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feat(trail): record altitude in trail points

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Each point keeps the GPS altitude in what was padding, so a point stays
16 bytes. The save format goes to version 2; version 1 files still load,
with the altitude unknown. GPX export writes <ele>.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Jakub
2026-10-02 19:24:36 +02:00
co-authored by Claude Opus 5.5
parent 2589fe95ce
commit 0bbf2fa2b3
5 changed files with 43 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/companion_radio/Persist.h
+6 -2
View File
@@ -23,7 +23,10 @@ inline bool writeHeader(F& file, uint32_t magic, uint8_t version, uint16_t count
// reject against its own capacity) and reads any table-specific fields that
// follow the count.
template <typename F>
inline bool readHeader(F& file, uint32_t expect_magic, uint8_t expect_version, uint16_t& count_out) {
// `min_version` > 0 also takes the older versions from it up to expect_version,
// the one read going to *version_out.
inline bool readHeader(F& file, uint32_t expect_magic, uint8_t expect_version, uint16_t& count_out,
uint8_t min_version = 0, uint8_t* version_out = nullptr) {
uint32_t magic = 0;
if (file.read((uint8_t*)&magic, sizeof(magic)) != (int)sizeof(magic)) return false;
if (magic != expect_magic) return false;
@@ -32,7 +35,8 @@ inline bool readHeader(F& file, uint32_t expect_magic, uint8_t expect_version, u
if (file.read(&ver, 1) != 1) return false;
if (file.read(&res, 1) != 1) return false;
if (file.read((uint8_t*)&cnt, sizeof(cnt)) != (int)sizeof(cnt)) return false;
if (ver != expect_version) return false;
if (ver > expect_version || ver < (min_version ? min_version : expect_version)) return false;
if (version_out) *version_out = ver;
count_out = cnt;
return true;
}
examples/companion_radio/Trail.h
+24 -17
View File
@@ -40,9 +40,11 @@ struct TrailPoint {
int32_t lon_1e6;
uint32_t ts; // epoch seconds (RTC)
uint8_t flags; // bit 0 = SEG_START (don't draw a line from the previous point)
int16_t alt_m; // GPS altitude, metres; TRAIL_ALT_NONE if unknown (in what was padding)
};
static const uint8_t TRAIL_FLAG_SEG_START = 0x01;
static const int16_t TRAIL_ALT_NONE = -32768;
class TrailStore {
public:
@@ -195,7 +197,9 @@ public:
// commits more vertices per route (more fidelity, less reduction).
static constexpr float CORRIDOR_FACTOR = 0.5f;
bool addPoint(int32_t lat_1e6, int32_t lon_1e6, uint32_t ts, uint16_t min_delta_m) {
bool addPoint(int32_t lat_1e6, int32_t lon_1e6, uint32_t ts, uint16_t min_delta_m,
int16_t alt_m = TRAIL_ALT_NONE) {
const TrailPoint sample{ lat_1e6, lon_1e6, ts, 0, alt_m };
const TrailPoint* ref = _has_pending ? &_pending : (_count > 0 ? &last() : nullptr);
if (ref && !_pending_seg_break) {
float d = haversineMeters(ref->lat_1e6, ref->lon_1e6, lat_1e6, lon_1e6);
@@ -204,16 +208,15 @@ public:
if (_count == 0 || _pending_seg_break) {
flushPending(); // shouldn't normally have one here, but never lose real distance
commitPoint(lat_1e6, lon_1e6, ts, TRAIL_FLAG_SEG_START);
commitPoint(sample, TRAIL_FLAG_SEG_START);
_pending_seg_break = false;
return true;
}
#if !TRAIL_SIMPLIFY
commitPoint(lat_1e6, lon_1e6, ts, 0);
commitPoint(sample, 0);
return true;
#endif
TrailPoint sample{ lat_1e6, lon_1e6, ts, 0 };
if (!_has_pending) {
_pending = sample; // last in-corridor sample (the commit candidate)
_dir = sample; // fixes the corridor direction: last() → _dir
@@ -224,7 +227,7 @@ public:
if (crossTrackMeters(last(), _dir, sample) <= (float)min_delta_m * CORRIDOR_FACTOR) {
_pending = sample; // within corridor — extend
} else {
commitPoint(_pending.lat_1e6, _pending.lon_1e6, _pending.ts, 0); // left corridor — keep last good
commitPoint(_pending, 0); // left corridor — keep last good
_pending = sample; // the exiting sample opens the next run...
