diff --git a/src/gps/GeoCoord.cpp b/src/gps/GeoCoord.cpp new file mode 100644 index 000000000..d09b1addb --- /dev/null +++ b/src/gps/GeoCoord.cpp @@ -0,0 +1,450 @@ +#include "GeoCoord.h" + +GeoCoord::GeoCoord() { + _dirty = true; +} + +GeoCoord::GeoCoord (int32_t lat, int32_t lon, int32_t alt) : _latitude(lat), _longitude(lon), _altitude(alt) { + GeoCoord::setCoords(); +} + +GeoCoord::GeoCoord (float lat, float lon, int32_t alt) : _altitude(alt) { + // Change decimial reprsentation to int32_t. I.e., 12.345 becomes 123450000 + _latitude = int32_t(lat * 1e+7); + _longitude = int32_t(lon * 1e+7); + GeoCoord::setCoords(); +} + +GeoCoord::GeoCoord(double lat, double lon, int32_t alt): _altitude(alt) { + // Change decimial reprsentation to int32_t. I.e., 12.345 becomes 123450000 + _latitude = int32_t(lat * 1e+7); + _longitude = int32_t(lon * 1e+7); + GeoCoord::setCoords(); +} + +// Initialize all the coordinate systems +void GeoCoord::setCoords() { + double lat = _latitude * 1e-7; + double lon = _longitude * 1e-7; + GeoCoord::latLongToDMS(lat, lon, _dms); + GeoCoord::latLongToUTM(lat, lon, _utm); + GeoCoord::latLongToMGRS(lat, lon, _mgrs); + GeoCoord::latLongToOSGR(lat, lon, _osgr); + GeoCoord::latLongToOLC(lat, lon, _olc); + _dirty = false; +} + +void GeoCoord::updateCoords(int32_t lat, int32_t lon, int32_t alt) { + // If marked dirty or new coordiantes + if(_dirty || _latitude != lat || _longitude != lon || _altitude != alt) { + _dirty = true; + _latitude = lat; + _longitude = lon; + _altitude = alt; + setCoords(); + } +} + +void GeoCoord::updateCoords(const double lat, const double lon, const int32_t alt) { + int32_t iLat = lat * 1e+7; + int32_t iLon = lon * 1e+7; + // If marked dirty or new coordiantes + if(_dirty || _latitude != iLat || _longitude != iLon || _altitude != alt) { + _dirty = true; + _latitude = iLat; + _longitude = iLon; + _altitude = alt; + setCoords(); + } + +} + +void GeoCoord::updateCoords(const float lat, const float lon, const int32_t alt) { + int32_t iLat = lat * 1e+7; + int32_t iLon = lon * 1e+7; + // If marked dirty or new coordiantes + if(_dirty || _latitude != iLat || _longitude != iLon || _altitude != alt) { + _dirty = true; + _latitude = iLat; + _longitude = iLon; + _altitude = alt; + setCoords(); + } +} + +/** + * Converts lat long coordinates from decimal degrees to degrees minutes seconds format. + * DD°MM'SS"C DDD°MM'SS"C + */ +void GeoCoord::latLongToDMS(const double lat, const double lon, DMS &dms) { + if (lat < 0) dms.latCP = 'S'; + else dms.latCP = 'N'; + + double latDeg = lat; + + if (lat < 0) + latDeg = latDeg * -1; + + dms.latDeg = floor(latDeg); + double latMin = (latDeg - dms.latDeg) * 60; + dms.latMin = floor(latMin); + dms.latSec = (latMin - dms.latMin) * 60; + + if (lon < 0) dms.lonCP = 'W'; + else dms.lonCP = 'E'; + + double lonDeg = lon; + + if (lon < 0) + lonDeg = lonDeg * -1; + + dms.lonDeg = floor(lonDeg); + double lonMin = (lonDeg - dms.lonDeg) * 60; + dms.lonMin = floor(lonMin); + dms.lonSec = (lonMin - dms.lonMin) * 60; +} + +/** + * Converts lat long coordinates to UTM. + * based on this: https://github.com/walvok/LatLonToUTM/blob/master/latlon_utm.ino + */ +void GeoCoord::latLongToUTM(const double lat, const double lon, UTM &utm) { + + const std::string latBands = "CDEFGHJKLMNPQRSTUVWXX"; + utm.zone = int((lon + 180)/6 + 1); + utm.band = latBands[int(lat/8 + 10)]; + double a = 6378137; // WGS84 - equatorial radius + double k0 = 0.9996; // UTM point scale on the central meridian + double eccSquared = 0.00669438; // eccentricity squared + double lonTemp = (lon + 180) - int((lon + 180)/360) * 360 - 180; //Make sure the longitude is between -180.00 .. 179.9 + double latRad = toRadians(lat); + double lonRad = toRadians(lonTemp); + + // Special Zones for Norway and Svalbard + if( lat >= 56.0 && lat < 64.0 && lonTemp >= 3.0 && lonTemp < 12.0 ) // Norway + utm.zone = 32; + if( lat >= 72.0 && lat < 84.0 ) { // Svalbard + if ( lonTemp >= 0.0 && lonTemp < 9.0 ) utm.zone = 31; + else if( lonTemp >= 9.0 && lonTemp < 21.0 ) utm.zone = 33; + else if( lonTemp >= 21.0 && lonTemp < 33.0 ) utm.zone = 35; + else if( lonTemp >= 33.0 && lonTemp < 42.0 ) utm.zone = 37; + } + + double lonOrigin = (utm.zone - 1)*6 - 180 + 3; // puts origin in middle of zone + double lonOriginRad = toRadians(lonOrigin); + double eccPrimeSquared = (eccSquared)/(1 - eccSquared); + double N = a/sqrt(1 - eccSquared*sin(latRad)*sin(latRad)); + double T = tan(latRad)*tan(latRad); + double C = eccPrimeSquared*cos(latRad)*cos(latRad); + double A = cos(latRad)*(lonRad - lonOriginRad); + double M = a*((1 - eccSquared/4 - 3*eccSquared*eccSquared/64 - 5*eccSquared*eccSquared*eccSquared/256)*latRad + - (3*eccSquared/8 + 3*eccSquared*eccSquared/32 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(2*latRad) + + (15*eccSquared*eccSquared/256 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(4*latRad) + - (35*eccSquared*eccSquared*eccSquared/3072)*sin(6*latRad)); + utm.easting = (double)(k0*N*(A+(1-T+C)*pow(A, 3)/6 + (5-18*T+T*T+72*C-58*eccPrimeSquared)*A*A*A*A*A/120) + + 500000.0); + utm.northing = (double)(k0*(M+N*tan(latRad)*(A*A/2+(5-T+9*C+4*C*C)*A*A*A*A/24 + + (61-58*T+T*T+600*C-330*eccPrimeSquared)*A*A*A*A*A*A/720))); + + if(lat < 0) + utm.northing += 10000000.0; //10000000 meter offset for southern hemisphere +} + +// Converts lat long coordinates to an MGRS. +void GeoCoord::latLongToMGRS(const double lat, const double lon, MGRS &mgrs) { + const std::string e100kLetters[3] = { "ABCDEFGH", "JKLMNPQR", "STUVWXYZ" }; + const std::string n100kLetters[2] = { "ABCDEFGHJKLMNPQRSTUV", "FGHJKLMNPQRSTUVABCDE" }; + UTM utm; + latLongToUTM(lat, lon, utm); + mgrs.zone = utm.zone; + mgrs.band = utm.band; + double col = floor(utm.easting / 100000); + mgrs.east100k = e100kLetters[(mgrs.zone - 1) % 3][col - 1]; + double row = (int32_t)floor(utm.northing / 100000.0) % 20; + mgrs.north100k = n100kLetters[(mgrs.zone-1)%2][row]; + mgrs.easting = (int32_t)utm.easting % 100000; + mgrs.northing = (int32_t)utm.northing % 100000; +} + +/** + * Converts