void
OZBoundary::GenerateArcExcluding(const GeoPoint ¢er, double radius,
Angle start_radial, Angle end_radial)
{
const unsigned steps = 20;
const Angle delta = Angle::FullCircle() / steps;
const Angle start = start_radial.AsBearing();
Angle end = end_radial.AsBearing();
if (end <= start + Angle::FullCircle() / 512)
end += Angle::FullCircle();
GeoVector vector(radius, start + delta);
for (; vector.bearing < end; vector.bearing += delta)
push_front(vector.EndPoint(center));
}
void
PolygonRotateShift(RasterPoint *poly, const int n,
const PixelScalar xs, const PixelScalar ys,
Angle angle, const int scale)
{
static Angle lastangle = Angle::Native(fixed(-1));
static int cost = 1024, sint = 0;
static int last_scale = 0;
angle = angle.AsBearing();
if ((angle != lastangle) || (last_scale != scale)) {
lastangle = angle;
last_scale = scale;
if (scale == 100) {
cost = FastScale(angle.ifastcosine());
sint = FastScale(angle.ifastsine());
} else {
cost = FastScale(angle.ifastcosine() * scale) / 100;
sint = FastScale(angle.ifastsine() * scale) / 100;
}
}
RasterPoint *p = poly;
const RasterPoint *pe = poly + n;
while (p < pe) {
int x = p->x;
int y = p->y;
p->x = roundshift(x * cost - y * sint) + xs;
p->y = roundshift(y * cost + x * sint) + ys;
p++;
}
}
void
DigitEntry::SetLongitude(Angle value)
{
// TODO: support all CoordinateFormats
value = value.AsBearing();
assert(length == 9);
assert(columns[0].type == Column::Type::EAST_WEST);
assert(columns[1].type == Column::Type::DIGIT19);
assert(columns[2].type == Column::Type::DIGIT);
assert(columns[4].type == Column::Type::DIGIT6);
assert(columns[5].type == Column::Type::DIGIT);
assert(columns[7].type == Column::Type::DIGIT6);
assert(columns[8].type == Column::Type::DIGIT);
columns[0].value = negative(value.Native());
const fixed degrees = fabs(value.Degrees());
const unsigned i_degrees = std::min(unsigned(degrees), 180u);
const unsigned full_seconds = unsigned(degrees * 3600u) % 3600u;
const unsigned minutes = std::min(full_seconds / 60u, 59u);
const unsigned seconds = full_seconds % 60u;
columns[1].value = i_degrees / 10;
columns[2].value = i_degrees % 10;
columns[4].value = minutes / 10;
columns[5].value = minutes % 10;
columns[7].value = seconds / 10;
columns[8].value = seconds % 10;
Invalidate();
}
/**
* Converts a given bearing to the bearing part of the teamcode
* @param bearing Bearing to the reference waypoint
* @param code The teamcode (pointer)
*/
static void
ConvertBearingToTeamCode(const Angle bearing, TCHAR *code)
{
const fixed bamValue = bearing.AsBearing().Degrees() / 360
* TEAMCODE_COMBINATIONS;
NumberToTeamCode(bamValue, code, 2);
}
void
FlarmTrafficControl::UpdateTaskDirection(bool show_task_direction, Angle bearing)
{
if (!show_task_direction)
task_direction = Angle::Degrees(-1);
else
task_direction = bearing.AsBearing();
}
/**
* Sets the TrackBearing to val
*
* not in use
* @param val New TrackBearing
*/
void
DeviceBlackboard::SetTrack(Angle val)
{
ScopeLock protect(mutex);
simulator.Touch(simulator_data);
simulator_data.track = val.AsBearing();
ScheduleMerge();
}
gcc_const
static unsigned
AngleToIndex(Angle a)
{
fixed i = ROUTEPOLAR_POINTS * (fixed(1.25)
- a.AsBearing().Radians() / fixed_two_pi);
assert(positive(i));
return uround(i) % ROUTEPOLAR_POINTS;
}
/**
* Sets the TrackBearing to val
*
* not in use
* @param val New TrackBearing
*/
void
DeviceBlackboard::SetTrack(Angle val)
{
std::lock_guard<Mutex> lock(mutex);
simulator.Touch(simulator_data);
simulator_data.track = val.AsBearing();
ScheduleMerge();
}
void
FastIntegerRotation::SetAngle(Angle _angle)
{
_angle = _angle.AsBearing();
if (_angle == angle)
return;
angle = _angle;
cost = angle.ifastcosine();
sint = angle.ifastsine();
}
/**
* This function creates some simulated traffic for FLARM debugging
* @param GPS_INFO Pointer to the NMEA_INFO struct
*/
void
Simulator::GenerateFLARMTraffic(NMEAInfo &basic)
{
static int i = 90;
i++;
if (i > 255)
i = 0;
if (i > 80)
return;
const Angle angle = Angle::Degrees(fixed((i * 360) / 255)).AsBearing();
Angle dangle = (angle + Angle::Degrees(fixed(120))).AsBearing();
