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refactor(geo): lift bearing/haversine/fmtDist into shared GeoUtils.h

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Phase 1 of the navigation feature. The geographic helpers were private
statics in NearbyScreen; move them to a header-inline geo:: namespace so
the upcoming Waypoints / course-over-ground code can reuse them. NearbyScreen
keeps thin forwarders so its call sites are unchanged. No behaviour change.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
Jakub
2026-06-02 23:51:08 +02:00
parent e019afcfc0
commit acec8e94dd
2 changed files with 59 additions and 31 deletions
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52
examples/companion_radio/GeoUtils.h Normal file
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@@ -0,0 +1,52 @@
#pragma once
// Shared geographic helpers used by the navigation features (Nearby Nodes,
// Waypoints, trail course-over-ground). Coordinates are fixed-point degrees
// scaled by 1e6 (the same representation used by the GPS provider and the
// contact/trail records). All functions are pure and header-inline.
#include <Arduino.h>
#include <math.h>
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
namespace geo {
// Great-circle distance between two 1e6-scaled lat/lon points, in kilometres.
static inline float haversineKm(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2) {
static const float DEG2RAD = (float)M_PI / 180.0f;
float la1 = lat1 * (1e-6f * DEG2RAD);
float la2 = lat2 * (1e-6f * DEG2RAD);
float dla = (lat2 - lat1) * (1e-6f * DEG2RAD);
float dlo = (lon2 - lon1) * (1e-6f * DEG2RAD);
float a = sinf(dla/2)*sinf(dla/2) + cosf(la1)*cosf(la2)*sinf(dlo/2)*sinf(dlo/2);
return 6371.0f * 2.0f * asinf(sqrtf(a));
}
// Initial bearing from point 1 to point 2, degrees 0..359 (0 = north).
static inline int bearingDeg(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2) {
static const float DEG2RAD = (float)M_PI / 180.0f;
float la1 = lat1 * (1e-6f * DEG2RAD);
float la2 = lat2 * (1e-6f * DEG2RAD);
float dlo = (lon2 - lon1) * (1e-6f * DEG2RAD);
float b = atan2f(sinf(dlo)*cosf(la2),
cosf(la1)*sinf(la2) - sinf(la1)*cosf(la2)*cosf(dlo)) * (180.0f / (float)M_PI);
if (b < 0.0f) b += 360.0f;
return (int)(b + 0.5f) % 360;
}
// 8-point cardinal label for a bearing in degrees.
static inline const char* bearingCardinal(int deg) {
static const char* dirs[] = { "N","NE","E","SE","S","SW","W","NW" };
return dirs[((deg + 22) % 360) / 45];
}
// Human distance string: "850m" / "2.3km" / "140km".
static inline void fmtDist(char* buf, int n, float km) {
if (km < 1.0f) snprintf(buf, n, "%dm", (int)(km * 1000 + 0.5f));
else if (km < 100.0f) snprintf(buf, n, "%.1fkm", km);
else snprintf(buf, n, "%dkm", (int)(km + 0.5f));
}
} // namespace geo

38
examples/companion_radio/ui-new/NearbyScreen.h
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@@ -1,5 +1,6 @@
#pragma once
#include <math.h>
#include "../GeoUtils.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
@@ -78,31 +79,12 @@ class NearbyScreen : public UIScreen {
out[j] = '\0';
}
static float haversineKm(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2) {
static const float DEG2RAD = (float)M_PI / 180.0f;
float la1 = lat1 * (1e-6f * DEG2RAD);
float la2 = lat2 * (1e-6f * DEG2RAD);
float dla = (lat2 - lat1) * (1e-6f * DEG2RAD);
float dlo = (lon2 - lon1) * (1e-6f * DEG2RAD);
float a = sinf(dla/2)*sinf(dla/2) + cosf(la1)*cosf(la2)*sinf(dlo/2)*sinf(dlo/2);
return 6371.0f * 2.0f * asinf(sqrtf(a));
}
static int bearingDeg(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2) {
static const float DEG2RAD = (float)M_PI / 180.0f;
float la1 = lat1 * (1e-6f * DEG2RAD);
float la2 = lat2 * (1e-6f * DEG2RAD);
float dlo = (lon2 - lon1) * (1e-6f * DEG2RAD);
float b = atan2f(sinf(dlo)*cosf(la2),
cosf(la1)*sinf(la2) - sinf(la1)*cosf(la2)*cosf(dlo)) * (180.0f / (float)M_PI);
if (b < 0.0f) b += 360.0f;
return (int)(b + 0.5f) % 360;
}
static const char* bearingCardinal(int deg) {
static const char* dirs[] = { "N","NE","E","SE","S","SW","W","NW" };
return dirs[((deg + 22) % 360) / 45];
}
// Geographic helpers live in GeoUtils.h (geo::) — shared with Waypoints /
// trail course-over-ground. Thin forwarders keep the existing call sites.
static float haversineKm(int32_t a, int32_t b, int32_t c, int32_t d) { return geo::haversineKm(a, b, c, d); }
static int bearingDeg(int32_t a, int32_t b, int32_t c, int32_t d) { return geo::bearingDeg(a, b, c, d); }
static const char* bearingCardinal(int deg) { return geo::bearingCardinal(deg); }
static void fmtDist(char* buf, int n, float km) { geo::fmtDist(buf, n, km); }
static void fmtAge(char* buf, int n, uint32_t lastmod) {
uint32_t now = rtc_clock.getCurrentTime();
@@ -114,12 +96,6 @@ class NearbyScreen : public UIScreen {
else snprintf(buf, n, ">1d ago");
}
static void fmtDist(char* buf, int n, float km) {
if (km < 1.0f) snprintf(buf, n, "%dm", (int)(km * 1000 + 0.5f));
else if (km < 100.0f) snprintf(buf, n, "%.1fkm", km);
else snprintf(buf, n, "%dkm", (int)(km + 0.5f));
}
static const char* typeName(uint8_t t) {
switch (t) {
case ADV_TYPE_CHAT: return "Companion";