mirror of
https://github.com/thooge/esp32-nmea2000-obp60.git
synced 2026-01-26 08:13:05 +01:00
323 lines
12 KiB
C++
323 lines
12 KiB
C++
#include "OBPDataOperations.h"
|
|
#include "BoatDataCalibration.h" // Functions lib for data instance calibration
|
|
#include <math.h>
|
|
|
|
// --- Class HstryBuf ---------------
|
|
HstryBuf::HstryBuf(const String& name, int size, BoatValueList* boatValues, GwLog* log)
|
|
: logger(log), boatDataName(name) {
|
|
hstryBuf.resize(size);
|
|
boatValue = boatValues->findValueOrCreate(name);
|
|
}
|
|
|
|
void HstryBuf::init(const String& format, int updFreq, int mltplr, double minVal, double 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(); // mark current value invalid
|
|
}
|
|
}
|
|
|
|
void HstryBuf::add(double value) {
|
|
if (value >= hstryMin && value <= hstryMax) {
|
|
hstryBuf.add(value);
|
|
}
|
|
}
|
|
|
|
void HstryBuf::handle(bool useSimuData) {
|
|
GwApi::BoatValue *calBVal;
|
|
|
|
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;
|
|
calBVal->valid = boatValue->valid;
|
|
calibrationData.calibrateInstance(calBVal, logger);
|
|
add(calBVal->value);
|
|
delete calBVal;
|
|
calBVal = nullptr;
|
|
} 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);
|
|
} else if (boatDataName == "TWS" || boatDataName == "AWS") {
|
|
simValue += static_cast<double>(random(-5000, 5000) / 1000.0);
|
|
simValue = constrain(simValue, 0, 40);
|
|
}
|
|
add(simValue);
|
|
}
|
|
}
|
|
// --- End Class HstryBuf ---------------
|
|
|
|
// --- Class HstryBuffers ---------------
|
|
HstryBuffers::HstryBuffers(int size, BoatValueList* boatValues, GwLog* log)
|
|
: size(size), boatValueList(boatValues), logger(log) {
|
|
|
|
// collect boat values for true wind calculation
|
|
// 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 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 : hstryBuffers) {
|
|
auto& buf = pair.second;
|
|
buf->handle(useSimuData);
|
|
}
|
|
|
|
// Special handling for AWD which is calculated
|
|
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);
|
|
}
|
|
double awd;
|
|
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;
|
|
// We don't have a logger here, so we pass nullptr. This should be improved.
|
|
calibrationData.calibrateInstance(calBVal, nullptr); // Check if boat data value is to be calibrated
|
|
awdBVal->value = calBVal->value;
|
|
awdBVal->valid = true;
|
|
// Find the AWD buffer and add the value.
|
|
auto it = hstryBuffers.find("AWD");
|
|
if (it != hstryBuffers.end()) {
|
|
it->second->add(calBVal->value);
|
|
}
|
|
|
|
delete calBVal;
|
|
calBVal = nullptr;
|
|
} else if (useSimuData) {
|
|
// Simulation for AWD is handled inside HstryBuf::handle
|
|
}
|
|
}
|
|
|
|
RingBuffer<uint16_t>* HstryBuffers::getBuffer(const String& name) {
|
|
auto it = hstryBuffers.find(name);
|
|
if (it != hstryBuffers.end()) {
|
|
return &it->second->hstryBuf;
|
|
}
|
|
return nullptr;
|
|
}
|
|
// --- End Class HstryBuffers ---------------
|
|
|
|
// --- Class WindUtils --------------
|
|
double WindUtils::to2PI(double a)
|
|
{
|
|
a = fmod(a, M_TWOPI);
|
|
if (a < 0.0) {
|
|
a += M_TWOPI;
|
|
}
|
|
return a;
|
|
}
|
|
|
|
double WindUtils::toPI(double a)
|
|
{
|
|
a += M_PI;
|
|
a = to2PI(a);
|
|
