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Merge branch 'v2' of https://github.com/opensensorhub/osh-core into v2
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56 changes: 56 additions & 0 deletions
56
sensorhub-core/src/main/java/org/sensorhub/impl/sensor/DefaultOrientationOutput.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| /***************************** BEGIN LICENSE BLOCK *************************** | ||
| The contents of this file are subject to the Mozilla Public License, v. 2.0. | ||
| If a copy of the MPL was not distributed with this file, You can obtain one | ||
| at http://mozilla.org/MPL/2.0/. | ||
| Software distributed under the License is distributed on an "AS IS" basis, | ||
| WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License | ||
| for the specific language governing rights and limitations under the License. | ||
| Copyright (C) 2024 Botts Innovative Research Inc. All Rights Reserved. | ||
| ******************************* END LICENSE BLOCK ***************************/ | ||
| package org.sensorhub.impl.sensor; | ||
|
|
||
| import net.opengis.swe.v20.DataComponent; | ||
| import net.opengis.swe.v20.DataEncoding; | ||
| import org.sensorhub.api.sensor.ISensorDriver; | ||
|
|
||
| /** | ||
| * Default orientation output for sensor drivers outputting their own orientation. | ||
| */ | ||
| public abstract class DefaultOrientationOutput extends AbstractSensorOutput<ISensorDriver> { | ||
| protected DataComponent outputStruct; | ||
| DataEncoding outputEncoding; | ||
| protected double updatePeriod; | ||
|
|
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| protected DefaultOrientationOutput(ISensorDriver parentSensor, double updatePeriod) { | ||
| super(AbstractSensorModule.ORIENTATION_OUTPUT_NAME, parentSensor); | ||
| this.updatePeriod = updatePeriod; | ||
| } | ||
|
|
||
| @Override | ||
| public DataComponent getRecordDescription() { | ||
| return outputStruct; | ||
| } | ||
|
|
||
| @Override | ||
| public DataEncoding getRecommendedEncoding() { | ||
| return outputEncoding; | ||
| } | ||
|
|
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| @Override | ||
| public double getAverageSamplingPeriod() { | ||
| return updatePeriod; | ||
| } | ||
|
|
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| /** | ||
| * Update the orientation output with the given heading, pitch, and roll angles. | ||
| * | ||
| * @param time The time of the orientation update. | ||
| * @param heading The heading angle in degrees. | ||
| * @param pitch The pitch angle in degrees. | ||
| * @param roll The roll angle in degrees. | ||
| * @param forceUpdate If true, the orientation will be updated even if the angles have not changed. | ||
| */ | ||
| public abstract void updateOrientation(double time, double heading, double pitch, double roll, boolean forceUpdate); | ||
| } |
63 changes: 63 additions & 0 deletions
63
sensorhub-core/src/main/java/org/sensorhub/impl/sensor/DefaultOrientationOutputEuler.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| /***************************** BEGIN LICENSE BLOCK *************************** | ||
| The contents of this file are subject to the Mozilla Public License, v. 2.0. | ||
| If a copy of the MPL was not distributed with this file, You can obtain one | ||
| at http://mozilla.org/MPL/2.0/. | ||
| Software distributed under the License is distributed on an "AS IS" basis, | ||
| WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License | ||
| for the specific language governing rights and limitations under the License. | ||
| Copyright (C) 2012-2015 Sensia Software LLC. All Rights Reserved. | ||
| ******************************* END LICENSE BLOCK ***************************/ | ||
| package org.sensorhub.impl.sensor; | ||
|
|
||
| import net.opengis.swe.v20.DataBlock; | ||
| import org.sensorhub.api.data.DataEvent; | ||
| import org.sensorhub.api.sensor.ISensorDriver; | ||
| import org.vast.swe.SWEConstants; | ||
| import org.vast.swe.helper.GeoPosHelper; | ||
|
|
||
| /** | ||
| * Default orientation output with heading, pitch, and roll angles. | ||
| */ | ||
| public class DefaultOrientationOutputEuler extends DefaultOrientationOutput { | ||
| public DefaultOrientationOutputEuler(ISensorDriver parentSensor, String sensorFrameID, double updatePeriod) { | ||
| super(parentSensor, updatePeriod); | ||
|
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| GeoPosHelper fac = new GeoPosHelper(); | ||
|
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| outputStruct = fac.createRecord() | ||
| .label("Sensor Orientation") | ||
| .addSamplingTimeIsoUTC("time") | ||
| .addField("orientation", fac.createVector() | ||
| .from(fac.newEulerOrientationNED(SWEConstants.DEF_SENSOR_ORIENT)) | ||
| .localFrame('#' + sensorFrameID)) | ||
| .build(); | ||
|
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| outputStruct.setName(getName()); | ||
| outputStruct.setId(AbstractSensorModule.ORIENTATION_OUTPUT_ID); | ||
| outputEncoding = fac.newTextEncoding(); | ||
| } | ||
|
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| @Override | ||
| public void updateOrientation(double time, double heading, double pitch, double roll, boolean forceUpdate) { | ||
| // Build new DataBlock | ||
| DataBlock dataBlock = (latestRecord == null) ? outputStruct.createDataBlock() : latestRecord.renew(); | ||
| dataBlock.setDoubleValue(0, time); | ||
| dataBlock.setDoubleValue(1, heading); | ||
| dataBlock.setDoubleValue(2, pitch); | ||
| dataBlock.setDoubleValue(3, roll); | ||
|
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| var changed = forceUpdate || latestRecord == null || | ||
| latestRecord.getDoubleValue(1) != dataBlock.getDoubleValue(1) || | ||
| latestRecord.getDoubleValue(2) != dataBlock.getDoubleValue(2) || | ||
| latestRecord.getDoubleValue(3) != dataBlock.getDoubleValue(3); | ||
|
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| // If the location has actually changed, update the latest record and send event | ||
| if (changed) { | ||
| latestRecord = dataBlock; | ||
| latestRecordTime = System.currentTimeMillis(); | ||
| eventHandler.publish(new DataEvent(latestRecordTime, this, dataBlock)); | ||
| } | ||
| } | ||
| } |
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