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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
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#include <QtCore>
#include <QDateTime>
#include <QDate>
#include "SimulatedPosition.h"
SimulatedPosition::simulated_motion_s SimulatedPosition::_simulated_motion[5] = {{0,250},{0,0},{0, -250},{-250, 0},{0,0}};
SimulatedPosition::SimulatedPosition()
: QGeoPositionInfoSource(NULL),
lat_int(47.3977420*1e7),
lon_int(8.5455941*1e7),
_step_cnt(0),
_simulate_motion_index(0),
_simulate_motion(true),
_rotation(0.0F)
{
QDateTime currentDateTime = QDateTime::currentDateTime();
qsrand(currentDateTime.toTime_t());
connect(&update_timer, &QTimer::timeout, this, &SimulatedPosition::updatePosition);
}
QGeoPositionInfo SimulatedPosition::lastKnownPosition(bool /*fromSatellitePositioningMethodsOnly*/) const
{
return lastPosition;
}
SimulatedPosition::PositioningMethods SimulatedPosition::supportedPositioningMethods() const
{
return AllPositioningMethods;
}
int SimulatedPosition::minimumUpdateInterval() const
{
return 1000;
}
void SimulatedPosition::startUpdates()
{
int interval = updateInterval();
if (interval < minimumUpdateInterval())
interval = minimumUpdateInterval();
update_timer.setSingleShot(false);
update_timer.start(interval);
}
void SimulatedPosition::stopUpdates()
{
update_timer.stop();
}
void SimulatedPosition::requestUpdate(int /*timeout*/)
{
emit updateTimeout();
}
int SimulatedPosition::getRandomNumber(int size)
{
if(size == 0) {
return 0;
}
int num = (qrand()%2 > 1) ? -1 : 1;
return num*qrand()%size;
}
void SimulatedPosition::updatePosition()
{
int32_t lat_mov = 0;
int32_t lon_mov = 0;
_rotation += (float) .1;
if(!(_step_cnt++%30)) {
_simulate_motion_index++;
if(_simulate_motion_index > 4) {
_simulate_motion_index = 0;
}
}
lat_mov = _simulated_motion[_simulate_motion_index].lat;
lon_mov = _simulated_motion[_simulate_motion_index].lon*sin(_rotation);
lon_int += lat_mov;
lat_int += lon_mov;
double latitude = ((double) (lat_int + getRandomNumber(250)))*1e-7;
double longitude = ((double) (lon_int + getRandomNumber(250)))*1e-7;
QDateTime timestamp = QDateTime::currentDateTime();
QGeoCoordinate position(latitude, longitude);
QGeoPositionInfo info(position, timestamp);
if(lat_mov || lon_mov) {
info.setAttribute(QGeoPositionInfo::Attribute::Direction, 3.14/2);
info.setAttribute(QGeoPositionInfo::Attribute::GroundSpeed, 5);
}
lastPosition = info;
emit positionUpdated(info);
}
QGeoPositionInfoSource::Error SimulatedPosition::error() const
{
return QGeoPositionInfoSource::NoError;
}