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Commit e81a2977 authored by FrankR's avatar FrankR
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- NFC-Funktionalität 

   - Einlesen über GenericSensorValueProcessor
   - Positionsberechnung über PositionCalculation
   - Test mit testdata_raw.txt (siehe auch: MainApp.java)
- Änderungen Datenmodell
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emf_datamodel/model/iPos_Datamodel.aird
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......@@ -2204,12 +2213,12 @@
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<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IMU"/>
<semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IMU"/>
<ownedStyle xmi:type="diagram:EdgeStyle" uid="_iSeHXwWjEey-kNQ7esRa_g" targetArrow="InputClosedArrow" routingStyle="tree">
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<beginLabelStyle xmi:type="diagram:BeginLabelStyle" uid="_76tN7SeeEeydzb6PKf1sDQ" showIcon="false">
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<actualMapping xmi:type="description_1:EdgeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@edgeMappings[name='EC%20ESupertypes']"/>
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......@@ -2231,7 +2240,7 @@
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<arrangeConstraints>KEEP_SIZE</arrangeConstraints>
<arrangeConstraints>KEEP_RATIO</arrangeConstraints>
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<actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
......@@ -2251,6 +2260,14 @@
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<actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
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<ownedElements xmi:type="diagram:DNodeListElement" uid="_9NuU8CeeEeydzb6PKf1sDQ" name="sensorId : String" tooltipText="">
<target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//Beacon/sensorId"/>
<semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//Beacon/sensorId"/>
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<actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
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<ownedDiagramElements xmi:type="diagram:DNodeList" uid="_lBuJcAZsEey-kNQ7esRa_g" name="PositionEvent" tooltipText="" outgoingEdges="_92h2_gccEey-kNQ7esRa_g" width="12" height="10">
<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//PositionEvent"/>
......@@ -2279,17 +2296,6 @@
<actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
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</ownedDiagramElements>
<ownedDiagramElements xmi:type="diagram:DNodeList" uid="_ovifAAZsEey-kNQ7esRa_g" name="RawdataEvent" tooltipText="" outgoingEdges="_T72oPgaBEey-kNQ7esRa_g" width="12" height="10">
<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//RawdataEvent"/>
<semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//RawdataEvent"/>
<arrangeConstraints>KEEP_LOCATION</arrangeConstraints>
<arrangeConstraints>KEEP_SIZE</arrangeConstraints>
<arrangeConstraints>KEEP_RATIO</arrangeConstraints>
<ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_ovjGEAZsEey-kNQ7esRa_g" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
<description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
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<actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
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<ownedDiagramElements xmi:type="diagram:DNodeList" uid="_uNHiAAZsEey-kNQ7esRa_g" name="TrackingRequest" tooltipText="" width="12" height="10">
<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//TrackingRequest"/>
<semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//TrackingRequest"/>
......@@ -2482,17 +2488,6 @@
</ownedStyle>
<actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
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<target xmi:type="ecore:EReference" href="iPos_Datamodel.ecore#//RawdataEvent/rawdata"/>
<semanticElements xmi:type="ecore:EReference" href="iPos_Datamodel.ecore#//RawdataEvent/rawdata"/>
<ownedStyle xmi:type="diagram:EdgeStyle" uid="_XIKMRgaBEey-kNQ7esRa_g" description="_oD68EAQwEey-kNQ7esRa_g" routingStyle="manhattan" strokeColor="0,0,0">
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<actualMapping xmi:type="description_1:EdgeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@edgeMappings[name='EC_EReference']"/>
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<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//MonitoringTask"/>
<semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//MonitoringTask"/>
......@@ -2591,12 +2586,12 @@
<ownedDiagramElements xmi:type="diagram:DEdge" uid="_WTwDiAcMEey-kNQ7esRa_g" sourceNode="_s0dfUAWjEey-kNQ7esRa_g" targetNode="__kvLoAWcEey-kNQ7esRa_g">
<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//Beacon"/>
<semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//Beacon"/>
<ownedStyle xmi:type="diagram:EdgeStyle" uid="_E4UfrAcSEey-kNQ7esRa_g" targetArrow="InputClosedArrow" routingStyle="tree">
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<beginLabelStyle xmi:type="diagram:BeginLabelStyle" uid="_-apbOyeeEeydzb6PKf1sDQ" showIcon="false">
