mirror of
https://github.com/subsurface/subsurface.git
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ae81b42fe2
Thise makes initialization of unit types more palatable.
For example:
surface.time = sample.time - duration_t { .seconds = 20 };
=> surface.time = sample.time - 20_sec;
delta_depth.mm = feet_to_mm(1.0); // 1ft
=> delta_depth = 1_ft;
get_cylinderid_at_time(..., { .seconds = 20 * 60 + 1 }));
=> get_cylinderid_at_time(..., 20_min + 1_sec));
Signed-off-by: Berthold Stoeger <bstoeger@mail.tuwien.ac.at>
1063 lines
38 KiB
C++
1063 lines
38 KiB
C++
// SPDX-License-Identifier: GPL-2.0
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/* planner.cpp
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*
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* code that allows us to plan future dives
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*
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* (c) Dirk Hohndel 2013
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*/
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#include <stdlib.h>
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#include <assert.h>
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#include <unistd.h>
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#include <ctype.h>
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#include <string.h>
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#include "dive.h"
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#include "divelist.h" // for init_decompression()
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#include "divelog.h"
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#include "sample.h"
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#include "subsurface-string.h"
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#include "deco.h"
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#include "errorhelper.h"
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#include "event.h"
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#include "interpolate.h"
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#include "planner.h"
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#include "range.h"
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#include "subsurface-time.h"
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#include "gettext.h"
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#include "libdivecomputer/parser.h"
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#include "qthelper.h"
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#include "version.h"
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static constexpr int base_timestep = 2; // seconds
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static int decostoplevels_metric[] = { 0, 3000, 6000, 9000, 12000, 15000, 18000, 21000, 24000, 27000,
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30000, 33000, 36000, 39000, 42000, 45000, 48000, 51000, 54000, 57000,
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60000, 63000, 66000, 69000, 72000, 75000, 78000, 81000, 84000, 87000,
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90000, 100000, 110000, 120000, 130000, 140000, 150000, 160000, 170000,
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180000, 190000, 200000, 220000, 240000, 260000, 280000, 300000,
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320000, 340000, 360000, 380000 };
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static int decostoplevels_imperial[] = { 0, 3048, 6096, 9144, 12192, 15240, 18288, 21336, 24384, 27432,
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30480, 33528, 36576, 39624, 42672, 45720, 48768, 51816, 54864, 57912,
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60960, 64008, 67056, 70104, 73152, 76200, 79248, 82296, 85344, 88392,
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91440, 101600, 111760, 121920, 132080, 142240, 152400, 162560, 172720,
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182880, 193040, 203200, 223520, 243840, 264160, 284480, 304800,
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325120, 345440, 365760, 386080 };
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#if DEBUG_PLAN
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void dump_plan(struct diveplan *diveplan)
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{
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struct divedatapoint *dp;
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struct tm tm;
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if (!diveplan) {
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printf("Diveplan NULL\n");
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return;
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}
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utc_mkdate(diveplan->when, &tm);
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printf("\nDiveplan @ %04d-%02d-%02d %02d:%02d:%02d (surfpres %dmbar):\n",
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tm.tm_year, tm.tm_mon + 1, tm.tm_mday,
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tm.tm_hour, tm.tm_min, tm.tm_sec,
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diveplan->surface_pressure);
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dp = diveplan->dp;
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while (dp) {
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printf("\t%3u:%02u: %6dmm cylid: %2d setpoint: %d\n", FRACTION_TUPLE(dp->time, 60), dp->depth, dp->cylinderid, dp->setpoint);
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dp = dp->next;
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}
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}
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#endif
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diveplan::diveplan()
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{
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}
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diveplan::~diveplan()
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{
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}
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bool diveplan::is_empty() const
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{
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return std::none_of(dp.begin(), dp.end(), [](const divedatapoint &dp) { return dp.time != 0; });
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}
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/* get the cylinder index at a certain time during the dive */
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int get_cylinderid_at_time(struct dive *dive, struct divecomputer *dc, duration_t time)
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{
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// we start with the first cylinder unless an event tells us otherwise
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int cylinder_idx = 0;
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for (const auto &event: dc->events) {
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if (event.time.seconds > time.seconds)
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break;
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if (event.name == "gaschange")
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cylinder_idx = dive->get_cylinder_index(event);
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}
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return cylinder_idx;
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}
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static int get_gasidx(struct dive *dive, struct gasmix mix)
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{
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return find_best_gasmix_match(mix, dive->cylinders);
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}
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static void interpolate_transition(struct deco_state *ds, struct dive *dive, duration_t t0, duration_t t1, depth_t d0, depth_t d1, struct gasmix gasmix, o2pressure_t po2, enum divemode_t divemode)
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{
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int32_t j;
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for (j = t0.seconds; j < t1.seconds; j++) {
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int depth = interpolate(d0.mm, d1.mm, j - t0.seconds, t1.seconds - t0.seconds);
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add_segment(ds, dive->depth_to_bar(depth), gasmix, 1, po2.mbar, divemode, prefs.bottomsac, true);
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}
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if (d1.mm > d0.mm)
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calc_crushing_pressure(ds, dive->depth_to_bar(d1.mm));
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}
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/* returns the tissue tolerance at the end of this (partial) dive */
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static int tissue_at_end(struct deco_state *ds, struct dive *dive, const struct divecomputer *dc, deco_state_cache &cache)
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{
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depth_t lastdepth;
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duration_t t0;
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int surface_interval = 0;
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if (!dive)
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return 0;
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if (cache) {
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cache.restore(ds, true);
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} else {
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surface_interval = divelog.dives.init_decompression(ds, dive, true);
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cache.cache(ds);
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}
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if (dc->samples.empty())
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return 0;
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const struct sample *psample = nullptr;
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divemode_loop loop(*dc);
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for (auto &sample: dc->samples) {
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o2pressure_t setpoint = psample ? psample->setpoint
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: sample.setpoint;
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duration_t t1 = sample.time;
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struct gasmix gas = dive->get_gasmix_at_time(*dc, t0);
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if (psample)
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lastdepth = psample->depth;
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/* The ceiling in the deeper portion of a multilevel dive is sometimes critical for the VPM-B
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* Boyle's law compensation. We should check the ceiling prior to ascending during the bottom
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* portion of the dive. The maximum ceiling might be reached while ascending, but testing indicates
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* that it is only marginally deeper than the ceiling at the start of ascent.
