Change how different sensor types ar handled

bisect.gd

@@ -42,3 +42,45 @@ func bisect(a: Array, x, lo: int = 0, hi=null):
 
 func insort(a: Array, x, lo: int = 0, hi=null):
 	return insort_right(a, x, lo, hi)
+	
+func reverse_insort_right(a: Array, x, lo: int = 0, hi=null):
+	lo = reverse_bisect_right(a, x, lo, hi)
+	a.insert(lo, x)
+
+func reverse_bisect_right(a: Array, x, lo: int = 0, hi=null):
+	if lo < 0:
+		return
+	if hi == null:
+		hi = a.size()
+	var mid: int = 0
+	while lo < hi:
+		mid = (lo + hi) / 2
+		if -x < -a[mid]:
+			hi = mid
+		else:
+			lo = mid + 1
+	return lo
+
+func reverse_insort_left(a: Array, x, lo:int = 0, hi=null):
+	lo = reverse_bisect_left(a, x, lo, hi)
+	a.insert(lo, x)
+
+func reverse_bisect_left(a: Array, x, lo:int = 0, hi=null):
+	if lo < 0:
+		return
+	if hi == null:
+		hi = a.size()
+	var mid: int = 0
+	while lo < hi:
+		mid = (lo + hi) / 2
+		if -a[mid] < -x:
+			lo = mid + 1
+		else:
+			hi = mid
+	return lo
+
+func reverse_bisect(a: Array, x, lo: int = 0, hi=null):
+	return reverse_bisect_right(a, x, lo, hi)
+
+func reverse_insort(a: Array, x, lo: int = 0, hi=null):
+	return reverse_insort_right(a, x, lo, hi)

networking/scripts/udp_broadcast.gd

@@ -5,7 +5,7 @@ extends Node
 var udp = PacketPeerUDP.new()
 var connected = false
 
-var fast_broadcast_rate = 1.0
+var fast_broadcast_rate = 0.5
 var slow_broadcast_rate = 10.0
 var current_broadcast_rate = fast_broadcast_rate
 var last_broadcast = 0
@@ -16,6 +16,7 @@ var thread: Thread
 var mutex: Mutex
 var signal_queue = []
 var exit_thread = false
+var use_thread = true
 
 func _ready():
 	_try_set_ip()
@@ -23,44 +24,54 @@ func _ready():
 	udp.set_dest_address("192.168.0.255", 5000)
 	SensorSignals.new_sensor_connected.connect(_on_sensor_connected)
 	
-	thread = Thread.new()
+	use_thread = OS.get_processor_count() > 1
 	mutex = Mutex.new()
-	
+	if use_thread:
-	thread.start(_thread_function)
+		thread = Thread.new()
+		print('Starting UDP Broadcast thread')
+		thread.start(_thread_function)
+	else:
+		print('UDP server running in single threaded mode')
 
 func _process(delta: float) -> void:
 	mutex.lock()
 	last_broadcast += delta
 	mutex.unlock()
+	if not use_thread:
+		_process_broadcast()
 
 func _exit_tree() -> void:
-	mutex.lock()
+	if use_thread:
-	exit_thread = true
+		mutex.lock()
-	mutex.unlock()
+		exit_thread = true
-	thread.wait_to_finish()
+		mutex.unlock()
+		thread.wait_to_finish()
 
 func _thread_function():
+	print('UDP Broadcast thread started')
 	while true:
 		mutex.lock()
 		var should_exit = exit_thread
 		mutex.unlock()
 		if should_exit:
 			break
-		
-		if ip_address.length() == 0:
-			_try_set_ip()
-			return
 		mutex.lock()
 		var do_broadcast = last_broadcast >= current_broadcast_rate
 		mutex.unlock()
 		if do_broadcast:
-			# Try to contact server
 			mutex.lock()
 			last_broadcast = 0
 			mutex.unlock()
-			var broadcast_str = ip_address + "|%s" % Time.get_datetime_string_from_system(true)
+			_process_broadcast()
-			print('Broadcasting to UDP: ', broadcast_str)
+
-			udp.put_packet(broadcast_str.to_utf8_buffer())
+func _process_broadcast():
+	if ip_address.length() == 0:
+		_try_set_ip()
+		return
+		# Try to contact server
+	var broadcast_str = ip_address + "|%s" % Time.get_datetime_string_from_system(true)
+	print('Broadcasting to UDP: ', broadcast_str)
+	udp.put_packet(broadcast_str.to_utf8_buffer())
 
 func _try_set_ip():
 	for address in IP.get_local_addresses():

networking/scripts/udp_server.gd

@@ -12,9 +12,10 @@ var awaiting_sensors = {}
 var invalid_sensors = {}
 var valid_sensors = {}
 