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<actualMapping xmi:type="description_1:EdgeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@edgeMappings[name='EC%20ESupertypes']"/>
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......@@ -2637,14 +2632,14 @@
<arrangeConstraints>KEEP_LOCATION</arrangeConstraints>
<arrangeConstraints>KEEP_SIZE</arrangeConstraints>
<arrangeConstraints>KEEP_RATIO</arrangeConstraints>
<ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_I-N60QcOEey-kNQ7esRa_g" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
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<actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
<ownedElements xmi:type="diagram:DNodeListElement" uid="_10SAEAcOEey-kNQ7esRa_g" name="rss : EMap" tooltipText="">
<target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//Bluetooth/rss"/>
<semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//Bluetooth/rss"/>
<ownedStyle xmi:type="diagram:BundledImage" uid="_D-2hAQcSEey-kNQ7esRa_g" labelAlignment="LEFT">
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......@@ -2664,12 +2659,12 @@
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<target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//Bluetooth"/>
<semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//Bluetooth"/>
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......@@ -2799,14 +2794,17 @@
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<target xmi:type="ecore:EReference" href="iPos_Datamodel.ecore#//POI/position"/>
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<ownedDiagramElements xmi:type="diagram:DEdge" uid="_RCvPUgcsEey-kNQ7esRa_g" name="[1..1] placing" sourceNode="_Mlx7wAcsEey-kNQ7esRa_g" targetNode="_beGW8AQjEey-kNQ7esRa_g">
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......
emf_datamodel/model/iPos_Datamodel.ecore
+ 19
− 18
View file @ e81a2977
......@@ -78,10 +78,10 @@
defaultValueLiteral="0.0"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="Point"/>
<eClassifiers xsi:type="ecore:EClass" name="Rawdata" abstract="true">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="sensorId" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eClassifiers xsi:type="ecore:EClass" name="RawdataEvent">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="timeStamp" eType="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//String"/>
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<eClassifiers xsi:type="ecore:EClass" name="Proximity" eSuperTypes="#//Rawdata">
<eClassifiers xsi:type="ecore:EClass" name="Proximity" eSuperTypes="#//RawdataEvent">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="tagId" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="type" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="scannerId" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
......@@ -93,19 +93,23 @@
<eStructuralFeatures xsi:type="ecore:EAttribute" name="tagData" transient="true">
<eGenericType eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EMap">
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
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<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EJavaObject"/>
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<eClassifiers xsi:type="ecore:EClass" name="IMU" eSuperTypes="#//Rawdata">
<eClassifiers xsi:type="ecore:EClass" name="IMU" eSuperTypes="#//RawdataEvent">
<eStructuralFeatures xsi:type="ecore:EReference" name="angularrate" lowerBound="1"
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eType="#//Quaternion"/>
<eStructuralFeatures xsi:type="ecore:EReference" name="acceleration" lowerBound="1"
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<eStructuralFeatures xsi:type="ecore:EAttribute" name="sensorId" eType="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//String"/>
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<eClassifiers xsi:type="ecore:EClass" name="Acceleration">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="x" eType="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//Float"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="y" eType="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//Float"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="z" eType="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//Float"/>
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<eClassifiers xsi:type="ecore:EClass" name="AngularRate"/>
<eClassifiers xsi:type="ecore:EClass" name="Acceleration"/>
<eClassifiers xsi:type="ecore:EClass" name="Beacon" eSuperTypes="#//Rawdata">
<eClassifiers xsi:type="ecore:EClass" name="Beacon" eSuperTypes="#//RawdataEvent">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="distances" transient="true">
<eGenericType eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EMap">
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
......@@ -113,6 +117,7 @@
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</eStructuralFeatures>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="type" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
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</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="PositionEvent">
<eStructuralFeatures xsi:type="ecore:EReference" name="placing" lowerBound="1"
