mirror of https://github.com/ArduPilot/ardupilot
WAF: Add AP_OLC to build
This commit is contained in:
giacomo892
Peter Barker
parent
b00d3e00bc
commit
4eeccb61cd
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@ -101,6 +101,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
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'AP_RCTelemetry',
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'AP_Generator',
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'AP_MSP',
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'AP_OLC',
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]
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def get_legacy_defines(sketch_name):
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@ -15,7 +15,6 @@
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* AP_OLC is based on INAV olc.c implemention, thanks @fiam and other contributors.
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*/
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#include <math.h>
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#include <algorithm>
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#include "AP_OLC.h"
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@ -25,28 +24,27 @@
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// This is a port of https://github.com/google/open-location-code/blob/master/c/olc.c
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// to avoid double floating point math and use integer math as much as possible.
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static constexpr char SEPARATOR_CHAR = '+';
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static constexpr int SEPARATOR_POS = 8;
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static constexpr char PADDING_CHAR = '0';
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static constexpr uint8_t SEPARATOR_CHAR = '+';
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static constexpr uint8_t SEPARATOR_POS = 8;
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static constexpr uint8_t PADDING_CHAR = '0';
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static constexpr int ENCODING_BASE = 20;
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static constexpr unsigned int PAIR_CODE_LEN = 10;
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static constexpr unsigned int CODE_LEN_MAX = 15;
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static constexpr uint8_t ENCODING_BASE = 20;
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static constexpr uint8_t PAIR_CODE_LEN = 10;
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static constexpr uint8_t CODE_LEN_MAX = 15;
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static constexpr int GRID_COLS = 4;
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static constexpr int GRID_ROWS = ENCODING_BASE / GRID_COLS;
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static constexpr uint8_t GRID_COLS = 4;
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static constexpr uint8_t GRID_ROWS = ENCODING_BASE / GRID_COLS;
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static constexpr olc_coord_t LAT_MAX = 90 * OLC_DEG_MULTIPLIER;
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static constexpr olc_coord_t LON_MAX = 180 * OLC_DEG_MULTIPLIER;
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static constexpr int32_t LAT_MAX = 90 * OLC_DEG_MULTIPLIER;
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static constexpr int32_t LON_MAX = 180 * OLC_DEG_MULTIPLIER;
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olc_coord_t AP_OLC::grid_size;
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olc_coord_t AP_OLC::initial_resolution;
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const char AP_OLC::alphabet[] = "23456789CFGHJMPQRVWX";
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int32_t AP_OLC::grid_size;
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int32_t AP_OLC::initial_resolution;
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const char alphabet[] = "23456789CFGHJMPQRVWX";
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bool AP_OLC::inited = false;
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void AP_OLC::init_constants(void)
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{
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if (inited) {
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@ -55,7 +53,7 @@ void AP_OLC::init_constants(void)
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inited = true;
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// Work out the encoding base exponent necessary to represent 360 degrees.
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olc_coord_t initial_exponent = floorf(logf(2 * (LON_MAX / OLC_DEG_MULTIPLIER)) / logf(ENCODING_BASE));
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int32_t initial_exponent = floorf(logf(2 * (LON_MAX / OLC_DEG_MULTIPLIER)) / logf(ENCODING_BASE));
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// Work out the enclosing resolution (in degrees) for the grid algorithm.
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AP_OLC::grid_size = (1 / powf(ENCODING_BASE, PAIR_CODE_LEN / 2 - (initial_exponent + 1))) * OLC_DEG_MULTIPLIER;
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@ -77,7 +75,7 @@ float AP_OLC::compute_precision_for_length(int length)
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return powf(ENCODING_BASE, -3) / powf(5, length - (int)PAIR_CODE_LEN);
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}
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olc_coord_t AP_OLC::adjust_latitude(olc_coord_t lat, size_t code_len)
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int32_t AP_OLC::adjust_latitude(int32_t lat, size_t code_len)
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{
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if (lat < -LAT_MAX) {
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lat = -LAT_MAX;
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@ -87,13 +85,13 @@ olc_coord_t AP_OLC::adjust_latitude(olc_coord_t lat, size_t code_len)
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}
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if (lat >= LAT_MAX) {
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// Subtract half the code precision to get the latitude into the code area.
