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route.go
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route.go
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package route
import (
"bytes"
"errors"
"sync"
"github.com/dekoch/gouniversal/module/gpsnav/geo"
"github.com/dekoch/gouniversal/module/gpsnav/typenav"
"github.com/dekoch/gouniversal/shared/io/file"
gpx "github.com/twpayne/go-gpx"
)
type Route struct {
filePath string
wpt []typenav.Pos
nextWpt int
}
var mut sync.RWMutex
func (rt *Route) Init(filePath string) {
mut.Lock()
defer mut.Unlock()
rt.filePath = filePath
}
func (rt *Route) ReadFile() error {
mut.Lock()
defer mut.Unlock()
var w []typenav.Pos
rt.wpt = w
b, err := file.ReadFile(rt.filePath)
if err != nil {
return err
}
r := bytes.NewReader(b)
g, err := gpx.Read(r)
if err != nil {
return err
}
for _, p := range g.Wpt {
var wpt typenav.Pos
wpt.Time = p.Time
wpt.Lat = p.Lat
wpt.Lon = p.Lon
wpt.Sat = int64(p.Sat)
wpt.HDOP = p.HDOP
wpt.Ele = p.Ele
wpt.Name = p.Name
wpt.Valid = true
rt.wpt = append(rt.wpt, wpt)
}
return nil
}
func (rt *Route) StartRoute() {
mut.Lock()
defer mut.Unlock()
rt.nextWpt = 0
}
func (rt *Route) SetWaypoint(no int) error {
if no < 0 ||
no >= len(rt.wpt) {
return errors.New("invalid no")
}
mut.Lock()
defer mut.Unlock()
rt.nextWpt = no
return nil
}
func (rt *Route) NextWaypoint() {
mut.Lock()
defer mut.Unlock()
rt.nextWpt++
}
func (rt *Route) GetNextWaypoint() (typenav.Pos, error) {
mut.RLock()
defer mut.RUnlock()
return rt.getWaypoint(rt.nextWpt)
}
func (rt *Route) GetWaypointNo() int {
mut.RLock()
defer mut.RUnlock()
return rt.nextWpt
}
func (rt *Route) GetWaypointCnt() int {
mut.RLock()
defer mut.RUnlock()
return len(rt.wpt)
}
func (rt *Route) GetWaypoint(no int) (typenav.Pos, error) {
mut.RLock()
defer mut.RUnlock()
return rt.getWaypoint(no)
}
func (rt *Route) getWaypoint(no int) (typenav.Pos, error) {
if no < 0 ||
no >= len(rt.wpt) {
var ret typenav.Pos
return ret, errors.New("invalid no")
}
return rt.wpt[no], nil
}
func (rt *Route) OnWaypoint(p typenav.Pos, distance float64) (bool, error) {
mut.RLock()
defer mut.RUnlock()
wpt, err := rt.getWaypoint(rt.nextWpt)
if err != nil {
return false, err
}
var target geo.Geo
target.SetTargetPos(wpt)
target.SetCurrentPos(p)
d, err := target.GetTargetDistance()
if err != nil {
return false, err
}
if d > distance {
//fmt.Println(d)
return false, nil
}
return true, nil
}