, varVal, cogVal, sogVal);
}
if (*cogVal != DBL_MIN && *sogVal >= minSogVal) { // if SOG is data noise, we don't trust COG
if (*cogVal != DBL_MAX && *sogVal >= minSogVal) { // if SOG is data noise, we don't trust COG
ctw = *cogVal; // Use COG for CTW if available
} else {
ctw = hdt; // 2nd approximation for CTW; hdt must exist if we reach this part of the code
}
if (*stwVal != DBL_MIN) {
if (*stwVal != DBL_MAX) {
stw = *stwVal; // Use STW if available
} else if (*sogVal != DBL_MIN) {
} else if (*sogVal != DBL_MAX) {
stw = *sogVal;
} else {
// If STW and SOG are not available, we cannot calculate true wind
@ -141,7 +265,7 @@ bool WindUtils::calcTrueWind(const double* awaVal, const double* awsVal,
}
// Serial.println("\ncalcTrueWind: HDT: " + String(hdt) + ", CTW: " + String(ctw) + ", STW: " + String(stw));
if ((*awaVal == DBL_MIN) || (*awsVal == DBL_MIN)) {
if ((*awaVal == DBL_MAX) || (*awsVal == DBL_MAX)) {
// Cannot calculate true wind without valid AWA, AWS; other checks are done earlier
return false;
} else {
@ -153,3 +277,46 @@ bool WindUtils::calcTrueWind(const double* awaVal, const double* awsVal,
return true;
}
}
// Calculate true wind data and add to obp60task boat data list
bool WindUtils::addTrueWind(GwApi* api, BoatValueList* boatValues, GwLog* log) {
GwLog* logger = log;
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,
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);
if (isCalculated) { // Replace values only, if successfully calculated and not already available
if (!twdBVal->valid) {
twdBVal->value = twd;
twdBVal->valid = true;
}
if (!twsBVal->valid) {
twsBVal->value = tws;
twsBVal->valid = true;
}
if (!twaBVal->valid) {
twaBVal->value = twa;
twaBVal->valid = true;
}
}
LOG_DEBUG(GwLog::DEBUG,"obp60task 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 --------------

69
lib/obp60task/OBPDataOperations.h
View File

@ -1,39 +1,90 @@
#pragma once
#include "GwApi.h"
#include <N2kMessages.h>
#include "OBPRingBuffer.h"
// #include <Arduino.h>
#include "BoatDataCalibration.h" // Functions lib for data instance calibration
#include "obp60task.h"
#include <math.h>
typedef struct {
RingBuffer<int16_t>* twdHstry;
RingBuffer<int16_t>* twsHstry;
RingBuffer<uint16_t>* twsHstry;
RingBuffer<int16_t>* awdHstry;
RingBuffer<int16_t>* awsHstry;
RingBuffer<uint16_t>* awsHstry;
} tBoatHstryData; // Holds pointers to all history buffers for boat data
class HstryBuf {
private:
GwLog *logger;
RingBuffer<int16_t> twdHstry; // Circular buffer to store true wind direction values
RingBuffer<uint16_t> twsHstry; // Circular buffer to store true wind speed values (TWS)
RingBuffer<int16_t> awdHstry; // Circular buffer to store apparant wind direction values
RingBuffer<uint16_t> awsHstry; // Circular buffer to store apparant xwind speed values (AWS)
int16_t twdHstryMin; // Min value for wind direction (TWD) in history buffer
int16_t twdHstryMax; // Max value for wind direction (TWD) in history buffer
uint16_t twsHstryMin;
uint16_t twsHstryMax;
int16_t awdHstryMin;
int16_t awdHstryMax;
uint16_t awsHstryMin;
uint16_t awsHstryMax;
// boat values for buffers and for true wind calculation
GwApi::BoatValue *twdBVal, *twsBVal, *twaBVal, *awdBVal, *awsBVal;
GwApi::BoatValue *awaBVal, *hdtBVal, *hdmBVal, *varBVal, *cogBVal, *sogBVal;
public:
tBoatHstryData hstryBufList;
HstryBuf(){
hstryBufList = {&twdHstry, &twsHstry, &awdHstry, &awsHstry}; // Generate history buffers of zero size
};
HstryBuf(int size) {
hstryBufList = {&twdHstry, &twsHstry, &awdHstry, &awsHstry};
hstryBufList.twdHstry->resize(960); // store 960 TWD values for 16 minutes history
hstryBufList.twsHstry->resize(960);
hstryBufList.awdHstry->resize(960);
hstryBufList.awsHstry->resize(960);
};
void init(BoatValueList* boatValues, GwLog *log);
void handleHstryBuf(bool useSimuData);
};
class WindUtils {
private:
GwApi::BoatValue *twdBVal, *twsBVal, *twaBVal;
GwApi::BoatValue *awaBVal, *awsBVal, *cogBVal, *stwBVal, *sogBVal, *hdtBVal, *hdmBVal, *varBVal;
static constexpr double DBL_MAX = std::numeric_limits<double>::max();
public:
WindUtils(BoatValueList* boatValues){
twdBVal = boatValues->findValueOrCreate("TWD");
twsBVal = boatValues->findValueOrCreate("TWS");
twaBVal = boatValues->findValueOrCreate("TWA");
awaBVal = boatValues->findValueOrCreate("AWA");
awsBVal = boatValues->findValueOrCreate("AWS");
cogBVal = boatValues->findValueOrCreate("COG");
stwBVal = boatValues->findValueOrCreate("STW");
sogBVal = boatValues->findValueOrCreate("SOG");
hdtBVal = boatValues->findValueOrCreate("HDT");
hdmBVal = boatValues->findValueOrCreate("HDM");
varBVal = boatValues->findValueOrCreate("VAR");
};
static double to2PI(double a);
static double toPI(double a);
static double to360(double a);
static double to180(double a);
static void toCart(const double* phi, const double* r, double* x, double* y);
static void toPol(const double* x, const double* y, double* phi, double* r);
static void addPolar(const double* phi1, const double* r1,
void toCart(const double* phi, const double* r, double* x, double* y);
void toPol(const double* x, const double* y, double* phi, double* r);
void addPolar(const double* phi1, const double* r1,
const double* phi2, const double* r2,
double* phi, double* r);
static void calcTwdSA(const double* AWA, const double* AWS,
