kml_generator_utils.cpp

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// SPDX-License-Identifier: GPL-2.0-only
//
// Copyright (c) 2026-present FERS Contributors (see AUTHORS.md).
//
// See the GNU GPLv2 LICENSE file in the FERS project root for more information.
 
#include "serial/kml_generator_utils.h"
 
#include <GeographicLib/Geodesic.hpp>
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <iomanip>
#include <limits>
#include <map>
#include <ranges>
#include <sstream>
 
#include "antenna/antenna_factory.h"
#include "core/logging.h"
#include "core/world.h"
#include "math/coord.h"
#include "math/path.h"
#include "radar/platform.h"
#include "radar/radar_obj.h"
#include "radar/receiver.h"
#include "radar/target.h"
#include "radar/transmitter.h"
#include "serial/rotation_angle_utils.h"
#include "signal/radar_signal.h"
 
namespace serial::kml_generator_utils
{
    constexpr int TRACK_NUM_DIVISIONS = 100;
    constexpr int ISOTROPIC_PATTERN_POINTS = 100;
    constexpr double ISOTROPIC_PATTERN_RADIUS_KM = 20.0;
    constexpr double DIRECTIONAL_ANTENNA_ARROW_LENGTH_M = 20000.0;
 
    namespace
    {
        [[nodiscard]] double unassignedCoordinate() noexcept { return std::numeric_limits<double>::quiet_NaN(); }
    }
 
    double sincAntennaGain(const double theta, const double alpha, const double beta, const double gamma)
    {
        if (theta == 0.0)
        {
            return alpha;
        }
        const double gain = alpha * std::pow(std::sin(beta * theta) / (beta * theta), gamma);
        return gain;
    }
 
    double find3DbDropAngle(const double alpha, const double beta, const double gamma)
    {
        constexpr std::size_t num_points = 1000;
        const auto midpoint = static_cast<std::ptrdiff_t>(num_points / 2);
        std::vector<double> theta(num_points);
        std::vector<double> gain(num_points);
        for (std::size_t i = 0; i < num_points; ++i)
        {
            theta[i] = -PI + 2.0 * PI * static_cast<double>(i) / static_cast<double>(num_points - 1);
            gain[i] = sincAntennaGain(theta[i], alpha, beta, gamma);
        }
        const auto search_begin = gain.begin() + midpoint;
        const double max_gain = *std::max_element(search_begin, gain.end());
        const double max_gain_db = 10.0 * std::log10(max_gain);
        const double target_gain_db = max_gain_db - 3.0;
        const double target_gain = std::pow(10.0, target_gain_db / 10.0);
        const auto min_gain = std::min_element(search_begin, gain.end(), [target_gain](const double a, const double b)
                                               { return std::abs(a - target_gain) < std::abs(b - target_gain); });
        const auto idx = static_cast<std::size_t>(std::distance(search_begin, min_gain));
        const double angle_3db_drop = theta[static_cast<std::size_t>(midpoint) + idx];
        return angle_3db_drop * 180.0 / PI;
    }
 
    double findGaussian3DbDropAngle(const antenna::Gaussian* gaussianAnt)
    {
        if (gaussianAnt->getAzimuthScale() <= 0.0)
        {
            LOG(logging::Level::WARNING,
                "Gaussian antenna '{}' has a non-positive azimuth scale ({}). 3dB beamwidth is undefined. KML will "
                "only show boresight.",
                gaussianAnt->getName(), gaussianAnt->getAzimuthScale());
            return 0.0;
        }
        const double half_angle_rad = std::sqrt(std::log(2.0) / gaussianAnt->getAzimuthScale());
        return half_angle_rad * 180.0 / PI;
    }
 
