mirror of
https://github.com/peterantypas/maiana.git
synced 2025-05-29 05:40:15 -07:00
258 lines
7.1 KiB
C++
258 lines
7.1 KiB
C++
#include "Utils.hpp"
|
|
|
|
#include <cstring>
|
|
#include <algorithm>
|
|
#include <cstdio>
|
|
#include <sstream>
|
|
#include <vector>
|
|
#include <limits>
|
|
#include <cmath>
|
|
#include <errno.h>
|
|
#include <cassert>
|
|
#include <sstream>
|
|
#include <iomanip>
|
|
#include "MetricUnits.hpp"
|
|
|
|
#include "stm32f30x.h"
|
|
|
|
static bool __LITTLE_ENDIAN = false;
|
|
static uint32_t __junk = 0;
|
|
|
|
static const uint16_t CRC16_XMODEM_TABLE[] =
|
|
{ 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108,
|
|
0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231,
|
|
0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339,
|
|
0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462,
|
|
0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
|
|
0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653,
|
|
0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b,
|
|
0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4,
|
|
0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc,
|
|
0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5,
|
|
0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd,
|
|
0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6,
|
|
0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae,
|
|
0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
|
|
0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f,
|
|
0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188,
|
|
0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080,
|
|
0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9,
|
|
0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1,
|
|
0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea,
|
|
0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2,
|
|
0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db,
|
|
0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
|
|
0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c,
|
|
0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844,
|
|
0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d,
|
|
0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75,
|
|
0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e,
|
|
0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26,
|
|
0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f,
|
|
0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17,
|
|
0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
|
|
|
|
class EndianessCheck
|
|
{
|
|
public:
|
|
EndianessCheck()
|
|
{
|
|
uint32_t v = 1;
|
|
uint8_t *b = (uint8_t*) &v;
|
|
__LITTLE_ENDIAN = *b == 0x01;
|
|
}
|
|
};
|
|
|
|
EndianessCheck __checkendianess;
|
|
|
|
using namespace std;
|
|
|
|
void Utils::makeLowercase(string &s)
|
|
{
|
|
std::transform(s.begin(), s.end(), s.begin(), static_cast<int (*)(int)>(tolower));
|
|
}
|
|
|
|
void Utils::makeUppercase(string &s)
|
|
{
|
|
std::transform(s.begin(), s.end(), s.begin(), static_cast<int (*)(int)>(toupper));
|
|
}
|
|
|
|
void Utils::trim(string &str)
|
|
{
|
|
static string whitespace(" \t\f\v\n\r");
|
|
string::size_type pos = str.find_last_not_of(whitespace);
|
|
if ( pos != string::npos ) {
|
|
str.erase(pos + 1);
|
|
pos = str.find_first_not_of(whitespace);
|
|
if ( pos != string::npos )
|
|
str.erase(0, pos);
|
|
}
|
|
else
|
|
str.erase(str.begin(), str.end());
|
|
}
|
|
|
|
string Utils::toString(int i)
|
|
{
|
|
ostringstream o;
|
|
o << i;
|
|
return o.str();
|
|
}
|
|
|
|
string Utils::toString(unsigned i)
|
|
{
|
|
ostringstream o;
|
|
o << i;
|
|
return o.str();
|
|
}
|
|
