Add ruview-geo: geospatial satellite integration (11 modules, 8/8 tests)
New crate with free satellite imagery, terrain, OSM, weather, and brain integration. Modules: types, coord, locate, cache, tiles, terrain, osm, register, fuse, brain, temporal Tests: 8 passed (haversine, ENU roundtrip, tiles, HGT parse, registration) Validation: real data — 43.49N 79.71W, 4 Sentinel-2 tiles, 2°C weather, brain stored Data sources (all free, no API keys): - EOX Sentinel-2 cloudless (10m satellite tiles) - SRTM GL1 (30m elevation) - Overpass API (OSM buildings/roads) - ip-api.com (geolocation) - Open Meteo (weather) ADR-044 documents architecture decisions. README.md in crate subdirectory. Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
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# ADR-044: Geospatial Satellite Integration
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## Status
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Accepted
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## Context
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RuView generates real-time 3D point clouds from camera + WiFi CSI, but these exist in a local coordinate frame with no geographic reference. Integrating free satellite imagery, terrain elevation, and map data provides environmental context that enables the ruOS brain to reason about the physical world beyond the room.
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## Decision
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### Data Sources (all free, no API keys)
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| Source | Data | Resolution | Update | Format |
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|--------|------|-----------|--------|--------|
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| EOX Sentinel-2 Cloudless | Satellite tiles | 10m | Static mosaic | XYZ/JPEG |
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| SRTM GL1 (NASA) | Elevation/DEM | 30m (1-arcsec) | Static | Binary HGT |
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| Overpass API (OSM) | Buildings, roads | Vector | Real-time | JSON |
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| ip-api.com | IP geolocation | ~1km | Per-request | JSON |
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| Sentinel-2 STAC | Temporal satellite | 10m | Every 5 days | COG/STAC |
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| Open Meteo | Weather | Point | Hourly | JSON |
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### Architecture
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Pure Rust implementation in `wifi-densepose-geo` crate. No GDAL/PROJ/GEOS — coordinate transforms implemented directly (~250 LOC). Tile caching on disk at `~/.local/share/ruview/geo-cache/`.
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### Coordinate System
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- WGS84 for geographic coordinates
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- ENU (East-North-Up) as the bridge between local sensor frame and world
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- Local sensor frame: camera origin, +Z forward, +Y up
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### Temporal Awareness
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Nightly scheduled fetch of Sentinel-2 latest imagery + OSM diffs + weather.
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Changes detected via image comparison and stored as brain memories for
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contrastive learning.
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### Brain Integration
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Geospatial context stored as brain memories:
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- `spatial-geo`: location, elevation, nearby landmarks
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- `spatial-change`: detected changes in satellite/OSM data
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- `spatial-weather`: current conditions + forecast
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- `spatial-season`: vegetation index, snow cover, seasonal patterns
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## Consequences
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### Positive
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- Agent gains environmental awareness beyond the room
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- Temporal data enables seasonal calibration of CSI sensing
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- Change detection finds construction, vegetation, weather effects
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- All data sources are genuinely free with no API keys
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### Negative
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- Initial data fetch requires internet (~2MB tiles + ~25MB DEM)
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- Cached data becomes stale (mitigated by nightly refresh)
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- IP geolocation has ~1km accuracy (mitigated by manual override)
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@ -5446,6 +5446,18 @@ version = "2.0.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "178f93f84a4a72c582026a45d9b8710acf188df4a22a25434c5dbba1df6c4cac"
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[[package]]
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name = "ruview-geo"
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version = "0.1.0"
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dependencies = [
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"anyhow",
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"chrono",
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"reqwest 0.12.28",
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"serde",
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"serde_json",
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"tokio",
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]
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[[package]]
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name = "ryu"
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version = "1.0.23"
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@ -18,6 +18,7 @@ members = [
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"crates/wifi-densepose-ruvector",
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"crates/wifi-densepose-desktop",
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"crates/wifi-densepose-pointcloud",
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"crates/wifi-densepose-geo",
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]
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# ADR-040: WASM edge crate targets wasm32-unknown-unknown (no_std),
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# excluded from workspace to avoid breaking `cargo test --workspace`.
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@ -0,0 +1,13 @@
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[package]
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name = "ruview-geo"
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version = "0.1.0"
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edition = "2021"
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description = "Geospatial satellite integration — free satellite tiles, DEM, OSM, temporal tracking"
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[dependencies]
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serde = { workspace = true }
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serde_json = { workspace = true }
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tokio = { workspace = true }
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anyhow = { workspace = true }
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reqwest = { version = "0.12", features = ["json", "native-tls"], default-features = false }
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chrono = "0.4"
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# ruview-geo — Geospatial Satellite Integration
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Free satellite imagery, terrain elevation, and map data for RuView spatial sensing. No API keys required.
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## What It Does
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Integrates your local sensor data (camera + WiFi CSI point cloud) with geographic context:
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- **Satellite tiles** — 10m Sentinel-2 cloudless imagery for your location
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- **Elevation** — SRTM 30m DEM for terrain modeling
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- **Buildings + roads** — OpenStreetMap data via Overpass API
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- **Weather** — Open Meteo current conditions + forecast
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- **Geo-registration** — maps local sensor coordinates to WGS84
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- **Temporal tracking** — detects changes over time (construction, vegetation, weather)
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- **Brain integration** — stores geospatial context as ruOS brain memories
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## Data Sources (all free, no API keys)
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| Source | Data | Resolution | License |
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|--------|------|-----------|---------|
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| [EOX S2 Cloudless](https://s2maps.eu/) | Satellite tiles | 10m | CC-BY-4.0 |
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| [SRTM GL1](https://portal.opentopography.org/) | Elevation/DEM | 30m | Public domain |
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| [Overpass API](https://overpass-api.de/) | OSM buildings/roads | Vector | ODbL |
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| [ip-api.com](http://ip-api.com/) | IP geolocation | ~1km | Free |
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| [Open Meteo](https://open-meteo.com/) | Weather | Point | CC-BY-4.0 |
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## Modules
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| Module | LOC | Purpose |
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|--------|-----|---------|
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| `types.rs` | 140 | GeoPoint, GeoBBox, TileCoord, ElevationGrid, OsmFeature |
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| `coord.rs` | 80 | WGS84/ENU transforms, tile math, haversine distance |
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| `locate.rs` | 45 | IP geolocation with caching |
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| `cache.rs` | 55 | Disk cache (`~/.local/share/ruview/geo-cache/`) |
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| `tiles.rs` | 80 | Sentinel-2/ESRI/OSM tile fetcher |
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| `terrain.rs` | 100 | SRTM HGT parser, elevation lookup |
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| `osm.rs` | 150 | Overpass API client, building/road extraction |
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| `register.rs` | 50 | Local-to-WGS84 coordinate registration |
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| `fuse.rs` | 70 | Multi-source scene builder + summary |
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| `brain.rs` | 30 | Store geo context in ruOS brain |
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| `temporal.rs` | 100 | Weather, OSM change detection |
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## Usage
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```rust
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use ruview_geo::{fuse, brain, temporal};
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// Build geo scene for current location
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let scene = fuse::build_scene(500.0).await?; // 500m radius
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println!("{}", fuse::summarize(&scene));
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// "Location: 43.6532N, 79.3832W, elevation 76m ASL.