void calcTwdSA(const double* AWA, const double* AWS,
const double* CTW, const double* STW, const double* HDT,
double* TWD, double* TWS, double* TWA);
static double calcHDT(const double* hdmVal, const double* varVal, const double* cogVal, const double* sogVal);
static bool calcTrueWind(const double* awaVal, const double* awsVal,
bool calcTrueWind(const double* awaVal, const double* awsVal,
const double* cogVal, const double* stwVal, const double* sogVal, const double* hdtVal,
const double* hdmVal, const double* varVal, double* twdVal, double* twsVal, double* twaVal);
bool addTrueWind(GwApi* api, BoatValueList* boatValues, GwLog *log);
};

21
lib/obp60task/OBPRingBuffer.h
View File

@ -9,28 +9,32 @@
template <typename T>
class RingBuffer {
private:
mutable SemaphoreHandle_t bufLocker;
std::vector<T> buffer;
std::vector<T> buffer; // THE buffer vector
size_t capacity;
size_t head; // Points to the next insertion position
size_t first; // Points to the first (oldest) valid element
size_t last; // Points to the last (newest) valid element
size_t count; // Number of valid elements currently in buffer
bool is_Full; // Indicates that all buffer elements are used and ringing is in use
T MIN_VAL; // lowest possible value of buffer
T MAX_VAL; // highest possible value of buffer of type <T>
T MIN_VAL; // lowest possible value of buffer of type <T>
T MAX_VAL; // highest possible value of buffer of type <T> -> indicates invalid value in buffer
mutable SemaphoreHandle_t bufLocker;
// metadata for buffer
String dataName; // Name of boat data in buffer
String dataFmt; // Format of boat data in buffer
int updFreq; // Update frequency in milliseconds
T smallest; // Value range of buffer: smallest value
T largest; // Value range of buffer: biggest value
T smallest; // Value range of buffer: smallest value; needs to be => MIN_VAL
T largest; // Value range of buffer: biggest value; needs to be < MAX_VAL, since MAX_VAL indicates invalid entries
void initCommon();
public:
RingBuffer();
RingBuffer(size_t size);
void setMetaData(String name, String format, int updateFrequency, T minValue, T maxValue); // Set meta data for buffer
bool getMetaData(String& name, String& format, int& updateFrequency, T& minValue, T& maxValue); // Get meta data of buffer
bool getMetaData(String& name, String& format);
String getName() const; // Get buffer name
String getFormat() const; // Get buffer data format
void add(const T& value); // Add a new value to buffer
@ -51,9 +55,10 @@ public:
size_t getLastIdx() const; // Get the index of newest value in buffer
bool isEmpty() const; // Check if buffer is empty
bool isFull() const; // Check if buffer is full
T getMinVal() const; // Get lowest possible value for buffer; used for initialized buffer data
T getMaxVal() const; // Get highest possible value for buffer
T getMinVal() const; // Get lowest possible value for buffer
T getMaxVal() const; // Get highest possible value for buffer; used for unset/invalid buffer data
void clear(); // Clear buffer
void resize(size_t size); // Delete buffer and set new size
T operator[](size_t index) const; // Operator[] for convenient access (same as get())
std::vector<T> getAllValues() const; // Get all current values as a vector
};

110
lib/obp60task/OBPRingBuffer.tpp
View File

@ -1,5 +1,30 @@
#include "OBPRingBuffer.h"
template <typename T>
void RingBuffer<T>::initCommon() {
MIN_VAL = std::numeric_limits<T>::lowest();
MAX_VAL = std::numeric_limits<T>::max();
dataName = "";
dataFmt = "";
updFreq = -1;
smallest = MIN_VAL;
largest = MAX_VAL;
bufLocker = xSemaphoreCreateMutex();
}
template <typename T>
RingBuffer<T>::RingBuffer()
: capacity(0)
, head(0)
, first(0)
, last(0)
, count(0)
, is_Full(false)
{
initCommon();
// <buffer> stays empty
}
template <typename T>
RingBuffer<T>::RingBuffer(size_t size)
: capacity(size)
@ -9,23 +34,8 @@ RingBuffer<T>::RingBuffer(size_t size)
, count(0)
, is_Full(false)
{
bufLocker = xSemaphoreCreateMutex();
if (size == 0) {
// return false;
}
MIN_VAL = std::numeric_limits<T>::lowest();
MAX_VAL = std::numeric_limits<T>::max();
dataName = "";
dataFmt = "";
updFreq = -1;
smallest = MIN_VAL;
largest = MAX_VAL;
buffer.resize(size, MIN_VAL);
// return true;
initCommon();
buffer.resize(size, MAX_VAL); // MAX_VAL indicate invalid values
}
// Specify meta data of buffer content
@ -57,6 +67,20 @@ bool RingBuffer<T>::getMetaData(String& name, String& format, int& updateFrequen
return true;
}
// Get meta data of buffer content
template <typename T>
bool RingBuffer<T>::getMetaData(String& name, String& format)
{
if (dataName == "" || dataFmt == "") {
return false; // Meta data not set
}
GWSYNCHRONIZED(&bufLocker);
name = dataName;
format = dataFmt;
return true;
}
// Get buffer name
template <typename T>
String RingBuffer<T>::getName() const
@ -77,7 +101,7 @@ void RingBuffer<T>::add(const T& value)
{
GWSYNCHRONIZED(&bufLocker);
if (value < smallest || value > largest) {
buffer[head] = MIN_VAL; // Store MIN_VAL if value is out of range
buffer[head] = MAX_VAL; // Store MAX_VAL if value is out of range
} else {
buffer[head] = value;
}
@ -101,7 +125,7 @@ T RingBuffer<T>::get(size_t index) const
{
GWSYNCHRONIZED(&bufLocker);
if (isEmpty() || index < 0 || index >= count) {
return MIN_VAL;
return MAX_VAL;
}
size_t realIndex = (first + index) % capacity;
