GPSTracker.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_GPS_TRACKER_H
#define META_OCEAN_DEVICES_GPS_TRACKER_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/Tracker.h"
 
#include "ocean/math/Vector2.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class GPSTracker;
 
/**
 * Definition of a smart object reference for a GPS tracker.
 * @see GPSTracker.
 * @ingroup devices
 */
typedef SmartDeviceRef<GPSTracker> GPSTrackerRef;
 
/**
 * This class is the base class for all gps tracker objects.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT GPSTracker : virtual public Tracker
{
    public:
 
        /**
         * This class implements a container for a GPS location.
         */
        class Location
        {
            public:
 
                /**
                 * Creates an invalid location.
                 */
                inline Location();
 
                /**
                 * Creates a new GPS location object.
                 * @param latitude The position's latitude, in degree, always valid, with range [-90, 90]
                 * @param longitude The position's longitude, in degree, must be valid, with range [-180, 180]
                 * @param altitude The position's altitude, in meter, NumericF::minValue() if unknown
                 * @param direction The travel direction of the device, relative to north, in degree, north is 0 degree, east is 90 degree, with range [0, 360], -1 if unknown
                 * @param speed The device's speed, in meter per second, with range [0, infinity), -1 if unknown
                 * @param accuracy The horizontal accuracy as radius, in meter, with range [0, infinity), -1 if unknown
                 * @param altitudeAccuracy The vertical accuracy in meter, with range [0, infinity), -1 if unknown
                 * @param directionAccuracy The direction accuracy, in degree, with range [0, 360], -1 if unknown
                 * @param speedAccuracy The speed accuracy, in meter per second, with range [0, infinity), -1 if unknown
                 */
                inline Location(const double latitude, const double longitude, const float altitude = NumericF::minValue(), const float direction = -1.0f, const float speed = -1.0f, const float accuracy = -1.0f, const float altitudeAccuracy = -1.0f, const float directionAccuracy = -1.0f, const float speedAccuracy = -1.0f);
 
                /**
                 * Returns the latitude of the GPS position.
                 * @return The position's latitude, in degree, always valid, with range [-90, 90].
                 */
                inline double latitude() const;
 
                /**
                 * Returns the longitude of the GPS position.
                 * @return The position's longitude, in degree, always valid, with range [-180, 180].
                 */
                inline double longitude() const;
 
                /**
                 * Returns the altitude of the GPS position.
                 * @return The position's altitude, in meter, NumericF::minValue() if unknown
                 */
                inline float altitude() const;
 
                /**
                 * Returns the device's travel direction not the orientation of the device.
                 * @return The travel direction of the device, relative to north, in degree, north is 0 degree, east is 90 degree, with range [0, 360], -1 if unknown.
                 */
                inline float direction() const;
 
                /**
                 * Returns the speed of the device.
                 * @return The device's speed, in meter per second, with range [0, infinity), -1 if unknown.
                 */
                inline float speed() const;
 
                /**
                 * Returns the accuracy of latitude and longitude.
                 * @return The horizontal accuracy as radius, in meter, with range [0, infinity), -1 if unknown.
                 */
                inline float accuracy() const;
 
                /**
                 * Returns the accuracy of the altitude.
                 * @return The vertical accuracy in meter, with range [0, infinity), -1 if unknown
                 */
                inline float altitudeAccuracy() const;
 
                /**
                 * Returns the accuracy of the direction.
                 * @return The direction accuracy, in degree, with range [0, 180], -1 if unknown
                 */
                inline float directionAccuracy() const;
 
                /**
                 * Returns the accuracy of the speed value.
                 * @return The speed accuracy, in meter per second, with range [0, infinity), -1 if unknown.
                 */
                inline float speedAccuracy() const;
 
                /**
                 * Returns whether this location holds valid data.
                 * @return True, if so
                 */
                inline bool isValid() const;
 
            protected:
 
                /// The latitude of the GPS position, in degree, always valid, with range [-90, 90], NumericD::minValue() if invalid
                double latitude_ = NumericD::minValue();
 
                /// The longitude of the GPS position, in degree, always valid, with range [-180, 180], NumericD::minValue() if invalid
                double longitude_ = NumericD::minValue();
 