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* Do not set the first_ceiling_pressure variable (used for the Boyle's law compensation calculation)
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* at this stage, because it would interfere with calculating the ceiling at the end of the bottom
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* portion of the dive.
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* Remember the value for later.
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*/
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if ((decoMode(true) == VPMB) && (lastdepth.mm > sample.depth.mm)) {
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pressure_t ceiling_pressure;
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nuclear_regeneration(ds, t0.seconds);
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vpmb_start_gradient(ds);
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ceiling_pressure.mbar = dive->depth_to_mbar(deco_allowed_depth(tissue_tolerance_calc(ds, dive,
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dive->depth_to_bar(lastdepth.mm), true),
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dive->surface_pressure.mbar / 1000.0,
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dive,
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1));
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if (ceiling_pressure.mbar > ds->max_bottom_ceiling_pressure.mbar)
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ds->max_bottom_ceiling_pressure.mbar = ceiling_pressure.mbar;
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}
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divemode_t divemode = loop.at(t0.seconds + 1);
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interpolate_transition(ds, dive, t0, t1, lastdepth, sample.depth, gas, setpoint, divemode);
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psample = &sample;
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t0 = t1;
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}
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return surface_interval;
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}
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/* calculate the new end pressure of the cylinder, based on its current end pressure and the
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* latest segment. */
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static void update_cylinder_pressure(struct dive *d, int old_depth, int new_depth, int duration, int sac, cylinder_t *cyl, bool in_deco, enum divemode_t divemode)
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{
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volume_t gas_used;
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pressure_t delta_p;
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depth_t mean_depth;
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int factor = 1000;
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if (divemode == PSCR)
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factor = prefs.pscr_ratio;
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if (!cyl)
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return;
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mean_depth.mm = (old_depth + new_depth) / 2;
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gas_used.mliter = lrint(d->depth_to_atm(mean_depth.mm) * sac / 60 * duration * factor / 1000);
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cyl->gas_used += gas_used;
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if (in_deco)
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cyl->deco_gas_used += gas_used;
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if (cyl->type.size.mliter) {
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delta_p.mbar = lrint(gas_used.mliter * 1000.0 / cyl->type.size.mliter * gas_compressibility_factor(cyl->gasmix, cyl->end.mbar / 1000.0));
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cyl->end -= delta_p;
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}
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}
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/* overwrite the data in dive
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* return false if something goes wrong */
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static void create_dive_from_plan(struct diveplan &diveplan, struct dive *dive, struct divecomputer *dc, bool track_gas)
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{
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cylinder_t *cyl;
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int oldpo2 = 0;
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int lasttime = 0, last_manual_point = 0;
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depth_t lastdepth;
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int lastcylid;
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enum divemode_t type = dc->divemode;
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if (diveplan.dp.empty())
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return;
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#if DEBUG_PLAN & 4
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printf("in create_dive_from_plan\n");
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dump_plan(diveplan);
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#endif
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dive->salinity = diveplan.salinity;
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// reset the cylinders and clear out the samples and events of the
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// dive-to-be-planned so we can restart
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reset_cylinders(dive, track_gas);
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dc->when = dive->when = diveplan.when;
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dc->surface_pressure.mbar = diveplan.surface_pressure;
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dc->salinity = diveplan.salinity;
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dc->samples.clear();
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dc->events.clear();
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/* Create first sample at time = 0, not based on dp because
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* there is no real dp for time = 0, set first cylinder to 0
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* O2 setpoint for this sample will be filled later from next dp */
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cyl = dive->get_or_create_cylinder(0);
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struct sample *sample = prepare_sample(dc);
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sample->sac.mliter = prefs.bottomsac;
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if (track_gas && cyl->type.workingpressure.mbar)
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sample->pressure[0].mbar = cyl->end.mbar;
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sample->manually_entered = true;
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lastcylid = 0;
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for (auto &dp: diveplan.dp) {
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int po2 = dp.setpoint;
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int time = dp.time;
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depth_t depth = dp.depth;
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if (time == 0) {
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/* special entries that just inform the algorithm about
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* additional gases that are available */
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continue;
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}
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/* Check for SetPoint change */
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if (oldpo2 != po2) {
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/* this is a bad idea - we should get a different SAMPLE_EVENT type
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* reserved for this in libdivecomputer... overloading SMAPLE_EVENT_PO2
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* with a different meaning will only cause confusion elsewhere in the code */
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if (dp.divemode == type)
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add_event(dc, lasttime, SAMPLE_EVENT_PO2, 0, po2, QT_TRANSLATE_NOOP("gettextFromC", "SP change"));
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oldpo2 = po2;
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}
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/* Make sure we have the new gas, and create a gas change event */
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if (dp.cylinderid != lastcylid) {
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/* need to insert a first sample for the new gas */
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add_gas_switch_event(dive, dc, lasttime + 1, dp.cylinderid);
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cyl = dive->get_cylinder(dp.cylinderid); // FIXME: This actually may get one past the last cylinder for "surface air".
