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WAF: Add AP_OLC to build

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giacomo892 2020-08-20 07:24:57 +02:00 committed by Peter Barker
parent b00d3e00bc
commit 4eeccb61cd
5 changed files with 62 additions and 66 deletions
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1
Tools/ardupilotwaf/ardupilotwaf.py
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@ -101,6 +101,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
'AP_RCTelemetry', 'AP_RCTelemetry',
'AP_Generator', 'AP_Generator',
'AP_MSP', 'AP_MSP',
'AP_OLC',
] ]
def get_legacy_defines(sketch_name): def get_legacy_defines(sketch_name):

56
libraries/AP_OLC/AP_OLC.cpp
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@ -15,7 +15,6 @@
* AP_OLC is based on INAV olc.c implemention, thanks @fiam and other contributors. * AP_OLC is based on INAV olc.c implemention, thanks @fiam and other contributors.
*/ */
#include <math.h>
#include <algorithm> #include <algorithm>
#include "AP_OLC.h" #include "AP_OLC.h"
@ -25,28 +24,27 @@
// This is a port of https://github.com/google/open-location-code/blob/master/c/olc.c // This is a port of https://github.com/google/open-location-code/blob/master/c/olc.c
// to avoid double floating point math and use integer math as much as possible. // to avoid double floating point math and use integer math as much as possible.
static constexpr char SEPARATOR_CHAR = '+'; static constexpr uint8_t SEPARATOR_CHAR = '+';
static constexpr int SEPARATOR_POS = 8; static constexpr uint8_t SEPARATOR_POS = 8;
static constexpr char PADDING_CHAR = '0'; static constexpr uint8_t PADDING_CHAR = '0';
static constexpr int ENCODING_BASE = 20; static constexpr uint8_t ENCODING_BASE = 20;
static constexpr unsigned int PAIR_CODE_LEN = 10; static constexpr uint8_t PAIR_CODE_LEN = 10;
static constexpr unsigned int CODE_LEN_MAX = 15; static constexpr uint8_t CODE_LEN_MAX = 15;
static constexpr int GRID_COLS = 4; static constexpr uint8_t GRID_COLS = 4;
static constexpr int GRID_ROWS = ENCODING_BASE / GRID_COLS; static constexpr uint8_t GRID_ROWS = ENCODING_BASE / GRID_COLS;
static constexpr olc_coord_t LAT_MAX = 90 * OLC_DEG_MULTIPLIER; static constexpr int32_t LAT_MAX = 90 * OLC_DEG_MULTIPLIER;
static constexpr olc_coord_t LON_MAX = 180 * OLC_DEG_MULTIPLIER; static constexpr int32_t LON_MAX = 180 * OLC_DEG_MULTIPLIER;
olc_coord_t AP_OLC::grid_size; int32_t AP_OLC::grid_size;
olc_coord_t AP_OLC::initial_resolution; int32_t AP_OLC::initial_resolution;
const char AP_OLC::alphabet[] = "23456789CFGHJMPQRVWX"; const char alphabet[] = "23456789CFGHJMPQRVWX";
bool AP_OLC::inited = false; bool AP_OLC::inited = false;
void AP_OLC::init_constants(void) void AP_OLC::init_constants(void)
{ {
if (inited) { if (inited) {
@ -55,7 +53,7 @@ void AP_OLC::init_constants(void)
inited = true; inited = true;
// Work out the encoding base exponent necessary to represent 360 degrees. // Work out the encoding base exponent necessary to represent 360 degrees.
olc_coord_t initial_exponent = floorf(logf(2 * (LON_MAX / OLC_DEG_MULTIPLIER)) / logf(ENCODING_BASE)); int32_t initial_exponent = floorf(logf(2 * (LON_MAX / OLC_DEG_MULTIPLIER)) / logf(ENCODING_BASE));
// Work out the enclosing resolution (in degrees) for the grid algorithm. // Work out the enclosing resolution (in degrees) for the grid algorithm.
AP_OLC::grid_size = (1 / powf(ENCODING_BASE, PAIR_CODE_LEN / 2 - (initial_exponent + 1))) * OLC_DEG_MULTIPLIER; AP_OLC::grid_size = (1 / powf(ENCODING_BASE, PAIR_CODE_LEN / 2 - (initial_exponent + 1))) * OLC_DEG_MULTIPLIER;
@ -77,7 +75,7 @@ float AP_OLC::compute_precision_for_length(int length)
return powf(ENCODING_BASE, -3) / powf(5, length - (int)PAIR_CODE_LEN); return powf(ENCODING_BASE, -3) / powf(5, length - (int)PAIR_CODE_LEN);
} }
olc_coord_t AP_OLC::adjust_latitude(olc_coord_t lat, size_t code_len) int32_t AP_OLC::adjust_latitude(int32_t lat, size_t code_len)
{ {
if (lat < -LAT_MAX) { if (lat < -LAT_MAX) {
lat = -LAT_MAX; lat = -LAT_MAX;
