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Core Classes

Business Logic Distribution

The business logic is split between two locations:

Location Purpose
GPS/Classes/ Main application logic, state management, guidance
AgOpenGPS.Core/Models/ Reusable models, geo conversions, helpers

GPS/Classes/ - Main Application Logic

These classes manage application state and core operations:

CVehicle

File: Classes/CVehicle.cs

Purpose: Vehicle configuration and steering parameters

Key Properties:

// Dead zone settings
public int deadZoneHeading, deadZoneDelay;
public bool isInDeadZone;

// Speed limits
public double slowSpeedCutoff;
public double functionSpeedLimit;
public double maxSteerSpeed, minSteerSpeed;

// Steering gains
public double stanleyDistanceErrorGain;
public double stanleyHeadingErrorGain;
public double stanleyIntegralGainAB;
public double purePursuitIntegralGain;

// Lookahead parameters
public double goalPointLookAheadHold;
public double goalPointLookAheadMult;
public double goalPointAcquireFactor;

// Steering state
public bool isInFreeDriveMode;
public double driveFreeSteerAngle;
public double modeXTE, modeTime;

Key Methods:

  • Constructor loads settings from VehicleSettings and ToolSettings
  • UpdateGenreals() - Updates calculated steering parameters

CTool

File: Classes/CTool.cs

Purpose: Tool configuration and section management

Key Properties:

// Dimensions
public double width, halfWidth, overlap;
public double offset;
public double hitchLength;

// Trailing tool settings
public bool isToolTrailing, isToolTBT;
public bool isToolRearFixed, isToolFrontFixed;
public double trailingHitchLength;
public double tankTrailingHitchLength;

// Lookahead settings
public double lookAheadOnSetting;
public double lookAheadOffSetting;
public double turnOffDelay;

// Section configuration
public int numOfSections;
public int minCoverage;
public bool isSectionsNotZones;
public bool isSectionOffWhenOut;

// Zone support
public int zones;
public int[] zoneRanges;

// Colors
public Color[] secColors;

Key Methods:

  • SetCurrentToolConfig() - Loads tool settings from ToolSettings
  • ResetSectionPositions() - Resets section positions
  • UpdateSectionPositions() - Updates section positions based on width

CSection

File: Classes/CSection.cs

Purpose: Individual section control state

Key Properties:

// Section state
public bool isSectionOn;
public bool isSectionRequiredOn;
public bool sectionOnRequest, sectionOffRequest;

// Timers
public int sectionOnTimer, sectionOffTimer;
public int mappingOnTimer, mappingOffTimer;

// Position (meters from center, left is negative)
public double positionLeft = -4;
public double positionRight = 4;
public double sectionWidth;

// World space points
public vec2 leftPoint, rightPoint;
public vec2 lastLeftPoint, lastRightPoint;

// Location state
public bool isInBoundary;
public bool isInHeadlandArea;
public bool isLookOnInHeadland;

// Button state
public btnStates sectionBtnState;

Key Methods:

  • SetSectionColors() - Sets section display colors
  • DrawSection() - Renders section in OpenGL

CGuidance

File: Classes/CGuidance.cs

Purpose: Steering angle calculation using Stanley or Pure Pursuit algorithms

Key Properties:

// Distance errors
public double distanceFromCurrentLineSteer;
public double distanceFromCurrentLinePivot;
public double steerAngleGu;

// Heading error
public double steerHeadingError;
public double distSteerError, lastDistSteerError;
public double derivativeDistError;

// Integral
public double inty;

// Side hill compensation
public double sideHillCompFactor;

Key Methods:

  • DoSteerAngleCalc() - Stanley steering calculation
  • PurePursuitSteerCalc() - Pure Pursuit steering calculation
  • CalculateIntegral() - Integral term calculation

Stanley Algorithm:

// Cross-track error
double XTEc = Math.Atan((distanceFromCurrentLineSteer * stanleyDistanceErrorGain) / speed);

// Heading error
steerHeadingError *= stanleyHeadingErrorGain;

// Combined
steerAngleGu = (XTEc + steerHeadingError) * -1.0;

CAHRS

File: Classes/CAHRS.cs

Purpose: IMU data and GPS/IMU fusion

Key Properties:

// Raw IMU data
public double imuHeading = 99999;
public double imuRoll = 0;
public double imuPitch = 0;
public double imuYawRate = 0;

// Roll zero offset
public double rollZero;
public double rollFilter;

// Settings
public bool isAutoSteerAuto;
public bool isRollInvert;
public bool isDualAsIMU;
public bool isReverseOn;

// Fusion parameters
public double forwardComp;
public double reverseComp;
public double fusionWeight;

// Auto-switch
public bool autoSwitchDualFixOn;
public double autoSwitchDualFixSpeed;

Key Methods:

  • ResetAHRS() - Resets AHRS values
  • SetHeading() - Sets fused heading from GPS/IMU

