@Override
public void addRecordStore(
String name, DataComponent recordStructure, DataEncoding recommendedEncoding) {
recordStructure.setName(name);
TimeSeriesImpl newTimeSeries =
new TimeSeriesImpl(getStorage(), recordStructure, recommendedEncoding);
dataStores.put(name, newTimeSeries);
modify();
}
protected DataBlock computeState(double time) {
MechanicalState state = orbitPredictor.getECFState(time);
// send to output
DataBlock stateData = (lastRecord == null) ? outputDef.createDataBlock() : lastRecord.renew();
stateData.setDoubleValue(0, state.julianTime);
stateData.setDoubleValue(1, state.linearPosition.x);
stateData.setDoubleValue(2, state.linearPosition.y);
stateData.setDoubleValue(3, state.linearPosition.z);
stateData.setDoubleValue(4, state.linearVelocity.x);
stateData.setDoubleValue(5, state.linearVelocity.y);
stateData.setDoubleValue(6, state.linearVelocity.z);
return stateData;
}
@Override
protected void init() {
SWEHelper fac = new SWEHelper();
// build SWE Common record structure
laserData = fac.newDataRecord(5);
laserData.setName(getName());
laserData.setDefinition("http://sensorml.com/ont/swe/property/LaserRangeData");
// add time, horizontalDistance, azimuth, inclination, and slopeDistance
laserData.addComponent("time", fac.newTimeStampIsoUTC());
laserData.addComponent(
"horizDistance",
fac.newQuantity(
SWEHelper.getPropertyUri("HorizontalDistance"), "Horizontal Distance", null, "m"));
laserData.addComponent(
"slopeDistance",
fac.newQuantity(
SWEHelper.getPropertyUri("LineOfSightDistance"), "Line-of-Sight Distance", null, "m"));
// for azimuth (trueHeading), we also specify a reference frame
Quantity q =
fac.newQuantity(SWEHelper.getPropertyUri("TrueHeading"), "True Heading", null, "deg");
q.setReferenceFrame("http://sensorml.com/ont/swe/property/NED");
q.setAxisID("z");
laserData.addComponent("azimuth", q);
// for inclination, we also specify a reference frame
q = fac.newQuantity(SWEHelper.getPropertyUri("Inclination"), "Inclination", null, "deg");
q.setReferenceFrame("http://sensorml.com/ont/swe/property/NED");
q.setAxisID("y");
laserData.addComponent("inclination", q);
// also generate encoding definition as text block
dataEncoding = fac.newTextEncoding(",", "\n");
}
@Override
public CommandStatus execCommand(DataBlock command) throws SensorException {
// associate command data to msg structure definition
DataChoice commandMsg = (DataChoice) commandData.copy();
commandMsg.setData(command);
DataComponent component = ((DataChoiceImpl) commandMsg).getSelectedItem();
String itemID = component.getName();
DataBlock data = component.getData();
String itemValue = data.getStringValue();
// NOTE: you can use validate() method in DataComponent
// component.validateData(errorList); // give it a list so it can store the errors
// if (errorList != empty) //then you have an error
try {
// set parameter value on camera
// NOTE: except for "presets", the item IDs are labeled the same as the Axis parameters so
// just use those in the command
if (itemID.equals(VideoCamHelper.TASKING_PTZPRESET)) {
PtzPreset preset = presetsHandler.getPreset(data.getStringValue());
// pan + tilt + zoom (supported since v2 at least)
URL optionsURL =
new URL(
parentSensor.getHostUrl()
+ "/com/ptz.cgi?pan="
+ preset.pan
+ "&tilt="
+ preset.tilt
+ "&zoom="
+ preset.zoom);
InputStream is = optionsURL.openStream();
is.close();
}
// Act on full PTZ Position
else if (itemID.equalsIgnoreCase(VideoCamHelper.TASKING_PTZ_POS)) {
URL optionsURL =
new URL(
parentSensor.getHostUrl()
