@wemap/providers 10.1.0 → 10.2.0

package/package.json

@@ -42,6 +42,6 @@
     "url": "git+https://github.com/wemap/wemap-modules-js.git"
   },
   "type": "module",
-  "version": "10.1.0",
-  "gitHead": "881fa193f9c7bd2ea6a202bb207ca97cc0bac2dd"
+  "version": "10.2.0",
+  "gitHead": "c90d603fbed21b566a197eb5ad3a30c54921bf54"
 }

package/src/providers/position/absolute/AbsolutePosition.js

@@ -325,6 +325,21 @@ class AbsolutePosition extends Provider {
 
         MapMatchingHandler.notifyPositionFromFeed(newPositionEvent);
     }
+
+    getBestPositionEvent(...absolutePositionEvents) {
+        return absolutePositionEvents.reduce((best, value) => {
+            if (!best) {
+                return value;
+            }
+            if (!value || value.data.accuracy === null || value.data.time === null) {
+                return best;
+            }
+            const {accuracy: curAccuracy, time: curTime} = value.data;
+            const {accuracy: bestAccuracy, time: bestTime} = best.data;
+            // 1.3888 corresponds to 1.3888 m/s (5 km/h)
+            return curAccuracy < (bestAccuracy + 1.3888 * (curTime - bestTime)) ? value : best;
+        }, null);
+    }
 }
 
 export default new AbsolutePosition();

package/src/providers/position/absolute/AbsolutePosition.spec.js

@@ -0,0 +1,35 @@
+/* eslint-disable max-nested-callbacks */
+import { UserPosition } from '@wemap/geo';
+import chai from 'chai';
+
+import EventType from '../../../events/EventType.js';
+import ProviderEvent from '../../../events/ProviderEvent.js';
+import AbsolutePosition from './AbsolutePosition.js';
+
+const { expect } = chai;
+
+
+describe('AbsolutePosition', () => {
+
+    it('getBestPositionEvent', () => {
+
+        const createEvent = (time, accuracy) =>
+            new ProviderEvent(EventType.AbsolutePosition, new UserPosition(0, 0, null, null, time, accuracy));
+
+        const evt1 = createEvent(4, 1);
+        const evt2 = createEvent(4, 5);
+        const evt3 = createEvent(2, 1);
+        const evt4 = createEvent(2, 2);
+
+        expect(AbsolutePosition.getBestPositionEvent(evt1, evt2)).equals(evt1);
+        expect(AbsolutePosition.getBestPositionEvent(evt1, evt3)).equals(evt1);
+        expect(AbsolutePosition.getBestPositionEvent(evt2, evt4)).equals(evt4);
+        expect(AbsolutePosition.getBestPositionEvent(null, evt1)).equals(evt1);
+        expect(AbsolutePosition.getBestPositionEvent(null, evt1, null)).equals(evt1);
+        expect(AbsolutePosition.getBestPositionEvent(null, evt2, evt4)).equals(evt4);
+        expect(AbsolutePosition.getBestPositionEvent(null)).equals(null);
+        expect(AbsolutePosition.getBestPositionEvent(null, null)).equals(null);
+        expect(AbsolutePosition.getBestPositionEvent()).equals(null);
+    });
+
+});

package/src/providers/vision/vps/ImageRelocalization.js

@@ -1,5 +1,6 @@
 import { CameraUtils } from '@wemap/camera';
 import { Attitude, Coordinates, UserPosition } from '@wemap/geo';
+import Logger from '@wemap/logger';
 import { TimeUtils, UserAgentUtils } from '@wemap/utils';
 
 import VpsRequest from './VpsRequest.js';
@@ -48,25 +49,31 @@ class ImageRelocalization {
         // 2. Send the request
         let serverResponse;
         try {
+            const body = JSON.stringify(vpsRequest.toJson());
+            Logger.debug(`[VPS] Request (${(body.length / 1024).toFixed(0)} kB) sent to server ${endpointUrl}`);
             serverResponse = await fetch(endpointUrl, {
                 method: 'POST',
-                body: JSON.stringify(vpsRequest.toJson()),
+                body,
                 headers: Object.assign(
                     { 'Content-Type': 'application/json', 'Accept': 'application/json' },
                     customHeaders ? customHeaders : {}
                 )
             });
         } catch (e) {
+            Logger.debug('[VPS] Server respond error');
             return null;
         }
 
         if (serverResponse.status !== 200) {
+            Logger.debug('[VPS] Server respond error');
             return null;
         }
 
         // 3. Parse the response
         const json = await serverResponse.json();
-        return VpsResponse.fromJson(json, timeBeforeRequest);
+        const res = VpsResponse.fromJson(json, timeBeforeRequest);
+        Logger.debug(`[VPS] Server respond ${res.success ? 'success' : 'not found'}`);
+        return res;
     }
 
     static getHeadingFromQuaternion(quaternion) {

package/src/providers/vision/vps/Vps.js

@@ -11,9 +11,11 @@ import Inclination from '../../inclination/Inclination.js';
 import Provider from '../../Provider.js';
 import ProviderState from '../../ProviderState.js';
 import ImageRelocalization from './ImageRelocalization.js';
-import AbsolutePosition from '../../position/absolute/AbsolutePosition.js';
 import AbsoluteAttitude from '../../attitude/absolute/AbsoluteAttitude.js';
 import RelativeRotationCalc from './RelativeRotationCalc.js';
+import GnssWifi from '../../position/absolute/GnssWifi.js';
+import AbsolutePosition from '../../position/absolute/AbsolutePosition.js';
+import PoleStar from '../../position/absolute/PoleStar.js';
 
 class Vps extends Provider {
 
@@ -179,20 +181,26 @@ class Vps extends Provider {
             }
 
             // 3. Get current image from camera and relocalize it.
+
+            // 3.a. Get current image and time it.
             this._relativeRotationCalc.tickStart();
             const image = await this._camera.currentImage;
+
+            // 3.b. Retrieve coarse position if necessary.
             let coarsePose = null;
-            if (this._useCoarsePose && (AbsolutePosition.lastEvent || AbsoluteAttitude.lastEvent)) {
+            const bestCoarsePosition = AbsolutePosition.getBestPositionEvent(GnssWifi.lastEvent, PoleStar.lastEvent);
+            if (this._useCoarsePose && (bestCoarsePosition || AbsoluteAttitude.lastEvent)) {
                 coarsePose = {};
-                if (AbsolutePosition.lastEvent) {
-                    coarsePose.position = AbsolutePosition.lastEvent.data;
+                if (bestCoarsePosition) {
+                    coarsePose.position = bestCoarsePosition.data;
                 }
                 if (AbsoluteAttitude.lastEvent) {
                     coarsePose.attitude = AbsoluteAttitude.lastEvent.data;
                 }
             }
-            const res = await ImageRelocalization.relocalize(this._endpoint, image, null, coarsePose);
 
+            // 3.c. Send image and metadata.
+            const res = await ImageRelocalization.relocalize(this._endpoint, image, null, coarsePose);
             if (!res || !res.success) {
                 continue;
             }