+var use_thread: bool = false
 var thread: Thread
 var mutex: Mutex
-var exit_thread = false
+var exit_thread = true
 
 var signal_queue = []
 
@@ -27,10 +28,16 @@ func _ready():
 	print('Listening on port: ', port)
 	
 	mutex = Mutex.new()
-	thread = Thread.new()
+	if use_thread:
-	thread.start(_thread_function)
+		thread = Thread.new()
+		print('Starting UDP Server thread')
+		thread.start(_thread_function)
+	else:
+		print('UDP server running in single threaded mode')
 
 func _process(delta: float) -> void:
+	if not use_thread:
+		_process_connections()
 	while signal_queue.size() > 0:
 		mutex.lock()
 		var signal_data = signal_queue.pop_front()
@@ -51,10 +58,11 @@ func _process(delta: float) -> void:
 			DataSignals.magnetometer_data_received.emit(signal_data[1], signal_data[2], signal_data[3])
 
 func _exit_tree() -> void:
-	mutex.lock()
+	if use_thread:
-	exit_thread = true
+		mutex.lock()
-	mutex.unlock()
+		exit_thread = true
-	thread.wait_to_finish()
+		mutex.unlock()
+		thread.wait_to_finish()
 
 func _on_sensor_approved(sensor_ip: String):
 	mutex.lock()
@@ -72,6 +80,7 @@ func _on_sensor_declined(sensor_ip: String):
 	mutex.unlock()
 
 func _thread_function():
+	print('UDP Server thread started')
 	while true:
 		mutex.lock()
 		var should_exit = exit_thread
@@ -177,15 +186,13 @@ func _handle_new_peer_request(peer_ip: String, packet: PackedByteArray):
 	10     | 1 byte | bool | peer provides quaternion orientation
 	"""
 	mutex.lock()
-	awaiting_sensors[peer_ip] = [
+	print(packet)
-		#packet.decode_u8(4),
+	print(packet.get(4))
-		packet.decode_u8(5),
+	print(0xf1)
-		packet.decode_u8(6),
+	if packet.get(4) == 0xf1:
-		packet.decode_u8(7),
+		awaiting_sensors[peer_ip] = "VEHICLE"
-		packet.decode_u8(8),
+	elif packet.get(4) == 0x23:
-		#packet.decode_u8(9),
+		awaiting_sensors[peer_ip] = "LIDAR_2D"
-		#packet.decode_u8(10),
-		]
 	signal_queue.append(["sensor_request_received", peer_ip, awaiting_sensors[peer_ip]])
 	mutex.unlock()
 	

project.godot

@@ -28,6 +28,10 @@ DisplayData="*uid://xunxbytiofa2"
 Bisect="*uid://crwgaltrjx4ff"
 TimeHelpers="*uid://dqtc81pc74lcr"
 
+[debug]
+
+file_logging/enable_file_logging=true
+
 [display]
 
 window/size/viewport_width=800

sensor_approval/SensorApprovalController.gd

@@ -32,9 +32,9 @@ func _on_settings_closed():
 		add_child(sensor_approval_nodes[val])
 	_update_container_position()
 
-func _on_sensor_request_received(sensor_ip: String, data_provided: Array):
+func _on_sensor_request_received(sensor_ip: String, sensor_class: String):
 	sensor_approval_nodes[sensor_ip] = sensor_approval_scene.instantiate()
-	sensor_approval_nodes[sensor_ip].set_provided_data(sensor_ip, data_provided)
+	sensor_approval_nodes[sensor_ip].set_provided_data(sensor_ip, sensor_class)
 	if not settings_open:
 		add_child(sensor_approval_nodes[sensor_ip])
 		_update_container_position()

sensor_approval/provided_data.gd

@@ -11,9 +11,10 @@ offset | size   | type | description
 9     | 1 byte | bool | peer provides euler orientation
 10     | 1 byte | bool | peer provides quaternion orientation
 """
-var data_labels = ["Date Time", "PNT", "Accel", "Gyro", "Magnet", "Euler", "Quat"]
+var data_labels = ["Date Time", "PNT", "Accel", "Gyro", "Magnet", "Euler", "Quat", "2D Lidar"]
 