    double findParabolic3DbDropAngle(const antenna::Parabolic* parabolicAnt, const double wavelength)
    {
        if (parabolicAnt->getDiameter() <= 0.0)
        {
            LOG(logging::Level::WARNING,
                "Parabolic antenna '{}' has a non-positive diameter ({}). This is physically impossible. KML will only "
                "show boresight.",
                parabolicAnt->getName(), parabolicAnt->getDiameter());
            return 0.0;
        }
        const double arg = 1.6 * wavelength / (PI * parabolicAnt->getDiameter());
        if (arg > 1.0)
        {
            LOG(logging::Level::INFO,
                "Parabolic antenna '{}': The operating wavelength ({:.4f}m) is very large compared to its diameter "
                "({:.4f}m), resulting in a nearly omnidirectional pattern. KML visualization will cap the 3dB "
                "half-angle at 90 degrees.",
                parabolicAnt->getName(), wavelength, parabolicAnt->getDiameter());
            return 90.0;
        }
        const double half_angle_rad = std::asin(arg);
        return half_angle_rad * 180.0 / PI;
    }
 
    double findSquareHorn3DbDropAngle(const antenna::SquareHorn* squarehornAnt, const double wavelength)
    {
        if (squarehornAnt->getDimension() <= 0.0)
        {
            LOG(logging::Level::WARNING,
                "SquareHorn antenna '{}' has a non-positive dimension ({}). This is physically impossible. KML will "
                "only show boresight.",
                squarehornAnt->getName(), squarehornAnt->getDimension());
            return 0.0;
        }
        const double arg = 1.39155 * wavelength / (PI * squarehornAnt->getDimension());
        if (arg > 1.0)
        {
            LOG(logging::Level::INFO,
                "SquareHorn antenna '{}': The operating wavelength ({:.4f}m) is very large compared to its dimension "
                "({:.4f}m), resulting in a nearly omnidirectional pattern. KML visualization will cap the 3dB "
                "half-angle at 90 degrees.",
                squarehornAnt->getName(), wavelength, squarehornAnt->getDimension());
            return 90.0;
        }
        const double half_angle_rad = std::asin(arg);
        return half_angle_rad * 180.0 / PI;
    }
 
    std::string formatCoordinates(const double lon, const double lat, const double alt)
    {
        std::stringstream ss;
        ss << std::fixed << std::setprecision(6) << lon << "," << lat << "," << alt;
        return ss.str();
    }
 
    void calculateDestinationCoordinate(const double startLatitude, const double startLongitude, const double angle,
                                        const double distance, double& destLatitude, double& destLongitude)
    {
        const GeographicLib::Geodesic& geod = GeographicLib::Geodesic::WGS84();
        geod.Direct(startLatitude, startLongitude, angle, distance, destLatitude, destLongitude);
    }
 
    std::vector<std::pair<double, double>> generateCircleCoordinates(const double lat, const double lon,
                                                                     const double radius_km)
    {
        std::vector<std::pair<double, double>> circle_coordinates;
        for (int i = 0; i < ISOTROPIC_PATTERN_POINTS; i++)
        {
            const double bearing = i * 360.0 / ISOTROPIC_PATTERN_POINTS;
            double new_lat = unassignedCoordinate();
            double new_lon = unassignedCoordinate();
            calculateDestinationCoordinate(lat, lon, bearing, radius_km * 1000.0, new_lat, new_lon);
            circle_coordinates.emplace_back(new_lat, new_lon);
        }
        return circle_coordinates;
    }
 
