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Fix fence evaluation for polygon regions and derived scopes #54

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Merged
jillesvangurp merged 1 commit into from
Jun 9, 2026
Merged

Fix fence evaluation for polygon regions and derived scopes #54

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31 changes: 16 additions & 15 deletions internal/hub/metadata_cache.go
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Original file line number Diff line number Diff line change
Expand Up @@ -698,22 +698,23 @@ func fenceMatchesFloor(fence gen.Fence, location gen.Location) bool {

func fenceBoundingRect(fence gen.Fence) (rtreego.Rect, bool) {
if p, err := fence.Region.AsPoint(); err == nil {
center, err := point2D(p)
if err != nil {
return rtreego.Rect{}, false
}
radius := 0.0
if fence.Radius != nil {
radius = float64(*fence.Radius)
}
rect, err := rtreego.NewRect(
rtreego.Point{center[0] - radius, center[1] - radius},
[]float64{radius * 2, radius * 2},
)
if err != nil {
return rtreego.Rect{}, false
if p.Type == "Point" {
center, err := point2D(p)
if err == nil {
radius := 0.0
if fence.Radius != nil {
radius = float64(*fence.Radius)
}
rect, err := rtreego.NewRect(
rtreego.Point{center[0] - radius, center[1] - radius},
[]float64{radius * 2, radius * 2},
)
if err != nil {
return rtreego.Rect{}, false
}
return rect, true
}
}
return rect, true
}
polygon, err := fence.Region.AsPolygon()
if err != nil || len(polygon.Coordinates) == 0 || len(polygon.Coordinates[0]) == 0 {
Expand Down
140 changes: 140 additions & 0 deletions internal/hub/metadata_cache_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,146 @@ func TestMetadataCacheFenceCandidatesMatchLocationFloor(t *testing.T) {
}
}

func TestMetadataCacheFenceCandidatesMatchWGS84PolygonFence(t *testing.T) {
t.Parallel()

fenceID, err := uuid.Parse("019eab42-3d91-7b8a-8b64-1ca8e2c6055d")
if err != nil {
t.Fatalf("parse fence id failed: %v", err)
}
fence := productionAreaFenceFixture(t, fenceID)

cache, err := NewMetadataCache(context.Background(), fakeQueries{
listZonesFn: metadataZoneList(t),
listFencesFn: metadataFenceList(t, fence),
listTrackablesFn: metadataTrackableList(t),
listProvidersFn: metadataProviderList(t),
})
if err != nil {
t.Fatalf("NewMetadataCache failed: %v", err)
}

location := testLocationWithCoordinates(t, stringPtrValueRef("EPSG:4326"), "simulated-tag-1", [2]float32{8.90318, 52.01776})
scopeKey, ok, err := cache.current().locationFenceScopeKey(location)
if err != nil {
t.Fatalf("locationFenceScopeKey failed: %v", err)
}
if !ok {
t.Fatal("expected location fence scope key")
}
fenceKey, ok := fenceScopeKey(fence)
if !ok {
t.Fatal("expected fence scope key")
}
if scopeKey != fenceKey {
t.Fatalf("scope mismatch: location=%s fence=%s", scopeKey, fenceKey)
}
rect, ok := fenceBoundingRect(fence)
if !ok {
t.Fatal("expected fence bounding rect")
}
point, err := point2D(location.Position)
if err != nil {
t.Fatalf("point2D failed: %v", err)
}
minX := rect.PointCoord(0)
minY := rect.PointCoord(1)
maxX := minX + rect.LengthsCoord(0)
maxY := minY + rect.LengthsCoord(1)
if point[0] < minX || point[0] > maxX || point[1] < minY || point[1] > maxY {
t.Fatalf("point %v outside rect [%f,%f]-[%f,%f]", point, minX, minY, maxX, maxY)
}
candidates, err := cache.FenceCandidates(location)
if err != nil {
t.Fatalf("FenceCandidates failed: %v", err)
}
if len(candidates) != 1 || candidates[0].Id != fence.Id {
t.Fatalf("unexpected WGS84 polygon fence candidates: %+v", candidates)
}
}

func TestMetadataCacheFenceCandidatesSupportPointAndPolygonAcrossScopes(t *testing.T) {
t.Parallel()

zone := testZoneWithForeignID(t, uuid.New(), "uwb", "zone-a", [2]float32{0, 0}, nil, nil)
localCRS := "local"
wgsCRS := "EPSG:4326"

localPointFence := testPointFence(t, uuid.New(), [2]float32{5, 5}, 2)
localPointFence.Crs = &localCRS
localPointFence.ZoneId = stringPtrValueRef(zone.Id.String())

localPolygonFence := testPolygonFence(t, uuid.New(), [][2]float32{
{4, 4}, {6, 4}, {6, 6}, {4, 6}, {4, 4},
})
localPolygonFence.Crs = &localCRS
localPolygonFence.ZoneId = stringPtrValueRef(zone.Id.String())

