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refactor(ui-core): move position + course over ground into CourseEngine

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COG ring sampling (every ~1 s from UiCore::loop), outlier rejection and
currentCourse/currentLocation move from UITask to
ui-core/CourseEngine.h. UITask keeps one-line wrappers; screens unchanged.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Jakub
2026-09-24 23:07:32 +02:00
co-authored by Claude Opus 5.5
parent 311a3484e2
commit 79a3a47ff1
6 changed files with 102 additions and 85 deletions
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examples/companion_radio/ui-new/UITask.cpp
+3 -65
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@@ -1647,7 +1647,7 @@ void UITask::begin(DisplayDriver* display, SensorManager* sensors, NodePrefs* no
}
_core = new UiCore(); // before any screen -- MessagesScreen binds to its history
_core->begin(node_prefs);
_core->begin(node_prefs, sensors);
splash = new SplashScreen(this);
home = new HomeScreen(this, &rtc_clock, sensors, node_prefs);
syncLockToHome(); // booted locked (e.g. cover closed) → home starts on the LOCK page
@@ -2974,16 +2974,6 @@ void UITask::loop() {
_loc_share_was_enabled = false;
}
// Course-over-ground sampling — every ~1 s regardless of trail state, so the
// heading is available to navigation even when not recording a trail.
if ((int32_t)(millis() - _next_cog_sample_ms) >= 0) {
_next_cog_sample_ms = millis() + 1000UL;
LocationProvider* loc = _sensors ? _sensors->getLocationProvider() : nullptr;
if (loc && loc->isValid()) {
pushCogFix((int32_t)loc->getLatitude(), (int32_t)loc->getLongitude());
}
}
// Locator — beep + alert when the device crosses into / out of the armed
// geofence. Cheap; a few seconds of latency at the boundary is fine.
if ((int32_t)(millis() - _next_locator_ms) >= 0) {
@@ -3246,60 +3236,8 @@ void UITask::locatorProximityBeeper() {
_locator_beep_next_ms = millis() + interval;
}
// Insert a GPS fix into the course-over-ground ring, rejecting gross outliers
// (a jump implying an impossible speed) so one bad fix can't swing the heading.
void UITask::pushCogFix(int32_t lat, int32_t lon) {
static const uint32_t COG_MAX_GAP_MS = 15000; // GPS gap longer than this → window is stale
uint32_t now = millis();
if (_cog_count > 0) {
const CogFix& prev = _cog[(_cog_head + _cog_count - 1) % COG_RING];
uint32_t dt = now - prev.ms;
if (dt > COG_MAX_GAP_MS) {
// GPS was lost for a while: the old fixes are far in the past, so a
// window spanning them would imply a bogus "teleport" heading. Restart
// the ring from this fix (the last-good _cog_deg is kept for display).
_cog_head = 0; _cog_count = 0;
} else if (dt > 0) {
float dist_m = geo::haversineKm(prev.lat, prev.lon, lat, lon) * 1000.0f;
float speed = dist_m / (dt / 1000.0f); // m/s
if (speed > 50.0f) return; // > 180 km/h between fixes → reject
}
}
int pos;
if (_cog_count < COG_RING) { pos = (_cog_head + _cog_count) % COG_RING; _cog_count++; }
else { pos = _cog_head; _cog_head = (_cog_head + 1) % COG_RING; }
_cog[pos].lat = lat; _cog[pos].lon = lon; _cog[pos].ms = now;
}
bool UITask::currentCourse(int& deg_out) const {
static const float COG_MIN_MOVE_M = 6.0f; // window must span ≥ this to be a real heading
if (_cog_count < 2) {
if (_cog_deg >= 0) { deg_out = _cog_deg; return true; } // hold last good
return false;
}
const CogFix& oldest = _cog[_cog_head];
const CogFix& newest = _cog[(_cog_head + _cog_count - 1) % COG_RING];
float span_m = geo::haversineKm(oldest.lat, oldest.lon, newest.lat, newest.lon) * 1000.0f;
if (span_m < COG_MIN_MOVE_M) {
if (_cog_deg >= 0) { deg_out = _cog_deg; return true; } // standing still → hold last
return false;
}
// Cache as last-good (mutable-free: recompute is cheap, but keep _cog_deg fresh).
const_cast<UITask*>(this)->_cog_deg =
geo::bearingDeg(oldest.lat, oldest.lon, newest.lat, newest.lon);
deg_out = _cog_deg;
return true;
}
bool UITask::currentLocation(int32_t& lat, int32_t& lon) const {
LocationProvider* loc = _sensors ? _sensors->getLocationProvider() : nullptr;
if (loc && loc->isValid()) {
lat = (int32_t)loc->getLatitude();
lon = (int32_t)loc->getLongitude();
return true;
}
return false;
}
bool UITask::currentCourse(int& deg_out) const { return _core->course.currentCourse(deg_out); }
bool UITask::currentLocation(int32_t& lat, int32_t& lon) const { return _core->course.currentLocation(lat, lon); }
// A peer broadcast its position via a [LOC] message (parsed in MyMesh). Record
// it in the live-track table for the Nearby "Live" view / map. Gated on the