[Egeniouss] API update + support heading and deviation

src/core/positioning/egenioussreceiver.cpp

@@ -23,6 +23,8 @@
 #include <QTimeZone>
 #include <qgsnetworkaccessmanager.h>
 
+#include <cmath>
+
 QLatin1String EgenioussReceiver::identifier = QLatin1String( "egeniouss" );
 
 EgenioussReceiver::EgenioussReceiver( const QString &address, const int port, QObject *parent )
@@ -43,52 +45,36 @@ EgenioussReceiver::~EgenioussReceiver()
 
 void EgenioussReceiver::handleConnectDevice()
 {
-  QNetworkRequest request( QString( "http://%1:%2/app/start" ).arg( mAddress.toString() ).arg( mPort ) );
+  QNetworkRequest request( QString( "http://%1:%2/app/getStatus" ).arg( mAddress.toString() ).arg( mPort ) );
   QNetworkReply *reply = QgsNetworkAccessManager::instance()->get( request );
   connect( reply, &QNetworkReply::finished, this, [this, reply]() {
     if ( reply->error() != QNetworkReply::NoError )
     {
-      handleErrorMessage( QString( "HTTP request failed: %1" ).arg( reply->errorString() ) );
+      const QString errorMessage = tr( "Is the app running? HTTP request failed: %1" ).arg( reply->errorString() );
+      qInfo() << QStringLiteral( "EgenioussReceiver: %1" ).arg( errorMessage );
+      handleErrorMessage( errorMessage );
+      reply->deleteLater();
       return;
     }
     const QJsonObject jsonObject = QJsonDocument::fromJson( reply->readAll() ).object();
-    const bool success = jsonObject.value( "success" ).toBool();
+    const bool isRunning = jsonObject.value( "estimation_status" ).toBool();
 
-    if ( success )
-    {
-      mTcpSocket->connectToHost( mAddress, mPort + 1, QTcpSocket::ReadOnly );
-    }
-    else
+    if ( !isRunning )
     {
-      handleErrorMessage( tr( "Failed to start egeniouss server." ) );
+      const QString errorMessage = tr( "Egeniouss service is not ready." );
+      qInfo() << QStringLiteral( "EgenioussReceiver: %1" ).arg( errorMessage );
+      handleErrorMessage( errorMessage );
+      reply->deleteLater();
     }
+
+    mTcpSocket->connectToHost( mAddress, mPort + 1, QTcpSocket::ReadOnly );
     reply->deleteLater();
   } );
 }
 
 void EgenioussReceiver::handleDisconnectDevice()
 {
-  QNetworkRequest request( QString( "http://%1:%2/app/stop" ).arg( mAddress.toString() ).arg( mPort ) );
-  QNetworkReply *reply = QgsNetworkAccessManager::instance()->get( request );
-  connect( reply, &QNetworkReply::finished, this, [this, reply]() {
-    if ( reply->error() != QNetworkReply::NoError )
-    {
-      handleErrorMessage( QString( "HTTP request failed: %1" ).arg( reply->errorString() ) );
-      return;
-    }
-    const QJsonObject jsonObject = QJsonDocument::fromJson( reply->readAll() ).object();
-    const bool success = jsonObject.value( "success" ).toBool();
-
-    if ( success )
-    {
-      mTcpSocket->disconnectFromHost();
-    }
-    else
-    {
-      handleErrorMessage( tr( "Failed to stop egeniouss server." ) );
-    }
-    reply->deleteLater();
-  } );
+  mTcpSocket->disconnectFromHost();
 }
 
 void EgenioussReceiver::handleErrorMessage( const QString &errorMessage )
@@ -106,7 +92,29 @@ GnssPositionDetails EgenioussReceiver::details() const
     return detailsList;
   }
 