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if (!cyl) {
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report_error("Invalid cylinder in create_dive_from_plan(): %d", dp.cylinderid);
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continue;
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}
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sample = prepare_sample(dc);
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sample[-1].setpoint.mbar = po2;
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if (po2)
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sample[-1].o2sensor[0].mbar = po2;
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sample->time.seconds = lasttime + 1;
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sample->depth = lastdepth;
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sample->manually_entered = dp.entered;
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sample->sac.mliter = dp.entered ? prefs.bottomsac : prefs.decosac;
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lastcylid = dp.cylinderid;
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}
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if (dp.divemode != type) {
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type = dp.divemode;
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add_event(dc, lasttime, SAMPLE_EVENT_BOOKMARK, 0, type, "modechange");
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}
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/* Create sample */
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sample = prepare_sample(dc);
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/* set po2 at beginning of this segment */
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/* and keep it valid for last sample - where it likely doesn't matter */
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sample[-1].setpoint.mbar = po2;
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sample->setpoint.mbar = po2;
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sample->time.seconds = lasttime = time;
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if (dp.entered) last_manual_point = dp.time;
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sample->depth = lastdepth = depth;
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sample->manually_entered = dp.entered;
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sample->sac.mliter = dp.entered ? prefs.bottomsac : prefs.decosac;
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if (track_gas && !sample[-1].setpoint.mbar) { /* Don't track gas usage for CCR legs of dive */
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update_cylinder_pressure(dive, sample[-1].depth.mm, depth.mm, time - sample[-1].time.seconds,
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dp.entered ? diveplan.bottomsac : diveplan.decosac, cyl, !dp.entered, type);
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if (cyl->type.workingpressure.mbar)
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sample->pressure[0].mbar = cyl->end.mbar;
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}
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}
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dc->last_manual_time.seconds = last_manual_point;
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#if DEBUG_PLAN & 32
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save_dive(stdout, *dive);
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#endif
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return;
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}
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divedatapoint::divedatapoint(int time_incr, int depth, int cylinderid, int po2, bool entered) :
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time(time_incr),
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depth{ .mm = depth },
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cylinderid(cylinderid),
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minimum_gas = 0_bar;
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setpoint(po2),
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entered(entered),
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divemode(OC)
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{
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}
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static void add_to_end_of_diveplan(struct diveplan &diveplan, const struct divedatapoint &dp)
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{
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auto maxtime = std::max_element(diveplan.dp.begin(), diveplan.dp.end(),
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[] (const divedatapoint &p1, const divedatapoint &p2)
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{ return p1.time < p2.time; });
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int lasttime = maxtime != diveplan.dp.end() ? maxtime->time : 0;
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diveplan.dp.push_back(dp);
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diveplan.dp.back().time += lasttime;
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}
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void plan_add_segment(struct diveplan &diveplan, int duration, int depth, int cylinderid, int po2, bool entered, enum divemode_t divemode)
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{
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struct divedatapoint dp(duration, depth, cylinderid, divemode == CCR ? po2 : 0, entered);
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dp.divemode = divemode;
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add_to_end_of_diveplan(diveplan, dp);
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}
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struct gaschanges {
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int depth;
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int gasidx;
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};
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// Return new setpoint if cylinderi is a setpoint change an 0 if not
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static int setpoint_change(struct dive *dive, int cylinderid)
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{
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cylinder_t *cylinder = dive->get_cylinder(cylinderid);
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if (cylinder->type.description.empty())
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return 0;
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if (starts_with(cylinder->type.description, "SP ")) {
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float sp;
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sscanf(cylinder->type.description.c_str() + 3, "%f", &sp);
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return (int) (sp * 1000.0);
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} else {
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return 0;
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}
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}
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static std::vector<gaschanges> analyze_gaslist(const struct diveplan &diveplan, struct dive *dive, int dcNr,
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int depth, int *asc_cylinder, bool ccr, bool &inappropriate_cylinder_use)
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{
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size_t nr = 0;
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std::vector<gaschanges> gaschanges;
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const struct divedatapoint *best_ascent_dp = nullptr;
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bool total_time_zero = true;
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const divecomputer *dc = dive->get_dc(dcNr);
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for (auto &dp: diveplan.dp) {
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inappropriate_cylinder_use = inappropriate_cylinder_use || !is_cylinder_use_appropriate(*dc, *dive->get_cylinder(dp.cylinderid), false);
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if (dp.time == 0 && total_time_zero && (ccr == (bool) setpoint_change(dive, dp.cylinderid))) {
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if (dp.depth.mm <= depth) {
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int i = 0;
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nr++;
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gaschanges.resize(nr);
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while (i < static_cast<int>(nr) - 1) {
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if (dp.depth.mm < gaschanges[i].depth) {
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for (int j = static_cast<int>(nr) - 2; j >= i; j--)
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gaschanges[j + 1] = gaschanges[j];
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break;
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}
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i++;
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}
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gaschanges[i].depth = dp.depth.mm;
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gaschanges[i].gasidx = dp.cylinderid;
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assert(gaschanges[i].gasidx != -1);
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} else {
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/* is there a better mix to start deco? */
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if (!best_ascent_dp || dp.depth.mm < best_ascent_dp->depth.mm) {
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best_ascent_dp = &dp;
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}
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}
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} else {
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total_time_zero = false;
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}
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}
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if (best_ascent_dp)
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*asc_cylinder = best_ascent_dp->cylinderid;
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#if DEBUG_PLAN & 16
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for (size_t nr = 0; nr < gaschanges.size(); nr++) {
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int idx = gaschanges[nr].gasidx;
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printf("gaschange nr %d: @ %5.2lfm gasidx %d (%s)\n", nr, gaschanges[nr].depth / 1000.0,
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idx, dive.get_cylinder(idx)->gasmix.name().c_str());
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}
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#endif
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return gaschanges;
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}
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/* sort all the stops into one ordered list */
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static std::vector<int> sort_stops(int dstops[], size_t dnr, std::vector<gaschanges> gstops)
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{
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int total = dnr + gstops.size();
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std::vector<int> stoplevels(total);
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/* Can't happen. */
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if (dnr == 0)
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return std::vector<int>();
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/* no gaschanges */
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if (gstops.empty()) {
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std::copy(dstops, dstops + dnr, stoplevels.begin());
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return stoplevels;
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}
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int i = static_cast<int>(total) - 1;
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int gi = static_cast<int>(gstops.size()) - 1;
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int di = static_cast<int>(dnr) - 1;
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while (i >= 0) {
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if (dstops[di] > gstops[gi].depth) {
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stoplevels[i] = dstops[di];
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di--;
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} else if (dstops[di] == gstops[gi].depth) {
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stoplevels[i] = dstops[di];
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di--;
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gi--;
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} else {
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stoplevels[i] = gstops[gi].depth;
|
|
gi--;
|
|
}
|
|
i--;
|
|
if (di < 0) {
|
|
while (gi >= 0)
|
|
stoplevels[i--] = gstops[gi--].depth;
|
|
break;
|
|
}
|
|
if (gi < 0) {
|
|
while (di >= 0)
|
|
stoplevels[i--] = dstops[di--];
|
|
break;
|
|
}
|
|
}
|
|
while (i >= 0)
|
|
stoplevels[i--] = 0;
|
|
|
|
#if DEBUG_PLAN & 16
|
|
int k;
|
|
for (k = static_cast<int>(gstops.size()) + dnr - 1; k >= 0; k--) {
|
|
printf("stoplevel[%d]: %5.2lfm\n", k, stoplevels[k] / 1000.0);
|
|
if (stoplevels[k] == 0)
|
|
break;
|
|
}
|
|
#endif
|
|
return stoplevels;
|
|
}
|
|
|
|
int ascent_velocity(int depth, int avg_depth, int)
|
|
{
|
|
/* We need to make this configurable */
|
|
|
|
/* As an example (and possibly reasonable default) this is the Tech 1 provedure according
|
|
* to http://www.globalunderwaterexplorers.org/files/Standards_and_Procedures/SOP_Manual_Ver2.0.2.pdf */
|
|
|
|
if (depth * 4 > avg_depth * 3) {
|
|
return prefs.ascrate75;
|
|
} else {
|
|
if (depth * 2 > avg_depth) {
|
|
return prefs.ascrate50;
|
|
} else {
|
|
if (depth > 6000)
|
|
return prefs.ascratestops;
|
|
else
|
|
return prefs.ascratelast6m;
|
|
}
|
|
}
|
|
}
|
|
|
|
static void track_ascent_gas(int depth, struct dive *dive, int cylinder_id, int avg_depth, int bottom_time, bool safety_stop, enum divemode_t divemode)
|
|
{
|
|
cylinder_t *cylinder = dive->get_cylinder(cylinder_id);
|
|
while (depth > 0) {
|
|
int deltad = ascent_velocity(depth, avg_depth, bottom_time) * base_timestep;
|
|
if (deltad > depth)
|
|
deltad = depth;
|
|
update_cylinder_pressure(dive, depth, depth - deltad, base_timestep, prefs.decosac, cylinder, true, divemode);
|
|
if (depth <= 5000 && depth >= (5000 - deltad) && safety_stop) {
|
|
update_cylinder_pressure(dive, 5000, 5000, 180, prefs.decosac, cylinder, true, divemode);
|
|
safety_stop = false;
|
|
}
|
|
depth -= deltad;
|
|
}
|
|
}
|
|
|
|
// Determine whether ascending to the next stop will break the ceiling. Return true if the ascent is ok, false if it isn't.
