mirror of https://github.com/espruino/BangleApps
dedreckon: add ded reckoning application
Pavel Machek
parent
13f74e1542
commit
ac899251df
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0.01: attempt to import
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# Ded Reckon
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Dead Reckoning using compass and step counter.
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This allows logging track using "dead reckoning" -- that's logging
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angles from compass and distances from step counter. You need to mark
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turns, and point watch to direction of the turn. Simultaneously, it
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tries to log positions using GPS. You can use it to calibrate your
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step length by comparing GPS and step counter data. It can also get
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pretty accurate recording of track walked in right circumstances.
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Tap bottom part of the screen to select display (text or map for
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now). Point watch to new direction, then tap top left part of screen
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to indicate a turn.
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Map shows blue line for track from dead reckonging, and green line for
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track from GPS.
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require("heatshrink").decompress(atob("mEwhHXAH4A/AH4A/AFsAFtoADF1wwqF4wwhEI5goGGIjFYN4wFF1KbHGUolIMc4lGSdIwJd9DstAH7FrBywwgad4veDwojJBIIvcFwIACGBYICGDYvEGBYvdFwqyLL8i+LF7oxFRxgveGAQ0EF5IwfMY4vpL5AFLAEYv/F8owoE44vrAY4vmAQIEEF85dGGE0AE4gvoFwpmHd0oINAH4A/AH4AvA"))
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Binary file not shown.
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After Width: | Height: | Size: 1.8 KiB |
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/* Ded Reckon */
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/* eslint-disable no-unused-vars */
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/* fmt library v0.1.3 */
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let fmt = {
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icon_alt : "\0\x08\x1a\1\x00\x00\x00\x20\x30\x78\x7C\xFE\xFF\x00\xC3\xE7\xFF\xDB\xC3\xC3\xC3\xC3\x00\x00\x00\x00\x00\x00\x00\x00",
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icon_m : "\0\x08\x1a\1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xC3\xE7\xFF\xDB\xC3\xC3\xC3\xC3\x00\x00\x00\x00\x00\x00\x00\x00",
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icon_km : "\0\x08\x1a\1\xC3\xC6\xCC\xD8\xF0\xD8\xCC\xC6\xC3\x00\xC3\xE7\xFF\xDB\xC3\xC3\xC3\xC3\x00\x00\x00\x00\x00\x00\x00\x00",
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icon_kph : "\0\x08\x1a\1\xC3\xC6\xCC\xD8\xF0\xD8\xCC\xC6\xC3\x00\xC3\xE7\xFF\xDB\xC3\xC3\xC3\xC3\x00\xFF\x00\xC3\xC3\xFF\xC3\xC3",
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icon_c : "\0\x08\x1a\1\x00\x00\x60\x90\x90\x60\x00\x7F\xFF\xC0\xC0\xC0\xC0\xC0\xFF\x7F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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/* 0 .. DD.ddddd
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1 .. DD MM.mmm'
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2 .. DD MM'ss"
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*/
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geo_mode : 1,
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init: function() {},
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fmtDist: function(km) {
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if (km >= 1.0) return km.toFixed(1) + this.icon_km;
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return (km*1000).toFixed(0) + this.icon_m;
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},
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fmtSteps: function(n) { return this.fmtDist(0.001 * 0.719 * n); },
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fmtAlt: function(m) { return m.toFixed(0) + this.icon_alt; },
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draw_dot : 1,
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add0: function(i) {
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if (i > 9) {
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return ""+i;
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} else {
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return "0"+i;
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}
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},
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fmtTOD: function(now) {
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this.draw_dot = !this.draw_dot;
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let dot = ":";
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if (!this.draw_dot)
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dot = ".";
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return now.getHours() + dot + this.add0(now.getMinutes());
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},
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fmtNow: function() { return this.fmtTOD(new Date()); },
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fmtTimeDiff: function(d) {
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if (d < 180)
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return ""+d.toFixed(0);
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d = d/60;
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return ""+d.toFixed(0)+"m";
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},
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fmtAngle: function(x) {
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switch (this.geo_mode) {
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case 0:
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return "" + x;
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case 1: {
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let d = Math.floor(x);
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let m = x - d;
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m = m*60;
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return "" + d + " " + m.toFixed(3) + "'";
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}
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case 2: {
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let d = Math.floor(x);
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let m = x - d;
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m = m*60;
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let mf = Math.floor(m);
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let s = m - mf;
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s = s*60;
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return "" + d + " " + mf + "'" + s.toFixed(0) + '"';
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}
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}
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return "bad mode?";
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},
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fmtPos: function(pos) {
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let x = pos.lat;
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let c = "N";
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if (x<0) {
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c = "S";
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x = -x;
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}
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let s = c+this.fmtAngle(x) + "\n";
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c = "E";
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if (x<0) {
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c = "W";