_dir = sample; // ...and fixes its corridor direction from the just-committed vertex
}
@@ -283,7 +286,7 @@ public:
// uint32 accumulated_ms, then `count` raw TrailPoint records. count is
// clamped to CAPACITY on load.
static const uint32_t SAVE_MAGIC = 0x4C415254; // "TRAL"
static const uint8_t SAVE_VERSION = 1;
static const uint8_t SAVE_VERSION = 2; // 2: TrailPoint::alt_m; 1 (no altitude) still loads
// Caller supplies an opened, writable File (the FS-open call is
// platform-specific). Returns true if the header and every point wrote
@@ -304,7 +307,8 @@ public:
bool readFrom(F& file) {
uint16_t cnt = 0;
uint32_t accum = 0;
if (!persist::readHeader(file, SAVE_MAGIC, SAVE_VERSION, cnt)) return false;
uint8_t ver = 0;
if (!persist::readHeader(file, SAVE_MAGIC, SAVE_VERSION, cnt, 1, &ver)) return false;
if (file.read((uint8_t*)&accum, sizeof(accum)) != (int)sizeof(accum)) return false;
if (cnt > CAPACITY) return false;
if (_active) {
@@ -319,6 +323,7 @@ public:
TrailPoint p;
int n = file.read((uint8_t*)&p, sizeof(TrailPoint));
if (n != (int)sizeof(TrailPoint)) break;
if (ver < 2) p.alt_m = TRAIL_ALT_NONE; // v1 left that space as padding
_buf[_count++] = p;
}
_accumulated_ms = accum;
@@ -413,13 +418,14 @@ public:
n += out.print(F("<trkseg>\n"));
in_segment = true;
}
char buf[120];
char buf[140], ele[24] = "";
time_t t = (time_t)p.ts;
struct tm* gt = ::gmtime(&t);
if (!gt) return n; // defensive: skip malformed timestamps
if (p.alt_m != TRAIL_ALT_NONE) snprintf(ele, sizeof(ele), "<ele>%d</ele>", (int)p.alt_m);
int len = snprintf(buf, sizeof(buf),
"<trkpt lat=\"%.6f\" lon=\"%.6f\"><time>%04d-%02d-%02dT%02d:%02d:%02dZ</time></trkpt>\n",
p.lat_1e6 / 1.0e6, p.lon_1e6 / 1.0e6,
"<trkpt lat=\"%.6f\" lon=\"%.6f\">%s<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time></trkpt>\n",
p.lat_1e6 / 1.0e6, p.lon_1e6 / 1.0e6, ele,
gt->tm_year + 1900, gt->tm_mon + 1, gt->tm_mday,
gt->tm_hour, gt->tm_min, gt->tm_sec);
if (len < 0) return n;
@@ -448,7 +454,8 @@ public:
static size_t exportGpxFromFile(F& file, S& out, WP& wpts, const char* trk_name = "MeshCore Trail") {
uint16_t cnt = 0;
uint32_t accum = 0;
if (!persist::readHeader(file, SAVE_MAGIC, SAVE_VERSION, cnt)) return 0;
uint8_t ver = 0;
if (!persist::readHeader(file, SAVE_MAGIC, SAVE_VERSION, cnt, 1, &ver)) return 0;
if (file.read((uint8_t*)&accum, sizeof(accum)) != (int)sizeof(accum)) return 0;
if (cnt > CAPACITY) return 0;
@@ -460,6 +467,7 @@ public:
TrailPoint p;
int n = file.read((uint8_t*)&p, sizeof(TrailPoint));
if (n != (int)sizeof(TrailPoint)) break;
if (ver < 2) p.alt_m = TRAIL_ALT_NONE;
total += gpxPoint(out, p, i == 0, in_segment);
}
total += gpxFooter(out, in_segment);
