Utm test

.github/workflows/skyeye.yaml

@@ -125,6 +125,7 @@ jobs:
           install: |
             base-devel
             git
+            mingw-w64-ucrt-x86_64-cmake
             mingw-w64-ucrt-x86_64-gcc
             mingw-w64-ucrt-x86_64-toolchain
             mingw-w64-ucrt-x86_64-opus

.gitignore

@@ -96,3 +96,8 @@ dev/
 .vscode/settings.json
 
 *.zip
+
+# PROJ build artifacts (downloaded source, build, and install trees)
+third_party/proj-*/
+third_party/proj-install/
+third_party/proj-*.tar.gz

.vscode/launch.json

@@ -0,0 +1,10 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+
+
+    ]
+}

Dockerfile

@@ -5,7 +5,9 @@ RUN apt-get update && apt-get install -y \
     make \
     lsb-release \
     gcc \
+    pkg-config \
     libopus-dev \
+    libproj-dev \
     libsoxr-dev \
     && rm -rf /var/lib/apt/lists/*
 WORKDIR /skyeye
@@ -18,13 +20,15 @@ RUN go mod download -x
 COPY cmd cmd
 COPY internal internal
 COPY pkg pkg
+ENV PKG_CONFIG_PATH=/usr/lib/x86_64-linux-gnu/pkgconfig
 RUN make skyeye
 RUN make skyeye-scaler
 
 FROM debian:bookworm-slim AS base
 RUN apt-get update && apt-get install -y \
     ca-certificates \
     libopus0 \
+    libproj25 \
     libsoxr0 \
     && rm -rf /var/lib/apt/lists/*
 

Makefile

@@ -30,6 +30,16 @@ WHISPER_CPP_REPO = https://github.com/dharmab/whisper.cpp.git
 WHISPER_CPP_VERSION = v1.7.2-windows-fix
 WHISPER_CPP_BUILD_ENV =
 
+# PROJ (built from source for static linking on Windows)
+PROJ_VERSION = 9.4.1
+PROJ_TARBALL = third_party/proj-$(PROJ_VERSION).tar.gz
+PROJ_SRC_DIR = third_party/proj-$(PROJ_VERSION)
+PROJ_PREFIX = $(abspath third_party/proj-install)
+PROJ_LIB = $(PROJ_PREFIX)/lib/libproj.a
+PROJ_PC_PATH = $(PROJ_PREFIX)/lib/pkgconfig
+PROJ_DEP =
+PROJ_CMAKE_FLAGS =
+
 # Compiler variables and flags
 GOBUILDVARS = GOARCH=$(GOARCH)
 ABS_WHISPER_CPP_PATH = $(abspath $(WHISPER_CPP_PATH))
@@ -63,11 +73,15 @@ SKYEYE_SCALER_BIN = skyeye-scaler.exe
 GO = /ucrt64/bin/go
 GOBUILDVARS += GOROOT="/ucrt64/lib/go" GOPATH="/ucrt64"
 # Static linking on Windows to avoid MSYS2 dependency at runtime
-LIBRARIES = opus soxr
-CFLAGS = $(shell pkg-config $(LIBRARIES) --cflags --static)
-BUILD_VARS += CFLAGS='$(CFLAGS)'
-EXTLDFLAGS = $(shell pkg-config $(LIBRARIES) --libs --static)
+LIBRARIES = opus soxr proj
+PKG_CONFIG_ENV = PKG_CONFIG_PATH="$(PROJ_PC_PATH):$${PKG_CONFIG_PATH}"
+CFLAGS = $(shell $(PKG_CONFIG_ENV) pkg-config $(LIBRARIES) --cflags --static)
+BUILD_VARS += CFLAGS='$(CFLAGS)' PKG_CONFIG_PATH="$(PROJ_PC_PATH):$${PKG_CONFIG_PATH}"
+EXTLDFLAGS = $(shell $(PKG_CONFIG_ENV) pkg-config $(LIBRARIES) --libs --static)
 LDFLAGS += -linkmode external -extldflags "$(EXTLDFLAGS) -static"
+PROJ_DEP = $(PROJ_LIB)
+# MinGW builds of PROJ 9.4.1 miss <cstdint> in filemanager.cpp; force-include to fix.
+PROJ_CMAKE_FLAGS += -DCMAKE_CXX_FLAGS="-include cstdint"
 endif
 
 BUILD_VARS += LDFLAGS='$(LDFLAGS)'
@@ -84,6 +98,8 @@ install-msys2-dependencies:
 	  base-devel \
 	  $(MINGW_PACKAGE_PREFIX)-toolchain \
 	  $(MINGW_PACKAGE_PREFIX)-go \
+	  $(MINGW_PACKAGE_PREFIX)-cmake \
+	  $(MINGW_PACKAGE_PREFIX)-sqlite3 \
 	  $(MINGW_PACKAGE_PREFIX)-opus \
 	  $(MINGW_PACKAGE_PREFIX)-libsoxr
 
