1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196

use crate::f1_2020::car::TOTAL_CARS;
use crate::f1_2020::header::PacketHeader;
use async_std::io::{Cursor, Error, ErrorKind};
use byteorder_async::{LittleEndian, ReaderToByteOrder};

use derivative::Derivative;

const MOTION_MIN_SIZE: usize = 1464;

#[derive(Debug, PartialEq, PartialOrd, Clone)]
pub struct CarMotionData {
    pub world_position_x: f32,
    pub world_position_y: f32,
    pub world_position_z: f32,
    pub world_velocity_x: f32,
    pub world_velocity_y: f32,
    pub world_velocity_z: f32,
    pub world_forward_dir_x: i16,
    pub world_forward_dir_y: i16,
    pub world_forward_dir_z: i16,
    pub world_right_dir_x: i16,
    pub world_right_dir_y: i16,
    pub world_right_dir_z: i16,
    pub g_force_lateral: f32,
    pub g_force_longitudinal: f32,
    pub g_force_vertical: f32,
    pub yaw: f32,
    pub pitch: f32,
    pub roll: f32,
}

#[derive(Debug, PartialEq, Clone, Derivative)]
#[derivative(Eq)]
pub struct PacketMotionData {
    pub header: PacketHeader,
    pub motion_data: Vec<CarMotionData>,
    pub suspension_position: Wheel<f32>,
    pub suspension_velocity: Wheel<f32>,
    pub suspension_acceleration: Wheel<f32>,
    pub wheel_speed: Wheel<f32>,
    pub wheel_slip: Wheel<f32>,
    pub local_velocity_x: f32,
    pub local_velocity_y: f32,
    pub local_velocity_z: f32,
    pub angular_velocity_x: f32,
    pub angular_velocity_y: f32,
    pub angular_velocity_z: f32,
    pub angular_acceleration_x: f32,
    pub angular_acceleration_y: f32,
    pub angular_acceleration_z: f32,
    pub front_wheels_angle: f32,
}

#[derive(Debug, PartialEq, PartialOrd, Clone)]
pub struct Wheel<T>
where
    T: Copy + Clone,
{
    pub rear_left: T,
    pub rear_right: T,
    pub front_left: T,
    pub front_right: T,
}

pub async fn parse_motion_data(
    cursor: &mut Cursor<Vec<u8>>,
    header: PacketHeader,
    size: usize,
) -> Result<PacketMotionData, Error> {
    ensure_motion_size(size)?;

    let mut car_motion_data = Vec::with_capacity(TOTAL_CARS);
    for _ in 0..TOTAL_CARS {
        let car_motion = parse_car_motion(cursor).await?;
        car_motion_data.push(car_motion);
    }

    let suspension_position = Wheel {
        rear_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        rear_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
    };

    let suspension_velocity = Wheel {
        rear_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        rear_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
    };

    let suspension_acceleration = Wheel {
        rear_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        rear_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
    };

    let wheel_speed = Wheel {
        rear_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        rear_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
    };

    let wheel_slip = Wheel {
        rear_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        rear_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_left: cursor.byte_order().read_f32::<LittleEndian>().await?,
        front_right: cursor.byte_order().read_f32::<LittleEndian>().await?,
    };

    let local_velocity_x = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let local_velocity_y = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let local_velocity_z = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let angular_velocity_x = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let angular_velocity_y = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let angular_velocity_z = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let angular_acceleration_x = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let angular_acceleration_y = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let angular_acceleration_z = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let front_wheels_angle = cursor.byte_order().read_f32::<LittleEndian>().await?;

    Ok(PacketMotionData {
        header,
        motion_data: car_motion_data,
        suspension_position,
        suspension_velocity,
        suspension_acceleration,
        wheel_speed,
        wheel_slip,
        local_velocity_x,
        local_velocity_y,
        local_velocity_z,
        angular_velocity_x,
        angular_velocity_y,
        angular_velocity_z,
        angular_acceleration_x,
        angular_acceleration_y,
        angular_acceleration_z,
        front_wheels_angle,
    })
}

async fn parse_car_motion(cursor: &mut Cursor<Vec<u8>>) -> Result<CarMotionData, Error> {
    let world_position_x = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let world_position_y = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let world_position_z = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let world_velocity_x = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let world_velocity_y = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let world_velocity_z = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let world_forward_dir_x = cursor.byte_order().read_i16::<LittleEndian>().await?;
    let world_forward_dir_y = cursor.byte_order().read_i16::<LittleEndian>().await?;
    let world_forward_dir_z = cursor.byte_order().read_i16::<LittleEndian>().await?;
    let world_right_dir_x = cursor.byte_order().read_i16::<LittleEndian>().await?;
    let world_right_dir_y = cursor.byte_order().read_i16::<LittleEndian>().await?;
    let world_right_dir_z = cursor.byte_order().read_i16::<LittleEndian>().await?;
    let g_force_lateral = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let g_force_longitudinal = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let g_force_vertical = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let yaw = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let pitch = cursor.byte_order().read_f32::<LittleEndian>().await?;
    let roll = cursor.byte_order().read_f32::<LittleEndian>().await?;

    Ok(CarMotionData {
        world_position_x,
        world_position_y,
        world_position_z,
        world_velocity_x,
        world_velocity_y,
        world_velocity_z,
        world_forward_dir_x,
        world_forward_dir_y,
        world_forward_dir_z,
        world_right_dir_x,
        world_right_dir_y,
        world_right_dir_z,
        g_force_lateral,
        g_force_longitudinal,
        g_force_vertical,
        yaw,
        pitch,
        roll,
    })
}

fn ensure_motion_size(size: usize) -> Result<(), Error> {
    if size < MOTION_MIN_SIZE {
        return Err(Error::new(
            ErrorKind::InvalidData,
            "Motion size is too small",
        ));
    }

    return Ok(());
}