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();
}
// @Override
public void handle(SignalKModel node) throws IOException {
if (node.getFullData().size() == 0) return;
if (logger.isDebugEnabled()) logger.debug("SignalkModelProcessor updating " + node);
signalkModel.putAll(node.getFullData());
if (node.getSubMap(SignalKConstants.CONFIG) != null) {
SignalKModelFactory.saveConfig(signalkModel);
}
if (logger.isDebugEnabled()) logger.debug(signalkModel);
}
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;
}
@Test
public void testSubscribe() throws Exception {
// fill the model with data
SignalKModel model = SignalKModelFactory.getMotuTestInstance();
model.putAll(TestHelper.getBasicModel().getFullData());
// 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());
// create a private receive queue
String uuid = UUID.randomUUID().toString();
connection.subscribe(
"/queue/signalk." + uuid + ".vessels.motu.navigation", Subscribe.AckModeValues.AUTO);
// subscribe
Json subMsg =
getSubscribe(
"vessels." + SignalKConstants.self, "navigation", 1000, 0, FORMAT_DELTA, POLICY_FIXED);
subMsg.set(
nz.co.fortytwo.signalk.util.ConfigConstants.OUTPUT_TYPE,
nz.co.fortytwo.signalk.util.ConfigConstants.OUTPUT_STOMP);
subMsg.set(WebsocketConstants.CONNECTION_KEY, uuid);
HashMap<String, String> headers = new HashMap<String, String>();
// queue>signalk.3202a939-1681-4a74-ad4b-3a90212e4f33.vessels.motu.navigation
// set private queue to receive data
headers.put("reply-to", "/queue/signalk." + uuid + ".vessels.motu.navigation");
headers.put(WebsocketConstants.CONNECTION_KEY, uuid);
connection.send("/queue/signalk.put", subMsg.toString(), null, headers);
// listen for messages
StompFrame message = connection.receive();
logger.debug("Body: " + message.getBody());
assertNotNull(message);
Json reply = Json.read(message.getBody());
assertNotNull(reply.at(SignalKConstants.CONTEXT));
assertNotNull(reply.at(SignalKConstants.UPDATES));
// unsubscribe
subMsg =
getSubscribe(
"vessels." + SignalKConstants.self, "navigation", 1000, 0, FORMAT_DELTA, POLICY_FIXED);
connection.send("/queue/signalk.subscribe", subMsg.toString(), null, headers);
connection.unsubscribe("/queue/signalk." + uuid + ".vessels.motu.navigation");
// disconnect
connection.disconnect();
}
// 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;
}
public String createGLL(SignalKModel model) {
if (model.get(vessels_dot_self_dot + nav_position_latitude) != null
&& model.get(vessels_dot_self_dot + nav_position_longitude) != null) {
GLLSentence sen = (GLLSentence) sf.createParser(TalkerId.GP, SentenceId.GLL);
sen.setTime(new Time());
sen.setStatus(DataStatus.ACTIVE);
sen.setPosition(
new Position(
(double) model.get(vessels_dot_self_dot + nav_position_latitude),
(double) model.get(vessels_dot_self_dot + nav_position_longitude)));
return sen.toSentence();
}
return null;
}
@Test
public void testSendingGetFull() throws Exception {
// fill the model with data
SignalKModel model = SignalKModelFactory.getMotuTestInstance();
model.putAll(TestHelper.getBasicModel().getFullData());
// 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());
// create a private receive queue
String uuid = UUID.randomUUID().toString();
connection.subscribe(
"/queue/signalk." + uuid + "." + vessels_dot_self_dot + env_wind,
Subscribe.AckModeValues.AUTO);
latch.await(2, TimeUnit.SECONDS);
// send list
Json subMsg =
getGet("vessels." + SignalKConstants.self, env_wind + ".*", SignalKConstants.FORMAT_FULL);
HashMap<String, String> headers = new HashMap<String, String>();
logger.debug("sending" + subMsg);
// queue>signalk.3202a939-1681-4a74-ad4b-3a90212e4f33.vessels.motu.navigation
// set private queue to receive data
headers.put("reply-to", "/queue/signalk." + uuid + dot + vessels_dot_self_dot + env_wind);
headers.put(WebsocketConstants.CONNECTION_KEY, uuid);
connection.send("/queue/signalk.put", subMsg.toString(), null, headers);
// listen for messages
StompFrame message = connection.receive();
logger.debug("Body: " + message.getBody());
assertNotNull(message);
Json reply = Json.read(message.getBody());
assertNotNull(reply.at(SignalKConstants.vessels));
assertNotNull(reply.at(SignalKConstants.vessels).at(SignalKConstants.self).at(env).at("wind"));
// unsubscribe
connection.unsubscribe("/queue/signalk." + uuid + "." + vessels_dot_self_dot + env_wind);
// disconnect
connection.disconnect();
}
public void process(Exchange exchange) throws Exception {
if (exchange.getIn().getBody() == null) return;
if (logger.isDebugEnabled())
logger.debug("Processing, class=" + exchange.getIn().getBody().getClass());
// TODO: add more filters here
if (exchange.getIn().getBody() instanceof Json) {
Json json = (Json) exchange.getIn().getBody();
// remove _arduino
try {
json.at(SignalKConstants.vessels).at(SignalKConstants.self).delAt("_arduino");
} catch (NullPointerException npe) {
}
// remove _config
try {
json.at(SignalKConstants.vessels).at(SignalKConstants.self).delAt("_config");
} catch (NullPointerException npe) {
}
exchange.getIn().setBody(json.toString());
}
if (exchange.getIn().getBody() instanceof SignalKModel) {
SignalKModel model = (SignalKModel) exchange.getIn().getBody();
// remove _arduino
try {
model.put(SignalKConstants.vessels_dot_self_dot + "_arduino", null);
} catch (NullPointerException npe) {
}
// remove _config
try {
model.put(SignalKConstants.vessels_dot_self_dot + "_config", null);
} catch (NullPointerException npe) {
}
exchange.getIn().setBody(ser.write(model));
}
if (logger.isDebugEnabled()) {
logger.debug("Outputting:" + exchange.getIn().getHeaders());
logger.debug("Outputting:" + exchange.getIn());
}
}
// 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;
}
