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Avarex avare sentence comparison #97

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154 changes: 86 additions & 68 deletions lib/instruments/autopilot.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -8,28 +8,37 @@ import 'package:avaremp/nmea/rmb_packet.dart';
import 'package:avaremp/nmea/rmc_packet.dart';
import 'package:avaremp/plan/waypoint.dart';
import 'package:avaremp/storage.dart';
import 'package:latlong2/latlong.dart';

import '../io/gps.dart';

class AutoPilot {
static const double _metersPerNauticalMile = 1852.0;
static const double _metersPerSecondToKnots = 1.94384;
static final Distance _distanceCalculator = const Distance(calculator: Haversine());

static String apCreateSentences() {
final position = Storage().position;
final LatLng currentPosition = Gps.toLatLng(position);
final double speedKnots = _speedKnots(position.speed);

// Create NMEA packet #1
RMCPacket rmcPacket = RMCPacket(
Storage().position.timestamp.millisecondsSinceEpoch,
Storage().position.latitude,
Storage().position.longitude,
GeoCalculations.convertSpeed(Storage().position.speed),
Storage().position.heading,
position.timestamp.millisecondsSinceEpoch,
position.latitude,
position.longitude,
speedKnots,
position.heading,
Storage().area.variation,
);
String apText = rmcPacket.packet;

// Create NMEA packet #2
GGAPacket ggaPacket = GGAPacket(
Storage().position.timestamp.millisecondsSinceEpoch,
Storage().position.latitude,
Storage().position.longitude,
Storage().position.altitude,
position.timestamp.millisecondsSinceEpoch,
position.latitude,
position.longitude,
position.altitude,
6, // just assume as no way to get
Storage().area.geoAltitude,
0 // just assume as no way to get
Expand All @@ -41,66 +50,67 @@ class AutoPilot {

// there is no concept of destination without plan in X.
if (wp != null) {
int indexCurrent = destinations.indexWhere((element) => element == wp.destination);
if (indexCurrent > 0) {
Destination next = destinations[indexCurrent];
Destination prev = destinations[indexCurrent - 1];
String startID = prev.locationID;
String endID = next.locationID;

// Limit our station IDs to 5 chars max so we don't exceed the 80 char
// sentence limit. A "GPS" fix has a temp name that is quite long
if (startID.length > 5) {
startID = "gSRC";
}

if (endID.length > 5) {
endID = "gDST";
}

double brgOrig = GeoCalculations().calculateBearing(
prev.coordinate,
next.coordinate);

double bearing = GeoCalculations().calculateBearing(
Gps.toLatLng(Storage().position),
next.coordinate);

double distance = GeoCalculations().calculateDistance(
Gps.toLatLng(Storage().position),
next.coordinate);

// Calculate how many miles we are to the side of the course line
double deviation = distance * sin(_angularDifference(brgOrig, bearing));

// If we are to the left of the course line, then make our deviation negative.
if (_leftOfCourseLine(bearing, brgOrig)) {
deviation = -deviation;
}

// We now have all the info to create NMEA packet #3
RMBPacket rmbPacket = RMBPacket(
distance,
bearing,
next.coordinate.longitude,
next.coordinate.latitude,
endID,
startID,
deviation,
GeoCalculations.convertSpeed(Storage().position.speed),
destinations.length == indexCurrent + 1,
);
apText += rmbPacket.packet;

// Now for the final NMEA packet
BODPacket bodPacket = BODPacket(
endID,
startID,
brgOrig,
GeoCalculations.getMagneticHeading(brgOrig, (next.geoVariation == null ? Storage().area.variation : next.geoVariation!)),
);
apText += bodPacket.packet;
Destination next = wp.destination;
Destination? prev = Storage().route.getPreviousDestination();
String startID = prev?.locationID ?? "";
String endID = next.locationID;

// Limit our station IDs to 5 chars max so we don't exceed the 80 char
// sentence limit. A "GPS" fix has a temp name that is quite long
if (startID.length > 5) {
startID = "gSRC";
}

if (endID.length > 5) {
endID = "gDST";
}

LatLng origin = prev?.coordinate ?? currentPosition;
double brgOrig = GeoCalculations().calculateBearing(
origin,
next.coordinate);

double bearing = GeoCalculations().calculateBearing(
currentPosition,
next.coordinate);

double distance = _distanceNm(
currentPosition,
next.coordinate);

// Calculate how many nm we are to the side of the course line
double deviation = distance * sin(GeoCalculations.toRadians(_angularDifference(brgOrig, bearing)));

// If we are to the left of the course line, then make our deviation negative.
if (_leftOfCourseLine(bearing, brgOrig)) {
deviation = -deviation;
}

int indexCurrent = destinations.indexWhere((element) => element == next);
bool planComplete = indexCurrent >= 0 && destinations.length == indexCurrent + 1;

// We now have all the info to create NMEA packet #3
RMBPacket rmbPacket = RMBPacket(
distance,
bearing,
next.coordinate.longitude,
next.coordinate.latitude,
endID,
startID,
deviation,
speedKnots,
planComplete,
);
apText += rmbPacket.packet;

// Now for the final NMEA packet
BODPacket bodPacket = BODPacket(
endID,
startID,
brgOrig,
GeoCalculations.getMagneticHeading(brgOrig, (next.geoVariation == null ? Storage().area.variation : next.geoVariation!)),
);
apText += bodPacket.packet;
}
return apText;
}
Expand All @@ -125,4 +135,12 @@ class AutoPilot {
// brgCourse will be > 180 at this point
return (bT > bC || bT < bC - 180);
}

static double _speedKnots(double metersPerSecond) {
return metersPerSecond * _metersPerSecondToKnots;
}

static double _distanceNm(LatLng from, LatLng to) {
return _distanceCalculator(from, to) / _metersPerNauticalMile;
}
}
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