public async void CanRunMultipleGLOSARequests_ShouldReturnTrue()
{
// arrange
//SETTINGS_ROUTE_DIRECTION_ANY = 0: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_IB = 1: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_OB = 2;
var intersectionId = "1992";
var route = KMLHelper.GLOSATestRoute().ToList();
var gpsHistory = KMLHelper.GLOSATestRouteIntersectionHistory(intersectionId, 2);
NavigationService navigationService = new NavigationService();
var waypoint1 = navigationService.LocateWaypointOnRoute(WaypointDetectionMethod.GPSHistoryDirection, route, gpsHistory, 0, 0);
var waypoint2 = navigationService.LocateWaypointOnRoute(WaypointDetectionMethod.GPSHistoryDirection, route, gpsHistory, 0, 1);
var webService = new GLOSAWebService(null);
//await Task.Run(async () => await webService.SyncMAPSPATAsync(KMLHelper.IntersectionIdOfPlacemark(waypoint1)));
//await Task.Run(async () => await webService.SyncMAPSPATAsync(KMLHelper.IntersectionIdOfPlacemark(waypoint2)));
var waypoint1Id = KMLHelper.IntersectionIdOfPlacemark(waypoint1);
var waypoint2Id = waypoint2 != null?KMLHelper.IntersectionIdOfPlacemark(waypoint2) : null;
await Task.Run(async() => await webService.SyncMAPSPATAsync(waypoint1Id, waypoint2Id));
bool expectedResult = true;
//act
bool actualResult = waypoint1 != null;
//assert
Assert.Equal(expectedResult, actualResult);
}
public void IsNextMAPDataWaypointInSameDirectionAsTravel_ShouldReturnTrue()
{
// arrange
//SETTINGS_ROUTE_DIRECTION_ANY = 0: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_IB = 1: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_OB = 2;
//< name > 2130 - Gilberstone Avenue </ name >
// 2130 only has inbound SPAT
var intersectionId = "2130";
var route = KMLHelper.GLOSATestRoute().ToList();
var gpsHistory = KMLHelper.GLOSATestRouteIntersectionHistory(intersectionId, 1);
NavigationService navigationService = new NavigationService();
var waypoint = navigationService.LocateWaypointWithLineOfSight(WaypointDetectionMethod.GPSHistoryDirection, gpsHistory, 0, 50, 0.04);
bool expectedResult = true;
//act
bool actualResult = waypoint != null;
//assert
Assert.Equal(expectedResult, actualResult);
}
public void LoadPlacemarksFromFile_WithNotExistFile_ReturnResultShouldBeEmptyList()
{
//arrange
string inputTestFile = "Not-Exist.kml";
//act
var actualResult = KMLHelper.LoadPlacemarksFromFile(inputTestFile);
//assert
Assert.Equal(emptyList, actualResult);
}
public void LoadPlacemarksFromFile_WithA45GLOSAReferencePoint_ReturnResultShouldNotBeEmptyList()
{
//arrange
string inputTestFile = "GreenLight.Core.Test.GLOSA-MAP-CHACHE.kml";
//act
var actualResult = KMLHelper.LoadPlacemarksFromFile(inputTestFile);
//assert
Assert.NotEqual(emptyList, actualResult);
}
private void PopulateGeofenceList()
{
IList <kmlDocumentPlacemark> placemarks = KMLHelper.GLOSATestRoute();
foreach (var placemark in placemarks)
{
// https://developers.google.com/kml/documentation/kmlreference?csw=1#coordinates
var coordinatesString = placemark.Point.coordinates;
string[] parts = coordinatesString.Split(',');
double longitude = double.Parse(parts[0]);
double latitude = double.Parse(parts[1]);
_geoList.Add(new GeofenceBuilder().SetRequestId(placemark.name).SetCircularRegion(latitude, longitude, Constants.GeofenceDefaultRadiusMeters).SetExpirationDuration(Geofence.NeverExpire).SetTransitionTypes(Geofence.GeofenceTransitionEnter | Geofence.GeofenceTransitionExit).Build());
}
}
private void UpdateCurrentPosition()
{
_waypointDescription = "[Locating Intersection]";
_currentDistanceToWaypoint = 0;
if (IsNavigating == true)
{
LocateWaypoint();
if (IsNavigatingToWaypoint == true)
{
_currentDistanceToWaypoint = Convert.ToInt32(KMLHelper.DistanceFromCurrentIntersection(_currentWaypoint, _latitude, _longitude));
_waypointDescription = _currentWaypoint.name;
}
}
}
/// <summary>
/// Finds next waypoint by distance from current location
/// </summary>
private void LocateWaypoint()
{
if (_routeMode == true)
{
_currentWaypoint = null;
var waypoint = LocateWaypointWithLineOfSight(WaypointDetectionMethod.GPSHistoryDirection, 0, 50, 1.0);
if (waypoint == null)
{
return;
}
var waypointID = waypoint.intersections.IntersectionGeometry.id.id.ToString();
var nextMAPPlacemark = _testRoute.Find(match => match.name.Contains(waypointID));
if (nextMAPPlacemark != null)
{
var nextIntersectionId = KMLHelper.IntersectionIdOfPlacemark(nextMAPPlacemark);
_currentWaypointId = waypoint.intersections.IntersectionGeometry.id.id.ToString();
_currentWaypoint = nextMAPPlacemark;
}
}
}
public async void IsNextWaypointInSameDirection_ShouldReturnTrue()
