Exemplo n.º 1
0
  @Override
  public boolean init(
      String vehicleId, Loiter man, SystemPositionAndAttitude state, Object manState) {
    enteredLoiter = false;
    destination = new LocationType(man.getManeuverLocation());
    if (man.getManeuverLocation().getZUnits() == ManeuverLocation.Z_UNITS.DEPTH)
      destination.setDepth(man.getManeuverLocation().getZ());
    else if (man.getManeuverLocation().getZUnits() == ManeuverLocation.Z_UNITS.ALTITUDE)
      destination.setDepth(-man.getManeuverLocation().getZ());
    else destination.setDepth(0);

    clockwise = man.getDirection().equalsIgnoreCase("Clockwise");
    radius = man.getRadius();
    loiterType = man.getLoiterType();
    duration = man.getLoiterDuration();
    speed = man.getSpeed();

    if (man.getSpeedUnits().equals("RPM")) speed = SpeedConversion.convertRpmtoMps(speed);
    else if (man.getSpeedUnits().equals("%")) // convert to RPM and then to m/s
    speed = SpeedConversion.convertPercentageToMps(speed);

    speed = Math.min(speed, SpeedConversion.MAX_SPEED);

    if (manState != null && manState instanceof Double) {
      loiterTime = (Double) manState;
    }
    model.setState(state);
    return true;
  }
  @Override
  public void mouseClicked(MouseEvent event, StateRenderer2D source) {

    if (event.getButton() == MouseEvent.BUTTON3) {
      JPopupMenu popup = new JPopupMenu();
      popup
          .add("Generate plans locally")
          .addActionListener(
              new ActionListener() {
                @Override
                public void actionPerformed(ActionEvent arg0) {
                  solve();
                }
              });

      popup
          .add("Clear polygon")
          .addActionListener(
              new ActionListener() {
                @Override
                public void actionPerformed(ActionEvent arg0) {
                  pe = null;
                  vertexCount = 0;
                }
              });

      popup
          .add("Settings")
          .addActionListener(
              new ActionListener() {
                @Override
                public void actionPerformed(ActionEvent arg0) {
                  PropertiesEditor.editProperties(AreaCoveragePlanner.this, getConsole(), true);
                }
              });

      popup.show(source, event.getX(), event.getY());
    } else if (pe == null) {
      LocationType l = source.getRealWorldLocation(event.getPoint());
      pe =
          new PathElement(
              MapGroup.getMapGroupInstance(getConsole().getMission()), new MapType(), l);
      pe.setMyColor(Color.green.brighter());
      pe.setShape(true);
      pe.setFinished(true);
      pe.setStroke(new BasicStroke(2.0f));
      pe.addPoint(0, 0, 0, false);
      vertexCount = 1;
    } else {
      LocationType l = source.getRealWorldLocation(event.getPoint());
      double[] offsets = l.getOffsetFrom(pe.getCenterLocation());
      pe.addPoint(offsets[1], offsets[0], 0, false);
      vertexCount++;
    }
  }
Exemplo n.º 3
0
 @Subscribe
 public void consume(SimulatedState simState) {
   LocationType loc =
       new LocationType(Math.toDegrees(simState.getLat()), Math.toDegrees(simState.getLon()));
   loc.setHeight(simState.getHeight());
   loc.translatePosition(simState.getX(), simState.getY(), simState.getZ());
   simulatedState =
       new SystemPositionAndAttitude(
           loc, simState.getPhi(), simState.getTheta(), simState.getPsi());
   lastStateMillis = System.currentTimeMillis();
 }
Exemplo n.º 4
0
  private DataDiscretizer parseLog(String entity) {
    DataDiscretizer dd = new DataDiscretizer(10);

    IMraLog parser = logSource.getLog(messageName);
    IMraLog stateParser = logSource.getLog("EstimatedState");

    if (parser == null || stateParser == null) {
      return dd;
    }

    IMCMessage entry = parser.nextLogEntry();
    IMCMessage stateEntry = stateParser.nextLogEntry();
    LocationType ref = IMCUtils.getLocation(stateEntry).convertToAbsoluteLatLonDepth();

    entityList.clear();
    entityList.add("ALL");
    while (entry != null) {
      parser.advance(1);
      entry = parser.getCurrentEntry();
      if (entry != null) {
        String entName = logSource.getEntityName(entry.getSrc(), entry.getSrcEnt());

        if (!entityList.contains(entName)) entityList.add(entName);

        if (!entity.equalsIgnoreCase("ALL") && !entName.equalsIgnoreCase(entity)) continue;

        stateEntry = stateParser.getEntryAtOrAfter(parser.currentTimeMillis());