    void writeKmlHeaderAndStyles(std::ostream& out, const KmlContext& ctx)
    {
        out << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
        out << "<kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\">\n";
        out << "<Document>\n";
        out << "  <name>";
        if (ctx.parameters.simulation_name.empty())
        {
            out << "FERS Simulation Visualization";
        }
        else
        {
            out << ctx.parameters.simulation_name;
        }
        out << "</name>\n";
        out << "  <Style "
               "id=\"receiver\"><IconStyle><Icon><href>https://cdn-icons-png.flaticon.com/512/645/645436.png</href></"
               "Icon></IconStyle></Style>\n";
        out << "  <Style "
               "id=\"transmitter\"><IconStyle><Icon><href>https://cdn-icons-png.flaticon.com/128/224/224666.png</"
               "href></Icon></IconStyle></Style>\n";
        out << "  <Style "
               "id=\"target\"><IconStyle><Icon><href>https://upload.wikimedia.org/wikipedia/commons/thumb/a/ad/"
               "Target_red_dot1.svg/1200px-Target_red_dot1.svg.png</href></Icon></IconStyle><LineStyle><width>2</"
               "width></LineStyle></Style>\n";
        out << "  <Style "
               "id=\"translucentPolygon\"><LineStyle><color>ff0000ff</color><width>2</width></"
               "LineStyle><PolyStyle><color>00ffffff</color></PolyStyle></Style>\n";
        out << "  <Style "
               "id=\"arrowStyle\"><IconStyle><Icon><href>http://maps.google.com/mapfiles/kml/shapes/arrow.png</href></"
               "Icon><scale>0.5</scale></IconStyle></Style>\n";
        out << "  <Style id=\"lineStyle\"><LineStyle><color>ff0000ff</color><width>2</width></LineStyle></Style>\n";
        out << "  <Style id=\"lineStyleBlue\"><LineStyle><color>ffff0000</color><width>2</width></LineStyle></Style>\n";
    }
 
    void writePoint(std::ostream& out, const std::string& indent, const std::string& name, const std::string& styleUrl,
                    const std::string& coordinates, const double objectAltitude, const double referenceAltitude)
    {
        out << indent << "<Placemark>\n";
        out << indent << "  <name>" << name << "</name>\n";
        out << indent << "  <styleUrl>" << styleUrl << "</styleUrl>\n";
        out << indent << "  <Point>\n";
        out << indent << "    <coordinates>" << coordinates << "</coordinates>\n";
        out << indent << "    <altitudeMode>absolute</altitudeMode>\n";
        if (objectAltitude > referenceAltitude)
        {
            out << indent << "    <extrude>1</extrude>\n";
        }
        out << indent << "  </Point>\n";
        out << indent << "</Placemark>\n";
    }
 
    void writeAntennaBeamLine(std::ostream& out, const std::string& indent, const std::string& name,
                              const std::string& style, const std::string& startCoords, const std::string& endCoords)
    {
        out << indent << "<Placemark>\n";
        out << indent << "  <name>" << name << "</name>\n";
        out << indent << "  <styleUrl>" << style << "</styleUrl>\n";
        out << indent << "  <LineString>\n";
        out << indent << "    <altitudeMode>absolute</altitudeMode>\n";
        out << indent << "    <tessellate>1</tessellate>\n";
        out << indent << "    <coordinates>" << startCoords << " " << endCoords << "</coordinates>\n";
        out << indent << "  </LineString>\n";
        out << indent << "</Placemark>\n";
    }
 
    std::string getPlacemarkStyleForPlatform(const std::vector<const radar::Object*>& objects)
    {
        bool has_receiver = false;
        bool has_transmitter = false;
        for (const auto* obj : objects)
        {
            if (dynamic_cast<const radar::Receiver*>(obj) != nullptr)
            {
                has_receiver = true;
            }
            if (dynamic_cast<const radar::Transmitter*>(obj) != nullptr)
            {
                has_transmitter = true;
            }
        }
 
        if (has_receiver)
        {
            return "#receiver";
        }
        if (has_transmitter)
        {
            return "#transmitter";
        }
        return "#target";
    }
 
    const radar::Radar* getPrimaryRadar(const std::vector<const radar::Object*>& objects)
    {
        for (const auto* obj : objects)
        {
            if (const auto* const r = dynamic_cast<const radar::Radar*>(obj))
            {
                return r;
            }
        }
        return nullptr;
    }
 
