From 39392a5202ecdaaaba157c206d4a71f643bb0b45 Mon Sep 17 00:00:00 2001
From: Frank Rohde <frank.rohde@tu-dresden.de>
Date: Thu, 23 Sep 2021 22:13:55 +0200
Subject: [PATCH] GenericSensorValueProcessor receives JSON-SensorPositionEvent
and transforms it into Protobuf-SensorPositionEvent and
Internal-PositionEvent fixed IndexOutOfBounds-Exception in
PositionMonitoringController-Initcode eventFilter verification-code uses
correct return-values
---
.../eventfilter/eventFilter.java | 5 +-
src/main/java/ipos/project/MainApp.java | 2 +-
.../GenericSensorValueProcessor.java | 28 ++++++
.../Service/GenericSensorTransformer.java | 98 +++++++++++++++++++
.../api/MqttPositionHandler.java | 19 +++-
.../UseCaseController/PositionMonitoring.java | 22 ++---
6 files changed, 155 insertions(+), 19 deletions(-)
create mode 100644 src/main/java/ipos/project/SensorValueIntegration/GenericSensorValueProcessor.java
create mode 100644 src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
diff --git a/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java b/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java
index 653c24b..164eb42 100644
--- a/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java
+++ b/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java
@@ -107,15 +107,16 @@ public class eventFilter {
boolean flag = false; //false for pass, true for block
if (null == event.getPlacing() || null == event.getPlacing().getPosition() || null == event.getPlacing().getPosition().getPoint()){
System.out.println("EventFilter: Warning: Received event with unknown Position. Sensor-id: " + event.getSensorId());
- return false;
+ return true;
}
if (null == lObject){
System.out.println("EventFilter: Warning: Received event from sensor with unknown sensor-id: " + event.getSensorId());
- return false;
+ return true;
}
Agent agent = lObject.getAgent();
if (null == agent){
System.out.println("EventFilter: Warning: Received event for sensor-id with unknown agent. Sensor-id: " + lObject.getId());
+ return true;
}
System.out.println("Filter structure: " + filterStructure[0] + ", " + filterStructure[1] + ", " + filterStructure[2] + ", " + filterStructure[3] + ", " + filterStructure[4] + ", " + filterStructure[5] + ", " + filterStructure[6] + ", " + filterStructure[7]);
diff --git a/src/main/java/ipos/project/MainApp.java b/src/main/java/ipos/project/MainApp.java
index 62704a8..9de63c5 100644
--- a/src/main/java/ipos/project/MainApp.java
+++ b/src/main/java/ipos/project/MainApp.java
@@ -14,7 +14,7 @@ import java.text.ParseException;
@EnableJpaRepositories("ipos.project.DataModellntegration.iPos_Datamodel.impl")
public class MainApp {
public static void main(String[] args) throws ParseException {
- TestEventFilter.test();
+ // TestEventFilter.test();
SpringApplication.run(MainApp.class, args);
}
}
diff --git a/src/main/java/ipos/project/SensorValueIntegration/GenericSensorValueProcessor.java b/src/main/java/ipos/project/SensorValueIntegration/GenericSensorValueProcessor.java
new file mode 100644
index 0000000..36fd606
--- /dev/null
+++ b/src/main/java/ipos/project/SensorValueIntegration/GenericSensorValueProcessor.java
@@ -0,0 +1,28 @@
+package ipos.project.SensorValueIntegration;
+
+import ipos.models.SimpleScene.IposPosition;
+import ipos.project.DataModellntegration.SimpleSceneIntegration.service.impl.ExternalPubServiceImpl;
+import ipos.project.mapper.ProtoJsonMap;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.jms.annotation.JmsListener;
+import org.springframework.stereotype.Component;
+
+@Component
+public class GenericSensorValueProcessor {
+ private final Logger LOG = LoggerFactory.getLogger(getClass());
+
+ @Autowired
+ private ExternalPubServiceImpl mqttService;
+
+ @JmsListener(destination = "/positions", containerFactory = "jmsListenFactory")
+ public void receiveMessage(IposPosition pos) {
+ LOG.trace("Data integration get: " + pos);
+ // we can translate a class into a string using several methods: 1) `.toString()` 2) `JsonFormat` in `ProtoJsonMap`
+ String jsonPos = ProtoJsonMap.toJson(pos);
+ if (jsonPos != null) {
+ this.mqttService.publish("test51/subscribe/positions", jsonPos, 0, false);
+ }
+ }
+}
diff --git a/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java b/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
new file mode 100644
index 0000000..f3c87c9
--- /dev/null
+++ b/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
@@ -0,0 +1,98 @@
+package ipos.project.SensorValueIntegration.Service;
+
+import com.google.protobuf.ProtocolStringList;