        LocationType loc = new LocationType();
        loc.setLatitudeRads(stateEntry.getDouble("lat"));
        loc.setLongitudeRads(stateEntry.getDouble("lon"));
        loc.translatePosition(
            stateEntry.getDouble("x"), stateEntry.getDouble("y"), stateEntry.getDouble("z"));
        double[] offsets = loc.getOffsetFrom(ref);

        double[] vals = new double[4];

        vals[0] = Double.NaN;

        if (stateEntry != null) {
          vals[0] = entry.getDouble(varName);
          dd.addPoint(offsets[1], -offsets[0], vals);
        }
      }
    }
    entCombo.setModel(new DefaultComboBoxModel<>(entityList));

    return dd;
  }
Exemplo n.º 5
0
 public ImageLayer(
     String name, BufferedImage img, LocationType topLeft, LocationType bottomRight) {
   this.name = name;
   this.topLeft = new LocationType(topLeft);
   this.image = img;
   this.zoom = topLeft.getOffsetFrom(bottomRight)[0] / img.getHeight();
 }
Exemplo n.º 6
0
  @Override
  public boolean load(Document doc) {
    super.load(doc);
    Node node;

    node = doc.selectSingleNode("//depth");
    if (node != null) {
      setZ(Double.parseDouble(node.getText()));
      if (getZ() >= 0) setZUnits(Z_UNITS.DEPTH);
      else {
        setZUnits(Z_UNITS.ALTITUDE);
        setZ(-getZ());
      }
    }

    node = doc.selectSingleNode("//height");
    if (node != null) {
      setZUnits(Z_UNITS.HEIGHT);
      setZ(Double.parseDouble(node.getText()));
    }

    node = doc.selectSingleNode("//altitude");
    if (node != null) {
      setZUnits(Z_UNITS.ALTITUDE);
      setZ(Double.parseDouble(node.getText()));
    }

    node = doc.selectSingleNode("//z");
    if (node != null) setZ(Double.parseDouble(node.getText()));
    node = doc.selectSingleNode("//zunits");
    if (node != null) setZUnits(Z_UNITS.valueOf(node.getText()));
    return true;
  }
Exemplo n.º 7
0
 @Override
 public double getDistanceTravelled(LocationType initialPosition) {
   double meters =
       startFromCurrentPosition ? 0 : getStartLocation().getDistanceInMeters(initialPosition);
   double depthDiff =
       startFromCurrentPosition ? initialPosition.getAllZ() : getStartLocation().getAllZ();
   meters += depthDiff;
   return meters;
 }
Exemplo n.º 8
0
  private void drawPath(
      Graphics2D g, double scaleX, double scaleY, double minX, double minY, double timeStep) {

    g.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    g.setTransform(new AffineTransform());
    g.setColor(new Color(0, 0, 0, 10));

    // IMraLog stateParser = logSource.getLog("EstimatedState");
    // IMCMessage stateEntry;

    LsfIterator<EstimatedState> iterator =
        logSource.getLsfIndex().getIterator(EstimatedState.class);
    if (timeStep > 0)
      iterator =
          logSource.getLsfIndex().getIterator(EstimatedState.class, (long) (timeStep * 1000));

    Point2D lastPt = null;
    EstimatedState state = iterator.next();

    if (state == null) {
      NeptusLog.pub().error("No estimatedstate messages in the log");
      return;
    }
    LocationType ref = IMCUtils.getLocation(state).convertToAbsoluteLatLonDepth();

    LinkedHashMap<Integer, Point2D> lastStates = new LinkedHashMap<>();

    while (state != null) {
      LocationType loc = IMCUtils.getLocation(state).convertToAbsoluteLatLonDepth();
      double[] offsets = loc.getOffsetFrom(ref);