......@@ -121,10 +126,6 @@
transient="true"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="lObjectId" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
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<eClassifiers xsi:type="ecore:EClass" name="RawdataEvent">
<eStructuralFeatures xsi:type="ecore:EReference" name="rawdata" lowerBound="1"
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<eClassifiers xsi:type="ecore:EClass" name="TrackingRequest"/>
<eClassifiers xsi:type="ecore:EClass" name="MonitoringRequest">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="frameId" eType="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//String"/>
......@@ -184,7 +185,7 @@
<eStructuralFeatures xsi:type="ecore:EAttribute" name="data" transient="true">
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</eStructuralFeatures>
</eClassifiers>
......@@ -192,7 +193,7 @@
<eStructuralFeatures xsi:type="ecore:EAttribute" name="rss" transient="true">
<eGenericType eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EMap">
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EIntegerObject"/>
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2003/XMLType#//IntObject"/>
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</eStructuralFeatures>
</eClassifiers>
......@@ -202,13 +203,13 @@
<eStructuralFeatures xsi:type="ecore:EAttribute" name="data" transient="true">
<eGenericType eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EMap">
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eTypeArguments eClassifier="ecore:EClass http://www.eclipse.org/emf/2002/Ecore#//EObject"/>
<eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EJavaObject"/>
</eGenericType>
</eStructuralFeatures>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="POI">
<eStructuralFeatures xsi:type="ecore:EReference" name="position" lowerBound="1"
eType="#//Position"/>
<eStructuralFeatures xsi:type="ecore:EReference" name="placing" lowerBound="1"
eType="#//Placing"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="description" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="data" transient="true">
<eGenericType eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EMap">
......
emf_datamodel/model/iPos_Datamodel.genmodel
+ 10
− 8
View file @ e81a2977
......@@ -83,8 +83,8 @@
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Gaussian/confidenceInterval"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//Point"/>
<genClasses ecoreClass="iPos_Datamodel.ecore#//Rawdata">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Rawdata/sensorId"/>
<genClasses ecoreClass="iPos_Datamodel.ecore#//RawdataEvent">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//RawdataEvent/timeStamp"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//Proximity">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Proximity/tagId"/>
......@@ -100,21 +100,23 @@
<genClasses ecoreClass="iPos_Datamodel.ecore#//IMU">
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference iPos_Datamodel.ecore#//IMU/angularrate"/>
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference iPos_Datamodel.ecore#//IMU/acceleration"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//IMU/sensorId"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//Acceleration">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Acceleration/x"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Acceleration/y"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Acceleration/z"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//AngularRate"/>
<genClasses ecoreClass="iPos_Datamodel.ecore#//Acceleration"/>
<genClasses ecoreClass="iPos_Datamodel.ecore#//Beacon">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Beacon/distances"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Beacon/type"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//Beacon/sensorId"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//PositionEvent">
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference iPos_Datamodel.ecore#//PositionEvent/placing"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//PositionEvent/timeStamp"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//PositionEvent/lObjectId"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//RawdataEvent">
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference iPos_Datamodel.ecore#//RawdataEvent/rawdata"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//TrackingRequest"/>
<genClasses ecoreClass="iPos_Datamodel.ecore#//MonitoringRequest">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//MonitoringRequest/frameId"/>
......@@ -164,7 +166,7 @@
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//OtherBeacon/data"/>
</genClasses>
<genClasses ecoreClass="iPos_Datamodel.ecore#//POI">
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference iPos_Datamodel.ecore#//POI/position"/>
<genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference iPos_Datamodel.ecore#//POI/placing"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//POI/description"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//POI/data"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute iPos_Datamodel.ecore#//POI/id"/>
......
