public String createVTG(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic) != null
|| model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue) != null
|| model.getValue(vessels_dot_self_dot + nav_speedOverGround) != null) {
VTGSentence sen = (VTGSentence) sf.createParser(TalkerId.II, SentenceId.VTG);
sen.setMode(FaaMode.AUTOMATIC);
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic) != null)
sen.setMagneticCourse(
Math.toDegrees(
(double) model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic)));
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue) != null)
sen.setTrueCourse(
Math.toDegrees(
(double) model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue)));
if (model.getValue(vessels_dot_self_dot + nav_speedOverGround) != null) {
sen.setSpeedKmh(
(double) model.getValue(vessels_dot_self_dot + nav_speedOverGround) * MS_TO_KM);
sen.setSpeedKnots(
(double) model.getValue(vessels_dot_self_dot + nav_speedOverGround) * MS_TO_KNOTS);
}
return sen.toSentence();
}
return null;
}
// RMC,GLL, GGA = position
public String createRMC(SignalKModel model) {
if (model.get(vessels_dot_self_dot + nav_position_latitude) != null
&& model.get(vessels_dot_self_dot + nav_position_longitude) != null) {
RMCSentence sen = (RMCSentence) sf.createParser(TalkerId.GP, SentenceId.RMC);
sen.setDate(new Date());
sen.setStatus(DataStatus.ACTIVE);
sen.setMode(FaaMode.AUTOMATIC);
sen.setPosition(
new Position(
(double) model.get(vessels_dot_self_dot + nav_position_latitude),
(double) model.get(vessels_dot_self_dot + nav_position_longitude)));
if (model.getValue(vessels_dot_self_dot + nav_speedOverGround) != null) {
sen.setSpeed(
(double) model.getValue(vessels_dot_self_dot + nav_speedOverGround) * MS_TO_KNOTS);
}
if (model.get(vessels_dot_self_dot + nav_courseOverGroundTrue) != null) {
sen.setCourse(
Math.toDegrees(
(double) model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue)));
}
if (model.get(vessels_dot_self_dot + nav_magneticVariation) != null) {
Double variation = (Double) model.getValue(vessels_dot_self_dot + nav_magneticVariation);
if (variation != null) {
sen.setVariation(Math.toDegrees(Math.abs(variation)));
sen.setDirectionOfVariation((variation < 0) ? CompassPoint.WEST : CompassPoint.EAST);
}
}
return sen.toSentence();
}
return null;
}
@Test
public void testSendingUpdate() throws Exception {
// fill the model with data
SignalKModel model = SignalKModelFactory.getMotuTestInstance();
// model = Util.populateModel(model, new
// File("src/test/resources/samples/basicModel.txt"));
// create STOMP connection
StompConnection connection = new StompConnection();
connection.open("localhost", 61613);
logger.debug("Opened STOMP socket, connecting.. ");
StompFrame connect = connection.connect("system", "manager");
// StompFrame connect = connection.receive();
if (!connect.getAction().equals(Stomp.Responses.CONNECTED)) {
throw new Exception("Not connected");
}
logger.debug("connected" + connect.getHeaders());
HashMap<String, String> headers = new HashMap<String, String>();
// headers.put(WebsocketConstants.CONNECTION_KEY, uuid);
connection.send(
"/queue/signalk.put",
FileUtils.readFileToString(
new File("src/test/resources/samples/windAngleUpdate.json.txt")));
latch.await(2, TimeUnit.SECONDS);
assertEquals(338.0, model.getValue(vessels_dot_self_dot + env_wind_angleApparent));
assertEquals(6.8986404, model.getValue(vessels_dot_self_dot + env_wind_speedApparent));
// disconnect
connection.disconnect();
}
public String createHDT(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue) != null) {
HDTSentence sen = (HDTSentence) sf.createParser(TalkerId.II, SentenceId.HDT);
sen.setHeading(
Math.toDegrees((double) model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue)));
