diff options
| -rw-r--r-- | CMakeLists.txt | 1 | ||||
| -rw-r--r-- | deco.c | 159 | ||||
| -rw-r--r-- | dive.c | 14 | ||||
| -rw-r--r-- | dive.h | 5 | ||||
| -rw-r--r-- | planner.c | 356 | ||||
| -rw-r--r-- | planner.h | 1 | ||||
| -rw-r--r-- | pref.h | 8 | ||||
| -rw-r--r-- | qt-models/diveplannermodel.cpp | 11 | ||||
| -rw-r--r-- | qt-models/diveplannermodel.h | 2 | ||||
| -rw-r--r-- | qt-ui/diveplanner.cpp | 20 | ||||
| -rw-r--r-- | qt-ui/diveplanner.h | 2 | ||||
| -rw-r--r-- | qt-ui/plannerSettings.ui | 23 | ||||
| -rw-r--r-- | subsurfacestartup.c | 4 | ||||
| -rw-r--r-- | tests/testplan.cpp | 119 | ||||
| -rw-r--r-- | tests/testplan.h | 13 |
15 files changed, 556 insertions, 182 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index f4f49f805..fbfbfa45a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -521,6 +521,7 @@ if(NOT NO_TESTS) TEST(TestProfile testprofile.cpp) TEST(TestGpsCoords testgpscoords.cpp) TEST(TestParse testparse.cpp) + TEST(TestPlan testplan.cpp) endif() # install a few things so that one can run Subsurface from the build @@ -32,6 +32,19 @@ struct buehlmann_config { }; struct buehlmann_config buehlmann_config = { 1.0, 1.01, 0, 0.75, 0.35, 1.0, false }; +//! Option structure for VPM-B decompression. +struct vpmb_config { + double crit_radius_N2; //! Critical radius of N2 nucleon (microns). + double crit_radius_He; //! Critical radius of He nucleon (microns). + double crit_volume_lambda; //! Constant corresponding to critical gas volume. + double gradient_of_imperm; //! Gradient after which bubbles become impermeable. + double surface_tension_gamma; //! Nucleons surface tension constant. + double skin_compression_gammaC; //! + double regeneration_time; //! Time needed for the bubble to regenerate to the start radius. + double other_gases_pressure; //! Always present pressure of other gasses in tissues. +}; +struct vpmb_config vpmb_config = { 0.6, 0.5, 250.0, 8.2, 0.179, 2.57, 20160, 0.1359888 }; + const double buehlmann_N2_a[] = { 1.1696, 1.0, 0.8618, 0.7562, 0.62, 0.5043, 0.441, 0.4, 0.375, 0.35, 0.3295, 0.3065, @@ -89,6 +102,19 @@ double tolerated_by_tissue[16]; double tissue_inertgas_saturation[16]; double buehlmann_inertgas_a[16], buehlmann_inertgas_b[16]; +double max_n2_crushing_pressure[16]; +double max_he_crushing_pressure[16]; + +double crushing_onset_tension[16]; // total inert gas tension in the t* moment +double n2_regen_radius[16]; // rs +double he_regen_radius[16]; +double max_ambient_pressure; // last moment we were descending + +double allowable_n2_gradient[16]; +double allowable_he_gradient[16]; +double total_gradient[16]; + + static double tissue_tolerance_calc(const struct dive *dive) { int ci = -1; @@ -184,6 +210,135 @@ double he_factor(int period_in_seconds, int ci) return cache[ci].last_factor; } +bool is_vpmb_ok(double pressure) +{ + int ci; + double gradient; + double gas_tension; + + for (ci = 0; ci < 16; ++ci) { + gas_tension = tissue_n2_sat[ci] + tissue_he_sat[ci] + vpmb_config.other_gases_pressure; + gradient = gas_tension - pressure; + if (gradient > total_gradient[ci]) + return false; + } + return true; +} + +void vpmb_start_gradient() +{ + int ci; + double gradient_n2, gradient_he; + + for (ci = 0; ci < 16; ++ci) { + allowable_n2_gradient[ci] = 2.0 * (vpmb_config.surface_tension_gamma / vpmb_config.skin_compression_gammaC) * ((vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma) / n2_regen_radius[ci]); + allowable_he_gradient[ci] = 2.0 * (vpmb_config.surface_tension_gamma / vpmb_config.skin_compression_gammaC) * ((vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma) / he_regen_radius[ci]); + + total_gradient[ci] = ((allowable_n2_gradient[ci] * tissue_n2_sat[ci]) + (allowable_he_gradient[ci] * tissue_he_sat[ci])) / (tissue_n2_sat[ci] + tissue_he_sat[ci]); + } +} + +void vpmb_next_gradient(double deco_time) +{ + int ci; + double gradient_n2, gradient_he; + double n2_b, n2_c; + double he_b, he_c; + deco_time /= 60.0 ; + + for (ci = 0; ci < 16; ++ci) { + n2_b = allowable_n2_gradient[ci] + ((vpmb_config.crit_volume_lambda * vpmb_config.surface_tension_gamma) / (vpmb_config.skin_compression_gammaC * (deco_time + buehlmann_N2_t_halflife[ci] * 60.0 / log(2.0)))); + he_b = allowable_he_gradient[ci] + ((vpmb_config.crit_volume_lambda * vpmb_config.surface_tension_gamma) / (vpmb_config.skin_compression_gammaC * (deco_time + buehlmann_He_t_halflife[ci] * 60.0 / log(2.0)))); + + n2_c = vpmb_config.surface_tension_gamma * vpmb_config.surface_tension_gamma * vpmb_config.crit_volume_lambda * max_n2_crushing_pressure[ci]; + n2_c = n2_c / (vpmb_config.skin_compression_gammaC * vpmb_config.skin_compression_gammaC * (deco_time + buehlmann_N2_t_halflife[ci] * 60.0 / log(2.0))); + he_c = vpmb_config.surface_tension_gamma * vpmb_config.surface_tension_gamma * vpmb_config.crit_volume_lambda * max_he_crushing_pressure[ci]; + he_c = he_c / (vpmb_config.skin_compression_gammaC * vpmb_config.skin_compression_gammaC * (deco_time + buehlmann_He_t_halflife[ci] * 60.0 / log(2.0))); + + allowable_n2_gradient[ci] = 0.5 * ( n2_b + sqrt(n2_b * n2_b - 4.0 * n2_c)); + allowable_he_gradient[ci] = 0.5 * ( he_b + sqrt(he_b * he_b - 4.0 * he_c)); + + total_gradient[ci] = ((allowable_n2_gradient[ci] * tissue_n2_sat[ci]) + (allowable_he_gradient[ci] * tissue_he_sat[ci])) / (tissue_n2_sat[ci] + tissue_he_sat[ci]); + } +} + +void nuclear_regeneration(double time) +{ + time /= 60.0; + int ci; + double crushing_radius_N2, crushing_radius_He; + for (ci = 0; ci < 16; ++ci) { + //rm + crushing_radius_N2 = 1.0 / (max_n2_crushing_pressure[ci] / (2.0 * (vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma)) + 1.0 / vpmb_config.crit_radius_N2); + crushing_radius_He = 1.0 / (max_he_crushing_pressure[ci] / (2.0 * (vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma)) + 1.0 / vpmb_config.crit_radius_He); + //rs + n2_regen_radius[ci] = crushing_radius_N2 + (vpmb_config.crit_radius_N2 - crushing_radius_N2) * (1.0 - exp (-time / vpmb_config.regeneration_time)); + he_regen_radius[ci] = crushing_radius_He + (vpmb_config.crit_radius_He - crushing_radius_He) * (1.0 - exp (-time / vpmb_config.regeneration_time)); + } +} + +// Calculates the nucleons inner pressure during the impermeable period +double calc_inner_pressure(double crit_radius, double onset_tension, double current_ambient_pressure) +{ + double onset_radius = 1.0 / (vpmb_config.gradient_of_imperm / (2.0 * (vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma)) + 1.0 / crit_radius); + + // A*r^3 + B*r^2 + C == 0 + // Solved with the help of mathematica + + double A = current_ambient_pressure - vpmb_config.gradient_of_imperm + (2.0 * (vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma)) / onset_radius; + double B = 2.0 * (vpmb_config.skin_compression_gammaC - vpmb_config.surface_tension_gamma); + double C = onset_tension * pow(onset_radius, 3); + + double BA = B/A; + double CA = C/A; + + double discriminant = CA * (4 * BA * BA * BA + 27 * CA); + + // Let's make sure we have a real solution: + if (discriminant < 0.0) { + // This should better not happen + report_error("Complex solution for inner pressure encountered!\n A=%f\tB=%f\tC=%f\n", A, B, C); + return 0.0; + } + double denominator = pow(BA * BA * BA + 1.5 * (9 * CA + sqrt(3.0) * sqrt(discriminant)), 1/3.0); + double current_radius = (BA + BA * BA / denominator + denominator) / 3.0; + + return onset_tension * onset_radius * onset_radius * onset_radius / (current_radius * current_radius * current_radius); +} + +// Calculates the crushing pressure in the given moment. Updates crushing_onset_tension and critical radius if needed +void calc_crushing_pressure(double pressure) +{ + int ci; + double gradient; + double gas_tension; + double n2_crushing_pressure, he_crushing_pressure; + double n2_inner_pressure, he_inner_pressure; + + for (ci = 0; ci < 16; ++ci) { + gas_tension = tissue_n2_sat[ci] + tissue_he_sat[ci] + vpmb_config.other_gases_pressure; + gradient = pressure - gas_tension; + + if (gradient <= vpmb_config.gradient_of_imperm) { // permeable situation + n2_crushing_pressure = he_crushing_pressure = gradient; + crushing_onset_tension[ci] = gas_tension; + } + else { // impermeable + if (max_ambient_pressure >= pressure) + return; + + n2_inner_pressure = calc_inner_pressure(vpmb_config.crit_radius_N2, crushing_onset_tension[ci], pressure); + he_inner_pressure = calc_inner_pressure(vpmb_config.crit_radius_He, crushing_onset_tension[ci], pressure); + + n2_crushing_pressure = pressure - n2_inner_pressure; + he_crushing_pressure = pressure - he_inner_pressure; + } + max_n2_crushing_pressure[ci] = MAX(max_n2_crushing_pressure[ci], n2_crushing_pressure); + max_he_crushing_pressure[ci] = MAX(max_he_crushing_pressure[ci], he_crushing_pressure); + } + max_ambient_pressure = MAX(pressure, max_ambient_pressure); +} + /* add period_in_seconds at the given pressure and gas to the deco calculation */ double add_segment(double pressure, const struct gasmix *gasmix, int period_in_seconds, int ccpo2, const struct dive *dive, int sac) { @@ -206,6 +361,7 @@ double add_segment(double pressure, const struct gasmix *gasmix, int period_in_s tissue_n2_sat[ci] += n2_satmult * pn2_oversat * n2_f; tissue_he_sat[ci] += he_satmult * phe_oversat * he_f; } + calc_crushing_pressure(pressure); return tissue_tolerance_calc(dive); } @@ -229,10 +385,13 @@ void clear_deco(double surface_pressure) for (ci = 0; ci < 16; ci++) { tissue_n2_sat[ci] = (surface_pressure - WV_PRESSURE) * N2_IN_AIR / 1000; tissue_he_sat[ci] = 0.0; + max_n2_crushing_pressure[ci] = 0.0; + max_he_crushing_pressure[ci] = 0.0; } gf_low_pressure_this_dive = surface_pressure; if (!buehlmann_config.gf_low_at_maxdepth) gf_low_pressure_this_dive += buehlmann_config.gf_low_position_min; + max_ambient_pressure = 0.0; } void cache_deco_state(double