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esp32-nmea2000-obp60/lib/obp60task/PageCurrent.cpp
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#if defined BOARD_OBP60S3 || defined BOARD_OBP40S3
#include "Pagedata.h"
#include "OBP60Extensions.h"
#include "OBPDataOperations.h"
#include <unordered_map>
// leeway K coefficient selection options from OBP configuration page
static const std::unordered_map<std::string, int> leeKMap = {
{ "---", 0 },
{ "Racer [2]", 2 },
{ "Multihull Draggerboard [4]", 4 },
{ "Performance Cruiser [6]", 6 },
{ "Family Cruiser [9]", 9 },
{ "Heavy Displacement [13]", 13 },
{ "Multihull Fixed Keel [16]", 16 }
};
enum bValIdx {
ROLL = 0,
SET,
DFT,
HDT,
STW,
COG,
SOG,
HDM,
VAR,
AWA,
NUM_VALS
};
// Screen coordinates for boat values
struct Points {
int16_t x1, y1;
int16_t x2, y2;
int16_t x3, y3;
};
// Screen coordinates for four boat data values (top-left, bottom-left, top-right, bottom-right)
static constexpr Points POS[] = {
{ 10, 65, 10, 95, 10, 115 }, // Position top left for value, name, unit
{ 10, 270, 10, 220, 10, 190 }, // Position bottom left
{ 295, 65, 390, 95, 390, 115 }, // Position top right
{ 295, 270, 390, 220, 390, 190 } // Position bottom right
};
// Define wave visual (XBM Format)
static constexpr int WAVE_W = 132;
static constexpr int WAVE_H = 20;
static const uint8_t wave_bitmap[] PROGMEM = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0x80, 0x00, 0xff, 0xf8, 0x00, 0x00, 0xff, 0x80, 0x00,
0x7f, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xf0, 0x03, 0xff, 0xfe, 0x00, 0x01, 0xff, 0xf0,
0x01, 0xff, 0xf8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xbf, 0xe0, 0x3f, 0xc0, 0xe2, 0x07,
0xff, 0x1f, 0xf8, 0x7e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xff, 0x80, 0x07, 0xff, 0x80,
0x00, 0xff, 0xff, 0xe0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x03, 0xf0, 0x07, 0xfe, 0x00, 0x00, 0x78,
0x0f, 0x80, 0x3f, 0xff, 0x80, 0x00, 0x00, 0x07, 0x00, 0x00, 0x0f, 0xfe, 0x00, 0x01, 0xff, 0x00,
0x00, 0x3f, 0xf0, 0x07, 0xfe, 0x00, 0x00, 0x00, 0x3f, 0xf0, 0x00, 0x3f, 0xff, 0x80, 0x07, 0xff,
0xe0, 0x00, 0xff, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x7e, 0x00, 0xff, 0xff, 0xf0, 0x3f,
0xe3, 0xf8, 0x01, 0xc0, 0xff, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0xe7, 0xfc, 0x0f, 0xff,
0xff, 0x00, 0x3f, 0x00, 0x00, 0x1f, 0xff, 0x80, 0x00, 0x00, 0x00, 0x00, 0x07, 0xff, 0xf0, 0x03,
0xff, 0xfc, 0x00, 0x03, 0xf0, 0x00, 0x07, 0xfe, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xc0,
0x00, 0x7f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c,
0x00, 0x00, 0x07, 0x80, 0xfc, 0x00, 0x00, 0x3f, 0xc0, 0x00, 0x07, 0xe0, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xe0, 0x00, 0x03, 0xff, 0x80, 0x01, 0xff, 0xf8, 0x00, 0x3f, 0xfc, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x1e, 0x00, 0x0f, 0xff, 0xf0, 0x07, 0xff, 0xff, 0x00, 0xfc, 0x0f, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x03, 0xc0, 0x3e, 0x03, 0xff, 0xff, 0xe0, 0x3f, 0xff, 0xe0, 0x01, 0xe0,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xf8, 0x00, 0x7f, 0xff, 0x00, 0x07, 0xff, 0x80, 0x00,
0x3e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xe0, 0x00, 0x1f, 0xfc, 0x00, 0x00, 0xfe, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00
};
class PageCurrent : public Page {
private:
GwLog* logger;
int width; // Screen width
int height; // Screen height