Angle hangle = dangle.Flipped().AsBearing();
int alt = (angle.ifastsine()) / 7;
int north = (angle.ifastsine()) / 2 - 200;
int east = (angle.ifastcosine()) / 1.5;
int track = -(int)angle.AsBearing().Degrees();
unsigned alarm_level = (i % 30 > 13 ? 0 : (i % 30 > 5 ? 2 : 1));
NMEAParser parser(true);
char buffer[50];
// PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
// <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
sprintf(buffer, "$PFLAA,%d,%d,%d,%d,2,DDA85C,%d,0,35,0,1",
alarm_level, north, east, alt, track);
parser.ParseLine(buffer, basic);
alt = (angle.ifastcosine()) / 10;
north = (dangle.ifastsine()) / 1.20 + 300;
east = (dangle.ifastcosine()) + 500;
track = (int)hangle.Degrees();
// PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
// <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
sprintf(buffer, "$PFLAA,0,%d,%d,%d,2,AA9146,,,,,1",
north, east, alt);
parser.ParseLine(buffer, basic);
// PFLAU,<RX>,<TX>,<GPS>,<Power>,<AlarmLevel>,<RelativeBearing>,<AlarmType>,
// <RelativeVertical>,<RelativeDistance>(,<ID>)
sprintf(buffer, "$PFLAU,2,1,2,1,%d", alarm_level);
parser.ParseLine(buffer, basic);
}
bool
LiveTrack24::SendPosition(SessionID session, unsigned packet_id,
GeoPoint position, unsigned altitude,
unsigned ground_speed, Angle track,
int64_t timestamp_utc)
{
// http://www.livetrack24.com/track.php?leolive=4&sid=42664778&pid=321&
// lat=22.3&lon=40.2&alt=23&sog=40&cog=160&tm=1241422845
StaticString<2048> url;
url.Format(_T("http://%s/track.php?leolive=4&sid=%u&pid=%u&"
"lat=%f&lon=%f&alt=%d&sog=%d&cog=%d&tm=%lld"),
GetServer(), session, packet_id,
(double)position.latitude.Degrees(),
(double)position.longitude.Degrees(),
altitude, ground_speed,
(unsigned)track.AsBearing().Degrees(),
(long long int)timestamp_utc);
return SendRequest(url);
}
bool
LiveTrack24::Client::SendPosition(GeoPoint position, unsigned altitude,
unsigned ground_speed, Angle track,
int64_t timestamp_utc,
OperationEnvironment &env)
{
// http://www.livetrack24.com/track.php?leolive=4&sid=42664778&pid=321&
// lat=22.3&lon=40.2&alt=23&sog=40&cog=160&tm=1241422845
NarrowString<2048> url;
url.Format("http://%s/track.php?leolive=4&sid=%u&pid=%u&"
"lat=%f&lon=%f&alt=%d&sog=%d&cog=%d&tm=%lld",
(const char *)server, session_id, packet_id,
(double)position.latitude.Degrees(),
(double)position.longitude.Degrees(),
altitude, ground_speed,
(unsigned)track.AsBearing().Degrees(),
(long long int)timestamp_utc);
bool success = SendRequest(url, env);
packet_id++;
return success;
}
void
WindStore::NewWind(const NMEAInfo &info, DerivedInfo &derived,
Vector &wind) const
{
auto mag = wind.Magnitude();
Angle bearing;
if (wind.y == 0 && wind.x == 0)
bearing = Angle::Zero();
else
bearing = Angle::FromXY(wind.x, wind.y);
if (mag < 30) { // limit to reasonable values
derived.estimated_wind = SpeedVector(bearing.AsBearing(), mag);
derived.estimated_wind_available.Update(update_clock);
} else {
// TODO code: give warning, wind estimate bogus or very strong!
}
#ifdef DEBUG_WIND
LogDebug(_T("%f %f 0 # wind estimate\n"), wind.x, wind.y);
#endif
}
void
WindStore::NewWind(const NMEAInfo &info, DerivedInfo &derived,
Vector &wind) const
{
fixed mag = hypot(wind.x, wind.y);
Angle bearing;
if (wind.y == fixed_zero && wind.x == fixed_zero)
bearing = Angle::Zero();
else
bearing = Angle::Radians(atan2(wind.y, wind.x));
if (mag < fixed(30)) { // limit to reasonable values
derived.estimated_wind = SpeedVector(bearing.AsBearing(), mag);
derived.estimated_wind_available.Update(update_clock);
} else {
// TODO code: give warning, wind estimate bogus or very strong!
}
#ifdef DEBUG_WIND
LogDebug(_T("%f %f 0 # wind estimate\n"), wind.x, wind.y);
#endif
}
void
FormatBearing(TCHAR *buffer, size_t size, Angle value, const TCHAR *suffix)
{
FormatBearing(buffer, size, lround(value.AsBearing().Degrees()), suffix);
}
gcc_const
static unsigned Import(Angle value) {
return uround(value.AsBearing().Degrees()) % 360u;
}
void SetDirection(Angle _direction) {
direction = iround(_direction.AsBearing().Degrees());
}