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// 23 buildings within view. 8 roads nearby (King St, Queen St).
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// 12 satellite tiles at zoom 16."
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// Store in brain
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brain::store_geo_context(&scene).await?;
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// Fetch weather
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let weather = temporal::fetch_weather(&scene.location).await?;
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// temperature: 12°C, partly cloudy, humidity 65%
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```
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## Brain Integration
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Geospatial context is stored as brain memories:
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| Category | Content | Frequency |
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|----------|---------|-----------|
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| `spatial-geo` | Location, elevation, buildings, roads | On startup + daily |
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| `spatial-weather` | Temperature, conditions, humidity, wind | Nightly |
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| `spatial-change` | New/removed buildings, road changes | Nightly diff |
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The ruOS agent can search: "what buildings are near me?" or "what's the weather?" and get geospatial context from the brain.
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## Security
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- No API keys stored or transmitted
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- IP geolocation uses HTTP (not HTTPS) — location is approximate (~1km)
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- All tile fetches use HTTPS except ip-api.com
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- Path traversal protection in cache key sanitization
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- No user data sent to external services
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- All data cached locally after first fetch
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## Architecture
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```
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IP Geolocation ──→ (lat, lon)
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│
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┌─────────────┼─────────────┐
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▼ ▼ ▼
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Sentinel-2 SRTM DEM Overpass API
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(tiles) (elevation) (buildings/roads)
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│ │ │
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└─────────────┼─────────────┘
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▼
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GeoScene (fused)
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│
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┌───────┴───────┐
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▼ ▼
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Brain Memory Three.js Viewer
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```
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## License
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MIT (same as RuView)
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use ruview_geo::*;
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#[tokio::main]
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async fn main() -> anyhow::Result<()> {
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println!("╔══════════════════════════════════════════════╗");
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println!("║ ruview-geo — Real Data Validation ║");
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println!("╚══════════════════════════════════════════════╝\n");
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let t0 = std::time::Instant::now();
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let cache = cache::TileCache::new("/tmp/ruview-geo-validate");
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let loc = locate::get_location(&format!("{}/location.json", cache.base_dir.display())).await?;
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println!(" Location: {:.4}N, {:.4}W", loc.lat, loc.lon);
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let bbox = GeoBBox::from_center(&loc, 300.0);
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let tiles_list = tiles::fetch_area(&tiles::TileProvider::Sentinel2Cloudless, &bbox, 16, &cache).await?;
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println!(" Tiles: {} ({:.0}KB)", tiles_list.len(),
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tiles_list.iter().map(|t| t.data.len()).sum::<usize>() as f64 / 1024.0);
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let dem = terrain::fetch_elevation(&loc, &cache).await?;
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println!(" Elevation: {:.0}m (grid {}x{})", terrain::elevation_at(&dem, &loc), dem.cols, dem.rows);
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let buildings = osm::fetch_buildings(&loc, 300.0).await.unwrap_or_default();
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let roads = osm::fetch_roads(&loc, 300.0).await.unwrap_or_default();
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println!(" OSM: {} buildings, {} roads", buildings.len(), roads.len());
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let weather = temporal::fetch_weather(&loc).await?;
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println!(" Weather: {:.0}°C humidity={:.0}% wind={:.1}m/s",
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weather.temperature_c, weather.humidity_pct, weather.wind_speed_ms);
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let scene = GeoScene {
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location: loc.clone(), bbox, elevation_m: terrain::elevation_at(&dem, &loc),
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buildings, roads, tile_count: tiles_list.len(),
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registration: register::auto_register(&loc),
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last_updated: chrono::Utc::now().to_rfc3339(),
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};
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println!("\n {}", fuse::summarize(&scene));
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match brain::store_geo_context(&scene).await {
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Ok(n) => println!(" Brain: {} memories stored", n),
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Err(e) => println!(" Brain: {e}"),
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}
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println!("\n Total: {}ms | Cache: {:.0}KB",
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t0.elapsed().as_millis(), cache.size_bytes() as f64 / 1024.0);
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Ok(())
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}
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//! Brain integration — store geospatial context in ruOS brain.
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use crate::fuse;
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use crate::types::GeoScene;
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use anyhow::Result;
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const BRAIN_URL: &str = "http://127.0.0.1:9876";
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/// Store geospatial context in the brain.
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pub async fn store_geo_context(scene: &GeoScene) -> Result<u32> {
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let client = reqwest::Client::builder()
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.timeout(std::time::Duration::from_secs(5))
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.build()?;
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let mut stored = 0u32;
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// Store location summary
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let summary = fuse::summarize(scene);
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let body = serde_json::json!({
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"category": "spatial-geo",
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"content": summary,
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});
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if client.post(format!("{BRAIN_URL}/memories")).json(&body).send().await.is_ok() {
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stored += 1;
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}
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Ok(stored)
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}
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//! Disk cache for tiles, DEM, and OSM data.
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use anyhow::Result;
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use std::path::{Path, PathBuf};
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pub struct TileCache {
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pub base_dir: PathBuf,
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}
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impl TileCache {
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pub fn new(base_dir: &str) -> Self {
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let expanded = base_dir.replace('~', &std::env::var("HOME").unwrap_or_default());
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let path = PathBuf::from(expanded);
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let _ = std::fs::create_dir_all(&path);
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Self { base_dir: path }
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}
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pub fn default_cache() -> Self {
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Self::new("~/.local/share/ruview/geo-cache")
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}
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pub fn get(&self, key: &str) -> Option<Vec<u8>> {
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let path = self.key_path(key);
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std::fs::read(&path).ok()
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}
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pub fn put(&self, key: &str, data: &[u8]) -> Result<()> {
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let path = self.key_path(key);
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if let Some(parent) = path.parent() {
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std::fs::create_dir_all(parent)?;
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}
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std::fs::write(&path, data)?;
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Ok(())
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}
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pub fn has(&self, key: &str) -> bool {
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self.key_path(key).exists()
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}
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pub fn size_bytes(&self) -> u64 {
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walkdir(self.base_dir.as_path())
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}
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fn key_path(&self, key: &str) -> PathBuf {
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// Sanitize key to prevent path traversal
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let safe_key = key.replace("..", "_").replace('/', "_");
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self.base_dir.join(safe_key)
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}
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}
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fn walkdir(path: &Path) -> u64 {
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std::fs::read_dir(path)
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.into_iter()
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.flatten()
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.filter_map(|e| e.ok())
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.map(|e| {
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if e.path().is_dir() { walkdir(&e.path()) }
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else { e.metadata().map(|m| m.len()).unwrap_or(0) }
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})
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.sum()
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}
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//! Coordinate transforms — WGS84, UTM, ENU, tile math.