@ -120,7 +144,7 @@ template <typename T>
T RingBuffer<T>::getFirst() const
{
if (isEmpty()) {
return MIN_VAL;
return MAX_VAL;
}
return get(0);
}
@ -130,7 +154,7 @@ template <typename T>
T RingBuffer<T>::getLast() const
{
if (isEmpty()) {
return MIN_VAL;
return MAX_VAL;
}
return get(count - 1);
}
@ -140,14 +164,14 @@ template <typename T>
T RingBuffer<T>::getMin() const
{
if (isEmpty()) {
return MIN_VAL;
return MAX_VAL;
}
T minVal = MAX_VAL;
T value;
for (size_t i = 0; i < count; i++) {
value = get(i);
if (value < minVal && value != MIN_VAL) {
if (value < minVal && value != MAX_VAL) {
minVal = value;
}
}
@ -159,7 +183,7 @@ template <typename T>
T RingBuffer<T>::getMin(size_t amount) const
{
if (isEmpty() || amount <= 0) {
return MIN_VAL;
return MAX_VAL;
}
if (amount > count)
amount = count;
@ -168,7 +192,7 @@ T RingBuffer<T>::getMin(size_t amount) const
T value;
for (size_t i = 0; i < amount; i++) {
value = get(count - 1 - i);
if (value < minVal && value != MIN_VAL) {
if (value < minVal && value != MAX_VAL) {
minVal = value;
}
}
@ -180,14 +204,14 @@ template <typename T>
T RingBuffer<T>::getMax() const
{
if (isEmpty()) {
return MIN_VAL;
return MAX_VAL;
}
T maxVal = MIN_VAL;
T value;
for (size_t i = 0; i < count; i++) {
value = get(i);
if (value > maxVal && value != MIN_VAL) {
if (value > maxVal && value != MAX_VAL) {
maxVal = value;
}
}
@ -199,7 +223,7 @@ template <typename T>
T RingBuffer<T>::getMax(size_t amount) const
{
if (isEmpty() || amount <= 0) {
return MIN_VAL;
return MAX_VAL;
}
if (amount > count)
amount = count;
@ -208,7 +232,7 @@ T RingBuffer<T>::getMax(size_t amount) const
T value;
for (size_t i = 0; i < amount; i++) {
value = get(count - 1 - i);
if (value > maxVal && value != MIN_VAL) {
if (value > maxVal && value != MAX_VAL) {
maxVal = value;
}
}
@ -220,7 +244,7 @@ template <typename T>
T RingBuffer<T>::getMid() const
{
if (isEmpty()) {
return MIN_VAL;
return MAX_VAL;
}
return (getMin() + getMax()) / static_cast<T>(2);
@ -231,7 +255,7 @@ template <typename T>
T RingBuffer<T>::getMid(size_t amount) const
{
if (isEmpty() || amount <= 0) {
return MIN_VAL;
return MAX_VAL;
}
if (amount > count)
@ -245,7 +269,7 @@ template <typename T>
T RingBuffer<T>::getMedian() const
{
if (isEmpty()) {
return MIN_VAL;
return MAX_VAL;
}
// Create a temporary vector with current valid elements
@ -274,7 +298,7 @@ template <typename T>
T RingBuffer<T>::getMedian(size_t amount) const
{
if (isEmpty() || amount <= 0) {
return MIN_VAL;
return MAX_VAL;
}
if (amount > count)
amount = count;
@ -342,14 +366,14 @@ bool RingBuffer<T>::isFull() const
return is_Full;
}
// Get lowest possible value for buffer; used for non-set buffer data
// Get lowest possible value for buffer
template <typename T>
T RingBuffer<T>::getMinVal() const
{
return MIN_VAL;
}
// Get highest possible value for buffer
// Get highest possible value for buffer; used for unset/invalid buffer data
template <typename T>
T RingBuffer<T>::getMaxVal() const
{
@ -368,6 +392,22 @@ void RingBuffer<T>::clear()
is_Full = false;
}
// Delete buffer and set new size
template <typename T>
void RingBuffer<T>::resize(size_t newSize)
{
GWSYNCHRONIZED(&bufLocker);
capacity = newSize;
head = 0;
first = 0;
last = 0;
count = 0;
is_Full = false;
buffer.clear();
buffer.resize(newSize, MAX_VAL);
}
// Get all current values as a vector
template <typename T>
std::vector<T> RingBuffer<T>::getAllValues() const

117
lib/obp60task/PageWindPlot.cpp
View File

@ -1,9 +1,10 @@
#if defined BOARD_OBP60S3 || defined BOARD_OBP40S3
#include "BoatDataCalibration.h"
#include "Pagedata.h"
#include "OBP60Extensions.h"
#include "OBPRingBuffer.h"
#include "Pagedata.h"
#include "OBPDataOperations.h"
#include "BoatDataCalibration.h"
#include <vector>
static const double radToDeg = 180.0 / M_PI; // Conversion factor from radians to degrees
@ -11,7 +12,7 @@ static const double radToDeg = 180.0 / M_PI; // Conversion factor from radians t
// Get maximum difference of last <amount> of TWD ringbuffer values to center chart; returns "0" if data is not valid
int getCntr(const RingBuffer<int16_t>& windDirHstry, size_t amount)
{
int minVal = windDirHstry.getMinVal();
const int MAX_VAL = windDirHstry.getMaxVal();
size_t count = windDirHstry.getCurrentSize();
if (windDirHstry.isEmpty() || amount <= 0) {
@ -20,11 +21,11 @@ int getCntr(const RingBuffer<int16_t>& windDirHstry, size_t amount)
if (amount > count)
amount = count;
int16_t midWndDir, minWndDir, maxWndDir = 0;
uint16_t midWndDir, minWndDir, maxWndDir = 0;
int wndCenter = 0;
midWndDir = windDirHstry.getMid(amount);
if (midWndDir != INT16_MIN) {
if (midWndDir != MAX_VAL) {
midWndDir = midWndDir / 1000.0 * radToDeg;
wndCenter = int((midWndDir + (midWndDir >= 0 ? 5 : -5)) / 10) * 10; // Set new center value; round to nearest 10 degree value
minWndDir = windDirHstry.getMin(amount) / 1000.0 * radToDeg;
@ -41,10 +42,11 @@ int getCntr(const RingBuffer<int16_t>& windDirHstry, size_t amount)
int getRng(const RingBuffer<int16_t>& windDirHstry, int center, size_t amount)
{
int minVal = windDirHstry.getMinVal();
const int MAX_VAL = windDirHstry.getMaxVal();
size_t count = windDirHstry.getCurrentSize();
if (windDirHstry.isEmpty() || amount <= 0) {
return minVal;
return MAX_VAL;
}
if (amount > count)
amount = count;
