public void StructureArgumentGetsSameResultDistAndDir()
{
GreatCircle.DistAndDir(-35.84, 94,
35.87, -85, out var dist1, out var dir1);
GreatCircle.DistAndDir(new GeographicPosition(-35.84, 94, 100), new GeographicPosition(35.87, -85, 200), out var dist2, out var dir2);
Assert.Equal(dist1, dist2.Meters);
Assert.Equal(dir1 + 360.0, dir2.Degrees);
}
/// <summary>
/// Calculates distances and directions between the waypoints
/// </summary>
private void CalculateMetaData()
{
for (var index = 0; index < _routePoints.Count; index++)
{
var pt = _routePoints[index];
// First, make sure the total length and other properties are copied correctly everywhere
pt.RouteName = Name;
pt.IndexInRoute = index;
pt.TotalPointsInRoute = _routePoints.Count;
if (index != _routePoints.Count - 1)
{
GreatCircle.DistAndDir(pt.Position, _routePoints[index + 1].Position, out var distance, out var direction);
pt.DistanceToNextWaypoint = distance;
pt.BearingToNextWaypoint = direction;
}
}
}
public void WGS84Test_Statics()
{
Assert.True(TestDistAndDir(0, 180, 0, -180));
Assert.True(TestDistAndDir(0, -179, 0, 179));
Assert.True(TestDistAndDir(45, 10, -55, -170));
Assert.True(TestDistAndDir(-35.84, 94, 35.87, -85));
double dist = 0;
double dir = 0;
GreatCircle.DistAndDir(47, 9, 47, 9, out dist, out dir);
Assert.Equal(0, dist);
double dist2 = 0;
double dir2 = 0;
GreatCircle.DistAndDir(-35.84, 94,
35.87, -85, out dist, out dir);
GreatCircle.DistAndDir(-35.840000001, 94,
35.87, -85, out dist2, out dir2);
Assert.True(dist2 > dist);
GreatCircle.DistAndDir(-35.84, 94.000001,
35.87, -85, out dist2, out dir2);
Assert.True(dist2 > dist);
}
public void GreatCircleDeltas()
{
GeographicPosition p1 = new GeographicPosition(0, 1, 0);
GeographicPosition p2 = new GeographicPosition(0, 2, 0);
GeographicPosition p3 = new GeographicPosition(1, 1, 0);
Length distance = p1.DistanceTo(p2);
Angle direction;
Assert.Equal(111319.49079327357, distance.Meters, 10);
direction = p1.DirectionTo(p2);
Assert.Equal(90, direction.Degrees, 10);
distance = p1.DistanceTo(p3);
Assert.Equal(110574.38855780043, distance.Meters, 10);
p1 = new GeographicPosition(89.9999999, 0, 0);
p2 = new GeographicPosition(-89.999, 0, 0);
GreatCircle.DistAndDir(p1, p2, out distance, out direction);
Assert.Equal(20003.8197534766, distance.Kilometers, 10);
Assert.Equal(180, direction.Degrees, 5);
p1 = new GeographicPosition(0.00002, 90.99, 0);
p2 = new GeographicPosition(0.00001, -89.99, 0);
GreatCircle.DistAndDir(p1, p2, out distance, out direction);
Assert.Equal(19928.415241680563, distance.Kilometers, 10);
Assert.Equal(89.9954651234, direction.Degrees, 10);
p1 = new GeographicPosition(45, 9, 0);
p2 = new GeographicPosition(45, 10, 90);
GreatCircle.DistAndDir(p1, p2, out distance, out direction);
Assert.Equal(78.84633470979473, distance.Kilometers, 10);
Assert.Equal(89.6464421068, direction.Degrees, 10);
}
public void TestCartesianToGC()
{
// start position of test
double latStart = 47.0;
double lonStart = 11.0;
// 1 arcsec is about 30m => move in 0.3m steps along all 8 axis away from the start position
double deltaInc = 0.01 / 3600.0;
GeographicPosition pStart = new GeographicPosition(latStart, lonStart, 0);
double distance = 0;
double direction = 0;
Length gcDist = Length.Zero;
Angle gcDir;
// iterate over the 8 axis (45° increments)
for (int signIdx = 0; signIdx < 8; signIdx++)
{
double dblXSign = 1.0;
if (signIdx >= 4 && signIdx <= 6)
{
dblXSign = -1.0;
}
else if (signIdx == 3 || signIdx == 7)
{
dblXSign = 0.0;
}
double dblYSign = 1.0;
if (signIdx >= 2 && signIdx <= 4)
{
dblYSign = -1.0;
}
else if (signIdx == 1 || signIdx == 5)
{
dblYSign = 0.0;
}
// iterate in 0.3m steps (up to about 150m distance)
for (int idx = 1; idx <= 400; idx++)
{
double delta = idx * deltaInc;
GeographicPosition pEnd = new GeographicPosition(latStart + dblYSign * delta, lonStart + dblXSign * delta, 0);
InternalDistDir(pStart, pEnd, ref distance, ref direction);
GreatCircle.DistAndDir(pStart, pEnd, out gcDist, out gcDir);
// compare the two calculation methods
Assert.True(Math.Abs(distance - gcDist.Meters) < 1.0, "position accuracy less than 1m");