init_Industrierobotik.txt
+ 3
− 3
View file @ e81a2977
{"frames": [{"id": "cobot1_door_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 0.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":6.0}]}, {"id": "cobot1_window_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 4.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 2.0, "y": 2.0, "z":6.0}]} ]}
{"frames": [{"id": "cobot1_door_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 0.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":6.0}]}, {"id": "cobot1_window_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 4.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":6.0}]} ]}
{"refSystems": [{"id": "ROOT"}, {"id": "CETI_ROOT", "position": {"refSystemId": "ROOT", "point": {"x": 3.05,"y": 2.08,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}]}
{"objectConfigs": [{"agentId": "Employee1", "sensorId": "UWB_1", "agentType": "HUMAN", "sensorType": "UWB"}, {"agentId": "Employee2", "sensorId": "UWB_2", "agentType": "HUMAN", "sensorType": "UWB"}]}
{"pois": [{"id": "UWB_BEACON_1", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 3.1,"y": 0.5,"z": 0.0}, "accuracy": 1.0} }, {"id": "UWB_BEACON_2", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": -0.3,"y": 4.5,"z": 0.0}, "accuracy": 1.0} } ]}
{"objectConfigs": [{"agentId": "Employee1", "sensorId": "UWB_1", "agentType": "HUMAN", "sensorType": "UWB"}, {"agentId": "Employee2", "sensorId": "UWB_2", "agentType": "HUMAN", "sensorType": "UWB"}, {"agentId": "Turtlebot", "sensorId": "98:CD:AC:26:2D:18", "agentType": "ROBOT", "sensorType": "RFID_SCANNER"}]}
{"pois": [{"id": "UWB_BEACON_1", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 3.1,"y": 0.5,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "UWB_BEACON_2", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": -0.3,"y": 4.5,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "83221710", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.1,"y": 0.4,"z": 0.5}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }]}
{"monitoringRequests": [{"frameId": "cobot1_door_zone", "monitoringTaskId": "Human_at_Door_Side"}, {"frameId": "cobot1_window_zone", "monitoringTaskId": "Human_at_Window_Side"}]}
\ No newline at end of file
src/main/java/ipos/project/DataModellntegration/SimpleSceneIntegration/SimpleSceneIntegration.java
+ 5
− 5
View file @ e81a2977
......@@ -34,7 +34,7 @@ public class SimpleSceneIntegration {
public static void init(String path_to_init_data_file){
Administration.initialize(); // clears WorldModel
File initFile = new File("./init_Industrierobotik.txt");
File initFile = new File(path_to_init_data_file);
try {
for (String line : readLines(initFile)) {
SimpleScene.IposConfigWrapper iposConfigWrapper = ProtoJsonMap.fromJson(line, SimpleScene.IposConfigWrapper.class);
......@@ -87,12 +87,12 @@ public class SimpleSceneIntegration {
MqttMessage mqttMessage = mqttService.createMqttMsg(posEvent_proto, 0, false);
// publishes protobuf over MQTT
// mqttService.publish(monitoringTaskId, mqttMessage);
// LOG.info("publishing protobuf mqttMessage. JSON-representation:" + ProtoJsonMap.toJson(posEvent_proto) + " on topic: " + monitoringTaskId);
mqttService.publish(monitoringTaskId, mqttMessage);
LOG.info("publishing protobuf mqttMessage. JSON-representation:" + ProtoJsonMap.toJson(posEvent_proto) + " on topic: " + monitoringTaskId);
// publishes JSON over MQTT
mqttService.publish(monitoringTaskId, ProtoJsonMap.toJson(posEvent_proto), 0, false);
LOG.info("publishing JSON mqttMessage:" + ProtoJsonMap.toJson(posEvent_proto) + " on topic: " + monitoringTaskId);
// mqttService.publish(monitoringTaskId, ProtoJsonMap.toJson(posEvent_proto), 0, false);
// LOG.info("publishing JSON mqttMessage:" + ProtoJsonMap.toJson(posEvent_proto) + " on topic: " + monitoringTaskId);
}else{
LOG.warn("Warning: SimpleScene: Received empty PositionEvent");
......