bool keylock = false; // Keylock
bool useSimuData;
bool holdValues;
String flashLED;
String backlightMode;
String leeKStd;
double leeK;
// Old values for hold function
String sValueOld[NUM_VALS] = { "", "", "", "", "", "", "", "", "", "" };
String unitOld[NUM_VALS] = { "", "", "", "", "", "", "", "", "", "" };
struct Current {
double set; // direction TO which current flows (0..2*PI, true dir)
double dft; // current drift speed (m/s)
};
double calcLeeway(
double leeK, // leeway coefficient
double roll, // heel of boat (rad)
double stw // speed through water (m/s)
)
{
if (stw == 0) {
return 0;
}
double lay = leeK * roll / (stw * stw);
return lay;
}
double calcCTW(
double awa, // apparent wind angle (0..2PI -> representation within OBP60)
double hdt, // heading true (rad)
double lay // leeway angle (rad)
)
{
double ctw; // course through water (rad true)
if (awa >= M_PI) { // apparent wind > 180° -> comes from port
ctw = hdt + lay;
} else { // wind comes from starboard
ctw = hdt - lay;
}
return ctw;
}
Current calcSetAndDrift(
double lay, // leeway angle (rad)
double sog, // speed over ground (m/s)
double cog, // course over ground (rad true)
double stw, // speed through water (m/s)
double hdt, // heading true (rad)
double awa // apparent wind angle (rad)
)
{
Current crnt;
double ctw; // course through water (rad true)
ctw = calcCTW(awa, hdt, lay);
// Ground velocity vector (east, north)
double vg_x = sog * std::sin(cog);
double vg_y = sog * std::cos(cog);
// Water-relative velocity vector (east, north)
double vw_x = stw * std::sin(ctw);
double vw_y = stw * std::cos(ctw);
// Current vector = ground - water
double vc_x = vg_x - vw_x;
double vc_y = vg_y - vw_y;
crnt.dft = std::sqrt(vc_x * vc_x + vc_y * vc_y);
crnt.set = std::atan2(vc_x, vc_y); // atan2(x, y) because 0° = North, clockwise positive
crnt.set = WindUtils::to2PI(crnt.set); // internal respresentation of wind is [0..2PI]
// LOG_DEBUG(GwLog::DEBUG, "PageCurrent-setDrift: sog: %.3f, ctw: %.3f, stw: %.3f, vc_x: %.3f, vc_y: %.3f, set: %.3f, drift: %.3f",
// sog, ctw, stw, vc_x, vc_y, crnt.set, crnt.dft);
return crnt;
};
// Draw compass rose with boat direction up; top heading of compass rose in degree [0..2PI]
void drawCompassRose(double topHeading)
{
int radius = 110;
String sDegree;
int centerX = 200;
int centerY = 150;
getdisplay().fillCircle(centerX, centerY, radius + 10, commonData->fgcolor);
getdisplay().fillCircle(centerX, centerY, radius + 7, commonData->bgcolor);
getdisplay().setFont(&Ubuntu_Bold8pt8b);
for (int i = 0; i < 360; i += 10) {
float topAngle = (float)(i * DEG_TO_RAD - topHeading); // Calculate the relative angle for drawing; subtracting topHeading shifts the entire rose
float sinVal = sin(topAngle);
float cosVal = cos(topAngle);
// Coordinates for the labels (positioned slightly inside the rose)
float xLabel = centerX + (radius - 27) * sinVal;
float yLabel = centerY - (radius - 24) * cosVal;
if (i % 30 == 0) {
// Draw scale markers (triangles)
float dx = 1;
float xx1 = -dx;
float xx2 = +dx;
float yy1 = -(radius - 10);
float yy2 = -(radius + 10);
getdisplay().fillTriangle(centerX + (int)(cosVal * xx1 - sinVal * yy1), centerY + (int)(sinVal * xx1 + cosVal * yy1),
centerX + (int)(cosVal * xx2 - sinVal * yy1), centerY + (int)(sinVal * xx2 + cosVal * yy1),
centerX + (int)(cosVal * xx1 - sinVal * yy2), centerY + (int)(sinVal * xx1 + cosVal * yy2), commonData->fgcolor);