Assert.True(GreatCircle.AngleDifferenceSignedDegrees(direction, gcDir.Degrees) < 1.0, "direction accuracy less than 1 deg");
// calculate the endpoint with the previously calculated offsets using great circle
double dblEndLat = 0;
double dblEndLon = 0;
GreatCircle.CalcCoords(pStart.Latitude, pStart.Longitude, gcDir.Degrees, gcDist.Meters, out dblEndLat, out dblEndLon);
Assert.True(Math.Abs(dblEndLat - pEnd.Latitude) < 1.0, "GC latitude accuracy less than 1m");
Assert.True(GreatCircle.AngleDifferenceSignedDegrees(dblEndLon, pEnd.Longitude) < 1.0, "GC longitude accuracy less than 1m");
// calculate the endpoint with the previously calculated offsets using the cartesic routine
GeographicPosition pCalcEnd = InternalExtrapolatePosition(pStart, distance, direction);
double dblDeltaX = Math.Abs(pCalcEnd.Longitude - pEnd.Longitude) * GreatCircle.MetersPerDegreeLongitude;
double dblDeltaY = Math.Abs(pCalcEnd.Latitude - pEnd.Latitude) * GreatCircle.MetersPerDegreeeLatitude;
Assert.True(dblDeltaY < 1.0, "XY latitude accuracy less than 1m");
Assert.True(dblDeltaX < 1.0, "XY longitude accuracy less than 1m");
}
}
}
private static bool TestDistAndDir(double startlat, double startlon, double endlat, double endlon)
{
double dist = 0;
double dir = 0;
GreatCircle.DistAndDir(startlat, startlon, endlat, endlon, out dist, out dir);
Angle dirNormalized = Angle.FromDegrees(dir).Normalize(true);
if (endlon >= 180)
{
endlon -= 360;
}
if (endlon < -180)
{
endlon += 360;
}
Assert.True(dist < 30000000, "Distance more than 1/2 times around the earth");
Assert.True(dirNormalized.Degrees >= 0 && dirNormalized.Degrees < 360, "Angle out of bounds");
double reslat = 0;
double reslon = 0;
GreatCircle.CalcCoords(startlat, startlon, dir, dist, out reslat, out reslon);
Angle lon = Angle.FromDegrees(reslon);
lon = lon.Normalize(false);
Assert.True(reslat >= -90 && reslat <= 90, "Invalid latitude");
Assert.True(lon.Degrees > -180, $"Invalid longitude A {reslon}");
Assert.True(lon.Degrees <= 180, $"Invalid longitude B {reslon}");
double accuracy = 1E-7;
if (dist > 100000)
{
accuracy = 1E-6;
}
if (dist > 1000000)
{
accuracy = 1E-6;
}
if (dist > 10000000)
{
accuracy = 1E-5;
}
if (Math.Abs(endlat - reslat) > accuracy)
{
Console.WriteLine("Error testing: " + startlat + "/" + startlon +
" to " + endlat + "/" + endlon + " Distance: " + dist +
" Difference in lat: " + (endlat - reslat));
return(false);
}
if (GreatCircle.AngleDifferenceSignedDegrees(endlon, lon.Degrees) > accuracy)
{
Console.WriteLine("Error testing: " + startlat + "/" + startlon +
" to " + endlat + "/" + endlon + " Distance: " + dist +
" Difference in lon: " + (endlon - reslon));
return(false);
}
return(true);
}
private bool HasPassedWaypoint(GeographicPosition position, Angle courseOverGround, ref RoutePoint?nextWaypoint, List <RoutePoint> currentRoute)
{
RoutePoint?previousWayPoint = null;
RoutePoint?wayPointAfterNext = null;
int idx = 0;
if (nextWaypoint != null)
{
idx = currentRoute.IndexOf(nextWaypoint);
}
else
{
// Can't have passed a null waypoint
return(false);
}
if (idx < 0)
{
// This is weird
return(false);
}
if (idx == 0)
{
previousWayPoint = _currentOrigin;
}
else
{
previousWayPoint = currentRoute[idx - 1];
}
if (idx < currentRoute.Count - 2)
{
wayPointAfterNext = currentRoute[idx + 1];
}
GreatCircle.DistAndDir(position, nextWaypoint.Position, out var distanceToNext, out var angleToNext);
if (distanceToNext < WaypointSwitchDistance)
{
_logger.LogInformation($"Reached waypoint {nextWaypoint.WaypointName}");
nextWaypoint = wayPointAfterNext;
return(true);
}
if (previousWayPoint != null && wayPointAfterNext != null)
{
GreatCircle.CrossTrackError(previousWayPoint.Position, nextWaypoint.Position, position, out var crossTrackCurrentLeg,
out _);
GreatCircle.CrossTrackError(nextWaypoint.Position, wayPointAfterNext.Position, position, out var crossTrackNextLeg,
out var distanceToAfterNext);
Angle delta = AngleExtensions.Difference(courseOverGround, angleToNext);
// We switch to the next leg if the cross track error to it is smaller than to the current leg.