+ "/com/ptz.cgi?pan="
+ data.getStringValue(0)
+ "&tilt="
+ data.getStringValue(1)
+ "&zoom="
+ data.getStringValue(2));
InputStream is = optionsURL.openStream();
is.close();
} else {
String cmd = " ";
if (itemID.equals(VideoCamHelper.TASKING_PAN)) cmd = "pan";
else if (itemID.equals(VideoCamHelper.TASKING_RPAN)) cmd = "rpan";
else if (itemID.equals(VideoCamHelper.TASKING_TILT)) cmd = "tilt";
else if (itemID.equals(VideoCamHelper.TASKING_RTILT)) cmd = "rtilt";
else if (itemID.equals(VideoCamHelper.TASKING_ZOOM)) cmd = "zoom";
else if (itemID.equals(VideoCamHelper.TASKING_RZOOM)) cmd = "rzoom";
URL optionsURL =
new URL(parentSensor.getHostUrl() + "/com/ptz.cgi?" + cmd + "=" + itemValue);
InputStream is = optionsURL.openStream();
is.close();
}
} catch (Exception e) {
throw new SensorException("Error connecting to Axis PTZ control", e);
}
CommandStatus cmdStatus = new CommandStatus();
cmdStatus.status = StatusCode.COMPLETED;
return cmdStatus;
}
/* TODO: only using HV message; add support for HT and ML */
private synchronized void pollAndSendMeasurement() {
long msgTime = System.currentTimeMillis();
double hd = Double.NaN;
double incl = Double.NaN;
double az = Double.NaN;
double sd = Double.NaN;
try {
boolean gotHvMsg = false;
while (!gotHvMsg) {
String line = msgReader.readLine();
String val, unit;
// parse the data string
TruPulseSensor.log.debug("Message received: {}", line);
String[] tokens = line.split(",");
val = tokens[0];
if (!val.equals(MSG_PREFIX)) {
TruPulseSensor.log.warn(
"Message initial token does NOT equal expected string {}", MSG_PREFIX);
continue;
}
// check for desired message type HV
val = tokens[1];
if (!val.equals(MSG_TYPE_HV)) {
TruPulseSensor.log.warn("Unsupported message type {}", val);
continue;
}
// get horizontal distance measure and check units (convert if not meters)
val = tokens[2];
unit = tokens[3];
if (val.length() > 0 && unit.length() > 0) {
hd = Double.parseDouble(val);
hd = convert(hd, unit);
}
// get azimuth angle measure (units should be degrees)
val = tokens[4];
unit = tokens[5];
if (val.length() > 0 && unit.length() > 0) az = Double.parseDouble(val);
// get inclination angle measure (units should be degrees)
val = tokens[6];
unit = tokens[7];
if (val.length() > 0 && unit.length() > 0) incl = Double.parseDouble(val);
// get slope distance measure and check units (should be meters)
val = tokens[8];
unit = tokens[9];
if (val.length() > 0 && unit.length() > 0) {
sd = Double.parseDouble(val);
sd = convert(hd, unit);
}
gotHvMsg = true;
}
} catch (IOException e) {
TruPulseSensor.log.error("Unable to parse TruPulse message", e);
}
// create and populate datablock
DataBlock dataBlock;
if (latestRecord == null) dataBlock = laserData.createDataBlock();
else dataBlock = latestRecord.renew();
dataBlock.setDoubleValue(0, msgTime / 1000.);
dataBlock.setDoubleValue(1, hd);
dataBlock.setDoubleValue(2, sd);
dataBlock.setDoubleValue(4, az);
dataBlock.setDoubleValue(3, incl);
// update latest record and send event
latestRecord = dataBlock;
latestRecordTime = msgTime;
eventHandler.publishEvent(
new SensorDataEvent(latestRecordTime, TruPulseOutput.this, dataBlock));
}
protected void init() {
GeoPosHelper fac = new GeoPosHelper();
// SWE Common data structure
dataStruct = fac.newDataRecord(7);
dataStruct.setName(getName());
dataStruct.setDefinition(SWEHelper.getPropertyUri("AVLData"));
// time
dataStruct.addComponent("time", fac.newTimeStampIsoUTC());
// Mobile Data Terminal ID
dataStruct.addComponent(
"mdt-id",
fac.newCategory(
