From 1d7ba9c4d4389b736f13aedffe053b21a70e0fe2 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 15 Apr 2024 11:14:51 +0100 Subject: [PATCH 01/92] comm/manager/imc/ImcMsgManager: Some refactor. --- .../comm/manager/imc/ImcMsgManager.java | 608 +----------------- .../imc/ImcMsgManagerAnnounceProcessor.java | 352 ++++++++++ .../imc/ImcMsgManagerMessageProcessor.java | 346 ++++++++++ 3 files changed, 718 insertions(+), 588 deletions(-) create mode 100644 src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java create mode 100644 src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java index 3a04da2c66..ded2103b95 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java @@ -127,7 +127,7 @@ public class ImcMsgManager extends public static final String TRANSPORT_UDP = "UDP"; public static final String TRANSPORT_TCP = "TCP"; - private static final int DEFAULT_UDP_VEH_PORT = 6002; + static final int DEFAULT_UDP_VEH_PORT = 6002; /** * Singleton @@ -138,8 +138,6 @@ public class ImcMsgManager extends private boolean sameIdErrorDetected = false; private long sameIdErrorDetectedTimeMillis = -1; - protected IMCFragmentHandler fragmentHandler;; - protected ImcSystemState imcState; // public static String CCU_VEH_STRING = "CCU-VEH"; @@ -156,15 +154,18 @@ public class ImcMsgManager extends private boolean logSentMsg = false; @Deprecated - private boolean dontIgnoreIpSourceRequest = true; + boolean dontIgnoreIpSourceRequest = true; private boolean multicastEnabled = true; private String multicastAddress = "224.0.75.69"; private int[] multicastPorts = new int[] { 6969 }; private boolean broadcastEnabled = true; - private final IMCDefinition imcDefinition; // = IMCDefinition.getInstance(); - private AnnounceWorker announceWorker; // = new AnnounceWorker(this, imcDefinition); + private ImcMsgManagerAnnounceProcessor announceProcessor; + private ImcMsgManagerMessageProcessor messageProcessor; + + final IMCDefinition imcDefinition; // = IMCDefinition.getInstance(); + AnnounceWorker announceWorker; // = new AnnounceWorker(this, imcDefinition); private long announceLastArriveTime = -1; private final PreferencesListener gplistener; @@ -280,10 +281,12 @@ public void preferencesUpdated() { this.imcDefinition = imcDefinition; announceWorker = new AnnounceWorker(this, imcDefinition); - fragmentHandler = new IMCFragmentHandler(imcDefinition); imcState = new ImcSystemState(imcDefinition); imcState.setIgnoreEntities(true); + announceProcessor = new ImcMsgManagerAnnounceProcessor(this); + messageProcessor = new ImcMsgManagerMessageProcessor(this); + GeneralPreferences.addPreferencesListener(gplistener); gplistener.preferencesUpdated(); } @@ -351,7 +354,7 @@ private void updateUdpOnIpMapper() { } } - private void updateUdpOnIpMapper(SystemImcMsgCommInfo vsci) { + void updateUdpOnIpMapper(SystemImcMsgCommInfo vsci) { if (isUdpOn()) udpOnIpMapper.forcePut(vsci.getIpAddress() + (isFilterByPort ? ":" + vsci.getIpRemotePort() : ""), vsci.getSystemCommId()); @@ -773,283 +776,6 @@ public boolean is2IdErrorMode() { return sameIdErrorDetected; } - private void processEntityInfo(MessageInfo info, EntityInfo msg) { - imcDefinition.getResolver().setEntityName(msg.getSrc(), msg.getSrcEnt(), msg.getLabel()); - } - - private void processMessagePart(MessageInfo info, MessagePart msg) { - IMCMessage m = fragmentHandler.setFragment((MessagePart)msg); - if (m != null) - postInternalMessage(msg.getSourceName(), m); - } - - private void processEntityList(ImcId16 id, MessageInfo info, EntityList msg) { - EntitiesResolver.setEntities(id.toString(), msg); - imcDefinition.getResolver().setEntityMap(msg.getSrc(), msg.getList()); - ImcSystem sys = ImcSystemsHolder.lookupSystem(id); - if (sys != null) { - EntitiesResolver.setEntities(sys.getName(), msg); - } - } - - private void processReportedState(MessageInfo info, ReportedState msg) { - // Process pos. state reported from other system - String sysId = msg.getSid(); - - double latRad = msg.getLat(); - double lonRad = msg.getLon(); - double depth = msg.getDepth(); - - double rollRad = msg.getRoll(); - double pitchRad = msg.getPitch(); - double yawRad = msg.getYaw(); - - double recTimeSecs = msg.getRcpTime(); - long recTimeMillis = Double.isFinite(recTimeSecs) ? (long) (recTimeSecs * 1E3) : msg.getTimestampMillis(); - - // msg.getSType(); // Not used - - ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); - ExternalSystem extSys = null; - if (imcSys == null) { - extSys = ExternalSystemsHolder.lookupSystem(sysId); - if (extSys == null) { - extSys = new ExternalSystem(sysId); - ExternalSystemsHolder.registerSystem(extSys); - } - } - - if (Double.isFinite(latRad) && Double.isFinite(lonRad)) { - LocationType loc = new LocationType(Math.toDegrees(latRad), Math.toDegrees(lonRad)); - if (Double.isFinite(depth)) - loc.setDepth(depth); - - if (imcSys != null) - imcSys.setLocation(loc, recTimeMillis); - else - extSys.setLocation(loc, recTimeMillis); - } - - if (Double.isFinite(rollRad) || Double.isFinite(pitchRad) || Double.isFinite(yawRad)) { - double rollDeg = Double.isFinite(rollRad) ? Math.toDegrees(rollRad) : 0; - double pitchDeg = Double.isFinite(pitchRad) ? Math.toDegrees(pitchRad) : 0; - double yawDeg = Double.isFinite(yawRad) ? Math.toDegrees(yawRad) : 0; - - if (imcSys != null) - imcSys.setAttitudeDegrees(rollDeg, pitchDeg, yawDeg, recTimeMillis); - else - extSys.setAttitudeDegrees(rollDeg, pitchDeg, yawDeg, recTimeMillis); - } - } - - private void processStateReport(MessageInfo info, StateReport msg, ArrayList messagesCreatedToFoward) { - - String sysId = msg.getSourceName(); - - long dataTimeMillis = msg.getStime() * 1000; - - double lat = msg.getLatitude(); - double lon = msg.getLongitude(); - double depth = msg.getDepth() == 0xFFFF ? -1 : msg.getDepth() / 10.0; - // double altitude = msg.getAltitude() == 0xFFFF ? -1 : msg.getAltitude() / 10.0; - double heading = ((double)msg.getHeading() / 65535.0) * 360; - double speedMS = msg.getSpeed() / 100.; - NeptusLog.pub().info("Received report from "+msg.getSourceName()); - - ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); - if (imcSys == null) { - NeptusLog.pub().error("Could not find system with id "+sysId); - return; - } - - LocationType loc = new LocationType(lat, lon); - loc.setDepth(depth); - imcSys.setLocation(loc, dataTimeMillis); - imcSys.setAttitudeDegrees(heading, dataTimeMillis); - - imcSys.storeData(SystemUtils.GROUND_SPEED_KEY, speedMS, dataTimeMillis, true); - imcSys.storeData(SystemUtils.COURSE_DEGS_KEY, - (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(heading, 0)), - dataTimeMillis, true); - imcSys.storeData( - SystemUtils.HEADING_DEGS_KEY, - (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(heading, 0)), - dataTimeMillis, true); - - int fuelPerc = msg.getFuel(); - if (fuelPerc > 0) { - FuelLevel fuelLevelMsg = new FuelLevel(); - IMCUtils.copyHeader(msg, fuelLevelMsg); - fuelLevelMsg.setTimestampMillis(dataTimeMillis); - fuelLevelMsg.setValue(fuelPerc); - fuelLevelMsg.setConfidence(0); - imcSys.storeData(SystemUtils.FUEL_LEVEL_KEY, fuelLevelMsg, dataTimeMillis, true); - - messagesCreatedToFoward.add(fuelLevelMsg); - } - - int execState = msg.getExecState(); - PlanControlState pcsMsg = new PlanControlState(); - IMCUtils.copyHeader(msg, pcsMsg); - pcsMsg.setTimestampMillis(dataTimeMillis); - switch (execState) { - case -1: - pcsMsg.setState(STATE.READY); - break; - case -3: - pcsMsg.setState(STATE.INITIALIZING); - break; - case -2: - case -4: - pcsMsg.setState(STATE.BLOCKED); - break; - default: - if (execState > 0) - pcsMsg.setState(STATE.EXECUTING); - else - pcsMsg.setState(STATE.BLOCKED); - break; - } - - pcsMsg.setPlanEta(-1); - pcsMsg.setPlanProgress(execState >= 0 ? execState : -1); - pcsMsg.setManId(""); - pcsMsg.setManEta(-1); - pcsMsg.setManType(0xFFFF); - - messagesCreatedToFoward.add(pcsMsg); - } - - private void processAssetReport(MessageInfo info, AssetReport msg, ArrayList messagesCreatedToFoward) { - - String reporterId = msg.getSourceName(); - String sysId = msg.getName(); - - long dataTimeMillis = Double.valueOf(msg.getReportTime() * 1000).longValue(); - - AssetReport.MEDIUM mediumReported = msg.getMedium(); - - double latRad = msg.getLat(); - double lonRad = msg.getLon(); - double depth = msg.getDepth(); - double altitude = msg.getAlt(); - - double speedMS = msg.getSog(); - double cogRads = msg.getCog(); - - ArrayList otherMsgs = Collections.list(msg.getMsgs().elements()); // TODO - - ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); - ExternalSystem extSys = null; - if (imcSys == null) { - extSys = ExternalSystemsHolder.lookupSystem(sysId); - if (extSys == null) { - extSys = new ExternalSystem(sysId); - ExternalSystemsHolder.registerSystem(extSys); - } - } - - if (Double.isFinite(latRad) && Double.isFinite(lonRad)) { - LocationType loc = new LocationType(AngleUtils.nomalizeAngleDegrees180(Math.toDegrees(latRad)), - AngleUtils.nomalizeAngleDegrees180(Math.toDegrees(lonRad))); - if (Double.isFinite(depth)) { - loc.setDepth(depth); - } - if (imcSys != null) { - imcSys.setLocation(loc, dataTimeMillis); - } else { - extSys.setLocation(loc, dataTimeMillis); - } - } - double headingRads = Double.NaN; - if (Double.isFinite(cogRads) && Double.isFinite(speedMS) && Math.abs(speedMS) > 0.2) { - headingRads = AngleUtils.nomalizeAngleRads2Pi(cogRads * (speedMS < 0 ? -1 : 1)); - if (imcSys != null) { - imcSys.setAttitudeDegrees(headingRads, dataTimeMillis); - imcSys.storeData( - SystemUtils.HEADING_DEGS_KEY, - (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(headingRads), 0)), - dataTimeMillis, true); - } else { - extSys.setAttitudeDegrees(headingRads, dataTimeMillis); - extSys.storeData( - SystemUtils.HEADING_DEGS_KEY, - (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(headingRads), 0)), - dataTimeMillis, true); - } - } - - if (imcSys != null) { - imcSys.storeData(SystemUtils.GROUND_SPEED_KEY, speedMS, dataTimeMillis, true); - imcSys.storeData(SystemUtils.COURSE_DEGS_KEY, - (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(cogRads), 0)), - dataTimeMillis, true); - } else { - extSys.storeData(SystemUtils.GROUND_SPEED_KEY, speedMS, dataTimeMillis, true); - extSys.storeData(SystemUtils.COURSE_DEGS_KEY, - (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(cogRads), 0)), - dataTimeMillis, true); - } - } - - private void processRemoteSensorInfo(MessageInfo info, RemoteSensorInfo msg) { - // Process pos. state reported from other system - String sysId = msg.getId(); - - double latRad = msg.getLat(); - double lonRad = msg.getLon(); - double altitude = msg.getAlt(); - - double headingRad = msg.getHeading(); - - String sensorClass = msg.getSensorClass(); - - long recTimeMillis = msg.getTimestampMillis(); - - ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); - ExternalSystem extSys = null; - if (imcSys == null) { - extSys = ExternalSystemsHolder.lookupSystem(sysId); - if (extSys == null) { - extSys = new ExternalSystem(sysId); - ExternalSystemsHolder.registerSystem(extSys); - } - } - - if (Double.isFinite(latRad) && Double.isFinite(lonRad)) { - LocationType loc = new LocationType(Math.toDegrees(latRad), Math.toDegrees(lonRad)); - if (Double.isFinite(altitude)) - loc.setDepth(-altitude); - - if (imcSys != null) - imcSys.setLocation(loc, recTimeMillis); - else - extSys.setLocation(loc, recTimeMillis); - } - - if (Double.isFinite(headingRad)) { - double headingDeg = Math.toDegrees(headingRad); - - if (imcSys != null) - imcSys.setAttitudeDegrees(headingDeg, recTimeMillis); - else - extSys.setAttitudeDegrees(headingDeg, recTimeMillis); - } - - // Process sensor class - SystemTypeEnum type = SystemUtils.getSystemTypeFrom(sensorClass); - VehicleTypeEnum typeVehicle = SystemUtils.getVehicleTypeFrom(sensorClass); - ExternalTypeEnum typeExternal = SystemUtils.getExternalTypeFrom(sensorClass); - if (imcSys != null) { - imcSys.setType(type); - imcSys.setTypeVehicle(typeVehicle); - } - else { - extSys.setType(type); - extSys.setTypeVehicle(typeVehicle); - extSys.setTypeExternal(typeExternal); - } - } @Override protected boolean processMsgLocally(MessageInfo info, IMCMessage msg) { @@ -1105,28 +831,28 @@ protected boolean processMsgLocally(MessageInfo info, IMCMessage msg) { switch (msg.getMgid()) { case Announce.ID_STATIC: announceLastArriveTime = System.currentTimeMillis(); - vci = processAnnounceMessage(info, (Announce) msg, vci, id); + vci = announceProcessor.processAnnounceMessage(info, (Announce) msg, vci, id); break; case EntityList.ID_STATIC: - processEntityList(id, info, (EntityList) msg); + messageProcessor.processEntityList(id, info, (EntityList) msg); break; case EntityInfo.ID_STATIC: - processEntityInfo(info, (EntityInfo) msg); + messageProcessor.processEntityInfo(info, (EntityInfo) msg); break; case MessagePart.ID_STATIC: - processMessagePart(info, (MessagePart) msg); + messageProcessor.processMessagePart(info, (MessagePart) msg); break; case ReportedState.ID_STATIC: - processReportedState(info, (ReportedState) msg); + messageProcessor.processReportedState(info, (ReportedState) msg); break; case RemoteSensorInfo.ID_STATIC: - processRemoteSensorInfo(info, (RemoteSensorInfo) msg); + messageProcessor.processRemoteSensorInfo(info, (RemoteSensorInfo) msg); break; case StateReport.ID_STATIC: - processStateReport(info, new StateReport(msg), messagesCreatedToFoward); + messageProcessor.processStateReport(info, new StateReport(msg), messagesCreatedToFoward); break; case AssetReport.ID_STATIC: - processAssetReport(info, new AssetReport(msg), messagesCreatedToFoward); + messageProcessor.processAssetReport(info, new AssetReport(msg), messagesCreatedToFoward); break; default: break; @@ -1238,300 +964,6 @@ private void postToBus(IMCMessage msg) { } } - /** - * @param info - * @param msg - * @param vci - * @param id - * @return - * @throws IOException - */ - private SystemImcMsgCommInfo processAnnounceMessage(MessageInfo info, Announce ann, SystemImcMsgCommInfo vci, - ImcId16 id) throws IOException { - - LocalTime timeStart = LocalTime.now(); - - String sia = info.getPublisherInetAddress(); - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: publisher host address " + sia); - - boolean hostWasGuessed = true; - - InetSocketAddress[] retId = announceWorker.getImcIpsPortsFromMessageImcUdp(ann); - int portUdp = 0; - String hostUdp = ""; - boolean udpIpPortFound = false; - if (retId.length > 0) { - portUdp = retId[0].getPort(); - hostUdp = retId[0].getAddress().getHostAddress(); - } - for (InetSocketAddress add : retId) { - if (sia.equalsIgnoreCase(add.getAddress().getHostAddress())) { - if (ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, add) != null) { - udpIpPortFound = true; - portUdp = add.getPort(); - hostUdp = add.getAddress().getHostAddress(); - hostWasGuessed = false; - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "UDP reachable @ " + hostUdp + ":" + portUdp); - break; - } - } - } - - // Let us try know any one in the announce IPs - if (portUdp > 0 && !udpIpPortFound) { - InetSocketAddress reachableAddr = ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, retId); - if (reachableAddr != null) { - udpIpPortFound = true; - portUdp = reachableAddr.getPort(); - hostUdp = reachableAddr.getAddress().getHostAddress(); - hostWasGuessed = false; - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "UDP reachable @ " + hostUdp + ":" + portUdp); - } - } - - if (portUdp > 0 && !udpIpPortFound) { - // Lets try to see if we received a message from any of the IPs - String ipReceived = hostUdp.isEmpty() ? info.getPublisherInetAddress() : hostUdp; - hostWasGuessed = hostUdp.isEmpty() ? hostWasGuessed : true; - hostUdp = ipReceived; - udpIpPortFound = true; - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "no UDP reachable using " + hostUdp + ":" + portUdp); - } - - InetSocketAddress[] retIdT = announceWorker.getImcIpsPortsFromMessageImcTcp(ann); - int portTcp = 0; - boolean tcpIpPortFound = false; - if (retIdT.length > 0) { - portTcp = retIdT[0].getPort(); - if ("".equalsIgnoreCase(hostUdp)) - hostUdp = retIdT[0].getAddress().getHostAddress(); - } - for (InetSocketAddress add : retIdT) { - if (sia.equalsIgnoreCase(add.getAddress().getHostAddress())) { - if ("".equalsIgnoreCase(hostUdp)) { - if (ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, add) != null) { - tcpIpPortFound = true; - hostUdp = add.getAddress().getHostAddress(); - hostWasGuessed = false; - portTcp = add.getPort(); - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "TCP reachable @ " + hostUdp + ":" + portTcp); - break; - } - else - continue; - } - portTcp = add.getPort(); - tcpIpPortFound = true; - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "no TCP reachable using " + hostUdp + ":" + portTcp); - break; - } - } - - // Let us try know any one in the announce IPs - if (portTcp > 0 && !tcpIpPortFound) { - InetSocketAddress reachableAddr = ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, retId); - if (reachableAddr != null) { - if ("".equalsIgnoreCase(hostUdp)) { - tcpIpPortFound = true; - hostUdp = reachableAddr.getAddress().getHostAddress(); - hostWasGuessed = false; - portTcp = reachableAddr.getPort(); - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "TCP reachable @ " + hostUdp + ":" + portTcp); - } - portTcp = reachableAddr.getPort(); - tcpIpPortFound = true; - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "no TCP reachable using " + hostUdp + ":" + portTcp); - } - } - - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "using UDP@" + hostUdp - + ":" + portUdp + " and using TCP@" + hostUdp + ":" + portTcp + " with host " - + (hostWasGuessed ? "guessed" : "found")); - - boolean requestEntityList = false; - if (vci == null) { - // Create a new system - vci = initSystemCommInfo(id, info.getPublisherInetAddress() + ":" - + (portUdp == 0 ? DEFAULT_UDP_VEH_PORT : portUdp)); - updateUdpOnIpMapper(vci); - requestEntityList = true; - } - // announceWorker.processAnnouceMessage(msg); - String name = ann.getSysName(); - String type = ann.getSysType().toString(); - vci.setSystemIdName(name); - ImcSystem resSys = ImcSystemsHolder.lookupSystem(id); - // NeptusLog.pub().info("<###>......................Announce..." + name + " | " + type + " :: " + hostUdp + " " + - // portUdp); - // NeptusLog.pub().warn(ReflectionUtil.getCallerStamp()+ " ..........................