@ -56,8 +58,8 @@ int getRng(const RingBuffer<int16_t>& windDirHstry, int center, size_t amount)
for (size_t i = 0; i < amount; i++) {
value = windDirHstry.get(count - 1 - i);
if (value == minVal) {
continue;
if (value == MAX_VAL) {
continue; // ignore invalid values
}
value = value / 1000.0 * radToDeg;
@ -69,7 +71,7 @@ int getRng(const RingBuffer<int16_t>& windDirHstry, int center, size_t amount)
maxRng = 180;
}
return maxRng;
return (maxRng != minVal ? maxRng : MAX_VAL);
}
// ****************************************************************
@ -78,6 +80,8 @@ class PageWindPlot : public Page {
bool keylock = false; // Keylock
char chrtMode = 'D'; // Chart mode: 'D' for TWD, 'S' for TWS, 'B' for both
bool showTruW = true; // Show true wind or apparant wind in chart area
bool oldShowTruW = false; // remember recent user selection of wind data type
int dataIntv = 1; // Update interval for wind history chart:
// (1)|(2)|(3)|(4) seconds for approx. 4, 8, 12, 16 min. history chart
bool useSimuData;
@ -169,34 +173,27 @@ public:
}
commonData->logger->logDebug(GwLog::LOG,"New PageWindPlot: wind source=%s", wndSrc);
#endif
oldShowTruW = !showTruW; // makes wind source being initialized at initial page call
}
int displayPage(PageData& pageData)
{
GwConfigHandler* config = commonData->config;
GwLog* logger = commonData->logger;
static RingBuffer<int16_t>* wdHstry; // Wind direction data buffer
static RingBuffer<int16_t>* wsHstry; // Wind speed data buffer
static RingBuffer<uint16_t>* wsHstry; // Wind speed data buffer
static String wdName, wdFormat; // Wind direction name and format
static String wsName, wsFormat; // Wind speed name and format
static int updFreq; // Update frequency for wind direction
static int16_t wdLowest, wdHighest; // Wind direction range
static int16_t wdMAX_VAL; // Max. value of wd history buffer, indicating invalid values
float wsValue; // Wind speed value in chart area
String wsUnit; // Wind speed unit in chart area
static GwApi::BoatValue* wsBVal = new GwApi::BoatValue("TWS"); // temp BoatValue for wind speed unit identification; required by OBP60Formater
// current boat data values; TWD/AWD only for validation test, TWS/AWS for display of current value
const int numBoatData = 4;
// current boat data values; TWD/AWD only for validation test
const int numBoatData = 2;
GwApi::BoatValue* bvalue;
String BDataName[numBoatData];
double BDataValue[numBoatData];
bool BDataValid[numBoatData];
String BDataText[numBoatData];
String BDataUnit[numBoatData];
String BDataFormat[numBoatData];
static bool isInitialized = false; // Flag to indicate that page is initialized
static bool wndDataValid = false; // Flag to indicate if wind data is valid
@ -217,7 +214,6 @@ public:
static size_t lastIdx; // Last index of TWD history buffer
static size_t lastAddedIdx = 0; // Last index of TWD history buffer when new data was added
static int oldDataIntv; // remember recent user selection of data interval
static bool oldShowTruW; // remember recent user selection of wind data type
static int wndCenter; // chart wind center value position
static int wndLeft; // chart wind left value position
@ -234,13 +230,8 @@ public:
static int chrtPrevVal; // Last wind value in chart area for check if value crosses 180 degree line
LOG_DEBUG(GwLog::LOG, "Display PageWindPlot");
ulong timer = millis();
/* // Get config data
bool useSimuData = config->getBool(config->useSimuData);
// holdValues = config->getBool(config->holdvalues);
String flashLED = config->getString(config->flashLED);
String backlightMode = config->getString(config->backlight);
*/
if (!isInitialized) {
width = getdisplay().width();
height = getdisplay().height();
@ -249,18 +240,9 @@ public:
numNoData = 0;
bufStart = 0;
oldDataIntv = 0;
oldShowTruW = false; // we want to initialize wind buffers at 1st time routine runs
wdHstry = pageData.boatHstry.twdHstry;
bufSize = wdHstry->getCapacity();
wsHstry = pageData.boatHstry.twsHstry;
bufSize = wsHstry->getCapacity();
wdHstry->getMetaData(wdName, wdFormat, updFreq, wdLowest, wdHighest);
wsHstry->getMetaData(wsName, wsFormat, updFreq, wdLowest, wdHighest);
wsValue = 0;
wsBVal->setFormat(wsHstry->getFormat());
numAddedBufVals, currIdx, lastIdx = 0;
lastAddedIdx = wdHstry->getLastIdx();
wndCenter = INT_MIN;
wndCenter = INT_MAX;
midWndDir = 0;
diffRng = dfltRng;
chrtRng = dfltRng;
@ -271,14 +253,7 @@ public:
// read boat data values; TWD only for validation test, TWS for display of current value
for (int i = 0; i < numBoatData; i++) {
bvalue = pageData.values[i];
BDataName[i] = xdrDelete(bvalue->getName());
BDataName[i] = BDataName[i].substring(0, 6); // String length limit for value name
calibrationData.calibrateInstance(bvalue, logger); // Check if boat data value is to be calibrated
BDataValue[i] = bvalue->value; // Value as double in SI unit
BDataValid[i] = bvalue->valid;
BDataText[i] = formatValue(bvalue, *commonData).svalue; // Formatted value as string including unit conversion and switching decimal places
BDataUnit[i] = formatValue(bvalue, *commonData).unit;
BDataFormat[i] = bvalue->getFormat(); // Unit of value
}
// Optical warning by limit violation (unused)
@ -289,16 +264,18 @@ public:
if (showTruW != oldShowTruW) {
if (showTruW) {
wdHstry = pageData.boatHstry.twdHstry;
wsHstry = pageData.boatHstry.twsHstry;