                /// The altitude/height of the GPS position, in meter, NumericF::minValue() if unknown
                float altitude_ = NumericF::minValue();
 
                /// The device's travel direction not the orientation of the device, relative to north, in degree, north is 0 degree, east is 90 degree, with range [0, 360], -1 if unknown.
                float direction_ = -1.0f;
 
                /// The speed of the device, in meter per second, with range [0, infinity), -1 if unknown.
                float speed_ = -1.0f;
 
                /// The horizontal position accuracy as radius, in meter, with range [0, infinity), -1 if unknown.
                float accuracy_ = -1.0f;
 
                /// The altitude accuracy, in meter, with range [0, infinity), -1 if unknown
                float altitudeAccuracy_ = -1.0f;
 
                /// The direction accuracy, in degree, with range [0, 180], -1 if unknown
                float directionAccuracy_ = -1.0f;
 
                /// The accuracy of the speed value, in meter per second, with range [0, infinity), -1 if unknown.
                float speedAccuracy_ = -1.0f;
        };
 
        /**
            * Definition of a vector holding GPS data values.
            */
        typedef std::vector<Location> Locations;
 
        /**
         * Definition of a sample holding GPS measurements.
         */
        class OCEAN_DEVICES_EXPORT GPSTrackerSample : virtual public Tracker::TrackerSample
        {
            public:
 
                /**
                 * Creates a new GPS sample.
                 * @param timestamp Sample timestamp
                 * @param referenceSystem Tracking reference system used by the underlying tracker
                 * @param objectIds The ids of the individual GPS measurements
                 * @param locations The GPS locations, one for each object id
                 * @param metadata Optional metadata of the new sample
                 */
                GPSTrackerSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, const ObjectIds& objectIds, const Locations& locations, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new GPS sample.
                 * @param timestamp Sample timestamp
                 * @param referenceSystem Tracking reference system used by the underlying tracker
                 * @param objectIds The ids of the individual GPS measurements
                 * @param locations The GPS locations, one for each object id
                 * @param metadata Optional metadata of the new sample
                 */
                GPSTrackerSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, ObjectIds&& objectIds, Locations&& locations, Metadata&& metadata = Metadata());
 
                /**
                 * Returns the GPS locations.
                 * @return The samples GPS locations, one for each object id.
                 */
                inline const Locations& locations() const;
 
            protected:
 
                /// The GPS locations, one for each object id.
                Locations locations_;
        };
 
        /**
         * Definition of a smart object reference for GPS tracker samples.
         */
        typedef SmartObjectRef<GPSTrackerSample, Sample> GPSTrackerSampleRef;
 
    public:
 
        /**
         * Returns the device type of this tracker.
         * @return Device type
         */
        static inline DeviceType deviceTypeGPSTracker();
 
        /**
         * Parses a string with a GPS location.
         * The given string must have one of the following patterns:
         * <pre>
         * GPS Location {latitude}, {longitude}
         * GPS Location {latitude}, {longitude}, {altitude}
         * e.g.,
         * GPS Location 37.48507, -122.14829
         * GPS Location 37.48507, -122.14829, 10.0
         * </pre>
         * @param gpsString The string to be parsed
         * @param latitude The resulting latitude value
         * @param longitude The resulting longitude value
         * @param altitude Optional resulting altitude; nullptr to not allow an altitude value in a valid input string
         * @return True, if succeeded; Also True, if the 'altitude' parameter is not nullptr but no altitude value is present in 'gpsString'
         */
        static bool parseGPSLocation(const std::string& gpsString, double& latitude, double& longitude, double* altitude = nullptr);
 
        /**
         * Decodes all GPS locations from a polyline.
         * Polyline encoding is a lossy compression algorithm that allows you to store a series of coordinates as a single string.<br>
         * More details: https://developers.google.com/maps/documentation/utilities/polylinealgorithm
         * @param polyline The polyline to decode, must be valid
         * @param precision The precision of decimal places the given polyline has, with range [1, 8]
         * @param locations The resulting individual locations
         * @param unescapeBackslash True, to unescape two consecutive backslash in the polyline to one backslash; False, to use the polyline as it is
         * @return True, if succeeded
         */
        static bool decodePolyline(const std::string& polyline, const unsigned int precision, Locations& locations, const bool unescapeBackslash = false);
 
