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Merge pull request #2812 from halemmerich/sensortools 

Sensortools - Fix GPS interpolation
master
Gordon Williams 2023-06-12 09:28:27 +01:00 committed by GitHub
parent 3896e742b8 c8070a7d14
commit f1eb33d242
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 291 additions and 95 deletions
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2
apps/sensortools/ChangeLog
View File

@ -2,3 +2,5 @@
0.02: Less time used during boot if disabled
0.03: Fixed some test data
0.04: Correct type of time attribute in gps to Date
0.05: Fix gps emulation interpolation
Add setting for log output

64
apps/sensortools/README.md
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@ -5,40 +5,56 @@ This allows to simulate sensor behaviour for development purposes
## Per Sensor settings:
enabled:
true or false
mode:
emulate: Completely craft events for this sensor
modify: Take existing events from real sensor and modify their data
name:
name of the emulation or modification mode
power:
emulate: Simulate Bangle._PWR changes, but do not call real power function
nop: Do nothing, ignore all power calls for this sensor but return true
passthrough: Just pass all power calls unmodified
on: Do not allow switching the sensor off, all calls are switching the real sensor on
Enabled:
* **true**
* **false**
Mode:
* **emulate**: Completely craft events for this sensor
* **modify**: Take existing events from real sensor and modify their data
Name:
* name of the emulation or modification mode
Power:
* **emulate**: Simulate Bangle._PWR changes, but do not call real power function
* **nop**: Do nothing, ignore all power calls for this sensor but return true
* **passthrough**: Just pass all power calls unmodified
* **on**: Do not allow switching the sensor off, all calls are switching the real sensor on
### HRM
Modes: modify, emulate
Modes:
* **modify**: Modify the original events from this sensor
* **emulate**: Create events simulating sensor activity
Modification:
bpmtrippled: Multiply the bpm value of the original HRM values with 3
* **bpmtrippled**: Multiply the bpm value of the original HRM values with 3
Emulation:
sin: Calculate bpm changes by using sin
* **sin**: Calculate bpm changes by using sin
### GPS
Modes: emulate
Modes:
* **emulate**
Emulation:
staticfix: static complete fix with all values
route: A square route starting in the SW corner and moving SW->NW->NO->SW...
routeFuzzy: Roughly the same square as route, but with 100m seqments with some variaton in course
nofix: All values NaN but time,sattelites,fix and fix == 0
changingfix: A fix with randomly changing values
* **staticfix**: static complete fix with all values
* **route**: A square route starting in the SW corner and moving SW->NW->NO->SW... [Download as gpx](square.gpx)
* **routeFuzzy**: Roughly the same square as route, but with 100m seqments with some variaton in course [Download as gpx](squareFuzzy.gpx)
* **nofix**: All values NaN but time,sattelites,fix and fix == 0
* **changingfix**: A fix with randomly changing values
### Compass
Modes: emulate
Modes:
* **emulate**
Emulation:
static: All values but heading are 1, heading == 0
rotate: All values but heading are 1, heading rotates 360°
* **static**: All values but heading are 1, heading == 0
* **rotate**: All values but heading are 1, heading rotates 360°
# Creator
[halemmerich](https://github.com/halemmerich)

1
apps/sensortools/default.json
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@ -1,5 +1,6 @@
{
"enabled": false,
"log": false,
"mag": {
"enabled": false,
"mode": "emulate",