src/main/java/ipos/project/DataModellntegration/SimpleSceneIntegration/service/SimpleSceneTransformer.java
+ 1
− 1
View file @ e81a2977
......@@ -185,7 +185,7 @@ public class SimpleSceneTransformer {
poi.setId(poi_proto.getId());
poi.setDescription(poi_proto.getDescription());
poi.setData(poi_proto.getDataMap());
poi.setPosition(position_SScene2Internal(poi_proto.getPosition()));
poi.setPlacing(placing_SScene2Internal(poi_proto.getPosition(), poi_proto.getOrientation()));
return poi;
}
}
src/main/java/ipos/project/Functionality/DataServices.java
+ 13
− 2
View file @ e81a2977
......@@ -62,6 +62,8 @@ public class DataServices {
for (Agent agent_loaded : wma.getAllAgents()){
if (agent_loaded.getId().equals(agent_input.getId())){
Agent agent_merged = mergeAgents(agent_loaded, agent_input);
// TODO: careful: What about those LObjects that point on the currently existing agent-object?
wma.removeAgent(agent_loaded.getId());
wma.addAgent(agent_merged);
}
......@@ -118,9 +120,9 @@ public class DataServices {
wma.addPoi(poi_input);
}
public static POI createPOI(Position position, String description, Map<String, String> data){
public static POI createPOI(Placing placing, String description, Map<String, String> data){
POI poi = modelFactory.createPOI();
poi.setPosition(position);
poi.setPlacing(placing);
poi.setDescription(description);
poi.setData(data);
return poi;
......@@ -202,4 +204,13 @@ public class DataServices {
quaternion.setW(w);
return quaternion;
}
public static POI getPoiByIdOrNull(String poiId) {
for (POI poi : wma.getAllPois()){
if(poi.getId().equals(poiId)){
return poi;
}
}
return null;
}
}
src/main/java/ipos/project/Functionality/PositionCalculation.java 0 → 100644
+ 44
− 0
View file @ e81a2977
package ipos.project.Functionality;
import ipos.project.DataModellntegration.iPos_Datamodel.*;
import org.apache.logging.log4j.LogManager;
public class PositionCalculation {
private static org.apache.logging.log4j.Logger LOG = LogManager.getLogger();
private static IPos_DatamodelFactory modelFactory = IPos_DatamodelFactory.eINSTANCE;
public static PositionEvent calcPositionFromNfcOrNull(NFC nfcRawDataEvent) {
if (isMobileScanner(nfcRawDataEvent)){
return createPosEvent(nfcRawDataEvent.getScannerId(), nfcRawDataEvent.getTagId(), nfcRawDataEvent.getTimeStamp());
}
if(isMobileTag(nfcRawDataEvent)){
return createPosEvent(nfcRawDataEvent.getTagId(), nfcRawDataEvent.getScannerId(), nfcRawDataEvent.getTimeStamp());
}
LOG.warn("NFC-RawdataEvent could not be processed, as the provided scanner " +
"and/or tag-id could not be associated to an registered object and/or " +
"an registered poi");
return null;
}
private static PositionEvent createPosEvent(String lObjectId, String poiId, String timeStamp) {
PositionEvent positionEvent = modelFactory.createPositionEvent();
positionEvent.setLObjectId(lObjectId);
positionEvent.setTimeStamp(timeStamp);
positionEvent.setPlacing(DataServices.getPoiByIdOrNull(poiId).getPlacing());
return positionEvent;
}
private static boolean isMobileScanner(NFC nfcRawDataEvent) {
Boolean scannerIsMobile = DataServices.getLObjectByIdOrNull(nfcRawDataEvent.getScannerId()) != null;
Boolean tagIsFixed = DataServices.getPoiByIdOrNull(nfcRawDataEvent.getTagId()) != null;
return scannerIsMobile && tagIsFixed;
}
private static boolean isMobileTag(NFC nfcRawDataEvent) {
Boolean tagIsMobile = DataServices.getLObjectByIdOrNull(nfcRawDataEvent.getTagId()) != null;
Boolean scannerIsFixed = DataServices.getPoiByIdOrNull(nfcRawDataEvent.getScannerId()) != null;
return tagIsMobile && scannerIsFixed;
}
}
src/main/java/ipos/project/MainApp.java
+ 3
− 0
View file @ e81a2977
