update AI initializing

rework AIAvailabilityStatus events to mediatr
2026-04-22 13:06:31 +00:00 · 2025-09-01 20:12:13 +03:00
parent d1ce9d9365
commit 067f02cc63
23 changed files with 282 additions and 192 deletions
@@ -0,0 +1,113 @@
+using System.IO;
+using Azaion.Common.DTO;
+using Azaion.Common.DTO.Config;
+using Azaion.Common.Extensions;
+using MediatR;
+using Microsoft.Extensions.Options;
+
+namespace Azaion.Common.Services;
+
+public interface IGpsMatcherService
+{
+    Task RunGpsMatching(string userRouteDir, GeoPoint geoPoint, CancellationToken detectToken = default);
+    void StopGpsMatching();
+    Task SetGpsResult(GPSMatcherResultEvent result, CancellationToken detectToken = default);
+    Task FinishGPS(GPSMatcherFinishedEvent notification, CancellationToken cancellationToken);
+}
+
+public class GpsMatcherService(IGpsMatcherClient gpsMatcherClient,
+    ISatelliteDownloader satelliteTileDownloader,
+    IOptions<DirectoriesConfig> dirConfig,
+    IOptions<GpsDeniedConfig> gpsDeniedConfig,
+    IMediator mediator) : IGpsMatcherService
+{
+    private readonly DirectoriesConfig _dirConfig = dirConfig.Value;
+    private const int ZOOM_LEVEL = 18;
+    private const int POINTS_COUNT = 10;
+    private const int DISTANCE_BETWEEN_POINTS_M = 140;
+    private const double SATELLITE_RADIUS_M = DISTANCE_BETWEEN_POINTS_M * (POINTS_COUNT + 1);
+    private const int MAX_AVG_POINTS = 2;
+
+    private string _routeDir = "";
+    private string _userRouteDir = "";
+    private List<string> _allRouteImages = new();
+    private Dictionary<string, int> _currentRouteImages = new();
+    private GeoPoint _lastGeoPoint = new();
+    private CancellationToken _detectToken;
+    private int _currentIndex;
+    private readonly Queue<Direction> _directions = new();
+
+
+    public async Task RunGpsMatching(string userRouteDir, GeoPoint initGeoPoint, CancellationToken detectToken = default)
+    {
+        _routeDir = Path.Combine(Constants.EXTERNAL_GPS_DENIED_FOLDER, _dirConfig.GpsRouteDirectory);
+        _userRouteDir = userRouteDir;
+
+        _allRouteImages = Directory.GetFiles(userRouteDir)
+            .OrderBy(x => x).ToList();
+        _lastGeoPoint = initGeoPoint;
+        _detectToken = detectToken;
+        await StartMatchingRound(0);
+    }
+
+    private async Task StartMatchingRound(int startIndex)
+    {
+        //empty route dir
+        if (Directory.Exists(_routeDir))
+            Directory.Delete(_routeDir, true);
+        Directory.CreateDirectory(_routeDir);
+
+        _currentRouteImages = _allRouteImages
+            .Skip(startIndex)
+            .Take(POINTS_COUNT)
+            .Select((fullName, index) =>
+            {
+                var filename = Path.GetFileName(fullName);
+                File.Copy(Path.Combine(_userRouteDir, filename), Path.Combine(_routeDir, filename));
+                return new { Filename = Path.GetFileNameWithoutExtension(fullName), Index = startIndex + index };
+            })
+            .ToDictionary(x => x.Filename, x => x.Index);
+
+        await satelliteTileDownloader.GetTiles(_lastGeoPoint, SATELLITE_RADIUS_M, ZOOM_LEVEL, _detectToken);
+        await gpsMatcherClient.StartMatching(new StartMatchingEvent
+        {
+            ImagesCount = POINTS_COUNT,
+            GeoPoint = _lastGeoPoint,
+            SatelliteImagesDir = _dirConfig.GpsSatDirectory,
+            RouteDir = _dirConfig.GpsRouteDirectory
+        });
+    }
+
+    public void StopGpsMatching()
+    {
+        gpsMatcherClient.Stop();
+    }
+
+    public async Task SetGpsResult(GPSMatcherResultEvent result, CancellationToken detectToken = default)
+    {
+        _currentIndex = _currentRouteImages[result.Image];
+        _currentRouteImages.Remove(result.Image);
+
+        if (result.KeyPoints >= gpsDeniedConfig.Value.MinKeyPoints)
+        {
+            var direction = _lastGeoPoint.DirectionTo(result.GeoPoint);
+            _directions.Enqueue(direction);
+            if (_directions.Count > MAX_AVG_POINTS)
+                _directions.Dequeue();
+            _lastGeoPoint = result.GeoPoint;
+        }
+        else
+        {
+            var direction = new Direction(_directions.Average(x => x.Distance), _directions.Average(x => x.Azimuth));
+            _lastGeoPoint = _lastGeoPoint.GoDirection(direction);
+        }
+        await mediator.Publish(new GPSMatcherResultProcessedEvent(result, _lastGeoPoint), detectToken);
+    }
+
+    public async Task FinishGPS(GPSMatcherFinishedEvent notification, CancellationToken cancellationToken)
+    {
+        if (_currentRouteImages.Count == 0 && _currentIndex < _allRouteImages.Count)
+            await StartMatchingRound(_currentIndex);
+    }
+}
+