|
|
static bool trial_ascent(struct deco_state *ds, int wait_time, int trial_depth, int stoplevel, int avg_depth, int bottom_time, struct gasmix gasmix, int po2, double surface_pressure, struct dive *dive, enum divemode_t divemode)
|
|
{
|
|
|
|
bool clear_to_ascend = true;
|
|
deco_state_cache trial_cache;
|
|
|
|
// For consistency with other VPM-B implementations, we should not start the ascent while the ceiling is
|
|
// deeper than the next stop (thus the offgasing during the ascent is ignored).
|
|
// However, we still need to make sure we don't break the ceiling due to on-gassing during ascent.
|
|
trial_cache.cache(ds);
|
|
if (wait_time)
|
|
add_segment(ds, dive->depth_to_bar(trial_depth),
|
|
gasmix,
|
|
wait_time, po2, divemode, prefs.decosac, true);
|
|
if (decoMode(true) == VPMB) {
|
|
double tolerance_limit = tissue_tolerance_calc(ds, dive, dive->depth_to_bar(stoplevel), true);
|
|
update_regression(ds, dive);
|
|
if (deco_allowed_depth(tolerance_limit, surface_pressure, dive, 1) > stoplevel) {
|
|
trial_cache.restore(ds, false);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
while (trial_depth > stoplevel) {
|
|
double tolerance_limit;
|
|
int deltad = ascent_velocity(trial_depth, avg_depth, bottom_time) * base_timestep;
|
|
if (deltad > trial_depth) /* don't test against depth above surface */
|
|
deltad = trial_depth;
|
|
add_segment(ds, dive->depth_to_bar(trial_depth),
|
|
gasmix,
|
|
base_timestep, po2, divemode, prefs.decosac, true);
|
|
tolerance_limit = tissue_tolerance_calc(ds, dive, dive->depth_to_bar(trial_depth), true);
|
|
if (decoMode(true) == VPMB)
|
|
update_regression(ds, dive);
|
|
if (deco_allowed_depth(tolerance_limit, surface_pressure, dive, 1) > trial_depth - deltad) {
|
|
/* We should have stopped */
|
|
clear_to_ascend = false;
|
|
break;
|
|
}
|
|
trial_depth -= deltad;
|
|
}
|
|
trial_cache.restore(ds, false);
|
|
return clear_to_ascend;
|
|
}
|
|
|
|
/* Determine if there is enough gas for the dive. Return true if there is enough.
|
|
* Also return true if this cannot be calculated because the cylinder doesn't have
|
|
* size or a starting pressure.
|
|
*/
|
|
static bool enough_gas(const struct dive *dive, int current_cylinder)
|
|
{
|
|
if (current_cylinder < 0 || static_cast<size_t>(current_cylinder) >= dive->cylinders.size())
|
|
return false;
|
|
const cylinder_t *cyl = dive->get_cylinder(current_cylinder);
|
|
|
|
if (!cyl->start.mbar)
|
|
return true;
|
|
if (cyl->type.size.mliter)
|
|
return (cyl->end.mbar - prefs.reserve_gas) / 1000.0 * cyl->type.size.mliter > cyl->deco_gas_used.mliter;
|
|
else
|
|
return true;
|
|
}
|
|
|
|
/* Do a binary search for the time the ceiling is clear to ascent to target_depth.
|
|
* Minimal solution is min + 1, and the solution should be an integer multiple of stepsize.
|
|
* leap is a guess for the maximum but there is no guarantee that leap is an upper limit.
|
|
* So we always test at the upper bundary, not in the middle!
|
|
*/
|
|
static int wait_until(struct deco_state *ds, struct dive *dive, int clock, int min, int leap, int stepsize, int depth, int target_depth, int avg_depth, int bottom_time, struct gasmix gasmix, int po2, double surface_pressure, enum divemode_t divemode)
|
|
{
|
|
// When a deco stop exceeds two days, there is something wrong...
|
|
if (min >= 48 * 3600)
|
|
return 50 * 3600;
|
|
// Round min + leap up to the next multiple of stepsize
|
|
int upper = min + leap + stepsize - 1 - (min + leap - 1) % stepsize;
|
|
// Is the upper boundary too small?