CABLine

File: Classes/CABLine.cs

Purpose: AB line guidance calculations

Key Properties:

// AB line points
public vec3 currentLinePtA;
public vec3 currentLinePtB;
public double abHeading, abLength;

// Distance from line
public double distanceFromCurrentLinePivot;
public double distanceFromRefLine;

// Pure pursuit
public vec2 goalPointAB;
public vec2 radiusPointAB;
public double ppRadiusAB;
public double steerAngleAB;

// State
public bool isABValid;
public bool isMakingABLine;
public bool isHeadingSameWay;

// Design mode
public vec2 desPtA, desPtB;
public double desHeading;
public string desName;

Key Methods:

  • CreateCurrentABLine() - Creates AB line from A and B points
  • GetCurrentABLine() - Returns current AB line offset by path count
  • ResetABLines() - Clears all AB lines
  • SnapABLine() - Snaps to existing AB line

CContour

File: Classes/CContour.cs

Purpose: Contour guidance calculations

Key Properties:

// Contour points
public List<vec3> ptList;

// Current contour
public vec2 goalPointCT;
public vec2 radiusPointCT;
public double steerAngleCT;

// State
public bool isContourValid;
public bool isContourOn;
public int currentIndex;

Key Methods:

  • BuildContour() - Builds contour from recorded points
  • GetCurrentContour() - Returns current contour point
  • SmoothContour() - Applies smoothing to contour

CTrack

File: Classes/CTrack.cs

Purpose: Current guidance track state (combines AB Line, Contour, etc.)

Key Properties:

// Track type
public enum TrackType { None, ABLine, Curve, Contour }

// Current track state
public TrackType trackType;
public double distanceFromCurrentLine;
public double steerAngle;

// Guidance line
public vec2 goalPoint;
public vec2 radiusPoint;

// Mode
public int mode;
public bool isLocked;

Key Methods:

  • UpdateTrack() - Updates track calculations
  • GetGoalPoint() - Returns goal point for guidance
  • GetSteerAngle() - Returns calculated steer angle

CYouTurn

File: Classes/CYouTurn.cs

Purpose: Automatic U-turn generation at headlands

Key Properties:

// U-turn state
public bool isYouTurnTriggered;
public bool isTurnLeft;
public bool isYouTurnBtnOn;

// U-turn parameters
public double youTurnRadius;
public int youTurnStartOffset;
public int uTurnStyle;
public int rowSkipsWidth;
public int uTurnSmoothing;

// Generated path
public List<vec3> ytList;
public vec2 goalPointYT;
public vec2 radiusPointYT;
public double steerAngleYT;

// Turn validation
public bool isTurnCreationTooClose;
public bool isTurnCreationNotCrossingError;
public bool isOutOfBounds;

Key Methods:

  • BuildYouTurnList() - Generates U-turn path points
  • CalculateYouTurn() - Calculates U-turn steering
  • ResetYouTurn() - Resets U-turn state

U-Turn Styles:

  • 0: Basic U-turn
  • 1: Wide U-turn
  • 2: Y-turn

CModuleComm

File: Classes/CModuleComm.cs

Purpose: Communication with steering modules

Key Properties:

// Safety
public bool isOutOfBounds;

// Section switch data (PGN 234)
public byte[] ss = new byte[9];
public int swHeader, swMain, swNumSections;

// Module feedback
public int pwmDisplay = 0;
public double actualSteerAngleDegrees = 0;
public int actualSteerAngleChart = 0;
public int sensorData = -1;

// Work switch
public bool isWorkSwitchActiveLow;
public bool isRemoteWorkSystemOn;
public bool workSwitchHigh, steerSwitchHigh;

Key Methods:

  • CheckWorkAndSteerSwitch() - Handles work/steer switch input

CISOBUS

File: Classes/CISOBUS.cs

Purpose: ISOBUS section control communication

Key Properties:

// Section control
private bool sectionControlEnabled;
private bool[] actualSectionStates;

// Process data
private int lastGuidanceLineDeviation;
private int lastActualSpeed;
private int lastTotalDistance;

Key Methods:

  • RequestSectionControlEnabled(bool) - Request section control
  • SetGuidanceLineDeviation(int) - Send guidance deviation
  • SetActualSpeed(int) - Send vehicle speed
  • SetTotalDistance(int) - Send total distance
  • DeserializeHeartbeat(byte[]) - Parse ISOBUS heartbeat
  • IsAlive() - Check if ISOBUS connected (1s timeout)

CBoundary / CBoundaryList

File: Classes/CBoundary.cs, Classes/CBoundaryList.cs

Purpose: Boundary (geofence) definition and checking

Key Properties:

// Boundary points
public List<vec3> ptList;

// Area
public double area;

// State
public bool isBndBeingMade;
public bool isBndBeingViewed;

Key Methods:

