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chore(cpn): finish SimulatedGPS refactor, fix GPS lat/long not working (#5476)

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This commit is contained in:
Nigel Williams
2024-08-26 10:02:14 +10:00
committed by GitHub
parent 982660e8c8
commit 23eb3682a6
2 changed files with 56 additions and 140 deletions
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companion/src/simulation/telemetryproviderfrsky.cpp
+48 -114
View File
@@ -34,6 +34,9 @@ TelemetryProviderFrSky::TelemetryProviderFrSky(QWidget * parent):
QWidget(parent),
ui(new Ui::TelemetryProviderFrSky)
{
sendLat = true;
sendDate = true;
ui->setupUi(this);
ui->A1->setSpecialValueText(" ");
@@ -47,8 +50,21 @@ TelemetryProviderFrSky::TelemetryProviderFrSky(QWidget * parent):
ui->A1_ratio->setEnabled(false);
ui->A2_ratio->setEnabled(false);
gpsTimer.setInterval(250);
connect(&gpsTimer, &QTimer::timeout, this, &TelemetryProviderFrSky::updateGps);
gps.setLatLon(ui->gps_latlon->text());
gps.setCourseDegrees(ui->gps_course->value());
gps.setSpeedKMH(ui->gps_speed->value());
gps.setAltitude(ui->gps_alt->value());
setGPSDateTime(ui->gps_time->text()); // Have to convert from a non-ISO format
connect(ui->gps_latlon, &QLineEdit::textChanged, &gps, &SimulatedGPS::setLatLon);
connect(ui->gps_course, QOverload<double>::of(&QDoubleSpinBox::valueChanged), &gps, &SimulatedGPS::setCourseDegrees);
connect(ui->gps_speed, QOverload<double>::of(&QDoubleSpinBox::valueChanged), &gps, &SimulatedGPS::setSpeedKMH);
connect(ui->gps_alt, QOverload<double>::of(&QDoubleSpinBox::valueChanged), &gps, &SimulatedGPS::setAltitude);
connect(ui->gps_time, &QLineEdit::textChanged, this, &TelemetryProviderFrSky::setGPSDateTime);
connect(&gps, &SimulatedGPS::positionChanged, ui->gps_latlon, &QLineEdit::setText);
connect(&gps, &SimulatedGPS::courseDegreesChanged, ui->gps_course, &QDoubleSpinBox::setValue);
connect(&gps, QOverload<QDateTime>::of(&SimulatedGPS::dateTimeChanged), this, &TelemetryProviderFrSky::setDateTimeFromGPS);
// Create this once
supportedLogItems.clear();
@@ -101,49 +117,6 @@ void TelemetryProviderFrSky::resetRssi()
emit telemetryDataChanged(SIMU_TELEMETRY_PROTOCOL_FRSKY_SPORT, QByteArray((char *)buffer, FRSKY_SPORT_PACKET_SIZE));
}
void TelemetryProviderFrSky::updateGps()
{
int a = ui->gps_latlon->text().contains(",");
if (!a) {
QMessageBox::information(this, tr("Bad GPS Format"), tr("Must be decimal latitude,longitude"));
ui->gps_latlon->setText("000.00000000,000.00000000");
ui->GPSpushButton->click();
}
else
{
QStringList gpsLatLon = (ui->gps_latlon->text()).split(",");
double b2 = gpsLatLon[0].toDouble();
double c2 = gpsLatLon[1].toDouble();
double d3 = ui->gps_speed->value() / 14400;
double f3 = ui->gps_course->value();
double j2 = 6378.1;
double b3 = qRadiansToDegrees(qAsin( qSin(qDegreesToRadians(b2))*qCos(d3/j2) + qCos(qDegreesToRadians(b2))*qSin(d3/j2)*qCos(qDegreesToRadians(f3))));
double bb3 = b3;
if (bb3 < 0) {
bb3 = bb3 * -1;
}
if (bb3 > 89.99) {
f3 = f3 + 180;
if (f3 > 360) {
f3 = f3 - 360;
}
ui->gps_course->setValue(f3);
}
double c3 = qRadiansToDegrees(qDegreesToRadians(c2) + qAtan2(qSin(qDegreesToRadians(f3))*qSin(d3/j2)*qCos(qDegreesToRadians(b2)),qCos(d3/j2)-qSin(qDegreesToRadians(b2))*qSin(qDegreesToRadians(b3))));
if (c3 > 180) {
c3 = c3 - 360;
}
if (c3 < -180) {
c3 = c3 + 360;
}
QString lats = QString::number(b3, 'f', 8);
QString lons = QString::number(c3, 'f', 8);
QString qs = lats + "," + lons;
ui->gps_latlon->setText(qs);
}
}
#define SET_INSTANCE(control, id, def) ui->control->setText(QString::number(simulator->getSensorInstance(id, ((def) & 0x1F))))
void TelemetryProviderFrSky::loadUiFromSimulator(SimulatorInterface * simulator)
@@ -191,7 +164,6 @@ void TelemetryProviderFrSky::generateTelemetryFrame(SimulatorInterface *simulato
bool ok = true;
uint8_t buffer[FRSKY_SPORT_PACKET_SIZE] = {0};
static FlvssEmulator *flvss = new FlvssEmulator();
static GPSEmulator *gps = new GPSEmulator();