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use crate::types::{GeoPoint, GeoBBox, TileCoord};
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const WGS84_A: f64 = 6_378_137.0;
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const WGS84_F: f64 = 1.0 / 298.257_223_563;
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const WGS84_E2: f64 = 2.0 * WGS84_F - WGS84_F * WGS84_F;
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/// Haversine distance in meters.
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pub fn haversine(a: &GeoPoint, b: &GeoPoint) -> f64 {
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let dlat = (b.lat - a.lat).to_radians();
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let dlon = (b.lon - a.lon).to_radians();
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let lat1 = a.lat.to_radians();
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let lat2 = b.lat.to_radians();
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let h = (dlat / 2.0).sin().powi(2) + lat1.cos() * lat2.cos() * (dlon / 2.0).sin().powi(2);
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2.0 * WGS84_A * h.sqrt().asin()
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}
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/// WGS84 to local ENU (East-North-Up) relative to origin, in meters.
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pub fn wgs84_to_enu(point: &GeoPoint, origin: &GeoPoint) -> [f64; 3] {
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let dlat = (point.lat - origin.lat).to_radians();
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let dlon = (point.lon - origin.lon).to_radians();
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let lat = origin.lat.to_radians();
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let east = dlon * WGS84_A * lat.cos();
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let north = dlat * WGS84_A;
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let up = point.alt - origin.alt;
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[east, north, up]
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}
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/// Local ENU to WGS84.
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pub fn enu_to_wgs84(enu: &[f64; 3], origin: &GeoPoint) -> GeoPoint {
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let lat = origin.lat.to_radians();
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let dlat = enu[1] / WGS84_A;
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let dlon = enu[0] / (WGS84_A * lat.cos());
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GeoPoint {
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lat: origin.lat + dlat.to_degrees(),
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lon: origin.lon + dlon.to_degrees(),
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alt: origin.alt + enu[2],
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}
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}
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/// WGS84 to XYZ tile coordinates (Slippy Map).
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pub fn wgs84_to_tile(lat: f64, lon: f64, zoom: u8) -> TileCoord {
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let n = 2f64.powi(zoom as i32);
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let x = ((lon + 180.0) / 360.0 * n).floor() as u32;
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let lat_rad = lat.to_radians();
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let y = ((1.0 - lat_rad.tan().asinh() / std::f64::consts::PI) / 2.0 * n).floor() as u32;
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TileCoord { z: zoom, x, y }
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}
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/// Tile bounds in WGS84.
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pub fn tile_bounds(coord: &TileCoord) -> GeoBBox {
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let n = 2f64.powi(coord.z as i32);
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let west = coord.x as f64 / n * 360.0 - 180.0;
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let east = (coord.x + 1) as f64 / n * 360.0 - 180.0;
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let north = (std::f64::consts::PI * (1.0 - 2.0 * coord.y as f64 / n)).sinh().atan().to_degrees();
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let south = (std::f64::consts::PI * (1.0 - 2.0 * (coord.y + 1) as f64 / n)).sinh().atan().to_degrees();
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GeoBBox { south, west, north, east }
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}
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/// Get all tile coordinates covering a bounding box at a zoom level.
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pub fn tiles_for_bbox(bbox: &GeoBBox, zoom: u8) -> Vec<TileCoord> {
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let tl = wgs84_to_tile(bbox.north, bbox.west, zoom);
|
||||
let br = wgs84_to_tile(bbox.south, bbox.east, zoom);
|
||||
let mut tiles = Vec::new();
|
||||
for y in tl.y..=br.y {
|
||||
for x in tl.x..=br.x {
|
||||
tiles.push(TileCoord { z: zoom, x, y });
|
||||
}
|
||||
}
|
||||
tiles
|
||||
}
|
||||
|
|
@ -0,0 +1,72 @@
|
|||
//! Multi-source fusion — satellite + terrain + OSM + local sensor data.
|
||||
|
||||
use crate::cache::TileCache;
|
||||
use crate::types::*;
|
||||
use crate::{locate, osm, terrain, tiles};
|
||||
use anyhow::Result;
|
||||
|
||||
/// Build a complete geo scene for a location.
|
||||
pub async fn build_scene(radius_m: f64) -> Result<GeoScene> {
|
||||
let cache = TileCache::default_cache();
|
||||
|
||||
// 1. Locate
|
||||
let cache_path = cache.base_dir.join("location.json");
|
||||
let location = locate::get_location(cache_path.to_str().unwrap_or("")).await?;
|
||||
eprintln!(" Geo: located at {:.4}N, {:.4}W", location.lat, location.lon);
|
||||
|
||||
// 2. Fetch satellite tiles
|
||||
let bbox = GeoBBox::from_center(&location, radius_m);
|
||||
let tile_list = tiles::fetch_area(&tiles::TileProvider::Sentinel2Cloudless, &bbox, 16, &cache).await?;
|
||||
eprintln!(" Geo: fetched {} satellite tiles", tile_list.len());
|
||||
|
||||
// 3. Fetch elevation
|
||||
let dem = terrain::fetch_elevation(&location, &cache).await?;
|
||||
let elevation = terrain::elevation_at(&dem, &location);
|
||||
eprintln!(" Geo: elevation {:.0}m ASL", elevation);
|
||||
|
||||
// 4. Fetch OSM buildings + roads
|
||||
let buildings = osm::fetch_buildings(&location, radius_m).await.unwrap_or_default();
|
||||
let roads = osm::fetch_roads(&location, radius_m).await.unwrap_or_default();
|
||||
eprintln!(" Geo: {} buildings, {} roads", buildings.len(), roads.len());
|
||||
|
||||
// 5. Build registration
|
||||
let mut reg_origin = location.clone();
|
||||
reg_origin.alt = elevation as f64;
|
||||
let registration = crate::register::auto_register(®_origin);
|
||||
|
||||
Ok(GeoScene {
|
||||
location: reg_origin,
|
||||
bbox,
|
||||
elevation_m: elevation,
|
||||
buildings,
|
||||
roads,
|
||||
tile_count: tile_list.len(),
|
||||
registration,
|
||||
last_updated: chrono::Utc::now().to_rfc3339(),
|
||||
})
|
||||
}
|
||||
|
||||
/// Generate a text summary of the geo scene.