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x = -x;
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}
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return s + c + this.fmtAngle(x);
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},
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fmtFix: function(fix, t) {
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if (fix && fix.fix && fix.lat) {
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return this.fmtSpeed(fix.speed) + " " +
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this.fmtAlt(fix.alt);
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} else {
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return "N/FIX " + this.fmtTimeDiff(t);
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}
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},
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fmtSpeed: function(kph) {
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return kph.toFixed(1) + this.icon_kph;
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},
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};
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/* gps library v0.1.1 */
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let gps = {
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emulator: -1,
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init: function(x) {
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this.emulator = (process.env.BOARD=="EMSCRIPTEN"
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|| process.env.BOARD=="EMSCRIPTEN2")?1:0;
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},
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state: {},
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on_gps: function(f) {
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let fix = this.getGPSFix();
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f(fix);
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/*
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"lat": number, // Latitude in degrees
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"lon": number, // Longitude in degrees
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"alt": number, // altitude in M
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"speed": number, // Speed in kph
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"course": number, // Course in degrees
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"time": Date, // Current Time (or undefined if not known)
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"satellites": 7, // Number of satellites
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"fix": 1 // NMEA Fix state - 0 is no fix
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"hdop": number, // Horizontal Dilution of Precision
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*/
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this.state.timeout = setTimeout(this.on_gps, 1000, f);
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},
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off_gps: function() {
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clearTimeout(this.state.timeout);
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},
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getGPSFix: function() {
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if (!this.emulator)
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return Bangle.getGPSFix();
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let fix = {};
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fix.fix = 1;
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fix.lat = 50;
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fix.lon = 14-(getTime()-this.gps_start) / 1000; /* Go West! */
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fix.alt = 200;
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fix.speed = 5;
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fix.course = 30;
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fix.time = Date();
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fix.satellites = 5;
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fix.hdop = 12;
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return fix;
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},
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gps_start : -1,
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start_gps: function() {
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Bangle.setGPSPower(1, "libgps");
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this.gps_start = getTime();
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},
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stop_gps: function() {
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Bangle.setGPSPower(0, "libgps");
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},
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};
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/* ui library 0.1 */
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let ui = {
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display: 0,
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numScreens: 2,
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drawMsg: function(msg) {
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g.reset().setFont("Vector", 35)
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.setColor(1,1,1)
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.fillRect(0, this.wi, 176, 176)
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.setColor(0,0,0)
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.drawString(msg, 5, 30);
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},
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drawBusy: function() {
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this.drawMsg("\n.oO busy");
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},
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nextScreen: function() {
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print("nextS");
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this.display = this.display + 1;
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if (this.display == this.numScreens)
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this.display = 0;
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this.drawBusy();
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},
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prevScreen: function() {
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print("prevS");
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this.display = this.display - 1;
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if (this.display < 0)
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this.display = this.numScreens - 1;
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this.drawBusy();
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},
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onSwipe: function(dir) {
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this.nextScreen();
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},
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h: 176,
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w: 176,
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wi: 32,
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last_b: 0,
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touchHandler: function(d) {
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let x = Math.floor(d.x);
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let y = Math.floor(d.y);
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if (d.b != 1 || this.last_b != 0) {
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this.last_b = d.b;
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return;
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}
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print("touch", x, y, this.h, this.w);
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/*