wdHstry = pageData.boatHstry->hstryBufList.twdHstry;
wsHstry = pageData.boatHstry->hstryBufList.twsHstry;
} else {
wdHstry = pageData.boatHstry.awdHstry;
wsHstry = pageData.boatHstry.awsHstry;
wdHstry = pageData.boatHstry->hstryBufList.awdHstry;
wsHstry = pageData.boatHstry->hstryBufList.awsHstry;
}
wdHstry->getMetaData(wdName, wdFormat, updFreq, wdLowest, wdHighest);
wsHstry->getMetaData(wsName, wsFormat, updFreq, wdLowest, wdHighest);
wdHstry->getMetaData(wdName, wdFormat);
wsHstry->getMetaData(wsName, wsFormat);
wdMAX_VAL = wdHstry->getMaxVal();
bufSize = wdHstry->getCapacity();
wsBVal->setFormat(wsHstry->getFormat());
lastAddedIdx = wdHstry->getLastIdx();
oldShowTruW = showTruW;
}
@ -321,19 +298,19 @@ public:
bufStart = max(0, bufStart - numAddedBufVals);
}
}
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Dataset: count: %d, xWD: %.0f, xWS: %.1f, xWD_valid? %d, intvBufSize: %d, numWndVals: %d, bufStart: %d, numAddedBufVals: %d, lastIdx: %d, wind source: %s",
count, wdHstry->getLast() / 1000.0 * radToDeg, wsHstry->getLast() / 10.0 * 1.94384, BDataValid[0], intvBufSize, numWndVals, bufStart, numAddedBufVals, wdHstry->getLastIdx(),
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Dataset: count: %d, xWD: %.1f, xWS: %.2f, xWD_valid? %d, intvBufSize: %d, numWndVals: %d, bufStart: %d, numAddedBufVals: %d, lastIdx: %d, wind source: %s",
count, wdHstry->getLast() / 1000.0 * radToDeg, wsHstry->getLast() / 1000.0 * 1.94384, BDataValid[0], intvBufSize, numWndVals, bufStart, numAddedBufVals, wdHstry->getLastIdx(),
showTruW ? "True" : "App");
// Set wndCenter from 1st real buffer value
if (wndCenter == INT_MIN || (wndCenter == 0 && count == 1)) {
if (wndCenter == INT_MAX || (wndCenter == 0 && count == 1)) {
wndCenter = getCntr(*wdHstry, numWndVals);
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Range Init: count: %d, xWD: %.0f, wndCenter: %d, diffRng: %d, chrtRng: %d, Min: %.0f, Max: %.0f", count, wdHstry->getLast() / 1000.0 * radToDeg,
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Range Init: count: %d, xWD: %.1f, wndCenter: %d, diffRng: %d, chrtRng: %d, Min: %.0f, Max: %.0f", count, wdHstry->getLast() / 1000.0 * radToDeg,
wndCenter, diffRng, chrtRng, wdHstry->getMin(numWndVals) / 1000.0 * radToDeg, wdHstry->getMax(numWndVals) / 1000.0 * radToDeg);
} else {
// check and adjust range between left, center, and right chart limit
diffRng = getRng(*wdHstry, wndCenter, numWndVals);
diffRng = (diffRng == INT16_MIN ? 0 : diffRng);
diffRng = (diffRng == wdMAX_VAL ? 0 : diffRng);
if (diffRng > chrtRng) {
chrtRng = int((diffRng + (diffRng >= 0 ? 9 : -1)) / 10) * 10; // Round up to next 10 degree value
} else if (diffRng + 10 < chrtRng) { // Reduce chart range for higher resolution if possible
@ -365,7 +342,6 @@ public:
char sWndLbl[4]; // char buffer for Wind angle label
getdisplay().setFont(&Ubuntu_Bold12pt8b);
getdisplay().setCursor(xCenter - 88, yOffset - 3);
// getdisplay().print("TWD"); // Wind data name
getdisplay().print(wdName); // Wind data name
snprintf(sWndLbl, 4, "%03d", (wndCenter < 0) ? (wndCenter + 360) : wndCenter);
drawTextCenter(xCenter, yOffset - 11, sWndLbl);
@ -382,11 +358,11 @@ public:
getdisplay().drawCircle(width - 5, yOffset - 17, 2, commonData->fgcolor); // <degree> symbol
getdisplay().drawCircle(width - 5, yOffset - 17, 3, commonData->fgcolor); // <degree> symbol
if (wdHstry->getMax() == wdHstry->getMinVal()) {
// only <INT16_MIN> values in buffer -> no valid wind data available
if (wdHstry->getMax() == wdMAX_VAL) {
// only <MAX_VAL> values in buffer -> no valid wind data available
wndDataValid = false;
} else if (!BDataValid[0] && !useSimuData) {
// currently no valid TWD data available and no simulation mode
// currently no valid xWD data available and no simulation mode
numNoData++;
wndDataValid = true;
if (numNoData > 3) {
@ -402,8 +378,8 @@ public:
if (wndDataValid) {
for (int i = 0; i < (numWndVals / dataIntv); i++) {
chrtVal = static_cast<int>(wdHstry->get(bufStart + (i * dataIntv))); // show the latest wind values in buffer; keep 1st value constant in a rolling buffer
if (chrtVal == INT16_MIN) {
chrtPrevVal = INT16_MIN;
if (chrtVal == wdMAX_VAL) {
chrtPrevVal = wdMAX_VAL;
} else {
chrtVal = static_cast<int>((chrtVal / 1000.0 * radToDeg) + 0.5); // Convert to degrees and round
x = ((chrtVal - wndLeft + 360) % 360) * chrtScl;
@ -412,7 +388,7 @@ public:
if (i >= (numWndVals / dataIntv) - 1) // log chart data of 1 line (adjust for test purposes)
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot Chart: i: %d, chrtVal: %d, bufStart: %d, count: %d, linesToShow: %d", i, chrtVal, bufStart, count, (numWndVals / dataIntv));
if ((i == 0) || (chrtPrevVal == INT16_MIN)) {
if ((i == 0) || (chrtPrevVal == wdMAX_VAL)) {
// just a dot for 1st chart point or after some invalid values
prevX = x;
prevY = y;
@ -473,22 +449,24 @@ public:
lastZone = currentZone;
wsValue = wsHstry->getLast();
wsBVal->value = wsValue; // temp variable to retreive data unit from OBP60Formater
wsBVal->valid = (static_cast<int16_t>(wsValue) != wsHstry->getMinVal());
wsBVal->value = wsValue / 1000.0; // temp variable to retreive data unit from OBP60Formater
wsBVal->valid = (static_cast<uint16_t>(wsValue) != wsHstry->getMinVal());
String swsValue = formatValue(wsBVal, *commonData).svalue; // value (string)
