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Merge branch 'master' into myocpn
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@Hakansv
Hakansv committed Jan 18, 2025
2 parents 8f4713e + 7c8036c commit be420ad
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Showing 3 changed files with 89 additions and 173 deletions.
2 changes: 1 addition & 1 deletion gui/include/gui/ocpn_frame.h
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Original file line number Diff line number Diff line change
Expand Up @@ -346,7 +346,7 @@ class MyFrame : public wxFrame {
void SendFixToPlugins();
void ProcessAnchorWatch();
void ProcessLogAndBells();

void CalculateCOGAverage();
void CheckToolbarPosition();

void ODoSetSize(void);
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244 changes: 72 additions & 172 deletions gui/src/ocpn_frame.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5142,10 +5142,44 @@ void MyFrame::HandleGPSWatchdogMsg(std::shared_ptr<const GPSWatchdogMsg> msg) {
}
}

void MyFrame::CalculateCOGAverage() {
// Maintain average COG for Course Up Mode
if (!std::isnan(gCog)) {
if (g_COGAvgSec > 0) {
// Make a hole
for (int i = g_COGAvgSec - 1; i > 0; i--) COGTable[i] = COGTable[i - 1];
COGTable[0] = gCog;

double sum = 0., count = 0;
for (int i = 0; i < g_COGAvgSec; i++) {
double adder = COGTable[i];
if (std::isnan(adder)) continue;

if (fabs(adder - g_COGAvg) > 180.) {
if ((adder - g_COGAvg) > 0.)
adder -= 360.;
else
adder += 360.;
}

sum += adder;
count++;
}
sum /= count;

if (sum < 0.)
sum += 360.;
else if (sum >= 360.)
sum -= 360.;

g_COGAvg = sum;
} else
g_COGAvg = gCog;
}
}

void MyFrame::HandleBasicNavMsg(std::shared_ptr<const BasicNavDataMsg> msg) {
m_fixtime = msg->time;
bool b_Pos_retrigger = false;
bool b_Hdt_retrigger = false;
double hdt_data_interval = 0;
double fix_time_interval = 0;

Expand All @@ -5166,45 +5200,37 @@ void MyFrame::HandleBasicNavMsg(std::shared_ptr<const BasicNavDataMsg> msg) {
DistanceBearingMercator(gLat, gLon, gLat_gt, gLon_gt, &brg, &dist);
double implied_sog = dist / (fix_time_interval / 3600);

// printf("-------------- SOG: %g %g %g\n", fix_time_interval, gSog,
// implied_sog);
if (dist < .001) {
return; // probably a duplicate message, ignore it
}

// shuffle history data
gLat_gt_m2 = gLat_gt_m1;
gLon_gt_m2 = gLon_gt_m1;
gLat_gt_m1 = gLat_gt;
gLon_gt_m1 = gLon_gt;
gCog_gt_m1 = gCog_gt;

gLat_gt = gLat;
gLon_gt = gLon;
gCog_gt = gCog;
gSog_gt = gSog;
fix_time_gt = fix_time_gt_now;

if (std::isnan(gCog_gt_m1)) return; // Startup

if ((fabs(gSog - implied_sog) / gSog) > 0.5) {
// Probably a synthetic data stream, with multiple position sources.
// Do not try to interpolate position at 10 Hz.
gSog_gt = 0;
cog_rate_gt = 0;
// printf("---Skip SOG\n");
return;
if (dist > .001) { // Avoid duplicate position report
// shuffle history data
gLat_gt_m2 = gLat_gt_m1;
gLon_gt_m2 = gLon_gt_m1;
gLat_gt_m1 = gLat_gt;
gLon_gt_m1 = gLon_gt;
gCog_gt_m1 = gCog_gt;

gLat_gt = gLat;
gLon_gt = gLon;
gCog_gt = gCog;
gSog_gt = gSog;
fix_time_gt = fix_time_gt_now;

if (std::isnan(gCog_gt_m1)) return; // Startup

if ((fabs(gSog - implied_sog) / gSog) > 0.5) {
// Probably a synthetic data stream, with multiple position sources.
// Do not try to interpolate position at 10 Hz.
gSog_gt = 0;
cog_rate_gt = 0;
} else {
// Calculate an estimated Rate-of-turn
double diff = gCog_gt - gCog_gt_m1;
double tentative_cog_rate_gt = diff / (fix_time_gt - fix_time_gt_last);
tentative_cog_rate_gt *= 1e9; // degrees / sec
// Sanity check, and resolve the "phase" problem at +/- North
if (fabs(tentative_cog_rate_gt - cog_rate_gt) < 180.)
cog_rate_gt = tentative_cog_rate_gt;
}
}