|
|
string Utils::toString(double d)
|
|
{
|
|
ostringstream o;
|
|
o << fixed << d;
|
|
return o.str();
|
|
}
|
|
|
|
string Utils::toString(long long l)
|
|
{
|
|
ostringstream o;
|
|
o << l;
|
|
return o.str();
|
|
}
|
|
|
|
int Utils::toInt(const std::string &s)
|
|
{
|
|
if ( s.empty() )
|
|
return 0;
|
|
return atoi(s.c_str());
|
|
}
|
|
|
|
double Utils::toDouble(const std::string &s)
|
|
{
|
|
if ( s.empty() )
|
|
return 0.0;
|
|
|
|
return atof(s.c_str());
|
|
}
|
|
|
|
long long Utils::toInt64(const std::string &s)
|
|
{
|
|
if ( s.empty() )
|
|
return 0;
|
|
return atoll(s.c_str());
|
|
}
|
|
|
|
double Utils::latitudeFromNMEA(const string &decimal, const string &hemisphere)
|
|
{
|
|
// Latitude always starts with 4 integers: 2 for degrees, 2 for minutes . N decimal minutes
|
|
string degStr = decimal.substr(0, 2);
|
|
string decStr = decimal.substr(2);
|
|
|
|
double deg = Utils::toDouble(degStr);
|
|
double min = Utils::toDouble(decStr);
|
|
return (hemisphere == "N" ? 1 : -1) * (deg + min / 60.0f);
|
|
}
|
|
|
|
double Utils::longitudeFromNMEA(const string &decimal, const string &hemisphere)
|
|
{
|
|
// Longitude always starts with 5 integers: 3 for degrees, 2 for minutes . N decimal minutes
|
|
string degStr = decimal.substr(0, 3);
|
|
string decStr = decimal.substr(3);
|
|
|
|
double deg = Utils::toDouble(degStr);
|
|
double min = Utils::toDouble(decStr);
|
|
return (hemisphere == "E" ? 1 : -1) * (deg + min / 60.0f);
|
|
}
|
|
|
|
void Utils::delay(uint32_t ticks)
|
|
{
|
|
while (ticks--)
|
|
__junk <<= 2;
|
|
}
|
|
|
|
uint16_t Utils::reverseBits(uint16_t crc)
|
|
{
|
|
uint16_t result = 0;
|
|
for ( size_t i = 0; i < 16; ++i ) {
|
|
result <<= 1;
|
|
result |= ((crc & (1 << i)) >> i);
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
uint16_t Utils::crc16(uint8_t *bytes, uint16_t length)
|
|
{
|
|
uint16_t crc = 0xffff;
|
|
for ( uint16_t b = 0; b < length; ++b ) {
|
|
crc = ((crc << 8) & 0xff00) ^ CRC16_XMODEM_TABLE[((crc >> 8) & 0xff) ^ bytes[b]];
|
|
}
|
|
return Utils::reverseBits(~crc);
|
|
}
|
|
|
|
void Utils::tokenize(const string &str, char delim, vector<string> &result)
|
|
{
|
|
if ( str.empty() )
|
|
return;
|
|
|
|
string token;
|
|
result.clear();
|
|
for ( unsigned i = 0; i < str.length(); ++i )
|
|
{
|
|
if ( str[i] == delim )
|
|
{
|
|
result.push_back(token);
|
|
token.erase();
|
|
}
|
|
else
|
|
token += str[i];
|
|
}
|
|
|
|
result.push_back(token);
|
|
}
|
|
|
|
uint32_t Utils::coordinateToUINT32(double value)
|
|
{
|
|
uint32_t val = fabs(value) * 600000;
|
|
if ( value < 0.0 )
|
|
val = ~val + 1;
|
|
|
|
return val;
|
|
}
|
|
|
|
double Utils::coordinateFromUINT32(uint32_t value, uint8_t numBits)
|
|
{
|
|
if ( value & (1 << (numBits - 1)) ) {
|
|
value = ~value;
|
|
for ( int i = numBits - 1; i < 32; ++i )
|
|
value &= ~(1 << i);
|
|
|
|
return (double) value / -600000.0f;
|
|
}
|
|
else {
|
|
return (double) value / 600000.0f;
|
|
}
|
|
}
|
|
|
|
double arcInRadians(double lat1, double lon1, double lat2, double lon2)
|
|
{
|
|
double dLat = (lat2 - lat1) * DEG_TO_RAD;
|
|
double dLon = (lon2 - lon1) * DEG_TO_RAD;
|
|
double lat1Rad = lat1 * DEG_TO_RAD;
|
|
double lat2Rad = lat2 * DEG_TO_RAD;
|
|
|
|
double a = sin(dLat/2.0) * sin(dLat/2.0) + sin(dLon/2.0) * sin(dLon/2) * cos(lat1Rad) * cos(lat2Rad);
|
|
double radians = 2 * asin(min(1.0, sqrt(a)));
|
|
return radians;
|
|
}
|
|
|
|
double Utils::haversineDistance(double lat1, double lon1, double lat2, double lon2)
|
|
{
|
|
return EARTH_RADIUS_IN_METERS * arcInRadians(lat1, lon1, lat2, lon2);
|
|
}
|
|
|
|
bool Utils::inISR()
|
|
{
|
|
return (SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk );
|
|
}
|
|
|