// This condition is obvious for the side of the route with the smaller angle (that's the one in which the
// route bends at nextWaypoint), for the other side we need the additional condition that that waypoint
// is no longer ahead of us. This is the case if the direction to it and our current track are pointing in
// opposite directions
if (crossTrackCurrentLeg > crossTrackNextLeg && Math.Abs(delta.Normalize(false).Degrees) > 90)
{
_logger.LogInformation($"Reached waypoint {nextWaypoint.WaypointName}");
nextWaypoint = wayPointAfterNext;
return(true);
}
}
return(false);
}
/// <summary>
/// Navigation loop.
/// </summary>
internal void CalculateNewStatus(int loops, DateTimeOffset now)
{
bool passedWp = false;
RecommendedMinimumNavToDestination?currentLeg = null;
if (_cache.TryGetLastSentence(RecommendedMinimumNavToDestination.Id, out RecommendedMinimumNavToDestination currentLeg1) &&
currentLeg1.Valid)
{
passedWp = currentLeg1.Arrived;
if (_selfNavMode)
{
// Reset navigation
_manualNextWaypoint = null;
_selfNavMode = false;
}
OperationState = AutopilotErrorState.OperatingAsSlave;
currentLeg = currentLeg1;
}
else
{
// So we have to test only one condition
currentLeg = null;
}
if (_activeDeviation == null || loops % 100 == 0)
{
if (!_cache.TryGetLastSentence(HeadingAndDeclination.Id, out HeadingAndDeclination deviation) ||
!deviation.Declination.HasValue)
{
if (!_cache.TryGetLastSentence(RecommendedMinimumNavigationInformation.Id,
out RecommendedMinimumNavigationInformation rmc) || !rmc.MagneticVariationInDegrees.HasValue)
{
if (loops % LogSkip == 0)
{
_logger.LogWarning("Autopilot: No magnetic variance");
}
return;
}
deviation = new HeadingAndDeclination(Angle.Zero, Angle.Zero, rmc.MagneticVariationInDegrees);
}
_activeDeviation = deviation;
}
if (_cache.TryGetCurrentPosition(out var position, out Angle track, out Speed sog, out Angle? heading) && position != null)
{
string previousWayPoint = string.Empty;
string nextWayPoint = string.Empty;
if (currentLeg != null)
{
previousWayPoint = currentLeg.PreviousWayPointName;
nextWayPoint = currentLeg.NextWayPointName;
}
List <RoutePoint>?currentRoute = null;
if (_activeRoute != null)
{
currentRoute = _activeRoute.Points;
}
RoutePoint?next;
// This returns RoutePresent if at least one valid waypoint is in the list
if (currentRoute == null && _cache.TryGetCurrentRoute(out currentRoute) != AutopilotErrorState.RoutePresent)
{
// No route. But if we have an RMB message, there could still be a current target (typically one that was
// directly selected with "Goto")
if (currentLeg == null)
{
OperationState = AutopilotErrorState.NoRoute;
return;
}
OperationState = AutopilotErrorState.DirectGoto;
next = new RoutePoint("Goto", 0, 1, currentLeg.NextWayPointName, currentLeg.NextWayPoint, null, null);
}
else if (currentLeg != null)
{
// Better to compare by position rather than name, because the names (unless using identifiers) may
// not be unique.
next = currentRoute.FirstOrDefault(x => x.Position.EqualPosition(currentLeg.NextWayPoint));
}
else
{
if (_manualNextWaypoint == null)
{
next = currentRoute.First();
_manualNextWaypoint = next;
}
else if (!HasPassedWaypoint(position, track, ref _manualNextWaypoint, currentRoute))
{
next = _manualNextWaypoint;
}
else
{
passedWp = true;
next = _manualNextWaypoint;
if (next == null) // reached end of route
{
currentRoute = null;
}
}
OperationState = AutopilotErrorState.OperatingAsMaster;
}
if (next != null && next.Position != null && (_knownNextWaypoint == null || next.Position.EqualPosition(_knownNextWaypoint.Position) == false))
{
// the next waypoint changed. Set the new origin (if previous is undefined)
// This means that either the user has selected a new route or we moved to the next leg.