getdisplay().fillTriangle(centerX + (int)(cosVal * xx2 - sinVal * yy1), centerY + (int)(sinVal * xx2 + cosVal * yy1),
centerX + (int)(cosVal * xx1 - sinVal * yy2), centerY + (int)(sinVal * xx1 + cosVal * yy2),
centerX + (int)(cosVal * xx2 - sinVal * yy2), centerY + (int)(sinVal * xx2 + cosVal * yy2), commonData->fgcolor);
// Print degree labels
sDegree = String(i);
int16_t x1, y1;
uint16_t w, h;
displayGetTextBounds(sDegree, (int)xLabel, (int)yLabel, &x1, &y1, &w, &h);
getdisplay().setCursor(xLabel - w / 2, yLabel + h / 2);
getdisplay().print(sDegree);
} else {
// Draw dots for intermediate 10 degree steps
float xDot = centerX + radius * sinVal;
float yDot = centerY - radius * cosVal;
getdisplay().fillCircle((int)xDot, (int)yDot, 2, commonData->fgcolor);
}
}
}
void drawRotatedArrow(
float size, // size of the arrow = speed in m/s [0.5..5.2]
float direction // angle the arrow is pointing to [0..2PI]
)
{
if (size < 0.05) { // no arrow for current set below 0.05 m/s
return;
}
// size [0.5 .. 5.2] -> length [60 .. 130]
float maxsize = constrain(size, 0.5, 5.2);
float length = 60.0 + ((maxsize - 0.5) / (5.2 - 0.5)) * (130.0 - 60.0);
int16_t cx = width / 2;
int16_t cy = height / 2;
// geometry (arrow upwards)
float h = length / 2.0;
float w = length / 4.0;
float headW = length / 1.5;
float splitY = -h / 3;
struct Pt {
float x, y;
};
// 7 edges of arrow
Pt p[7] = {
{ -w / 2, h }, { w / 2, h }, { w / 2, splitY }, { headW / 2, splitY },
{ 0, -h }, { -headW / 2, splitY }, { -w / 2, splitY }
};
// edges of arrow with reduced size of 1 px for thicker frame
float offset = 1.0;
Pt p_in[7] = {
{ -w / 2 + offset, h - offset }, { w / 2 - offset, h - offset },
{ w / 2 - offset, splitY + offset }, { headW / 2 - offset, splitY + offset },
{ 0, -h + offset }, { -headW / 2 + offset, splitY + offset },
{ -w / 2 + offset, splitY + offset }
};
// calculate rotation
float s = sin(direction);
float c = cos(direction);
int16_t rx[7], ry[7];
for (int i = 0; i < 7; i++) {
// rotate frame
rx[i] = cx + (int16_t)(p[i].x * c - p[i].y * s);
ry[i] = cy + (int16_t)(p[i].x * s + p[i].y * c);
}
// fill arrow with white area to delete any background data
getdisplay().fillTriangle(rx[0], ry[0], rx[1], ry[1], rx[2], ry[2], commonData->bgcolor);
getdisplay().fillTriangle(rx[0], ry[0], rx[2], ry[2], rx[6], ry[6], commonData->bgcolor);
getdisplay().fillTriangle(rx[5], ry[5], rx[4], ry[4], rx[3], ry[3], commonData->bgcolor);
// draw arrow frame with "overdraw" for constant thickness
for (int i = 0; i < 7; i++) {
int next = (i + 1) % 7;
int16_t x0 = rx[i], y0 = ry[i];
int16_t x1 = rx[next], y1 = ry[next];
// original line
getdisplay().drawLine(x0, y0, x1, y1, commonData->fgcolor);
// offset by 1 pixel in x or y depending on delta
if (abs(x1 - x0) > abs(y1 - y0)) {
getdisplay().drawLine(x0, y0 + 1, x1, y1 + 1, commonData->fgcolor);
} else {
getdisplay().drawLine(x0 + 1, y0, x1 + 1, y1, commonData->fgcolor);
}
}
}
public:
PageCurrent(CommonData& common)
{
commonData = &common;
logger = commonData->logger;
LOG_DEBUG(GwLog::LOG, "Instantiate PageCurrent");
width = getdisplay().width(); // Screen width
height = getdisplay().height(); // Screen height
// Get config data
useSimuData = commonData->config->getBool(commonData->config->useSimuData);
holdValues = commonData->config->getBool(commonData->config->holdvalues);
flashLED = commonData->config->getString(commonData->config->flashLED);
