ARPlusSystem/ARPlusSystem-250418/Assets/Scripts/ARPlus/RTKLocationProvider.cs

using ARLocation;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;



public class RTKLocationProvider : AbstractLocationProvider
{

    private float androidMagneticDeclination;
    private AndroidNativeCompass androidNativeCompass;
    public override string Name => "RTKLocationProvider";

    public override bool IsCompassEnabled => Input.compass.enabled;

    private long CurrentTimeMillis()
    {
        long currenttimemillis = (long)(DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc)).TotalMilliseconds;
        return currenttimemillis;
    }

    protected override void RequestLocationAndCompassUpdates()
    {
        // Debug.Log("[UnityLocationProvider]: Requesting location updates...");
        Input.compass.enabled = true;

        //Input.location.Start(
        //    (float)Options.AccuracyRadius,
        //    (float)Options.MinDistanceBetweenUpdates
        //);
        //modified by thuang
        if (RTKDev.GetConnectState() == 0)
            RTKDev.Connect();

    }


    protected override void InnerOnEnabled()
    {
        androidMagneticDeclination = AndroidMagneticDeclination.GetDeclination(CurrentLocation.ToLocation());
        androidNativeCompass = new AndroidNativeCompass((float)(1.0 - LowPassFilterFactor));
    }


    //private static final int STATE_NONE = 0;
    //private static final int STATE_CONNECTING = 1;
    //private static final int STATE_CONNECTED = 2;
    protected override void UpdateLocationRequestStatus()
    {
        switch (RTKDev.GetConnectState())
        {
            case 0:
                Status = LocationProviderStatus.Idle;
                break;
            case 1:
                Status = LocationProviderStatus.Initializing;
                break;
            case 2:
                Status = LocationProviderStatus.Started;
                break;

            default:
                Status = LocationProviderStatus.Failed;
                break;
        }
    }




    protected override LocationReading? ReadLocation()
    {
        if (!HasStarted)
        {
            return null;
        }

        double[] data = RTKDev.GetLatLongAlt();

        return new LocationReading()
        {
            latitude = data[0],
            longitude = data[1],
            altitude = data[2],
            accuracy = 0.05,
            floor = -1,
            timestamp = CurrentTimeMillis()
        };
    }



    protected override HeadingReading? ReadHeading()
    {
        if (!HasStarted)
        {
            return null;
        }

        // ReSharper disable once RedundantAssignment
        var magneticHeading = Input.compass.magneticHeading;

        // ReSharper disable once RedundantAssignment
        var trueHeading = Input.compass.trueHeading;

#if PLATFORM_ANDROID
        var tiltCorrectedMagneticHeading = GetMagneticHeading();
        magneticHeading = tiltCorrectedMagneticHeading;
        trueHeading = tiltCorrectedMagneticHeading + androidMagneticDeclination;
#endif

        if (trueHeading < 0)
        {
            trueHeading += 360;
        }

        return new HeadingReading()
        {
            heading = trueHeading,
            magneticHeading = magneticHeading,
            accuracy = Input.compass.headingAccuracy,
            timestamp = (long)(Input.compass.timestamp * 1000),
            isMagneticHeadingAvailable = Input.compass.enabled
        };
    }

    private float GetMagneticHeading()
    {
#if PLATFORM_ANDROID
        if (!SystemInfo.supportsGyroscope || !ApplyCompassTiltCompensationOnAndroid || androidNativeCompass == null)
        {
            return Input.compass.magneticHeading;
        }

        return androidNativeCompass.GetMagneticHeading();

        //            if (Screen.orientation == ScreenOrientation.Landscape)
        //            {
        //                return heading;// + 45;
        //            }
        //            else
        //            {
        //                return heading;
        //            }

#else
            return Input.compass.magneticHeading;
#endif
    }





}