lat long coordinates to Ordnance Survey Grid Reference (UK National Grid Ref). + * Based on: https://www.movable-type.co.uk/scripts/latlong-os-gridref.html + */ +void GeoCoord::latLongToOSGR(const double lat, const double lon, OSGR &osgr) { + char letter[] = "ABCDEFGHJKLMNOPQRSTUVWXYZ"; // No 'I' in OSGR + double a = 6377563.396; // Airy 1830 semi-major axis + double b = 6356256.909; // Airy 1830 semi-minor axis + double f0 = 0.9996012717; // National Grid point scale factor on the central meridian + double phi0 = toRadians(49); + double lambda0 = toRadians(-2); + double n0 = -100000; + double e0 = 400000; + double e2 = 1 - (b*b)/(a*a); // eccentricity squared + double n = (a - b)/(a + b); + + double osgb_Latitude; + double osgb_Longitude; + convertWGS84ToOSGB36(lat, lon, osgb_Latitude, osgb_Longitude); + double phi = osgb_Latitude; // already in radians + double lambda = osgb_Longitude; // already in radians + double v = a * f0 / sqrt(1 - e2 * sin(phi) * sin(phi)); + double rho = a * f0 * (1 - e2) / pow(1 - e2 * sin(phi) * sin(phi), 1.5); + double eta2 = v / rho - 1; + double mA = (1 + n + (5/4)*n*n + (5/4)*n*n*n) * (phi - phi0); + double mB = (3*n + 3*n*n + (21/8)*n*n*n) * sin(phi - phi0) * cos(phi + phi0); + // loss of precision in mC & mD due to floating point rounding can cause innaccuracy of northing by a few meters + double mC = (15/8*n*n + 15/8*n*n*n) * sin(2*(phi - phi0)) * cos(2*(phi + phi0)); + double mD = (35/24)*n*n*n * sin(3*(phi - phi0)) * cos(3*(phi + phi0)); + double m = b*f0*(mA - mB + mC - mD); + + double cos3Phi = cos(phi)*cos(phi)*cos(phi); + double cos5Phi = cos3Phi*cos(phi)*cos(phi); + double tan2Phi = tan(phi)*tan(phi); + double tan4Phi = tan2Phi*tan2Phi; + double I = m + n0; + double II = (v/2)*sin(phi)*cos(phi); + double III = (v/24)*sin(phi)*cos3Phi*(5 - tan2Phi + 9*eta2); + double IIIA = (v/720)*sin(phi)*cos5Phi*(61 - 58*tan2Phi + tan4Phi); + double IV = v*cos(phi); + double V = (v/6)*cos3Phi*(v/rho - tan2Phi); + double VI = (v/120)*cos5Phi*(5 - 18*tan2Phi + tan4Phi + 14*eta2 - 58*tan2Phi*eta2); + + double deltaLambda = lambda - lambda0; + double deltaLambda2 = deltaLambda*deltaLambda; + double northing = I + II*deltaLambda2 + III*deltaLambda2*deltaLambda2 + IIIA*deltaLambda2*deltaLambda2*deltaLambda2; + double easting = e0 + IV*deltaLambda + V*deltaLambda2*deltaLambda + VI*deltaLambda2*deltaLambda2*deltaLambda; + + if (easting < 0 || easting > 700000 || northing < 0 || northing > 1300000) // Check if out of boundaries + osgr = { 'I', 'I', 0, 0 }; + else { + uint32_t e100k = floor(easting / 100000); + uint32_t n100k = floor(northing / 100000); + int8_t l1 = (19 - n100k) - (19 - n100k) % 5 + floor((e100k + 10) / 5); + int8_t l2 = (19 - n100k) * 5 % 25 + e100k % 5; + osgr.e100k = letter[l1]; + osgr.n100k = letter[l2]; + osgr.easting = floor((int)easting % 100000); + osgr.northing = floor((int)northing % 100000); + } +} + +/** + * Converts lat long coordinates to Open Location Code. + * Based on: https://github.com/google/open-location-code/blob/main/c/src/olc.c + */ +void GeoCoord::latLongToOLC(double lat, double lon, OLC &olc) { + char tempCode[] = "1234567890abc"; + const char kAlphabet[] = "23456789CFGHJMPQRVWX"; + double latitude; + double longitude = lon; + double latitude_degrees = std::min(90.0, std::max(-90.0, lat)); + + if (latitude_degrees < 90) // Check latitude less than lat max + latitude = latitude_degrees; + else { + double precision; + if (OLC_CODE_LEN <= 10) + precision = pow_neg(20, floor((OLC_CODE_LEN / -2) + 2)); + else + precision = pow_neg(20, -3) / pow(5, OLC_CODE_LEN - 10); + latitude = latitude_degrees - precision / 2; + } + while (longitude < -180) // Normalize longitude + longitude += 360; + while (longitude >= 180) + longitude -= 360; + int64_t lat_val = 90 * 2.5e7; + int64_t lng_val = 180 * 8.192e6; + lat_val += latitude * 2.5e7; + lng_val += longitude * 8.192e6; + size_t pos = OLC_CODE_LEN; + + if (OLC_CODE_LEN > 10) { // Compute grid part of code if needed + for (size_t i = 0; i < 5; i++) { + int lat_digit = lat_val % 5; + int lng_digit = lng_val % 4; + int ndx = lat_digit * 4 + lng_digit; + tempCode[pos--] = kAlphabet[ndx]; + lat_val /= 5; + lng_val /= 4; + } + } else { + lat_val /= pow(5, 5); + lng_val /= pow(4, 5); + } + + pos = 10; + + for (size_t i = 0; i < 5; i++) { // Compute pair section of code + int lat_ndx = lat_val % 20; + int lng_ndx = lng_val % 20; + tempCode[pos--] = kAlphabet[lng_ndx]; + tempCode[pos--] = kAlphabet[lat_ndx]; + lat_val /= 20; + lng_val /= 20; + + if (i == 0) + tempCode[pos--] = '+'; + } + + if (OLC_CODE_LEN < 9) { // Add padding if needed + for (size_t i = OLC_CODE_LEN; i < 9; i++) + tempCode[i] = '0'; + tempCode[9] = '+'; + } + + size_t char_count = OLC_CODE_LEN; + if (10 > char_count) { + char_count = 10; + } + for (size_t i = 0; i < char_count; i++) { + olc.code[i] = tempCode[i]; + } + olc.code[char_count] = '\0'; +} + +// Converts the coordinate in WGS84 datum to the OSGB36 datum. +void GeoCoord::convertWGS84ToOSGB36(const double lat, const double lon, double &osgb_Latitude, double &osgb_Longitude) { + // Convert lat long to cartesian + double phi = toRadians(lat); + double lambda = toRadians(lon); + double h = 0.0; // No OSTN height data used, some loss of accuracy (up to 5m) + double wgsA = 6378137; // WGS84 datum semi major axis + double wgsF = 1 / 298.257223563; // WGS84 datum flattening + double ecc = 2*wgsF - wgsF*wgsF; + double vee = wgsA / sqrt(1 - ecc * pow(sin(phi), 2)); + double wgsX = (vee + h) * cos(phi) * cos(lambda); + double wgsY = (vee + h) * cos(phi) * sin(lambda); + double wgsZ = ((1 - ecc) * vee + h) * sin(phi); + + // 7-parameter Helmert transform + double tx = -446.448; // x shift in meters + double ty = 125.157; // y shift in meters + double tz = -542.060; // z shift in meters + double s = 20.4894/1e6 + 1; // scale normalized parts per million to (s + 1) + double rx = toRadians(-0.1502/3600); // x rotation normalize arcseconds to radians + double ry = toRadians(-0.2470/3600); // y rotation normalize