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made GPS a static class

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This commit is contained in:
Djeeberjr
2023-07-30 15:42:02 +02:00
parent 97c906e013
commit 5a9d463192
6 changed files with 37 additions and 39 deletions
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48
src/kernel/gps/GPS.hx
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@@ -15,22 +15,20 @@ using tink.CoreApi;
You need at least 3 computers that know their position to determine the position of the computer.
**/
class GPS {
public static var instance:GPS;
private static var shouldRespond = true;
private static var shouldDoWholeNumberCheck = true;
private static var posAccuracy = 0; // 0 = unkown, 1 = (ins,best guess), 2 = (stored/manual,should be right), 3 = (gps,confirmed)
private static var cachedPosition:Pos3;
private static var lastPositionResponse: Array<{pos:Pos3,dist:Float}> = [];
private var shouldRespond = true;
private var shouldDoWholeNumberCheck = true;
private var posAccuracy = 0; // 0 = unkown, 1 = (ins,best guess), 2 = (stored/manual,should be right), 3 = (gps,confirmed)
private var cachedPosition:Pos3;
private var lastPositionResponse: Array<{pos:Pos3,dist:Float}> = [];
private var futureResolve: (pos:Null<Pos3>) -> Void = null;
private static var futureResolve: (pos:Null<Pos3>) -> Void = null;
@:allow(kernel.Init)
private function new() {
this.loadCachedPosition();
private static function init() {
loadCachedPosition();
}
public function setManualPosition(pos:Pos3) {
public static function setManualPosition(pos:Pos3) {
var kvstore = new KVStore("gps");
kvstore.set("mpos",pos);
kvstore.save();
@@ -42,39 +40,39 @@ class GPS {
}
@:allow(kernel.gps.INS)
private function setINSPosition(pos:Pos3) {
private static function setINSPosition(pos:Pos3) {
cachedPosition = pos;
posAccuracy = 1;
}
public function getPosition():Null<Pos3> {
public static function getPosition():Null<Pos3> {
return cachedPosition;
}
public function getAccuracy():Int {
public static function getAccuracy():Int {
return posAccuracy;
}
public function invalidatePosition() {
public static function invalidatePosition() {
cachedPosition = null;
posAccuracy = 0;
}
public function locate():Future<Null<Pos3>> {
public static function locate():Future<Null<Pos3>> {
// TODO: implenet a timeout
// TODO: dont send a request twice if the last one is still pending or we moved
return new Future<Null<Pos3>>((resolve)->{
this.futureResolve = resolve;
futureResolve = resolve;
sendPositionRequest();
return null;
});
}
private function resolveFuture(pos:Null<Pos3>) {
this.futureResolve(pos);
private static function resolveFuture(pos:Null<Pos3>) {
futureResolve(pos);
}
private function persistCachedPositon() {
private static function persistCachedPositon() {
if (cachedPosition == null) return;
var kvstore = new KVStore("gps");
@@ -82,7 +80,7 @@ class GPS {
kvstore.save();
}
private function loadCachedPosition() {
private static function loadCachedPosition() {
var kvstore = new KVStore("gps");
kvstore.load();
@@ -119,12 +117,12 @@ class GPS {
}
private function sendPositionRequest() {
private static function sendPositionRequest() {
Net.brodcastGPSRequest();
}
@:allow(kernel.net.Net)
private function handlePackage(pack:Package<Noise>, dist: Float,iface: INetworkInterface) {
private static function handlePackage(pack:Package<Noise>, dist: Float,iface: INetworkInterface) {
switch (pack.type) {
case GPSRequest:
if (!shouldRespond) return;
@@ -159,7 +157,7 @@ class GPS {
}
}
private function calculatePosition():Null<Pos3> {
private static function calculatePosition():Null<Pos3> {
if (lastPositionResponse.length < 3) return null;
// do a simple trilateration with the last 3 responses for now
@@ -210,7 +208,7 @@ class GPS {
/**
Determines the position(s) of a point given 3 other points and the distance to each of them.
**/
private function trilateration(p1:Pos3,p2:Pos3,p3: Pos3,r1:Float,r2:Float,r3:Float):Pair<Pos3,Pos3> {
private static function trilateration(p1:Pos3,p2:Pos3,p3: Pos3,r1:Float,r2:Float,r3:Float):Pair<Pos3,Pos3> {
var a2b = p2 - p1;
var a2c = p3 - p1;