@ -87,13 +85,13 @@ olc_coord_t AP_OLC::adjust_latitude(olc_coord_t lat, size_t code_len)
} }
if (lat >= LAT_MAX) { if (lat >= LAT_MAX) {
// Subtract half the code precision to get the latitude into the code area. // Subtract half the code precision to get the latitude into the code area.
olc_coord_t precision = compute_precision_for_length(code_len) * OLC_DEG_MULTIPLIER; int32_t precision = compute_precision_for_length(code_len) * OLC_DEG_MULTIPLIER;
lat -= precision / 2; lat -= precision / 2;
} }
return lat; return lat;
} }
olc_coord_t AP_OLC::normalize_longitude(olc_coord_t lon) int32_t AP_OLC::normalize_longitude(int32_t lon)
{ {
while (lon < -LON_MAX) { while (lon < -LON_MAX) {
lon += LON_MAX; lon += LON_MAX;
@ -110,7 +108,7 @@ olc_coord_t AP_OLC::normalize_longitude(olc_coord_t lon)
// uses pairs of characters (latitude and longitude in that order) to represent // uses pairs of characters (latitude and longitude in that order) to represent
// each step in a 20x20 grid. Each code, therefore, has 1/400th the area of // each step in a 20x20 grid. Each code, therefore, has 1/400th the area of
// the previous code. // the previous code.
unsigned AP_OLC::encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length, char *buf, size_t bufsize) unsigned AP_OLC::encode_pairs(uint32_t lat, uint32_t lon, size_t length, char *buf, size_t bufsize)
{ {
if ((length + 1) >= bufsize) { if ((length + 1) >= bufsize) {
buf[0] = '\0'; buf[0] = '\0';
@ -118,7 +116,7 @@ unsigned AP_OLC::encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length,
} }
unsigned pos = 0; unsigned pos = 0;
olc_coord_t resolution = AP_OLC::initial_resolution; int32_t resolution = AP_OLC::initial_resolution;
// Add two digits on each pass. // Add two digits on each pass.
for (size_t digit_count = 0; for (size_t digit_count = 0;
digit_count < length; digit_count < length;
@ -165,7 +163,7 @@ unsigned AP_OLC::encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length,
// //
// This allows default accuracy OLC codes to be refined with just a single // This allows default accuracy OLC codes to be refined with just a single
// character. // character.
int AP_OLC::encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length, int AP_OLC::encode_grid(uint32_t lat, uint32_t lon, size_t length,
char *buf, size_t bufsize) char *buf, size_t bufsize)
{ {
if ((length + 1) >= bufsize) { if ((length + 1) >= bufsize) {
@ -175,15 +173,15 @@ int AP_OLC::encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,
int pos = 0; int pos = 0;
olc_coord_t lat_grid_size = AP_OLC::grid_size; int32_t lat_grid_size = AP_OLC::grid_size;
olc_coord_t lon_grid_size = AP_OLC::grid_size; int32_t lon_grid_size = AP_OLC::grid_size;
lat %= lat_grid_size; lat %= lat_grid_size;
lon %= lon_grid_size; lon %= lon_grid_size;
for (size_t i = 0; i < length; i++) { for (size_t i = 0; i < length; i++) {
olc_coord_t lat_div = lat_grid_size / GRID_ROWS; int32_t lat_div = lat_grid_size / GRID_ROWS;
olc_coord_t lon_div = lon_grid_size / GRID_COLS; int32_t lon_div = lon_grid_size / GRID_COLS;
if (lat_div == 0 || lon_div == 0) { if (lat_div == 0 || lon_div == 0) {
// This case happens when OLC_DEG_MULTIPLIER doesn't have enough // This case happens when OLC_DEG_MULTIPLIER doesn't have enough
@ -204,15 +202,15 @@ int AP_OLC::encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,
return pos; return pos;
} }
int AP_OLC::olc_encode(olc_coord_t lat, olc_coord_t lon, size_t length, char *buf, size_t bufsize) int AP_OLC::olc_encode(int32_t lat, int32_t lon, size_t length, char *buf, size_t bufsize)
{ {
int pos = 0; int pos = 0;
length = MIN(length, CODE_LEN_MAX); length = MIN(length, CODE_LEN_MAX);
// Adjust latitude and longitude so they fall into positive ranges. // Adjust latitude and longitude so they fall into positive ranges.
uolc_coord_t alat = adjust_latitude(lat, length) + LAT_MAX; uint32_t alat = adjust_latitude(lat, length) + LAT_MAX;
uolc_coord_t alon = normalize_longitude(lon) + LON_MAX; uint32_t alon = normalize_longitude(lon) + LON_MAX;
init_constants(); init_constants();