@@ -93,6 +109,7 @@ install-arch-linux-dependencies:
 	  git \
 	  base-devel \
 	  go \
+	  proj \
 	  opus \
 	  libsoxr
 
@@ -103,6 +120,7 @@ install-debian-dependencies:
 	  git \
 	  build-essential \
 	  golang-go \
+	  libproj-dev \
 	  libopus-dev \
 	  libopus0 \
 	  libsoxr-dev \
@@ -115,6 +133,7 @@ install-fedora-dependencies:
 	  development-tools \
 	  c-development \
 	  golang \
+	  proj-devel \
 	  opus-devel \
 	  opus \
 	  soxr-devel \
@@ -128,6 +147,7 @@ install-macos-dependencies:
 	  llvm \
 	  pkg-config \
 	  go \
+	  proj \
 	  libsoxr \
 	  opus
 
@@ -139,17 +159,47 @@ $(LIBWHISPER_PATH) $(WHISPER_H_PATH):
 	if [ ! -f $(LIBWHISPER_PATH) -o ! -f $(WHISPER_H_PATH) ]; then git -C "$(WHISPER_CPP_PATH)" checkout --quiet $(WHISPER_CPP_VERSION) || git clone --depth 1 --branch $(WHISPER_CPP_VERSION) -c advice.detachedHead=false "$(WHISPER_CPP_REPO)" "$(WHISPER_CPP_PATH)" && $(WHISPER_CPP_BUILD_ENV) make -C $(WHISPER_CPP_PATH)/bindings/go whisper; fi
 	if [ -f third_party/whisper.cpp/whisper.a ] && [ ! -f $(LIBWHISPER_PATH) ]; then cp third_party/whisper.cpp/whisper.a $(LIBWHISPER_PATH); fi
 
+.PHONY: proj
+proj: $(PROJ_LIB)
+
+$(PROJ_TARBALL):
+	curl -L -o $(PROJ_TARBALL) https://download.osgeo.org/proj/proj-$(PROJ_VERSION).tar.gz
+
+$(PROJ_LIB): $(PROJ_TARBALL)
+	rm -rf "$(PROJ_SRC_DIR)" "$(PROJ_PREFIX)"
+	tar -xzf "$(PROJ_TARBALL)" -C third_party
+	cmake -S "$(PROJ_SRC_DIR)" -B "$(PROJ_SRC_DIR)/build" \
+	  -DCMAKE_BUILD_TYPE=Release \
+	  -DCMAKE_INSTALL_PREFIX="$(PROJ_PREFIX)" \
+	  -DBUILD_SHARED_LIBS=OFF \
+	  -DBUILD_APPS=OFF \
+	  -DBUILD_PROJSYNC=OFF \
+	  -DBUILD_CS2CS=OFF \
+	  -DBUILD_GIE=OFF \
+	  -DBUILD_GEOD=OFF \
+	  -DBUILD_PROJ=OFF \
+	  -DBUILD_PROJINFO=OFF \
+	  -DBUILD_CCT=OFF \
+	  -DENABLE_CURL=OFF \
+	  -DENABLE_TIFF=OFF \
+	  -DENABLE_PROJSYNC=OFF \
+	  -DENABLE_CCT=OFF \
+	  -DBUILD_TESTING=OFF \
+	  -DBUILD_EXAMPLES=OFF \
+	  $(PROJ_CMAKE_FLAGS)
+	cmake --build "$(PROJ_SRC_DIR)/build" --target install --config Release
+
 .PHONY: whisper
 whisper: $(LIBWHISPER_PATH) $(WHISPER_H_PATH)
 
 .PHONY: generate
-generate:
+generate: $(PROJ_DEP)
 	$(BUILD_VARS) $(GO) generate $(BUILD_FLAGS) ./...
 
-$(SKYEYE_BIN): generate $(SKYEYE_SOURCES) $(LIBWHISPER_PATH) $(WHISPER_H_PATH)
+$(SKYEYE_BIN): generate $(SKYEYE_SOURCES) $(LIBWHISPER_PATH) $(WHISPER_H_PATH) $(PROJ_DEP)
 	$(BUILD_VARS) $(GO) build $(BUILD_FLAGS) ./cmd/skyeye/
 
-$(SKYEYE_SCALER_BIN): generate $(SKYEYE_SOURCES)
+$(SKYEYE_SCALER_BIN): generate $(SKYEYE_SOURCES) $(PROJ_DEP)
 	$(BUILD_VARS) $(GO) build $(BUILD_FLAGS) ./cmd/skyeye-scaler/
 
 .PHONY: run
@@ -187,4 +237,4 @@ mostlyclean:
 
