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/**************************************************************************
* @licence app begin@
*
* SPDX-License-Identifier: MPL-2.0
*
* \ingroup EnhancedPositionService
* \author thomas.bader@bmw.de
*
* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012
*
* \license
* This Source Code Form is subject to the terms of the
* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
* this file, You can obtain one at http://mozilla.org/MPL/2.0/.
*
* @licence end@
**************************************************************************/
#include "PositionFilter.h"
#include <iostream>
#include <cassert>
#include "genivi-navigationcore-enum.h"
#include "QtCore/qdebug.h"
PositionFilter* PositionFilter::filterInstanct = 0;
PositionFilter::PositionFilter()
{
}
PositionFilter::~PositionFilter()
{
if (0 != filterInstanct)
delete filterInstanct;
}
bool PositionFilter::diffPositions(QList<ushort>& list, const TGNSSPosition& pos1, const TGNSSPosition& pos2)
{
if ( ((pos1.validityBits & GNSS_POSITION_LATITUDE_VALID) != (pos2.validityBits & GNSS_POSITION_LATITUDE_VALID)) ||
(pos1.latitude != pos2.latitude) )
list.push_back(EnhancedPosition::LATITUDE);
if ( ((pos1.validityBits & GNSS_POSITION_LONGITUDE_VALID) != (pos2.validityBits & GNSS_POSITION_LONGITUDE_VALID)) ||
(pos1.longitude != pos2.longitude))
list.push_back(EnhancedPosition::LONGITUDE);
if ( ((pos1.validityBits & GNSS_POSITION_ALTITUDE_VALID) != (pos2.validityBits & GNSS_POSITION_ALTITUDE_VALID)) ||
(pos1.altitude != pos2.altitude) )
list.push_back(EnhancedPosition::ALTITUDE);
if (pos1.timestamp != pos2.timestamp)
list.push_back(EnhancedPosition::TIMESTAMP);
return false;
}
bool PositionFilter::diffCourses(QList<ushort>& list, const TGNSSCourse& course1, const TGNSSCourse& course2) {
if ( ((course1.validityBits & GNSS_COURSE_SPEED_VALID) != (course2.validityBits & GNSS_COURSE_SPEED_VALID)) ||
(course1.speed != course2.speed) )
list.push_back(EnhancedPosition::SPEED);
return false;
}
void PositionFilter::runFiltering(QList<ushort>& changedElements)
{
// *** Position ***
diffPositions(changedElements, mPos, mRawPos);
mPos = mRawPos;
// *** Course ***
uint64_t tsDiff = abs(mRawCourse.timestamp - mPos.timestamp);
if (mPos.timestamp > 0 && tsDiff > 500) // 500 [ms]
qDebug() << "warning: between course and position is diff in timestamps > 500 ms";
diffCourses(changedElements, mCourse, mRawCourse);
mCourse = mRawCourse;
}
bool PositionFilter::appendPositionTo(MapUShortVariant& map)
{
map.remove(EnhancedPosition::INVALID);
int count = map.size();
if ((GNSS_POSITION_LATITUDE_VALID == (mPos.validityBits & GNSS_POSITION_LATITUDE_VALID))
&& (GNSS_POSITION_LONGITUDE_VALID == (mPos.validityBits & GNSS_POSITION_LONGITUDE_VALID))
&& (GNSS_POSITION_ALTITUDE_VALID == (mCourse.validityBits & GNSS_POSITION_ALTITUDE_VALID))
) {
map.insert(EnhancedPosition::LATITUDE, qreal(mPos.latitude));
map.insert(EnhancedPosition::LONGITUDE, qreal(mPos.longitude));
map.insert(EnhancedPosition::ALTITUDE, qreal(mPos.altitude));
}
if (map.empty()) {
map.insert(EnhancedPosition::INVALID, "invalid");
return false;
}
return (count < map.size());
}
bool PositionFilter::appendTimestampTo(MapUShortVariant& map)
{
map.remove(EnhancedPosition::INVALID);
int count = map.size();
if (mPos.timestamp > 0) {
map.insert(EnhancedPosition::TIMESTAMP,
QVariant((qlonglong)mPos.timestamp));
}
if (map.empty()) {
map.insert(EnhancedPosition::INVALID, QVariant("invalid"));
return false;
}
return (count < map.size());
}
bool PositionFilter::appendCourseTo(MapUShortVariant& map)
{
map.remove(EnhancedPosition::INVALID);
int count = map.size();
if (GNSS_COURSE_HEADING_VALID == (mCourse.validityBits & GNSS_COURSE_HEADING_VALID))
map.insert(EnhancedPosition::HEADING, qreal(mCourse.heading));
if (GNSS_COURSE_SPEED_VALID == (mCourse.validityBits & GNSS_COURSE_SPEED_VALID))
map.insert(EnhancedPosition::SPEED, qreal(mCourse.speed));
if (GNSS_COURSE_CLIMB_VALID == (mCourse.validityBits & GNSS_COURSE_CLIMB_VALID))
map.insert(EnhancedPosition::CLIMB, qreal(mCourse.climb));
if (map.empty()) {
map.insert(EnhancedPosition::INVALID, QVariant("invalid"));
return false;
}
return (count < map.size());
}
bool PositionFilter::appendElementTo(MapUShortVariant& map, ushort key)
{
int count = map.size();
switch(key) {
case EnhancedPositionData::INVALID:
std::cout << "append INVALID to map" << std::endl;
break;
case EnhancedPositionData::ALL:
appendPositionTo(map);
appendCourseTo(map);
appendTimestampTo(map);
break;
case EnhancedPositionData::LATITUDE:
map.insert(EnhancedPositionData::LATITUDE, qreal(mPos.latitude));
break;
case EnhancedPositionData::LONGITUDE:
map.insert(EnhancedPositionData::LONGITUDE, qreal(mPos.longitude));
break;
case EnhancedPositionData::ALTITUDE:
map.insert(EnhancedPositionData::ALTITUDE, qreal(mPos.altitude));
break;
case EnhancedPositionData::SPEED:
map.insert(EnhancedPositionData::SPEED, qreal(mCourse.speed));
break;
case EnhancedPositionData::TIMESTAMP:
map.insert(EnhancedPositionData::TIMESTAMP, qreal(mPos.timestamp));
break;
default:
std::cout << __FUNCTION__
<< ": no valid KEY or not implemented ("<< key << ")" << std::endl;
}
if (map.size() > count) { // success
std::cout << __FUNCTION__ << ": added " << map.size() - count << std::endl;
map.remove(EnhancedPosition::INVALID);
return true;
}
return false;
}
// static
PositionFilter* PositionFilter::getInstance()
{
if (0 == filterInstanct) {
filterInstanct = new PositionFilter();
}
assert(filterInstanct);
return filterInstanct;
}
// static
void PositionFilter::onPositionUpdate(const TGNSSPosition pos[], uint16_t numElements)
{
if (numElements > 0) {
filterInstanct->mRawPos = pos[0];
}
//std::cout << "latitude : " << std::fixed << pos.latitude << std::endl;
//std::cout << "longitude: " << std::fixed << pos.longitude << std::endl;
return;
}
// static
void PositionFilter::onCourseUpdate(const TGNSSCourse course[], uint16_t numElements)
{
if (numElements > 0) {
filterInstanct->mRawCourse = course[0];
}
return;
}
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