arcseconds to radians + double rz = toRadians(-0.8421/3600); // z rotation normalize arcseconds to radians + double osgbX = tx + wgsX*s - wgsY*rz + wgsZ*ry; + double osgbY = ty + wgsX*rz + wgsY*s - wgsZ*rx; + double osgbZ = tz - wgsX*ry + wgsY*rx + wgsZ*s; + + // Convert cartesian to lat long + double airyA = 6377563.396; // Airy1830 datum semi major axis + double airyB = 6356256.909; // Airy1830 datum semi minor axis + double airyF = 1/ 299.3249646; // Airy1830 datum flattening + double airyEcc = 2*airyF - airyF*airyF; + double airyEcc2 = airyEcc / (1 - airyEcc); + double p = sqrt(osgbX*osgbX + osgbY*osgbY); + double R = sqrt(p*p + osgbZ*osgbZ); + double tanBeta = (airyB*osgbZ) / (airyA*p) * (1 + airyEcc2*airyB/R); + double sinBeta = tanBeta / sqrt(1 + tanBeta*tanBeta); + double cosBeta = sinBeta / tanBeta; + osgb_Latitude = atan2(osgbZ + airyEcc2*airyB*sinBeta*sinBeta*sinBeta, p - airyEcc*airyA*cosBeta*cosBeta*cosBeta); // leave in radians + osgb_Longitude = atan2(osgbY, osgbX); // leave in radians + //osgb height = p*cos(osgb.latitude) + osgbZ*sin(osgb.latitude) - + //(airyA*airyA/(airyA / sqrt(1 - airyEcc*sin(osgb.latitude)*sin(osgb.latitude)))); // Not used, no OSTN data +} + +/// Ported from my old java code, returns distance in meters along the globe +/// surface (by magic?) +float GeoCoord::latLongToMeter(double lat_a, double lng_a, double lat_b, double lng_b) +{ + double pk = (180 / 3.14169); + double a1 = lat_a / pk; + double a2 = lng_a / pk; + double b1 = lat_b / pk; + double b2 = lng_b / pk; + double cos_b1 = cos(b1); + double cos_a1 = cos(a1); + double t1 = cos_a1 * cos(a2) * cos_b1 * cos(b2); + double t2 = cos_a1 * sin(a2) * cos_b1 * sin(b2); + double t3 = sin(a1) * sin(b1); + double tt = acos(t1 + t2 + t3); + if (std::isnan(tt)) + tt = 0.0; // Must have been the same point? + + return (float)(6366000 * tt); +} + +/** + * Computes the bearing in degrees between two points on Earth. Ported from my + * old Gaggle android app. + * + * @param lat1 + * Latitude of the first point + * @param lon1 + * Longitude of the first point + * @param lat2 + * Latitude of the second point + * @param lon2 + * Longitude of the second point + * @return Bearing between the two points in radians. A value of 0 means due + * north. + */ +float GeoCoord::bearing(double lat1, double lon1, double lat2, double lon2) +{ + double lat1Rad = toRadians(lat1); + double lat2Rad = toRadians(lat2); + double deltaLonRad = toRadians(lon2 - lon1); + double y = sin(deltaLonRad) * cos(lat2Rad); + double x = cos(lat1Rad) * sin(lat2Rad) - (sin(lat1Rad) * cos(lat2Rad) * cos(deltaLonRad)); + return atan2(y, x); +} + +/** + * Ported from http://www.edwilliams.org/avform147.htm#Intro + * @brief Convert from meters to range in radians on a great circle + * @param range_meters + * The range in meters + * @return range in radians on a great circle + */ +float GeoCoord::rangeMetersToRadians(double range_meters) { + // 1 nm is 1852 meters + double distance_nm = range_meters * 1852; + return (PI / (180 * 60)) *distance_nm; +} + +/** + * Ported from http://www.edwilliams.org/avform147.htm#Intro + * @brief Convert from radians to range in meters on a great circle + * @param range_radians + * The range in radians + * @return Range in meters on a great circle + */ +float GeoCoord::rangeRadiansToMeters(double range_radians) { + double distance_nm = ((180 * 60) / PI) * range_radians; + // 1 meter is 0.000539957 nm + return distance_nm * 0.000539957; +} + +// Find distance from point to passed in point +int32_t GeoCoord::distanceTo(GeoCoord pointB) { + return latLongToMeter(this->getLatitude() * 1e-7, this->getLongitude() * 1e-7, pointB.getLatitude() * 1e-7, pointB.getLongitude() * 1e-7); +} + +// Find bearing from point to passed in point +int32_t GeoCoord::bearingTo(GeoCoord pointB) { + return bearing(this->getLatitude() * 1e-7, this->getLongitude() * 1e-7, pointB.getLatitude() * 1e-7, pointB.getLongitude() * 1e-7); +} + +/** + * Create a new point bassed on the passed in poin + * Ported from http://www.edwilliams.org/avform147.htm#LL + * @param bearing + * The bearing in raidans + * @param range_meters + * range in meters + * @return GeoCoord object of point at bearing and range from initial point +*/ +std::shared_ptr GeoCoord::pointAtDistance(double bearing, double range_meters) { + double range_radians = rangeMetersToRadians(range_meters); + double lat1 = this->getLatitude() * 1e-7; + double lon1 = this->getLongitude() * 1e-7; + double lat = asin(sin(lat1) * cos(range_radians) + cos(lat1) * sin(range_radians) * cos(bearing)); + double dlon = atan2(sin(bearing) * sin(range_radians) * cos(lat1), cos(range_radians) - sin(lat1) * sin(lat)); + double lon = fmod(lon1 - dlon + PI, 2 * PI) - PI; + + return std::make_shared(double(lat), double(lon), this->getAltitude()); + +} \ No newline at end of file diff --git a/src/gps/GeoCoord.h b/src/gps/GeoCoord.h new file mode 100644 index 000000000..f3795c847 --- /dev/null +++ b/src/gps/GeoCoord.h @@ -0,0 +1,164 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#define PI 3.1415926535897932384626433832795 +#define OLC_CODE_LEN 11 + +// Helper functions +// Raises a number to an exponent, handling negative exponents. +static double pow_neg(double base, double exponent) { + if (exponent == 0) { + return 1; + } else if (exponent > 0) { + return pow(base, exponent); + } + return 1 / pow(base, -exponent); +} + +static inline double toRadians(double deg) +{ + return deg * PI / 180; +} + +static inline double toDegrees(double r) +{ + return r * 180 / PI; +} + +// GeoCoord structs/classes +// A struct to hold the data for a DMS coordinate. +struct DMS +{ + uint8_t latDeg; + uint8_t latMin; + uint32_t latSec; + char latCP; + uint8_t lonDeg; + uint8_t lonMin; + uint32_t lonSec; + char lonCP; +}; + +// A struct to hold the data for a UTM coordinate, this is also used when creating an MGRS coordinate. +struct UTM +{ + uint8_t zone; + char band; + uint32_t easting; + uint32_t northing; +}; + +// A struct to hold the data for a MGRS