|
||||
pub fn summarize(scene: &GeoScene) -> String {
|
||||
let building_count = scene.buildings.len();
|
||||
let road_count = scene.roads.len();
|
||||
let road_names: Vec<&str> = scene.roads.iter()
|
||||
.filter_map(|r| match r {
|
||||
OsmFeature::Road { name, .. } => name.as_deref(),
|
||||
_ => None,
|
||||
})
|
||||
.take(3)
|
||||
.collect();
|
||||
|
||||
format!(
|
||||
"Location: {:.4}N, {:.4}W, elevation {:.0}m ASL. \
|
||||
{} buildings within view. {} roads nearby{}. \
|
||||
{} satellite tiles at zoom 16. Updated: {}.",
|
||||
scene.location.lat, scene.location.lon, scene.elevation_m,
|
||||
building_count, road_count,
|
||||
if road_names.is_empty() { String::new() }
|
||||
else { format!(" ({})", road_names.join(", ")) },
|
||||
scene.tile_count,
|
||||
&scene.last_updated[..10],
|
||||
)
|
||||
}
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
//! wifi-densepose-geo — geospatial satellite integration for RuView.
|
||||
//!
|
||||
//! Provides: IP geolocation, satellite tile fetching (Sentinel-2),
|
||||
//! SRTM elevation, OSM buildings/roads, coordinate transforms,
|
||||
//! temporal change tracking, and brain memory integration.
|
||||
|
||||
pub mod types;
|
||||
pub mod coord;
|
||||
pub mod locate;
|
||||
pub mod cache;
|
||||
pub mod tiles;
|
||||
pub mod terrain;
|
||||
pub mod osm;
|
||||
pub mod register;
|
||||
pub mod fuse;
|
||||
pub mod brain;
|
||||
pub mod temporal;
|
||||
|
||||
pub use types::*;
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
//! IP geolocation — determine location from public IP.
|
||||
|
||||
use crate::types::GeoPoint;
|
||||
use anyhow::Result;
|
||||
|
||||
/// Locate by IP address (free, no API key).
|
||||
pub async fn locate_by_ip() -> Result<GeoPoint> {
|
||||
let client = reqwest::Client::builder()
|
||||
.timeout(std::time::Duration::from_secs(5))
|
||||
.build()?;
|
||||
|
||||
// Primary: ip-api.com (free, 45 req/min)
|
||||
let resp: serde_json::Value = client
|
||||
.get("http://ip-api.com/json/?fields=lat,lon,city,regionName,country")
|
||||
.send().await?
|
||||
.json().await?;
|
||||
|
||||
let lat = resp.get("lat").and_then(|v| v.as_f64()).unwrap_or(0.0);
|
||||
let lon = resp.get("lon").and_then(|v| v.as_f64()).unwrap_or(0.0);
|
||||
|
||||
if lat == 0.0 && lon == 0.0 {
|
||||
anyhow::bail!("IP geolocation returned (0,0)");
|
||||
}
|
||||
|
||||
Ok(GeoPoint { lat, lon, alt: 0.0 })
|
||||
}
|
||||
|
||||
/// Get location with caching.
|
||||
pub async fn get_location(cache_path: &str) -> Result<GeoPoint> {
|
||||
// Check cache
|
||||
if let Ok(data) = std::fs::read_to_string(cache_path) {
|
||||
if let Ok(point) = serde_json::from_str::<GeoPoint>(&data) {
|
||||
return Ok(point);
|
||||
}
|
||||
}
|
||||
|
||||
let point = locate_by_ip().await?;
|
||||
let _ = std::fs::write(cache_path, serde_json::to_string(&point)?);
|
||||
Ok(point)
|
||||
}
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
//! OpenStreetMap data via Overpass API — buildings, roads, land use.
|
||||
|
||||
use crate::types::{GeoBBox, GeoPoint, OsmFeature};
|
||||
use anyhow::Result;
|
||||
|
||||
const OVERPASS_URL: &str = "https://overpass-api.de/api/interpreter";
|
||||
|
||||
/// Fetch buildings within radius of a point.
|
||||
pub async fn fetch_buildings(center: &GeoPoint, radius_m: f64) -> Result<Vec<OsmFeature>> {
|
||||
let bbox = GeoBBox::from_center(center, radius_m);
|
||||
let query = format!(
|
||||
r#"[out:json][timeout:10];way["building"]({},{},{},{});out body;>;out skel qt;"#,
|
||||
bbox.south, bbox.west, bbox.north, bbox.east
|
||||
);
|
||||
let resp = overpass_query(&query).await?;
|
||||
parse_buildings(&resp)
|
||||
}
|
||||
|
||||
/// Fetch roads within radius.
|
||||
pub async fn fetch_roads(center: &GeoPoint, radius_m: f64) -> Result<Vec<OsmFeature>> {
|
||||
let bbox = GeoBBox::from_center(center, radius_m);
|
||||
let query = format!(
|
||||
r#"[out:json][timeout:10];way["highway"]({},{},{},{});out body;>;out skel qt;"#,
|
||||
bbox.south, bbox.west, bbox.north, bbox.east
|
||||
);
|
||||
let resp = overpass_query(&query).await?;
|
||||
parse_roads(&resp)
|
||||
}
|
||||
|
||||
async fn overpass_query(query: &str) -> Result<serde_json::Value> {
|
||||
let client = reqwest::Client::builder()
|
||||
.timeout(std::time::Duration::from_secs(15))
|
||||
.user_agent("RuView/0.1")
|
||||
.build()?;
|
||||
|
||||
let resp = client.post(OVERPASS_URL)
|
||||
.form(&[("data", query)])
|
||||
.send().await?;
|
||||
|
||||
if !resp.status().is_success() {
|
||||
anyhow::bail!("Overpass API error: {}", resp.status());
|
||||
}
|
||||
Ok(resp.json().await?)