-var provided_data: Array = [0, 0, 0, 0, 0, 0, 0]
+var sensor_class: String = ''
+var provided_data: Array = [0, 0, 0, 0, 0, 0, 0, 0]
 var data_columns: Array
 
 @export var data_column_scene: PackedScene
@@ -35,5 +36,9 @@ func _setup_data_columns():
 func _process(delta: float) -> void:
 	pass
 
-func set_provided_data(incoming_provided_data):
+func set_provided_data(incoming_sensor_class: String):
-	provided_data = incoming_provided_data
+	sensor_class = incoming_sensor_class.capitalize()
+	if incoming_sensor_class == "VEHICLE":
+		provided_data = [0, 1, 1, 1, 1, 0, 0, 0]
+	elif incoming_sensor_class == "LIDAR_2D":
+		provided_data = [0, 1, 1, 1, 0, 0, 0, 1]

sensor_approval/sensor_approval.gd

@@ -5,7 +5,7 @@ var ip_label: Label
 var data_instance: Node
 
 var sensor_ip: String = "127.0.0.1"
-var data_labels = ["PNT", "Accel", "Gyro", "Magnet"]
+var data_labels = ["PNT", "Accel", "Gyro", "Magnet", "2D Lidar"]
 
 var provided_data: Array = [0, 0, 0, 0]
 var data_columns: Array
@@ -27,11 +27,14 @@ func _setup_data_columns():
 			column_instance.get_node('DataValue').text = "True"
 		container.add_child(column_instance)
 
-func set_provided_data(incoming_sensor_ip: String, incoming_provided_data: Array):
+func set_provided_data(incoming_sensor_ip: String, sensor_class: String):
 	sensor_ip = incoming_sensor_ip
 	ip_label = get_node('HBoxContainer/Label')
 	ip_label.text = sensor_ip
-	provided_data = incoming_provided_data
+	if sensor_class == "VEHICLE":
+		provided_data = [1, 1, 1, 1, 0]
+	elif sensor_class == "LIDAR_2D":
+		provided_data = [1, 1, 1, 0, 1]
 	if data_columns.size() == 0:
 		_setup_data_columns()
 	else:

sensors/lidar_2d_sensor_node.gd

@@ -0,0 +1,14 @@
+extends BaseSensorNode
+class_name Lidar2DSensorNode
+
+# Called when the node enters the scene tree for the first time.
+func _ready() -> void:
+	pass # Replace with function body.
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(delta: float) -> void:
+	pass
+
+func _get_sensor_class():
+	return "LIDAR_2D"

sensors/lidar_2d_sensor_node.gd.uid

@@ -0,0 +1 @@
+uid://c00jgww14wp8w

sensors/sensor_spawner.gd

@@ -8,8 +8,14 @@ func _ready() -> void:
 	vehicle = get_parent()
 	SensorSignals.new_sensor_connected.connect(_on_new_sensor_connected)
 
-func _on_new_sensor_connected(sensor_ip: String, provider_data: Array) -> void:
+func _on_new_sensor_connected(sensor_ip: String, sensor_type: String) -> void:
-	var sensor_node = VehicleSensorNode.new()
+	var sensor_node: BaseSensorNode
+	if sensor_type == "VEHICLE":
+		sensor_node = VehicleSensorNode.new()
+	elif sensor_type == "LIDAR_2D":
+		sensor_node = Lidar2DSensorNode.new()
+	else:
+		return
 	sensor_node.ip_address = sensor_ip
 	add_child(sensor_node)
 	vehicle.add_sensor_node(sensor_node)

