mirror of
https://github.com/ruvnet/RuView
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rUv
f49c722764
The Rust port lived two directories deep (rust-port/wifi-densepose-rs/) without any sibling under rust-port/ that warranted the extra level. Move the whole workspace up to v2/ to match v1/ (Python) at the same depth and shorten every cd / build command across the repo. git mv preserves history for all tracked files. 60 files updated for path references (CI workflows, ADRs, docs, scripts, READMEs, internal .claude-flow state). Two manual fixes for relative-cd paths in CLAUDE.md and ADR-043 that became wrong after the depth change (cd ../.. → cd ..). Validated: - cargo check --workspace --no-default-features → clean (after target/ nuke; the gitignored target/ was carried by the OS rename and had hard-coded old paths in build scripts) - cargo test --workspace --no-default-features → 1,539 passed, 0 failed, 8 ignored (same totals as pre-rename) - ESP32-S3 on COM7 → still streaming live CSI (cb #40300, RSSI -64 dBm) After-merge follow-up: contributors should `rm -rf v2/target` once and let cargo regenerate from the new path.
75 lines
2.7 KiB
Rust
75 lines
2.7 KiB
Rust
//! 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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#[allow(dead_code)]
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const WGS84_F: f64 = 1.0 / 298.257_223_563;
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#[allow(dead_code)]
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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);
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let br = wgs84_to_tile(bbox.south, bbox.east, zoom);
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let mut tiles = Vec::new();
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for y in tl.y..=br.y {
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for x in tl.x..=br.x {
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tiles.push(TileCoord { z: zoom, x, y });
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}
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}
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tiles
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}
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