backlightMode = commonData->config->getString(commonData->config->backlight);
leeKStd = commonData->config->getString(commonData->config->leeKStd);
auto it = leeKMap.find(leeKStd.c_str());
if (it != leeKMap.end()) {
leeK = it->second;
} else if (leeKStd == "Individual value") {
leeK = (commonData->config->getString(commonData->config->leeK)).toDouble();
}
LOG_DEBUG(GwLog::DEBUG, "PageCurrent: leeKStd: %s, leeK: %.3f", leeKStd.c_str(), leeK);
}
virtual int handleKey(int key)
{
// Keylock function
if (key == 11) { // Code for keylock
commonData->keylock = !commonData->keylock;
return 0; // Commit the key
}
return key;
}
virtual void displayNew(PageData& pageData)
{
#ifdef BOARD_OBP60S3
// Clear optical warning
if (flashLED == "Limit Violation") {
setBlinkingLED(false);
setFlashLED(false);
}
#endif
}
int displayPage(PageData& pageData)
{
double lay;
Current current;
LOG_DEBUG(GwLog::LOG, "Display PageCurrent");
// Get boat values for page
// 0=ROLL, 1=SET, 2=DFT, 3=HDT, 4=STW, 5=COG, 6=SOG, 7=HDM, 8=VAR, 9=AWA
std::vector<GwApi::BoatValue*> bValue(pageData.values.begin(), pageData.values.end());
LOG_DEBUG(GwLog::DEBUG, "PageCurrent: printing #1: %s, %.3f, valid: %d, #2: %s, %.3f, valid: %d, #3: %s, %.3f, valid: %d, #4: %s, %.3f, valid: %d, #5: %s, %.3f, valid: %d",
bValue[ROLL]->getName().c_str(), bValue[ROLL]->value, bValue[ROLL]->valid, bValue[SET]->getName().c_str(), bValue[SET]->value, bValue[SET]->valid,
bValue[DFT]->getName().c_str(), bValue[DFT]->value, bValue[DFT]->valid, bValue[HDT]->getName().c_str(), bValue[HDT]->value, bValue[HDT]->valid,
bValue[STW]->getName().c_str(), bValue[STW]->value, bValue[STW]->valid);
// Calculate current data
//***********************************************************
if (!bValue[SET]->valid || !bValue[DFT]->valid) { // If SET or DRIFT not available, try to calculate them
if (bValue[SOG]->valid && bValue[COG]->valid && bValue[STW]->valid && bValue[AWA]->valid) { // calculate current only if all required values are available
if (!bValue[HDT]->valid) { // HDT not available
if (bValue[HDM]->valid) {
if (bValue[VAR]->valid) {
bValue[HDT]->value = bValue[HDM]->value + bValue[VAR]->value; // Use corrected HDM if HDT is not available
bValue[HDT]->value = WindUtils::to2PI(bValue[HDT]->value);
bValue[HDT]->valid = true;
} else {
// if HDT cannot be fully substituted by HDM+VAR, continue with HDM only
bValue[HDT] = bValue[HDM];
}
}
}
if (!bValue[ROLL]->valid || (bValue[ROLL]->getFormat() != "formatXdr:A:D" && bValue[ROLL]->getFormat() != "formatXdr:A:rd" && bValue[ROLL]->getFormat() != "formatCourse")) {
bValue[ROLL]->value = 0; // delete last value if roll value is not valid anymore (gateway keeps last value) or wrong type selected by user
}
LOG_DEBUG(GwLog::DEBUG, "PageCurrent: Roll: %s, %.3f, valid: %d, format: %s",
bValue[ROLL]->getName().c_str(), bValue[ROLL]->value, bValue[ROLL]->valid, bValue[ROLL]->getFormat().c_str());
lay = calcLeeway(leeK, bValue[ROLL]->value, bValue[STW]->value);
if (bValue[HDT]->valid) { // That's either HDT or HDM
current = calcSetAndDrift(lay, bValue[SOG]->value, bValue[COG]->value, bValue[STW]->value, bValue[HDT]->value, bValue[AWA]->value);
bValue[SET]->value = current.set;
bValue[SET]->setFormat("formatCourse");
bValue[SET]->valid = true;
bValue[DFT]->value = current.dft;
bValue[DFT]->setFormat("formatKnots");
