public void CalcMeasure()
{
if (measureRange.FromLocation != null && measureRange.ToLocation != null)
{
double lat1 = measureRange.FromLocation.Latitude;
double lon1 = measureRange.FromLocation.Longitude;
double lat2 = measureRange.ToLocation.Latitude;
double lon2 = measureRange.ToLocation.Longitude;
measureResult.DST = CalcDistance(lat1, lon1, lat2, lon2) / 1852;
double brg = CalcBearing(lat1, lon1, lat2, lon2);
measureResult.BRG = (brg + 360) % 360;
if (TWS.IsValid())
{
measureResult.TWA = ConvertTo180((TWD.Val - brg + 360) % 360);
}
double vmc = 0;
PolarPoint p = new PolarPoint();
if (SOG.IsValid())
{
vmc = SOG.Val;
}
if (TWD.IsValid() && SPD.IsValid() && NavPolar.IsLoaded)
{
double Angle = Math.Abs(measureResult.TWA % 360);
if (Angle > 180)
{
Angle = 360 - Angle;
}
if (Angle < 50)
{
p = NavPolar.GetBeatTargeInterpolated(TWS.Val);
vmc = p.SPD * Math.Cos(p.TWA * Math.PI / 180);
}
else
if (Angle > 140)
{
p = NavPolar.GetRunTargetInterpolated(TWS.Val);
vmc = -p.SPD * Math.Cos(p.TWA * Math.PI / 180);
}
else
{
vmc = NavPolar.GetTargeInterpolated(Angle, TWS.Val);
}
}
if (vmc != 0)
{
double xx = measureResult.DST / vmc;
if (xx > TimeSpan.MaxValue.TotalHours)
{
xx = TimeSpan.MaxValue.TotalHours - 1;
}
if (xx < TimeSpan.MinValue.TotalHours)
{
xx = TimeSpan.MinValue.TotalHours + 1;
}
measureResult.TTG = TimeSpan.FromHours(xx);
}
else
{
measureResult.TTG = TimeSpan.FromHours(0);
}
}
}
public void CalcNav(DateTime now, bool bypassComm = false)
{
sailingMode = SailingMode.None;
#region Primitives
if (rmc_received || bypassComm)
{
LAT.Val = lat;
LON.Val = lon;
SOG.Val = sog;
COG.Val = cog;
LAT.SetValid(now);
LON.SetValid(now);
SOG.SetValid(now);
COG.SetValid(now);
RMC_received_Timer.Start();
}
if (vhw_received || bypassComm)
{
SPD.Val = spd;
SPD.SetValid(now);
}
if (dpt_received || bypassComm)
{
DPT.Val = dpt;
DPT.SetValid(now);
}
if (mwv_received || bypassComm)
{
AWA.Val = awa;
AWS.Val = aws;
AWA.SetValid(now);
AWS.SetValid(now);
}
if (mtw_received || bypassComm)
{
TEMP.Val = temp;
TEMP.SetValid(now);
}
if (hdg_received || bypassComm)
{
double mv = Properties.Settings.Default.MagVar; //default
if (mvar2 != 0)
{
mv = mvar2; //From HDG
}
if (mvar1 != 0)
{
mv = mvar1; //From RMC
}
MVAR.Val = mv;
MVAR.SetValid(now);
if (bypassComm)
{
mv = 0; // heading from log file is "true heading" no need for correction
}
HDT.Val = hdg + mv;
HDT.SetValid(now);
}
#endregion
#region Position, Leg bearing, distance, XTE and VMG
if (LAT.IsValid() && LON.IsValid())
{
POS.Val.Latitude = LAT.Val;
POS.Val.Longitude = LON.Val;
POS.SetValid(now);
}
else
{
POS.Invalidate();
}
if (ActiveLeg != null)
{
LWLAT.Val = ActiveLeg.FromLocation.Latitude;
LWLAT.SetValid(now);
LWLON.Val = ActiveLeg.FromLocation.Longitude;
LWLON.SetValid(now);
LWPT.Val.str = ActiveLeg.FromMark.Name;
LWPT.SetValid(now);
}
else
{
LWLAT.Invalidate();
LWLON.Invalidate();
LWPT.Invalidate();
}
if (!bypassComm || replayLog)
{
if (ActiveMark != null && POS.IsValid())
{
WLAT.Val = ActiveMark.Location.Latitude;
WLAT.SetValid(now);
WLON.Val = ActiveMark.Location.Longitude;
WLON.SetValid(now);