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if ((x<this.h/2) && (y<this.w/2)) {
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}
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if ((x>this.h/2) && (y<this.w/2)) {
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}
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*/
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if ((x<this.h/2) && (y>this.w/2)) {
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print("prev");
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this.prevScreen();
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}
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if ((x>this.h/2) && (y>this.w/2)) {
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print("next");
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this.nextScreen();
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}
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},
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init: function() {
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}
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};
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var last_steps = Bangle.getStepCount(), last_time = getTime(), speed = 0, step_phase = 0;
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var mpstep = 0.719 * 1.15;
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function updateSteps() {
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if (step_phase ++ > 9) {
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step_phase =0;
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let steps = Bangle.getStepCount();
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let time = getTime();
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speed = 3.6 * mpstep * ((steps-last_steps) / (time-last_time));
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last_steps = steps;
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last_time = time;
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}
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return "" + fmt.fmtSpeed(speed) + " " + step_phase + "\n" + fmt.fmtDist(log_dist/1000) + " " + fmt.fmtDist(log_last/1000);
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}
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/* compensated compass */
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var CALIBDATA = require("Storage").readJSON("magnav.json",1)||null;
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const tiltfixread = require("magnav").tiltfixread;
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var heading;
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var cancel_gps = false;
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function drawStats() {
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let fix = gps.getGPSFix();
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let msg = fmt.fmtFix(fix, getTime() - gps.gps_start);
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msg += "\n" + fmt.fmtDist(gps_dist/1000) + " " + fmt.fmtDist(gps_last/1000) + "\n" + updateSteps();
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let c = Bangle.getCompass();
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if (c) msg += "\n" + c.heading.toFixed(0) + "/" + heading.toFixed(0) + "deg " + log.length + "\n";
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g.reset().clear().setFont("Vector", 31)
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.setColor(1,1,1)
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.fillRect(0, 24, 176, 100)
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.setColor(0,0,0)
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.drawString(msg, 3, 25);
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}
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function updateGps() {
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if (cancel_gps)
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return;
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heading = tiltfixread(CALIBDATA.offset,CALIBDATA.scale);
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if (ui.display == 0) {
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setTimeout(updateGps, 1000);
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drawLog();
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drawStats();
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}
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if (ui.display == 1) {
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setTimeout(updateGps, 1000);
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drawLog();
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}
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}
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function stopGps() {
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cancel_gps=true;
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gps.stop_gps();
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}
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var log = [], log_dist = 0, gps_dist = 0;
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var log_last = 0, gps_last = 0;
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function logEntry() {
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let e = {};
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e.time = getTime();
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e.fix = gps.getGPSFix();
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e.steps = Bangle.getStepCount();
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if (0) {
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let c = Bangle.getCompass();
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if (c)
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e.dir = c.heading;
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else
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e.dir = -1;
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} else {
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e.dir = heading;
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}
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return e;
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}
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function onTurn() {
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let e = logEntry();
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log.push(e);
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}
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function radians(a) { return a*Math.PI/180; }
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function degrees(a) { return a*180/Math.PI; }
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// distance between 2 lat and lons, in meters, Mean Earth Radius = 6371km
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// https://www.movable-type.co.uk/scripts/latlong.html
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// (Equirectangular approximation)
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function calcDistance(a,b) {
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var x = radians(b.lon-a.lon) * Math.cos(radians((a.lat+b.lat)/2));
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var y = radians(b.lat-a.lat);
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return Math.sqrt(x*x + y*y) * 6371000;
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}
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var dn, de;
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function initConv(fix) {
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let n = { lat: fix.lat+1, lon: fix.lon };
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let e = { lat: fix.lat, lon: fix.lon+1 };
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dn = calcDistance(fix, n);
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de = calcDistance(fix, e);
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print("conversion is ", dn, 108000, de, 50000);
