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Commit ee07d272 authored by FrankR's avatar FrankR
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Added testdata and logging for srs-conversion functionality

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init_Industrierobotik.txt
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View file @ ee07d272
{"frames": [{"id": "cobot1_door_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 0.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 6.0, "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": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 6.0, "y": 4.0, "z":6.0}]}, {"id": "robolab_east", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 4.0,"y": 2.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":4.0}]}, {"id": "robolab_west", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": -4.0,"y": 2.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 8.0, "y": 10.0, "z":6.0}]} ]} {"frames": [{"id": "cobot1_door_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 0.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 6.0, "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": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 6.0, "y": 4.0, "z":6.0}]}, {"id": "robolab_east", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 4.0,"y": 2.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":4.0}]}, {"id": "robolab_west", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": -4.0,"y": 2.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 8.0, "y": 10.0, "z":6.0}]}, {"id": "robolab_armarea", "space": [{"position": {"refSystemId": "CETI_ROBOTARM_CELL", "point": {"x": 0.0,"y": 0.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 8.0, "y": 10.0, "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}}]} {"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}}, {"id": "CETI_ROBOLAB", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 1.0,"y": 1.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "CETI_OFFICE", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 2.0,"y": 2.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "TL_TESTHALL", "position": {"refSystemId": "ROOT", "point": {"x": 40.0,"y": 60.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "CETI_ROBOTARM_CELL", "position": {"refSystemId": "CETI_ROBOLAB", "point": {"x": 2.0,"y": 2.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}]}
{"objectConfigs": [{"agentId": "Employee_1", "sensorId": "UWB_2", "agentType": "HUMAN", "sensorType": "UWB"}, {"agentId": "turtlebot", "sensorId": "UWB_1", "agentType": "ROBOT", "sensorType": "UWB"}, {"agentId": "turtlebot", "sensorId": "98:CD:AC:26:2D:18", "agentType": "ROBOT", "sensorType": "RFID_SCANNER"}, {"agentId": "turtlebot", "sensorId": "handy1", "agentType": "ROBOT", "sensorType": "IMU"}]} {"objectConfigs": [{"agentId": "Employee_1", "sensorId": "UWB_2", "agentType": "HUMAN", "sensorType": "UWB"}, {"agentId": "turtlebot", "sensorId": "UWB_1", "agentType": "ROBOT", "sensorType": "UWB"}, {"agentId": "turtlebot", "sensorId": "98:CD:AC:26:2D:18", "agentType": "ROBOT", "sensorType": "RFID_SCANNER"}, {"agentId": "turtlebot", "sensorId": "handy1", "agentType": "ROBOT", "sensorType": "IMU"}]}
{"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": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "31762128", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.2,"y": 3.4,"z": 0.5}, "accuracy": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "885", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "2934", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 1.33,"z": 1.0}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "3383", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 1.25,"y": 5.89,"z": 1.06}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "1107", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 5.83,"z": 1.05}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }]} {"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": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "31762128", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.2,"y": 3.4,"z": 0.5}, "accuracy": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "885", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "2934", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 1.33,"z": 1.0}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "3383", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 1.25,"y": 5.89,"z": 1.06}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "1107", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 5.83,"z": 1.05}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }]}
{"monitoringRequests": [{"frameIds": ["cobot1_door_zone", "cobot1_window_zone"], "monitoringTaskId": "RobolabMonitoringCeti", "serializationType": "protobuf"}, {"frameIds": ["cobot1_door_zone", "cobot1_window_zone"], "monitoringTaskId": "RobolabMonitoringFrontend", "serializationType": "json"}]} {"monitoringRequests": [{"frameIds": ["cobot1_door_zone", "cobot1_window_zone"], "monitoringTaskId": "RobolabMonitoringCeti", "serializationType": "protobuf"}, {"frameIds": ["cobot1_door_zone", "cobot1_window_zone"], "monitoringTaskId": "RobolabMonitoringFrontend", "serializationType": "json"}]}