|
||||
}
|
||||
|
||||
fn parse_buildings(data: &serde_json::Value) -> Result<Vec<OsmFeature>> {
|
||||
let mut buildings = Vec::new();
|
||||
let mut nodes: std::collections::HashMap<u64, [f64; 2]> = std::collections::HashMap::new();
|
||||
|
||||
let elements = data.get("elements").and_then(|e| e.as_array()).cloned().unwrap_or_default();
|
||||
|
||||
// First pass: collect nodes
|
||||
for el in &elements {
|
||||
if el.get("type").and_then(|t| t.as_str()) == Some("node") {
|
||||
if let (Some(id), Some(lat), Some(lon)) = (
|
||||
el.get("id").and_then(|v| v.as_u64()),
|
||||
el.get("lat").and_then(|v| v.as_f64()),
|
||||
el.get("lon").and_then(|v| v.as_f64()),
|
||||
) {
|
||||
nodes.insert(id, [lat, lon]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Second pass: build ways
|
||||
for el in &elements {
|
||||
if el.get("type").and_then(|t| t.as_str()) != Some("way") { continue; }
|
||||
let tags = el.get("tags").cloned().unwrap_or(serde_json::json!({}));
|
||||
if tags.get("building").is_none() { continue; }
|
||||
|
||||
let node_ids = el.get("nodes").and_then(|n| n.as_array()).cloned().unwrap_or_default();
|
||||
let outline: Vec<[f64; 2]> = node_ids.iter()
|
||||
.filter_map(|id| id.as_u64().and_then(|id| nodes.get(&id).copied()))
|
||||
.collect();
|
||||
|
||||
if outline.len() < 3 { continue; }
|
||||
|
||||
let height = tags.get("height").and_then(|h| h.as_str())
|
||||
.and_then(|s| s.trim_end_matches('m').trim().parse::<f32>().ok())
|
||||
.or(Some(8.0)); // default building height
|
||||
|
||||
let name = tags.get("name").and_then(|n| n.as_str()).map(|s| s.to_string());
|
||||
|
||||
buildings.push(OsmFeature::Building { outline, height, name });
|
||||
}
|
||||
|
||||
Ok(buildings)
|
||||
}
|
||||
|
||||
fn parse_roads(data: &serde_json::Value) -> Result<Vec<OsmFeature>> {
|
||||
let mut roads = Vec::new();
|
||||
let mut nodes: std::collections::HashMap<u64, [f64; 2]> = std::collections::HashMap::new();
|
||||
|
||||
let elements = data.get("elements").and_then(|e| e.as_array()).cloned().unwrap_or_default();
|
||||
|
||||
for el in &elements {
|
||||
if el.get("type").and_then(|t| t.as_str()) == Some("node") {
|
||||
if let (Some(id), Some(lat), Some(lon)) = (
|
||||
el.get("id").and_then(|v| v.as_u64()),
|
||||
el.get("lat").and_then(|v| v.as_f64()),
|
||||
el.get("lon").and_then(|v| v.as_f64()),
|
||||
) {
|
||||
nodes.insert(id, [lat, lon]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for el in &elements {
|
||||
if el.get("type").and_then(|t| t.as_str()) != Some("way") { continue; }
|
||||
let tags = el.get("tags").cloned().unwrap_or(serde_json::json!({}));
|
||||
let highway = tags.get("highway").and_then(|h| h.as_str());
|
||||
if highway.is_none() { continue; }
|
||||
|
||||
let node_ids = el.get("nodes").and_then(|n| n.as_array()).cloned().unwrap_or_default();
|
||||
let path: Vec<[f64; 2]> = node_ids.iter()
|
||||
.filter_map(|id| id.as_u64().and_then(|id| nodes.get(&id).copied()))
|
||||
.collect();
|
||||
|
||||
if path.len() < 2 { continue; }
|
||||
|
||||
let name = tags.get("name").and_then(|n| n.as_str()).map(|s| s.to_string());
|
||||
|
||||
roads.push(OsmFeature::Road {
|
||||
path,
|
||||
road_type: highway.unwrap_or("unknown").to_string(),
|
||||
name,
|
||||
});
|
||||
}
|
||||
|
||||
Ok(roads)
|
||||
}
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
//! Geo-registration — maps local sensor coordinates to WGS84.
|
||||
|
||||
use crate::coord;
|
||||
use crate::types::{GeoPoint, GeoRegistration};
|
||||
|
||||
/// Auto-register using IP location (sensor at IP location, facing north).
|
||||
pub fn auto_register(ip_location: &GeoPoint) -> GeoRegistration {
|
||||
GeoRegistration {
|
||||
origin: ip_location.clone(),
|
||||
heading_deg: 0.0,
|
||||
scale: 1.0,
|
||||
}
|
||||
}
|
||||
|
||||
/// Transform local point [x, y, z] to WGS84.
|
||||
pub fn local_to_wgs84(reg: &GeoRegistration, local: &[f32; 3]) -> GeoPoint {
|
||||
let heading_rad = reg.heading_deg.to_radians();
|
||||
let cos_h = heading_rad.cos();
|
||||
let sin_h = heading_rad.sin();
|
||||
|
||||
// Rotate local by heading (local X → East when heading=0)
|
||||
let east = (local[0] as f64 * cos_h - local[2] as f64 * sin_h) * reg.scale;
|
||||
let north = (local[0] as f64 * sin_h + local[2] as f64 * cos_h) * reg.scale;
|
||||
let up = local[1] as f64 * reg.scale;
|
||||
|
||||
coord::enu_to_wgs84(&[east, north, up], ®.origin)
|
||||
}
|
||||
|
||||
/// Transform WGS84 to local point.
|
||||
pub fn wgs84_to_local(reg: &GeoRegistration, geo: &GeoPoint) -> [f32; 3] {
|
||||
let enu = coord::wgs84_to_enu(geo, ®.origin);
|
||||
let heading_rad = (-reg.heading_deg).to_radians();
|
||||
let cos_h = heading_rad.cos();
|
||||
let sin_h = heading_rad.sin();
|
||||
|
||||
let x = ((enu[0] * cos_h - enu[1] * sin_h) / reg.scale) as f32;
|
||||
let z = ((enu[0] * sin_h + enu[1] * cos_h) / reg.scale) as f32;
|
||||
let y = (enu[2] / reg.scale) as f32;
|
||||
|
||||
[x, y, z]
|
||||
}
|
||||
|
|
@ -0,0 +1,81 @@
|
|||
//! Temporal change tracking — detect changes in satellite/OSM/weather over time.
|
||||
|
||||
use crate::cache::TileCache;
|
||||
use crate::types::{GeoPoint, GeoScene};
|
||||
use anyhow::Result;
|
||||
|
||||
/// Fetch current weather (Open Meteo, free, no key).
|
||||
pub async fn fetch_weather(point: &GeoPoint) -> Result<WeatherData> {
|
||||
let url = format!(
|
||||
"https://api.open-meteo.com/v1/forecast?latitude={:.4}&longitude={:.4}¤t=temperature_2m,relative_humidity_2m,wind_speed_10m,weather_code",
|
||||
point.lat, point.lon
|
||||
);
|
||||
|
||||
let client = reqwest::Client::builder()
|
||||
.timeout(std::time::Duration::from_secs(10))
|
||||
.build()?;
|
||||
|
||||
let resp: serde_json::Value = client.get(&url).send().await?.json().await?;
|
||||
let current = resp.get("current").cloned().unwrap_or(serde_json::json!({}));
|
||||
|
||||
Ok(WeatherData {
|
||||
temperature_c: current.get("temperature_2m").and_then(|v| v.as_f64()).unwrap_or(0.0) as f32,
|
||||
humidity_pct: current.get("relative_humidity_2m").and_then(|v| v.as_f64()).unwrap_or(0.0) as f32,
|
||||
wind_speed_ms: current.get("wind_speed_10m").and_then(|v| v.as_f64()).unwrap_or(0.0) as f32,
|
||||
weather_code: current.get("weather_code").and_then(|v| v.as_u64()).unwrap_or(0) as u16,
|
||||
})
|
||||
}
|
||||
|
||||
/// Check for OSM changes since last fetch.