return sen.toSentence();
}
return null;
}
// depth below Transducer
public String createDBT(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + env_depth_belowTransducer) != null) {
DBTSentence sen = (DBTSentence) sf.createParser(TalkerId.II, SentenceId.DBT);
sen.setDepth((double) model.getValue(vessels_dot_self_dot + env_depth_belowTransducer));
sen.setFeet(
(double) model.getValue(vessels_dot_self_dot + env_depth_belowTransducer) * MTR_TO_FEET);
sen.setFathoms(
(double) model.getValue(vessels_dot_self_dot + env_depth_belowTransducer)
* MTR_TO_FATHOM);
return sen.toSentence();
}
return null;
}
public String createHDG(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic) != null) {
HDGSentence sen = (HDGSentence) sf.createParser(TalkerId.II, SentenceId.HDG);
sen.setHeading(
Math.toDegrees(
(double) model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic)));
if (model.getValue(vessels_dot_self_dot + nav_magneticVariation) != null)
sen.setVariation(
Math.toDegrees((double) model.getValue(vessels_dot_self_dot + nav_magneticVariation)));
return sen.toSentence();
}
return null;
}
// Heading HDG, HDM, HDT, VHW
public String createVHW(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue) != null
|| model.getValue(vessels_dot_self_dot + nav_speedOverGround) != null
|| model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic) != null) {
VHWSentence sen = (VHWSentence) sf.createParser(TalkerId.II, SentenceId.VHW);
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue) != null)
sen.setHeading(
Math.toDegrees(
(double) model.getValue(vessels_dot_self_dot + nav_courseOverGroundTrue)));
if (model.getValue(vessels_dot_self_dot + nav_courseOverGroundMagnetic) != null)
sen.setMagneticHeading(
Math.toDegrees((double) model.getValue(vessels_dot_self_dot + nav_speedOverGround)));
if (model.getValue(vessels_dot_self_dot + nav_speedOverGround) != null)
sen.setSpeedKnots(
(double) model.getValue(vessels_dot_self_dot + nav_speedOverGround) * MS_TO_KNOTS);
return sen.toSentence();
}
return null;
}
// MWV - Wind Speed and Angle
public String createMWVApparent(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + env_wind_angleApparent) != null
|| model.getValue(vessels_dot_self_dot + env_wind_speedApparent) != null) {
MWVSentence sen = (MWVSentence) sf.createParser(TalkerId.II, SentenceId.MWV);
sen.setStatus(DataStatus.ACTIVE);
if (model.getValue(vessels_dot_self_dot + env_wind_angleApparent) != null)
sen.setAngle(
Math.toDegrees((double) model.getValue(vessels_dot_self_dot + env_wind_angleApparent)));
sen.setTrue(false);
if (model.getValue(vessels_dot_self_dot + env_wind_speedApparent) != null)
sen.setSpeed(
(double) model.getValue(vessels_dot_self_dot + env_wind_speedApparent) * MS_TO_KNOTS);
sen.setSpeedUnit(Units.KNOT);
return sen.toSentence();
}
return null;
}
public String createMWVTrue(SignalKModel model) {
if (model.getValue(vessels_dot_self_dot + env_wind_directionTrue) != null
|| model.getValue(vessels_dot_self_dot + env_wind_speedTrue) != null) {
MWVSentence sen = (MWVSentence) sf.createParser(TalkerId.II, SentenceId.MWV);
sen.setStatus(DataStatus.ACTIVE);
if (model.getValue(vessels_dot_self_dot + env_wind_directionTrue) != null)
sen.setAngle(
Math.toDegrees((double) model.getValue(vessels_dot_self_dot + env_wind_directionTrue)));
sen.setTrue(true);
if (model.getValue(vessels_dot_self_dot + env_wind_speedTrue) != null) {
double speed =
(double) model.getValue(vessels_dot_self_dot + env_wind_speedTrue) * MS_TO_KNOTS;
if (speed < 0.0) speed = 0.0;
sen.setSpeed(
(double) model.getValue(vessels_dot_self_dot + env_wind_speedTrue) * MS_TO_KNOTS);
}
sen.setSpeedUnit(Units.KNOT);
return sen.toSentence();
}
return null;
}