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src/main/java/ipos/project/UseCaseController/Administration.java
+ 13
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...@@ -2,6 +2,7 @@ package ipos.project.UseCaseController; ...@@ -2,6 +2,7 @@ package ipos.project.UseCaseController;
import ipos.project.DataModellntegration.iPos_Datamodel.*; import ipos.project.DataModellntegration.iPos_Datamodel.*;
import ipos.project.Functionality.DataServices; import ipos.project.Functionality.DataServices;
import ipos.project.Functionality.SRSConversion.SRSConversion;
import org.apache.logging.log4j.LogManager; import org.apache.logging.log4j.LogManager;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
...@@ -36,7 +37,7 @@ public class Administration { ...@@ -36,7 +37,7 @@ public class Administration {
public static void handleRefSystem(ReferenceSystem refSystem) { public static void handleRefSystem(ReferenceSystem refSystem) {
// muss checken, ob das RefSystem auf das ggf. verwiesen wird - tatsächlich existiert. Falls nicht: Speicherung ablehnen // muss checken, ob das RefSystem auf das ggf. verwiesen wird - tatsächlich existiert. Falls nicht: Speicherung ablehnen
LOG.info("handling refSystem-object: " + refSystem.toString()); LOG.info("handling refSystem-object: " + refSystem.toString());
//Administration.transformToRootCoordinates(refSystem); //this would delete the SRS-information of the refSystem-object and transform its origin into ROOT-SRS: Administration.transformToRootCoordinates(refSystem);
// nur sicherstellen das alle Bezugssysteme wirklich existieren // nur sicherstellen das alle Bezugssysteme wirklich existieren
DataServices.addRefSystem(refSystem); DataServices.addRefSystem(refSystem);
} }
...@@ -49,6 +50,7 @@ public class Administration { ...@@ -49,6 +50,7 @@ public class Administration {
} }
public static void transformToRootCoordinates(PositionEvent posEvent) { public static void transformToRootCoordinates(PositionEvent posEvent) {
LOG.info("INDFRO-DEBUG: Transforming PositionEvent-object " + posEvent.toString() + "to ROOT-SRS");
Administration.transformToRootCoordinates(posEvent.getPlacing()); Administration.transformToRootCoordinates(posEvent.getPlacing());
} }
...@@ -58,15 +60,18 @@ public class Administration { ...@@ -58,15 +60,18 @@ public class Administration {
} }
public static Space transformToRootCoordinates(Space space) { public static Space transformToRootCoordinates(Space space) {
LOG.info("INDFRO-DEBUG: Transforming space-object " + space.toString() + "to ROOT-SRS");
Administration.transformToRootCoordinates(space.getCentrePoint()); Administration.transformToRootCoordinates(space.getCentrePoint());
return space; return space;
} }
public static void transformToRootCoordinates(ReferenceSystem refSystem) { public static void transformToRootCoordinates(ReferenceSystem refSystem) {
LOG.info("INDFRO-DEBUG: Transforming refSystem-object " + refSystem.toString() + "to ROOT-SRS");
Administration.transformToRootCoordinates(refSystem.getOrigin()); Administration.transformToRootCoordinates(refSystem.getOrigin());
} }
public static void transformToRootCoordinates(POI poi) { public static void transformToRootCoordinates(POI poi) {
LOG.info("INDFRO-DEBUG: Transforming poi-object " + poi.toString() + "to ROOT-SRS");
Administration.transformToRootCoordinates(poi.getPlacing()); Administration.transformToRootCoordinates(poi.getPlacing());
} }
...@@ -80,12 +85,16 @@ public class Administration { ...@@ -80,12 +85,16 @@ public class Administration {
if (isNotRootPosition(placing.getPosition())) { if (isNotRootPosition(placing.getPosition())) {
Position positionToBeTransformed = placing.getPosition(); Position positionToBeTransformed = placing.getPosition();
ReferenceSystem nextTransformationGoal_SRS = positionToBeTransformed.getReferenceSystem().getOrigin().getPosition().getReferenceSystem(); ReferenceSystem nextTransformationGoal_SRS = positionToBeTransformed.getReferenceSystem().getOrigin().getPosition().getReferenceSystem();
LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
SRSConversion.switchSRS(positionToBeTransformed, nextTransformationGoal_SRS); // assumption: not only position is changed but also ReferenceSystem-object is updated SRSConversion.switchSRS(positionToBeTransformed, nextTransformationGoal_SRS); // assumption: not only position is changed but also ReferenceSystem-object is updated
LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
LOG.info("INDFRO-DEBUG:");
transformToRootCoordinates(placing); // recursion stops when placing.getPosition() has been transformed in a ROOT-position transformToRootCoordinates(placing); // recursion stops when placing.getPosition() has been transformed in a ROOT-position
} }
} }
public static void transformToRootCoordinates(Position position) { public static void transformToRootCoordinates(Position position) {
LOG.info("INDFRO-DEBUG: Transforming Position-object " + position.toString() + "to ROOT-SRS");
Orientation dummyOrientation = createDummyOrientation(); Orientation dummyOrientation = createDummyOrientation();
Placing placing = DataServices.createPlacing(position, dummyOrientation); 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. 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.
