2 files changed, 180 insertions, 10 deletions
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 9a24ff50e..438e354df 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -55,17 +55,87 @@
  * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html
  */
 
-__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+static struct map_projection_reference_s mp_ref = {0};
+
+__EXPORT bool map_projection_global_initialized()
+{
+	return map_projection_initialized(&mp_ref);
+}
+
+__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref)
+{
+	return ref->init_done;
+}
+
+__EXPORT uint64_t map_projection_global_timestamp()
+{
+	return map_projection_timestamp(&mp_ref);
+}
+
+__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref)
+{
+	return ref->timestamp;
+}
+
+__EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+{
+	if (strcmp("navigator", getprogname() == 0)) {
+
+		return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
+	} else {
+		return -1;
+	}
+}
+
+__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
 {
+
 	ref->lat = lat_0 / 180.0 * M_PI;
 	ref->lon = lon_0 / 180.0 * M_PI;
 
 	ref->sin_lat = sin(ref->lat);
 	ref->cos_lat = cos(ref->lat);
+
+	ref->timestamp = timestamp;
+	ref->init_done = true;
+
+	return 0;
 }
 
-__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y)
+__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
 {
+	map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
+}
+
+__EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon)
+{
+	return map_projection_reference(&mp_ref, ref_lat, ref_lon);
+}
+
+__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon)
+{
+	if (!map_projection_initialized(ref)) {
+		return -1;
+	}
+
+	*ref_lat = ref->lat;
+	*ref_lon = ref->lon;
+
+	return 0;
+}
+
+__EXPORT int map_projection_global_project(double lat, double lon, float *x, float *y)
+{
+	return map_projection_project(&mp_ref, lat, lon, x, y);
+
+}
+
+__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y)
+{
+	if (!map_projection_initialized(ref)) {
+		return -1;
+	}
+
 	double lat_rad = lat / 180.0 * M_PI;
 	double lon_rad = lon / 180.0 * M_PI;
 
@@ -78,10 +148,21 @@ __EXPORT void map_projection_project(struct map_projection_reference_s *ref, dou
 
 	*x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH;
 	*y = k * cos_lat * sin(lon_rad - ref->lon) * CONSTANTS_RADIUS_OF_EARTH;
+
+	return 0;
 }
 
-__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
+__EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon)
 {
+	map_projection_project(&mp_ref, x, y, lat, lon);
+}
+
+__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
+{
+	if (!map_projection_initialized(ref)) {
+		return -1;
+	}
+
 	float x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
 	float y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
 	double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
@@ -102,6 +183,8 @@ __EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, f
 
 	*lat = lat_rad * 180.0 / M_PI;
 	*lon = lon_rad * 180.0 / M_PI;
+
+	return 0;
 }
 
 
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 0a3f85d97..3d7ba050f 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -71,35 +71,122 @@ struct map_projection_reference_s {
 	double lon;
 	double sin_lat;
 	double cos_lat;
+	bool init_done;
+	uint64_t timestamp;
 };
 
 /**
- * Initializes the map transformation.
+ * Checks if global projection was initialized
+ * @return true if map was initialized before, false else
+ */
+__EXPORT bool map_projection_global_initialized();
+
+/**
+ * Checks if projection given as argument was initialized
+ * @return true if map was initialized before, false else
+ */
+__EXPORT bool map_projection_initialized(const struct map_projection_reference_s *ref);
+
+/**
+ * Get the timestamp of the global map projection
+ * @return the timestamp of the map_projection
+ */
+__EXPORT uint64_t map_projection_global_timestamp();
+
+/**
+ * Get the timestamp of the map projection given by the argument
+ * @return the timestamp of the map_projection
+ */
+__EXPORT uint64_t map_projection_timestamp(const struct map_projection_reference_s *ref);
+
+/**
+ * Writes the reference values of the global projection to ref_lat and ref_lon
+ * @return 0 if map_projection_init was called before, -1 else
+ */
+__EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon);
+
+/**
+ * Writes the reference values of the projection given by the argument to ref_lat and ref_lon
+ * @return 0 if map_projection_init was called before, -1 else
+ */
+__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon);
+
+/**
+ * Initializes the global map transformation.
  *
- * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
+ * Initializes the transformation between the geographic coordinate system and
+ * the azimuthal equidistant plane
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
  */
-__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
+__EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t timestamp);
 
 /**
- * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
+ * Initializes the map transformation given by the argument.
+ *
+ * Initializes the transformation between the geographic coordinate system and
+ * the azimuthal equidistant plane
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref,
+		double lat_0, double lon_0, uint64_t timestamp);
+
+/**
+ * Initializes the map transformation given by the argument and sets the timestamp to now.
+ *
+ * Initializes the transformation between the geographic coordinate system and
+ * the azimuthal equidistant plane
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
+
+/**
+ * Transforms a point in the geographic coordinate system to the local
+ * azimuthal equidistant plane using the global projection
+ * @param x north
+ * @param y east
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ * @return 0 if map_projection_init was called before, -1 else
+ */
+__EXPORT int map_projection_global_project(double lat, double lon, float *x, float *y);
+
+
+ /* Transforms a point in the geographic coordinate system to the local
+  * azimuthal equidistant plane using the projection given by the argument
+ * @param x north
+ * @param y east
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ * @return 0 if map_projection_init was called before, -1 else
+ */
+__EXPORT int map_projection_project(const struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y);
+
+/**
+ * Transforms a point in the local azimuthal equidistant plane to the
+ * geographic coordinate system using the global projection
+ *
  * @param x north
  * @param y east
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
+ * @return 0 if map_projection_init was called before, -1 else
  */
-__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y);
+__EXPORT int map_projection_global_reproject(float x, float y, double *lat, double *lon);
 
 /**
- * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
+ * Transforms a point in the local azimuthal equidistant plane to the
+ * geographic coordinate system using the projection given by the argument
  *
  * @param x north
  * @param y east
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
+ * @return 0 if map_projection_init was called before, -1 else
  */
-__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
+__EXPORT int map_projection_reproject(const struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
 
 /**
  * Returns the distance to the next waypoint in meters.