      Point2D pt = new Point2D.Double((offsets[1] - minY) * scaleY, (-minX - offsets[0]) * scaleX);

      if (timeStep == 0) g.setColor(new Color(0, 0, 0, 20));
      else g.setColor(Color.black);

      lastPt = lastStates.get(state.getSrc());

      if (lastPt != null && pt != null) g.draw(new Line2D.Double(lastPt, pt));
      lastStates.put(state.getSrc(), pt);

      state = iterator.next();
    }
  }
Exemplo n.º 9
0
 public void setHorizontalLocation(LocationType newLoc) {
   newLoc.convertToAbsoluteLatLonDepth();
   loc.setLatitude(newLoc.getLatitudeAsDoubleValue());
   loc.setLongitude(newLoc.getLongitudeAsDoubleValue());
   reference.setLat(newLoc.getLatitudeAsDoubleValueRads());
   reference.setLon(newLoc.getLongitudeAsDoubleValueRads());
   latitude = newLoc.getLatitudeAsDoubleValue();
   longitude = newLoc.getLongitudeAsDoubleValue();
 }
  @Override
  protected boolean processMsgLocally(MessageInfo info, IMCMessage msg) {
    // msg.dump(System.out);
    // System.out.flush();

    ImcSystem resSys = ImcSystemsHolder.lookupSystem(systemCommId);

    if (resSys != null) {
      if (resSys.getAuthorityState() == ImcSystem.IMCAuthorityState.OFF) return false;
    }

    logMessage(info, msg);

    try {
      if (bus != null) bus.post(msg);
    } catch (Exception e1) {
      e1.printStackTrace();
    } catch (Error e1) {
      e1.printStackTrace();
    }

    imcState.setMessage(msg);

    if (resSys == null) return true;

    switch (msg.getMgid()) {
      case VehicleState.ID_STATIC:
        try {
          int errorCount = msg.getInteger("error_count");
          if (errorCount > 0) resSys.setOnErrorState(true);
          else resSys.setOnErrorState(false);

          Object errEntStr = msg.getValue("error_ents");
          if (errEntStr != null) resSys.setOnErrorStateStr(errEntStr.toString());
          else resSys.setOnErrorStateStr("");
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case PlanControlState.ID_STATIC:
        try {
          String planId = msg.getString("plan_id");
          String maneuver = msg.getString("man_id");
          String state = msg.getString("state");
          PlanType plan = new PlanType(null);
          plan.setId(planId + "|" + I18n.textc("Man", "Maneuver (short form)") + ":" + maneuver);
          if ("EXECUTING".equalsIgnoreCase(state)) resSys.setActivePlan(plan);
          else resSys.setActivePlan(null);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case EmergencyControlState.ID_STATIC:
        try {
          String planId;
          planId = msg.getString("plan_id");

          if (planId == null) planId = msg.getString("mission_id");

          String state = msg.getString("state");
          resSys.setEmergencyPlanId(planId);
          resSys.setEmergencyStatusStr(state);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case EstimatedState.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();

          double lat = msg.getDouble("lat");
          double lon = msg.getDouble("lon");
          double height = msg.getDouble("height");
          msg.getDouble("depth");
          msg.getDouble("altitude");
          double x = msg.getDouble("x");
          double y = msg.getDouble("y");
          double z = msg.getDouble("z");
          double phi = msg.getDouble("phi");
          double theta = msg.getDouble("theta");
          double psi = msg.getDouble("psi");

          LocationType loc = new LocationType();
          loc.setLatitudeRads(lat);
          loc.setLongitudeRads(lon);
          loc.setHeight(height);
          loc.setOffsetNorth(x);
          loc.setOffsetEast(y);
          loc.setOffsetDown(z);
          loc.convertToAbsoluteLatLonDepth();

          if (loc != null) {
            resSys.setLocation(loc, timeMillis);
          }

          resSys.setAttitudeDegrees(
              Math.toDegrees(phi), Math.toDegrees(theta), Math.toDegrees(psi), timeMillis);