    void generateIsotropicAntennaKml(std::ostream& out, const math::Vec3& position, const KmlContext& ctx,
                                     const std::string& indent)
    {
        double lat = unassignedCoordinate();
        double lon = unassignedCoordinate();
        double alt_abs = unassignedCoordinate();
        ctx.converter(position, lat, lon, alt_abs);
 
        const auto circle_coordinates = generateCircleCoordinates(lat, lon, ISOTROPIC_PATTERN_RADIUS_KM);
 
        out << indent << "<Placemark>\n";
        out << indent << "  <name>Isotropic pattern range</name>\n";
        out << indent << "  <styleUrl>#translucentPolygon</styleUrl>\n";
        out << indent << "  <Polygon>\n";
        out << indent << "    <extrude>1</extrude>\n";
        out << indent << "    <altitudeMode>absolute</altitudeMode>\n";
        out << indent << "    <outerBoundaryIs><LinearRing><coordinates>\n";
        for (const auto& [pt_lat, pt_lon] : circle_coordinates)
        {
            out << indent << "      " << formatCoordinates(pt_lon, pt_lat, alt_abs) << "\n";
        }
        out << indent << "      "
            << formatCoordinates(circle_coordinates[0].second, circle_coordinates[0].first, alt_abs) << "\n";
        out << indent << "    </coordinates></LinearRing></outerBoundaryIs>\n";
        out << indent << "  </Polygon>\n";
        out << indent << "</Placemark>\n";
    }
 
    void generateDirectionalAntennaKml(std::ostream& out, const radar::Platform* platform, const KmlContext& ctx,
                                       const std::optional<double>& angle3DbDropDeg, const std::string& indent)
    {
        const auto& first_wp_pos = platform->getMotionPath()->getCoords().front().pos;
        double start_lat = unassignedCoordinate();
        double start_lon = unassignedCoordinate();
        double start_alt = unassignedCoordinate();
        ctx.converter(first_wp_pos, start_lat, start_lon, start_alt);
        const std::string start_coords_str = formatCoordinates(start_lon, start_lat, start_alt);
 
        const math::SVec3 initial_rotation = platform->getRotationPath()->getPosition(ctx.parameters.start);
        const double display_azimuth = rotation_angle_utils::internal_azimuth_to_external(
            initial_rotation.azimuth, ctx.parameters.rotation_angle_unit);
        const double display_elevation = rotation_angle_utils::internal_elevation_to_external(
            initial_rotation.elevation, ctx.parameters.rotation_angle_unit);
 
        const double fers_azimuth_deg = initial_rotation.azimuth * 180.0 / PI;
        double start_azimuth_deg_kml = 90.0 - fers_azimuth_deg;
        start_azimuth_deg_kml = std::fmod(start_azimuth_deg_kml, 360.0);
        if (start_azimuth_deg_kml < 0.0)
        {
            start_azimuth_deg_kml += 360.0;
        }
 
        const double horizontal_distance = DIRECTIONAL_ANTENNA_ARROW_LENGTH_M * std::cos(initial_rotation.elevation);
        const double delta_altitude = DIRECTIONAL_ANTENNA_ARROW_LENGTH_M * std::sin(initial_rotation.elevation);
        const double end_alt = start_alt + delta_altitude;
 
        double dest_lat = unassignedCoordinate();
        double dest_lon = unassignedCoordinate();
        calculateDestinationCoordinate(start_lat, start_lon, start_azimuth_deg_kml, horizontal_distance, dest_lat,
                                       dest_lon);
        const std::string end_coords_str = formatCoordinates(dest_lon, dest_lat, end_alt);
        out << indent << "<Placemark>\n";
        out << indent << "  <name>Antenna Boresight</name>\n";
        out << indent << "  <ExtendedData>\n";
        out << indent << "    <Data name=\"rotationangleunit\"><value>"
            << params::rotationAngleUnitToken(ctx.parameters.rotation_angle_unit) << "</value></Data>\n";
        out << indent << "    <Data name=\"azimuth\"><value>" << display_azimuth << "</value></Data>\n";
        out << indent << "    <Data name=\"elevation\"><value>" << display_elevation << "</value></Data>\n";
        out << indent << "  </ExtendedData>\n";
        out << indent << "  <styleUrl>#lineStyle</styleUrl>\n";
        out << indent << "  <LineString>\n";
        out << indent << "    <altitudeMode>absolute</altitudeMode>\n";
        out << indent << "    <tessellate>1</tessellate>\n";
        out << indent << "    <coordinates>" << start_coords_str << " " << end_coords_str << "</coordinates>\n";
        out << indent << "  </LineString>\n";
        out << indent << "</Placemark>\n";
 