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}
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function toM(start, fix) {
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return { x: (fix.lon - start.lon) * de, y: (fix.lat - start.lat) * dn };
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}
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var mpp = 4;
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function toPix(q) {
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let p = { x: q.x, y: q.y };
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p.x /= mpp; /* 10 m / pix */
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p.y /= -mpp;
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p.x += 85;
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p.y += 85;
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return p;
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}
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function drawLog() {
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let here = logEntry();
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if (!here.fix.lat) {
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here.fix.lat = 50;
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here.fix.lon = 14;
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}
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initConv(here.fix);
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log.push(here);
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let l = log;
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log_dist = 0;
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log_last = -1;
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gps_last = -1;
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g.reset().clear();
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g.setColor(0, 0, 1);
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let last = { x: 0, y: 0 };
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for (let i = l.length - 2; i >= 0; i--) {
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let next = {};
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let m = (l[i+1].steps - l[i].steps) * mpstep;
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let dir = radians(180 + l[i].dir);
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next.x = last.x + m * Math.sin(dir);
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next.y = last.y + m * Math.cos(dir);
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print(dir, m, last, next);
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let lp = toPix(last);
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let np = toPix(next);
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g.drawLine(lp.x, lp.y, np.x, np.y);
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g.drawCircle(np.x, np.y, 3);
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last = next;
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if (log_last == -1)
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log_last = m;
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log_dist += m;
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}
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g.setColor(0, 1, 0);
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last = { x: 0, y: 0 };
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gps_dist = 0;
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for (let i = l.length - 2; i >= 0; i--) {
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let fix = l[i].fix;
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if (fix.fix && fix.lat) {
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let next = toM(here.fix, fix);
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let lp = toPix(last);
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let np = toPix(next);
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let d = Math.sqrt((next.x-last.x)*(next.x-last.x)+(next.y-last.y)*(next.y-last.y));
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if (gps_last == -1)
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gps_last = d;
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gps_dist += d;
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g.drawLine(lp.x, lp.y, np.x, np.y);
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g.drawCircle(np.x, np.y, 3);
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last = next;
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}
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}
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log.pop();
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}
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function testPaint() {
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let pos = gps.getGPSFix();
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log = [];
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let e = { fix: pos, steps: 100, dir: 0 };
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log.push(e);
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e = { fix: pos, steps: 200, dir: 90 };
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log.push(e);
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e = { fix: pos, steps: 300, dir: 0 };
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log.push(e);
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print(log, log.length, log[0], log[1]);
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drawLog();
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}
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function touchHandler(d) {
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let x = Math.floor(d.x);
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let y = Math.floor(d.y);
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if (d.b != 1 || ui.last_b != 0) {
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ui.last_b = d.b;
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return;
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}
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if ((x<ui.h/2) && (y<ui.w/2)) {
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ui.drawMsg("Turn");
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onTurn();
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}
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if ((x>ui.h/2) && (y<ui.w/2)) {
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ui.drawMsg("Writing");
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require('Storage').writeJSON("speedstep."+getTime()+".json", log);
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ui.drawMsg("Wrote");
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}
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ui.touchHandler(d);
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}
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fmt.init();
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gps.init();
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ui.init();
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ui.drawBusy();
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gps.start_gps();
|
||||
Bangle.setCompassPower(1, "speedstep");
|
||||
Bangle.on("drag", touchHandler);
|
||||
Bangle.setUI({
|
||||
mode : "custom",
|
||||
swipe : (s) => ui.onSwipe(s),
|
||||
clock : 0
|
||||
});
|
||||
|
||||
if (0)
|
||||
testPaint();
|
||||
if (1) {
|
||||
g.reset();
|
||||
updateGps();
|
||||
}
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
{ "id": "dedreckon",
|
||||
"name": "Ded Reckon",
|
||||
"version": "0.01",
|
||||
"description": "Dead Reckoning using compass and step counter",
|
||||
"icon": "app.png",
|
||||
"readme": "README.md",
|
||||
"supports" : ["BANGLEJS2"],
|
||||
"tags": "outdoors",
|
||||
"storage": [
|
||||
{"name":"dedreckon.app.js","url":"dedreckon.app.js"},
|
||||
{"name":"dedreckon.img","url":"app-icon.js","evaluate":true}
|
||||
]
|
||||
}
|
||||
Loading…
Reference in New Issue