sensors/vehicle_sensor_node.gd

@@ -16,10 +16,12 @@ var gps_timestamps = []
 var coordinates = []
 var gps_positions = []
 var altitudes = []
+var alt_coefficients = []
 var altitude_m:
 	get:
 		return _get_current_altitude()
 var speed_data = []
+var speed_coefficients = []
 var speed_kmh:
 	get:
 		return _get_current_speed()
@@ -32,6 +34,12 @@ var pitch_data = []
 var pitch_rad: float
 var roll_data = []
 var roll_rad: float
+var lateral_g_data = []
+var x_coefficients = []
+var y_coefficients = []
+var lateral_accel:
+	get:
+		return _get_current_gs()
 
 var mag_timestamps = []
 var mag_vecs = []
@@ -57,7 +65,7 @@ func _on_gps_data_received(source_ip: String, timestamp_list: Array, new_coordin
 	var timestamp: float = 3600.*timestamp_list[0] + 60.*timestamp_list[1] + timestamp_list[2] + timestamp_list[3]
 	if gps_timestamps.size() == max_data_length and not TimeHelpers.is_timestamp_newer_24h(gps_timestamps[-1], timestamp):
 		return
-	var insert_idx = Bisect.bisect(gps_timestamps, timestamp)
+	var insert_idx = Bisect.reverse_bisect(gps_timestamps, timestamp)
 	var altitude_m = new_coordinates[2] + new_coordinates[3]
 	var radius_km = (new_coordinates[2] + new_coordinates[3] + Constants.EARTH_RADIUS_M) / 1000.
 	var pos_x = radius_km * sin(new_coordinates[1]) * cos(new_coordinates[0])
@@ -69,11 +77,13 @@ func _on_gps_data_received(source_ip: String, timestamp_list: Array, new_coordin
 	altitudes.insert(insert_idx, altitude_m)
 	speed_data.insert(insert_idx, speed_kmh)
 	if gps_timestamps.size() > max_data_length:
-		gps_timestamps.pop_front()
+		gps_timestamps.pop_back()
-		coordinates.pop_front()
+		coordinates.pop_back()
-		gps_positions.pop_front()
+		gps_positions.pop_back()
-		altitudes.pop_front()
+		altitudes.pop_back()
-		speed_data.pop_front()
+		speed_data.pop_back()
+	_update_alt_coefficients()
+	_update_speed_coefficients()
 	
 func _on_sat_data_received(source_ip: String, timestamp: float):
 	if source_ip != ip_address:
@@ -85,7 +95,7 @@ func _on_accel_data_received(source_ip: String, timestamp_list: Array, accel: Ve
 	var timestamp: float = 3600.*timestamp_list[0] + 60.*timestamp_list[1] + timestamp_list[2] + timestamp_list[3]
 	if accel_timestamps.size() == max_data_length and not TimeHelpers.is_timestamp_newer_24h(accel_timestamps[-1], timestamp):
 		return
-	var insert_idx = Bisect.bisect(accel_timestamps, timestamp)
+	var insert_idx = Bisect.reverse_bisect(accel_timestamps, timestamp)
 	var x_z = Vector2(g_accel.x, g_accel.z).normalized()
 	var y_z = Vector2(g_accel.y, g_accel.z).normalized()
 	var pitch = DOWN.angle_to(x_z)
@@ -95,14 +105,18 @@ func _on_accel_data_received(source_ip: String, timestamp_list: Array, accel: Ve
 	g_vecs.insert(insert_idx, g_accel)
 	pitch_data.insert(insert_idx, pitch)
 	roll_data.insert(insert_idx, roll)
+	var lateral_g = Vector2(linear_accel.x, linear_accel.y)
+	lateral_g_data.insert(insert_idx, lateral_g.normalized()*lateral_g.length())
 	if accel_timestamps.size() > max_data_length:
-		accel_timestamps.pop_front()
+		accel_timestamps.pop_back()
-		linear_vecs.pop_front()
+		linear_vecs.pop_back()
-		g_vecs.pop_front()
+		g_vecs.pop_back()
-		pitch_data.pop_front()
+		pitch_data.pop_back()
-		roll_data.pop_front()
+		roll_data.pop_back()
+		lateral_g_data.pop_back()
 	_update_avg_pitch()
 	_update_avg_roll()
+	_update_g_coefficients()
 