37
libraries/AP_OLC/AP_OLC.h
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@ -16,35 +16,34 @@
*/ */
#pragma once #pragma once
#include <AP_Common/AP_Common.h> #include <stdint.h>
typedef int32_t olc_coord_t; typedef int32_t int32_t;
typedef uint32_t uolc_coord_t;
static constexpr olc_coord_t OLC_DEG_MULTIPLIER = 10000000; // 1e7
static constexpr int32_t OLC_DEG_MULTIPLIER = 10000000; // 1e7
class AP_OLC class AP_OLC
{ {
public: public:
// olc_encodes the given coordinates in lat and lon (deg * OLC_DEG_MULTIPLIER) // olc_encodes the given coordinates in lat and lon (deg * OLC_DEG_MULTIPLIER)
// as an OLC code of the given length. It returns the number of characters // as an OLC code of the given length. It returns the number of characters
// written to buf. // written to buf.
static int olc_encode(olc_coord_t lat, olc_coord_t lon, size_t length, char *buf, size_t bufsize); static int olc_encode(int32_t lat, int32_t lon, size_t length, char *buf, size_t bufsize);
private: private:
static bool inited; static bool inited;
// Initialized via init_constants() // Initialized via init_constants()
static olc_coord_t grid_size; static int32_t grid_size;
static olc_coord_t initial_resolution; static int32_t initial_resolution;
static const char alphabet[];
static void init_constants(void); static void init_constants(void);
static float compute_precision_for_length(int length); static float compute_precision_for_length(int length);
static olc_coord_t adjust_latitude(olc_coord_t lat, size_t code_len); static int32_t adjust_latitude(int32_t lat, size_t code_len);
static olc_coord_t normalize_longitude(olc_coord_t lon); static int32_t normalize_longitude(int32_t lon);
static unsigned encode_pairs(uolc_coord_t lat, uolc_coord_t lon, size_t length, char *buf, size_t bufsize); static unsigned encode_pairs(uint32_t lat, uint32_t lon, size_t length, char *buf, size_t bufsize);
static int encode_grid(uolc_coord_t lat, uolc_coord_t lon, size_t length,char *buf, size_t bufsize); static int encode_grid(uint32_t lat, uint32_t lon, size_t length,char *buf, size_t bufsize);
}; };

1
libraries/AP_OSD/AP_OSD.h
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@ -187,7 +187,6 @@ private:
AP_OSD_Setting batt_bar{true, 1, 1}; AP_OSD_Setting batt_bar{true, 1, 1};
AP_OSD_Setting arming{true, 1, 1}; AP_OSD_Setting arming{true, 1, 1};
void draw_altitude(uint8_t x, uint8_t y); void draw_altitude(uint8_t x, uint8_t y);
void draw_bat_volt(uint8_t x, uint8_t y); void draw_bat_volt(uint8_t x, uint8_t y);
void draw_rssi(uint8_t x, uint8_t y); void draw_rssi(uint8_t x, uint8_t y);

31
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -706,22 +706,6 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
// @Range: 0 15 // @Range: 0 15
AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(clk, "CLK", 43, AP_OSD_Screen, AP_OSD_Setting),
// @Param: PLUSCODE_EN
// @DisplayName: PLUSCODE_EN
// @Description: Displays total flight time
// @Values: 0:Disabled,1:Enabled
// @Param: PLUSCODE_X
// @DisplayName: PLUSCODE_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: PLUSCODE_Y
// @DisplayName: PLUSCODE_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(pluscode, "PLUSCODE", 44, AP_OSD_Screen, AP_OSD_Setting),
#if HAL_MSP_ENABLED #if HAL_MSP_ENABLED
// @Param: SIDEBARS_EN // @Param: SIDEBARS_EN
// @DisplayName: SIDEBARS_EN // @DisplayName: SIDEBARS_EN
@ -852,6 +836,21 @@ const AP_Param::GroupInfo AP_OSD_Screen::var_info[] = {
AP_SUBGROUPINFO(arming, "ARMING", 51, AP_OSD_Screen, AP_OSD_Setting), AP_SUBGROUPINFO(arming, "ARMING", 51, AP_OSD_Screen, AP_OSD_Setting),
#endif //HAL_MSP_ENABLED #endif //HAL_MSP_ENABLED
// @Param: PLUSCODE_EN
// @DisplayName: PLUSCODE_EN
// @Description: Displays pluscode (OLC) element
// @Values: 0:Disabled,1:Enabled
// @Param: PLUSCODE_X
// @DisplayName: PLUSCODE_X
// @Description: Horizontal position on screen
// @Range: 0 29
// @Param: PLUSCODE_Y
// @DisplayName: PLUSCODE_Y
// @Description: Vertical position on screen
// @Range: 0 15
AP_SUBGROUPINFO(pluscode, "PLUSCODE", 52, AP_OSD_Screen, AP_OSD_Setting),
AP_GROUPEND AP_GROUPEND
}; };