@@ -499,7 +507,8 @@ private:
TrailPoint _pending;
TrailPoint _dir;
void commitPoint(int32_t lat_1e6, int32_t lon_1e6, uint32_t ts, uint8_t flags) {
void commitPoint(const TrailPoint& p, uint8_t flags) {
const int32_t lat_1e6 = p.lat_1e6, lon_1e6 = p.lon_1e6;
if (_count > 0 && !(flags & TRAIL_FLAG_SEG_START))
_dist_m += haversineMeters(last().lat_1e6, last().lon_1e6, lat_1e6, lon_1e6);
int pos;
@@ -514,10 +523,8 @@ private:
_head = (_head + 1) % CAPACITY;
}
_seq++;
_buf[pos].lat_1e6 = lat_1e6;
_buf[pos].lon_1e6 = lon_1e6;
_buf[pos].ts = ts;
_buf[pos].flags = flags;
_buf[pos] = p;
_buf[pos].flags = flags;
}
// Commit the pending candidate (if any) as a real vertex. Called before a
@@ -525,7 +532,7 @@ private:
// never silently dropped just because no bend came along to force a commit.
void flushPending() {
if (!_has_pending) return;
commitPoint(_pending.lat_1e6, _pending.lon_1e6, _pending.ts, 0);
commitPoint(_pending, 0);
_has_pending = false;
}
examples/companion_radio/ui-core/CourseEngine.h
+9
View File
@@ -31,6 +31,15 @@ public:
return false;
}
// Current GPS altitude in metres, false without a fix.
bool currentAltitude(int16_t& m) const {
LocationProvider* loc = _sensors ? _sensors->getLocationProvider() : nullptr;
if (!loc || !loc->isValid()) return false;
long a = loc->getAltitude() / 1000; // the provider reports millimetres
m = (int16_t)(a < -32000 ? -32000 : a > 32000 ? 32000 : a);
return true;
}
// Current course over ground in degrees (0..359), or false if not enough
// recent movement to derive a stable heading. Holds the last good heading
// while standing still.
examples/companion_radio/ui-core/TrailEngine.h
+3 -1
View File
@@ -47,8 +47,10 @@ public:
} else if (_trail.isPaused()) {
_trail.setPaused(false); // feature turned off → resume
}
int16_t alt = TRAIL_ALT_NONE;
_course->currentAltitude(alt);
if (!_trail.isPaused())
_trail.addPoint(la, lo, (uint32_t)rtc_clock.getCurrentTime(), md);
_trail.addPoint(la, lo, (uint32_t)rtc_clock.getCurrentTime(), md, alt);
}
// True while a trail is recording and not auto-paused (needs live GPS).
examples/companion_radio/ui-lvgl/NavMap.h
+1 -1
View File
@@ -902,7 +902,7 @@ template <typename F>
static bool trailSummary(F& io, int& points, float& meters, uint32_t& secs) {
uint16_t cnt = 0;
uint32_t accum = 0;
if (!persist::readHeader(io, TrailStore::SAVE_MAGIC, TrailStore::SAVE_VERSION, cnt)) return false;
if (!persist::readHeader(io, TrailStore::SAVE_MAGIC, TrailStore::SAVE_VERSION, cnt, 1)) return false;
if (io.read((uint8_t*)&accum, sizeof(accum)) != (int)sizeof(accum)) return false;
points = 0; meters = 0; secs = accum / 1000;
TrailPoint prev, p;