WPT.Val.str = ActiveMark.Name;
WPT.SetValid(now);
BRG.Val = CalcBearing(LAT.Val, LON.Val, WLAT.Val, WLON.Val);
BRG.SetValid(now);
DST.Val = CalcDistance(LAT.Val, LON.Val, WLAT.Val, WLON.Val) / 1852;
DST.SetValid(now);
}
else
{
WLAT.Invalidate();
WLON.Invalidate();
WPT.Invalidate();
BRG.Invalidate();
DST.Invalidate();
}
}
if (WPT.IsValid() && LWPT.IsValid())
{
LEGBRG.Val = CalcBearing(LWLAT.Val, LWLON.Val, WLAT.Val, WLON.Val);
LEGBRG.SetValid(now);
}
else
{
if (LEGBRG.IsValid())
{
LEGBRG.Invalidate();
}
}
if (LWPT.IsValid())
{
XTE.Val = Math.Asin(Math.Sin(DST.Val * 1.852 / 6371) * Math.Sin((BRG.Val - LEGBRG.Val) * Math.PI / 180)) * 6371 / 1.852;
XTE.SetValid(now);
}
else
if (XTE.IsValid())
{
XTE.Invalidate();
}
if (SOG.IsValid() && BRG.IsValid() && WPT.IsValid())
{
VMGWPT.Val = SOG.Val * Math.Cos((COG.Val - BRG.Val) * Math.PI / 180);
VMGWPT.SetValid(now);
}
else
{
if (VMGWPT.IsValid())
{
VMGWPT.Invalidate();
}
}
#endregion
#region True Wind
if (AWA.IsValid() && SPD.IsValid())
{
double Dx = AWS.Val * Math.Cos(AWA.Val * Math.PI / 180) - SPD.Val;
double Dy = AWS.Val * Math.Sin(AWA.Val * Math.PI / 180);
TWS.Val = Math.Sqrt(Dx * Dx + Dy * Dy);
TWS.SetValid(now);
TWA.Val = Math.Atan2(Dy, Dx) * 180 / Math.PI;
TWA.SetValid(now);
VMG.Val = SPD.Val * Math.Cos(TWA.Val * Math.PI / 180);
VMG.SetValid(now);
//Set estimated saling mode in case route and/or performance data is not available
if (Math.Abs(TWA.Val) < 55)
{
sailingMode = SailingMode.Beating;
}
else
if (Math.Abs(TWA.Val) > 130)
{
sailingMode = SailingMode.Running;
}
else
{
sailingMode = SailingMode.Reaching;
}
}
else
{
if (TWS.IsValid())
{
TWS.Invalidate();
}
if (TWA.IsValid())
{
TWA.Invalidate();
}
if (VMG.IsValid())
{
VMG.Invalidate();
}
}
if (TWS.IsValid() && HDT.IsValid())
{
TWD.Val = HDT.Val + TWA.Val;
TWD.SetValid(now);
}
else
{
if (TWD.IsValid())
{
TWD.Invalidate();
}
}
#endregion
#region Leeway
if (AWA.IsValid() && SPD.IsValid() && LWay.IsAvailable() && Properties.Settings.Default.EstimateLeeway)
{
LWY.Val = LWay.Get(AWA.Val, AWS.Val, SPD.Val);
LWY.SetValid(now);
}
#endregion
#region Heel
//if (AWA.IsValid() && SPD.IsValid())
//{
// double k = 7,
// a = 2,
// b = 200,
// c = 1.5;
// var awa = Math.Abs(AWA.Val);
// var aws = AWS.Val;
// HEEL.Val = k * awa * Math.Pow(aws, c) / (Math.Pow(awa, a) + b);
// if (HEEL.Val > 45) HEEL.Val = 45;
// HEEL.SetValid(now);
//}
//else
//{
// if (HEEL.IsValid())
// HEEL.Invalidate();
//}
#endregion
#region Drift
if (SOG.IsValid() && COG.IsValid() && HDT.IsValid() && SPD.IsValid())
{
double Dx = SOG.Val * Math.Cos(COG.Val * Math.PI / 180) - SPD.Val * Math.Cos(HDT.Val * Math.PI / 180);
double Dy = SOG.Val * Math.Sin(COG.Val * Math.PI / 180) - SPD.Val * Math.Sin(HDT.Val * Math.PI / 180);
if (LWY.IsValid())
{
double lwy;
if (AWA.Val < 0)
{
lwy = -LWY.Val;
}
else
{
lwy = LWY.Val;
}
double lm = SPD.Val * Math.Tan(lwy * Math.PI / 180);
double la = HDT.Val - 90;
double lx = lm * Math.Cos(la * Math.PI / 180);
double ly = lm * Math.Sin(la * Math.PI / 180);
double ang = Math.Atan2(ly, lx) * 180 / Math.PI;
Dx -= lx;
Dy -= ly;
}
DRIFT.Val = Math.Sqrt(Dx * Dx + Dy * Dy);