        /**
         * Calculates the distance between two GPS locations in meters, the location's latitude is not considered.
         * The resulting distance is an approximation based on a perfect sphere.
         * @param locationA The first GPS location, must be valid
         * @param locationB The second GPS location, must be valid
         * @param earthRadius The radius of the earth in meter, with range (0, infinity)
         * @return The approximated distance between both locations, in meter, with range [0, earthRadius * PI]
         */
        static double approximatedDistanceBetweenLocations(const Location& locationA, const Location& locationB, const double earthRadius = 6378135.0);
 
    protected:
 
        /**
         * Creates a new GPS tracker object.
         * @param name The name of the gps tracker
         */
        explicit GPSTracker(const std::string& name);
 
        /**
         * Destructs a GPS tracker object.
         */
        ~GPSTracker() override;
 
        /**
         * Decodes one value from a polyline.
         * @param polyline The polyline from which the value will be decoded, must be valid
         * @param position The current position within the polyline, will be moved to the next value position, with range [0, polyline.length() - 1]
         * @param integerValue The resulting value with integer precision (not yet normalized)
         * @param unescapeBackslash True, to unescape two consecutive backslash in the polyline to one backslash; False, to use the polyline as it is
         * @return True, if succeeded
         * @see decodePolyline().
         */
        static bool decodePolylineValue(const std::string& polyline, size_t& position, int32_t& integerValue, const bool unescapeBackslash);
};
 
inline GPSTracker::Location::Location()
{
    ocean_assert(!isValid());
}
 
inline GPSTracker::Location::Location(const double latitude, const double longitude, const float altitude, const float direction, const float speed, const float accuracy, const float altitudeAccuracy, const float directionAccuracy, const float speedAccuracy) :
    latitude_(latitude),
    longitude_(longitude),
    altitude_(altitude),
    direction_(direction),
    speed_(speed),
    accuracy_(accuracy),
    altitudeAccuracy_(altitudeAccuracy),
    directionAccuracy_(directionAccuracy),
    speedAccuracy_(speedAccuracy)
{
    ocean_assert(latitude_ >= -90.0 && latitude_ <= 90.0);
    ocean_assert(longitude_ >= -180.0 && longitude_ <= 180.0);
    ocean_assert((direction_ >= 0.0f && direction_ <= 360.0f) || direction_ == -1.0f);
    ocean_assert((directionAccuracy_ >= 0.0f && directionAccuracy_ <= 180.0f) || directionAccuracy_ == -1.0f);
 
    ocean_assert(isValid());
}
 
inline double GPSTracker::Location::latitude() const
{
    return latitude_;
}
 
inline double GPSTracker::Location::longitude() const
{
    return longitude_;
}
 
inline float GPSTracker::Location::altitude() const
{
    return altitude_;
}
 
inline float GPSTracker::Location::direction() const
{
    return direction_;
}
 
inline float GPSTracker::Location::speed() const
{
    return speed_;
}
 
inline float GPSTracker::Location::accuracy() const
{
    return accuracy_;
}
 
inline float GPSTracker::Location::altitudeAccuracy() const
{
    return altitudeAccuracy_;
}
 
inline float GPSTracker::Location::directionAccuracy() const
{
    return directionAccuracy_;
}
 
inline float GPSTracker::Location::speedAccuracy() const
{
    return speedAccuracy_;
}
 
inline bool GPSTracker::Location::isValid() const
{
    ocean_assert((direction_ >= 0.0f && direction_ <= 360.0f) || direction_ == -1.0f);
    ocean_assert((directionAccuracy_ >= 0.0f && directionAccuracy_ <= 180.0f) || directionAccuracy_ == -1.0f);
 
    return NumericD::isInsideRange(-90.0, latitude_, 90.0) && NumericD::isInsideRange(-180.0, longitude_, 180.0);
}
 
inline const GPSTracker::Locations& GPSTracker::GPSTrackerSample::locations() const
{
    return locations_;
}
 
inline GPSTracker::DeviceType GPSTracker::deviceTypeGPSTracker()
{
    return DeviceType(DEVICE_TRACKER, TRACKER_GPS);
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_GPS_TRACKER_H