+import ipos.models.GenericSensor;
+import ipos.models.SimpleScene;
+import ipos.project.DataModellntegration.iPos_Datamodel.*;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class GenericSensorTransformer {
+
+ private static IPos_DatamodelFactory modelFactory = IPos_DatamodelFactory.eINSTANCE;
+
+ private static List<String> toJavaStringList(ProtocolStringList protoList){
+ List<String> javaList = new ArrayList<String>();
+ for(int i = 0; i < protoList.size(); i++ ){
+ javaList.set(i, protoList.get(i));
+ }
+ return javaList;
+ }
+
+ public static SimpleScene.IposMonitoringRequest monReq_Internal2SScene(){
+ return null;
+ }
+
+ public static PositionEvent posEvent_GSensor2Internal(GenericSensor.SensorPositionEvent protoSensPosEvent) {
+ PositionEvent positionEvent = modelFactory.createPositionEvent();
+ positionEvent.setTimeStamp(protoSensPosEvent.getLastPosUpdate());
+ positionEvent.setSensorId(protoSensPosEvent.getSensorId());
+
+ // TODO: Zugriff auf Weltmodell ermöglichen um Bezugssystem-Objekt beschaffen zu können
+ positionEvent.setPlacing(
+ createPlacing(
+ createPosition(
+ createPoint3D(
+ protoSensPosEvent.getPosition().getPoint().getX(),
+ protoSensPosEvent.getPosition().getPoint().getY(),
+ protoSensPosEvent.getPosition().getPoint().getZ()
+ ),
+ protoSensPosEvent.getPosition().getAccuracy(),
+ createReferenceSystem("ROOT", "ROOT", null)
+ ),
+ createOrientation(
+ protoSensPosEvent.getOrientation().getX(),
+ protoSensPosEvent.getOrientation().getY(),
+ protoSensPosEvent.getOrientation().getZ(),
+ protoSensPosEvent.getOrientation().getW()
+ )
+ ));
+ return positionEvent;
+ }
+
+ private static ReferenceSystem createReferenceSystem(String name, String id, Placing origin){
+ ReferenceSystem refSystem = modelFactory.createReferenceSystem();
+ refSystem.setName(name);
+ refSystem.setId(id);
+ refSystem.setOrigin(origin);
+ return refSystem;
+ }
+
+ private static Placing createPlacing(Position position, Orientation orientation){
+ Placing placing = modelFactory.createPlacing();
+ placing.setPosition(position);
+ placing.setOrientation(orientation);
+ return placing;
+ }
+
+ private static Position createPosition(Point3D point3D, Float accuracy, ReferenceSystem refSystem){
+ Position position = modelFactory.createPosition();
+ position.setPoint(point3D);
+ Gaussian accrcy = modelFactory.createGaussian();
+ accrcy.setConfidenceInterval(accuracy);
+ position.setAccuracy(accrcy);
+ position.setReferenceSystem(refSystem);
+ return position;
+ }
+
+ private static Point3D createPoint3D(float x, float y, float z){
+ Point3D point3D = modelFactory.createPoint3D();
+ point3D.setX(x);
+ point3D.setY(y);
+ point3D.setZ(z);
+ return point3D;
+ }
+
+ private static Quaternion createOrientation(float x, float y, float z, float w){
+ Quaternion quaternion = modelFactory.createQuaternion();
+ quaternion.setX(x);
+ quaternion.setY(y);
+ quaternion.setZ(z);
+ quaternion.setW(w);
+ return quaternion;
+ }
+
+}
+
+
diff --git a/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java b/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
index 900e8bd..f680e20 100644
--- a/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
+++ b/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
@@ -1,7 +1,11 @@
package ipos.project.SensorValueIntegration.api;
import com.google.protobuf.InvalidProtocolBufferException;
+import ipos.models.GenericSensor.SensorPositionEvent;
import ipos.models.SimpleScene.IposPosition;
+import ipos.models.GenericSensor.SensorEventWrapper;
+import ipos.project.DataModellntegration.iPos_Datamodel.PositionEvent;
+import ipos.project.SensorValueIntegration.Service.GenericSensorTransformer;
import ipos.project.config.mqtt.Handler;
import ipos.project.config.mqtt.MqttListener;
import ipos.project.mapper.ProtoJsonMap;
@@ -13,7 +17,7 @@ import org.springframework.jms.core.JmsTemplate;
// subscribe to the topic
-@MqttListener("test51/publish/positions")
+@MqttListener("usertopic/SensorPositionEvent")
public class MqttPositionHandler implements Handler {
private final Logger LOG = LoggerFactory.getLogger(getClass());
@@ -27,12 +31,17 @@ public class MqttPositionHandler implements Handler {
// method that handle new message from the topic
public void handle(MqttMessage message) {
try {
- IposPosition pos = ProtoJsonMap.fromJson(message.toString(), IposPosition.class);
+ System.out.println("Received MQTT-message: " + message.toString());
+ SensorPositionEvent protoSensPosEvent = ProtoJsonMap.fromJson(message.toString(), SensorPositionEvent.class);