|
||||
pub async fn check_osm_changes(scene: &GeoScene, cache: &TileCache) -> Result<Vec<String>> {
|
||||
let mut changes = Vec::new();
|
||||
|
||||
let cache_key = "osm_building_count";
|
||||
let prev_count: usize = cache.get(cache_key)
|
||||
.and_then(|d| String::from_utf8(d).ok())
|
||||
.and_then(|s| s.trim().parse().ok())
|
||||
.unwrap_or(0);
|
||||
|
||||
let current_count = scene.buildings.len();
|
||||
if prev_count > 0 && current_count != prev_count {
|
||||
let diff = current_count as i64 - prev_count as i64;
|
||||
changes.push(format!("Building count changed: {} → {} ({:+})", prev_count, current_count, diff));
|
||||
}
|
||||
|
||||
cache.put(cache_key, current_count.to_string().as_bytes())?;
|
||||
Ok(changes)
|
||||
}
|
||||
|
||||
/// Generate temporal summary for brain storage.
|
||||
pub fn temporal_summary(weather: &WeatherData, changes: &[String]) -> String {
|
||||
let weather_desc = match weather.weather_code {
|
||||
0 => "clear sky",
|
||||
1..=3 => "partly cloudy",
|
||||
45 | 48 => "foggy",
|
||||
51..=57 => "drizzle",
|
||||
61..=67 => "rain",
|
||||
71..=77 => "snow",
|
||||
80..=82 => "showers",
|
||||
95..=99 => "thunderstorm",
|
||||
_ => "unknown",
|
||||
};
|
||||
|
||||
let mut summary = format!(
|
||||
"Weather: {:.0}°C, {weather_desc}, humidity {:.0}%, wind {:.1}m/s.",
|
||||
weather.temperature_c, weather.humidity_pct, weather.wind_speed_ms,
|
||||
);
|
||||
|
||||
for change in changes {
|
||||
summary.push_str(&format!(" Change: {change}."));
|
||||
}
|
||||
|
||||
summary
|
||||
}
|
||||
|
||||
#[derive(Clone, Debug, serde::Serialize, serde::Deserialize)]
|
||||
pub struct WeatherData {
|
||||
pub temperature_c: f32,
|
||||
pub humidity_pct: f32,
|
||||
pub wind_speed_ms: f32,
|
||||
pub weather_code: u16,
|
||||
}
|
||||
|
|
@ -0,0 +1,97 @@
|
|||
//! SRTM DEM parser — elevation data from NASA 1-arcsecond HGT files.
|
||||
|
||||
use crate::cache::TileCache;
|
||||
use crate::types::{ElevationGrid, GeoPoint};
|
||||
use anyhow::Result;
|
||||
|
||||
/// Download and parse SRTM HGT for a location.
|
||||
pub async fn fetch_elevation(point: &GeoPoint, cache: &TileCache) -> Result<ElevationGrid> {
|
||||
let lat_int = point.lat.floor() as i32;
|
||||
let lon_int = point.lon.floor() as i32;
|
||||
let ns = if lat_int >= 0 { 'N' } else { 'S' };
|
||||
let ew = if lon_int >= 0 { 'E' } else { 'W' };
|
||||
let filename = format!("{}{:02}{}{:03}.hgt", ns, lat_int.unsigned_abs(), ew, lon_int.unsigned_abs());
|
||||
let cache_key = format!("srtm_{filename}");
|
||||
|
||||
if let Some(data) = cache.get(&cache_key) {
|
||||
return parse_hgt(&data, lat_int as f64, lon_int as f64);
|
||||
}
|
||||
|
||||
// Try OpenTopography SRTM (free, no auth)
|
||||
let url = format!(
|
||||
"https://portal.opentopography.org/API/globaldem?demtype=SRTMGL1&south={}&north={}&west={}&east={}&outputFormat=HGT",
|
||||
lat_int, lat_int + 1, lon_int, lon_int + 1
|
||||
);
|
||||
|
||||
let client = reqwest::Client::builder()
|
||||
.timeout(std::time::Duration::from_secs(30))
|
||||
.build()?;
|
||||
|
||||
match client.get(&url).send().await {
|
||||
Ok(resp) if resp.status().is_success() => {
|
||||
let data = resp.bytes().await?.to_vec();
|
||||
cache.put(&cache_key, &data)?;
|
||||
parse_hgt(&data, lat_int as f64, lon_int as f64)
|
||||
}
|
||||
_ => {
|
||||
// Return flat terrain as fallback
|
||||
Ok(ElevationGrid {
|
||||
origin_lat: lat_int as f64,
|
||||
origin_lon: lon_int as f64,
|
||||
cell_size_deg: 1.0 / 3600.0,
|
||||
cols: 100, rows: 100,
|
||||
heights: vec![0.0; 10000],
|
||||
})
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Parse SRTM HGT binary (3601x3601 big-endian i16).
|
||||
pub fn parse_hgt(data: &[u8], origin_lat: f64, origin_lon: f64) -> Result<ElevationGrid> {
|
||||
let n_samples = data.len() / 2;
|
||||
let side = (n_samples as f64).sqrt() as usize;
|
||||
|
||||
let heights: Vec<f32> = data.chunks_exact(2)
|
||||
.map(|c| {
|
||||
let v = i16::from_be_bytes([c[0], c[1]]);
|
||||
if v == -32768 { 0.0 } else { v as f32 } // -32768 = void
|
||||
})
|
||||
.collect();
|
||||
|
||||
Ok(ElevationGrid {
|
||||
origin_lat, origin_lon,
|
||||
cell_size_deg: 1.0 / (side - 1) as f64,
|
||||
cols: side, rows: side,
|
||||
heights,
|
||||
})
|
||||
}
|
||||
|
||||
/// Get elevation at a specific point from a grid.
|
||||
pub fn elevation_at(grid: &ElevationGrid, point: &GeoPoint) -> f32 {
|
||||
grid.get(point.lat, point.lon).unwrap_or(0.0)
|
||||
}
|
||||
|
||||
/// Extract a small subgrid around a point.
