From ca21508481cf677bef8c21a20a38a7b07d4fc4b2 Mon Sep 17 00:00:00 2001
From: Frank Rohde <frank.rohde@tu-dresden.de>
Date: Tue, 14 Dec 2021 17:57:10 +0100
Subject: [PATCH] Controller-layer can handle srs-conversion
---
.../eventfilter/eventFilter.java | 4 +
.../UseCaseController/Administration.java | 136 +++++++++++++++++-
.../UseCaseController/PositionMonitoring.java | 7 +-
3 files changed, 142 insertions(+), 5 deletions(-)
diff --git a/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java b/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java
index b7e95bc..e95840f 100644
--- a/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java
+++ b/src/main/java/ipos/project/Functionality/eventfilter/eventFilter.java
@@ -34,6 +34,10 @@ public class eventFilter {
return this.monitoringRequest.getSerializationType();
}
+ public String getRefSystemId(){
+ return this.monitoringRequest.getRefSystemId();
+ }
+
private String getFusionStrategy(){
return this.monitoringRequest.getFusionStrategy();
}
diff --git a/src/main/java/ipos/project/UseCaseController/Administration.java b/src/main/java/ipos/project/UseCaseController/Administration.java
index 6d62afd..d82bdfc 100644
--- a/src/main/java/ipos/project/UseCaseController/Administration.java
+++ b/src/main/java/ipos/project/UseCaseController/Administration.java
@@ -1,13 +1,15 @@
package ipos.project.UseCaseController;
-import ipos.project.DataModellntegration.iPos_Datamodel.Agent;
-import ipos.project.DataModellntegration.iPos_Datamodel.POI;
-import ipos.project.DataModellntegration.iPos_Datamodel.ReferenceSystem;
-import ipos.project.DataModellntegration.iPos_Datamodel.Zone;
+import ipos.project.DataModellntegration.iPos_Datamodel.*;
import ipos.project.Functionality.DataServices;
import org.apache.logging.log4j.LogManager;
import org.springframework.stereotype.Component;
+import java.util.Collection;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.stream.Collectors;
+
@Component
public class Administration {
@@ -22,6 +24,7 @@ public class Administration {
public static void handleZone(Zone zone){
LOG.info("handling zone-object: " + zone.toString());
+ Administration.transformToRootCoordinates(zone);
DataServices.addZone(zone);
}
@@ -33,12 +36,137 @@ public class Administration {
public static void handleRefSystem(ReferenceSystem refSystem) {
// muss checken, ob das RefSystem auf das ggf. verwiesen wird - tatsächlich existiert. Falls nicht: Speicherung ablehnen
LOG.info("handling refSystem-object: " + refSystem.toString());
+ //Administration.transformToRootCoordinates(refSystem);
+ // nur sicherstellen das alle Bezugssysteme wirklich existieren
DataServices.addRefSystem(refSystem);
}
public static void handlePoi(POI poi) {
// muss checken, ob das RefSystem auf das verwiesen wird - tatsächlich existiert. Falls nicht: Speicherung ablehnen
LOG.info("handling poi-object: " + poi.toString());
+ Administration.transformToRootCoordinates(poi);
DataServices.addPoi(poi);
}
+
+ public static void transformToRootCoordinates(PositionEvent posEvent) {
+ Administration.transformToRootCoordinates(posEvent.getPlacing());
+ }
+
+ public static void transformToRootCoordinates(Zone zone) {
+ zone.getSpace().stream()
+ .map(Administration::transformToRootCoordinates);
+ }
+
+ public static Space transformToRootCoordinates(Space space) {
+ Administration.transformToRootCoordinates(space.getCentrePoint());
+ return space;
+ }
+
+ public static void transformToRootCoordinates(ReferenceSystem refSystem) {
+ Administration.transformToRootCoordinates(refSystem.getOrigin());
+ }
+
+ public static void transformToRootCoordinates(POI poi) {
+ Administration.transformToRootCoordinates(poi.getPlacing());
+ }
+
+ /**
+ * Function recursively transforms a placing into a ROOT-placing. In each step the placing
+ * is transformed in a placing of the SRS that the origin of its current SRS has been defined
+ * in. Recursion is stopped after obtaining a ROOT-placing.
+ * @param placing
+ */
+ public static void transformToRootCoordinates(Placing placing) {
+ if (isNotRootPosition(placing.getPosition())) {
+ Position positionToBeTransformed = placing.getPosition();
+ ReferenceSystem nextTransformationGoal_SRS = positionToBeTransformed.getReferenceSystem().getOrigin().getPosition().getReferenceSystem();
+ SRSConversion.switchSRS(positionToBeTransformed, nextTransformationGoal_SRS); // assumption: not only position is changed but also ReferenceSystem-object is updated
+ transformToRootCoordinates(placing); // recursion stops when placing.getPosition() has been transformed in a ROOT-position
+ }
+ }
+
+ public static void transformToRootCoordinates(Position position) {
+ Orientation dummyOrientation = createDummyOrientation();
+ Placing placing = DataServices.createPlacing(position, dummyOrientation);
+ transformToRootCoordinates(placing); // placing.getPosition() points to the position-object that was passed to this function. The contents of this object will be changed by this call.
+ }
+
+ private static Orientation createDummyOrientation() {
+ return DataServices.createOrientation(0, 0, 0, 0);
+ }
+
+ private static boolean isRootPosition(Position position) {
+ return !isNotRootPosition(position);
+ }
+
+ private static boolean isRootPosition(String srsId){
+ return !isNotRootPosition(srsId);
+ }
+
+ private static boolean isNotRootPosition(Position position) {
+ return isNotRootPosition(position.getReferenceSystem().getId());
+ }
+
+ private static boolean isNotRootPosition(String srsId){
+ return srsId != PositionMonitoring.SRS_ID_ROOT;
+ }
+
+ /**
+ * Warning: This function does not check whether SRSConversion is actually necessary.