134
apps/sensortools/lib.js
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@ -5,6 +5,7 @@ exports.enable = () => {
);
let log = function(text, param) {
if (!settings.log) return;
let logline = new Date().toISOString() + " - " + "Sensortools - " + text;
if (param) logline += ": " + JSON.stringify(param);
print(logline);
@ -138,63 +139,63 @@ exports.enable = () => {
function interpolate(a,b,progress){
return {
lat: a.lat * progress + b.lat * (1-progress),
lon: a.lon * progress + b.lon * (1-progress),
ele: a.ele * progress + b.ele * (1-progress)
lat: b.lat * progress + a.lat * (1-progress),
lon: b.lon * progress + a.lon * (1-progress),
alt: b.alt * progress + a.alt * (1-progress)
}
}
function getSquareRoute(){
return [
{lat:"47.2577411",lon:"11.9927442",ele:2273},
{lat:"47.266761",lon:"11.9926673",ele:2166},
{lat:"47.2667605",lon:"12.0059511",ele:2245},
{lat:"47.2577516",lon:"12.0059925",ele:1994}
{lat:47.2577411,lon:11.9927442,alt:2273},
{lat:47.266761,lon:11.9926673,alt:2166},
{lat:47.2667605,lon:12.0059511,alt:2245},
{lat:47.2577516,lon:12.0059925,alt:1994}
];
}
function getSquareRouteFuzzy(){
return [
{lat:"47.2578455",lon:"11.9929891",ele:2265},
{lat:"47.258592",lon:"11.9923341",ele:2256},
{lat:"47.2594506",lon:"11.9927412",ele:2230},
{lat:"47.2603323",lon:"11.9924949",ele:2219},
{lat:"47.2612056",lon:"11.9928175",ele:2199},
{lat:"47.2621002",lon:"11.9929817",ele:2182},
{lat:"47.2629025",lon:"11.9923915",ele:2189},
{lat:"47.2637828",lon:"11.9926486",ele:2180},
{lat:"47.2646733",lon:"11.9928167",ele:2191},
{lat:"47.2655617",lon:"11.9930357",ele:2185},
{lat:"47.2662862",lon:"11.992252",ele:2186},
{lat:"47.2669305",lon:"11.993173",ele:2166},
{lat:"47.266666",lon:"11.9944419",ele:2171},
{lat:"47.2667579",lon:"11.99576",ele:2194},
{lat:"47.2669409",lon:"11.9970579",ele:2207},
{lat:"47.2666562",lon:"11.9983128",ele:2212},
{lat:"47.2666027",lon:"11.9996335",ele:2262},
{lat:"47.2667245",lon:"12.0009395",ele:2278},
{lat:"47.2668457",lon:"12.002256",ele:2297},
{lat:"47.2666126",lon:"12.0035373",ele:2303},
{lat:"47.2664554",lon:"12.004841",ele:2251},
{lat:"47.2669461",lon:"12.005948",ele:2245},
{lat:"47.2660877",lon:"12.006323",ele:2195},
{lat:"47.2652729",lon:"12.0057552",ele:2163},
{lat:"47.2643926",lon:"12.0060123",ele:2131},
{lat:"47.2634978",lon:"12.0058302",ele:2095},
{lat:"47.2626129",lon:"12.0060759",ele:2066},
{lat:"47.2617325",lon:"12.0058188",ele:2037},
{lat:"47.2608668",lon:"12.0061784",ele:1993},
{lat:"47.2600155",lon:"12.0057392",ele:1967},
{lat:"47.2591203",lon:"12.0058233",ele:1949},
{lat:"47.2582307",lon:"12.0059718",ele:1972},
{lat:"47.2578014",lon:"12.004804",ele:2011},
{lat:"47.2577232",lon:"12.0034834",ele:2044},
{lat:"47.257745",lon:"12.0021656",ele:2061},
{lat:"47.2578682",lon:"12.0008597",ele:2065},
{lat:"47.2577082",lon:"11.9995526",ele:2071},
{lat:"47.2575917",lon:"11.9982348",ele:2102},
{lat:"47.2577401",lon:"11.996924",ele:2147},
{lat:"47.257715",lon:"11.9956061",ele:2197},
{lat:"47.2578996",lon:"11.9943081",ele:2228}
{lat:47.2578455,lon:11.9929891,alt:2265},
{lat:47.258592,lon:11.9923341,alt:2256},
{lat:47.2594506,lon:11.9927412,alt:2230},
{lat:47.2603323,lon:11.9924949,alt:2219},
{lat:47.2612056,lon:11.9928175,alt:2199},
{lat:47.2621002,lon:11.9929817,alt:2182},
{lat:47.2629025,lon:11.9923915,alt:2189},