_knownNextWaypoint = next;
_currentOrigin = null;
}
RoutePoint?previous = null;
if (currentRoute != null)
{
previous = currentRoute.Find(x => x.WaypointName == previousWayPoint);
}
if (previous == null && next != null)
{
if (_currentOrigin != null)
{
previous = _currentOrigin;
}
else
{
// Assume the current position is the origin
GreatCircle.DistAndDir(position, next.Position !, out Length distance, out Angle direction);
_currentOrigin = new RoutePoint("Goto", 1, 1, "Origin", position, direction,
distance);
previous = _currentOrigin;
}
}
else
{
// We don't need that any more. Reinit when previous is null again
_currentOrigin = null;
}
if (next == null)
{
// No position for next waypoint
OperationState = AutopilotErrorState.InvalidNextWaypoint;
NextWaypoint = null;
// Note: Possibly reached destination
return;
}
Length distanceToNext = Length.Zero;
Length distanceOnTrackToNext = Length.Zero;
Length crossTrackError = Length.Zero;
Length distancePreviousToNext = Length.Zero;
Angle bearingCurrentToDestination = Angle.Zero;
Angle bearingOriginToDestination = Angle.Zero;
GeographicPosition nextPosition = new GeographicPosition();
Speed approachSpeedToWayPoint = Speed.Zero;
if (next.Position != null)
{
nextPosition = next.Position;
GreatCircle.DistAndDir(position, next.Position, out distanceToNext, out bearingCurrentToDestination);
approachSpeedToWayPoint = GreatCircle.CalculateVelocityTowardsTarget(next.Position, position, sog, track);
// Either the last waypoint or "origin"
if (previous != null && previous.Position != null)
{
GreatCircle.DistAndDir(previous.Position, next.Position, out distancePreviousToNext, out bearingOriginToDestination);
GreatCircle.CrossTrackError(previous.Position, next.Position, position, out crossTrackError, out distanceOnTrackToNext);
}
}
NextWaypoint = next;
List <NmeaSentence> sentencesToSend = new List <NmeaSentence>();
RecommendedMinimumNavToDestination rmb = new RecommendedMinimumNavToDestination(now,
crossTrackError, previousWayPoint, nextWayPoint, nextPosition, distanceToNext, bearingCurrentToDestination,
approachSpeedToWayPoint, passedWp);
CrossTrackError xte = new CrossTrackError(crossTrackError);
Angle variation = _activeDeviation.Declination.GetValueOrDefault(Angle.Zero);
TrackMadeGood vtg = new TrackMadeGood(track, AngleExtensions.TrueToMagnetic(track, variation), sog);
BearingAndDistanceToWayPoint bwc = new BearingAndDistanceToWayPoint(now, nextWayPoint, nextPosition, distanceToNext,
bearingCurrentToDestination, AngleExtensions.TrueToMagnetic(bearingCurrentToDestination, variation));
BearingOriginToDestination bod = new BearingOriginToDestination(bearingOriginToDestination, AngleExtensions.TrueToMagnetic(
bearingOriginToDestination, variation), previousWayPoint, nextWayPoint);
sentencesToSend.AddRange(new NmeaSentence[] { rmb, xte, vtg, bwc, bod });
if (loops % 2 == 0)
{
// Only send these once a second
IEnumerable <RoutePart> rte;
IEnumerable <Waypoint> wpt;
if (currentRoute == null || currentRoute.Count == 0)
{
currentRoute = new List <RoutePoint>();
if (_currentOrigin != null)
{
currentRoute.Add(_currentOrigin);
}
if (next.Position != null)
{
currentRoute.Add(next);
}
}
// This should actually always contain at least two points now (origin and current target)
if (currentRoute.Count > 0)
{
CreateRouteMessages(currentRoute, out rte, out wpt);
sentencesToSend.AddRange(wpt);
sentencesToSend.AddRange(rte);
}
}
_output.SendSentences(sentencesToSend);
}
}