 .PHONY: clean
 clean: mostlyclean
-	rm -rf "$(WHISPER_CPP_PATH)"
+	rm -rf "$(WHISPER_CPP_PATH)" "$(PROJ_SRC_DIR)" "$(PROJ_PREFIX)" "$(PROJ_TARBALL)"

go.mod

@@ -18,6 +18,7 @@ require (
 	github.com/jba/omap v0.1.0
 	github.com/lithammer/shortuuid/v3 v3.0.7
 	github.com/martinlindhe/unit v0.0.0-20230420213220-4adfd7d0a0d6
+	github.com/michiho/go-proj/v10 v10.5.11
 	github.com/nabbl/piper v0.0.0-20240819160100-e51f2288a5c0
 	github.com/openai/openai-go v0.1.0-alpha.41
 	github.com/pasztorpisti/go-crc v1.0.0

go.sum

@@ -494,6 +494,8 @@ github.com/matttproud/golang_protobuf_extensions v1.0.1 h1:4hp9jkHxhMHkqkrB3Ix0j
 github.com/matttproud/golang_protobuf_extensions v1.0.1/go.mod h1:D8He9yQNgCq6Z5Ld7szi9bcBfOoFv/3dc6xSMkL2PC0=
 github.com/mgechev/revive v1.13.0 h1:yFbEVliCVKRXY8UgwEO7EOYNopvjb1BFbmYqm9hZjBM=
 github.com/mgechev/revive v1.13.0/go.mod h1:efJfeBVCX2JUumNQ7dtOLDja+QKj9mYGgEZA7rt5u+0=
+github.com/michiho/go-proj/v10 v10.5.11 h1:CDZYhc19W730k8L1x9ColP0wrjfQ1JV9hpYfC3FFqzY=
+github.com/michiho/go-proj/v10 v10.5.11/go.mod h1:eYkLt9XqKpy/r/Y3hGo+rLk6UXA9vNZ6n7vxnuVRIUE=
 github.com/mitchellh/go-homedir v1.1.0 h1:lukF9ziXFxDFPkA1vsr5zpc1XuPDn/wFntq5mG+4E0Y=
 github.com/mitchellh/go-homedir v1.1.0/go.mod h1:SfyaCUpYCn1Vlf4IUYiD9fPX4A5wJrkLzIz1N1q0pr0=
 github.com/mitchellh/mapstructure v1.5.0 h1:jeMsZIYE/09sWLaz43PL7Gy6RuMjD2eJVyuac5Z2hdY=

internal/application/app.go

@@ -23,6 +23,7 @@ import (
 	"github.com/dharmab/skyeye/pkg/sim"
 	"github.com/dharmab/skyeye/pkg/simpleradio"
 	srs "github.com/dharmab/skyeye/pkg/simpleradio/types"
+	"github.com/dharmab/skyeye/pkg/spatial"
 	"github.com/dharmab/skyeye/pkg/synthesizer/speakers"
 	"github.com/dharmab/skyeye/pkg/telemetry"
 	"github.com/dharmab/skyeye/pkg/traces"
@@ -385,6 +386,9 @@ func (a *Application) updateBullseyes() {
 			log.Warn().Err(err).Msg("error reading bullseye")
 		} else {
 			a.radar.SetBullseye(bullseye, coalition)
+			if name, changed := spatial.DetectTerrainFromBullseye(coalition.String(), bullseye); changed {
+				log.Debug().Str("terrain", name).Msg("terrain detected from bullseyes")
+			}
 		}
 	}
 }

pkg/bearings/true.go

@@ -13,7 +13,7 @@ type True struct {
 
 var _ Bearing = True{}
 
-// NewTrueBearing creates a new bearing from the given value.
+// NewTrueBearing creates a new bearing from the given value, relative to true north.
 func NewTrueBearing(value unit.Angle) True {
 	return True{θ: normalize(value)}
 }

pkg/controller/controller.go

@@ -86,6 +86,7 @@ func New(
 	threatMonitoringCooldown time.Duration,
 	threatMonitoringRequiresSRS bool,
 ) *Controller {
+	//log.Debug().Msgf("enableAutomaticPicture is %v", enableAutomaticPicture)
 	return &Controller{
 		coalition:                   coalition,
 		scope:                       rdr,

pkg/radar/group.go

@@ -52,6 +52,7 @@ func (g *group) Bullseye() *brevity.Bullseye {
 	}
 
 	declination, err := bearings.Declination(*g.bullseye, g.missionTime())
+
 	if err != nil {
 		log.Error().Err(err).Stringer("group", g).Msg("failed to get declination for group")
 	}