{lat:47.2637828,lon:11.9926486,alt:2180},
{lat:47.2646733,lon:11.9928167,alt:2191},
{lat:47.2655617,lon:11.9930357,alt:2185},
{lat:47.2662862,lon:11.992252,alt:2186},
{lat:47.2669305,lon:11.993173,alt:2166},
{lat:47.266666,lon:11.9944419,alt:2171},
{lat:47.2667579,lon:11.99576,alt:2194},
{lat:47.2669409,lon:11.9970579,alt:2207},
{lat:47.2666562,lon:11.9983128,alt:2212},
{lat:47.2666027,lon:11.9996335,alt:2262},
{lat:47.2667245,lon:12.0009395,alt:2278},
{lat:47.2668457,lon:12.002256,alt:2297},
{lat:47.2666126,lon:12.0035373,alt:2303},
{lat:47.2664554,lon:12.004841,alt:2251},
{lat:47.2669461,lon:12.005948,alt:2245},
{lat:47.2660877,lon:12.006323,alt:2195},
{lat:47.2652729,lon:12.0057552,alt:2163},
{lat:47.2643926,lon:12.0060123,alt:2131},
{lat:47.2634978,lon:12.0058302,alt:2095},
{lat:47.2626129,lon:12.0060759,alt:2066},
{lat:47.2617325,lon:12.0058188,alt:2037},
{lat:47.2608668,lon:12.0061784,alt:1993},
{lat:47.2600155,lon:12.0057392,alt:1967},
{lat:47.2591203,lon:12.0058233,alt:1949},
{lat:47.2582307,lon:12.0059718,alt:1972},
{lat:47.2578014,lon:12.004804,alt:2011},
{lat:47.2577232,lon:12.0034834,alt:2044},
{lat:47.257745,lon:12.0021656,alt:2061},
{lat:47.2578682,lon:12.0008597,alt:2065},
{lat:47.2577082,lon:11.9995526,alt:2071},
{lat:47.2575917,lon:11.9982348,alt:2102},
{lat:47.2577401,lon:11.996924,alt:2147},
{lat:47.257715,lon:11.9956061,alt:2197},
{lat:47.2578996,lon:11.9943081,alt:2228}
];
}
@ -215,51 +216,43 @@ exports.enable = () => {
let interpSteps;
if (settings.gps.name == "routeFuzzy"){
route = getSquareRouteFuzzy();
interpSteps = 5;
interpSteps = 74;
} else {
route = getSquareRoute();
interpSteps = 50;
interpSteps = 740;
}
let step = 0;
let routeIndex = 0;
modGps(() => {
let newIndex = (routeIndex + 1)%route.length;
let followingIndex = (routeIndex + 2)%route.length;
let result = {
"speed": Math.random() * 3 + 2,
"speed": Math.random()*1 + 4.5,
"time": new Date(),
"satellites": Math.floor(Math.random()*5)+3,
"fix": 1,
"hdop": Math.floor(Math.random(30)+1)
};
let oldPos = route[routeIndex];
if (step != 0){
oldPos = interpolate(route[routeIndex], route[newIndex], E.clip(0,1,step/interpSteps));
}
let newPos = route[newIndex];
if (step < interpSteps - 1){
newPos = interpolate(route[routeIndex], route[newIndex], E.clip(0,1,(step+1)%interpSteps/interpSteps));
let followingPos = route[followingIndex];
let interpPos = interpolate(oldPos, newPos, E.clip(0,1,step/interpSteps));
if (step > 0.5* interpSteps) {
result.course = bearing(interpPos, interpolate(newPos, followingPos, E.clip(0,1,(step-0.5*interpSteps)/interpSteps)));
} else {
result.course = bearing(oldPos, newPos);
}
if (step == interpSteps - 1){
let followingIndex = (routeIndex + 2)%route.length;
newPos = interpolate(route[newIndex], route[followingIndex], E.clip(0,1,1/interpSteps));
}
result.lat = oldPos.lat;
result.lon = oldPos.lon;
result.alt = oldPos.ele;
result.course = bearing(oldPos,newPos);
step++;
if (step == interpSteps){
routeIndex = (routeIndex + 1) % route.length;
step = 0;
}
return result;
return Object.assign(result, interpPos);
});
} else if (settings.gps.name == "nofix") {
modGps(() => { return {
@ -281,6 +274,7 @@ exports.enable = () => {
let currentDir=1000;
let currentAlt=500;
let currentSats=5;
modGps(() => {
currentLat += 0.01;
if (currentLat > 50) currentLat = 20;

