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https://github.com/MarekZegare4/MeshCore-Solo.git
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acec8e94dd
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>
53 lines
2.0 KiB
C++
53 lines
2.0 KiB
C++
#pragma once
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// Shared geographic helpers used by the navigation features (Nearby Nodes,
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// Waypoints, trail course-over-ground). Coordinates are fixed-point degrees
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// scaled by 1e6 (the same representation used by the GPS provider and the
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// contact/trail records). All functions are pure and header-inline.
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#include <Arduino.h>
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#include <math.h>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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namespace geo {
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// Great-circle distance between two 1e6-scaled lat/lon points, in kilometres.
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static inline float haversineKm(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2) {
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static const float DEG2RAD = (float)M_PI / 180.0f;
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float la1 = lat1 * (1e-6f * DEG2RAD);
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float la2 = lat2 * (1e-6f * DEG2RAD);
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float dla = (lat2 - lat1) * (1e-6f * DEG2RAD);
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float dlo = (lon2 - lon1) * (1e-6f * DEG2RAD);
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float a = sinf(dla/2)*sinf(dla/2) + cosf(la1)*cosf(la2)*sinf(dlo/2)*sinf(dlo/2);
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return 6371.0f * 2.0f * asinf(sqrtf(a));
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}
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// Initial bearing from point 1 to point 2, degrees 0..359 (0 = north).
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static inline int bearingDeg(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2) {
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static const float DEG2RAD = (float)M_PI / 180.0f;
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float la1 = lat1 * (1e-6f * DEG2RAD);
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float la2 = lat2 * (1e-6f * DEG2RAD);
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float dlo = (lon2 - lon1) * (1e-6f * DEG2RAD);
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float b = atan2f(sinf(dlo)*cosf(la2),
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cosf(la1)*sinf(la2) - sinf(la1)*cosf(la2)*cosf(dlo)) * (180.0f / (float)M_PI);
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if (b < 0.0f) b += 360.0f;
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return (int)(b + 0.5f) % 360;
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}
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// 8-point cardinal label for a bearing in degrees.
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static inline const char* bearingCardinal(int deg) {
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static const char* dirs[] = { "N","NE","E","SE","S","SW","W","NW" };
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return dirs[((deg + 22) % 360) / 45];
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}
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// Human distance string: "850m" / "2.3km" / "140km".
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static inline void fmtDist(char* buf, int n, float km) {
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if (km < 1.0f) snprintf(buf, n, "%dm", (int)(km * 1000 + 0.5f));
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else if (km < 100.0f) snprintf(buf, n, "%.1fkm", km);
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else snprintf(buf, n, "%dkm", (int)(km + 0.5f));
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}
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} // namespace geo
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