initial commit

sensors/magnetometer_sensor_node.gd

@@ -0,0 +1,24 @@
+extends BaseSensorNode
+class_name MagnetSensorNode
+
+
+var heading_rad: float = 0
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready() -> void:
+	super._ready()
+	DataSignals.magnetometer_data_received.connect(_on_data_received)
+	
+func _on_data_received(source_ip: String, timestamp_list: Array, mag_vec: Array):
+	if source_ip != ip_address:
+		return
+	var msg_timestamp = timestamp_list[0] * 3600 + timestamp_list[1] * 60 + timestamp_list[2] + timestamp_list[3]
+	if not Constants.is_timestamp_newer(timestamp, msg_timestamp):
+		return
+	timestamp = msg_timestamp
+	var mag = Vector2(mag_vec[0], mag_vec[1])
+	mag.normalized()
+	heading_rad = atan2(-mag[1], mag[0])
+	Signals.sensor_mag_updated.emit(ip_address)
+	Signals.heading_updated.emit(ip_address, heading_rad)