2
apps/sensortools/metadata.json
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@ -2,7 +2,7 @@
"id": "sensortools",
"name": "Sensor tools",
"shortName": "Sensor tools",
"version": "0.04",
"version": "0.05",
"description": "Tools for testing and debugging apps that use sensor input",
"icon": "icon.png",
"type": "bootloader",

6
apps/sensortools/settings.js
View File

@ -88,6 +88,12 @@
writeSettings("enabled",v);
},
},
'Log': {
value: !!settings.log,
onchange: v => {
writeSettings("log",v);
},
},
'GPS': ()=>{showSubMenu("GPS","gps",["nop", "staticfix", "nofix", "changingfix", "route", "routeFuzzy"],[]);},
'Compass': ()=>{showSubMenu("Compass","mag",["nop", "static", "rotate"],[]);},
'HRM': ()=>{showSubMenu("HRM","hrm",["nop", "static"],["bpmtrippled"],["sin"]);}

33
apps/sensortools/square.gpx Normal file
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@ -0,0 +1,33 @@
<?xml version="1.0" encoding="UTF-8"?>
<gpx version="1.1" creator="OsmAndRouterV2" xmlns="http://www.topografix.com/GPX/1/1" xmlns:osmand="https://osmand.net" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd">
<metadata>
<name>1kmsquare</name>
<desc>Export from GpsPrune</desc>
</metadata>
<trk>
<name>1kmsquare</name>
<number>1</number>
<trkseg>
<trkpt lat="47.2577411" lon="11.9927442">
<ele>2273</ele>
<name>Lower left</name>
</trkpt>
<trkpt lat="47.266761" lon="11.9926673">
<ele>2166</ele>
<name>Top left</name>
</trkpt>
<trkpt lat="47.2667605" lon="12.0059511">
<ele>2245</ele>
<name>Top right</name>
</trkpt>
<trkpt lat="47.2577516" lon="12.0059925">
<ele>1994</ele>
<name>Lower right</name>
</trkpt>
<trkpt lat="47.2577412" lon="11.9927442">
<ele>2273</ele>
<name>Destination</name>
</trkpt>
</trkseg>
</trk>
</gpx>