| " + name + " | " + type); - if (resSys != null) { - resSys.setServicesProvided(announceWorker.getImcServicesFromMessage(ann)); - AnnounceWorker.processUidFromServices(resSys); - - // new 2012-06-23 - if (resSys.isOnIdErrorState()) { - EntitiesResolver.clearAliases(resSys.getName()); - EntitiesResolver.clearAliases(resSys.getId()); - } - - resSys.setName(name); - resSys.setType(ImcSystem.translateSystemTypeFromMessage(type)); - resSys.setTypeVehicle(ImcSystem.translateVehicleTypeFromMessage(type)); - // NeptusLog.pub().info(ReflectionUtil.getCallerStamp()+ " ------------------------| " + resSys.getName() + - // " | " + resSys.getType()); - if (portUdp != 0 && udpIpPortFound) { - resSys.setRemoteUDPPort(portUdp); - } - else { - if (resSys.getRemoteUDPPort() == 0) - resSys.setRemoteUDPPort(DEFAULT_UDP_VEH_PORT); - } - if (!"".equalsIgnoreCase(hostUdp) && !AnnounceWorker.NONE_IP.equalsIgnoreCase(hostUdp)) { -// hostWasGuessed = true; - if (AnnounceWorker.USE_REMOTE_IP.equalsIgnoreCase(hostUdp)) { - if (dontIgnoreIpSourceRequest) - resSys.setHostAddress(info.getPublisherInetAddress()); - } - else { - if ((udpIpPortFound || tcpIpPortFound) && !hostWasGuessed) { - resSys.setHostAddress(hostUdp); - } - else if (hostWasGuessed) { - boolean alreadyFound = false; - try { - Map fAddr = new LinkedHashMap<>(); - InetAddress publisherIAddr = InetAddress.getByName(sia); - byte[] pba = publisherIAddr.getAddress(); - int i = 0; - for (InetSocketAddress inetSAddr : retId) { - byte[] lta = inetSAddr.getAddress().getAddress(); - if (lta.length != pba.length) - continue; - i = 0; - for (; i < lta.length; i++) { - if (pba[i] != lta[i]) - break; - } - if (i > 0 && i <= pba.length) - fAddr.put(inetSAddr, i); - } - for (InetSocketAddress inetSAddr : retIdT) { - if (fAddr.containsKey(inetSAddr)) - continue; - byte[] lta = inetSAddr.getAddress().getAddress(); - if (lta.length != pba.length) - continue; - i = 0; - for (; i < lta.length; i++) { - if (pba[i] != lta[i]) - break; - } - if (i > 0 && i <= pba.length) - fAddr.put(inetSAddr, i); - } - - InetSocketAddress foundCandidateAddr = fAddr.keySet().stream().max((a1, a2) -> { - return fAddr.get(a1) - fAddr.get(a2); - }).orElse(null); - if (foundCandidateAddr != null) { - resSys.setHostAddress(foundCandidateAddr.getAddress().getHostAddress()); - alreadyFound = true; - } - } - catch (Exception e) { - e.printStackTrace(); - } - - if (!alreadyFound) { - String curHostAddr = resSys.getHostAddress(); - boolean currIsInAnnounce = false; - for (InetSocketAddress inetSAddr : retId) { - if (curHostAddr.equalsIgnoreCase(inetSAddr.getAddress().getHostAddress())) { - currIsInAnnounce = true; - break; - } - } - if (!currIsInAnnounce) { - for (InetSocketAddress inetSAddr : retIdT) { - if (curHostAddr.equalsIgnoreCase(inetSAddr.getAddress().getHostAddress())) { - currIsInAnnounce = true; - break; - } - } - } - - if (!currIsInAnnounce) - resSys.setHostAddress(hostUdp); - } - } - } - } - if (portTcp != 0 && tcpIpPortFound) { - resSys.setTCPOn(true); - resSys.setRemoteTCPPort(portTcp); - } - else if (portTcp == 0) { - resSys.setTCPOn(false); - } - - if (resSys.isTCPOn() && retId.length == 0) { - resSys.setUDPOn(false); - } - else { - resSys.setUDPOn(true); - } - - NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "final setup UDP@" + resSys.getHostAddress() - + ":" + resSys.getRemoteUDPPort() + " and using TCP@" + resSys.getHostAddress() + ":" + resSys.getRemoteTCPPort()); - - resSys.setOnAnnounceState(true); - - try { - double latRad = ann.getLat(); - double lonRad = ann.getLon(); - double height = ann.getHeight(); - if (latRad != 0 && lonRad != 0) { - LocationType loc = new LocationType(); - loc.setLatitudeDegs(Math.toDegrees(latRad)); - loc.setLongitudeDegs(Math.toDegrees(lonRad)); - loc.setHeight(height); - long locTime = (long) (info.getTimeSentSec() * 1000); - resSys.setLocation(loc, locTime); - } - } - catch (Exception e) { - e.printStackTrace(); - } - - // Adding temp getting heading