// Calculate an estimated Rate-of-turn
double diff = gCog_gt - gCog_gt_m1;
double tentative_cog_rate_gt = diff / (fix_time_gt - fix_time_gt_last);
tentative_cog_rate_gt *= 1e9; // degrees / sec
// Sanity check, and resolve the "phase" problem at +/- North
if (fabs(tentative_cog_rate_gt - cog_rate_gt) < 180.)
cog_rate_gt = tentative_cog_rate_gt;

b_Pos_retrigger = true;
} else if ((msg->vflag & HDT_UPDATE) == HDT_UPDATE) {
if (!std::isnan(gHdt)) {
// Prepare to estimate the gHdt from prior ground truth measurements
Expand All @@ -5227,52 +5253,15 @@ void MyFrame::HandleBasicNavMsg(std::shared_ptr<const BasicNavDataMsg> msg) {
// Sanity check, and resolve the "phase" problem at +/- North
if (fabs(tentative_hdt_rate_gt - hdt_rate_gt) < 180.)
hdt_rate_gt = tentative_hdt_rate_gt;
b_Hdt_retrigger = true;
}
}
}
if (std::isnan(gHdt)) gHdt_gt = NAN; // Handle loss of signal

// Maintain average COG for Course Up Mode
if (!std::isnan(gCog)) {
if (g_COGAvgSec > 0) {
// Make a hole
for (int i = g_COGAvgSec - 1; i > 0; i--) COGTable[i] = COGTable[i - 1];
COGTable[0] = gCog;

double sum = 0., count = 0;
for (int i = 0; i < g_COGAvgSec; i++) {
double adder = COGTable[i];
if (std::isnan(adder)) continue;

if (fabs(adder - g_COGAvg) > 180.) {
if ((adder - g_COGAvg) > 0.)
adder -= 360.;
else
adder += 360.;
}

sum += adder;
count++;
}
sum /= count;

if (sum < 0.)
sum += 360.;
else if (sum >= 360.)
sum -= 360.;

g_COGAvg = sum;
} else
g_COGAvg = gCog;
}

// Some housekeeping
CalculateCOGAverage();
FilterCogSog();

// If gSog is greater than some threshold, we determine that we are
// "cruising"
if (gSog > 3.0) g_bCruising = true;

// Maintain the GPS position validity flag
// Determined by source validity of RMC, GGA, GLL (N0183)
// or PGNs 129029, 129025 (N2K)
Expand All @@ -5288,99 +5277,6 @@ void MyFrame::HandleBasicNavMsg(std::shared_ptr<const BasicNavDataMsg> msg) {

bVelocityValid = true;
UpdateStatusBar();

#if 0
#ifdef ocpnUPDATE_SYSTEM_TIME

// Use the fix time to update the local system clock, only once per
// session
if (!m_bTimeIsSet) {
if (!s_bSetSystemTime) {
m_bTimeIsSet = true;
return;
}
wxDateTime Fix_Time(wxDateTime::Now());

if (6 == sfixtime.Len() ||
6 == sfixtime.find('.')) { // perfectly recognised format?
wxString a;
long b;
a = sfixtime.Mid(0, 2);
if (a.ToLong(&b)) Fix_Time.SetHour((wxDateTime::wxDateTime_t)b);
a = sfixtime.Mid(2, 2);
if (a.ToLong(&b)) Fix_Time.SetMinute((wxDateTime::wxDateTime_t)b);
a = sfixtime.Mid(4, 2);
if (a.ToLong(&b)) Fix_Time.SetSecond((wxDateTime::wxDateTime_t)b);
} else
return; // not a good sfixtime format

time_t TimeOff = Fix_Time.GetTicks() - wxDateTime::Now().GetTicks();

if (g_bHasHwClock) { // if a realtime hardwareclock isavailable we only
// check for time and a max of 2 hours of to prevent
// bogus info from some gps devices
if ((abs(TimeOff) > 20) && (abs(TimeOff) < 7200)) {
wxString msg;
msg.Printf(_T("Setting system time, delta t is %d seconds"), TimeOff);
wxLogMessage(msg);
#ifdef __WXMSW__
// Fix up the fix_time to convert to GMT
Fix_Time = Fix_Time.ToGMT();