 func _on_mag_data_received(source_ip: String, timestamp_list: Array, mag_vec: Vector3):
 	if source_ip != ip_address:
@@ -110,64 +124,106 @@ func _on_mag_data_received(source_ip: String, timestamp_list: Array, mag_vec: Ve
 	var timestamp: float = 3600.*timestamp_list[0] + 60.*timestamp_list[1] + timestamp_list[2] + timestamp_list[3]
 	if mag_timestamps.size() == max_data_length and not TimeHelpers.is_timestamp_newer_24h(mag_timestamps[-1], timestamp):
 		return
-	var insert_idx = Bisect.bisect(mag_timestamps, timestamp)
+	var insert_idx = Bisect.reverse_bisect(mag_timestamps, timestamp)
 	var mag_2d = Vector2(mag_vec.x, mag_vec.y)
 	mag_2d.normalized()
 	var new_heading_rad = atan2(-mag_2d.y, mag_2d.x)
+	if new_heading_rad < 0:
+		new_heading_rad += 2*PI
 	mag_timestamps.insert(insert_idx, timestamp)
 	mag_vecs.insert(insert_idx, mag_vec)
 	heading_data.insert(insert_idx, new_heading_rad)
 	if mag_timestamps.size() > max_data_length:
-		mag_timestamps.pop_front()
+		mag_timestamps.pop_back()
-		mag_vecs.pop_front()
+		mag_vecs.pop_back()
-		heading_data.pop_front()
+		heading_data.pop_back()
-	_update_avg_heading()
 
 func _on_gyro_data_received(source_ip: String, timestamp: float):
 	if source_ip != ip_address:
 		return
 
+func get_derrivative(dataset: Array) -> Array:
+	if dataset.size() < 2:
+		return [0, []]
+	var deltas = []
+	var delta_sum = 0
+	for i in range(dataset.size()-1):
+		var delta = dataset[i+1] - dataset[i]
+		deltas.append(dataset[i+1] - dataset[i])
+	return [delta_sum / deltas.size(), deltas]
+
+func get_array_avg(dataset: Array):
+	var data_sum = 0
+	for i in dataset:
+		data_sum += i
+	return data_sum / dataset.size()
+
+func get_coefficients(dataset: Array, order: int):
+	if order == 0:
+		return []
+	if dataset.size() <= order:
+		order = dataset.size() - 1
+	var coefficients = []
+	var tmp_dataset = dataset
+	var dx_result: Array
+	for i in range(order):
+		dx_result = get_derrivative(tmp_dataset)
+		coefficients.append(dx_result[0])
+		tmp_dataset = dx_result[1]
+	return coefficients
+
+func _update_alt_coefficients():
+	if gps_timestamps.size() < 2:
+		return
+	alt_coefficients = get_coefficients(altitudes, 2)
+
 func _get_current_altitude():
 	if gps_timestamps.size() < 3:
 		return null
-	var altitude_dx = []
-	var alt_dx_sum = 0
 	var current_timestamp = TimeHelpers.get_current_sensor_time()
-	for i in range(gps_timestamps.size()-1, 0, -1):
+	var time_diff = max(0, TimeHelpers.calc_time_diff_24h(gps_timestamps[0], current_timestamp))
-		var alt_dx = altitudes[i] - altitudes[i-1]
+	var current_value = altitudes[0]
-		alt_dx_sum += alt_dx
+	for idx in range(alt_coefficients.size()):
-		altitude_dx.append(alt_dx)
+		current_value += alt_coefficients[idx] * (time_diff ** idx+1)
-	var altitude_dx2 = []
+	return current_value
-	var alt_dx2_sum = 0
+
-	for i in range(altitude_dx.size()-1):
+func _update_speed_coefficients():
-		var alt_dx2 = altitude_dx[i] - altitude_dx[i+1]
+	if gps_timestamps.size() < 2:
-		alt_dx2_sum += alt_dx2
+		return
-		altitude_dx2.append(alt_dx2)
+	speed_coefficients = get_coefficients(speed_data, 2)
-	var time_diff = max(0, TimeHelpers.calc_time_diff_24h(gps_timestamps[-1], current_timestamp))
-	var dv = alt_dx2_sum/altitude_dx2.size()
-	var dx = alt_dx_sum / altitude_dx.size()
-	return altitudes[-1] + ((dx + (dv * time_diff)) * time_diff)
 
