/*
* (non-Javadoc)
*
* @see pt.up.fe.dceg.neptus.plugins.update.IPeriodicUpdates#update()
*/
@Override
public boolean update() {
location = MyState.getLocation();
headingDegrees = MyState.getAxisAnglesDegrees()[2];
lastCalcPosTimeMillis = MyState.getLastLocationUpdateTimeMillis();
length = MyState.getLength();
width = MyState.getWidth();
// update pos if following system
if (followingPositionOf != null && followingPositionOf.length() != 0) {
ImcSystem sys = ImcSystemsHolder.lookupSystemByName(followingPositionOf);
LocationType loc = null;
long locTime = -1;
double headingDegrees = 0;
long headingDegreesTime = -1;
if (sys != null) {
loc = sys.getLocation();
locTime = sys.getLocationTimeMillis();
headingDegrees = sys.getYawDegrees();
headingDegreesTime = sys.getAttitudeTimeMillis();
} else {
ExternalSystem ext = ExternalSystemsHolder.lookupSystem(followingPositionOf);
if (ext != null) {
loc = ext.getLocation();
locTime = ext.getLocationTimeMillis();
headingDegreesTime = ext.getAttitudeTimeMillis();
}
}
if (loc != null) {
if (locTime - lastCalcPosTimeMillis > 0) {
if (headingDegreesTime - lastCalcPosTimeMillis > 0)
MyState.setLocationAndAxis(loc, headingDegrees);
else MyState.setLocation(loc);
}
}
}
if (useSystemToDeriveHeadingOf != null && useSystemToDeriveHeadingOf.length() != 0) {
ImcSystem sys = ImcSystemsHolder.lookupSystemByName(useSystemToDeriveHeadingOf);
LocationType loc = null;
// long locTime = -1;
if (sys != null) {
loc = sys.getLocation();
// locTime = sys.getLocationTimeMillis();
} else {
ExternalSystem ext = ExternalSystemsHolder.lookupSystem(useSystemToDeriveHeadingOf);
if (ext != null) {
loc = ext.getLocation();
// locTime = ext.getLocationTimeMillis();
}
}
if (loc != null) {
double[] bearingRange = CoordinateUtil.getNEBearingDegreesAndRange(location, loc);
bearingRange[0] += -useHeadingAngleToDerivedHeading + useHeadingOffsetFromDerivedHeading;
// if (Math.abs(locTime - lastCalcPosTimeMillis) < DateTimeUtil.MINUTE * 5) {
MyState.setHeadingInDegrees(AngleCalc.nomalizeAngleDegrees360(bearingRange[0]));
// }
}
}
return true;
}