|
|
if (!trial_ascent(ds, upper - clock, depth, target_depth, avg_depth, bottom_time, gasmix, po2, surface_pressure, dive, divemode))
|
|
return wait_until(ds, dive, clock, upper, leap, stepsize, depth, target_depth, avg_depth, bottom_time, gasmix, po2, surface_pressure, divemode);
|
|
|
|
if (upper - min <= stepsize)
|
|
return upper;
|
|
|
|
return wait_until(ds, dive, clock, min, leap / 2, stepsize, depth, target_depth, avg_depth, bottom_time, gasmix, po2, surface_pressure, divemode);
|
|
}
|
|
|
|
static void average_max_depth(const struct diveplan &dive, int *avg_depth, int *max_depth)
|
|
{
|
|
int integral = 0;
|
|
int last_time = 0;
|
|
int last_depth = 0;
|
|
|
|
*max_depth = 0;
|
|
|
|
for (auto &dp: dive.dp) {
|
|
if (dp.time) {
|
|
/* Ignore gas indication samples */
|
|
integral += (dp.depth.mm + last_depth) * (dp.time - last_time) / 2;
|
|
last_time = dp.time;
|
|
last_depth = dp.depth.mm;
|
|
if (dp.depth.mm > *max_depth)
|
|
*max_depth = dp.depth.mm;
|
|
}
|
|
}
|
|
if (last_time)
|
|
*avg_depth = integral / last_time;
|
|
else
|
|
*avg_depth = *max_depth = 0;
|
|
}
|
|
|
|
std::vector<decostop> plan(struct deco_state *ds, struct diveplan &diveplan, struct dive *dive, int dcNr, int timestep, deco_state_cache &cache, bool is_planner, bool show_disclaimer)
|
|
{
|
|
|
|
int bottom_depth;
|
|
int bottom_gi;
|
|
int bottom_stopidx;
|
|
bool is_final_plan = true;
|
|
int bottom_time;
|
|
int previous_deco_time;
|
|
deco_state_cache bottom_cache;
|
|
int po2;
|
|
int transitiontime, gi;
|
|
int current_cylinder, stop_cylinder;
|
|
size_t stopidx;
|
|
int depth;
|
|
int *decostoplevels;
|
|
size_t decostoplevelcount;
|
|
std::vector<int> stoplevels;
|
|
bool stopping = false;
|
|
bool pendinggaschange = false;
|
|
int clock, previous_point_time;
|
|
int avg_depth, max_depth;
|
|
int last_ascend_rate;
|
|
int best_first_ascend_cylinder = -1;
|
|
struct gasmix gas, bottom_gas;
|
|
bool o2break_next = false;
|
|
int break_cylinder = -1, breakfrom_cylinder = 0;
|
|
bool last_segment_min_switch = false;
|
|
planner_error_t error = PLAN_OK;
|
|
int first_stop_depth = 0;
|
|
int laststoptime = timestep;
|
|
bool o2breaking = false;
|
|
struct divecomputer *dc = dive->get_dc(dcNr);
|
|
enum divemode_t divemode = dc->divemode;
|
|
|
|
set_gf(diveplan.gflow, diveplan.gfhigh);
|
|
set_vpmb_conservatism(diveplan.vpmb_conservatism);
|
|
|
|
if (!diveplan.surface_pressure) {
|
|
// Lets use dive's surface pressure in planner, if have one...
|
|
if (dc->surface_pressure.mbar) { // First from DC...
|
|
diveplan.surface_pressure = dc->surface_pressure.mbar;
|
|
}
|
|
else if (dive->surface_pressure.mbar) { // After from user...
|
|
diveplan.surface_pressure = dive->surface_pressure.mbar;
|
|
}
|
|
else {
|
|
diveplan.surface_pressure = SURFACE_PRESSURE;
|
|
}
|
|
}
|
|
|
|
clear_deco(ds, dive->surface_pressure.mbar / 1000.0, true);
|
|
ds->max_bottom_ceiling_pressure = ds->first_ceiling_pressure = 0_bar;
|
|
create_dive_from_plan(diveplan, dive, dc, is_planner);
|
|
|
|
// Do we want deco stop array in metres or feet?
|
|
if (prefs.units.length == units::METERS ) {
|
|
decostoplevels = decostoplevels_metric;
|
|
decostoplevelcount = std::size(decostoplevels_metric);
|
|
} else {
|
|
decostoplevels = decostoplevels_imperial;
|
|
decostoplevelcount = std::size(decostoplevels_imperial);
|
|
}
|
|
|
|
/* If the user has selected last stop to be at 6m/20', we need to get rid of the 3m/10' stop.
|
|
* Otherwise reinstate the last stop 3m/10' stop.
|
|
* Remark: not reentrant, but the user probably won't change preferences while this is running.
|
|
*/
|
|
if (prefs.last_stop)
|
|
*(decostoplevels + 1) = 0;
|
|
else
|
|
*(decostoplevels + 1) = M_OR_FT(3,10);
|
|
|
|
/* Let's start at the last 'sample', i.e. the last manually entered waypoint. */
|
|
const struct sample &sample = dc->samples.back();
|
|
|
|
/* Keep time during the ascend */
|
|
bottom_time = clock = previous_point_time = sample.time.seconds;
|
|
|
|
current_cylinder = get_cylinderid_at_time(dive, dc, sample.time);
|
|
// Find the divemode at the end of the dive
|
|
divemode_loop loop(*dc);
|
|
divemode = loop.at(bottom_time);
|
|
gas = dive->get_cylinder(current_cylinder)->gasmix;
|
|
|
|
po2 = sample.setpoint.mbar;
|
|
depth = sample.depth.mm;
|
|
average_max_depth(diveplan, &avg_depth, &max_depth);
|
|
last_ascend_rate = ascent_velocity(depth, avg_depth, bottom_time);
|
|
|
|
/* if all we wanted was the dive just get us back to the surface */
|
|
if (!is_planner) {
|
|
/* Attn: for manually entered dives, we depend on the last segment having the
|
|
* same ascent rate as in fake_dc(). If you change it here, also change it there.