SWEHelper.getPropertyUri("MDT-ID"), "MDT-ID", "Mobile Data Terminal ID", null));
// Unit and Vehicle ID (often the same)
dataStruct.addComponent(
"unit-id",
fac.newCategory(SWEHelper.getPropertyUri("Unit-ID"), "Unit ID", "Mobile Unit ID", null));
dataStruct.addComponent(
"veh-id",
fac.newCategory(
SWEHelper.getPropertyUri("Vehicle-ID"),
"Vehicle ID",
"Mobile Vehicle Identification",
null));
// location (latitude-longitude)
Vector locVector = fac.newLocationVectorLatLon(SWEConstants.DEF_SENSOR_LOC);
locVector.setLabel("Vehicle Location");
dataStruct.addComponent("location", locVector);
// status constraints: (AQ - at-station; ER - enroute; AR - arrived?, OS - out-of-service, AK -
// completed-returning)
Category status =
fac.newCategory(
SWEHelper.getPropertyUri("Vehicle-Status"),
"Unit Status",
"Unit-Vehicle Status (AQ, OS, AK, ER, AR)",
null);
AllowedTokens constraints = fac.newAllowedTokens();
constraints.addValue("AQ");
constraints.addValue("ER");
constraints.addValue("AR");
constraints.addValue("OS");
constraints.addValue("AK");
status.setConstraint(constraints);
dataStruct.addComponent("status", status);
// event (empty if AQ, OS, or AK; event number if ER or AR)
dataStruct.addComponent(
"event-id",
fac.newCategory(
SWEHelper.getPropertyUri("Event-ID"),
"Event ID",
"Assigned ID to an emergency event",
null));
// set encoding to CSV
dataEncoding = fac.newTextEncoding(",", "\n");
}
private void pollAndSendMeasurement() {
double julianTime = 0.0;
String mdtID = " ";
String vehID = " ";
String unitID = " ";
double lat = Double.NaN;
double lon = Double.NaN;
String status = " ";
String eventID = " ";
try {
boolean gotMsg = false;
while (!gotMsg) {
String line = msgReader.readLine();
if (line == null || line.length() == 0) return;
String timeString;
Date time;
// parse the data string
AVLDriver.log.debug("Message received: {}", line);
// split tokens based on one or more white spaces
String[] tokens = line.trim().split("\\s+");
// get time tag in pseudo standard string
timeString = tokens[0];
// add "T" at end to make recognizable time zone (e.g. CDT) and then
// parse according to predefined Intergraph 911 format
try {
time = timeFormat.parse(timeString + "T");
} catch (ParseException e) {
AVLDriver.log.warn("Exception parsing date-time string ", timeString + "T");
continue;
}
if (time != null) julianTime = time.getTime() / 1000.0;
// skip tokens[1]
mdtID = tokens[2];
unitID = tokens[3];
vehID = tokens[4];
lat = Double.parseDouble(tokens[5]);
lon = Double.parseDouble(tokens[6]);
// skip tokens[7 - 15]
status = tokens[16];
if (tokens.length > 17) // event id is not always present
eventID = tokens[17];
else eventID = "NONE";
gotMsg = true;
}
} catch (IOException e) {
if (sendData) AVLDriver.log.error("Unable to parse AVL message", e);
return;
}
// create new FOI if needed
parentSensor.addFoi(julianTime, vehID);
// create and populate datablock
DataBlock dataBlock;
if (latestRecord == null) dataBlock = dataStruct.createDataBlock();
else dataBlock = latestRecord.renew();
dataBlock.setDoubleValue(0, julianTime);
dataBlock.setStringValue(1, mdtID);
dataBlock.setStringValue(2, unitID);
dataBlock.setStringValue(3, vehID);
dataBlock.setDoubleValue(4, lat);
dataBlock.setDoubleValue(5, lon);
dataBlock.setStringValue(6, status);
dataBlock.setStringValue(7, eventID);
// update latest record and send event
latestRecord = dataBlock;
latestRecordTime = System.currentTimeMillis();
eventHandler.publishEvent(
new SensorDataEvent(latestRecordTime, vehID, AVLOutput.this, dataBlock));
}