switch (item++) {
case 0:
@@ -303,36 +275,31 @@ void TelemetryProviderFrSky::generateTelemetryFrame(SimulatorInterface *simulato
case 18:
if (ui->gps_alt->value() != 0) {
gps->setGPSAltitude(ui->gps_alt->value());
generateSportPacket(buffer, ui->gpsa_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_ALT_FIRST_ID, gps->getNextPacketData(GPS_ALT_FIRST_ID));
generateSportPacket(buffer, ui->gpsa_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_ALT_FIRST_ID, getNextGPSPacketData(GPS_ALT_FIRST_ID));
}
break;
case 19:
if (ui->gps_speed->value() > 0) {
gps->setGPSSpeedKMH(ui->gps_speed->value());
generateSportPacket(buffer, ui->gpss_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_SPEED_FIRST_ID, gps->getNextPacketData(GPS_SPEED_FIRST_ID));
generateSportPacket(buffer, ui->gpss_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_SPEED_FIRST_ID, getNextGPSPacketData(GPS_SPEED_FIRST_ID));
}
break;
case 20:
if (ui->gps_course->value() != 0) {
gps->setGPSCourse(ui->gps_course->value());
generateSportPacket(buffer, ui->gpsc_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_COURS_FIRST_ID, gps->getNextPacketData(GPS_COURS_FIRST_ID));
generateSportPacket(buffer, ui->gpsc_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_COURS_FIRST_ID, getNextGPSPacketData(GPS_COURS_FIRST_ID));
}
break;
case 21:
if (ui->gps_time->text().length()) {
gps->setGPSDateTime(ui->gps_time->text());
generateSportPacket(buffer, ui->gpst_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_TIME_DATE_FIRST_ID, gps->getNextPacketData(GPS_TIME_DATE_FIRST_ID));
generateSportPacket(buffer, ui->gpst_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_TIME_DATE_FIRST_ID, getNextGPSPacketData(GPS_TIME_DATE_FIRST_ID));
}
break;
case 22:
if (ui->gps_latlon->text().length()) {
gps->setGPSLatLon(ui->gps_latlon->text());
generateSportPacket(buffer, ui->gpsll_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_LONG_LATI_FIRST_ID, gps->getNextPacketData(GPS_LONG_LATI_FIRST_ID));
generateSportPacket(buffer, ui->gpsll_inst->text().toInt(&ok, 0), DATA_FRAME, GPS_LONG_LATI_FIRST_ID, getNextGPSPacketData(GPS_LONG_LATI_FIRST_ID));
}
break;
@@ -574,17 +541,7 @@ uint32_t TelemetryProviderFrSky::FlvssEmulator::setAllCells_GetNextPair(double c
return cellData;
}
TelemetryProviderFrSky::GPSEmulator::GPSEmulator()
{
lat = 0;
lon = 0;
dt = QDateTime::currentDateTime();
sendLat = true;
sendDate = true;
}
uint32_t TelemetryProviderFrSky::GPSEmulator::encodeLatLon(double latLon, bool isLat)
uint32_t encodeLatLon(double latLon, bool isLat)
{
uint32_t data = (uint32_t)((latLon < 0 ? -latLon : latLon) * 60 * 10000) & 0x3FFFFFFF;
if (isLat == false) {
@@ -596,7 +553,7 @@ uint32_t TelemetryProviderFrSky::GPSEmulator::encodeLatLon(double latLon, bool i
return data;
}
uint32_t TelemetryProviderFrSky::GPSEmulator::encodeDateTime(uint8_t yearOrHour, uint8_t monthOrMinute, uint8_t dayOrSecond, bool isDate)
uint32_t encodeDateTime(uint8_t yearOrHour, uint8_t monthOrMinute, uint8_t dayOrSecond, bool isDate)
{
uint32_t data = yearOrHour;
data <<= 8;
@@ -610,67 +567,54 @@ uint32_t TelemetryProviderFrSky::GPSEmulator::encodeDateTime(uint8_t yearOrHour,
return data;
}
uint32_t TelemetryProviderFrSky::GPSEmulator::getNextPacketData(uint32_t packetType)
uint32_t TelemetryProviderFrSky::getNextGPSPacketData(uint32_t packetType)
{
switch (packetType) {
case GPS_LONG_LATI_FIRST_ID:
sendLat = !sendLat;
return sendLat ? encodeLatLon(lat, true) : encodeLatLon(lon, false);
return sendLat ? encodeLatLon(gps.lat, true) : encodeLatLon(gps.lon, false);
break;
case GPS_TIME_DATE_FIRST_ID:
sendDate = !sendDate;
return sendDate ? encodeDateTime(dt.date().year() - 2000, dt.date().month(), dt.date().day(), true) : encodeDateTime(dt.time().hour(), dt.time().minute(), dt.time().second(), false);
{
QDateTime dt = gps.dt;
sendDate = !sendDate;
return sendDate ? encodeDateTime(dt.date().year() - 2000, dt.date().month(), dt.date().day(), true) : encodeDateTime(dt.time().hour(), dt.time().minute(), dt.time().second(), false);