|
|
*/
|
|
transitiontime = lrint(depth / (double)prefs.ascratelast6m);
|
|
plan_add_segment(diveplan, transitiontime, 0, current_cylinder, po2, false, divemode);
|
|
create_dive_from_plan(diveplan, dive, dc, is_planner);
|
|
return {};
|
|
}
|
|
|
|
#if DEBUG_PLAN & 4
|
|
printf("gas %s\n", gas.name().c_str());
|
|
printf("depth %5.2lfm \n", depth / 1000.0);
|
|
printf("current_cylinder %i\n", current_cylinder);
|
|
#endif
|
|
|
|
/* Find the gases available for deco */
|
|
|
|
bool inappropriate_cylinder_use = false;
|
|
std::vector<gaschanges> gaschanges = analyze_gaslist(diveplan, dive, dcNr, depth, &best_first_ascend_cylinder, divemode == CCR && !prefs.dobailout, inappropriate_cylinder_use);
|
|
if (inappropriate_cylinder_use) {
|
|
error = PLAN_ERROR_INAPPROPRIATE_GAS;
|
|
}
|
|
|
|
/* Find the first potential decostopdepth above current depth */
|
|
for (stopidx = 0; stopidx < decostoplevelcount; stopidx++)
|
|
if (decostoplevels[stopidx] > depth)
|
|
break;
|
|
if (stopidx > 0)
|
|
stopidx--;
|
|
/* Stoplevels are either depths of gas changes or potential deco stop depths. */
|
|
stoplevels = sort_stops(decostoplevels, stopidx + 1, gaschanges);
|
|
stopidx += gaschanges.size();
|
|
|
|
gi = static_cast<int>(gaschanges.size()) - 1;
|
|
|
|
/* Set tissue tolerance and initial vpmb gradient at start of ascent phase */
|
|
diveplan.surface_interval = tissue_at_end(ds, dive, dc, cache);
|
|
nuclear_regeneration(ds, clock);
|
|
vpmb_start_gradient(ds);
|
|
if (decoMode(true) == RECREATIONAL) {
|
|
bool safety_stop = prefs.safetystop && max_depth >= 10000;
|
|
track_ascent_gas(depth, dive, current_cylinder, avg_depth, bottom_time, safety_stop, divemode);
|
|
// How long can we stay at the current depth and still directly ascent to the surface?
|
|
do {
|
|
add_segment(ds, dive->depth_to_bar(depth),
|
|
dive->get_cylinder(current_cylinder)->gasmix,
|
|
timestep, po2, divemode, prefs.bottomsac, true);
|
|
update_cylinder_pressure(dive, depth, depth, timestep, prefs.bottomsac, dive->get_cylinder(current_cylinder), false, divemode);
|
|
clock += timestep;
|
|
} while (trial_ascent(ds, 0, depth, 0, avg_depth, bottom_time, dive->get_cylinder(current_cylinder)->gasmix,
|
|
po2, diveplan.surface_pressure / 1000.0, dive, divemode) &&
|
|
enough_gas(dive, current_cylinder) && clock < 6 * 3600);
|
|
|
|
// We did stay one timestep too many.
|
|
// In the best of all worlds, we would roll back also the last add_segment in terms of caching deco state, but
|
|
// let's ignore that since for the eventual ascent in recreational mode, nobody looks at the ceiling anymore,
|
|
// so we don't really have to compute the deco state.
|
|
update_cylinder_pressure(dive, depth, depth, -timestep, prefs.bottomsac, dive->get_cylinder(current_cylinder), false, divemode);
|
|
clock -= timestep;
|
|
plan_add_segment(diveplan, clock - previous_point_time, depth, current_cylinder, po2, true, divemode);
|
|
previous_point_time = clock;
|
|
do {
|
|
/* Ascend to surface */
|
|
int deltad = ascent_velocity(depth, avg_depth, bottom_time) * base_timestep;
|
|
if (ascent_velocity(depth, avg_depth, bottom_time) != last_ascend_rate) {
|
|
plan_add_segment(diveplan, clock - previous_point_time, depth, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock;
|
|
last_ascend_rate = ascent_velocity(depth, avg_depth, bottom_time);
|
|
}
|
|
if (depth - deltad < 0)
|
|
deltad = depth;
|
|
|
|
clock += base_timestep;
|
|
depth -= deltad;
|
|
if (depth <= 5000 && depth >= (5000 - deltad) && safety_stop) {
|
|
plan_add_segment(diveplan, clock - previous_point_time, 5000, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock;
|
|
clock += 180;
|
|
plan_add_segment(diveplan, clock - previous_point_time, 5000, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock;
|
|
safety_stop = false;
|
|
}
|
|
} while (depth > 0);
|
|
plan_add_segment(diveplan, clock - previous_point_time, 0, current_cylinder, po2, false, divemode);
|
|
create_dive_from_plan(diveplan, dive, dc, is_planner);
|
|
diveplan.add_plan_to_notes(*dive, show_disclaimer, error);
|
|
fixup_dc_duration(*dc);
|
|
|
|
return {};
|
|
}
|
|
|
|
if (best_first_ascend_cylinder != -1 && best_first_ascend_cylinder != current_cylinder) {
|
|
current_cylinder = best_first_ascend_cylinder;
|
|
gas = dive->get_cylinder(current_cylinder)->gasmix;
|
|
|
|
#if DEBUG_PLAN & 16
|
|
printf("switch to gas %d (%d/%d) @ %5.2lfm\n", best_first_ascend_cylinder,
|
|
(get_o2(&gas) + 5) / 10, (get_he(&gas) + 5) / 10, gaschanges[best_first_ascend_cylinder].depth / 1000.0);
|
|
#endif
|
|
}
|
|
|
|
// VPM-B or Buehlmann Deco
|
|
tissue_at_end(ds, dive, dc, cache);
|
|
if ((divemode == CCR || divemode == PSCR) && prefs.dobailout) {
|
|
divemode = OC;
|
|
po2 = 0;
|
|
int bailoutsegment = std::max(prefs.min_switch_duration, 60 * prefs.problemsolvingtime);
|
|
add_segment(ds, dive->depth_to_bar(depth),
|
|
dive->get_cylinder(current_cylinder)->gasmix,
|
|
bailoutsegment, po2, divemode, prefs.bottomsac, true);
|
|
plan_add_segment(diveplan, bailoutsegment, depth, current_cylinder, po2, false, divemode);
|
|
bottom_time += bailoutsegment;
|
|
}
|
|
previous_deco_time = 100000000;
|
|
ds->deco_time = 10000000;
|
|
bottom_cache.cache(ds); // Lets us make several iterations
|
|
bottom_depth = depth;
|
|
bottom_gi = gi;
|
|
bottom_gas = gas;
|
|
bottom_stopidx = stopidx;
|
|
|
|
//CVA
|
|
std::vector<decostop> decostoptable;
|
|
do {
|
|
decostoptable.clear();
|
|
is_final_plan = (decoMode(true) == BUEHLMANN) || (previous_deco_time - ds->deco_time < 10); // CVA time converges
|
|
if (ds->deco_time != 10000000)
|
|
vpmb_next_gradient(ds, ds->deco_time, diveplan.surface_pressure / 1000.0, true);
|
|
|
|
previous_deco_time = ds->deco_time;
|
|
bottom_cache.restore(ds, true);
|
|
|
|
depth = bottom_depth;
|
|
gi = bottom_gi;
|
|
clock = previous_point_time = bottom_time;
|
|
gas = bottom_gas;
|
|
stopping = false;
|
|
bool decodive = false;
|
|
first_stop_depth = 0;
|
|
stopidx = bottom_stopidx;
|
|
ds->first_ceiling_pressure.mbar = dive->depth_to_mbar(
|
|
deco_allowed_depth(tissue_tolerance_calc(ds, dive, dive->depth_to_bar(depth), true),
|
|
diveplan.surface_pressure / 1000.0, dive, 1));
|
|
if (ds->max_bottom_ceiling_pressure.mbar > ds->first_ceiling_pressure.mbar)
|
|
ds->first_ceiling_pressure.mbar = ds->max_bottom_ceiling_pressure.mbar;
|
|
|
|
last_ascend_rate = ascent_velocity(depth, avg_depth, bottom_time);
|
|
/* Always prefer the best_first_ascend_cylinder if it has the right gasmix.