DRIFT.SetValid(now);
SET.Val = Math.Atan2(Dy, Dx) * 180 / Math.PI;
SET.SetValid(now);
}
else
{
if (DRIFT.IsValid())
{
DRIFT.Invalidate();
}
if (SET.IsValid())
{
SET.Invalidate();
}
}
#endregion
#region Performance
if (TWA.IsValid() && SPD.IsValid() && NavPolar.IsLoaded && BRG.IsValid())
{
double Angle = Math.Abs(TWD.Val - BRG.Val + 360) % 360;
if (Angle > 180)
{
Angle = 360 - Angle;
}
PolarPoint pb = NavPolar.GetBeatTargeInterpolated(TWS.Val);
PolarPoint pr = NavPolar.GetRunTargetInterpolated(TWS.Val);
if (Angle <= (pb.TWA + 20)) // Beating
{
TGTSPD.Val = pb.SPD;
TGTSPD.SetValid(now);
TGTTWA.Val = pb.TWA;
TGTTWA.SetValid(now);
PERF.Val = VMG.Val / (pb.SPD * Math.Cos(pb.TWA * Math.PI / 180));
PERF.SetValid(now);
sailingMode = SailingMode.Beating;
}
if (Angle < (pr.TWA - 20) && Angle > (pb.TWA + 20)) // Reaching
{
TGTSPD.Val = NavPolar.GetTargeInterpolated(Math.Abs(TWA.Val), TWS.Val);
TGTSPD.SetValid(now);
TGTTWA.Val = Math.Abs(TWA.Val);
TGTTWA.SetValid(now);
PERF.Val = Math.Abs(SPD.Val * Math.Cos((COG.Val - BRG.Val) * Math.PI / 180) / TGTSPD.Val);
PERF.SetValid(now);
sailingMode = SailingMode.Reaching;
}
if (Angle >= (pr.TWA - 20)) // Running
{
TGTSPD.Val = pr.SPD;
TGTSPD.SetValid(now);
TGTTWA.Val = pr.TWA;
TGTTWA.SetValid(now);
PERF.Val = VMG.Val / (pr.SPD * Math.Cos(pr.TWA * Math.PI / 180));
PERF.SetValid(now);
sailingMode = SailingMode.Running;
}
}
else
{
if (TGTSPD.IsValid())
{
TGTSPD.Invalidate();
}
if (TGTTWA.IsValid())
{
TGTTWA.Invalidate();
}
if (PERF.IsValid())
{
PERF.Invalidate();
}
}
#endregion
#region Line
if (p1_set && p2_set && LAT.IsValid() && HDT.IsValid())
{
double p3_lat = LAT.Val, p3_lon = LON.Val;
if (Properties.Settings.Default.GPSoffsetToBow != 0)
{
CalcPosition(LAT.Val, LON.Val, Properties.Settings.Default.GPSoffsetToBow, HDT.Val, ref p3_lat, ref p3_lon);
}
double brg32 = CalcBearing(p3_lat, p3_lon, p2_lat, p2_lon);
double dst32 = CalcDistance(p3_lat, p3_lon, p2_lat, p2_lon);
LINEDST.Val = dst32 * Math.Sin((linebrg - brg32) * Math.PI / 180);
LINEDST.SetValid(now);
}
else
{
if (LINEDST.IsValid())
{
LINEDST.Invalidate();
}
}
#endregion
#region Route nav
if (ActiveMark != null && DST.IsValid() && !ManOverBoard)
{
if (DST.Val <= Properties.Settings.Default.WptProximity && ActiveMark != MOB)
{
(new SoundPlayer(@".\Sounds\BELL7.WAV")).PlaySync();
if (ActiveLeg != null)
{
if (ActiveLeg.NextLeg != null)
{
ActiveLeg = ActiveLeg.NextLeg;
ActiveMark = ActiveLeg.ToMark;
}
else
{
ActiveMark = null;
ActiveLeg = null;
ActiveRoute = null;
}
}
else
{
ActiveMark = null;
}
}
}
if (ActiveRoute != null)
{
if (ActiveLeg.NextLeg != null && TWD.IsValid())
{
NTWA.Val = TWD.Val - ActiveLeg.NextLeg.Bearing;
NTWA.SetValid(now);
}
else
{
NTWA.Invalidate();
}
}
#endregion
#region Laylines
insideCourse = false; // Need to determine later
if (DRIFT.IsValid() && PERF.IsValid() && TWD.IsValid())
{
double ttwa = TGTTWA.Val;
double tgtlwy = 0;
if (LWY.IsValid())
{
double awx = TWS.Val * Math.Cos(ttwa * Math.PI / 180) + TGTSPD.Val;
double awy = TWS.Val * Math.Sin(ttwa * Math.PI / 180);
double tgtawa = Math.Atan2(awy, awx) * 180 / Math.PI;