pkg/radar/nearest.go

@@ -74,8 +74,8 @@ func (r *Radar) FindNearestGroupWithBRAA(
 	if grp == nil {
 		return nil
 	}
-
-	declination := r.Declination(origin)
+	log.Debug().Any("target latlong", grp).Msgf("target latlong lat %f lon %f", grp.point().Lat(), grp.point().Lon())
+	declination := r.Declination(trackfile.LastKnown().Point)
 	bearing := spatial.TrueBearing(origin, grp.point()).Magnetic(declination)
 	_range := spatial.Distance(origin, grp.point())
 	aspect := brevity.AspectFromAngle(bearing, trackfile.Course())

pkg/radar/nearest_test.go

@@ -0,0 +1,110 @@
+package radar
+
+import (
+	"context"
+	"sync"
+	"testing"
+	"time"
+
+	"github.com/dharmab/skyeye/pkg/coalitions"
+	"github.com/dharmab/skyeye/pkg/sim"
+	"github.com/dharmab/skyeye/pkg/trackfiles"
+	"github.com/martinlindhe/unit"
+	"github.com/paulmach/orb"
+	"github.com/stretchr/testify/assert"
+)
+
+func TestNearest(t *testing.T) {
+	t.Parallel()
+	testCases := []struct {
+		name       string
+		origin     orb.Point
+		pointA     orb.Point
+		pointB     orb.Point
+		expectedID uint64
+	}{
+		{
+			name:       "finds nearest Red aircraft to origin",
+			origin:     orb.Point{33.405794, 69.047461},
+			pointA:     orb.Point{33.405794, 69.047461},
+			pointB:     orb.Point{24.973478, 70.068836},
+			expectedID: 2,
+		},
+	}
+
+	for _, test := range testCases {
+		t.Run(test.name, func(t *testing.T) {
+			t.Parallel()
+			starts := make(chan sim.Started, 10)
+			updates := make(chan sim.Updated, 10)
+			fades := make(chan sim.Faded, 10)
+			rdr := New(coalitions.Blue, starts, updates, fades, 20*unit.NauticalMile)
+			rdr.SetMissionTime(time.Date(1999, 06, 11, 12, 0, 0, 0, time.UTC))
+			rdr.SetBullseye(orb.Point{22.867128, 69.047461}, coalitions.Blue)
+
+			// Start the radar to process updates
+			ctx, cancel := context.WithCancel(context.Background())
+			wg := &sync.WaitGroup{}
+			go rdr.Run(ctx, wg)
+
+			// Add trackfiles to radar via updates channel
+			updates <- sim.Updated{
+				Labels: trackfiles.Labels{
+					ID:        1,
+					ACMIName:  "F-15C",
+					Name:      "Eagle 1",
+					Coalition: coalitions.Blue,
+				},
+				Frame: trackfiles.Frame{
+					Time:     time.Date(1999, 06, 11, 12, 0, 0, 0, time.UTC),
+					Point:    test.pointA,
+					Altitude: 30000 * unit.Foot,
+					AGL: func() *unit.Length {
+						agl := 30000 * unit.Foot
+						return &agl
+					}(),
+					Heading: 90 * unit.Degree,
+				},
+			}
+			updates <- sim.Updated{
+				Labels: trackfiles.Labels{
+					ID:        2,
+					ACMIName:  "F-15C",
+					Name:      "Eagle 2",
+					Coalition: coalitions.Red,
+				},
+				Frame: trackfiles.Frame{
+					Time:     time.Date(1999, 06, 11, 12, 0, 0, 0, time.UTC),
+					Point:    test.pointB,
+					Altitude: 30000 * unit.Foot,
+					AGL: func() *unit.Length {
+						agl := 30000 * unit.Foot
+						return &agl
+					}(),
+					Heading: 90 * unit.Degree,
+				},
+			}
+
+			// Wait for updates to be processed
+			time.Sleep(100 * time.Millisecond)
+
+			group := rdr.FindNearestGroupWithBRAA(
+				test.origin,
+				0*unit.NauticalMile,
+				100000*unit.Foot,
+				300*unit.NauticalMile,
+				coalitions.Red,
+				0,
+			)
+
+			assert.NotNil(t, group)
+			if group != nil {
+				ids := group.ObjectIDs()
+				assert.Contains(t, ids, test.expectedID)
+			}
+
+			// Clean up
+			cancel()
+		})
+	}
+}

pkg/radar/picture.go

@@ -23,6 +23,7 @@ func (r *Radar) Picture(radius unit.Length, coalition coalitions.Coalition, filt
 	if spatial.IsZero(origin) {
 		log.Warn().Msg("center point is not set yet, using bullseye")
 		origin = r.Bullseye(coalition)
+		log.Debug().Any("origin", origin).Msgf("using bullseye point for picture, lat %f, lon %f", origin.Lat(), origin.Lon())
 		if spatial.IsZero(origin) {
 			log.Warn().Msg("bullseye point is not yet set, picture will be incoherent")
 		}