        if (angle3DbDropDeg.has_value() && *angle3DbDropDeg > EPSILON)
        {
            double side1_lat = unassignedCoordinate();
            double side1_lon = unassignedCoordinate();
            calculateDestinationCoordinate(start_lat, start_lon, start_azimuth_deg_kml - *angle3DbDropDeg,
                                           horizontal_distance, side1_lat, side1_lon);
            const std::string side1_coords_str = formatCoordinates(side1_lon, side1_lat, end_alt);
            writeAntennaBeamLine(out, indent, "Antenna 3dB Beamwidth", "#lineStyleBlue", start_coords_str,
                                 side1_coords_str);
 
            double side2_lat = unassignedCoordinate();
            double side2_lon = unassignedCoordinate();
            calculateDestinationCoordinate(start_lat, start_lon, start_azimuth_deg_kml + *angle3DbDropDeg,
                                           horizontal_distance, side2_lat, side2_lon);
            const std::string side2_coords_str = formatCoordinates(side2_lon, side2_lat, end_alt);
            writeAntennaBeamLine(out, indent, "Antenna 3dB Beamwidth", "#lineStyleBlue", start_coords_str,
                                 side2_coords_str);
        }
 
        const double arrow_heading = std::fmod(start_azimuth_deg_kml + 180.0, 360.0);
        out << indent << "<Placemark>\n";
        out << indent << "  <name>Antenna Arrow</name>\n";
        out << indent << "  <styleUrl>#arrowStyle</styleUrl>\n";
        out << indent << "  <Point><coordinates>" << end_coords_str
            << "</coordinates><altitudeMode>absolute</altitudeMode></Point>\n";
        out << indent << "  <Style>\n";
        out << indent << "    <IconStyle><heading>" << arrow_heading << "</heading></IconStyle>\n";
        out << indent << "  </Style>\n";
        out << indent << "</Placemark>\n";
    }
 
    std::optional<double> antennaCarrierWavelength(const radar::Radar* radar, const KmlContext& ctx)
    {
        if (const auto* tx = dynamic_cast<const radar::Transmitter*>(radar))
        {
            if (tx->getSignal() != nullptr)
            {
                return ctx.parameters.c / tx->getSignal()->getCarrier();
            }
            return std::nullopt;
        }
        if (const auto* rx = dynamic_cast<const radar::Receiver*>(radar))
        {
            if (const auto* attached_tx = dynamic_cast<const radar::Transmitter*>(rx->getAttached()))
            {
                if (attached_tx->getSignal() != nullptr)
                {
                    return ctx.parameters.c / attached_tx->getSignal()->getCarrier();
                }
            }
        }
        return std::nullopt;
    }
 
    std::optional<double> antenna3DbDropAngle(const antenna::Antenna* ant, const std::optional<double> wavelength)
    {
        if (const auto* sinc_ant = dynamic_cast<const antenna::Sinc*>(ant))
        {
            return find3DbDropAngle(sinc_ant->getAlpha(), sinc_ant->getBeta(), sinc_ant->getGamma());
        }
        if (const auto* gaussian_ant = dynamic_cast<const antenna::Gaussian*>(ant))
        {
            return findGaussian3DbDropAngle(gaussian_ant);
        }
        if (const auto* parabolic_ant = dynamic_cast<const antenna::Parabolic*>(ant))
        {
            if (wavelength)
            {
                return findParabolic3DbDropAngle(parabolic_ant, *wavelength);
            }
            return std::nullopt;
        }
        if (const auto* squarehorn_ant = dynamic_cast<const antenna::SquareHorn*>(ant))
        {
            if (wavelength)
            {
                return findSquareHorn3DbDropAngle(squarehorn_ant, *wavelength);
            }
            return std::nullopt;
        }
        return std::nullopt;
    }
 