......@@ -2,6 +2,7 @@ package ipos.project;
import ipos.project.DataModellntegration.SimpleSceneIntegration.SimpleSceneIntegration;
import ipos.project.Functionality.eventfilter.TestEventFilter;
import ipos.project.SensorValueIntegration.GenericSensorValueProcessor;
import ipos.project.UseCaseController.Administration;
import org.springframework.boot.SpringApplication;
import org.springframework.boot.autoconfigure.SpringBootApplication;
......@@ -17,11 +18,13 @@ import java.text.ParseException;
public class MainApp {
public static final String INDUSTRIEROBOTIK_FILE = "./init_Industrierobotik.txt";
public static final String SENSORDATENFUSION_FILE = "./init_Sensordatenfusion.txt";
public static final String TESTRAWDATA_FILE = "./testdata_raw.txt";
public static void main(String[] args) throws ParseException {
SpringApplication.run(MainApp.class, args);
// SimpleSceneIntegration.init();
SimpleSceneIntegration.init(INDUSTRIEROBOTIK_FILE);
//SimpleSceneIntegration.init(SENSORDATENFUSION_FILE);
GenericSensorValueProcessor.processTestData(TESTRAWDATA_FILE);
}
}
src/main/java/ipos/project/SensorValueIntegration/GenericSensorValueProcessor.java
+ 40
− 0
View file @ e81a2977
package ipos.project.SensorValueIntegration;
import com.google.protobuf.InvalidProtocolBufferException;
import ipos.models.GenericSensor;
import ipos.models.SimpleScene;
import ipos.models.SimpleScene.IposPosition;
import ipos.project.DataModellntegration.SimpleSceneIntegration.api.MqttRequestHandler;
import ipos.project.DataModellntegration.SimpleSceneIntegration.service.impl.ExternalPubServiceImpl;
import ipos.project.SensorValueIntegration.api.MqttPositionHandler;
import ipos.project.UseCaseController.Administration;
import ipos.project.mapper.ProtoJsonMap;
import org.apache.logging.log4j.LogManager;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jms.annotation.JmsListener;
import org.springframework.stereotype.Component;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileReader;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
@Component
public class GenericSensorValueProcessor {
private static org.apache.logging.log4j.Logger LOG = LogManager.getLogger();
......@@ -24,4 +37,31 @@ public class GenericSensorValueProcessor {
this.mqttService.publish("test51/subscribe/positions", jsonPos, 0, false);
}
}
public static void processTestData(String path_to_test_data_file){
File testDataFile = new File(path_to_test_data_file);
try {
for (String line : readLines(testDataFile)) {
GenericSensor.SensorEventWrapper sensorEventWrapper = ProtoJsonMap.fromJson(line, GenericSensor.SensorEventWrapper.class);
MqttPositionHandler.handleSensorEventWrapper(sensorEventWrapper);
}
}catch (InvalidProtocolBufferException e) {
LOG.error("Error trying to read JSON into protobuf-objects: ");
e.printStackTrace();
}
}
private static List<String> readLines(File initFile) {
List<String> lines = new ArrayList<>();
try(BufferedReader br = new BufferedReader(new FileReader(initFile))) { // br is automatically closed at the end of try-scope
for (String line; (line = br.readLine()) != null; ){
lines.add(line);
}
} catch (IOException e) {
LOG.error("Error while reading the text file: ");
e.printStackTrace();
}
return lines;
}
}
src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
+ 22
− 0
View file @ e81a2977
......@@ -4,9 +4,12 @@ import com.google.protobuf.ProtocolStringList;
import ipos.models.GenericSensor;
import ipos.models.SimpleScene;
import ipos.project.DataModellntegration.iPos_Datamodel.*;
import org.eclipse.emf.ecore.EObject;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
public class GenericSensorTransformer {
......@@ -93,6 +96,25 @@ public class GenericSensorTransformer {