144
apps/sensortools/squareFuzzy.gpx Normal file
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@ -0,0 +1,144 @@
<?xml version="1.0" encoding="UTF-8"?>
<gpx version="1.1" creator="OsmAndRouterV2" xmlns="http://www.topografix.com/GPX/1/1" xmlns:osmand="https://osmand.net" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd">
<metadata>
<name>1kmsquare100</name>
<desc>Export from GpsPrune</desc>
</metadata>
<trk>
<name>1kmsquare100</name>
<number>1</number>
<trkseg>
<trkpt lat="47.2578455" lon="11.9929891">
<ele>2265</ele>
<name>Lower left</name>
</trkpt>
<trkpt lat="47.258592" lon="11.9923341">
<ele>2256</ele>
</trkpt>
<trkpt lat="47.2594506" lon="11.9927412">
<ele>2230</ele>
</trkpt>
<trkpt lat="47.2603323" lon="11.9924949">
<ele>2219</ele>
</trkpt>
<trkpt lat="47.2612056" lon="11.9928175">
<ele>2199</ele>
</trkpt>
<trkpt lat="47.2621002" lon="11.9929817">
<ele>2182</ele>
</trkpt>
<trkpt lat="47.2629025" lon="11.9923915">
<ele>2189</ele>
</trkpt>
<trkpt lat="47.2637828" lon="11.9926486">
<ele>2180</ele>
</trkpt>
<trkpt lat="47.2646733" lon="11.9928167">
<ele>2191</ele>
</trkpt>
<trkpt lat="47.2655617" lon="11.9930357">
<ele>2185</ele>
</trkpt>
<trkpt lat="47.2662862" lon="11.992252">
<ele>2186</ele>
</trkpt>
<trkpt lat="47.2669305" lon="11.993173">
<ele>2166</ele>
<name>Top left</name>
</trkpt>
<trkpt lat="47.266666" lon="11.9944419">
<ele>2171</ele>
</trkpt>
<trkpt lat="47.2667579" lon="11.99576">
<ele>2194</ele>
</trkpt>
<trkpt lat="47.2669409" lon="11.9970579">
<ele>2207</ele>
</trkpt>
<trkpt lat="47.2666562" lon="11.9983128">
<ele>2212</ele>
</trkpt>
<trkpt lat="47.2666027" lon="11.9996335">
<ele>2262</ele>
</trkpt>
<trkpt lat="47.2667245" lon="12.0009395">
<ele>2278</ele>
</trkpt>
<trkpt lat="47.2668457" lon="12.002256">
<ele>2297</ele>
</trkpt>
<trkpt lat="47.2666126" lon="12.0035373">
<ele>2303</ele>
</trkpt>
<trkpt lat="47.2664554" lon="12.004841">
<ele>2251</ele>
</trkpt>
<trkpt lat="47.2669461" lon="12.005948">
<ele>2245</ele>
<name>Top right</name>
</trkpt>
<trkpt lat="47.2660877" lon="12.006323">
<ele>2195</ele>
</trkpt>
<trkpt lat="47.2652729" lon="12.0057552">
<ele>2163</ele>
</trkpt>
<trkpt lat="47.2643926" lon="12.0060123">
<ele>2131</ele>
</trkpt>
<trkpt lat="47.2634978" lon="12.0058302">
<ele>2095</ele>
</trkpt>
<trkpt lat="47.2626129" lon="12.0060759">
<ele>2066</ele>
</trkpt>
<trkpt lat="47.2617325" lon="12.0058188">
<ele>2037</ele>
</trkpt>
<trkpt lat="47.2608668" lon="12.0061784">
<ele>1993</ele>
</trkpt>
<trkpt lat="47.2600155" lon="12.0057392">
<ele>1967</ele>
</trkpt>
<trkpt lat="47.2591203" lon="12.0058233">
<ele>1949</ele>
</trkpt>
<trkpt lat="47.2582307" lon="12.0059718">
<ele>1972</ele>
</trkpt>
<trkpt lat="47.2578014" lon="12.004804">
<ele>2011</ele>
<name>Lower right</name>
</trkpt>
<trkpt lat="47.2577232" lon="12.0034834">
<ele>2044</ele>
</trkpt>
<trkpt lat="47.257745" lon="12.0021656">
<ele>2061</ele>
</trkpt>
<trkpt lat="47.2578682" lon="12.0008597">
<ele>2065</ele>
</trkpt>
<trkpt lat="47.2577082" lon="11.9995526">
<ele>2071</ele>
</trkpt>
<trkpt lat="47.2575917" lon="11.9982348">
<ele>2102</ele>
</trkpt>
<trkpt lat="47.2577401" lon="11.996924">
<ele>2147</ele>
</trkpt>
<trkpt lat="47.257715" lon="11.9956061">
<ele>2197</ele>
</trkpt>
<trkpt lat="47.2578996" lon="11.9943081">
<ele>2228</ele>
</trkpt>
<trkpt lat="47.2578436" lon="11.992992">
<ele>2265</ele>
<name>Destination</name>
</trkpt>
</trkseg>
</trk>
</gpx>