coordinate. +struct MGRS +{ + uint8_t zone; + char band; + char east100k; + char north100k; + uint32_t easting; + uint32_t northing; +}; + +// A struct to hold the data for a OSGR coordiante +struct OSGR { + char e100k; + char n100k; + uint32_t easting; + uint32_t northing; +}; + +// A struct to hold the data for a OLC coordinate +struct OLC { + char code[OLC_CODE_LEN + 1]; // +1 for null termination +}; + +class GeoCoord { + private: + int32_t _latitude = 0; + int32_t _longitude = 0; + int32_t _altitude = 0; + + DMS _dms; + UTM _utm; + MGRS _mgrs; + OSGR _osgr; + OLC _olc; + + bool _dirty = true; + + void setCoords(); + + public: + GeoCoord(); + GeoCoord(int32_t lat, int32_t lon, int32_t alt); + GeoCoord(double lat, double lon, int32_t alt); + GeoCoord(float lat, float lon, int32_t alt); + + void updateCoords(const int32_t lat, const int32_t lon, const int32_t alt); + void updateCoords(const double lat, const double lon, const int32_t alt); + void updateCoords(const float lat, const float lon, const int32_t alt); + + // Conversions + static void latLongToDMS(const double lat, const double lon, DMS &dms); + static void latLongToUTM(const double lat, const double lon, UTM &utm); + static void latLongToMGRS(const double lat, const double lon, MGRS &mgrs); + static void latLongToOSGR(const double lat, const double lon, OSGR &osgr); + static void latLongToOLC(const double lat, const double lon, OLC &olc); + static void convertWGS84ToOSGB36(const double lat, const double lon, double &osgb_Latitude, double &osgb_Longitude); + static float latLongToMeter(double lat_a, double lng_a, double lat_b, double lng_b); + static float bearing(double lat1, double lon1, double lat2, double lon2); + static float rangeRadiansToMeters(double range_radians); + static float rangeMetersToRadians(double range_meters); + + // Point to point conversions + int32_t distanceTo(GeoCoord pointB); + int32_t bearingTo(GeoCoord pointB); + std::shared_ptr pointAtDistance(double bearing, double range); + + // Lat lon alt getters + int32_t getLatitude() const { return _latitude; } + int32_t getLongitude() const { return _longitude; } + int32_t getAltitude() const { return _altitude; } + + // DMS getters + uint8_t getDMSLatDeg() const { return _dms.latDeg; } + uint8_t getDMSLatMin() const { return _dms.latMin; } + uint32_t getDMSLatSec() const { return _dms.latSec; } + char getDMSLatCP() const { return _dms.latCP; } + uint8_t getDMSLonDeg() const { return _dms.lonDeg; } + uint8_t getDMSLonMin() const { return _dms.lonMin; } + uint32_t getDMSLonSec() const { return _dms.lonSec; } + char getDMSLonCP() const { return _dms.lonCP; } + + // UTM getters + uint8_t getUTMZone() const { return _utm.zone; } + char getUTMBand() const { return _utm.band; } + uint32_t getUTMEasting() const { return _utm.easting; } + uint32_t getUTMNorthing() const { return _utm.northing; } + + // MGRS getters + uint8_t getMGRSZone() const { return _mgrs.zone; } + char getMGRSBand() const { return _mgrs.band; } + char getMGRSEast100k() const { return _mgrs.east100k; } + char getMGRSNorth100k() const { return _mgrs.north100k; } + uint32_t getMGRSEasting() const { return _mgrs.easting; } + uint32_t getMGRSNorthing() const { return _mgrs.northing; } + + // OSGR getters + char getOSGRE100k() const { return _osgr.e100k; } + char getOSGRN100k() const { return _osgr.n100k; } + uint32_t getOSGREasting() const { return _osgr.easting; } + uint32_t getOSGRNorthing() const { return _osgr.northing; } + + // OLC getter + void getOLCCode(char* code) { strncpy(code, _olc.code, OLC_CODE_LEN + 1); } // +1 for null termination +}; + diff --git a/src/graphics/Screen.cpp b/src/graphics/Screen.cpp index f889cf95b..d197f7765 100644 --- a/src/graphics/Screen.cpp +++ b/src/graphics/Screen.cpp @@ -35,6 +35,7 @@ along with this program. If not, see . #include "plugins/TextMessagePlugin.h" #include "target_specific.h" #include "utils.h" +#include "gps/GeoCoord.h" #ifndef NO_ESP32 #include "mesh/http/WiFiAPClient.h" @@ -72,6 +73,9 @@ std::vector pluginFrames; // Stores the last 4 of our hardware ID, to make finding the device for pairing easier static char ourId[5]; +// GeoCoord object for the screen +GeoCoord geoCoord; + #ifdef SHOW_REDRAWS static bool heartbeat = false; #endif @@ -379,369 +383,12 @@ static void drawGPSAltitude(OLEDDisplay *display, int16_t x, int16_t y, const GP // displayLine = "No GPS Lock"; // display->drawString(x + (SCREEN_WIDTH - (display->getStringWidth(displayLine))) / 2, y, displayLine); } else { - - displayLine = "Altitude: " + String(gps->getAltitude()) + "m"; + geoCoord.updateCoords(int32_t(gps->getLatitude()), int32_t(gps->getLongitude()), int32_t(gps->getAltitude())); + displayLine = "Altitude: " + String(geoCoord.getAltitude()) + "m"; display->drawString(x + (SCREEN_WIDTH - (display->getStringWidth(displayLine))) / 2, y, displayLine); } } -static inline double toRadians(double deg) -{ - return deg * PI / 180; -} - -static inline double toDegrees(double r) -{ - return r * 180 / PI; -} - -// A struct to hold the data for a DMS coordinate. -struct DMS -{ - byte latDeg; - byte latMin; - double latSec; - char latCP; - byte lonDeg; - byte lonMin; - double lonSec; - char lonCP; -}; - -// A struct to hold the data for a UTM coordinate, this is also used when creating an MGRS coordinate. -struct UTM -{ - byte zone; - char band; - double easting; - double northing; -}; - -// A struct to hold the data for a MGRS coordinate. -struct MGRS -{ - byte zone; - char band; - char east100k; - char north100k; - uint32_t easting; - uint32_t northing; -}; - -/** - * Converts lat long coordinates to UTM. - * based on this: https://github.com/walvok/LatLonToUTM/blob/master/latlon_utm.ino - */ -static struct UTM latLongToUTM(const double lat, const double lon) -{ - const String latBands = "CDEFGHJKLMNPQRSTUVWXX"; - UTM utm; - utm.zone = int((lon + 180)/6 + 1); - utm.band = latBands.charAt(int(lat/8 + 10)); - double a = 6378137; // WGS84 - equatorial radius - double k0 = 0.9996; // UTM point scale on the central meridian - double eccSquared = 0.00669438; // eccentricity squared - double lonTemp = (lon + 180) - int((lon + 180)/360) * 360 - 180; //Make sure the longitude is between -180.00 .. 