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https://github.com/thooge/esp32-nmea2000-obp60.git
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Integrate many changes from master
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@@ -1,68 +1,116 @@
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// Function lib for boat data calibration, history buffer handling, true wind calculation, and other operations on boat data
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#pragma once
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#include <N2kMessages.h>
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#include "OBPRingBuffer.h"
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#include "BoatDataCalibration.h" // Functions lib for data instance calibration
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#include "Pagedata.h"
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#include "obp60task.h"
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#include <math.h>
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#include <map>
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#include <unordered_map>
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typedef struct {
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RingBuffer<int16_t>* twdHstry;
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RingBuffer<uint16_t>* twsHstry;
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RingBuffer<int16_t>* awdHstry;
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RingBuffer<uint16_t>* awsHstry;
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} tBoatHstryData; // Holds pointers to all history buffers for boat data
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// Calibration of boat data values, when user setting available
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// supported boat data types are: AWA, AWS, COG, DBS, DBT, HDM, HDT, PRPOS, RPOS, SOG, STW, TWA, TWS, TWD, WTemp
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class CalibrationData {
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private:
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typedef struct {
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double offset; // calibration offset
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double slope; // calibration slope
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double smooth; // smoothing factor
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double value; // calibrated data value (for future use)
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bool isCalibrated; // is data instance value calibrated? (for future use)
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} tCalibrationData;
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std::unordered_map<std::string, tCalibrationData> calibrationMap; // list of calibration data instances
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std::unordered_map<std::string, double> lastValue; // array for last smoothed values of boat data values
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GwLog* logger;
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static constexpr int8_t MAX_CALIBRATION_DATA = 4; // maximum number of calibration data instances
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public:
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CalibrationData(GwLog* log);
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void readConfig(GwConfigHandler* config);
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void handleCalibration(BoatValueList* boatValues); // Handle calibrationMap and calibrate all boat data values
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bool calibrateInstance(GwApi::BoatValue* boatDataValue); // Calibrate single boat data value
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bool smoothInstance(GwApi::BoatValue* boatDataValue); // Smooth single boat data value
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};
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class HstryBuf {
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private:
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GwLog *logger;
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RingBuffer<uint16_t> hstryBuf; // Circular buffer to store history values
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String boatDataName;
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double hstryMin;
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double hstryMax;
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GwApi::BoatValue* boatValue;
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GwLog* logger;
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RingBuffer<int16_t> twdHstry; // Circular buffer to store true wind direction values
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RingBuffer<uint16_t> twsHstry; // Circular buffer to store true wind speed values (TWS)
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RingBuffer<int16_t> awdHstry; // Circular buffer to store apparant wind direction values
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RingBuffer<uint16_t> awsHstry; // Circular buffer to store apparant xwind speed values (AWS)
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int16_t twdHstryMin; // Min value for wind direction (TWD) in history buffer
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int16_t twdHstryMax; // Max value for wind direction (TWD) in history buffer
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uint16_t twsHstryMin;
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uint16_t twsHstryMax;
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int16_t awdHstryMin;
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int16_t awdHstryMax;
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uint16_t awsHstryMin;
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uint16_t awsHstryMax;
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// boat values for buffers and for true wind calculation
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GwApi::BoatValue *twdBVal, *twsBVal, *twaBVal, *awdBVal, *awsBVal;
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GwApi::BoatValue *awaBVal, *hdtBVal, *hdmBVal, *varBVal, *cogBVal, *sogBVal;
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friend class HstryBuffers;
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public:
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tBoatHstryData hstryBufList;
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HstryBuf(const String& name, int size, BoatValueList* boatValues, GwLog* log);
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void init(const String& format, int updFreq, int mltplr, double minVal, double maxVal);
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void add(double value);
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void handle(bool useSimuData, CommonData& common);
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};
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HstryBuf(){
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hstryBufList = {&twdHstry, &twsHstry, &awdHstry, &awsHstry}; // Generate history buffers of zero size
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class HstryBuffers {
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private:
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std::map<String, std::unique_ptr<HstryBuf>> hstryBuffers;
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int size; // size of all history buffers
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BoatValueList* boatValueList;
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GwLog* logger;
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GwApi::BoatValue *awaBVal, *hdtBVal, *hdmBVal, *varBVal, *cogBVal, *sogBVal, *awdBVal; // boat values for true wind calculation
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struct HistoryParams {
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int hstryUpdFreq; // update frequency of history buffer (documentation only)
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int mltplr; // specifies actual value precision being storable:
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// [10000: 0 - 6.5535 | 1000: 0 - 65.535 | 100: 0 - 650.35 | 10: 0 - 6503.5