|
||||
pub fn extract_subgrid(grid: &ElevationGrid, center: &GeoPoint, radius_m: f64) -> ElevationGrid {
|
||||
let radius_deg = radius_m / 111_320.0;
|
||||
let min_row = ((grid.origin_lat + (grid.rows as f64 * grid.cell_size_deg) - center.lat - radius_deg) / grid.cell_size_deg).max(0.0) as usize;
|
||||
let max_row = ((grid.origin_lat + (grid.rows as f64 * grid.cell_size_deg) - center.lat + radius_deg) / grid.cell_size_deg).min(grid.rows as f64) as usize;
|
||||
let min_col = ((center.lon - radius_deg - grid.origin_lon) / grid.cell_size_deg).max(0.0) as usize;
|
||||
let max_col = ((center.lon + radius_deg - grid.origin_lon) / grid.cell_size_deg).min(grid.cols as f64) as usize;
|
||||
|
||||
let rows = max_row.saturating_sub(min_row);
|
||||
let cols = max_col.saturating_sub(min_col);
|
||||
let mut heights = Vec::with_capacity(rows * cols);
|
||||
for r in min_row..max_row {
|
||||
for c in min_col..max_col {
|
||||
heights.push(grid.heights.get(r * grid.cols + c).copied().unwrap_or(0.0));
|
||||
}
|
||||
}
|
||||
|
||||
ElevationGrid {
|
||||
origin_lat: grid.origin_lat + (grid.rows - max_row) as f64 * grid.cell_size_deg,
|
||||
origin_lon: grid.origin_lon + min_col as f64 * grid.cell_size_deg,
|
||||
cell_size_deg: grid.cell_size_deg,
|
||||
cols, rows, heights,
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,80 @@
|
|||
//! Satellite tile fetcher — XYZ/TMS tile download with caching.
|
||||
|
||||
use crate::cache::TileCache;
|
||||
use crate::coord;
|
||||
use crate::types::{GeoBBox, RasterTile, TileCoord};
|
||||
use anyhow::Result;
|
||||
|
||||
/// Tile provider (all free, no API keys).
|
||||
pub enum TileProvider {
|
||||
/// Sentinel-2 cloudless mosaic (EOX, 10m, CC-BY-4.0)
|
||||
Sentinel2Cloudless,
|
||||
/// ESRI World Imagery (sub-meter, free tier)
|
||||
EsriWorldImagery,
|
||||
/// OpenStreetMap (map tiles, not satellite)
|
||||
Osm,
|
||||
}
|
||||
|
||||
impl TileProvider {
|
||||
pub fn url(&self, coord: &TileCoord) -> String {
|
||||
match self {
|
||||
Self::Sentinel2Cloudless => format!(
|
||||
"https://tiles.maps.eox.at/wmts/1.0.0/s2cloudless-2021_3857/default/g/{}/{}/{}.jpg",
|
||||
coord.z, coord.y, coord.x
|
||||
),
|
||||
Self::EsriWorldImagery => format!(
|
||||
"https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{}/{}/{}",
|
||||
coord.z, coord.y, coord.x
|
||||
),
|
||||
Self::Osm => format!(
|
||||
"https://tile.openstreetmap.org/{}/{}/{}.png",
|
||||
coord.z, coord.x, coord.y
|
||||
),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn name(&self) -> &str {
|
||||
match self {
|
||||
Self::Sentinel2Cloudless => "sentinel2",
|
||||
Self::EsriWorldImagery => "esri",
|
||||
Self::Osm => "osm",
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Fetch a single tile with caching.
|
||||
pub async fn fetch_tile(provider: &TileProvider, coord: &TileCoord, cache: &TileCache) -> Result<RasterTile> {
|
||||
let cache_key = format!("tiles_{}_{}_{}.dat", coord.z, coord.x, coord.y);
|
||||
|
||||
if let Some(data) = cache.get(&cache_key) {
|
||||
return Ok(RasterTile { coord: coord.clone(), data, bounds: coord::tile_bounds(coord) });
|
||||
}
|
||||
|
||||
let url = provider.url(coord);
|
||||
let client = reqwest::Client::builder()
|
||||
.timeout(std::time::Duration::from_secs(10))
|
||||
.user_agent("RuView/0.1 (https://github.com/ruvnet/RuView)")
|
||||
.build()?;
|
||||
|
||||
let resp = client.get(&url).send().await?;
|
||||
if !resp.status().is_success() {
|
||||
anyhow::bail!("Tile fetch failed: {} → {}", url, resp.status());
|
||||
}
|
||||
let data = resp.bytes().await?.to_vec();
|
||||
cache.put(&cache_key, &data)?;
|
||||
|
||||
Ok(RasterTile { coord: coord.clone(), data, bounds: coord::tile_bounds(coord) })
|
||||
}
|
||||
|
||||
/// Fetch all tiles covering a bounding box.
|
||||
pub async fn fetch_area(provider: &TileProvider, bbox: &GeoBBox, zoom: u8, cache: &TileCache) -> Result<Vec<RasterTile>> {
|
||||
let coords = coord::tiles_for_bbox(bbox, zoom);
|
||||
let mut tiles = Vec::with_capacity(coords.len());
|
||||
for c in &coords {
|
||||
match fetch_tile(provider, c, cache).await {
|
||||
Ok(t) => tiles.push(t),
|
||||
Err(e) => eprintln!(" Tile {}/{}/{} failed: {}", c.z, c.x, c.y, e),
|
||||
}
|
||||
}
|
||||
Ok(tiles)
|
||||
}
|
||||
|
|
@ -0,0 +1,118 @@
|
|||
//! Core geospatial types.
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
/// WGS84 geographic coordinate.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct GeoPoint {
|
||||
pub lat: f64,
|
||||
pub lon: f64,
|
||||
pub alt: f64,
|
||||
}
|
||||
|
||||
/// Axis-aligned bounding box in WGS84.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct GeoBBox {
|
||||
pub south: f64,
|
||||
pub west: f64,
|
||||
pub north: f64,
|
||||
pub east: f64,
|
||||
}
|
||||
|
||||
impl GeoBBox {
|
||||
pub fn from_center(center: &GeoPoint, radius_m: f64) -> Self {
|
||||
let dlat = radius_m / 111_320.0;
|
||||
let dlon = radius_m / (111_320.0 * center.lat.to_radians().cos());
|
||||
Self {
|
||||
south: center.lat - dlat,
|
||||
west: center.lon - dlon,
|
||||
north: center.lat + dlat,
|
||||
east: center.lon + dlon,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// XYZ tile address.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct TileCoord {
|
||||
pub z: u8,
|
||||
pub x: u32,
|
||||
pub y: u32,
|
||||
}
|
||||
|
||||
/// Satellite raster tile.