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olc_coord_t precision = compute_precision_for_length(code_len) * OLC_DEG_MULTIPLIER;
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int32_t precision = compute_precision_for_length(code_len) * OLC_DEG_MULTIPLIER;
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lat -= precision / 2;
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}
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return lat;
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}
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olc_coord_t AP_OLC::normalize_longitude(olc_coord_t lon)
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int32_t AP_OLC::normalize_longitude(int32_t lon)
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{
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while (lon < -LON_MAX) {
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lon += LON_MAX;
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@ -110,7 +108,7 @@ olc_coord_t AP_OLC::normalize_longitude(olc_coord_t lon)
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// uses pairs of characters (latitude and longitude in that order) to represent
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// each step in a 20x20 grid. Each code, therefore, has 1/400th the area of
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// the previous code.
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unsigned AP_OLC::encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length, char *buf, size_t bufsize)
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unsigned AP_OLC::encode_pairs(uint32_t lat, uint32_t lon, size_t length, char *buf, size_t bufsize)
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{
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if ((length + 1) >= bufsize) {
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buf[0] = '\0';
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@ -118,7 +116,7 @@ unsigned AP_OLC::encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length,
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}
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unsigned pos = 0;
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olc_coord_t resolution = AP_OLC::initial_resolution;
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int32_t resolution = AP_OLC::initial_resolution;
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// Add two digits on each pass.
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for (size_t digit_count = 0;
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digit_count < length;
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@ -165,7 +163,7 @@ unsigned AP_OLC::encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length,
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//
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// This allows default accuracy OLC codes to be refined with just a single
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// character.
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int AP_OLC::encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,
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int AP_OLC::encode_grid(uint32_t lat, uint32_t lon, size_t length,
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char *buf, size_t bufsize)
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{
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if ((length + 1) >= bufsize) {
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@ -175,15 +173,15 @@ int AP_OLC::encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,
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int pos = 0;
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olc_coord_t lat_grid_size = AP_OLC::grid_size;
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olc_coord_t lon_grid_size = AP_OLC::grid_size;
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int32_t lat_grid_size = AP_OLC::grid_size;
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int32_t lon_grid_size = AP_OLC::grid_size;
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lat %= lat_grid_size;
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lon %= lon_grid_size;
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for (size_t i = 0; i < length; i++) {
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olc_coord_t lat_div = lat_grid_size / GRID_ROWS;
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olc_coord_t lon_div = lon_grid_size / GRID_COLS;
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int32_t lat_div = lat_grid_size / GRID_ROWS;
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int32_t lon_div = lon_grid_size / GRID_COLS;
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if (lat_div == 0 || lon_div == 0) {
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// This case happens when OLC_DEG_MULTIPLIER doesn't have enough
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@ -204,15 +202,15 @@ int AP_OLC::encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,
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return pos;
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}
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int AP_OLC::olc_encode(olc_coord_t lat, olc_coord_t lon, size_t length, char *buf, size_t bufsize)
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int AP_OLC::olc_encode(int32_t lat, int32_t lon, size_t length, char *buf, size_t bufsize)
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{
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int pos = 0;
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length = MIN(length, CODE_LEN_MAX);
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// Adjust latitude and longitude so they fall into positive ranges.
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uolc_coord_t alat = adjust_latitude(lat, length) + LAT_MAX;
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uolc_coord_t alon = normalize_longitude(lon) + LON_MAX;
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uint32_t alat = adjust_latitude(lat, length) + LAT_MAX;
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uint32_t alon = normalize_longitude(lon) + LON_MAX;
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init_constants();
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@ -16,35 +16,34 @@
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <stdint.h>
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typedef int32_t olc_coord_t;
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typedef uint32_t uolc_coord_t;
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typedef int32_t int32_t;
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static constexpr olc_coord_t OLC_DEG_MULTIPLIER = 10000000; // 1e7
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static constexpr int32_t OLC_DEG_MULTIPLIER = 10000000; // 1e7
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class AP_OLC
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{
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public:
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// olc_encodes the given coordinates in lat and lon (deg * OLC_DEG_MULTIPLIER)
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// as an OLC code of the given length. It returns the number of characters
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// written to buf.