// Code snippet following borrowed from wxDateCtrl, MSW
const wxDateTime::Tm tm(Fix_Time.GetTm());
SYSTEMTIME stm;
stm.wYear = (WXWORD)tm.year;
stm.wMonth = (WXWORD)(tm.mon - wxDateTime::Jan + 1);
stm.wDay = tm.mday;
stm.wDayOfWeek = 0;
stm.wHour = Fix_Time.GetHour();
stm.wMinute = tm.min;
stm.wSecond = tm.sec;
stm.wMilliseconds = 0;

::SetSystemTime(&stm); // in GMT
#else
// This contortion sets the system date/time on POSIX host
// Requires the following line in /etc/sudoers
// "nav ALL=NOPASSWD:/bin/date *" (where nav is your username)
// or "%sudo ALL=NOPASSWD:/bin/date *"
wxString CommandStr("sudo /bin/date +%T --utc --set=\"");
CommandStr.Append(Fix_Time.Format("%T"));
CommandStr.Append("\"");
msg.Printf(_T("Linux command is:"));
msg += CommandStr;
wxLogMessage(msg);
wxExecute(CommandStr, wxEXEC_ASYNC);
#endif //__WXMSW__
}
m_bTimeIsSet = true;
} else { // no hw-clock set both date and time
if (gRmcDate.Len() == 6) {
#if !defined(__WXMSW__) // not for windows
wxString a;
long b;
Fix_Time.SetMonth((wxDateTime::Month)2);
a = gRmcDate.Mid(0, 2);
if (a.ToLong(&b)) Fix_Time.SetDay(b);
a = gRmcDate.Mid(2, 2);
if (a.ToLong(&b)) Fix_Time.SetMonth((wxDateTime::Month)(b - 1));
a = gRmcDate.Mid(4, 2);
if (a.ToLong(&b))
Fix_Time.SetYear(b + 2000); // TODO fix this before the year 2100
wxString msg;
wxString CommandStr("sudo /bin/date --utc --set=\"");
CommandStr.Append(Fix_Time.Format("%D %T\""));
msg.Printf(_T("Set Date/Time, Linux command is: %s"), CommandStr);
wxLogMessage(msg);
wxExecute(CommandStr, wxEXEC_ASYNC);
#endif // !__WXMSW__
m_bTimeIsSet = true;
}
}
}
#endif // ocpnUPDATE_SYSTEM_TIME
#endif
}

void MyFrame::UpdateStatusBar() {
Expand Down Expand Up @@ -5877,6 +5773,10 @@ void MyFrame::OnFrameTimer1(wxTimerEvent &event) {
return;
}

// If gSog is greater than some threshold,
// we determine that we are"cruising"
if (gSog > 3.0) g_bCruising = true;

// Update the Toolbar Status windows and lower status bar
// just after start of ticks.

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16 changes: 16 additions & 0 deletions model/src/comm_decoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,22 @@ bool CommDecoder::DecodeVTG(std::string s, NavData& temp_data) {
temp_data.gCog = m_NMEA0183.Vtg.TrackDegreesTrue;
}

// If COG-T is not available but COG-M is, then
// create COG-T from COG-M and gVar
if (!std::isnan(m_NMEA0183.Vtg.SpeedKnots) &&
!std::isnan(m_NMEA0183.Vtg.TrackDegreesMagnetic)) {
// establish gVar, if not already set
if (std::isnan(gVar) && (g_UserVar != 0.0)) gVar = g_UserVar;

double cogt = m_NMEA0183.Vtg.TrackDegreesMagnetic + gVar;
if (!std::isnan(cogt)) {
if (cogt < 0)
cogt += 360.0;
else if (cogt >= 360)
cogt -= 360.0;
temp_data.gCog = cogt;
}
}
return true;
}

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