          // double u = msg.getDouble("u");
          // double v = msg.getDouble("v");
          // double w = msg.getDouble("w");
          double vx = msg.getDouble("vx");
          double vy = msg.getDouble("vy");
          double vz = msg.getDouble("vz");

          double courseRad = AngleCalc.calcAngle(0, 0, vy, vx);
          double groundSpeed = Math.sqrt(vx * vx + vy * vy);
          double verticalSpeed = vz;

          resSys.storeData(
              ImcSystem.COURSE_KEY,
              (int)
                  AngleCalc.nomalizeAngleDegrees360(
                      MathMiscUtils.round(Math.toDegrees(courseRad), 0)),
              timeMillis,
              true);
          resSys.storeData(ImcSystem.GROUND_SPEED_KEY, groundSpeed, timeMillis, true);
          resSys.storeData(ImcSystem.VERTICAL_SPEED_KEY, verticalSpeed, timeMillis, true);

          double headingRad = msg.getDouble("psi");
          resSys.storeData(
              ImcSystem.HEADING_KEY,
              (int)
                  AngleCalc.nomalizeAngleDegrees360(
                      MathMiscUtils.round(Math.toDegrees(headingRad), 0)),
              timeMillis,
              true);

        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case SimulatedState.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          resSys.storeData(msg.getAbbrev(), msg, timeMillis, true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case OperationalLimits.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          resSys.storeData(msg.getAbbrev(), msg, timeMillis, true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case IndicatedSpeed.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          double value = msg.getDouble("value");
          resSys.storeData(ImcSystem.INDICATED_SPEED_KEY, value, timeMillis, true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case TrueSpeed.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          double value = msg.getDouble("value");
          resSys.storeData(ImcSystem.TRUE_SPEED_KEY, value, timeMillis, true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case PlanDB.ID_STATIC:
        try {
          resSys.getPlanDBControl().onMessage(info, msg);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case Rpm.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          int entityId = (Integer) msg.getHeaderValue("src_ent");
          final int value = msg.getInteger("value");
          if (entityId == 0xFF) {
            resSys.storeData(ImcSystem.RPM_MAP_ENTITY_KEY, value, timeMillis, true);
          } else {
            final String entityName = EntitiesResolver.resolveName(resSys.getName(), entityId);
            if (entityName != null) {
              Object obj = resSys.retrieveData(ImcSystem.RPM_MAP_ENTITY_KEY);
              if (obj == null) {
                Map<String, Integer> map =
                    (Map<String, Integer>)
                        Collections.synchronizedMap(new HashMap<String, Integer>());
                map.put(entityName, value);
                resSys.storeData(ImcSystem.RPM_MAP_ENTITY_KEY, map, timeMillis, true);
              } else {
                @SuppressWarnings("unchecked")
                Map<String, Integer> rpms =
                    (Map<String, Integer>) resSys.retrieveData(ImcSystem.RPM_MAP_ENTITY_KEY);
                rpms.put(entityName, value);
                resSys.storeData(ImcSystem.RPM_MAP_ENTITY_KEY, rpms, timeMillis, false);
              }
            }
          }
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case FuelLevel.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          FuelLevel fuelLevelMsg = (FuelLevel) msg;
          resSys.storeData(ImcSystem.FUEL_LEVEL_KEY, fuelLevelMsg, timeMillis, true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case LblConfig.ID_STATIC:
        try {
          if (((LblConfig) msg).getOp() == OP.CUR_CFG)
            resSys.storeData(
                ImcSystem.LBL_CONFIG_KEY, (LblConfig) msg, msg.getTimestampMillis(), true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;

      case AcousticSystems.ID_STATIC:
        try {
          long timeMillis = msg.getTimestampMillis();
          AcousticSystems acousticSystemsMsg = (AcousticSystems) msg;
          resSys.storeData(ImcSystem.ACOUSTIC_SYSTEMS, acousticSystemsMsg, timeMillis, true);
        } catch (Exception e) {
          e.printStackTrace();
        }
        break;
      default:
        break;
    }

    return true;
  }
Exemplo n.º 11
0
  @Override
  public SystemPositionAndAttitude step(SystemPositionAndAttitude state, double timestep) {
    model.setState(state);
    double distToDestination = state.getPosition().getDistanceInMeters(destination);
    if (loiterType.equalsIgnoreCase("circular")) {