+ // example-JSON: {"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 2.0,"z": 3.0}, "accuracy": 1.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-09-14T09:41:20+00:00"}
//IposPosition pos = IposPosition.parseFrom(message.toString().getBytes());
- assert pos != null;
- LOG.info("IposPosition received: \n" + pos);
+ assert protoSensPosEvent != null;
+ LOG.info("SensorPositionEvent received: \n" + protoSensPosEvent);
+ PositionEvent positionEvent = GenericSensorTransformer.posEvent_GSensor2Internal(protoSensPosEvent);
+ System.out.println("Transformed Protobuf-SensorPositionEvent into Internal-PositionEvent: " + positionEvent.toString() + ", " + positionEvent.getPlacing().getPosition().getPoint().toString() + ", " + positionEvent.getPlacing().getOrientation().toString());
- this.jmsTemplate.convertAndSend("/positions", pos); // submit position to the internal broker
+ // ggf. anstatt JMS einfach den PositionMonitoringController per Funktionsaufruf aufrufen
+ this.jmsTemplate.convertAndSend("/PositionEvent", protoSensPosEvent); // submit position to the internal broker
//TODO: fix message converter for the internal broker
} catch (InvalidProtocolBufferException e) {
LOG.error("Invalid mqtt message:", e);
diff --git a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
index c79d743..b08953f 100644
--- a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
+++ b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
@@ -22,17 +22,17 @@ public class PositionMonitoring {
List<eventFilter> eventFilters = new ArrayList<eventFilter>();
private IPos_DatamodelFactory modelFactory = IPos_DatamodelFactory.eINSTANCE;
- public void initialize(){
+ public PositionMonitoring(){
wm = modelFactory.createWorldModel();
- wm.getReferenceSystem().set(0, createReferenceSystem("ROOT", "ROOT", null));
- wm.getPois().set(0, createPOI(createPosition(createPoint3D(1.4f, 2.0f, 0f), 1f, wm.getReferenceSystem().get(0)), "UWBToken1", new HashMap<String,String>()));
- wm.getPois().set(1, createPOI(createPosition(createPoint3D(3.7f, -2.0f, 0f), 1f, wm.getReferenceSystem().get(0)), "UWBToken2", new HashMap<String,String>()));
- wm.getPois().set(2, createPOI(createPosition(createPoint3D(-2.4f, -0.5f, 0f), 1f, wm.getReferenceSystem().get(0)), "UWBToken3", new HashMap<String,String>()));
- wm.getZoneMap().set(0, modelFactory.createZoneMap());
+ wm.getReferenceSystem().add(createReferenceSystem("ROOT", "ROOT", null));
+ wm.getPois().add(createPOI(createPosition(createPoint3D(1.4f, 2.0f, 0f), 1f, wm.getReferenceSystem().get(0)), "UWBToken1", new HashMap<String,String>()));
+ wm.getPois().add(createPOI(createPosition(createPoint3D(3.7f, -2.0f, 0f), 1f, wm.getReferenceSystem().get(0)), "UWBToken2", new HashMap<String,String>()));
+ wm.getPois().add(createPOI(createPosition(createPoint3D(-2.4f, -0.5f, 0f), 1f, wm.getReferenceSystem().get(0)), "UWBToken3", new HashMap<String,String>()));
+ wm.getZoneMap().add(modelFactory.createZoneMap());
List<Space> spaces = Arrays.asList(createSpace(3.0f, 3.0f, 3.0f, createPlacing(createPosition(createPoint3D(1.1f, 0.9f, 0f), 1f, wm.getReferenceSystem().get(0)), createOrientation(0f, 0f, 0f, 0f))));
- wm.getZoneMap().get(0).getZone().set(0, createZone("cobot1_warning_zone", "cobot1_warning_zone", spaces));
- wm.getAgent().set(0, createAgent("Employee1", "HUMAN", null ));
- wm.getAgent().get(0).getLObject().set(0, createLobject("UWB_1", "UWB", wm.getAgent().get(0), null));
+ wm.getZoneMap().get(0).getZone().add(createZone("cobot1_warning_zone", "cobot1_warning_zone", spaces));
+ wm.getAgent().add(createAgent("Employee1", "HUMAN"));
+ wm.getAgent().get(0).getLObject().add(createLobject("UWB_1", "UWB", wm.getAgent().get(0), null));
}
private POI createPOI(Position position, String description, Map<String, String> data){
@@ -43,11 +43,10 @@ public class PositionMonitoring {
return poi;
}
- private Agent createAgent(String id, String type, List<LocalizableObject> lobjects){
+ private Agent createAgent(String id, String type){
Agent agent = modelFactory.createAgent();
agent.setId(id);
agent.setAgentType(type);
- agent.getLObject().addAll(lobjects);
return agent;
}
@@ -135,6 +134,7 @@ public class PositionMonitoring {
readConfig.setWM(wm);
readConfig.readFilterConfigFromMonitoringRequest(monReq, config);
filter.init(config);
+ eventFilters.add(filter);
}
@JmsListener(destination = "/PositionEvent", containerFactory = "jmsListenFactory")
--
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