wsUnit = formatValue(wsBVal, *commonData).unit; // Unit of value
getdisplay().fillRect(xPosTws - 4, yPosTws - 38, 142, 44, commonData->bgcolor); // Clear area for TWS value
getdisplay().setFont(&DSEG7Classic_BoldItalic16pt7b);
getdisplay().setCursor(xPosTws, yPosTws);
if (!wsBVal->valid) {
getdisplay().print(swsValue); // Value
/* if (!wsBVal->valid) {
getdisplay().print("--.-");
} else {
wsValue = wsValue / 10.0 * 1.94384; // Wind speed value in knots
wsValue = wsValue / 1000.0 * 1.94384; // Wind speed value in knots
if (wsValue < 10.0) {
getdisplay().printf("!%3.1f", wsValue); // Value, round to 1 decimal
} else {
getdisplay().printf("%4.1f", wsValue); // Value, round to 1 decimal
}
}
} */
getdisplay().setFont(&Ubuntu_Bold12pt8b);
getdisplay().setCursor(xPosTws + 82, yPosTws - 14);
getdisplay().print(wsName); // Name
@ -523,6 +501,7 @@ public:
getdisplay().printf("%3d", chrtLbl); // Wind value label
}
LOG_DEBUG(GwLog::DEBUG, "PageWindPlot time: %ld", millis() - timer);
return PAGE_UPDATE;
};
};
@ -541,7 +520,7 @@ PageDescription registerPageWindPlot(
"WindPlot", // Page name
createPage, // Action
0, // Number of bus values depends on selection in Web configuration
{ "TWD", "TWS", "AWD", "AWS" }, // Bus values we need in the page
{ "TWD", "AWD" }, // Bus values we need in the page
true // Show display header on/off
);

3
lib/obp60task/Pagedata.h
View File

@ -4,7 +4,6 @@
#include <functional>
#include <vector>
#include "LedSpiTask.h"
#include "OBPRingBuffer.h"
#include "OBPDataOperations.h"
#define MAX_PAGE_NUMBER 10 // Max number of pages for show data
@ -17,7 +16,7 @@ typedef struct{
uint8_t pageNumber; // page number in sequence of visible pages
//the values will always contain the user defined values first
ValueList values;
tBoatHstryData boatHstry;
HstryBuf* boatHstry;
} PageData;
// Sensor data structure (only for extended sensors, not for NMEA bus sensors)

235
lib/obp60task/obp60task.cpp
View File

@ -13,7 +13,6 @@
#include "OBP60Extensions.h" // Functions lib for extension board
#include "OBP60Keypad.h" // Functions for keypad
#include "BoatDataCalibration.h" // Functions lib for data instance calibration
#include "OBPRingBuffer.h" // Functions lib with ring buffer for history storage of some boat data
#include "OBPDataOperations.h" // Functions lib for data operations such as true wind calculation
#ifdef BOARD_OBP40S3
@ -148,16 +147,9 @@ void keyboardTask(void *param){
vTaskDelete(NULL);
}
class BoatValueList{
public:
static const int MAXVALUES=100;
//we create a list containing all our BoatValues
//this is the list we later use to let the api fill all the values
//additionally we put the necessary values into the paga data - see below
GwApi::BoatValue *allBoatValues[MAXVALUES];
int numValues=0;
bool addValueToList(GwApi::BoatValue *v){
// Scorgan: moved class declaration to header file <obp60task.h> to make class available to other functions
// --- Class BoatValueList --------------
bool BoatValueList::addValueToList(GwApi::BoatValue *v){
for (int i=0;i<numValues;i++){
if (allBoatValues[i] == v){
//already in list...
@ -170,7 +162,7 @@ class BoatValueList{
return true;
}
//helper to ensure that each BoatValue is only queried once
GwApi::BoatValue *findValueOrCreate(String name){
GwApi::BoatValue *BoatValueList::findValueOrCreate(String name){
for (int i=0;i<numValues;i++){
if (allBoatValues[i]->getName() == name) {
return allBoatValues[i];
@ -180,7 +172,7 @@ class BoatValueList{
addValueToList(rt);
return rt;
}
};
// --- Class BoatValueList --------------
//we want to have a list that has all our page definitions
//this way each page can easily be added here
@ -329,202 +321,6 @@ inline bool underVoltageDetection(float voffset, float vslope) {
return (calVoltage < minVoltage);
}
// Calculate true wind data and add to obp60task boat data list
bool addTrueWind(GwApi* api, BoatValueList* boatValues) {
double awaVal, awsVal, cogVal, stwVal, sogVal, hdtVal, hdmVal, varVal;
double twd, tws, twa;
bool isCalculated = false;
const double DBL_MIN = std::numeric_limits<double>::lowest();
GwApi::BoatValue *twdBVal = boatValues->findValueOrCreate("TWD");
GwApi::BoatValue *twsBVal = boatValues->findValueOrCreate("TWS");
GwApi::BoatValue *twaBVal = boatValues->findValueOrCreate("TWA");
GwApi::BoatValue *awaBVal = boatValues->findValueOrCreate("AWA");
GwApi::BoatValue *awsBVal = boatValues->findValueOrCreate("AWS");
GwApi::BoatValue *cogBVal = boatValues->findValueOrCreate("COG");
GwApi::BoatValue *stwBVal = boatValues->findValueOrCreate("STW");
GwApi::BoatValue *sogBVal = boatValues->findValueOrCreate("SOG");
GwApi::BoatValue *hdtBVal = boatValues->findValueOrCreate("HDT");
GwApi::BoatValue *hdmBVal = boatValues->findValueOrCreate("HDM");
GwApi::BoatValue *varBVal = boatValues->findValueOrCreate("VAR");
awaVal = awaBVal->valid ? awaBVal->value : DBL_MIN;
awsVal = awsBVal->valid ? awsBVal->value : DBL_MIN;
cogVal = cogBVal->valid ? cogBVal->value : DBL_MIN;
stwVal = stwBVal->valid ? stwBVal->value : DBL_MIN;
sogVal = sogBVal->valid ? sogBVal->value : DBL_MIN;
hdtVal = hdtBVal->valid ? hdtBVal->value : DBL_MIN;
hdmVal = hdmBVal->valid ? hdmBVal->value : DBL_MIN;
varVal = varBVal->valid ? varBVal->value : DBL_MIN;
api->getLogger()->logDebug(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,