double tgtaws = Math.Sqrt(awx * awx + awy * awy);
tgtlwy = LWay.Get(tgtawa, tgtaws, TGTSPD.Val);
}
ttwa += tgtlwy;
if (ttwa > 180)
{
ttwa = 180;
}
double relset = SET.Val - TWD.Val;
double dxs = TGTSPD.Val * Math.Cos(ttwa * Math.PI / 180) + DRIFT.Val * Math.Cos(relset * Math.PI / 180);
double dys = TGTSPD.Val * Math.Sin(ttwa * Math.PI / 180) + DRIFT.Val * Math.Sin(relset * Math.PI / 180);
TGTCOGp.Val = Math.Atan2(dys, dxs) * 180 / Math.PI + TWD.Val;
TGTCOGp.SetValid(now);
TGTSOGp.Val = Math.Sqrt(dxs * dxs + dys * dys);
TGTSOGp.SetValid(now);
double dxp = TGTSPD.Val * Math.Cos(-ttwa * Math.PI / 180) + DRIFT.Val * Math.Cos(relset * Math.PI / 180);
double dyp = TGTSPD.Val * Math.Sin(-ttwa * Math.PI / 180) + DRIFT.Val * Math.Sin(relset * Math.PI / 180);
TGTCOGs.Val = Math.Atan2(dyp, dxp) * 180 / Math.PI + TWD.Val;
TGTCOGs.SetValid(now);
TGTSOGs.Val = Math.Sqrt(dxp * dxp + dyp * dyp);
TGTSOGs.SetValid(now);
// Determine if sailing inside course +/- 0 degrees
double a1 = (BRG.Val - TGTCOGs.Val - 0 + 360) % 360;
double a2 = (TGTCOGp.Val - 0 - TGTCOGs.Val + 360) % 360;
switch (sailingMode)
{
case SailingMode.Beating:
if (a1 < a2)
{
insideCourse = true;
}
break;
case SailingMode.Running:
if (a2 < a1)
{
insideCourse = true;
}
break;
}
// Calculate Layline hit points
if (ActiveMark != null)
{
double alpha = (TGTCOGp.Val - BRG.Val + 360) % 360;
double beta = (BRG.Val - TGTCOGs.Val + 360) % 360;
double dist_s, dist_p;
if (alpha == 0)
{
dist_p = DST.Val;
dist_s = 0;
}
else
{
if (beta == 0)
{
dist_s = DST.Val;
dist_p = 0;
}
else
{
dist_p = DST.Val * Math.Sin(beta * Math.PI / 180) /
(Math.Sin(alpha * Math.PI / 180) * Math.Cos(beta * Math.PI / 180) +
Math.Cos(alpha * Math.PI / 180) * Math.Sin(beta * Math.PI / 180));
dist_s = DST.Val * Math.Sin(alpha * Math.PI / 180) /
(Math.Sin(alpha * Math.PI / 180) * Math.Cos(beta * Math.PI / 180) +
Math.Cos(alpha * Math.PI / 180) * Math.Sin(beta * Math.PI / 180));
}
}
DSTLYLp.Val = dist_p * 1852;
DSTLYLp.SetValid(now);
DSTLYLs.Val = dist_s * 1852;
DSTLYLs.SetValid(now);
double xx = DSTLYLp.Val / TGTSOGp.Val * 3600 / 1852;
if (xx > TimeSpan.MaxValue.TotalHours)
{
xx = TimeSpan.MaxValue.TotalHours - 1;
}
if (xx < TimeSpan.MinValue.TotalHours)
{
xx = TimeSpan.MinValue.TotalHours + 1;
}
TTGLYLp.Val = TimeSpan.FromSeconds(xx);
TTGLYLp.SetValid(now);
xx = DSTLYLs.Val / TGTSOGs.Val * 3600 / 1852;
if (xx > TimeSpan.MaxValue.TotalHours)
{
xx = TimeSpan.MaxValue.TotalHours - 1;
}
if (xx < TimeSpan.MinValue.TotalHours)
{
xx = TimeSpan.MinValue.TotalHours + 1;
}
TTGLYLs.Val = TimeSpan.FromSeconds(xx);
TTGLYLs.SetValid(now);
}
}
else
{
if (TGTCOGp.IsValid())
{
TGTCOGp.Invalidate();
}
if (TGTSOGp.IsValid())
{
TGTSOGp.Invalidate();
}
if (TGTCOGs.IsValid())
{
TGTCOGs.Invalidate();
}
if (TGTSOGs.IsValid())
{
TGTSOGs.Invalidate();
}
if (DSTLYLp.IsValid())
{
DSTLYLp.Invalidate();
}
if (DSTLYLs.IsValid())
{
DSTLYLs.Invalidate();
}
}
#endregion
if (replayLog == true)
{
if (deltaLog == TimeSpan.Zero)
{
//deltaLog = now - new DateTime(2020, 03, 15);
deltaLog = now - DateTime.Now;
}
now = now - deltaLog;
}
PushToLogDB(now);
}