-  detailsList.append( "q", mPayload.value( "q" ).toDouble() );
+  const qint64 timeMs = static_cast<qint64>( mPayload.value( "time" ).toDouble() * 1000.0 );
+  const QDateTime timestamp = QDateTime::fromMSecsSinceEpoch( timeMs, QTimeZone( QTimeZone::Initialization::UTC ) );
+  detailsList.append( tr( "Last fix" ), timestamp.toLocalTime().toString( QStringLiteral( "hh:mm:ss.zzz" ) ) );
+
+  const double heading = mPayload.value( "kappa" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  if ( !std::isnan( heading ) )
+  {
+    detailsList.append( tr( "Heading" ), QStringLiteral( "%1°" ).arg( heading, 0, 'f', 1 ) );
+  }
+
+  const double roll = mPayload.value( "omega" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  const double pitch = mPayload.value( "phi" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  if ( !std::isnan( roll ) && !std::isnan( pitch ) )
+  {
+    detailsList.append( tr( "Roll" ), QStringLiteral( "%1°" ).arg( roll, 0, 'f', 1 ) );
+    detailsList.append( tr( "Pitch" ), QStringLiteral( "%1°" ).arg( pitch, 0, 'f', 1 ) );
+  }
+
+  const double sigKappa = mPayload.value( "sig_kappa" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  if ( !std::isnan( sigKappa ) )
+  {
+    detailsList.append( tr( "Heading sigma" ), QStringLiteral( "%1°" ).arg( sigKappa, 0, 'f', 2 ) );
+  }
 
   return detailsList;
 }
@@ -145,9 +153,20 @@ void EgenioussReceiver::onReadyRead()
     return;
   }
   mPayload = jsonDoc.object();
+  qDebug() << "EgenioussReceiver payload:" << QJsonDocument( mPayload ).toJson( QJsonDocument::Compact );
   const double latitude = mPayload.value( "lat" ).toDouble() == 0 ? std::numeric_limits<double>::quiet_NaN() : mPayload.value( "lat" ).toDouble();
   const double longitude = mPayload.value( "lon" ).toDouble() == 0 ? std::numeric_limits<double>::quiet_NaN() : mPayload.value( "lon" ).toDouble();
   const double elevation = mPayload.value( "alt" ).toDouble() == 0 ? std::numeric_limits<double>::quiet_NaN() : mPayload.value( "alt" ).toDouble();
+  // omega=roll, phi=pitch, kappa=yaw/heading — Egeniouss naming convention
+  const double roll = mPayload.value( "omega" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  const double pitch = mPayload.value( "phi" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  const double heading = mPayload.value( "kappa" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  // 1-sigma position accuracy in metres
+  const double sigLat = mPayload.value( "sig_lat" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  const double sigLon = mPayload.value( "sig_lon" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  const double sigAlt = mPayload.value( "sig_alt" ).toDouble( std::numeric_limits<double>::quiet_NaN() );
+  // horizontal accuracy: RSS of sig_lat and sig_lon
+  const double hacc = ( std::isnan( sigLat ) || std::isnan( sigLon ) ) ? std::numeric_limits<double>::quiet_NaN() : std::sqrt( sigLat * sigLat + sigLon * sigLon );
   mLastGnssPositionInformation = GnssPositionInformation(
     latitude,
     longitude,
@@ -158,12 +177,24 @@ void EgenioussReceiver::onReadyRead()
     0,
     0,
     0,
+    hacc,
+    sigAlt,
+    QDateTime::fromMSecsSinceEpoch( static_cast<qint64>( mPayload.value( "time" ).toDouble() * 1000.0 ), QTimeZone( QTimeZone::Initialization::UTC ) ),
+    QChar(),
+    0,
+    1,
+    0,
+    QChar(),
+    QList<int>(),
+    false,
     std::numeric_limits<double>::quiet_NaN(),
     std::numeric_limits<double>::quiet_NaN(),
-    QDateTime::fromMSecsSinceEpoch( mPayload.value( "time" ).toDouble() / 1e6, QTimeZone( QTimeZone::Initialization::UTC ) ),
-    QChar(),
     0,
-    1 );
+    QString(),
+    true,
+    roll,
+    pitch,
+    heading );
 
   emit lastGnssPositionInformationChanged( mLastGnssPositionInformation );
 }

src/core/positioning/positioningsource.cpp

@@ -396,7 +396,7 @@ void PositioningSource::lastGnssPositionInformationChanged( const GnssPositionIn
                                                      lastGnssPositionInformation.imuPitch(),
                                                      lastGnssPositionInformation.imuHeading(),
                                                      lastGnssPositionInformation.imuSteering(),
-                                                     mOrientation );
+                                                     lastGnssPositionInformation.imuHeadingValid() ? lastGnssPositionInformation.imuHeading() : mOrientation );
   mPositionInformation = positionInformation;
 
   if ( !mBackgroundMode )