179.9 - double latRad = toRadians(lat); - double lonRad = toRadians(lonTemp); - - // Special Zones for Norway and Svalbard - if( lat >= 56.0 && lat < 64.0 && lonTemp >= 3.0 && lonTemp < 12.0 ) // Norway - utm.zone = 32; - if( lat >= 72.0 && lat < 84.0 ) { // Svalbard - if ( lonTemp >= 0.0 && lonTemp < 9.0 ) utm.zone = 31; - else if( lonTemp >= 9.0 && lonTemp < 21.0 ) utm.zone = 33; - else if( lonTemp >= 21.0 && lonTemp < 33.0 ) utm.zone = 35; - else if( lonTemp >= 33.0 && lonTemp < 42.0 ) utm.zone = 37; - } - - double lonOrigin = (utm.zone - 1)*6 - 180 + 3; // puts origin in middle of zone - double lonOriginRad = toRadians(lonOrigin); - double eccPrimeSquared = (eccSquared)/(1 - eccSquared); - double N = a/sqrt(1 - eccSquared*sin(latRad)*sin(latRad)); - double T = tan(latRad)*tan(latRad); - double C = eccPrimeSquared*cos(latRad)*cos(latRad); - double A = cos(latRad)*(lonRad - lonOriginRad); - double M = a*((1 - eccSquared/4 - 3*eccSquared*eccSquared/64 - 5*eccSquared*eccSquared*eccSquared/256)*latRad - - (3*eccSquared/8 + 3*eccSquared*eccSquared/32 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(2*latRad) - + (15*eccSquared*eccSquared/256 + 45*eccSquared*eccSquared*eccSquared/1024)*sin(4*latRad) - - (35*eccSquared*eccSquared*eccSquared/3072)*sin(6*latRad)); - utm.easting = (double)(k0*N*(A+(1-T+C)*pow(A, 3)/6 + (5-18*T+T*T+72*C-58*eccPrimeSquared)*A*A*A*A*A/120) - + 500000.0); - utm.northing = (double)(k0*(M+N*tan(latRad)*(A*A/2+(5-T+9*C+4*C*C)*A*A*A*A/24 - + (61-58*T+T*T+600*C-330*eccPrimeSquared)*A*A*A*A*A*A/720))); - - if(lat < 0) - utm.northing += 10000000.0; //10000000 meter offset for southern hemisphere - - return utm; -} - -// Converts lat long coordinates to an MGRS. -static struct MGRS latLongToMGRS(double lat, double lon) -{ - const String e100kLetters[3] = { "ABCDEFGH", "JKLMNPQR", "STUVWXYZ" }; - const String n100kLetters[2] = { "ABCDEFGHJKLMNPQRSTUV", "FGHJKLMNPQRSTUVABCDE" }; - UTM utm = latLongToUTM(lat, lon); - MGRS mgrs; - mgrs.zone = utm.zone; - mgrs.band = utm.band; - double col = floor(utm.easting / 100000); - mgrs.east100k = e100kLetters[(mgrs.zone - 1) % 3].charAt(col - 1); - double row = (int)floor(utm.northing / 100000.0) % 20; - mgrs.north100k = n100kLetters[(mgrs.zone-1)%2].charAt(row); - mgrs.easting = (int)utm.easting % 100000; - mgrs.northing = (int)utm.northing % 100000; - return mgrs; -} - -/** - * Converts lat long coordinates from decimal degrees to degrees minutes seconds format. - * DD°MM'SS"C DDD°MM'SS"C - */ -static struct DMS latLongToDMS(double lat, double lon) -{ - DMS dms; - - if (lat < 0) dms.latCP = 'S'; - else dms.latCP = 'N'; - - double latDeg = lat; - - if (lat < 0) - latDeg = latDeg * -1; - - dms.latDeg = floor(latDeg); - double latMin = (latDeg - dms.latDeg) * 60; - dms.latMin = floor(latMin); - dms.latSec = (latMin - dms.latMin) * 60; - - if (lon < 0) dms.lonCP = 'W'; - else dms.lonCP = 'E'; - - double lonDeg = lon; - - if (lon < 0) - lonDeg = lonDeg * -1; - - dms.lonDeg = floor(lonDeg); - double lonMin = (lonDeg - dms.lonDeg) * 60; - dms.lonMin = floor(lonMin); - dms.lonSec = (lonMin - dms.lonMin) * 60; - - return dms; -} - -// Raises a number to an exponent, handling negative exponents. -static double pow_neg(double base, double exponent) { - if (exponent == 0) { - return 1; - } else if (exponent > 0) { - return pow(base, exponent); - } - return 1 / pow(base, -exponent); -} - -/** - * Converts lat long coordinates to Open Location Code. - * Based on: https://github.com/google/open-location-code/blob/main/c/src/olc.c - */ -static void latLongToOLC(double lat, double lon, char* code) { - char tempCode[] = "1234567890abc"; - const char kAlphabet[] = "23456789CFGHJMPQRVWX"; - const byte CODE_LEN = 12; - double latitude; - double longitude = lon; - double latitude_degrees = min(90.0, max(-90.0, lat)); - - if (latitude_degrees < 90) // Check latitude less than lat max - latitude = latitude_degrees; - else { - double precision; - if (CODE_LEN <= 10) - precision = pow_neg(20, floor((CODE_LEN / -2) + 2)); - else - precision = pow_neg(20, -3) / pow(5, CODE_LEN - 10); - latitude = latitude_degrees - precision / 2; - } - - while (lon < -180) // Normalize longitude - longitude += 360; - while (lon >= 180) - longitude -= 360; - - int64_t lat_val = 90 * 2.5e7; - int64_t lng_val = 180 * 8.192e6; - lat_val += latitude * 2.5e7; - lng_val += longitude * 8.192e6; - size_t pos = CODE_LEN; - - if (CODE_LEN > 10) { // Compute grid part of code if needed - for (size_t i = 0; i < 5; i++) { - int lat_digit = lat_val % 5; - int lng_digit = lng_val % 4; - int ndx = lat_digit * 4 + lng_digit; - tempCode[pos--] = kAlphabet[ndx]; - lat_val /= 5; - lng_val /= 4; - } - } else { - lat_val /= pow(5, 5); - lng_val /= pow(4, 5); - } - - pos = 10; - - for (size_t i = 0; i < 5; i++) { // Compute pair section of code - int lat_ndx = lat_val % 20; - int lng_ndx = lng_val % 20; - tempCode[pos--] = kAlphabet[lng_ndx]; - tempCode[pos--] = kAlphabet[lat_ndx]; - lat_val /= 20; - lng_val /= 20; - - if (i == 0) - tempCode[pos--] = '+'; - } - - if (CODE_LEN < 9) { // Add padding if needed - for (size_t i = CODE_LEN; i < 9; i++) - tempCode[i] = '0'; - tempCode[9] = '+'; - } - - size_t char_count = CODE_LEN + 1; - if (10 > char_count) { - char_count = 10; - } - for (size_t i = 0; i < char_count; i++) { - code[i] = tempCode[i]; - } - - code[char_count] = '\0'; -} - -struct GeoCoord { - double latitude; - double longitude; - double height; -}; - -struct OSGR { - char e100k; - char n100k; - uint32_t easting; - uint32_t northing; -}; - -// Converts the coordinate in WGS84 datum to the OSGB36 datum. -static struct GeoCoord convertWGS84ToOSGB36(double lat, double lon) { - // Convert lat long to cartesian - double phi = toRadians(lat); - double lambda = toRadians(lon); - double h = 0.0; // No OSTN height data used, some loss of accuracy (up to 5m) - double