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 = WindUtils::calcTrueWind(&awaVal, &awsVal, &cogVal, &stwVal, &sogVal, &hdtVal, &hdmVal, &varVal, &twd, &tws, &twa);
if (isCalculated) { // Replace values only, if successfully calculated and not already available
if (!twdBVal->valid) {
twdBVal->value = twd;
twdBVal->valid = true;
}
if (!twsBVal->valid) {
twsBVal->value = tws;
twsBVal->valid = true;
}
if (!twaBVal->valid) {
twaBVal->value = twa;
twaBVal->valid = true;
}
}
api->getLogger()->logDebug(GwLog::DEBUG,"obp60task 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;
}
// Init history buffers for selected boat data
void initHstryBuf(GwApi* api, BoatValueList* boatValues, tBoatHstryData hstryBufList) {
GwApi::BoatValue *calBVal; // temp variable just for data calibration -> we don't want to calibrate the original data here
const double DBL_MIN = std::numeric_limits<double>::lowest();
int hstryUpdFreq = 1000; // Update frequency for history buffers in ms
int hstryMinVal = 0; // Minimum value for these history buffers
int twdHstryMax = 6283; // Max value for wind direction (TWD, AWD) in rad (0...2*PI), shifted by 1000 for 3 decimals
int twsHstryMax = 1000; // Max value for wind speed (TWS, AWS) in m/s, shifted by 10 for 1 decimal
// Initialize history buffers with meta data
hstryBufList.twdHstry->setMetaData("TWD", "formatCourse", hstryUpdFreq, hstryMinVal, twdHstryMax);
hstryBufList.twsHstry->setMetaData("TWS", "formatKnots", hstryUpdFreq, hstryMinVal, twsHstryMax);
hstryBufList.awdHstry->setMetaData("AWD", "formatCourse", hstryUpdFreq, hstryMinVal, twdHstryMax);
hstryBufList.awsHstry->setMetaData("AWS", "formatKnots", hstryUpdFreq, hstryMinVal, twsHstryMax);
// create boat values for history data types, if they don't exist yet
GwApi::BoatValue *twdBVal = boatValues->findValueOrCreate(hstryBufList.twdHstry->getName());
GwApi::BoatValue *twsBVal = boatValues->findValueOrCreate(hstryBufList.twsHstry->getName());
GwApi::BoatValue *twaBVal = boatValues->findValueOrCreate("TWA");
GwApi::BoatValue *awdBVal = boatValues->findValueOrCreate(hstryBufList.awdHstry->getName());
GwApi::BoatValue *awsBVal = boatValues->findValueOrCreate(hstryBufList.awsHstry->getName());
if (!awdBVal->valid) { // AWD usually does not exist
awdBVal->setFormat(hstryBufList.awdHstry->getFormat());
awdBVal->value = DBL_MIN;
}
}
void handleHstryBuf(GwApi* api, BoatValueList* boatValues, tBoatHstryData hstryBufList, bool useSimuData) {
// Handle history buffers for TWD, TWS
GwLog *logger = api->getLogger();
int16_t twdHstryMin = hstryBufList.twdHstry->getMinVal();
int16_t twdHstryMax = hstryBufList.twdHstry->getMaxVal();
int16_t twsHstryMin = hstryBufList.twsHstry->getMinVal();
int16_t twsHstryMax = hstryBufList.twsHstry->getMaxVal();
int16_t awdHstryMin = hstryBufList.awdHstry->getMinVal();
int16_t awdHstryMax = hstryBufList.awdHstry->getMaxVal();
int16_t awsHstryMin = hstryBufList.awsHstry->getMinVal();
int16_t awsHstryMax = hstryBufList.awsHstry->getMaxVal();
static int16_t twd, tws = 20; //initial value only relevant if we use simulation data
static double awd, aws, 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
GwApi::BoatValue *twdBVal = boatValues->findValueOrCreate(hstryBufList.twdHstry->getName());
GwApi::BoatValue *twsBVal = boatValues->findValueOrCreate(hstryBufList.twsHstry->getName());
GwApi::BoatValue *twaBVal = boatValues->findValueOrCreate("TWA");
GwApi::BoatValue *awdBVal = boatValues->findValueOrCreate(hstryBufList.awdHstry->getName());
GwApi::BoatValue *awsBVal = boatValues->findValueOrCreate(hstryBufList.awsHstry->getName());
GwApi::BoatValue *awaBVal = boatValues->findValueOrCreate("AWA");
GwApi::BoatValue *hdtBVal = boatValues->findValueOrCreate("HDT");
GwApi::BoatValue *hdmBVal = boatValues->findValueOrCreate("HDM");
GwApi::BoatValue *varBVal = boatValues->findValueOrCreate("VAR");
GwApi::BoatValue *cogBVal = boatValues->findValueOrCreate("COG");
GwApi::BoatValue *sogBVal = boatValues->findValueOrCreate("SOG");
api->getLogger()->logDebug(GwLog::DEBUG,"obp60task handleHstryBuf: TWD_isValid? %d, twdBVal: %.1f, twaBVal: %.1f, twsBVal: %.1f", twdBVal->valid, twdBVal->value * RAD_TO_DEG,
twaBVal->value * RAD_TO_DEG, twsBVal->value * 3.6 / 1.852);
if (twdBVal->valid) {
calBVal = new GwApi::BoatValue("TWD"); // temporary solution for calibration of history buffer values
calBVal->setFormat(twdBVal->getFormat());
calBVal->value = twdBVal->value;
calBVal->valid = twdBVal->valid;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
twd = static_cast<int16_t>(std::round(calBVal->value * 1000));
if (twd >= twdHstryMin && twd <= twdHstryMax) {
hstryBufList.twdHstry->add(twd);
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
twd += random(-20, 20);
twd = WindUtils::to360(twd);
hstryBufList.twdHstry->add(static_cast<int16_t>(DegToRad(twd) * 1000.0));
}
if (twsBVal->valid) {
calBVal = new GwApi::BoatValue("TWS"); // temporary solution for calibration of history buffer values
calBVal->setFormat(twsBVal->getFormat());
calBVal->value = twsBVal->value;
calBVal->valid = twsBVal->valid;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
tws = static_cast<int16_t>(std::round(calBVal->value * 10));
if (tws >= twsHstryMin && tws <= twsHstryMax) {
hstryBufList.twsHstry->add(tws);