tissue_tolerance, char **cached_datap) @@ -3119,3 +3119,17 @@ void delete_current_divecomputer(void) if (dc_number == count_divecomputers()) dc_number--; } + +/* helper function to make it easier to work with our structures + * we don't interpolate here, just use the value from the last sample up to that time */ +int get_depth_at_time(struct divecomputer *dc, int time) +{ + int depth = 0; + if (dc && dc->sample) + for (int i = 0; i < dc->samples; i++) { + if (dc->sample[i].time.seconds > time) + break; + depth = dc->sample[i].depth.mm; + } + return depth; +} @@ -393,6 +393,7 @@ extern timestamp_t picture_get_timestamp(char *filename); extern void dive_set_geodata_from_picture(struct dive *d, struct picture *pic); extern int explicit_first_cylinder(struct dive *dive, struct divecomputer *dc); +extern int get_depth_at_time(struct divecomputer *dc, int time); static inline int get_surface_pressure_in_mbar(const struct dive *dive, bool non_null) { @@ -783,6 +784,10 @@ extern unsigned int deco_allowed_depth(double tissues_tolerance, double surface_ extern void set_gf(short gflow, short gfhigh, bool gf_low_at_maxdepth); extern void cache_deco_state(double, char **datap); extern double restore_deco_state(char *data); +extern void nuclear_regeneration(double time); +extern void vpmb_start_gradient(); +extern void vpmb_next_gradient(double deco_time); +extern bool is_vpmb_ok(double pressure); /* this should be converted to use our types */ struct divedatapoint { @@ -17,14 +17,22 @@ #define TIMESTEP 2 /* second */ #define DECOTIMESTEP 60 /* seconds. Unit of deco stop times */ -int decostoplevels[] = { 0, 3000, 6000, 9000, 12000, 15000, 18000, 21000, 24000, 27000, +int decostoplevels_metric[] = { 0, 3000, 6000, 9000, 12000, 15000, 18000, 21000, 24000, 27000, 30000, 33000, 36000, 39000, 42000, 45000, 48000, 51000, 54000, 57000, 60000, 63000, 66000, 69000, 72000, 75000, 78000, 81000, 84000, 87000, 90000, 100000, 110000, 120000, 130000, 140000, 150000, 160000, 170000, 180000, 190000, 200000, 220000, 240000, 260000, 280000, 300000, 320000, 340000, 360000, 380000 }; +int decostoplevels_imperial[] = { 0, 3048, 6096, 9144, 12192, 15240, 18288, 21336, 24384, 27432, + 30480, 33528, 36576, 39624, 42672, 45720, 48768, 51816, 54864, 57912, + 60960, 64008, 67056, 70104, 73152, 76200, 79248, 82296, 85344, 88392, + 91440, 101600, 111760, 121920, 132080, 142240, 152400, 162560, 172720, + 182880, 193040, 203200, 223520, 243840, 264160, 284480, 304800, + 325120, 345440, 365760, 386080 }; +int decostoplevels[sizeof(decostoplevels_metric) / sizeof(int)]; + double plangflow, plangfhigh; -bool plan_verbatim = false, plan_display_runtime = true, plan_display_duration = false, plan_display_transitions = false; +bool plan_verbatim, plan_display_runtime, plan_display_duration, plan_display_transitions; const char *disclaimer; @@ -66,34 +74,6 @@ bool diveplan_empty(struct diveplan *diveplan) return true; } -void set_last_stop(bool last_stop_6m) -{ - if (last_stop_6m == true) - decostoplevels[1] = 6000; - else - decostoplevels[1] = 3000; -} - -void set_verbatim(bool verbatim) -{ - plan_verbatim = verbatim; -} - -void set_display_runtime(bool display) -{ - plan_display_runtime = display; -} - -void set_display_duration(bool display) -{ - plan_display_duration = display; -} - -void set_display_transitions(bool display) -{ - plan_display_transitions = display; -} - /* get the gas at a certain time during the dive */ void get_gas_at_time(struct dive *dive, struct divecomputer *dc, duration_t time, struct gasmix *gas) { @@ -528,6 +508,11 @@ static void add_plan_to_notes(struct diveplan *diveplan, struct dive *dive, bool bool gaschange_before; struct divedatapoint *nextdp = NULL; + plan_verbatim = prefs.verbatim_plan; + plan_display_runtime = prefs.display_runtime; + plan_display_duration = prefs.display_duration; + plan_display_transitions = prefs.display_transitions; + disclaimer = translate("gettextFromC", "DISCLAIMER / WARNING: THIS IS A NEW IMPLEMENTATION OF THE BUHLMANN " "ALGORITHM AND A DIVE PLANNER IMPLEMENTATION BASED ON THAT WHICH HAS " "RECEIVED ONLY A LIMITED AMOUNT OF TESTING. WE STRONGLY RECOMMEND NOT TO " @@ -836,11 +821,15 @@ bool trial_ascent(int trial_depth, int stoplevel, int avg_depth, int bottom_time tissue_tolerance = add_segment(depth_to_mbar(trial_depth, &displayed_dive) / 1000.0, gasmix, TIMESTEP, po2, &displayed_dive, prefs.decosac); - if (deco_allowed_depth(tissue_tolerance, surface_pressure, &displayed_dive, 1) > trial_depth - deltad) { + if (prefs.deco_mode != VPMB && deco_allowed_depth(tissue_tolerance, surface_pressure, &displayed_dive, 1) > trial_depth - deltad) { /* We should have stopped */ clear_to_ascend = false; break; } + if (prefs.deco_mode == VPMB && (!is_vpmb_ok(depth_to_mbar(trial_depth, &displayed_dive) / 1000.0))){ + clear_to_ascend = false; + break; + } trial_depth -= deltad; } restore_deco_state(trial_cache); @@ -865,6 +854,13 @@ bool enough_gas(int current_cylinder) bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool show_disclaimer) { + int bottom_depth; + int bottom_gi; + int bottom_stopidx; + bool is_final_plan = true; + int deco_time; + int previous_deco_time; + char *bottom_cache = NULL; struct sample *sample; int po2; int transitiontime, gi; @@ -882,7 +878,7 @@ bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool int avg_depth, max_depth, bottom_time = 0; int last_ascend_rate; int best_first_ascend_cylinder; - struct gasmix gas; + struct gasmix gas, bottom_gas; int o2time = 0; int breaktime = -1; int breakcylinder = 0; @@ -894,16 +890,14 @@ bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool diveplan->surface_pressure = SURFACE_PRESSURE; create_dive_from_plan(diveplan, is_planner); - if (prefs.verbatim_plan) - plan_verbatim = true; - if (prefs.display_runtime) - plan_display_runtime = true; - if (prefs.display_duration) - plan_display_duration = true; - if (prefs.display_transitions) - plan_display_transitions = true; + if (prefs.units.length == METERS ) { + memcpy(decostoplevels, decostoplevels_metric, sizeof(decostoplevels_metric)); + } else { + memcpy(decostoplevels, decostoplevels_imperial, sizeof(decostoplevels_imperial)); + } + if (prefs.last_stop) - decostoplevels[1] = 6000; + decostoplevels[1] = M_OR_FT(6,20); /* Let's start at the last 'sample', i.e. the last manually entered waypoint. */ sample = &displayed_dive.dc.sample[displayed_dive.dc.samples - 1]; @@ -955,7 +949,8 @@ bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool /* Keep time during the ascend */ bottom_time = clock = previous_point_time = displayed_dive.dc.sample[displayed_dive.dc.samples - 1].time.seconds; gi = gaschangenr - 1; - if(prefs.recreational_mode) { + + if(prefs.deco_mode == RECREATIONAL) { bool safety_stop = prefs.safetystop && max_depth >= 10000; track_ascent_gas(depth, &displayed_dive.cylinder[current_cylinder], avg_depth, bottom_time, safety_stop); // How long can we stay at the current depth and still directly ascent to the surface? @@ -1003,7 +998,6 @@ bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool free(stoplevels); free(gaschanges); - return(false); } @@ -1018,147 +1012,185 @@ bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool (get_o2(&gas) + 5) / 10, (get_he(&gas) + 5) / 10, gaschanges[best_first_ascend_cylinder].depth / 1000.0); #endif } - while (1) { - /* We will break out when we hit the surface */ - do { - /* Ascend to next stop depth */ - int deltad = ascent_velocity(depth, avg_depth, bottom_time) * TIMESTEP; - if (ascent_velocity(depth, avg_depth, bottom_time) != last_ascend_rate) { - plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); + + // VPM-B or Buehlmann Deco + nuclear_regeneration(clock); + vpmb_start_gradient(); + previous_deco_time = 100000000; + deco_time = 10000000; + cache_deco_state(tissue_tolerance, &bottom_cache); // Lets us make several iterations + bottom_depth = depth; + bottom_gi = gi; + bottom_gas = gas; + bottom_stopidx = stopidx; + //CVA + do { + is_final_plan = (prefs.deco_mode == BUEHLMANN) || (previous_deco_time - deco_time < 10); // CVA time converges + previous_deco_time = deco_time; + restore_deco_state(bottom_cache); + + depth = bottom_depth; + gi = bottom_gi; + clock = previous_point_time = bottom_time; + gas = bottom_gas; + stopping = false; + decodive = false; + stopidx = bottom_stopidx; + breaktime = -1; + breakcylinder = 0; + o2time = 0; + last_ascend_rate = ascent_velocity(depth, avg_depth, bottom_time); + if ((current_cylinder = get_gasidx(&displayed_dive, &gas)) == -1) { + report_error(translate("gettextFromC", "Can't find gas %s"), gasname(&gas)); + current_cylinder = 0; + } + vpmb_next_gradient(deco_time); + + while (1) { + /* We will break out when we hit the surface */ + do { + /* Ascend to next stop depth */ + int deltad = ascent_velocity(depth, avg_depth, bottom_time) * 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, gas, po2, false); + 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]; + + tissue_tolerance = add_segment(depth_to_mbar(depth, &displayed_dive) / 1000.0, + &displayed_dive.cylinder[current_cylinder].gasmix, + TIMESTEP, po2, &displayed_dive, prefs.decosac); + clock += TIMESTEP; + depth -= deltad; + } 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 */ + if (is_final_plan) + plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); 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]; + stopping = true; - tissue_tolerance = add_segment(depth_to_mbar(depth, &displayed_dive) / 1000.0, - &displayed_dive.cylinder[current_cylinder].gasmix, - TIMESTEP, po2, &displayed_dive, prefs.decosac); - clock += TIMESTEP; - depth -= deltad; - } 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 */ - plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); - previous_point_time = clock; - stopping = true; - - /* 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(depth, stoplevels[stopidx - 1], avg_depth, bottom_time, tissue_tolerance, - &displayed_dive.cylinder[current_cylinder].gasmix, po2, diveplan->surface_pressure / 1000.0) || get_o2(&displayed_dive.cylinder[current_cylinder].gasmix) < 160) { - current_cylinder = gaschanges[gi].gasidx; + /* 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(depth, stoplevels[stopidx - 1], avg_depth, bottom_time, tissue_tolerance, + &displayed_dive.cylinder[current_cylinder].gasmix, po2, diveplan->surface_pressure / 1000.0) || get_o2(&displayed_dive.cylinder[current_cylinder].gasmix) < 160) { + current_cylinder = gaschanges[gi].gasidx; + gas = displayed_dive.cylinder[current_cylinder].gasmix; +#if DEBUG_PLAN & 16 + 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 */ + tissue_tolerance = add_segment(depth_to_mbar(depth, &displayed_dive) / 1000.0, + &displayed_dive.cylinder[current_cylinder].gasmix, + prefs.min_switch_duration, po2, &displayed_dive, prefs.decosac); + clock += prefs.min_switch_duration; + } else { + 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(depth, stoplevels[stopidx], avg_depth, bottom_time, tissue_tolerance, + &displayed_dive.cylinder[current_cylinder].gasmix, po2, diveplan->surface_pressure / 1000.0)) + break; /* We did not hit the ceiling */ + + /* Add a minute of deco time and then try again */ + decodive = true; + 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, gas, po2, false); + previous_point_time = clock; + stopping = true; + } + if (pendinggaschange) { + current_cylinder = gaschanges[gi + 1].gasidx; gas = displayed_dive.cylinder[current_cylinder].gasmix; #if DEBUG_PLAN & 16 - 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); + 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 */ tissue_tolerance = add_segment(depth_to_mbar(depth, &displayed_dive) / 1000.0, &displayed_dive.cylinder[current_cylinder].gasmix, prefs.min_switch_duration, po2, &displayed_dive, prefs.decosac); clock += prefs.min_switch_duration; - } else { - pendinggaschange = true; + pendinggaschange = false; } - 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(depth, stoplevels[stopidx], avg_depth, bottom_time, tissue_tolerance, - &displayed_dive.cylinder[current_cylinder].gasmix, po2, diveplan->surface_pressure / 1000.0)) - break; /* We did not hit the ceiling */ - - /* Add a minute of deco time and then try again */ - decodive = true; - if (!stopping) { - /* The last segment was an ascend segment. - * Add a waypoint for start of this deco stop */ - plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); - previous_point_time = clock; - stopping = true; - } + /* Deco stop should end when runtime is at a whole minute */ + int this_decotimestep; + this_decotimestep = DECOTIMESTEP - clock % DECOTIMESTEP; - if (pendinggaschange) { - current_cylinder = gaschanges[gi + 1].gasidx; - gas = displayed_dive.cylinder[current_cylinder].gasmix; -#if DEBUG_PLAN & 16 - 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 */ tissue_tolerance = add_segment(depth_to_mbar(depth, &displayed_dive) / 1000.0, - &displayed_dive.cylinder[current_cylinder].gasmix, - prefs.min_switch_duration, po2, &displayed_dive, prefs.decosac); - clock += prefs.min_switch_duration; - pendinggaschange = false; - } - - /* Deco stop should end when runtime is at a whole minute */ - int this_decotimestep; - this_decotimestep = DECOTIMESTEP - clock % DECOTIMESTEP; - - tissue_tolerance = add_segment(depth_to_mbar(depth, &displayed_dive) / 1000.0, - &displayed_dive.cylinder[current_cylinder].gasmix, - this_decotimestep, po2, &displayed_dive, prefs.decosac); - clock += this_decotimestep; - /* Finish infinite deco */ - if(clock >= 48 * 3600 && depth >= 6000) { - error = LONGDECO; - break; - } - if (prefs.doo2breaks) { - if (get_o2(&displayed_dive.cylinder[current_cylinder].gasmix) == 1000) { - o2time += DECOTIMESTEP; - if (o2time >= 12 * 60) { - breaktime = 0; - breakcylinder = current_cylinder; - plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); - previous_point_time = clock; - current_cylinder = 0; - gas = displayed_dive.cylinder[current_cylinder].gasmix; - } - } else { - if (breaktime >= 0) { - breaktime += DECOTIMESTEP; - if (breaktime >= 6 * 60) { - o2time = 0; - plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); + &displayed_dive.cylinder[current_cylinder].gasmix, + this_decotimestep, po2, &displayed_dive, prefs.decosac); + clock += this_decotimestep; + /* Finish infinite deco */ + if(clock >= 48 * 3600 && depth >= 6000) { + error = LONGDECO; + break; + } + if (prefs.doo2breaks) { + if (get_o2(&displayed_dive.cylinder[current_cylinder].gasmix) == 1000) { + o2time += DECOTIMESTEP; + if (o2time >= 12 * 60) { + breaktime = 0; + breakcylinder = current_cylinder; + if (is_final_plan) + plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); previous_point_time = clock; - current_cylinder = breakcylinder; + current_cylinder = 0; gas = displayed_dive.cylinder[current_cylinder].gasmix; - breaktime = -1; + } + } else { + if (breaktime >= 0) { + breaktime += DECOTIMESTEP; + if (breaktime >= 6 * 60) { + o2time = 0; + if (is_final_plan) + plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); + previous_point_time = clock; + current_cylinder = breakcylinder; + gas = displayed_dive.cylinder[current_cylinder].gasmix; + breaktime = -1; + } } } } } + 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, gas, po2, false); + previous_point_time = clock; + stopping = false; + } } - if (stopping) { - /* Next we will ascend again. Add a waypoint if we have spend deco time */ - plan_add_segment(diveplan, clock - previous_point_time, depth, gas, po2, false); - previous_point_time = clock; - stopping = false; - } - } - /* We made it to the surface - * Create the final dive, add the plan to the notes and fixup some internal - * data that we need to be there when plotting the dive */ + deco_time = clock - bottom_time; + } while (!is_final_plan); + plan_add_segment(diveplan, clock - previous_point_time, 0, gas, po2, false); create_dive_from_plan(diveplan, is_planner); add_plan_to_notes(diveplan, &displayed_dive, show_disclaimer, error); @@ -11,7 +11,6 @@ extern "C" { extern int validate_gas(const char *text, struct gasmix *gas); extern int validate_po2(const char *text, int *mbar_po2); extern timestamp_t current_time_notz(void); -extern void show_planned_dive(char **error_string_p); extern void set_last_stop(bool last_stop_6m); extern void set_verbatim(bool verbatim); extern void set_display_runtime(bool display); @@ -32,6 +32,12 @@ typedef struct { enum taxonomy_category category[3]; } geocoding_prefs_t; +enum deco_mode { + BUEHLMANN, + RECREATIONAL, + VPMB +}; + struct preferences { const char *divelist_font; const char *default_filename; @@ -89,7 +95,6 @@ struct preferences { bool display_runtime; bool display_duration; bool display_transitions; - bool recreational_mode; bool safetystop; bool switch_at_req_stop; int reserve_gas; @@ -110,6 +115,7 @@ struct preferences { short cloud_verification_status; bool cloud_background_sync; geocoding_prefs_t geocoding; + enum deco_mode deco_mode; }; enum unit_system_values { METRIC, diff --git a/qt-models/diveplannermodel.cpp b/qt-models/diveplannermodel.cpp index adbcdba9a..439e7a4de 100644 --- a/qt-models/diveplannermodel.cpp +++ b/qt-models/diveplannermodel.cpp @@ -416,43 +416,38 @@ int DivePlannerPointsModel::getSurfacePressure() void DivePlannerPointsModel::setLastStop6m(bool value) { - set_last_stop(value); prefs.last_stop = value; emit dataChanged(createIndex(0, 0), createIndex(rowCount() - 1, COLUMNS - 1)); } void DivePlannerPointsModel::setVerbatim(bool value) { - set_verbatim(value); prefs.verbatim_plan = value; emit dataChanged(createIndex(0, 0), createIndex(rowCount() - 1, COLUMNS - 1)); } void DivePlannerPointsModel::setDisplayRuntime(bool value) { - set_display_runtime(value); prefs.display_runtime = value; emit dataChanged(createIndex(0, 0), createIndex(rowCount() - 1, COLUMNS - 1)); } void DivePlannerPointsModel::setDisplayDuration(bool value) { - set_display_duration(value); prefs.display_duration = value; emit dataChanged(createIndex(0, 0), createIndex(rowCount() - 1, COLUMNS - 1)); } void DivePlannerPointsModel::setDisplayTransitions(bool value) { - set_display_transitions(value); prefs.display_transitions = value; emit dataChanged(createIndex(0, 0), createIndex(rowCount() - 1, COLUMNS - 1)); } -void DivePlannerPointsModel::setRecreationalMode(bool value) +void DivePlannerPointsModel::setDecoMode(int mode) { - prefs.recreational_mode = value; - emit recreationChanged(value); + prefs.deco_mode = deco_mode(mode); + emit recreationChanged(mode == int(RECREATIONAL)); emit dataChanged(createIndex(0, 0), createIndex(rowCount() - 1, COLUMNS -1)); } diff --git a/qt-models/diveplannermodel.h b/qt-models/diveplannermodel.h index 422499084..a8524393a 100644 --- a/qt-models/diveplannermodel.h +++ b/qt-models/diveplannermodel.h @@ -78,7 +78,7 @@ slots: void setDisplayRuntime(bool value); void setDisplayDuration(bool value); void setDisplayTransitions(bool value); - void setRecreationalMode(bool value); + void setDecoMode(int mode); void setSafetyStop(bool value); void savePlan(); void saveDuplicatePlan(); diff --git a/qt-ui/diveplanner.cpp b/qt-ui/diveplanner.cpp index 8b0e93cd8..684ef44aa 100644 --- a/qt-ui/diveplanner.cpp +++ b/qt-ui/diveplanner.cpp @@ -243,7 +243,7 @@ PlannerSettingsWidget::PlannerSettingsWidget(QWidget *parent, Qt::WindowFlags f) prefs.display_duration = s.value("display_duration", prefs.display_duration).toBool(); prefs.display_runtime = s.value("display_runtime", prefs.display_runtime).toBool(); prefs.display_transitions = s.value("display_transitions", prefs.display_transitions).toBool(); - prefs.recreational_mode = s.value("recreational_mode", prefs.recreational_mode).toBool(); + prefs.deco_mode = deco_mode(s.value("deco_mode", prefs.deco_mode).toInt()); prefs.safetystop = s.value("safetystop", prefs.safetystop).toBool(); prefs.reserve_gas = s.value("reserve_gas", prefs.reserve_gas).toInt(); prefs.ascrate75 = s.value("ascrate75", prefs.ascrate75).toInt(); @@ -269,7 +269,6 @@ PlannerSettingsWidget::PlannerSettingsWidget(QWidget *parent, Qt::WindowFlags f) ui.display_duration->setChecked(prefs.display_duration); ui.display_runtime->setChecked(prefs.display_runtime); ui.display_transitions->setChecked(prefs.display_transitions); - ui.recreational_mode->setChecked(prefs.recreational_mode); ui.safetystop->setChecked(prefs.safetystop); ui.reserve_gas->setValue(prefs.reserve_gas / 1000); ui.bottompo2->setValue(prefs.bottompo2 / 1000.0); @@ -278,17 +277,30 @@ PlannerSettingsWidget::PlannerSettingsWidget(QWidget *parent, Qt::WindowFlags f) ui.drop_stone_mode->setChecked(prefs.drop_stone_mode); ui.switch_at_req_stop->setChecked(prefs.switch_at_req_stop); ui.min_switch_duration->setValue(prefs.min_switch_duration / 60); + ui.recreational_deco->setChecked(prefs.deco_mode == RECREATIONAL); + ui.buehlmann_deco->setChecked(prefs.deco_mode == BUEHLMANN); + ui.vpmb_deco->setChecked(prefs.deco_mode == VPMB); + // should be the same order as in dive_comp_type! rebreater_modes << tr("Open circuit") << tr("CCR") << tr("pSCR"); ui.rebreathermode->insertItems(0, rebreater_modes); + modeMapper = new QSignalMapper(this); + connect(modeMapper, SIGNAL(mapped(int)) , plannerModel, SLOT(setDecoMode(int))); + modeMapper->setMapping(ui.recreational_deco, int(RECREATIONAL)); + modeMapper->setMapping(ui.buehlmann_deco, int(BUEHLMANN)); + modeMapper->setMapping(ui.vpmb_deco, int(VPMB)); + + connect(ui.recreational_deco, SIGNAL(clicked()), modeMapper, SLOT(map())); + connect(ui.buehlmann_deco, SIGNAL(clicked()), modeMapper, SLOT(map())); + connect(ui.vpmb_deco, SIGNAL(clicked()), modeMapper, SLOT(map())); + connect(ui.lastStop, SIGNAL(toggled(bool)), plannerModel, SLOT(setLastStop6m(bool))); connect(ui.verbatim_plan, SIGNAL(toggled(bool)), plannerModel, SLOT(setVerbatim(bool))); connect(ui.display_duration, SIGNAL(toggled(bool)), plannerModel, SLOT(setDisplayDuration(bool))); connect(ui.display_runtime, SIGNAL(toggled(bool)), plannerModel, SLOT(setDisplayRuntime(bool))); connect(ui.display_transitions, SIGNAL(toggled(bool)), plannerModel, SLOT(setDisplayTransitions(bool))); connect(ui.safetystop, SIGNAL(toggled(bool)), plannerModel, SLOT(setSafetyStop(bool))); - connect(ui.recreational_mode, SIGNAL(toggled(bool)), plannerModel, SLOT(setRecreationalMode(bool))); connect(ui.reserve_gas, SIGNAL(valueChanged(int)), plannerModel, SLOT(setReserveGas(int))); connect(ui.ascRate75, SIGNAL(valueChanged(int)), this, SLOT(setAscRate75(int))); connect(ui.ascRate75, SIGNAL(valueChanged(int)), plannerModel, SLOT(emitDataChanged())); @@ -341,7 +353,6 @@ PlannerSettingsWidget::~PlannerSettingsWidget() s.setValue("display_duration", prefs.display_duration); s.setValue("display_runtime", prefs.display_runtime); s.setValue("display_transitions", prefs.display_transitions); - s.setValue("recreational_mode", prefs.recreational_mode); s.setValue("safetystop", prefs.safetystop); s.setValue("reserve_gas", prefs.reserve_gas); s.setValue("ascrate75", prefs.ascrate75); @@ -357,6 +368,7 @@ PlannerSettingsWidget::~PlannerSettingsWidget() s.setValue("min_switch_duration", prefs.min_switch_duration); s.setValue("bottomsac", prefs.bottomsac); s.setValue("decosac", prefs.decosac); + s.setValue("deco_mode", int(prefs.deco_mode)); s.endGroup(); } diff --git a/qt-ui/diveplanner.h b/qt-ui/diveplanner.h index 8c7ff9c46..c4210aadf 100644 --- a/qt-ui/diveplanner.h +++ b/qt-ui/diveplanner.h @@ -5,6 +5,7 @@ #include <QAbstractTableModel> #include <QAbstractButton> #include <QDateTime> +#include <QSignalMapper> #include "dive.h" @@ -84,6 +85,7 @@ slots: private: Ui::plannerSettingsWidget ui; void updateUnitsUI(); + QSignalMapper *modeMapper; }; #include "ui_plannerDetails.h" diff --git a/qt-ui/plannerSettings.ui b/qt-ui/plannerSettings.ui index 55ca83a9b..5916b2777 100644 --- a/qt-ui/plannerSettings.ui +++ b/qt-ui/plannerSettings.ui @@ -359,13 +359,30 @@ </widget> </item> <item row="0" column="1"> - <widget class="QCheckBox" name="recreational_mode"> + <widget class="QRadioButton" name="recreational_deco"> <property name="text"> <string>Recreational mode</string> </property> </widget> </item> <item row="1" column="1"> + <widget class="QRadioButton" name="buehlmann_deco"> + <property name="text"> + <string>Buehlmann deco</string> + </property> + <property name="checked"> + <bool>true</bool> + </property> + </widget> + </item> + <item row="2" column="1"> + <widget class="QRadioButton" name="vpmb_deco"> + <property name="text"> + <string>VPM-B deco</string> + </property> + </widget> + </item> + <item