wgsA = 6378137; // WGS84 datum semi major axis - double wgsF = 1 / 298.257223563; // WGS84 datum flattening - double ecc = 2*wgsF - wgsF*wgsF; - double vee = wgsA / sqrt(1 - ecc * pow(sin(phi), 2)); - double wgsX = (vee + h) * cos(phi) * cos(lambda); - double wgsY = (vee + h) * cos(phi) * sin(lambda); - double wgsZ = ((1 - ecc) * vee + h) * sin(phi); - - // 7-parameter Helmert transform - double tx = -446.448; // x shift in meters - double ty = 125.157; // y shift in meters - double tz = -542.060; // z shift in meters - double s = 20.4894/1e6 + 1; // scale normalized parts per million to (s + 1) - double rx = toRadians(-0.1502/3600); // x rotation normalize arcseconds to radians - double ry = toRadians(-0.2470/3600); // y rotation normalize arcseconds to radians - double rz = toRadians(-0.8421/3600); // z rotation normalize arcseconds to radians - double osgbX = tx + wgsX*s - wgsY*rz + wgsZ*ry; - double osgbY = ty + wgsX*rz + wgsY*s - wgsZ*rx; - double osgbZ = tz - wgsX*ry + wgsY*rx + wgsZ*s; - - // Convert cartesian to lat long - double airyA = 6377563.396; // Airy1830 datum semi major axis - double airyB = 6356256.909; // Airy1830 datum semi minor axis - double airyF = 1/ 299.3249646; // Airy1830 datum flattening - GeoCoord osgb; - double airyEcc = 2*airyF - airyF*airyF; - double airyEcc2 = airyEcc / (1 - airyEcc); - double p = sqrt(osgbX*osgbX + osgbY*osgbY); - double R = sqrt(p*p + osgbZ*osgbZ); - double tanBeta = (airyB*osgbZ) / (airyA*p) * (1 + airyEcc2*airyB/R); - double sinBeta = tanBeta / sqrt(1 + tanBeta*tanBeta); - double cosBeta = sinBeta / tanBeta; - osgb.latitude = atan2(osgbZ + airyEcc2*airyB*sinBeta*sinBeta*sinBeta, p - airyEcc*airyA*cosBeta*cosBeta*cosBeta); // leave in radians - osgb.longitude = atan2(osgbY, osgbX); // leave in radians - osgb.height = 0; - //osgb height = p*cos(osgb.latitude) + osgbZ*sin(osgb.latitude) - - //(airyA*airyA/(airyA / sqrt(1 - airyEcc*sin(osgb.latitude)*sin(osgb.latitude)))); // Not used, no OSTN data - return osgb; -} - -/** - * Converts lat long coordinates to Ordnance Survey Grid Reference (UK National Grid Ref). - * Based on: https://www.movable-type.co.uk/scripts/latlong-os-gridref.html - */ -static struct OSGR latLongToOSGR(double lat, double lon) { - char letter[] = "ABCDEFGHJKLMNOPQRSTUVWXYZ"; // No 'I' in OSGR - double a = 6377563.396; // Airy 1830 semi-major axis - double b = 6356256.909; // Airy 1830 semi-minor axis - double f0 = 0.9996012717; // National Grid point scale factor on the central meridian - double phi0 = toRadians(49); - double lambda0 = toRadians(-2); - double n0 = -100000; - double e0 = 400000; - double e2 = 1 - (b*b)/(a*a); // eccentricity squared - double n = (a - b)/(a + b); - - GeoCoord osgb = convertWGS84ToOSGB36(lat, lon); - double phi = osgb.latitude; // already in radians - double lambda = osgb.longitude; // already in radians - double v = a * f0 / sqrt(1 - e2 * sin(phi) * sin(phi)); - double rho = a * f0 * (1 - e2) / pow(1 - e2 * sin(phi) * sin(phi), 1.5); - double eta2 = v / rho - 1; - double mA = (1 + n + (5/4)*n*n + (5/4)*n*n*n) * (phi - phi0); - double mB = (3*n + 3*n*n + (21/8)*n*n*n) * sin(phi - phi0) * cos(phi + phi0); - // loss of precision in mC & mD due to floating point rounding can cause innaccuracy of northing by a few meters - double mC = (15/8*n*n + 15/8*n*n*n) * sin(2*(phi - phi0)) * cos(2*(phi + phi0)); - double mD = (35/24)*n*n*n * sin(3*(phi - phi0)) * cos(3*(phi + phi0)); - double m = b*f0*(mA - mB + mC - mD); - - double cos3Phi = cos(phi)*cos(phi)*cos(phi); - double cos5Phi = cos3Phi*cos(phi)*cos(phi); - double tan2Phi = tan(phi)*tan(phi); - double tan4Phi = tan2Phi*tan2Phi; - double I = m + n0; - double II = (v/2)*sin(phi)*cos(phi); - double III = (v/24)*sin(phi)*cos3Phi*(5 - tan2Phi + 9*eta2); - double IIIA = (v/720)*sin(phi)*cos5Phi*(61 - 58*tan2Phi + tan4Phi); - double IV = v*cos(phi); - double V = (v/6)*cos3Phi*(v/rho - tan2Phi); - double VI = (v/120)*cos5Phi*(5 - 18*tan2Phi + tan4Phi + 14*eta2 - 58*tan2Phi*eta2); - - double deltaLambda = lambda - lambda0; - double deltaLambda2 = deltaLambda*deltaLambda; - double northing = I + II*deltaLambda2 + III*deltaLambda2*deltaLambda2 + IIIA*deltaLambda2*deltaLambda2*deltaLambda2; - double easting = e0 + IV*deltaLambda + V*deltaLambda2*deltaLambda + VI*deltaLambda2*deltaLambda2*deltaLambda; - - OSGR osgr; - if (easting < 0 || easting > 700000 || northing < 0 || northing > 1300000) // Check if out of boundaries - osgr = { 'I', 'I', 0, 0 }; - else { - uint32_t e100k = floor(easting / 100000); - uint32_t n100k = floor(northing / 100000); - byte l1 = (19 - n100k) - (19 - n100k) % 5 + floor((e100k + 10) / 5); - byte l2 = (19 - n100k) * 5 % 25 + e100k % 5; - osgr.e100k = letter[l1]; - osgr.n100k = letter[l2]; - osgr.easting = floor((int)easting % 100000); - osgr.northing = floor((int)northing % 100000); - } - return osgr; -} - // Draw GPS status coordinates static void drawGPScoordinates(OLEDDisplay *display, int16_t x, int16_t y, const GPSStatus *gps) { @@ -757,85 +404,39 @@ static void drawGPScoordinates(OLEDDisplay *display, int16_t x, int16_t y, const } else { if (gpsFormat != GpsCoordinateFormat_GpsFormatDMS) { char coordinateLine[22]; - + geoCoord.updateCoords(int32_t(gps->getLatitude()), int32_t(gps->getLongitude()), int32_t(gps->getAltitude())); if (gpsFormat == GpsCoordinateFormat_GpsFormatDec) { // Decimal Degrees - sprintf(coordinateLine, "%f %f", gps->getLatitude() * 1e-7, gps->getLongitude() * 1e-7); + sprintf(coordinateLine, "%f %f", geoCoord.getLatitude() * 1e-7, geoCoord.getLongitude() * 1e-7); } else if (gpsFormat == GpsCoordinateFormat_GpsFormatUTM) { // Universal Transverse Mercator - UTM utm = latLongToUTM(gps->getLatitude() * 1e-7, gps->getLongitude() * 1e-7); - sprintf(coordinateLine, "%2i%1c %06.0f %07.0f", utm.zone, utm.band, utm.easting, utm.northing); + sprintf(coordinateLine, "%2i%1c %06i %07i", geoCoord.getUTMZone(), geoCoord.getUTMBand(), + geoCoord.getUTMEasting(), geoCoord.getUTMNorthing()); } else if (gpsFormat == GpsCoordinateFormat_GpsFormatMGRS) { // Military