wgsPointFence := testPointFence(t, uuid.New(), [2]float32{8.5411, 47.3744}, 0.0002)
wgsPointFence.Crs = &wgsCRS

wgsPolygonFence := testPolygonFence(t, uuid.New(), [][2]float32{
{8.5410, 47.3743}, {8.5412, 47.3743}, {8.5412, 47.3745}, {8.5410, 47.3745}, {8.5410, 47.3743},
})
wgsPolygonFence.Crs = &wgsCRS

cache, err := NewMetadataCache(context.Background(), fakeQueries{
listZonesFn: metadataZoneList(t, zone),
listFencesFn: metadataFenceList(t, localPointFence, localPolygonFence, wgsPointFence, wgsPolygonFence),
listTrackablesFn: metadataTrackableList(t),
listProvidersFn: metadataProviderList(t),
})
if err != nil {
t.Fatalf("NewMetadataCache failed: %v", err)
}

tests := []struct {
name string
location gen.Location
expectedID [16]byte
}{
{
name: "local point",
location: testLocationWithCoordinates(t, &localCRS, zone.Id.String(), [2]float32{5, 5}),
expectedID: localPointFence.Id,
},
{
name: "local polygon",
location: testLocationWithCoordinates(t, &localCRS, zone.Id.String(), [2]float32{5, 5}),
expectedID: localPolygonFence.Id,
},
{
name: "wgs point",
location: testLocationWithCoordinates(t, &wgsCRS, "provider-a", [2]float32{8.5411, 47.3744}),
expectedID: wgsPointFence.Id,
},
{
name: "wgs polygon",
location: testLocationWithCoordinates(t, &wgsCRS, "provider-a", [2]float32{8.5411, 47.3744}),
expectedID: wgsPolygonFence.Id,
},
}

for _, tc := range tests {
t.Run(tc.name, func(t *testing.T) {
candidates, err := cache.FenceCandidates(tc.location)
if err != nil {
t.Fatalf("FenceCandidates failed: %v", err)
}
found := false
for _, candidate := range candidates {
if candidate.Id == tc.expectedID {
found = true
break
}
}
if !found {
t.Fatalf("expected fence %s in candidates, got %+v", uuid.UUID(tc.expectedID).String(), candidates)
}
})
}
}

func TestMetadataCacheReconcileDiffsCreateUpdateDelete(t *testing.T) {
t.Parallel()

Expand Down
42 changes: 28 additions & 14 deletions internal/hub/service.go
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Original file line number Diff line number Diff line change
Expand Up @@ -1176,6 +1176,9 @@ func (s *Service) processDerivedLocation(ctx context.Context, location gen.Locat
case ScopeLocal:
wgs84Location, ok, err := view.WGS84(ctx)
if err == nil && ok {
if err := s.publishFenceEvents(ctx, *wgs84Location); err != nil {
return err
}
if emit {
if err := s.publishLocationScope(ctx, *wgs84Location, ScopeEPSG4326); err != nil {
return err
Expand Down Expand Up @@ -1212,13 +1215,23 @@ func (s *Service) processDerivedLocation(ctx context.Context, location gen.Locat
if emit {
localLocation, ok, err := view.Local(ctx)
if err == nil && ok {
if err := s.publishFenceEvents(ctx, *localLocation); err != nil {
return err
}
if err := s.publishLocationScope(ctx, *localLocation, ScopeLocal); err != nil {
return err
}
if _, err := s.publishTrackableMotionsForLocation(ctx, *localLocation, ScopeLocal); err != nil {
return err
}
}
} else {
localLocation, ok, err := view.Local(ctx)
if err == nil && ok {
if err := s.publishFenceEvents(ctx, *localLocation); err != nil {
return err
}
}
}
}
return nil
Expand Down Expand Up @@ -2903,21 +2916,22 @@ func point2D(point gen.Point) ([2]float64, error) {

func fenceContainmentForPoint(fence gen.Fence, point [2]float64) (fenceContainment, error) {
if p, err := fence.Region.AsPoint(); err == nil {
center, err := point2D(p)
if err != nil {
return fenceContainment{}, err
}
radius := 0.0
if fence.Radius != nil {
radius = float64(*fence.Radius)
}
dx := point[0] - center[0]
dy := point[1] - center[1]
distance := math.Sqrt(dx*dx + dy*dy)
if distance <= radius {
return fenceContainment{Inside: true}, nil
if p.Type == "Point" {
center, err := point2D(p)
if err == nil {
radius := 0.0
if fence.Radius != nil {
radius = float64(*fence.Radius)
}
dx := point[0] - center[0]
dy := point[1] - center[1]
distance := math.Sqrt(dx*dx + dy*dy)
if distance <= radius {
return fenceContainment{Inside: true}, nil
}
return fenceContainment{OutsideDistance: distance - radius}, nil
}
}
return fenceContainment{OutsideDistance: distance - radius}, nil
}
polygon, err := fence.Region.AsPolygon()
if err != nil {
Expand Down
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