|
|
* Otherwise take first cylinder from list with rightgasmix */
|
|
if (best_first_ascend_cylinder != -1 && same_gasmix(gas, dive->get_cylinder(best_first_ascend_cylinder)->gasmix))
|
|
current_cylinder = best_first_ascend_cylinder;
|
|
else
|
|
current_cylinder = get_gasidx(dive, gas);
|
|
if (current_cylinder == -1) {
|
|
report_error(translate("gettextFromC", "Can't find gas %s"), gas.name().c_str());
|
|
current_cylinder = 0;
|
|
}
|
|
reset_regression(ds);
|
|
while (error == PLAN_OK) {
|
|
/* We will break out when we hit the surface */
|
|
do {
|
|
/* Ascend to next stop depth */
|
|
int deltad = ascent_velocity(depth, avg_depth, bottom_time) * base_timestep;
|
|
if (ascent_velocity(depth, avg_depth, bottom_time) != last_ascend_rate) {
|
|
if (is_final_plan)
|
|
plan_add_segment(diveplan, clock - previous_point_time, depth, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock;
|
|
stopping = false;
|
|
last_ascend_rate = ascent_velocity(depth, avg_depth, bottom_time);
|
|
}
|
|
if (depth - deltad < stoplevels[stopidx])
|
|
deltad = depth - stoplevels[stopidx];
|
|
|
|
add_segment(ds, dive->depth_to_bar(depth),
|
|
dive->get_cylinder(current_cylinder)->gasmix,
|
|
base_timestep, po2, divemode, prefs.decosac, true);
|
|
last_segment_min_switch = false;
|
|
clock += base_timestep;
|
|
depth -= deltad;
|
|
/* Print VPM-Gradient as gradient factor, this has to be done from within deco.cpp */
|
|
if (decodive)
|
|
ds->plot_depth = depth;
|
|
} while (depth > 0 && depth > stoplevels[stopidx]);
|
|
|
|
if (depth <= 0)
|
|
break; /* We are at the surface */
|
|
|
|
if (gi >= 0 && stoplevels[stopidx] <= gaschanges[gi].depth) {
|
|
/* We have reached a gas change.
|
|
* Record this in the dive plan */
|
|
|
|
/* Check we need to change cylinder.
|
|
* We might not if the cylinder was chosen by the user
|
|
* or user has selected only to switch only at required stops.
|
|
* If current gas is hypoxic, we want to switch asap */
|
|
|
|
if (current_cylinder != gaschanges[gi].gasidx) {
|
|
if (!prefs.switch_at_req_stop ||
|
|
!trial_ascent(ds, 0, depth, stoplevels[stopidx - 1], avg_depth, bottom_time,
|
|
dive->get_cylinder(current_cylinder)->gasmix, po2, diveplan.surface_pressure / 1000.0, dive, divemode) || get_o2(dive->get_cylinder(current_cylinder)->gasmix) < 160) {
|
|
if (is_final_plan)
|
|
plan_add_segment(diveplan, clock - previous_point_time, depth, current_cylinder, po2, false, divemode);
|
|
stopping = true;
|
|
previous_point_time = clock;
|
|
current_cylinder = gaschanges[gi].gasidx;
|
|
if (divemode == CCR)
|
|
po2 = setpoint_change(dive, current_cylinder);
|
|
#if DEBUG_PLAN & 16
|
|
gas = dive->get_cylinder(current_cylinder)->gasmix;
|
|
printf("switch to gas %d (%d/%d) @ %5.2lfm\n", gaschanges[gi].gasidx,
|
|
(get_o2(&gas) + 5) / 10, (get_he(&gas) + 5) / 10, gaschanges[gi].depth / 1000.0);
|
|
#endif
|
|
/* Stop for the minimum duration to switch gas unless we switch to o2 */
|
|
if (!last_segment_min_switch && get_o2(dive->get_cylinder(current_cylinder)->gasmix) != 1000) {
|
|
add_segment(ds, dive->depth_to_bar(depth),
|
|
dive->get_cylinder(current_cylinder)->gasmix,
|
|
prefs.min_switch_duration, po2, divemode, prefs.decosac, true);
|
|
clock += prefs.min_switch_duration;
|
|
last_segment_min_switch = true;
|
|
}
|
|
} else {
|
|
/* The user has selected the option to switch gas only at required stops.
|
|
* Remember that we are waiting to switch gas
|
|
*/
|
|
pendinggaschange = true;
|
|
}
|
|
}
|
|
gi--;
|
|
}
|
|
--stopidx;
|
|
|
|
/* Save the current state and try to ascend to the next stopdepth */
|
|
while (1) {
|
|
/* Check if ascending to next stop is clear, go back and wait if we hit the ceiling on the way */
|
|
if (trial_ascent(ds, 0, depth, stoplevels[stopidx], avg_depth, bottom_time,
|
|
dive->get_cylinder(current_cylinder)->gasmix, po2, diveplan.surface_pressure / 1000.0, dive, divemode)) {
|
|
decostoptable.push_back( decostop { depth, 0 });
|
|
break; /* We did not hit the ceiling */
|
|
}
|
|
|
|
/* Add a minute of deco time and then try again */
|
|
if (!decodive) {
|
|
decodive = true;
|
|
first_stop_depth = depth;
|
|
}
|
|
if (!stopping) {
|
|
/* The last segment was an ascend segment.