}
break;
case GPS_ALT_FIRST_ID:
return (uint32_t) (altitude * 100);
return (uint32_t) (gps.altitude * 100);
break;
case GPS_SPEED_FIRST_ID:
return speedKNTS * 1000;
{
double speedKNOTS = gps.speedKMH * 0.539957;
return speedKNOTS * 1000;
}
break;
case GPS_COURS_FIRST_ID:
return course * 100;
return gps.courseDegrees * 100;
break;
}
return 0;
}
void TelemetryProviderFrSky::GPSEmulator::setGPSDateTime(QString dateTime)
void TelemetryProviderFrSky::setGPSDateTime(QString dateTime)
{
dt = QDateTime::currentDateTime().toTimeSpec(Qt::UTC); // default to current systemtime
QDateTime dt = QDateTime::currentDateTime().toTimeSpec(Qt::UTC); // default to current systemtime
if (!dateTime.startsWith('*')) {
QString format("dd-MM-yyyy hh:mm:ss");
dt = QDateTime::fromString(dateTime, format);
}
gps.setDateTime(dt);
}
void TelemetryProviderFrSky::GPSEmulator::setGPSLatLon(QString latLon)
void TelemetryProviderFrSky::setDateTimeFromGPS(QDateTime dateTime)
{
QStringList coords = latLon.split(",");
lat = 0.0;
lon = 0.0;
if (coords.length() > 1)
{
lat = coords[0].toDouble();
lon = coords[1].toDouble();
}
QString format("dd-MM-yyyy hh:mm:ss");
ui->gps_time->setText(dateTime.toString(format));
}
void TelemetryProviderFrSky::GPSEmulator::setGPSCourse(double course)
{
this->course = course;
}
void TelemetryProviderFrSky::GPSEmulator::setGPSSpeedKMH(double speedKMH)
{
this->speedKNTS = speedKMH * 0.539957;
}
void TelemetryProviderFrSky::GPSEmulator::setGPSAltitude(double altitude)
{
this->altitude = altitude;
}
void TelemetryProviderFrSky::on_saveTelemetryvalues_clicked()
{
QString fldr = g.backupDir().trimmed();
@@ -933,22 +877,12 @@ void TelemetryProviderFrSky::on_GPSpushButton_clicked()
{
if (ui->GPSpushButton->text() == tr("Run")) {
ui->GPSpushButton->setText(tr("Stop"));
gpsTimer.start();
gps.start();
}
else
{
ui->GPSpushButton->setText(tr("Run"));
gpsTimer.stop();
}
}
void TelemetryProviderFrSky::on_gps_course_valueChanged(double arg1)
{
if (ui->gps_course->value() > 360) {
ui->gps_course->setValue(1);
}
if (ui->gps_course->value() < 1) {
ui->gps_course->setValue(360);
gps.stop();
}
}
companion/src/simulation/telemetryproviderfrsky.h
+8 -26
View File
@@ -26,6 +26,7 @@
#include "simulatorinterface.h"
#include "telemetryprovider.h"
#include "simulatedgps.h"
namespace Ui {
class TelemetryProviderFrSky;
@@ -50,15 +51,17 @@ class TelemetryProviderFrSky : public QWidget, public TelemetryProvider
void loadItemFromLog(QString itemName, QString value);
QString getLogfileIdentifier();
void loadUiFromSimulator(SimulatorInterface * simulator);
void setGPSDateTime(QString dateTime);
void setDateTimeFromGPS(QDateTime dateTime);
uint32_t getNextGPSPacketData(uint32_t packetType);
protected slots:
void updateGps();
void generateTelemetryFrame(SimulatorInterface * simulator);
void refreshSensorRatios(SimulatorInterface * simulator);
protected:
Ui::TelemetryProviderFrSky * ui;
QTimer gpsTimer;
SimulatedGPS gps;
QHash<QString, QString> supportedLogItems;
class FlvssEmulator
@@ -80,33 +83,12 @@ class TelemetryProviderFrSky : public QWidget, public TelemetryProvider
uint32_t cellData4;
}; // FlvssEmulator
class GPSEmulator
{
public:
GPSEmulator();
uint32_t getNextPacketData(uint32_t packetType);
void setGPSDateTime(QString dateTime);
void setGPSLatLon(QString latLon);
void setGPSCourse(double course);
void setGPSSpeedKMH(double speed);
void setGPSAltitude(double altitude);
private:
QDateTime dt;
bool sendLat;
bool sendDate;
double lat;
double lon;
double course;
double speedKNTS;
double altitude; // in meters
uint32_t encodeLatLon(double latLon, bool isLat);
uint32_t encodeDateTime(uint8_t yearOrHour, uint8_t monthOrMinute, uint8_t dayOrSecond, bool isDate);
}; // GPSEmulator
private:
bool sendLat;
bool sendDate;
private slots:
void on_saveTelemetryvalues_clicked();
void on_loadTelemetryvalues_clicked();
void on_GPSpushButton_clicked();
void on_gps_course_valueChanged(double arg1);
};