return quaternion;
}
public static NFC nfc_GSensor2Internal(GenericSensor.NFCRawDataEvent proto_nfcRawdataEvent) {
NFC internal_nfcRawdataEvent = modelFactory.createNFC();
internal_nfcRawdataEvent.setTimeStamp(proto_nfcRawdataEvent.getTimestamp());
internal_nfcRawdataEvent.setTagId(proto_nfcRawdataEvent.getTagId());
internal_nfcRawdataEvent.setScannerId(proto_nfcRawdataEvent.getScannerId());
internal_nfcRawdataEvent.setType(proto_nfcRawdataEvent.getType());
internal_nfcRawdataEvent.setTagData(convertToStringToObjectMap(proto_nfcRawdataEvent.getTagDataMap()));
return internal_nfcRawdataEvent;
}
private static Map<String, Object> convertToStringToObjectMap(Map<String, String> inputMap) {
Map<String,Object> outputMap =new HashMap<String,Object>();
for (Map.Entry<String, String> entry : inputMap.entrySet()) {
if(entry.getValue() != null){
outputMap.put(entry.getKey(), (Object) entry.getValue());
}
}
return outputMap;
}
}
src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
+ 37
− 8
View file @ e81a2977
package ipos.project.SensorValueIntegration.api;
import com.google.protobuf.InvalidProtocolBufferException;
import ipos.models.GenericSensor;
import ipos.models.GenericSensor.SensorPositionEvent;
import ipos.models.SimpleScene;
import ipos.models.SimpleScene.IposPosition;
import ipos.models.GenericSensor.SensorEventWrapper;
import ipos.project.DataModellntegration.SimpleSceneIntegration.service.impl.ExternalPubServiceImpl;
import ipos.project.DataModellntegration.iPos_Datamodel.NFC;
import ipos.project.DataModellntegration.iPos_Datamodel.PositionEvent;
import ipos.project.SensorValueIntegration.Service.GenericSensorTransformer;
import ipos.project.UseCaseController.PositionMonitoring;
......@@ -16,9 +19,11 @@ import org.eclipse.paho.client.mqttv3.MqttMessage;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jms.core.JmsTemplate;
import java.util.List;
// subscribe to the topic
@MqttListener("usertopic/SensorPositionEvent")
@MqttListener("usertopic/SensorEventWrapper")
public class MqttPositionHandler implements Handler {
private static org.apache.logging.log4j.Logger LOG = LogManager.getLogger();
......@@ -35,18 +40,42 @@ public class MqttPositionHandler implements Handler {
// method that handle new message from the topic
public void handle(MqttMessage message) {
try {
SensorPositionEvent protoSensPosEvent = ProtoJsonMap.fromJson(message.toString(), SensorPositionEvent.class);
//IposPosition pos = IposPosition.parseFrom(message.toString().getBytes());
assert protoSensPosEvent != null;
PositionEvent positionEvent = GenericSensorTransformer.posEvent_GSensor2Internal(protoSensPosEvent);
SensorEventWrapper protoSensEventWrapper = ProtoJsonMap.fromJson(message.toString(), GenericSensor.SensorEventWrapper.class);
handleSensorEventWrapper(protoSensEventWrapper);
} catch (InvalidProtocolBufferException e) {
LOG.error("Invalid mqtt message:", e);
}
}
public static void handleSensorEventWrapper(GenericSensor.SensorEventWrapper iposSensorEventWrapper) {
LOG.info("IposSensorEventWrapper received: \n"
+ iposSensorEventWrapper.toString());
// Annahme: iposSensorEventWrapper enthält für leere Felder leere Listen und nicht null
processPositionEvents(iposSensorEventWrapper.getSensorPositionEventList());
processNFCRawdataEvents(iposSensorEventWrapper.getNfcRawDataEventList());
// this.jmsTemplate.convertAndSend("/request123", monReqInternal); // submit request to the internal broker
}
private static void processNFCRawdataEvents(List<GenericSensor.NFCRawDataEvent> nfcRawDataEventList) {
for (GenericSensor.NFCRawDataEvent proto_nfcRawdataEvent : nfcRawDataEventList){