 func _get_current_speed():
 	if gps_timestamps.size() < 3:
-		return null
+		return
-	var speed_dx = []
-	var speed_dx_sum = 0
 	var current_timestamp = TimeHelpers.get_current_sensor_time()
-	for i in range(gps_timestamps.size()-1, 0, -1):
-		var spd_dx = speed_data[i] - speed_data[i-1]
-		speed_dx_sum += spd_dx
-		speed_dx.append(spd_dx)
-	var speed_dx2 = []
-	var speed_dx2_sum = 0
-	for i in range(speed_dx.size()-1):
-		var spd_dx2 = speed_dx[i] - speed_dx[i+1]
-		speed_dx2_sum += spd_dx2
-		speed_dx2.append(spd_dx2)
 	var time_diff = max(0, TimeHelpers.calc_time_diff_24h(gps_timestamps[-1], current_timestamp))
-	var dv = speed_dx2_sum/speed_dx2.size()
+	var current_value = speed_data[0]
-	var dx = speed_dx_sum / speed_dx.size()
+	for idx in range(speed_coefficients.size()):
-	return speed_data[-1] + ((dx + (dv * time_diff)) * time_diff)
+		current_value += speed_coefficients[idx] * (time_diff ** idx+1)
+	return current_value
+
+func _update_g_coefficients():
+	if accel_timestamps.size() < 2:
+		return
+	var x_dataset = []
+	var y_dataset = []
+	for i in lateral_g_data:
+		x_dataset.append(i.x)
+		y_dataset.append(i.y)
+	x_coefficients = get_coefficients(x_dataset, 3)
+	y_coefficients = get_coefficients(y_dataset, 3)
+
+func _get_current_gs():
+	if accel_timestamps.size() < 3:
+		return
+	var current_timestamp = TimeHelpers.get_current_sensor_time()
+	var time_diff = max(0, TimeHelpers.calc_time_diff_24h(accel_timestamps[0], current_timestamp))
+	var current_x = lateral_g_data[0].x
+	var current_y = lateral_g_data[0].y
+	for idx in range(speed_coefficients.size()):
+		current_x += x_coefficients[idx] * (time_diff ** idx+1)
+		current_y += y_coefficients[idx] * (time_diff ** idx+1)
+	return Vector2(current_x, current_y)
 
 func _update_avg_pitch():
 	var pitch_sum = 0
@@ -183,7 +239,7 @@ func _update_avg_roll():
 
 func _update_avg_heading():
 	var heading_sum = 0
-	for i in range(mag_timestamps.size()):
+	for i in range(min(mag_timestamps.size(), 2)):
 		heading_sum += heading_data[i]
 	heading_rad = heading_sum / heading_data.size()
 	

signals/server_signals.gd

@@ -1,5 +1,5 @@
 extends Node
 
-signal sensor_request_received(sensor_ip_address: String, data_provided: Array)
+signal sensor_request_received(sensor_ip_address: String, sensor_class: String)
 signal sensor_approved(sensor_ip_adress: String)
 signal sensor_declined(sensor_ip_address: String)

vehicle/scripts/vehicle_node.gd

@@ -16,6 +16,7 @@ var host_id: String = ''
 var sensor_nodes = {}
 var sensor_classes = {
 	"VEHICLE": [],
+	"LIDAR_2D": [],
 }
 
 var timer: float = 0.
@@ -37,6 +38,10 @@ var pitch_rad: float:
 	get:
 		return _get_pitch_rad()
 
+var lateral_accel: Vector2:
+	get:
+		return _get_lateral_accel()
+
 var heading_rad: float:
 	get:
 		return _get_heading_rad()
@@ -124,6 +129,19 @@ func _get_pitch_rad():
 		return 0
 	return pitch_sum / pitch_count
 
+func _get_lateral_accel():
+	var gs_sum: Vector2 = Vector2.ZERO
+	var gs_count: int = 0
+	for sensor_ip in sensor_classes["VEHICLE"]:
+		var sensor_gs = sensor_nodes[sensor_ip].lateral_accel
+		if sensor_gs == null:
+			continue
+		gs_sum += sensor_gs
+		gs_count += 1
+	if gs_count == 0:
+		return Vector2.ZERO
+	return gs_sum / gs_count
+
 func _get_heading_rad():
 	var heading_sum: float = 0
 	var heading_count: int = 0

views/2d/View2D.tscn

@@ -15,7 +15,7 @@ script = ExtResource("1_n6fjn")
 [node name="HUD" type="CanvasLayer" parent="." unique_id=1826106128]
 