{
// arrange
//SETTINGS_ROUTE_DIRECTION_ANY = 0: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_IB = 1: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_OB = 2;
var intersectionId = "2105";
var route = KMLHelper.GLOSATestRoute().ToList();
var gpsHistory = KMLHelper.GLOSATestRouteIntersectionHistory(intersectionId, 2);
NavigationService navigationService = new NavigationService();
var waypoint = navigationService.LocateWaypointOnRoute(WaypointDetectionMethod.GPSHistoryDirection, route, gpsHistory, 0, 0);
bool expectedResult = true;
//act
bool actualResult = waypoint != null;
//assert
Assert.Equal(expectedResult, actualResult);
}
public void IsVehicleHeadingInSameDirectionAsLaneDirection_WithLaneInSameDirection_ShouldReturnTrue()
{
// arrange
//SETTINGS_ROUTE_DIRECTION_NS = 1: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_SN = 2: - Not Supported Yet
//SETTINGS_ROUTE_DIRECTION_EW = 3;
//SETTINGS_ROUTE_DIRECTION_WE = 4;
var intersectionId = "2111";
var gpsHistory = KMLHelper.GLOSATestRouteIntersectionHistory(intersectionId, 2);
// Load Map from file
string file = $"MAP-{Settings.IntersectionId}.xml";
MapData map = XMLHelper.LoadMAPDataFromFile(file);
GLOSAResult result = GLOSAHelper.ProjectedLaneForManeuver(map, gpsHistory, 0, Constants.MANEUVER_DIRECTION_AHEAD);
var lane = (MapDataIntersectionsIntersectionGeometryGenericLane)result.Object;
var nodes = GLOSAHelper.ExtractTrafficNodesFromLane(lane);
// Let's sort all lane nodes from MAP Ref Point
var refPoint = map.intersections.IntersectionGeometry.refPoint;
var mapLocation = new GPSLocation()
{
Latitude = refPoint.lat / Constants.MAPCoordinateIntConverterUnit,
Longitude = refPoint.@long / Constants.MAPCoordinateIntConverterUnit,
};
// Sort the nodes by distance ascending
var sortedNodes = nodes.OrderBy(node => Distance.CalculateDistanceBetween2PointsKMs(node.GPSLocation.Latitude, node.GPSLocation.Longitude, mapLocation.Latitude, mapLocation.Longitude)).ToList();
bool expectedResult = true;
//act
result = GLOSAHelper.IsDirectionOfVehicleInSameDirectionAsLane(map.intersections.IntersectionGeometry.id.id, sortedNodes, 0, gpsHistory, 50, Constants.MANEUVER_DIRECTION_AHEAD);
bool actualResult = result.Errors == GLOSAErrors.NoErrors;
//assert
Assert.Equal(expectedResult, actualResult);
}
public kmlDocumentPlacemark LocateWaypointOnRoute(WaypointDetectionMethod method, List <kmlDocumentPlacemark> route, List <GPSLocation> history, double heading, int waypointIndex = 0)
{
kmlDocumentPlacemark nearestMAPPlacemark = null;
var location = history.Last();
var sortedMAPPoints = GLOSAHelper.SortMAPKMLDataByDistanceFromCurrentLocation(route, location.Latitude, location.Longitude).ToList();
if (sortedMAPPoints != null && sortedMAPPoints.Count > 0)
{
if (method == WaypointDetectionMethod.ShortestDistance)
{
nearestMAPPlacemark = sortedMAPPoints.First();
}
else if (method == WaypointDetectionMethod.DeviceHeading)
{
// No valid method chosen
throw new Exception("Waypoint Detection Method not implemented.");
}
else if (method == WaypointDetectionMethod.GPSHistoryDirection)
{
List <TrafficNode> listOfWaypoints = new List <TrafficNode>();
GPSLocation from = history[history.Count - 2];
GPSLocation to = history[history.Count - 1];
double?vehicleBearing = LocationHelper.HeadingBetweenTwoGPSLocations(from, to);
foreach (var mapPoint in sortedMAPPoints)
{
listOfWaypoints.Add(new TrafficNode()
{
GPSLocation = KMLHelper.XMLCoordinateStringToGPSLocation(mapPoint.Point.coordinates),
ID = mapPoint.name,
angleDiff = 0,
});
}
foreach (var waypoint in listOfWaypoints)
{
double?bearingLocationToWaypoint = LocationHelper.HeadingBetweenTwoGPSLocations(to, waypoint.GPSLocation);
double delta = LocationHelper.DeltaOfVehicleToLaneDirection(vehicleBearing, bearingLocationToWaypoint);
waypoint.angleDiff = Math.Abs(delta);//Make positive
waypoint.distance = Distance.CalculateDistanceBetween2PointsKMs(to.Latitude, to.Longitude, waypoint.GPSLocation.Latitude, waypoint.GPSLocation.Longitude);
}
var sortedByBearingAndDistance = listOfWaypoints.OrderBy(wp => wp.distance)
.ThenBy(wp => wp.angleDiff)
.Where(wp => wp.angleDiff >= -50 && wp.angleDiff <= 50 && wp.distance <= 1.0);
if (sortedByBearingAndDistance != null && sortedByBearingAndDistance.Count() > waypointIndex)
{
var tn = sortedByBearingAndDistance.ToList()[waypointIndex];
var pm = sortedMAPPoints.Find(mp => mp.name == tn.ID);
nearestMAPPlacemark = pm;
}
}
else
{
// No valid method chosen
throw new Exception("Waypoint Detection Method not properly set.");
}
}
return(nearestMAPPlacemark);
}