NFC internal_nfcRawDataEvent = GenericSensorTransformer.nfc_GSensor2Internal(proto_nfcRawdataEvent);
PositionMonitoring.receiveMessage(internal_nfcRawDataEvent);
}
}
private static void processPositionEvents(List<SensorPositionEvent> sensorPositionEventList) {
// assert sensorPositionEventList != null;
for (GenericSensor.SensorPositionEvent proto_sensPosEvent : sensorPositionEventList){
PositionEvent positionEvent = GenericSensorTransformer.posEvent_GSensor2Internal(proto_sensPosEvent);
LOG.info("SensorValueIntegration: Transformed Protobuf-SensorPositionEvent into Internal-PositionEvent: " + positionEvent.toString() + ", " + positionEvent.getPlacing().getPosition().getPoint().toString() + ", " + positionEvent.getPlacing().getOrientation().toString());
// ggf. anstatt JMS einfach den PositionMonitoringController per Funktionsaufruf aufrufen
// vorübergehend: anstatt JMS einfach den PositionMonitoringController per Funktionsaufruf aufrufen
PositionMonitoring.receiveMessage(positionEvent);
// 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);
}
}
}
src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
+ 19
− 1
View file @ e81a2977
......@@ -3,6 +3,7 @@ package ipos.project.UseCaseController;
import ipos.project.DataModellntegration.SimpleSceneIntegration.SimpleSceneIntegration;
import ipos.project.DataModellntegration.iPos_Datamodel.*;
import ipos.project.Functionality.DataServices;
import ipos.project.Functionality.PositionCalculation;
import ipos.project.Functionality.eventfilter.eventFilter;
import ipos.project.Functionality.eventfilter.readConfig;
import org.apache.logging.log4j.LogManager;
......@@ -21,7 +22,7 @@ public class PositionMonitoring {
private static org.apache.logging.log4j.Logger LOG = LogManager.getLogger();
private static List<eventFilter> eventFilters = new ArrayList<eventFilter>();
private static Map<String, List<String>> zonePopulation = new HashMap<String, List<String>>();
private static Map<String, List<String>> zonePopulation = new HashMap<String, List<String>>(); // maps zone-ids to list of ids of those lObjects that are currently located within that zone.
private static IPos_DatamodelFactory modelFactory = IPos_DatamodelFactory.eINSTANCE;
public static final String EXIT_NOTIFICATION_TYPE = "ExitNotification";
......@@ -34,6 +35,23 @@ public class PositionMonitoring {
public PositionMonitoring(){}
public static void receiveMessage(NFC nfcRawDataEvent) {
PositionEvent positionEvent = PositionCalculation.calcPositionFromNfcOrNull(nfcRawDataEvent);
if (positionEvent != null) {
updateLocalizableObject(positionEvent);
receiveMessage(positionEvent);
}
}
private static void updateLocalizableObject(PositionEvent positionEvent) {
LocalizableObject lObject = DataServices.getLObjectByIdOrNull(positionEvent.getLObjectId());
// TODO: caution: all changes to the data model should be performed using DataServices.
// Directly changing this object just works for the current simple case that we only have the object-representation of the world model
// in general it has to be made sure that both, all links from this object and to this object keep intact
lObject.setCurrentPlacing(positionEvent.getPlacing());
}
private MonitoringRequest createMonitoringRequest(String frameId, String monitoringTaskId) {
MonitoringRequest monReq = modelFactory.createMonitoringRequest();
monReq.setFrameId(frameId);
......
testdata_raw.txt 0 → 100644
+ 1
− 0
View file @ e81a2977
{"nfcRawDataEvent" : [ {"timestamp" : "2021-09-14T10:51:20+00:00", "tagId": "83221710", "type": "RFID", "scannerId": "98:CD:AC:26:2D:18"} ] }
\ No newline at end of file
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