    void logSymbolicAntennaKml(const antenna::Antenna* ant)
    {
        if ((dynamic_cast<const antenna::XmlAntenna*>(ant) == nullptr) &&
            (dynamic_cast<const antenna::H5Antenna*>(ant) == nullptr))
        {
            return;
        }
        LOG(logging::Level::INFO,
            "KML visualization for antenna '{}' ('{}') is symbolic. "
            "Only the boresight direction is shown, as a 3dB beamwidth is not calculated from file-based "
            "patterns.",
            ant->getName(), dynamic_cast<const antenna::XmlAntenna*>(ant) ? "xml" : "file");
    }
 
    void generateAntennaKml(std::ostream& out, const radar::Platform* platform, const radar::Radar* radar,
                            const KmlContext& ctx, const std::string& indent)
    {
        const antenna::Antenna* ant = radar->getAntenna();
        if ((ant == nullptr) || platform->getMotionPath()->getCoords().empty())
        {
            return;
        }
 
        if (dynamic_cast<const antenna::Isotropic*>(ant) != nullptr)
        {
            const math::Vec3 initial_pos = platform->getMotionPath()->getCoords().front().pos;
            generateIsotropicAntennaKml(out, initial_pos, ctx, indent);
        }
        else
        {
            const auto wavelength = antennaCarrierWavelength(radar, ctx);
            const auto angle_3db_drop_deg = antenna3DbDropAngle(ant, wavelength);
            logSymbolicAntennaKml(ant);
            generateDirectionalAntennaKml(out, platform, ctx, angle_3db_drop_deg, indent);
        }
    }
 
    void generateDynamicPathKml(std::ostream& out, const radar::Platform* platform, const std::string& styleUrl,
                                const double refAlt, const KmlContext& ctx, const std::string& indent)
    {
        const math::Path* path = platform->getMotionPath();
        const auto& waypoints = path->getCoords();
 
        double first_alt_abs = unassignedCoordinate();
        {
            double lat = unassignedCoordinate();
            double lon = unassignedCoordinate();
            ctx.converter(waypoints.front().pos, lat, lon, first_alt_abs);
        }
 
        out << indent << "<Placemark>\n";
        out << indent << "  <name>" << platform->getName() << " Path</name>\n";
        out << indent << "  <styleUrl>" << styleUrl << "</styleUrl>\n";
        out << indent << "  <gx:Track>\n";
        out << indent << "    <altitudeMode>absolute</altitudeMode>\n";
        if (first_alt_abs > refAlt)
        {
            out << indent << "    <extrude>1</extrude>\n";
        }
 
        const double start_time = waypoints.front().t;
        const double end_time = waypoints.back().t;
 
        if (const double time_diff = end_time - start_time; time_diff <= 0.0)
        {
            const math::Vec3 p_pos = path->getPosition(start_time);
            double p_lon = unassignedCoordinate();
            double p_lat = unassignedCoordinate();
            double p_alt_abs = unassignedCoordinate();
            ctx.converter(p_pos, p_lat, p_lon, p_alt_abs);
            out << indent << "    <when>" << start_time << "</when>\n";
            out << indent << "    <gx:coord>" << p_lon << " " << p_lat << " " << p_alt_abs << "</gx:coord>\n";
        }
        else
        {
            const double time_step = time_diff / TRACK_NUM_DIVISIONS;
            for (int i = 0; i <= TRACK_NUM_DIVISIONS; ++i)
            {
                const double current_time = start_time + i * time_step;
                const math::Vec3 p_pos = path->getPosition(current_time);
                double p_lon = unassignedCoordinate();
                double p_lat = unassignedCoordinate();
                double p_alt_abs = unassignedCoordinate();
                ctx.converter(p_pos, p_lat, p_lon, p_alt_abs);
                out << indent << "    <when>" << current_time << "</when>\n";
                out << indent << "    <gx:coord>" << p_lon << " " << p_lat << " " << p_alt_abs << "</gx:coord>\n";
            }
        }
 