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static int olc_encode(olc_coord_t lat, olc_coord_t lon, size_t length, char *buf, size_t bufsize);
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// olc_encodes the given coordinates in lat and lon (deg * OLC_DEG_MULTIPLIER)
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// as an OLC code of the given length. It returns the number of characters
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// written to buf.
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static int olc_encode(int32_t lat, int32_t lon, size_t length, char *buf, size_t bufsize);
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private:
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static bool inited;
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// Initialized via init_constants()
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static olc_coord_t grid_size;
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static olc_coord_t initial_resolution;
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static const char alphabet[];
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static bool inited;
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// Initialized via init_constants()
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static int32_t grid_size;
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static int32_t initial_resolution;
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static void init_constants(void);
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static float compute_precision_for_length(int length);
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static olc_coord_t adjust_latitude(olc_coord_t lat, size_t code_len);
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static olc_coord_t normalize_longitude(olc_coord_t lon);
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static unsigned encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length, char *buf, size_t bufsize);
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static int encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,char *buf, size_t bufsize);
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static void init_constants(void);
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static float compute_precision_for_length(int length);
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static int32_t adjust_latitude(int32_t lat, size_t code_len);
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static int32_t normalize_longitude(int32_t lon);
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static unsigned encode_pairs(uint32_t lat, uint32_t lon, size_t length, char *buf, size_t bufsize);
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static int encode_grid(uint32_t lat, uint32_t lon, size_t length,char *buf, size_t bufsize);
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};
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@ -176,7 +176,7 @@ private:
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AP_OSD_Setting bat2used{false, 0, 0};
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AP_OSD_Setting clk{false, 0, 0};
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AP_OSD_Setting pluscode{false, 0, 0};
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// MSP OSD only
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AP_OSD_Setting sidebars{false, 0, 0};
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AP_OSD_Setting crosshair{false, 0, 0};
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@ -186,7 +186,6 @@ private:
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AP_OSD_Setting cell_volt{true, 1, 1};
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AP_OSD_Setting batt_bar{true, 1, 1};
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AP_OSD_Setting arming{true, 1, 1};
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void draw_altitude(uint8_t x, uint8_t y);
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void draw_bat_volt(uint8_t x, uint8_t y);
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@ -706,22 +706,6 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
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// @Range: 0 15
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AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting),
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// @Param: PLUSCODE_EN
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// @DisplayName: PLUSCODE_EN
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// @Description: Displays total flight time
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// @Values: 0:Disabled,1:Enabled
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// @Param: PLUSCODE_X
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// @DisplayName: PLUSCODE_X
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// @Description: Horizontal position on screen
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// @Range: 0 29
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// @Param: PLUSCODE_Y
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// @DisplayName: PLUSCODE_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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AP_SUBGROUPINFO(pluscode, "PLUSCODE", 44, AP_OSD_Screen, AP_OSD_Setting),
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#if HAL_MSP_ENABLED
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// @Param: SIDEBARS_EN
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// @DisplayName: SIDEBARS_EN
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@ -852,6 +836,21 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
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AP_SUBGROUPINFO(arming, "ARMING", 51, AP_OSD_Screen, AP_OSD_Setting),
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#endif //HAL_MSP_ENABLED
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// @Param: PLUSCODE_EN
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// @DisplayName: PLUSCODE_EN
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// @Description: Displays pluscode (OLC) element
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// @Values: 0:Disabled,1:Enabled
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// @Param: PLUSCODE_X
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// @DisplayName: PLUSCODE_X
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// @Description: Horizontal position on screen
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// @Range: 0 29
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// @Param: PLUSCODE_Y
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// @DisplayName: PLUSCODE_Y
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// @Description: Vertical position on screen
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// @Range: 0 15
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AP_SUBGROUPINFO(pluscode, "PLUSCODE", 52, AP_OSD_Screen, AP_OSD_Setting),
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AP_GROUPEND
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};
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