Grid Reference System - MGRS mgrs = latLongToMGRS(gps->getLatitude() * 1e-7, gps->getLongitude() * 1e-7); - sprintf(coordinateLine, "%2i%1c %1c%1c %05i %05i", mgrs.zone, mgrs.band, mgrs.east100k, mgrs.north100k, - mgrs.easting, mgrs.northing); + sprintf(coordinateLine, "%2i%1c %1c%1c %05i %05i", geoCoord.getMGRSZone(), geoCoord.getMGRSBand(), geoCoord.getMGRSEast100k(), + geoCoord.getMGRSNorth100k(), geoCoord.getMGRSEasting(), geoCoord.getMGRSNorthing()); } else if (gpsFormat == GpsCoordinateFormat_GpsFormatOLC) { // Open Location Code - latLongToOLC(gps->getLatitude() * 1e-7, gps->getLongitude() * 1e-7, coordinateLine); + geoCoord.getOLCCode(coordinateLine); } else if (gpsFormat == GpsCoordinateFormat_GpsFormatOSGR) { // Ordnance Survey Grid Reference - OSGR osgr = latLongToOSGR(gps->getLatitude() * 1e-7, gps->getLongitude() * 1e-7); - if (osgr.e100k == 'I' || osgr.n100k == 'I') // OSGR is only valid around the UK region + if (geoCoord.getOSGRE100k() == 'I' || geoCoord.getOSGRN100k() == 'I') // OSGR is only valid around the UK region sprintf(coordinateLine, "%s", "Out of Boundary"); else - sprintf(coordinateLine, "%1c%1c %05i %05i", osgr.e100k, osgr.n100k, osgr.easting, osgr.northing); + sprintf(coordinateLine, "%1c%1c %05i %05i", geoCoord.getOSGRE100k(),geoCoord.getOSGRN100k(), + geoCoord.getOSGREasting(), geoCoord.getOSGRNorthing()); } display->drawString(x + (SCREEN_WIDTH - (display->getStringWidth(coordinateLine))) / 2, y, coordinateLine); } else { char latLine[22]; char lonLine[22]; - DMS dms = latLongToDMS(gps->getLatitude() * 1e-7, gps->getLongitude() * 1e-7); - sprintf(latLine, "%2i° %2i' %2.4f\" %1c", dms.latDeg, dms.latMin, dms.latSec, dms.latCP); - sprintf(lonLine, "%3i° %2i' %2.4f\" %1c", dms.lonDeg, dms.lonMin, dms.lonSec, dms.lonCP); + sprintf(latLine, "%2i° %2i' %2.4f\" %1c", geoCoord.getDMSLatDeg(), geoCoord.getDMSLatMin(), geoCoord.getDMSLatSec(), + geoCoord.getDMSLatCP()); + sprintf(lonLine, "%3i° %2i' %2.4f\" %1c", geoCoord.getDMSLonDeg(), geoCoord.getDMSLonMin(), geoCoord.getDMSLonSec(), + geoCoord.getDMSLonCP()); display->drawString(x + (SCREEN_WIDTH - (display->getStringWidth(latLine))) / 2, y - FONT_HEIGHT_SMALL * 1, latLine); display->drawString(x + (SCREEN_WIDTH - (display->getStringWidth(lonLine))) / 2, y, lonLine); } } } -/// Ported from my old java code, returns distance in meters along the globe -/// surface (by magic?) -static float latLongToMeter(double lat_a, double lng_a, double lat_b, double lng_b) -{ - double pk = (180 / 3.14169); - double a1 = lat_a / pk; - double a2 = lng_a / pk; - double b1 = lat_b / pk; - double b2 = lng_b / pk; - double cos_b1 = cos(b1); - double cos_a1 = cos(a1); - double t1 = cos_a1 * cos(a2) * cos_b1 * cos(b2); - double t2 = cos_a1 * sin(a2) * cos_b1 * sin(b2); - double t3 = sin(a1) * sin(b1); - double tt = acos(t1 + t2 + t3); - if (isnan(tt)) - tt = 0.0; // Must have been the same point? - - return (float)(6366000 * tt); -} - -/** - * Computes the bearing in degrees between two points on Earth. Ported from my - * old Gaggle android app. - * - * @param lat1 - * Latitude of the first point - * @param lon1 - * Longitude of the first point - * @param lat2 - * Latitude of the second point - * @param lon2 - * Longitude of the second point - * @return Bearing between the two points in radians. A value of 0 means due - * north. - */ -static float bearing(double lat1, double lon1, double lat2, double lon2) -{ - double lat1Rad = toRadians(lat1); - double lat2Rad = toRadians(lat2); - double deltaLonRad = toRadians(lon2 - lon1); - double y = sin(deltaLonRad) * cos(lat2Rad); - double x = cos(lat1Rad) * sin(lat2Rad) - (sin(lat1Rad) * cos(lat2Rad) * cos(deltaLonRad)); - return atan2(y, x); -} - namespace { @@ -896,11 +497,11 @@ static float estimatedHeading(double lat, double lon) return b; } - float d = latLongToMeter(oldLat, oldLon, lat, lon); + float d = GeoCoord::latLongToMeter(oldLat, oldLon, lat, lon); if (d < 10) // haven't moved enough, just keep current bearing return b; - b = bearing(oldLat, oldLon, lat, lon); + b = GeoCoord::bearing(oldLat, oldLon, lat, lon); oldLat = lat; oldLon = lon; @@ -1020,7 +621,7 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_ // display direction toward node hasNodeHeading = true; Position &p = node->position; - float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i)); + float d = GeoCoord::latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i)); if (d < 2000) snprintf(distStr, sizeof(distStr), "%.0f m", d); else @@ -1028,7 +629,7 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_ // FIXME, also keep the guess at the operators heading and add/substract // it. currently we don't do this and instead draw north up only. - float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i)); + float bearingToOther = GeoCoord::bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i)); headingRadian = bearingToOther - myHeading; drawNodeHeading(display, compassX, compassY, headingRadian); } diff --git a/src/mesh/MeshPlugin.cpp b/src/mesh/MeshPlugin.cpp index 65cb4ce36..4ebd2f4d7 100644 --- a/src/mesh/MeshPlugin.cpp +++ b/src/mesh/MeshPlugin.cpp @@ -66,7 +66,7 @@ MeshPacket *MeshPlugin::allocErrorResponse(Routing_Error err, const MeshPacket * return r; } -void MeshPlugin::callPlugins(const MeshPacket &mp) +void MeshPlugin::callPlugins(const MeshPacket &mp, RxSource src) { // DEBUG_MSG("In call plugins\n"); bool pluginFound = false; @@ -79,6 +79,7 @@ void MeshPlugin::callPlugins(const MeshPacket &mp) // Was this message directed to us specifically? Will be false if we are sniffing someone elses packets auto ourNodeNum = nodeDB.getNodeNum(); bool toUs = mp.to == NODENUM_BROADCAST || mp.to == ourNodeNum; + for (auto i = plugins->begin(); i != plugins->end(); ++i) { auto &pi = **i; @@ -87,6 +88,11 @@ void MeshPlugin::callPlugins(const MeshPacket &mp) /// We only call plugins that are interested in the packet (and the message is destined to us or we are promiscious) bool wantsPacket = (isDecoded || pi.encryptedOk) && (pi.isPromiscuous || toUs) && pi.wantPacket(&mp); + if ((src == RX_SRC_LOCAL) && !