      if (distToDestination - 2 > radius) {
        model.guide(
            destination, speed, destination.getDepth() >= 0 ? null : -destination.getDepth());
        if (!enteredLoiter) loiterTime = 0;
      } else {
        enteredLoiter = true;
        double perpend = state.getPosition().getXYAngle(destination) + Math.PI / 2;
        LocationType loc = new LocationType(state.getPosition());
        loc.setDepth(destination.getDepth());
        if (clockwise) loc.translatePosition(Math.cos(perpend) * -20, Math.sin(perpend) * -20, 0);
        else loc.translatePosition(Math.cos(perpend) * 20, Math.sin(perpend) * 20, 0);
        model.guide(loc, speed, destination.getDepth() >= 0 ? null : -destination.getDepth());
        loiterTime += timestep;
      }
    } else {
      if (distToDestination < speed * 2) loiterTime += timestep;
      else
        model.guide(
            destination, speed, destination.getDepth() >= 0 ? null : -destination.getDepth());
    }

    model.advance(timestep);

    if (loiterTime > duration) finished = true;

    return model.getState();
  }
Exemplo n.º 12
0
  private void solve() {

    if (pe == null) {
      GuiUtils.errorMessage(getConsole(), "Coverage Plan Solver", "The polygon is not valid");
      return;
    }

    double north, east, south, west;
    double[] bounds = pe.getBounds3d();

    south = bounds[PathElement.SOUTH_COORD];
    west = bounds[PathElement.WEST_COORD];
    north = bounds[PathElement.NORTH_COORD];
    east = bounds[PathElement.EAST_COORD];

    CoverageCell[][] cells =
        new CoverageCell[(int) ((north - south) / grid) + 1][(int) ((east - west) / grid) + 1];

    for (int i = 0; i < cells.length; i++)
      for (int j = 0; j < cells[i].length; j++) {
        cells[i][j] = new CoverageCell();
        cells[i][j].i = i;
        cells[i][j].j = j;
      }

    int i = 0, j = 0;
    int desiredCells = 0;
    for (double n = south + grid / 2; n < north; n += grid) {
      j = 0;
      for (double e = west + grid / 2; e < east; e += grid) {
        LocationType lt = new LocationType(pe.getCenterLocation());
        lt.translatePosition(n, e, 0);
        CoverageCell cell = cells[i][j];
        cell.realWorldLoc = lt.getNewAbsoluteLatLonDepth();
        if (pe.containsPoint(lt, null)) {
          cell.desired = true;
          desiredCells++;
        }
        cells[i][j] = cell;
        j++;
      }
      i++;
    }

    CoverageCell initialCell = null;
    i = 0;
    for (j = 0; j < cells[0].length - 1 && initialCell == null; j++)
      for (i = 0; i < cells.length && initialCell == null; i++)
        if (cells[i][j].desired) initialCell = cells[i][j];

    if (initialCell == null) {
      GuiUtils.errorMessage("Polygon coverage", "Polygon area is invalid");
      return;
    }

    CoverageCell current = initialCell;
    desiredCells--;

    int dir = -1;

    while (desiredCells > 0) {
      current.visited = true;
      current.active = false;
      if (dir == 1) {
        if (current.i < cells.length - 1
            && cells[current.i + 1][current.j].desired == true
            && cells[current.i + 1][current.j].visited == false) {
          current.next = cells[current.i + 1][current.j];
          cells[current.i + 1][current.j].previous = current;
          current = current.next;
          current.active = true;
        } else {
          dir = -1;
          if (current.j == cells[0].length - 1) break;

          while (!cells[current.i][current.j + 1].desired && i > 0 && current.previous != null) {
            current.active = false;
            current = current.previous;
          }

          if (i == 0) break;

          current.next = cells[current.i][current.j + 1];
          cells[current.i][current.j + 1].previous = current;
          current = current.next;
          current.active = true;
        }
      } else {
        if (current.i > 0
            && cells[current.i - 1][current.j].desired == true
            && cells[current.i - 1][current.j].visited == false) {
          current.next = cells[current.i - 1][current.j];
          cells[current.i - 1][current.j].previous = current;
          current = current.next;
          current.active = true;
        } else {
          dir = 1;
          if (current.j == cells[0].length - 1) break;

          while (current.previous != null
              && !cells[current.i][current.j + 1].desired
              && i < cells.length) {
            current.active = false;
            current = current.previous;
          }

          if (i == cells.length) break;

