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Simplified RadarScreen/View, added sensors smoothing

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Arty Bishop committed 2026-03-28 20:04:03 +00:00
1 parent 8c1df334d8
commit 279594c425
3 files changed
+311 -407
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core/data/src/main/java/com/rtbishop/look4sat/core/data/repository/SensorsRepo.kt
+69 -38
View File
@@ -35,78 +35,109 @@ class SensorsRepo(
private val sensorManager: SensorManager,
private val sensor: Sensor?,
private val windowManager: WindowManager
) :
SensorEventListener, ISensorsRepo {
) : SensorEventListener, ISensorsRepo {
private val _orientation = MutableStateFlow(Pair(0f, 0f))
private val rotationMatrix = FloatArray(9)
private val tempMatrix = FloatArray(9)
private val orientationValues = FloatArray(3)
private var sensorAccuracy = SensorManager.SENSOR_STATUS_UNRELIABLE
private var smoothAzimuth = 0f
private var smoothPitch = 0f
private var hasInitialReading = false
companion object {
private const val SMOOTHING_FACTOR = 0.15f
}
override val orientation: StateFlow<Pair<Float, Float>> = _orientation
override fun getMagDeclination(geoPos: GeoPos, time: Long): Float {
val latitude = geoPos.latitude.toFloat()
val longitude = geoPos.longitude.toFloat()
return GeomagneticField(latitude, longitude, geoPos.altitude.toFloat(), time).declination
return GeomagneticField(
geoPos.latitude.toFloat(),
geoPos.longitude.toFloat(),
geoPos.altitude.toFloat(),
time
).declination
}
override fun enableSensor() {
hasInitialReading = false
sensor?.let { sensorManager.registerListener(this, it, 8000) }
}
override fun disableSensor() = sensorManager.unregisterListener(this)
override fun onAccuracyChanged(sensor: Sensor, accuracy: Int) {
sensorAccuracy = accuracy
}
override fun onAccuracyChanged(sensor: Sensor, accuracy: Int) = Unit
override fun onSensorChanged(event: SensorEvent) = when {
sensorAccuracy == SensorManager.SENSOR_STATUS_UNRELIABLE -> {}
event.sensor == sensor -> updateOrientation(event.values)
else -> {}
override fun onSensorChanged(event: SensorEvent) {
if (event.sensor == sensor) updateOrientation(event.values)
}
private fun getDisplayRotation(): Int {
return try {
@Suppress("DEPRECATION")
windowManager.defaultDisplay.rotation
} catch (e: Exception) {
} catch (_: Exception) {
Surface.ROTATION_0
}
}
private fun transformRotationMatrix(rotationMatrix: FloatArray, rotation: Int) {
val tempMatrix = FloatArray(9)
when (rotation) {
Surface.ROTATION_0 -> {
SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_X, SensorManager.AXIS_Y, tempMatrix)
System.arraycopy(tempMatrix, 0, rotationMatrix, 0, 9)
}
Surface.ROTATION_90 -> {
SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_X, tempMatrix)
SensorManager.remapCoordinateSystem(tempMatrix, SensorManager.AXIS_MINUS_X, SensorManager.AXIS_Y, rotationMatrix)
}
Surface.ROTATION_180 -> {
SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_MINUS_X, SensorManager.AXIS_MINUS_Y, tempMatrix)
System.arraycopy(tempMatrix, 0, rotationMatrix, 0, 9)
}
Surface.ROTATION_270 -> {
SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_MINUS_Y, SensorManager.AXIS_X, tempMatrix)
SensorManager.remapCoordinateSystem(tempMatrix, SensorManager.AXIS_MINUS_X, SensorManager.AXIS_Y, rotationMatrix)
}
private fun remapForRotation(rotation: Int) {
val remapped = when (rotation) {
Surface.ROTATION_90 -> SensorManager.remapCoordinateSystem(
rotationMatrix, SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_X, tempMatrix
)
Surface.ROTATION_180 -> SensorManager.remapCoordinateSystem(
rotationMatrix, SensorManager.AXIS_MINUS_X, SensorManager.AXIS_MINUS_Y, tempMatrix
)
Surface.ROTATION_270 -> SensorManager.remapCoordinateSystem(
rotationMatrix, SensorManager.AXIS_MINUS_Y, SensorManager.AXIS_X, tempMatrix
)
else -> false
}
if (remapped) System.arraycopy(tempMatrix, 0, rotationMatrix, 0, 9)
}
private fun updateOrientation(rotationVector: FloatArray) {
SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector)
transformRotationMatrix(rotationMatrix, getDisplayRotation())
remapForRotation(getDisplayRotation())
SensorManager.getOrientation(rotationMatrix, orientationValues)
val azimuth = (orientationValues[0] * RAD2DEG).toFloat()
val pitch = (orientationValues[1] * RAD2DEG).toFloat() // roll [2]
val pitch = (orientationValues[1] * RAD2DEG).toFloat()
val magneticAzimuth = (azimuth + 360f) % 360f
val roundedAzimuth = round(magneticAzimuth * 10) / 10
val roundedPitch = round(pitch * 10) / 10
_orientation.value = Pair(roundedAzimuth, roundedPitch)
if (!hasInitialReading) {
smoothAzimuth = magneticAzimuth
smoothPitch = pitch
hasInitialReading = true
} else {
smoothAzimuth = lowPassAngle(smoothAzimuth, magneticAzimuth)
smoothPitch = lowPass(smoothPitch, pitch)
}
_orientation.value = Pair(
round(smoothAzimuth * 10) / 10,
round(smoothPitch * 10) / 10
)
}
/** Standard exponential low-pass filter. */
private fun lowPass(previous: Float, current: Float): Float {
return previous + SMOOTHING_FACTOR * (current - previous)
}
/**
* Low-pass filter that accounts for the 0°/360° wraparound.
* Always takes the shortest angular path between the two values.
*/
private fun lowPassAngle(previous: Float, current: Float): Float {
var delta = current - previous
// Normalise delta into the range (-180, 180]
while (delta > 180f) delta -= 360f
while (delta <= -180f) delta += 360f
return (previous + SMOOTHING_FACTOR * delta + 360f) % 360f
}
}