  • IsPointInsideBoundary(vec2) - Checks if point is inside
  • CalculateArea() - Calculates boundary area
  • SmoothBoundary() - Applies Douglas-Peucker smoothing

CFence

File: Classes/CFence.cs

Purpose: Geofence logic for stopping guidance outside boundary

Key Properties:

// Fence state
public bool isAlright
public bool isOnInZone;

// Trigger points
public vec2 turnLineStart, turnLineEnd;

Key Methods:

  • FenceCheck() - Checks if vehicle is in boundary
  • TurnOnDisableSections() - Turns off sections when out
  • TurnOnEnableSections() - Turns on sections when in

CHead

File: Classes/CHead.cs

Purpose: Headland detection and section control

Key Properties:

// Headland state
public bool isInHeadland;

// Headland distance
public double distanceFromHeadland;

Key Methods:

  • HeadlandCheck() - Checks if vehicle is in headland area

CNMEA

File: Classes/CNMEA.cs

Purpose: NMEA sentence parsing

Key Methods:

  • ParseGPGGA() - Parse GPGGA sentence
  • ParseGPRMC() - Parse GPRMC sentence
  • ParseGPVTG() - Parse GPVTG sentence
  • ParseGPCHC() - Parse GPCHC (ComNav) sentence

CSim

File: Classes/CSim.cs

Purpose: Simulation mode for testing

Key Properties:

public double simLatitude;
public double simLongitude;
public double simHeading;
public double simSpeed;

Key Methods:

  • UpdateSimulation() - Updates simulated position

CFieldData

File: Classes/CFieldData.cs

Purpose: Field save/load operations

Key Methods:

  • SaveField() - Saves field to file
  • LoadField() - Loads field from file
  • CreateFieldFile() - Creates new field file

CTram

File: Classes/CTram.cs

Purpose: Tramline management

Key Properties:

public List<vec3> tramList;
public double tramWidth;
public int passes;

Key Methods:

  • BuildTram() - Generates tramlines from boundary
  • DrawTram() - Renders tramlines

CFlag

File: Classes/CFlag.cs

Purpose: Flag/waypoint management

Key Properties:

public vec2 position;
public string notes;
public int ID;

CRecordedPath

File: Classes/CRecordedPath.cs

Purpose: Recorded path storage

Key Properties:

public List<vec3> path;
public string name;

CSettingsMigration

File: Classes/CSettingsMigration.cs

Purpose: Migrates old single-file settings to new split format

Key Methods:

  • MigrateVehicle() - Migrates vehicle settings
  • MigrateTool() - Migrates tool settings
  • MigrateEnvironment() - Migrates environment settings

AgOpenGPS.Core/Models/ - Shared Models & Conversions

Geo Models (Models/Base/)

GeoCoord

Purpose: Geographic coordinate with northing/easting

Key Properties:

public double Northing { get; set; }
public double Easting { get; set; }

Wgs84

Purpose: WGS84 latitude/longitude coordinate

Key Properties:

public double Latitude { get; set; }
public double Longitude { get; set; }

LocalPlane

Purpose: Local plane projection for calculations

Key Methods:

  • ConvertWgs84ToGeoCoord() - Converts WGS84 to local easting/northing
  • ConvertGeoCoordToWgs84() - Converts local to WGS84

Units

Purpose: Unit conversion utilities

Key Methods:

  • m2in() - Meters to inches
  • in2m() - Inches to meters
  • kmh2mph() - km/h to mph

Field Models (Models/Field/)

Class Purpose
Field Field definition with name, directory
Boundary Boundary data with point list
TramLines Tramline storage
Contour Contour data
RecordedPath Recorded track data
WorkedArea Worked area polygon
Flag Flag/waypoint

Guidance Models (Models/Guidance/)

Class Purpose
DubinsPathSelector Dubins path algorithm for smooth turns
DubinsPathConstraints Path constraints (min radius, etc.)

Naming Convention

  • Classes in GPS/: C prefix (e.g., CSection)
  • Forms: Form prefix (e.g., FormGPS)
  • Core models: No prefix (e.g., GeoCoord)

Common Patterns

FormGPS Reference

Most classes hold a reference to the main form:

private readonly FormGPS mf;

This provides access to:

  • mf.vehicle - CVehicle instance
  • mf.tool - CTool instance
  • mf.ahrs - CAHRS instance
  • mf.trk - CTrack instance
  • mf.pn - Position/Navigation data

Static Settings Access

Settings are accessed via static Default property:

Properties.VehicleSettings.Default.setVehicle_wheelbase = 3.3;
Properties.ToolSettings.Default.setVehicle_toolWidth = 4.0;
Properties.Settings.Default.setMenu_isMetric = true;

Partial Classes

FormGPS is split across multiple files:

  • FormGPS.cs - Main form
  • UDPComm.Designer.cs - UDP communication
  • PGN.Designer.cs - PGN definitions
  • And many more partial class files

Related Files