          current.next = cells[current.i][current.j + 1];
          cells[current.i][current.j + 1].previous = current;
          current = current.next;
          current.active = true;
        }
      }
      desiredCells--;
    }
    generatePlans(cells, initialCell);
  }
Exemplo n.º 13
0
 public LocationType getBottomRight() {
   LocationType loc = new LocationType(topLeft);
   loc.translatePosition(-image.getHeight() * zoom, image.getWidth() * zoom, 0);
   return loc;
 }
Exemplo n.º 14
0
  /* (non-Javadoc)
   * @see javax.servlet.http.HttpServlet#doGet(javax.servlet.http.HttpServletRequest, javax.servlet.http.HttpServletResponse)
   */
  @Override
  protected void doGet(HttpServletRequest req, HttpServletResponse resp)
      throws ServletException, IOException {

    if (req.getPathInfo().equals("/location")) {
      resp.setContentType("application/neptus+xml");
      PrintWriter page = resp.getWriter();
      LocationType start = MyState.getLocation();
      page.write(start.asXML(ImcMsgManager.getManager().getLocalId() + " Location"));
      page.close();
      return;
    } else if (req.getPathInfo().equals("/console") || req.getPathInfo().equals("/console.png")) {
      if (System.currentTimeMillis() - consoleLastRTime > 10000) {
        File logImages = new File("log/images");
        File[] fileList =
            logImages.listFiles(
                new FileFilter() {
                  @Override
                  public boolean accept(File pathname) {
                    if (pathname.isFile()
                        && "png".equalsIgnoreCase(FileUtil.getFileExtension(pathname))) return true;
                    else return false;
                  }
                });
        Vector<File> fileVec = new Vector<File>();
        for (File f : fileList) {
          fileVec.add(f);
        }
        Collections.sort(fileVec);
        if (fileVec.size() > 0) console = fileVec.lastElement();
        else console = null;
        consoleLastRTime = System.currentTimeMillis();
      }

      if (req.getPathInfo().equals("/console.png")) {
        if (console != null && console.exists() && allowConsoleExposure) {
          resp.setContentType("image/png");
          FileInputStream fxStream = new FileInputStream(console);
          StreamUtil.copyStreamToStream(fxStream, resp.getOutputStream());
          fxStream.close();
        }
        resp.getOutputStream().close();
      } else {
        resp.setContentType("text/html;charset=UTF-8");
        resp.getWriter().write("<html><head><meta http-equiv='refresh' content='30'></head><body>");
        if (console != null && console.exists() && allowConsoleExposure)
          resp.getWriter()
              .write(
                  "<img src=\"/localstate/console.png\" alt=\""
                      + console.getName()
                      + "\" "
                      + "id=\""
                      + console.getName()
                      + " border=\"0\">");
        else resp.getWriter().write("No consoles active.");
        resp.getWriter().write("</body></html>");
        resp.getWriter().close();
        // <img src="guides.ign.com4_files/header220001101.gif" alt="IGNguides.com" usemap="#HEADER"
        // width="590" border="0" height="90">
      }
    } else if (req.getPathInfo().equals("/")) {
      resp.setContentType("text/html;charset=UTF-8");
      if (!ImcMsgManager.getManager().isRunning()) {
        resp.getWriter()
            .write(
                "<html><head><meta http-equiv='refresh' content='30'>"
                    + "<body>Comms are not running.</body></html>");
        resp.getWriter().close();
        return;
      }

      ImcId16 idImc = ImcMsgManager.getManager().getLocalId();

      String ret = "<html>";

      ret += "<h2>Location</h2><blockquote>";
      LocationType home = MyState.getLocation();
      String homeLoc = home.getLatitudeAsPrettyString() + ", " + home.getLongitudeAsPrettyString();
      // ret += homeLoc+"<br/>";
      ret += "<a href='/localstate/location'>" + homeLoc + "</a><br/>";
      ret += "</blockquote><br>";

      ret += "<h2>State</h2>";
      ret += "<b>ID:</b> " + idImc + "<br>";
      ret +=
          "<b>Services:</b> "
              + ImcMsgManager.getManager().getAllServicesString().replaceAll(";", ";<br>")
              + "<br><br>";

      ret += "<b>Comms info:</b><br>" + ImcMsgManager.getManager().getCommStatusAsHtmlFragment();

      if (System.currentTimeMillis() - ImcMsgManager.getManager().getAnnounceLastArriveTime()
          > DateTimeUtil.MINUTE * 5) {
        ret += "<b color='red'>Announce not arriving for some time</b><br>";
      }

      ret += "</html>";

      resp.getWriter().write(ret);
      resp.getWriter().close();
    }
  }