+ * Use function Administration::isNotRootPosition to check whether SRSConversion is necessary,
+ * before calling this function
+ * @param orientation
+
+ public static void transformToRootCoordinates(Position position, Orientation orientation) {
+ // Komponente SRSConversion aufrufen
+
+ SRSConversion.switchSRS(rootPlacing, DataServices.getReferenceSystemByIdOrNull("CeTI_SRS"));
+ SRSConversion.switchSRS(cetiPlacing, DataServices.getReferenceSystemByIdOrNull("CeTI_SRS"));
+ }
+ */
+
+ /**
+ * This function expects the position posEvent to be defined in reference to the ROOT-SRS
+ * @param posEvent
+ * @param refSystemId
+ */
+ public static void transformToRequesterCoordinates(PositionEvent posEvent, String refSystemId) {
+ if(posEvent.getPlacing().getPosition().getReferenceSystem().getId() != PositionMonitoring.SRS_ID_ROOT){
+ LOG.warn("Warning: Function transformToRequesterCoordinates was called with a position that is not defined in reference to the ROOT-SRS. " +
+ "All internal data processing should be based on ROOT-positions.");
+ return;
+ }
+ if(isRootPosition(refSystemId)){
+ return; // nothing to be done, as posEvent is it is assumed that posEvent is already a ROOT-position
+ }
+ ReferenceSystem finalTarget = DataServices.getReferenceSystemByIdOrNull(refSystemId);
+ Placing placingToBeTransformed = posEvent.getPlacing();
+ List<ReferenceSystem> allTargetsFromRootToFinal = computeTargets(finalTarget);
+ transformPlacingSuccessively(placingToBeTransformed, allTargetsFromRootToFinal);
+ // Komponente SRSConversion zur Transformation der ROOT-Position posEvent in das SRS refSystemId
+ }
+
+ /**
+ * Assumption: Sooner or later each target depends on ROOT-SRS
+ * @param target
+ * @return
+ */
+ private static List<ReferenceSystem> computeTargets(ReferenceSystem target) {
+ if (isRootPosition(target.getId())){
+ List<ReferenceSystem> targets = new LinkedList<>();
+ return targets; // ROOT-SRS itself is not a target, therefore it is not added to the list
+ }else {
+ ReferenceSystem nextTarget = target.getOrigin().getPosition().getReferenceSystem();
+ List<ReferenceSystem> targets = computeTargets(nextTarget);
+ targets.add(target); // targets[0]: the SRS that the ROOT-position should be transformed into; targets[targets.size()-1]: final target, i.e., requester-SRS
+ return targets;
+ }
+
+ }
+
+ private static void transformPlacingSuccessively(Placing placingToBeTransformed, List<ReferenceSystem> transformationTargets) {
+ for (ReferenceSystem transTarget : transformationTargets){
+ SRSConversion.switchSRS(placingToBeTransformed, transTarget);
+ }
+ }
}
diff --git a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
index c12e296..8591bc9 100644
--- a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
+++ b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
@@ -41,6 +41,7 @@ public class PositionMonitoring {
public static final String TOPIC_WINDOW = "Human_at_Window_Side";
public static final String ZONE_ID_DOOR = "cobot1_door_zone";
public static final String ZONE_ID_WINDOW = "cobot1_window_zone";
+ public static final String SRS_ID_ROOT = "ROOT";
public static final int SDF_TIME_INTERVAL = 2500; // recent milliseconds to take into account for sensor data fusion
@@ -211,6 +212,8 @@ public class PositionMonitoring {
// TODO: Update currentPlacing attribute of the affected localizableObject
LOG.info("Received <" + posEvent + ">");
logging_sdfindfro(posEvent);
+ Administration.transformToRootCoordinates(posEvent);
+ LOG.info("Position after transformation to ROOT-coordinates: " + posEvent.getPlacing().getPosition().toString());
boolean posEventMeetsSdfAccuracyCondition = SensorDataFusion.isMostAccuratePositionAvailable(posEvent);
List<FilteringResult> filteringResults = new LinkedList<>();
@@ -259,7 +262,8 @@ public class PositionMonitoring {
continue;
}
PositionEvent posEventCopy = createShallowCopyOfPosEvent(posEvent);
- posEventCopy.getZonedescriptors().addAll(zoneDescriptorsEFilterResult);
+ posEventCopy.getZonedescriptors().addAll(zoneDescriptorsEFilterResult); // ZoneDescriptors-Collection of PositionEvent was empty up until this point of execution
+ Administration.transformToRequesterCoordinates(posEventCopy, eFilter.getRefSystemId());
SimpleSceneIntegration.receiveMessage(posEventCopy, monitoringTaskId, getFirstNotificationTypeOrUndefined(zoneDescriptorsEFilterResult), eFilter.getSerializationType());
}
}
@@ -277,6 +281,7 @@ public class PositionMonitoring {
if( containsExitNotification(zoneDescriptorsEFilterResult)){
PositionEvent posEventCopy = createShallowCopyOfPosEvent(posEvent);
posEventCopy.getZonedescriptors().addAll(zoneDescriptorsEFilterResult);
+ Administration.transformToRequesterCoordinates(posEventCopy, eFilter.getRefSystemId());
SimpleSceneIntegration.receiveMessage(posEventCopy, monitoringTaskId, getFirstNotificationTypeOrUndefined(zoneDescriptorsEFilterResult), eFilter.getSerializationType());
sentAlready.add(monitoringTaskId);
}
--
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