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
tws += random(-50, 50); // TWS value in m/s; expands to 1 decimal
tws = constrain(tws, 0, 250); // Limit TWS to [0..25] m/s
hstryBufList.twsHstry->add(tws);
}
if (awaBVal->valid) {
if (hdtBVal->valid) {
hdt = hdtBVal->value; // Use HDT if available
} else {
hdt = WindUtils::calcHDT(&hdmBVal->value, &varBVal->value, &cogBVal->value, &sogBVal->value);
}
awd = awaBVal->value + hdt;
awd = WindUtils::to2PI(awd);
calBVal = new GwApi::BoatValue("AWD"); // temporary solution for calibration of history buffer values
calBVal->value = awd;
calBVal->setFormat(awdBVal->getFormat());
calBVal->valid = true;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
awdBVal->value = calBVal->value;
awdBVal->valid = true;
awd = std::round(calBVal->value * 1000);
if (awd >= awdHstryMin && awd <= awdHstryMax) {
hstryBufList.awdHstry->add(static_cast<int16_t>(awd));
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
awd += random(-20, 20);
awd = WindUtils::to360(awd);
hstryBufList.awdHstry->add(static_cast<int16_t>(DegToRad(awd) * 1000.0));
}
if (awsBVal->valid) {
calBVal = new GwApi::BoatValue("AWS"); // temporary solution for calibration of history buffer values
calBVal->setFormat(awsBVal->getFormat());
calBVal->value = awsBVal->value;
calBVal->valid = awsBVal->valid;
calibrationData.calibrateInstance(calBVal, logger); // Check if boat data value is to be calibrated
aws = std::round(calBVal->value * 10);
if (aws >= awsHstryMin && aws <= awsHstryMax) {
hstryBufList.awsHstry->add(static_cast<int16_t>(aws));
}
delete calBVal;
calBVal = nullptr;
} else if (useSimuData) {
aws += random(-50, 50); // TWS value in m/s; expands to 1 decimal
aws = constrain(aws, 0, 250); // Limit TWS to [0..25] m/s
hstryBufList.awsHstry->add(aws);
}
}
// OBP60 Task
//####################################################################################
void OBP60Task(GwApi *api){
@ -635,16 +431,11 @@ void OBP60Task(GwApi *api){
int lastPage=pageNumber;
BoatValueList boatValues; //all the boat values for the api query
HstryBuf hstryBufList(960); // Create ring buffers for history storage of some boat data
WindUtils trueWind(&boatValues); // Create helper object for true wind calculation
//commonData.distanceformat=config->getString(xxx);
//add all necessary data to common data
// Create ring buffers for history storage of some boat data
RingBuffer<int16_t> twdHstry(960); // Circular buffer to store true wind direction values; store 960 TWD values for 16 minutes history
RingBuffer<int16_t> twsHstry(960); // Circular buffer to store true wind speed values (TWS)
RingBuffer<int16_t> awdHstry(960); // Circular buffer to store appearant wind direction values; store 960 AWD values for 16 minutes history
RingBuffer<int16_t> awsHstry(960); // Circular buffer to store appearant xwind speed values (AWS)
tBoatHstryData hstryBufList = {&twdHstry, &twsHstry, &awdHstry, &awsHstry};
//fill the page data from config
numPages=config->getInt(config->visiblePages,1);
if (numPages < 1) numPages=1;
@ -684,10 +475,8 @@ void OBP60Task(GwApi *api){
LOG_DEBUG(GwLog::DEBUG,"added fixed value %s to page %d",value->getName().c_str(),i);
pages[i].parameters.values.push_back(value);
}
if (pages[i].description->pageName == "WindPlot") {
// Add boat history data to page parameters
pages[i].parameters.boatHstry = hstryBufList;
}
pages[i].parameters.boatHstry = &hstryBufList;
}
// add out of band system page (always available)
Page *syspage = allPages.pages[0]->creator(commonData);
@ -695,12 +484,12 @@ void OBP60Task(GwApi *api){
// Read all calibration data settings from config
calibrationData.readConfig(config, logger);
// Check user setting for true wind calculation
// Check user settings for true wind calculation
bool calcTrueWnds = api->getConfig()->getBool(api->getConfig()->calcTrueWnds, false);
bool useSimuData = api->getConfig()->getBool(api->getConfig()->useSimuData, false);
// Initialize history buffer for certain boat data
initHstryBuf(api, &boatValues, hstryBufList);
hstryBufList.init(&boatValues, logger);
// Display screenshot handler for HTTP request
// http://192.168.15.1/api/user/OBP60Task/screenshot
@ -1015,10 +804,10 @@ void OBP60Task(GwApi *api){
api->getStatus(commonData.status);
if (calcTrueWnds) {
addTrueWind(api, &boatValues);
trueWind.addTrueWind(api, &boatValues, logger);
}
// Handle history buffers for TWD, TWS for wind plot page and other usage
handleHstryBuf(api, &boatValues, hstryBufList, useSimuData);
hstryBufList.handleHstryBuf(useSimuData);
// Clear display
// getdisplay().fillRect(0, 0, getdisplay().width(), getdisplay().height(), commonData.bgcolor);

14
lib/obp60task/obp60task.h
View File

@ -47,4 +47,18 @@
#ifdef BOARD_OBP40S3
DECLARE_STRING_CAPABILITY(HELP_URL, "https://obp40-v1-docu.readthedocs.io/en/latest/"); // Link to help pages
#endif
class BoatValueList{
public:
static const int MAXVALUES=100;
//we create a list containing all our BoatValues
//this is the list we later use to let the api fill all the values
//additionally we put the necessary values into the paga data - see below
GwApi::BoatValue *allBoatValues[MAXVALUES];
int numValues=0;
bool addValueToList(GwApi::BoatValue *v);
//helper to ensure that each BoatValue is only queried once
GwApi::BoatValue *findValueOrCreate(String name);
};
#endif