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double bufferMinVal; // minimum valid data value
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double bufferMaxVal; // maximum valid data value
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String format; // format of data type
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};
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HstryBuf(int size) {
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hstryBufList = {&twdHstry, &twsHstry, &awdHstry, &awsHstry};
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hstryBufList.twdHstry->resize(960); // store 960 TWD values for 16 minutes history
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hstryBufList.twsHstry->resize(960);
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hstryBufList.awdHstry->resize(960);
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hstryBufList.awsHstry->resize(960);
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// Define buffer parameters for supported boat data type
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std::map<String, HistoryParams> bufferParams = {
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{ "AWA", { 1000, 10000, 0.0, M_TWOPI, "formatWind" } },
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{ "AWD", { 1000, 10000, 0.0, M_TWOPI, "formatCourse" } },
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{ "AWS", { 1000, 1000, 0.0, 65.0, "formatKnots" } },
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{ "COG", { 1000, 10000, 0.0, M_TWOPI, "formatCourse" } },
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{ "DBS", { 1000, 100, 0.0, 650.0, "formatDepth" } },
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{ "DBT", { 1000, 100, 0.0, 650.0, "formatDepth" } },
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{ "DPT", { 1000, 100, 0.0, 650.0, "formatDepth" } },
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{ "HDM", { 1000, 10000, 0.0, M_TWOPI, "formatCourse" } },
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{ "HDT", { 1000, 10000, 0.0, M_TWOPI, "formatCourse" } },
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{ "ROT", { 1000, 10000, -M_PI / 180.0 * 99.0, M_PI / 180.0 * 99.0, "formatRot" } }, // min/max is -/+ 99 degrees for "rate of turn"
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{ "SOG", { 1000, 1000, 0.0, 65.0, "formatKnots" } },
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{ "STW", { 1000, 1000, 0.0, 65.0, "formatKnots" } },
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{ "TWA", { 1000, 10000, 0.0, M_TWOPI, "formatWind" } },
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{ "TWD", { 1000, 10000, 0.0, M_TWOPI, "formatCourse" } },
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{ "TWS", { 1000, 1000, 0.0, 65.0, "formatKnots" } },
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{ "WTemp", { 1000, 100, 233.0, 650.0, "kelvinToC" } } // [-50..376] °C
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};
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void init(BoatValueList* boatValues, GwLog *log);
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void handleHstryBuf(bool useSimuData);
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public:
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HstryBuffers(int size, BoatValueList* boatValues, GwLog* log);
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void addBuffer(const String& name);
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void handleHstryBufs(bool useSimuData, CommonData& common);
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RingBuffer<uint16_t>* getBuffer(const String& name);
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};
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class WindUtils {
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private:
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GwApi::BoatValue *twdBVal, *twsBVal, *twaBVal;
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GwApi::BoatValue *awaBVal, *awsBVal, *cogBVal, *stwBVal, *sogBVal, *hdtBVal, *hdmBVal, *varBVal;
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GwApi::BoatValue *twaBVal, *twsBVal, *twdBVal;
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GwApi::BoatValue *awaBVal, *awsBVal, *awdBVal, *cogBVal, *stwBVal, *sogBVal, *hdtBVal, *hdmBVal, *varBVal;
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static constexpr double DBL_MAX = std::numeric_limits<double>::max();
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GwLog* logger;
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public:
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WindUtils(BoatValueList* boatValues){
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twdBVal = boatValues->findValueOrCreate("TWD");
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twsBVal = boatValues->findValueOrCreate("TWS");
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WindUtils(BoatValueList* boatValues, GwLog* log)
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: logger(log)
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{
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twaBVal = boatValues->findValueOrCreate("TWA");
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twsBVal = boatValues->findValueOrCreate("TWS");
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twdBVal = boatValues->findValueOrCreate("TWD");
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awaBVal = boatValues->findValueOrCreate("AWA");
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awsBVal = boatValues->findValueOrCreate("AWS");
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awdBVal = boatValues->findValueOrCreate("AWD");
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cogBVal = boatValues->findValueOrCreate("COG");
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stwBVal = boatValues->findValueOrCreate("STW");
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sogBVal = boatValues->findValueOrCreate("SOG");
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@@ -70,6 +118,7 @@ public:
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hdmBVal = boatValues->findValueOrCreate("HDM");
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varBVal = boatValues->findValueOrCreate("VAR");
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};
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static double to2PI(double a);
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static double toPI(double a);
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static double to360(double a);
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@@ -81,10 +130,10 @@ public:
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double* phi, double* r);
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void calcTwdSA(const double* AWA, const double* AWS,
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const double* CTW, const double* STW, const double* HDT,
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double* TWD, double* TWS, double* TWA);
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double* TWD, double* TWS, double* TWA, double* AWD);
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static double calcHDT(const double* hdmVal, const double* varVal, const double* cogVal, const double* sogVal);
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bool calcTrueWind(const double* awaVal, const double* awsVal,
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bool calcWinds(const double* awaVal, const double* awsVal,
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const double* cogVal, const double* stwVal, const double* sogVal, const double* hdtVal,
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const double* hdmVal, const double* varVal, double* twdVal, double* twsVal, double* twaVal);
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bool addTrueWind(GwApi* api, BoatValueList* boatValues, GwLog *log);
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const double* hdmVal, const double* varVal, double* twdVal, double* twsVal, double* twaVal, double* awdVal);
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bool addWinds();
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};
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