        out << indent << "  </gx:Track>\n";
        out << indent << "</Placemark>\n";
    }
 
    void generateTrackEndpointsKml(std::ostream& out, const radar::Platform* platform, const double refAlt,
                                   const KmlContext& ctx, const std::string& indent)
    {
        const math::Path* path = platform->getMotionPath();
        if (path->getCoords().size() <= 1)
        {
            return;
        }
 
        const auto& [start_wp_pos, start_wp_t] = path->getCoords().front();
        const auto& [end_wp_pos, end_wp_t] = path->getCoords().back();
 
        double start_lat = unassignedCoordinate();
        double start_lon = unassignedCoordinate();
        double start_alt_abs = unassignedCoordinate();
        ctx.converter(start_wp_pos, start_lat, start_lon, start_alt_abs);
        const std::string start_coordinates = formatCoordinates(start_lon, start_lat, start_alt_abs);
 
        double end_lat = unassignedCoordinate();
        double end_lon = unassignedCoordinate();
        double end_alt_abs = unassignedCoordinate();
        ctx.converter(end_wp_pos, end_lat, end_lon, end_alt_abs);
        const std::string end_coordinates = formatCoordinates(end_lon, end_lat, end_alt_abs);
 
        writePoint(out, indent, "Start: " + platform->getName(), "#target", start_coordinates, start_alt_abs, refAlt);
        writePoint(out, indent, "End: " + platform->getName(), "#target", end_coordinates, end_alt_abs, refAlt);
    }
 
    void generateStaticPlacemarkKml(std::ostream& out, const radar::Platform* platform, const std::string& styleUrl,
                                    const double refAlt, const KmlContext& ctx, const std::string& indent)
    {
        const auto& [first_wp_pos, first_wp_t] = platform->getMotionPath()->getCoords().front();
        double lat = unassignedCoordinate();
        double lon = unassignedCoordinate();
        double alt_abs = unassignedCoordinate();
        ctx.converter(first_wp_pos, lat, lon, alt_abs);
        const std::string coordinates = formatCoordinates(lon, lat, alt_abs);
 
        out << indent << "<Placemark>\n";
        out << indent << "  <name>" << platform->getName() << "</name>\n";
        out << indent << "  <styleUrl>" << styleUrl << "</styleUrl>\n";
        out << indent << "  <LookAt>\n";
        out << indent << "    <longitude>" << lon << "</longitude>\n";
        out << indent << "    <latitude>" << lat << "</latitude>\n";
        out << indent << "    <altitude>" << alt_abs << "</altitude>\n";
        out << indent << "    <heading>-148.41</heading><tilt>40.55</tilt><range>500.65</range>\n";
        out << indent << "  </LookAt>\n";
        out << indent << "  <Point>\n";
        out << indent << "    <coordinates>" << coordinates << "</coordinates>\n";
        out << indent << "    <altitudeMode>absolute</altitudeMode>\n";
        if (alt_abs > refAlt)
        {
            out << indent << "    <extrude>1</extrude>\n";
        }
        out << indent << "  </Point>\n";
        out << indent << "</Placemark>\n";
    }
 