 [node name="Compass" parent="HUD" unique_id=2062816665 instance=ExtResource("1_fyqef")]
-position = Vector2(114.99999, 538.00006)
+position = Vector2(104, 486)
 
 [node name="TotalSatCount" parent="HUD" unique_id=931018379 instance=ExtResource("2_3b2b5")]
 visible = false
@@ -64,7 +64,7 @@ scale = Vector2(0.05, 0.05)
 sat_category = "QZSS"
 
 [node name="AltitudeWidget" parent="HUD" unique_id=1004159593 instance=ExtResource("3_g6l6n")]
-position = Vector2(243, 494)
+position = Vector2(170, 481)
 
 [node name="AccelerometerWidget" parent="HUD" unique_id=1057256615 instance=ExtResource("4_qui0h")]
 position = Vector2(675, 400)

views/ViewController.gd

@@ -25,7 +25,7 @@ func _ready() -> void:
 func add_widget(widget_type: String, widget_position: Vector2, widget_scale: float):
 	pass
 
-func _on_sensor_request_received(sensor_ip, sensor_data):
+func _on_sensor_request_received(sensor_ip, sensor_class):
 	_on_open_settings_pressed()
 	
 func _on_sensor_approced(sensor_ip):

widgets/accelerometer/scripts/accelerometer_widget_node.gd

@@ -11,7 +11,6 @@ var origin: Vector2 = Vector2(0., 0.)
 # Called when the node enters the scene tree for the first time.
 func _ready() -> void:
 	super._ready()
-	Signals.linear_acceleration_updated.connect(_on_linear_acceleration_updated)
 	label = get_node('Label')
 	accel_vector = get_node("AccelVector")
 	accel_vector.points = [origin, origin]
@@ -20,13 +19,13 @@ func _ready() -> void:
 	y_vector = get_node("YVector")
 	y_vector.points = [origin, origin]
 
-func _on_linear_acceleration_updated(sensor_ip: String, linear_acceleration: Array):
+func _update_data():
-	var accel_vec = Vector2(-linear_acceleration[1], linear_acceleration[0])
+	if y_vector == null:
-	var vec_norm: Vector2 = accel_vec.normalized()
+		return
-	var vec_length: float = accel_vec.length()
+	var lateral_gs = host_vehicle.lateral_accel
-	var accel_g = vec_length / Constants.g
+	var accel_g = lateral_gs.length() / Constants.g
-	var x_vec = Vector2(vec_norm.x*vec_length, 0)
+	var x_vec = Vector2(lateral_gs.x, 0)
-	accel_vector.points = [origin, accel_vec * 10]
+	accel_vector.points = [origin, lateral_gs * 4]
-	x_vector.points = [origin, x_vec * 10]
+	x_vector.points = [origin, x_vec * 4]
-	y_vector.points = [x_vec * 10, accel_vec * 10]
+	y_vector.points = [x_vec * 4, lateral_gs * 4]
-	label.text = str(round(accel_g*100)/100) + ' g'
+	label.text = str(round(accel_g*10)/10) + ' g'

widgets/altitude/altitude_widget.tscn

@@ -8,22 +8,22 @@ script = ExtResource("1_hmdxp")
 metadata/_custom_type_script = "uid://b3rfje1auw6to"
 
 [node name="Panel" type="Panel" parent="." unique_id=1393400967]
-offset_right = 306.0
+offset_right = 460.0
-offset_bottom = 70.0
+offset_bottom = 120.0
 
 [node name="Label" type="Label" parent="." unique_id=1070194714]
-offset_right = 306.0
+offset_right = 460.0
-offset_bottom = 70.0
+offset_bottom = 120.0
-theme_override_font_sizes/font_size = 32
+theme_override_font_sizes/font_size = 80
-text = "Altitude: 99999 ft"
+text = "Alt: 99999 ft"
 horizontal_alignment = 1
 vertical_alignment = 1
 