bValue[DFT]->valid = true;
}
}
}
LOG_DEBUG(GwLog::DEBUG, "PageCurrent: leeKStd: %s, leeK: %.3f, lay: %.3f, roll: %.3f, stw: %.3f, awa: %.3f, hdt: %.3f, cog: %.3f, sog: %.3f, set: %.3f, dft: %.3f",
leeKStd.c_str(), leeK, lay, bValue[ROLL]->value, bValue[STW]->value, bValue[AWA]->value, bValue[HDT]->value, bValue[COG]->value, bValue[SOG]->value,
bValue[SET]->value, bValue[DFT]->value);
// Draw page
//***********************************************************
displaySetPartialWindow(0, 0, width, height); // Set partial update
getdisplay().setTextColor(commonData->fgcolor);
static const int bValType[] = { HDT, STW, SET, DFT }; // Sequence of boat data types to show on page
for (int i = 0; i < 4; i++) {
String name = xdrDelete(bValue[bValType[i]]->getName()); // Value name
name = name.substring(0, 4); // String length limit for value name
String sValue = formatValue(bValue[bValType[i]], *commonData).svalue; // Formatted value as string including unit conversion and switching decimal places
String unit = formatValue(bValue[bValType[i]], *commonData).unit; // Unit of value
unit = unit.substring(0, 6); // String length limit for value unit
// Show boat data value
getdisplay().setFont(&DSEG7Classic_BoldItalic20pt7b);
getdisplay().setCursor(POS[i].x1, POS[i].y1);
if (!holdValues || useSimuData) {
getdisplay().print(sValue);
} else {
getdisplay().print(sValueOld[i]);
}
// Show name
getdisplay().setFont(&Ubuntu_Bold12pt8b);
if (i < 2) { // left side values
getdisplay().setCursor(POS[i].x2, POS[i].y2);
getdisplay().print(name);
} else { // right side values
drawTextRalign(POS[i].x2, POS[i].y2, name);
}
String dUnit; // Unit to show
if (holdValues) {
dUnit = unitOld[i];
} else {
dUnit = unit;
}
// Show unit
getdisplay().setFont(&Ubuntu_Bold8pt8b);
if (i < 2) { // left side values
getdisplay().setCursor(POS[i].x3, POS[i].y3);
getdisplay().print(dUnit);
} else { // right side values
drawTextRalign(POS[i].x3, POS[i].y3, dUnit);
}
if (bValue[bValType[i]]->valid) {
sValueOld[i] = sValue; // Save the old value
unitOld[i] = unit; // Save the old unit
}
}
// Horizontal separator left
getdisplay().fillRect(0, 149, 60, 2, commonData->fgcolor);
// Horizontal separator right
getdisplay().fillRect(339, 149, 60, 2, commonData->fgcolor);
if (bValue[HDT]->valid) {
drawCompassRose(bValue[HDT]->value);
} else {
drawCompassRose(0.0);
};
getdisplay().drawBitmap((width - WAVE_W) / 2, (height - WAVE_H) / 2, wave_bitmap, WAVE_W, WAVE_H, commonData->fgcolor);
if (bValue[SET]->valid && bValue[DFT]->valid) {
drawRotatedArrow(bValue[DFT]->value, WindUtils::to2PI(bValue[SET]->value - bValue[HDT]->value));
}
return PAGE_UPDATE;
};
};
static Page* createPage(CommonData& common)
{
return new PageCurrent(common);
}
/**
* with the code below we make this page known to the PageTask
* we give it a type (name) that can be selected in the config
* we define which function is to be called
* and we provide the number of user parameters we expect
* this will be number of BoatValue pointers in pageData.values
*/
PageDescription registerPageCurrent(
"Current", // Page name
createPage, // Action
1, // Number of bus values depends on selection in Web configuration -> boat value for ROLL
{ "SET", "DFT", "HDT", "STW", "COG", "SOG", "HDM", "VAR", "AWA" }, // Bus values we need in the page
true // Show display header on/off
);
#endif
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