    void generatePlatformPathKml(std::ostream& out, const radar::Platform* platform, const std::string& style,
                                 const double refAlt, const KmlContext& ctx, const std::string& indent)
    {
        const auto path_type = platform->getMotionPath()->getType();
        const bool is_dynamic =
            path_type == math::Path::InterpType::INTERP_LINEAR || path_type == math::Path::InterpType::INTERP_CUBIC;
 
        if (is_dynamic)
        {
            generateDynamicPathKml(out, platform, style, refAlt, ctx, indent);
            generateTrackEndpointsKml(out, platform, refAlt, ctx, indent);
        }
        else
        {
            generateStaticPlacemarkKml(out, platform, style, refAlt, ctx, indent);
        }
    }
 
    void processPlatform(std::ostream& out, const radar::Platform* platform,
                         const std::vector<const radar::Object*>& objects, const KmlContext& ctx,
                         const double referenceAltitude, const std::string& indent)
    {
        if (platform->getMotionPath()->getCoords().empty())
        {
            return;
        }
 
        out << indent << "<Folder>\n";
        out << indent << "  <name>" << platform->getName() << "</name>\n";
 
        const std::string inner_indent = indent + "  ";
        const auto placemark_style = getPlacemarkStyleForPlatform(objects);
 
        if (const auto* radar_obj = getPrimaryRadar(objects))
        {
            generateAntennaKml(out, platform, radar_obj, ctx, inner_indent);
        }
 
        generatePlatformPathKml(out, platform, placemark_style, referenceAltitude, ctx, inner_indent);
 
        out << indent << "</Folder>\n";
    }
 
    void generateKmlToStream(std::ostream& out, const core::World& world, const KmlContext& ctx)
    {
        std::map<const radar::Platform*, std::vector<const radar::Object*>> platform_to_objects;
        const auto group_objects = [&](const auto& objectCollection)
        {
            for (const auto& obj_ptr : objectCollection)
            {
                platform_to_objects[obj_ptr->getPlatform()].push_back(obj_ptr.get());
            }
        };
 
        group_objects(world.getReceivers());
        group_objects(world.getTransmitters());
        group_objects(world.getTargets());
 
        double reference_latitude = ctx.parameters.origin_latitude;
        double reference_longitude = ctx.parameters.origin_longitude;
        double reference_altitude = ctx.parameters.origin_altitude;
 
        if (ctx.parameters.coordinate_frame != params::CoordinateFrame::ENU)
        {
            bool ref_set = false;
            for (const auto& platform : platform_to_objects | std::views::keys)
            {
                if (!platform->getMotionPath()->getCoords().empty())
                {
                    const math::Vec3& first_pos = platform->getMotionPath()->getCoords().front().pos;
                    ctx.converter(first_pos, reference_latitude, reference_longitude, reference_altitude);
                    ref_set = true;
                    break;
                }
            }
            if (!ref_set)
            {
                reference_latitude = ctx.parameters.origin_latitude;
                reference_longitude = ctx.parameters.origin_longitude;
                reference_altitude = ctx.parameters.origin_altitude;
            }
        }
 
        writeKmlHeaderAndStyles(out, ctx);
 
        out << "  <Folder>\n";
        out << "    <name>Reference Coordinate</name>\n";
        out << "    <description>Placemarks for various elements in the FERSXML file. All Placemarks are "
               "situated relative to this reference point.</description>\n";
        out << "    <LookAt>\n";
        out << "      <longitude>" << reference_longitude << "</longitude>\n";
        out << "      <latitude>" << reference_latitude << "</latitude>\n";
        out << "      <altitude>" << reference_altitude << "</altitude>\n";
        out << "      <heading>-148.41</heading><tilt>40.55</tilt><range>10000</range>\n";
        out << "    </LookAt>\n";
 
        const std::string platform_indent = "    ";
        for (const auto& [platform, objects] : platform_to_objects)
        {
            processPlatform(out, platform, objects, ctx, reference_altitude, platform_indent);
        }
 
        out << "  </Folder>\n";
        out << "</Document>\n";
        out << "</kml>\n";
    }
}