 [node name="MovableControl" type="Control" parent="." unique_id=1186292353 node_paths=PackedStringArray("move_target")]
 layout_mode = 3
 anchors_preset = 0
-offset_right = 306.0
+offset_right = 460.0
-offset_bottom = 70.0
+offset_bottom = 120.0
 mouse_filter = 1
 script = ExtResource("2_34sps")
 move_target = NodePath("..")

widgets/altitude/scripts/altitude_widget_node.gd

@@ -14,4 +14,4 @@ func _ready() -> void:
 func _update_data():
 	if label_node == null:
 		return
-	label_node.text = 'Altitude: ' + str(int(round(host_vehicle.altitude_m * Constants.M2FT))) + ' ft'
+	label_node.text = 'Alt: ' + str(int(round(host_vehicle.altitude_m * Constants.M2FT))) + ' ft'

widgets/compass/compass_widget_scene.tscn

@@ -14,14 +14,20 @@ scale = Vector2(0.1, 0.1)
 texture = ExtResource("2_qf1yp")
 
 [node name="Label" type="Label" parent="." unique_id=338110309]
+anchors_preset = 7
+anchor_left = 0.5
+anchor_top = 1.0
+anchor_right = 0.5
+anchor_bottom = 1.0
 offset_left = -50.0
-offset_top = -350.0
+offset_top = -300.0
 offset_right = 50.0
-offset_bottom = -150.0
+grow_horizontal = 2
+grow_vertical = 0
+pivot_offset = Vector2(50, 300)
 theme_override_font_sizes/font_size = 80
 text = "N"
 horizontal_alignment = 1
-vertical_alignment = 1
 justification_flags = 161
 
 [node name="MovableControl" type="Control" parent="." unique_id=124696843 node_paths=PackedStringArray("move_target")]

widgets/compass/scripts/compass_widget_node.gd

@@ -5,6 +5,7 @@ class_name CompassWidgetNode
 @export_range(0., 359., 0.1) var north_deg = 0.
 var north_rad: float
 var indicator: Sprite2D
+var label: Label
 
 # Called when the node enters the scene tree for the first time.
 func _ready() -> void:
@@ -13,8 +14,31 @@ func _ready() -> void:
 		north_deg = 0.
 	north_rad = deg_to_rad(north_deg)
 	indicator = get_node("CompassIndicator")
+	label = get_node("Label")
 
 func _update_data():
-	if indicator == null:
+	if label == null:
 		return
-	indicator.rotation = host_vehicle.heading_rad
+	#label.rotation = -host_vehicle.heading_rad
+	label.text = get_direction_label(host_vehicle.heading_rad)
+
+func get_direction_label(heading_rad):
+	var heading_deg = rad_to_deg(heading_rad)
+	if 0 <= heading_deg and heading_deg <= 22.5:
+		return 'N'
+	elif 22.5 < heading_deg and heading_deg <= 67.5:
+		return "NE"
+	elif 67.5 < heading_deg and heading_deg <= 112.5:
+		return "E"
+	elif 112.5 < heading_deg and heading_deg <= 157.5:
+		return "SE"
+	elif 157.5 < heading_deg and heading_deg <= 202.5:
+		return "S"
+	elif 202.5 < heading_deg and heading_deg <= 247.5:
+		return "SW"
+	elif 247.5 < heading_deg and heading_deg <= 292.5:
+		return "W"
+	elif 292.5 < heading_deg and heading_deg <= 337.5:
+		return "NW"
+	else:
+		return "N"

widgets/speed/speed_widget.tscn

@@ -14,14 +14,14 @@ offset_bottom = 40.0
 [node name="SpeedLabel" type="Label" parent="VBoxContainer" unique_id=2101712075]
 custom_minimum_size = Vector2(150, 0)
 layout_mode = 2
-theme_override_font_sizes/font_size = 48
+theme_override_font_sizes/font_size = 80
 text = "10"
 horizontal_alignment = 1
 
 [node name="UnitLabel" type="Label" parent="VBoxContainer" unique_id=123505815]
 custom_minimum_size = Vector2(100, 0)
 layout_mode = 2
-theme_override_font_sizes/font_size = 16
+theme_override_font_sizes/font_size = 26
 text = "MPH"
 horizontal_alignment = 1