row="3" column="1"> <widget class="QCheckBox" name="safetystop"> <property name="text"> <string>Safety stop</string> @@ -375,14 +392,14 @@ </property> </widget> </item> - <item row="2" column="1"> + <item row="4" column="1"> <widget class="QLabel" name="label_3"> <property name="text"> <string>Reserve gas</string> </property> </widget> </item> - <item row="2" column="2"> + <item row="4" column="2"> <widget class="QSpinBox" name="reserve_gas"> <property name="suffix"> <string>bar</string> diff --git a/subsurfacestartup.c b/subsurfacestartup.c index 3005e7e04..17bd43e45 100644 --- a/subsurfacestartup.c +++ b/subsurfacestartup.c @@ -54,7 +54,6 @@ struct preferences default_prefs = { .display_runtime = true, .display_duration = true, .display_transitions = true, - .recreational_mode = false, .safetystop = true, .bottomsac = 20000, .decosac = 17000, @@ -75,7 +74,8 @@ struct preferences default_prefs = { .parse_dive_without_gps = false, .tag_existing_dives = false, .category = { 0 } - } + }, + .deco_mode = BUEHLMANN }; int run_survey; diff --git a/tests/testplan.cpp b/tests/testplan.cpp new file mode 100644 index 000000000..f08cfdeeb --- /dev/null +++ b/tests/testplan.cpp @@ -0,0 +1,119 @@ +#include "dive.h" +#include "testplan.h" +#include "planner.h" +#include "units.h" +#include <QDebug> + +// testing the dive plan algorithm +extern bool plan(struct diveplan *diveplan, char **cached_datap, bool is_planner, bool show_disclaimer); + +void setupPrefs() +{ + prefs = default_prefs; + prefs.ascrate50 = feet_to_mm(30) / 60; + prefs.ascrate75 = prefs.ascrate50; + prefs.ascratestops = prefs.ascrate50; + prefs.ascratelast6m = feet_to_mm(10) / 60; + prefs.last_stop = true; + +} + +void setupPlan(struct diveplan *dp) +{ + dp->salinity = 10030; + dp->surface_pressure = 1013; + dp->gfhigh = 100; + dp->gflow = 100; + dp->bottomsac = 0; + dp->decosac = 0; + + struct gasmix bottomgas = { {150}, {450} }; + struct gasmix ean36 = { {360}, {0} }; + struct gasmix oxygen = { {1000}, {0} }; + pressure_t po2 = { 1600 }; + displayed_dive.cylinder[0].gasmix = bottomgas; + displayed_dive.cylinder[1].gasmix = ean36; + displayed_dive.cylinder[2].gasmix = oxygen; + reset_cylinders(&displayed_dive, true); + free_dps(dp); + + int droptime = M_OR_FT(79, 260) * 60 / M_OR_FT(23, 75); + plan_add_segment(dp, droptime, M_OR_FT(79, 260), bottomgas, 0, 1); + plan_add_segment(dp, 30*60 - droptime, M_OR_FT(79, 260), bottomgas, 0, 1); + plan_add_segment(dp, 0, gas_mod(&ean36, po2, M_OR_FT(3,10)).mm, ean36, 0, 1); + plan_add_segment(dp, 0, gas_mod(&oxygen, po2, M_OR_FT(3,10)).mm, oxygen, 0, 1); +} + +void TestPlan::testMetric() +{ + char *cache = NULL; + + setupPrefs(); + prefs.unit_system = METRIC; + prefs.units.length = units::METERS; + prefs.deco_mode = BUEHLMANN; + + struct diveplan testPlan = { 0 }; + setupPlan(&testPlan); + + plan(&testPlan, &cache, 1, 0); + +#if DEBUG + free(displayed_dive.notes); + displayed_dive.notes = NULL; + save_dive(stdout, &displayed_dive); +#endif + + // check first gas change to EAN36 at 33m + struct event *ev = displayed_dive.dc.events; + QVERIFY(ev != NULL); + QCOMPARE(ev->gas.index, 1); + QCOMPARE(ev->value, 36); + QCOMPARE(get_depth_at_time(&displayed_dive.dc, ev->time.seconds), 33000); + // check second gas change to Oxygen at 6m + ev = ev->next; + QVERIFY(ev != NULL); + QCOMPARE(ev->gas.index, 2); + QCOMPARE(ev->value, 100); + QCOMPARE(get_depth_at_time(&displayed_dive.dc, ev->time.seconds), 6000); + // check expected run time of 105 minutes + QCOMPARE(displayed_dive.dc.duration.seconds, 104u * 60u); +} + +void TestPlan::testImperial() +{ + char *cache = NULL; + + setupPrefs(); + prefs.unit_system = IMPERIAL; + prefs.units.length = units::FEET; + prefs.deco_mode = BUEHLMANN; + + struct diveplan testPlan = { 0 }; + setupPlan(&testPlan); + + plan(&testPlan, &cache, 1, 0); + +#if DEBUG + free(displayed_dive.notes); + displayed_dive.notes = NULL; + save_dive(stdout, &displayed_dive); +#endif + + // check first gas change to EAN36 at 33m + struct event *ev = displayed_dive.dc.events; + QVERIFY(ev != NULL); + QCOMPARE(ev->gas.index, 1); + QCOMPARE(ev->value, 36); + QCOMPARE(get_depth_at_time(&displayed_dive.dc, ev->time.seconds), 33528); + // check second gas change to Oxygen at 6m + ev = ev->next; + QVERIFY(ev != NULL); + QCOMPARE(ev->gas.index, 2); + QCOMPARE(ev->value, 100); + QCOMPARE(get_depth_at_time(&displayed_dive.dc, ev->time.seconds), 6096); + // check expected run time of 105 minutes + QCOMPARE(displayed_dive.dc.duration.seconds, 105u * 60u); +} + +QTEST_MAIN(TestPlan) diff --git a/tests/testplan.h b/tests/testplan.h new file mode 100644 index 000000000..b35cd75c6 --- /dev/null +++ b/tests/testplan.h @@ -0,0 +1,13 @@ +#ifndef TESTPLAN_H +#define TESTPLAN_H + +#include <QTest> + +class TestPlan : public QObject { + Q_OBJECT +private slots: + void testImperial(); + void testMetric(); +}; + +#endif // TESTPLAN_H |