|
|
* Add a waypoint for start of this deco stop */
|
|
if (is_final_plan)
|
|
plan_add_segment(diveplan, clock - previous_point_time, depth, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock;
|
|
stopping = true;
|
|
}
|
|
|
|
/* Are we waiting to switch gas?
|
|
* Occurs when the user has selected the option to switch only at required stops
|
|
*/
|
|
if (pendinggaschange) {
|
|
current_cylinder = gaschanges[gi + 1].gasidx;
|
|
if (divemode == CCR)
|
|
po2 = setpoint_change(dive, current_cylinder);
|
|
#if DEBUG_PLAN & 16
|
|
gas = dive->get_cylinder(current_cylinder)->gasmix;
|
|
printf("switch to gas %d (%d/%d) @ %5.2lfm\n", gaschanges[gi + 1].gasidx,
|
|
(get_o2(&gas) + 5) / 10, (get_he(&gas) + 5) / 10, gaschanges[gi + 1].depth / 1000.0);
|
|
#endif
|
|
/* Stop for the minimum duration to switch gas unless we switch to o2 */
|
|
if (!last_segment_min_switch && get_o2(dive->get_cylinder(current_cylinder)->gasmix) != 1000) {
|
|
add_segment(ds, dive->depth_to_bar(depth),
|
|
dive->get_cylinder(current_cylinder)->gasmix,
|
|
prefs.min_switch_duration, po2, divemode, prefs.decosac, true);
|
|
clock += prefs.min_switch_duration;
|
|
}
|
|
pendinggaschange = false;
|
|
}
|
|
|
|
int new_clock = wait_until(ds, dive, clock, clock, laststoptime * 2 + 1, timestep, depth, stoplevels[stopidx], avg_depth,
|
|
bottom_time, dive->get_cylinder(current_cylinder)->gasmix, po2, diveplan.surface_pressure / 1000.0, divemode);
|
|
laststoptime = new_clock - clock;
|
|
/* Finish infinite deco */
|
|
if (laststoptime >= 48 * 3600 && depth >= 6000) {
|
|
error = PLAN_ERROR_TIMEOUT;
|
|
|
|
break;
|
|
}
|
|
|
|
o2breaking = false;
|
|
stop_cylinder = current_cylinder;
|
|
if (prefs.doo2breaks && prefs.last_stop) {
|
|
/* The backgas breaks option limits time on oxygen to 12 minutes, followed by 6 minutes on
|
|
* backgas. This could be customized if there were demand.
|
|
*/
|
|
if (break_cylinder == -1) {
|
|
if (best_first_ascend_cylinder != -1 && get_o2(dive->get_cylinder(best_first_ascend_cylinder)->gasmix) <= 320)
|
|
break_cylinder = best_first_ascend_cylinder;
|
|
else
|
|
break_cylinder = 0;
|
|
}
|
|
if (get_o2(dive->get_cylinder(current_cylinder)->gasmix) == 1000) {
|
|
if (laststoptime >= 12 * 60) {
|
|
laststoptime = 12 * 60;
|
|
new_clock = clock + laststoptime;
|
|
o2breaking = true;
|
|
o2break_next = true;
|
|
breakfrom_cylinder = current_cylinder;
|
|
if (is_final_plan)
|
|
plan_add_segment(diveplan, laststoptime, depth, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock + laststoptime;
|
|
current_cylinder = break_cylinder;
|
|
}
|
|
} else if (o2break_next) {
|
|
if (laststoptime >= 6 * 60) {
|
|
laststoptime = 6 * 60;
|
|
new_clock = clock + laststoptime;
|
|
o2breaking = true;
|
|
o2break_next = false;
|
|
if (is_final_plan)
|
|
plan_add_segment(diveplan, laststoptime, depth, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock + laststoptime;
|
|
current_cylinder = breakfrom_cylinder;
|
|
}
|
|
}
|
|
}
|
|
add_segment(ds, dive->depth_to_bar(depth), dive->get_cylinder(stop_cylinder)->gasmix,
|
|
laststoptime, po2, divemode, prefs.decosac, true);
|
|
last_segment_min_switch = false;
|
|
decostoptable.push_back(decostop { depth, laststoptime } );
|
|
|
|
clock += laststoptime;
|
|
if (!o2breaking)
|
|
break;
|
|
}
|
|
if (stopping) {
|
|
/* Next we will ascend again. Add a waypoint if we have spend deco time */
|
|
if (is_final_plan)
|
|
plan_add_segment(diveplan, clock - previous_point_time, depth, current_cylinder, po2, false, divemode);
|
|
previous_point_time = clock;
|
|
stopping = false;
|
|
}
|
|
}
|
|
/* When calculating deco_time, we should pretend the final ascent rate is always the same,
|
|
* otherwise odd things can happen, such as CVA causing the final ascent to start *later*
|
|
* if the ascent rate is slower, which is completely nonsensical.
|
|
* Assume final ascent takes 20s, which is the time taken to ascend at 9m/min from 3m */
|
|
ds->deco_time = clock - bottom_time - (M_OR_FT(3,10) * ( prefs.last_stop ? 2 : 1)) / last_ascend_rate + 20;
|
|
} while (!is_final_plan && error == PLAN_OK);
|
|
|
|
plan_add_segment(diveplan, clock - previous_point_time, 0, current_cylinder, po2, false, divemode);
|
|
if (decoMode(true) == VPMB) {
|
|
diveplan.eff_gfhigh = lrint(100.0 * regressionb(ds));
|
|
diveplan.eff_gflow = lrint(100.0 * (regressiona(ds) * first_stop_depth + regressionb(ds)));
|
|
}
|
|
|
|
if (prefs.surface_segment != 0) {
|
|
// Switch to an empty air cylinder for breathing air at the surface.
|
|
// FIXME: This is incredibly silly and emulates the old code when
|
|
// we had a fixed cylinder table: It uses an extra fake cylinder
|
|
// past the regular cylinder table, which is not visible to the UI.
|
|
// Fix this as soon as possible!
|
|
current_cylinder = static_cast<int>(dive->cylinders.size());
|
|
plan_add_segment(diveplan, prefs.surface_segment, 0, current_cylinder, 0, false, OC);
|
|
}
|
|
create_dive_from_plan(diveplan, dive, dc, is_planner);
|
|
diveplan.add_plan_to_notes(*dive, show_disclaimer, error);
|
|
fixup_dc_duration(*dc);
|
|
return decostoptable;
|
|
}
|