...@@ -166,7 +175,9 @@ public class Administration { ...@@ -166,7 +175,9 @@ public class Administration {
private static void transformPlacingSuccessively(Placing placingToBeTransformed, List<ReferenceSystem> transformationTargets) { private static void transformPlacingSuccessively(Placing placingToBeTransformed, List<ReferenceSystem> transformationTargets) {
for (ReferenceSystem transTarget : transformationTargets){ for (ReferenceSystem transTarget : transformationTargets){
LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
SRSConversion.switchSRS(placingToBeTransformed, transTarget); SRSConversion.switchSRS(placingToBeTransformed, transTarget);
LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
} }
} }
} }
src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
+ 4
− 4
View file @ ee07d272
...@@ -69,7 +69,7 @@ public class PositionMonitoring { ...@@ -69,7 +69,7 @@ public class PositionMonitoring {
LOG.info("OP:"); LOG.info("OP:");
LOG.info("OP:"); LOG.info("OP:");
LOG.info("OP:----PositionMonitoring--------------------------"); LOG.info("OP:----PositionMonitoring--------------------------");
LOG.info("OP: position: " + logPosition(positionEvent)); LOG.info("OP: position: " + logPosition(positionEvent.getPlacing()));
} catch (ParseException e) { } catch (ParseException e) {
e.printStackTrace(); e.printStackTrace();
...@@ -421,11 +421,11 @@ public class PositionMonitoring { ...@@ -421,11 +421,11 @@ public class PositionMonitoring {
String agentId = lObject.getAgent().getId(); String agentId = lObject.getAgent().getId();
LOG.info("SDF: Received: sensorType: " + sensorType + " timestamp: " + timestamp + " now: " + LocalDateTime.now() + " sensorId: " + sensorId + " agentId: " + agentId); LOG.info("SDF: Received: sensorType: " + sensorType + " timestamp: " + timestamp + " now: " + LocalDateTime.now() + " sensorId: " + sensorId + " agentId: " + agentId);
LOG.info("INDFRO:"); LOG.info("INDFRO:");
LOG.info("INDFRO: Received: sensorType: " + sensorType + "; position: " + logPosition(posEvent) + "; timestamp: " + timestamp + "; sensorId: " + sensorId + "; agentId: " + agentId); LOG.info("INDFRO: Received: sensorType: " + sensorType + "; position: " + logPosition(posEvent.getPlacing()) + "; timestamp: " + timestamp + "; sensorId: " + sensorId + "; agentId: " + agentId);
} }
private static String logPosition(PositionEvent posEvent) { public static String logPosition(Placing placing) {
Point3D point = (Point3D) posEvent.getPlacing().getPosition().getPoint(); Point3D point = (Point3D) placing.getPosition().getPoint();
return "(x: " + point.getX() + ", y: " + point.getY() + ", z: " + point.getZ() + ")"; return "(x: " + point.getX() + ", y: " + point.getY() + ", z: " + point.getZ() + ")";
} }
......
testdata_raw_indfro.txt
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View file @ ee07d272
{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:20+00:00"}]} {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:20+00:00"}]}
{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:21+00:00"}]} {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "CETI_ROBOTARM_CELL", "point": {"x": 1.0,"y": 0.5,"z": 2.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:21+00:00"}]}
{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": -3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:22+00:00"}]} {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:22+00:00"}]}
{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:23+00:00"}]} {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": -3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:23+00:00"}]}
{"nfcRawDataEvent" : [ {"timestamp" : "2021-10-14T19:33:24+00:00", "tagId": "83221710", "type": "RFID", "scannerId": "98:CD:AC:26:2D:18"} ] } {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:24+00:00"}]}
{"nfcRawDataEvent" : [ {"timestamp" : "2021-10-14T19:33:25+00:00", "tagId": "83221710", "type": "RFID", "scannerId": "98:CD:AC:26:2D:18"} ] }
{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:34:25+00:00"}]} {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:34:25+00:00"}]}
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