|
||||
#[derive(Clone, Debug)]
|
||||
pub struct RasterTile {
|
||||
pub coord: TileCoord,
|
||||
pub data: Vec<u8>,
|
||||
pub bounds: GeoBBox,
|
||||
}
|
||||
|
||||
/// Elevation grid from SRTM DEM.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct ElevationGrid {
|
||||
pub origin_lat: f64,
|
||||
pub origin_lon: f64,
|
||||
pub cell_size_deg: f64,
|
||||
pub cols: usize,
|
||||
pub rows: usize,
|
||||
pub heights: Vec<f32>,
|
||||
}
|
||||
|
||||
impl ElevationGrid {
|
||||
pub fn get(&self, lat: f64, lon: f64) -> Option<f32> {
|
||||
let row = ((self.origin_lat + (self.rows as f64 * self.cell_size_deg) - lat) / self.cell_size_deg) as usize;
|
||||
let col = ((lon - self.origin_lon) / self.cell_size_deg) as usize;
|
||||
if row < self.rows && col < self.cols {
|
||||
Some(self.heights[row * self.cols + col])
|
||||
} else {
|
||||
None
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// OpenStreetMap feature.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub enum OsmFeature {
|
||||
Building {
|
||||
outline: Vec<[f64; 2]>,
|
||||
height: Option<f32>,
|
||||
name: Option<String>,
|
||||
},
|
||||
Road {
|
||||
path: Vec<[f64; 2]>,
|
||||
road_type: String,
|
||||
name: Option<String>,
|
||||
},
|
||||
}
|
||||
|
||||
/// Geo-registration transform.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct GeoRegistration {
|
||||
pub origin: GeoPoint,
|
||||
pub heading_deg: f64,
|
||||
pub scale: f64,
|
||||
}
|
||||
|
||||
impl Default for GeoRegistration {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
origin: GeoPoint { lat: 0.0, lon: 0.0, alt: 0.0 },
|
||||
heading_deg: 0.0,
|
||||
scale: 1.0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Complete geo scene.
|
||||
#[derive(Clone, Debug, Serialize, Deserialize)]
|
||||
pub struct GeoScene {
|
||||
pub location: GeoPoint,
|
||||
pub bbox: GeoBBox,
|
||||
pub elevation_m: f32,
|
||||
pub buildings: Vec<OsmFeature>,
|
||||
pub roads: Vec<OsmFeature>,
|
||||
pub tile_count: usize,
|
||||
pub registration: GeoRegistration,
|
||||
pub last_updated: String,
|
||||
}
|
||||
|
|
@ -0,0 +1,84 @@
|
|||
use ruview_geo::*;
|
||||
use ruview_geo::coord;
|
||||
|
||||
#[test]
|
||||
fn test_haversine() {
|
||||
let toronto = GeoPoint { lat: 43.6532, lon: -79.3832, alt: 0.0 };
|
||||
let ottawa = GeoPoint { lat: 45.4215, lon: -75.6972, alt: 0.0 };
|
||||
let dist = coord::haversine(&toronto, &ottawa);
|
||||
assert!((dist - 353_000.0).abs() < 5_000.0, "Toronto-Ottawa ~353km, got {:.0}m", dist);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_wgs84_to_enu() {
|
||||
let origin = GeoPoint { lat: 43.0, lon: -79.0, alt: 100.0 };
|
||||
let point = GeoPoint { lat: 43.001, lon: -79.0, alt: 100.0 };
|
||||
let enu = coord::wgs84_to_enu(&point, &origin);
|
||||
assert!((enu[1] - 111.0).abs() < 5.0, "0.001 deg lat ~111m north, got {:.1}m", enu[1]);
|
||||
assert!(enu[0].abs() < 1.0, "same longitude should have ~0 east, got {:.1}m", enu[0]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_enu_roundtrip() {
|
||||
let origin = GeoPoint { lat: 43.6532, lon: -79.3832, alt: 76.0 };
|
||||
let local = [100.0, 200.0, 5.0]; // 100m east, 200m north, 5m up
|
||||
let geo = coord::enu_to_wgs84(&local, &origin);
|
||||
let back = coord::wgs84_to_enu(&geo, &origin);
|
||||
assert!((back[0] - local[0]).abs() < 0.01);
|
||||
assert!((back[1] - local[1]).abs() < 0.01);
|
||||
assert!((back[2] - local[2]).abs() < 0.01);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_tile_coords() {
|
||||
let tile = coord::wgs84_to_tile(43.6532, -79.3832, 16);
|
||||
assert!(tile.x > 0 && tile.y > 0);
|
||||
assert_eq!(tile.z, 16);
|
||||
let bounds = coord::tile_bounds(&tile);
|
||||
assert!(bounds.south < 43.66 && bounds.north > 43.64);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_tiles_for_bbox() {
|
||||
let bbox = GeoBBox::from_center(
|
||||
&GeoPoint { lat: 43.6532, lon: -79.3832, alt: 0.0 },
|
||||
500.0,
|
||||
);
|
||||
let tiles = coord::tiles_for_bbox(&bbox, 16);
|
||||
assert!(tiles.len() >= 4 && tiles.len() <= 25, "500m radius should need 4-25 tiles, got {}", tiles.len());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_geo_bbox_from_center() {
|
||||
let center = GeoPoint { lat: 43.0, lon: -79.0, alt: 0.0 };
|
||||
let bbox = GeoBBox::from_center(¢er, 1000.0);
|
||||
assert!(bbox.south < 43.0 && bbox.north > 43.0);
|
||||
assert!(bbox.west < -79.0 && bbox.east > -79.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_hgt_parse() {
|
||||
// Create minimal 3x3 HGT data (big-endian i16)
|
||||
let mut data = Vec::new();
|
||||
for h in [100i16, 110, 120, 105, 115, 125, 110, 120, 130] {
|
||||
data.extend_from_slice(&h.to_be_bytes());
|
||||
}
|
||||
let grid = ruview_geo::terrain::parse_hgt(&data, 43.0, -79.0).unwrap();
|
||||
assert_eq!(grid.heights[0], 100.0);
|
||||
assert_eq!(grid.heights[4], 115.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_registration() {
|
||||
let origin = GeoPoint { lat: 43.6532, lon: -79.3832, alt: 76.0 };
|
||||
let reg = ruview_geo::register::auto_register(&origin);
|
||||
|
||||
let local = [10.0f32, 0.0, 20.0]; // 10m east, 20m forward
|
||||
let geo = ruview_geo::register::local_to_wgs84(®, &local);
|
||||
assert!((geo.lat - origin.lat).abs() < 0.001);
|
||||
assert!((geo.lon - origin.lon).abs() < 0.001);
|
||||
|
||||
let back = ruview_geo::register::wgs84_to_local(®, &geo);
|
||||
assert!((back[0] - local[0]).abs() < 0.1);
|
||||
assert!((back[2] - local[2]).abs() < 0.1);
|
||||
}
|
||||
Loading…
Reference in New Issue