a -= M_PI;
|
|
|
|
return a;
|
|
}
|
|
|
|
double WindUtils::to360(double a)
|
|
{
|
|
a = fmod(a, 360.0);
|
|
if (a < 0.0) {
|
|
a += 360.0;
|
|
}
|
|
return a;
|
|
}
|
|
|
|
double WindUtils::to180(double a)
|
|
{
|
|
a += 180.0;
|
|
a = to360(a);
|
|
a -= 180.0;
|
|
|
|
return a;
|
|
}
|
|
|
|
void WindUtils::toCart(const double* phi, const double* r, double* x, double* y)
|
|
{
|
|
*x = *r * sin(*phi);
|
|
*y = *r * cos(*phi);
|
|
}
|
|
|
|
void WindUtils::toPol(const double* x, const double* y, double* phi, double* r)
|
|
{
|
|
*phi = (M_PI / 2) - atan2(*y, *x);
|
|
*phi = to2PI(*phi);
|
|
*r = sqrt(*x * *x + *y * *y);
|
|
}
|
|
|
|
void WindUtils::addPolar(const double* phi1, const double* r1,
|
|
const double* phi2, const double* r2,
|
|
double* phi, double* r)
|
|
{
|
|
double x1, y1, x2, y2;
|
|
toCart(phi1, r1, &x1, &y1);
|
|
toCart(phi2, r2, &x2, &y2);
|
|
x1 += x2;
|
|
y1 += y2;
|
|
toPol(&x1, &y1, phi, r);
|
|
}
|
|
|
|
void WindUtils::calcTwdSA(const double* AWA, const double* AWS,
|
|
const double* CTW, const double* STW, const double* HDT,
|
|
double* TWD, double* TWS, double* TWA)
|
|
{
|
|
double awd = *AWA + *HDT;
|
|
awd = to2PI(awd);
|
|
double stw = -*STW;
|
|
addPolar(&awd, AWS, CTW, &stw, TWD, TWS);
|
|
|
|
// Normalize TWD and TWA to 0-360°
|
|
*TWD = to2PI(*TWD);
|
|
*TWA = toPI(*TWD - *HDT);
|
|
}
|
|
|
|
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
|
|
|
|
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_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_MAX; // Cannot calculate HDT without valid HDM or HDM+VAR or COG
|
|
}
|
|
|
|
return hdt;
|
|
}
|
|
|
|
bool WindUtils::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)
|
|
{
|
|
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
|
|
|
|
if (*hdtVal != DBL_MAX) {
|
|
hdt = *hdtVal; // Use HDT if available
|
|
} else {
|
|
hdt = calcHDT(hdmVal, varVal, cogVal, sogVal);
|
|
}
|
|
|
|
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_MAX) {
|
|
stw = *stwVal; // Use STW if available
|
|
} else if (*sogVal != DBL_MAX) {
|
|
stw = *sogVal;
|
|
} else {
|
|
// If STW and SOG are not available, we cannot calculate true wind
|
|
return false;
|
|
}
|
|
// Serial.println("\ncalcTrueWind: HDT: " + String(hdt) + ", CTW: " + String(ctw) + ", STW: " + String(stw));
|
|
|
|
if ((*awaVal == DBL_MAX) || (*awsVal == DBL_MAX)) {
|
|
// Cannot calculate true wind without valid AWA, AWS; other checks are done earlier
|
|
return false;
|
|
} else {
|
|
calcTwdSA(awaVal, awsVal, &ctw, &stw, &hdt, &twd, &tws, &twa);
|
|
*twdVal = twd;
|
|
*twsVal = tws;
|
|
*twaVal = twa;
|
|
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// Calculate true wind data and add to obp60task boat data list
|
|
//bool WindUtils::addTrueWind(GwApi* api, GwLog* log) {
|
|
bool WindUtils::addTrueWind() {
|
|
|
|
// GwLog* logger = log;
|
|
|
|
// double awaVal, awsVal, cogVal, stwVal, sogVal, hdtVal, hdmVal, varVal;
|
|
double twd, tws, twa;
|
|
bool isCalculated = false;
|
|
|
|
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);
|
|
|
|
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,"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;
|
|
}
|
|
// --- End Class WindUtils --------------
|