(pi.loopbackOk)) { + // new case, monitor separately for now, then FIXME merge above + wantsPacket = false; + } + assert(!pi.myReply); // If it is !null it means we have a bug, because it should have been sent the previous time if (wantsPacket) { @@ -169,7 +175,9 @@ void MeshPlugin::callPlugins(const MeshPacket &mp) } if (!pluginFound) - DEBUG_MSG("No plugins interested in portnum=%d\n", mp.decoded.portnum); + DEBUG_MSG("No plugins interested in portnum=%d, src=%s\n", + mp.decoded.portnum, + (src == RX_SRC_LOCAL) ? "LOCAL":"REMOTE"); } MeshPacket *MeshPlugin::allocReply() diff --git a/src/mesh/MeshPlugin.h b/src/mesh/MeshPlugin.h index 937c37dfe..2350c951a 100644 --- a/src/mesh/MeshPlugin.h +++ b/src/mesh/MeshPlugin.h @@ -33,7 +33,7 @@ class MeshPlugin /** For use only by MeshService */ - static void callPlugins(const MeshPacket &mp); + static void callPlugins(const MeshPacket &mp, RxSource src = RX_SRC_RADIO); static std::vector GetMeshPluginsWithUIFrames(); #ifndef NO_SCREEN @@ -48,6 +48,10 @@ class MeshPlugin */ bool isPromiscuous = false; + /** Also receive a copy of LOCALLY GENERATED messages - most plugins should leave + * this setting disabled - see issue #877 */ + bool loopbackOk = false; + /** Most plugins only understand decrypted packets. For plugins that also want to see encrypted packets, they should set this * flag */ bool encryptedOk = false; diff --git a/src/mesh/MeshTypes.h b/src/mesh/MeshTypes.h index 34d4f02c9..d45194d4f 100644 --- a/src/mesh/MeshTypes.h +++ b/src/mesh/MeshTypes.h @@ -15,6 +15,14 @@ typedef uint32_t PacketId; // A packet sequence number #define ERRNO_UNKNOWN 32 // pick something that doesn't conflict with RH_ROUTER_ERROR_UNABLE_TO_DELIVER #define ERRNO_DISABLED 34 // the itnerface is disabled +/* + * Source of a received message + */ +enum RxSource { + RX_SRC_LOCAL, // message was generated locally + RX_SRC_RADIO // message was received from radio mesh +}; + /** * the max number of hops a message can pass through, used as the default max for hop_limit in MeshPacket. * diff --git a/src/mesh/Router.cpp b/src/mesh/Router.cpp index 1c5d70101..3cf81be2f 100644 --- a/src/mesh/Router.cpp +++ b/src/mesh/Router.cpp @@ -161,7 +161,7 @@ ErrorCode Router::sendLocal(MeshPacket *p) // If we are sending a broadcast, we also treat it as if we just received it ourself // this allows local apps (and PCs) to see broadcasts sourced locally if (p->to == NODENUM_BROADCAST) { - handleReceived(p); + handleReceived(p, RX_SRC_LOCAL); } return send(p); @@ -324,7 +324,7 @@ NodeNum Router::getNodeNum() * Handle any packet that is received by an interface on this node. * Note: some packets may merely being passed through this node and will be forwarded elsewhere. */ -void Router::handleReceived(MeshPacket *p) +void Router::handleReceived(MeshPacket *p, RxSource src) { // Also, we should set the time from the ISR and it should have msec level resolution p->rx_time = getValidTime(RTCQualityFromNet); // store the arrival timestamp for the phone @@ -333,13 +333,16 @@ void Router::handleReceived(MeshPacket *p) bool decoded = perhapsDecode(p); if (decoded) { // parsing was successful, queue for our recipient - printPacket("handleReceived", p); + if (src == RX_SRC_LOCAL) + printPacket("handleReceived(local)", p); + else + printPacket("handleReceived(remote)", p); } else { printPacket("packet decoding failed (no PSK?)", p); } // call plugins here - MeshPlugin::callPlugins(*p); + MeshPlugin::callPlugins(*p, src); } void Router::perhapsHandleReceived(MeshPacket *p) diff --git a/src/mesh/Router.h b/src/mesh/Router.h index 9d7358af5..519f158f7 100644 --- a/src/mesh/Router.h +++ b/src/mesh/Router.h @@ -122,7 +122,7 @@ class Router : protected concurrency::OSThread * Note: this packet will never be called for messages sent/generated by this node. * Note: this method will free the provided packet. */ - void handleReceived(MeshPacket *p); + void handleReceived(MeshPacket *p, RxSource src = RX_SRC_RADIO); /** Frees the provided packet, and generates a NAK indicating the speicifed error while sending */ void abortSendAndNak(Routing_Error err, MeshPacket *p); diff --git a/src/plugins/esp32/RangeTestPlugin.cpp b/src/plugins/esp32/RangeTestPlugin.cpp index b28bd8c9c..47970b88c 100644 --- a/src/plugins/esp32/RangeTestPlugin.cpp +++ b/src/plugins/esp32/RangeTestPlugin.cpp @@ -5,6 +5,7 @@ #include "RTC.h" #include "Router.h" #include "configuration.h" +#include "gps/GeoCoord.h" #include #include //#include @@ -184,27 +185,6 @@ bool RangeTestPluginRadio::handleReceived(const MeshPacket &mp) return true; // Let others look at this message also if they want } -/// Ported from my old java code, returns distance in meters along the globe -/// surface (by magic?) -float RangeTestPluginRadio::latLongToMeter(double lat_a, double lng_a, double lat_b, double lng_b) -{ - double pk = (180 / 3.14169); - double a1 = lat_a / pk; - double a2 = lng_a / pk; - double b1 = lat_b / pk; - double b2 = lng_b / pk; - double cos_b1 = cos(b1); - double cos_a1 = cos(a1); - double t1 = cos_a1 * cos(a2) * cos_b1 * cos(b2); - double t2 = cos_a1 * sin(a2) * cos_b1 * sin(b2); - double t3 = sin(a1) * sin(b1); - double tt = acos(t1 + t2 + t3); - if (isnan(tt)) - tt = 0.0; // Must have been the same point? - - return (float)(6366000 * tt); -} - bool RangeTestPluginRadio::appendFile(const MeshPacket &mp) { auto &p = mp.decoded; @@ -303,7 +283,7 @@ bool RangeTestPluginRadio::appendFile(const MeshPacket &mp) fileToAppend.printf("%f,", mp.rx_snr); // RX SNR if (n->position.latitude_i && n->position.longitude_i && gpsStatus->getLatitude() && gpsStatus->getLongitude()) { - float distance = latLongToMeter(n->position.latitude_i * 1e-7, n->position.longitude_i * 1e-7, + float distance = GeoCoord::latLongToMeter(n->position.latitude_i * 1e-7, n->position.longitude_i * 1e-7, gpsStatus->getLatitude() * 1e-7, gpsStatus->getLongitude() * 1e-7); fileToAppend.printf("%f,", distance); // Distance in meters } else {