from services - double headingDegreesFromServices = AnnounceWorker.processHeadingDegreesFromServices(resSys); - if (!Double.isNaN(headingDegreesFromServices) && !Double.isInfinite(headingDegreesFromServices)) { - long attTime = (long) (info.getTimeSentSec() * 1000); - resSys.setAttitudeDegrees(headingDegreesFromServices, attTime); - } - - Map er = EntitiesResolver.getEntities(resSys.getName()); - if (er == null || er.size() == 0) - requestEntityList = true; - - if (requestEntityList) - announceWorker.sendEntityListRequestMsg(resSys); - - ImcSystemsHolder.registerSystem(resSys); - } - - Duration deltaT = Duration.between(timeStart, LocalTime.now()); - if (deltaT.getSeconds() > 1) { - NeptusLog.pub().warn("=====!!===== Too long processing announce DF " + deltaT + " :: " + ann.getAbbrev() + - " @ " + new ImcId16(ann.getSrc()).toPrettyString() + "\n=====!!===== Try reducing " + - "'General Preference->[IMC Communications]-> Reachability Test Timeout' from " + - GeneralPreferences.imcReachabilityTestTimeout + - " to in the order of tens or 1 or 2 hundreds of ms."); - } - - imcDefinition.getResolver().addEntry(ann.getSrc(), ann.getSysName()); - return vci; - } /** * @return the sentMessagesFreqCalc @@ -1750,7 +1182,7 @@ public boolean sendMessage(IMCMessage message, ImcId16 vehicleCommId, String sen * separated string values. Possible values: Multicast and/or Broadcast (if the message is sent by either * or both, it exists), and alternatively UDP or TCP (only if the Multicast and/or Broadcast are not * used). - * @param listener If you want to be warn on the send status of the message. Use null if you don't care. + * @param msgListener If you want to be warn on the send status of the message. Use null if you don't care. * @return Return true if the message went to the transport to be delivered. If you need to know if the message left * the transport use the listener. */ diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java new file mode 100644 index 0000000000..7968472b7d --- /dev/null +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java @@ -0,0 +1,352 @@ +/* + * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) + * All rights reserved. + * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal + * + * This file is part of Neptus, Command and Control Framework. + * + * Commercial Licence Usage + * Licencees holding valid commercial Neptus licences may use this file + * in accordance with the commercial licence agreement provided with the + * Software or, alternatively, in accordance with the terms contained in a + * written agreement between you and Universidade do Porto. For licensing + * terms, conditions, and further information contact lsts@fe.up.pt. + * + * Modified European Union Public Licence - EUPL v.1.1 Usage + * Alternatively, this file may be used under the terms of the Modified EUPL, + * Version 1.1 only (the "Licence"), appearing in the file LICENSE.md + * included in the packaging of this file. You may not use this work + * except in compliance with the Licence. Unless required by applicable + * law or agreed to in writing, software distributed under the Licence is + * distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF + * ANY KIND, either express or implied. See the Licence for the specific + * language governing permissions and limitations at + * https://github.com/LSTS/neptus/blob/develop/LICENSE.md + * and http://ec.europa.eu/idabc/eupl.html. + * + * For more information please see . + * + * Author: Paulo Dias + * 15/4/2024 + */ +package pt.lsts.neptus.comm.manager.imc; + +import pt.lsts.imc.Announce; +import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.messages.listener.MessageInfo; +import pt.lsts.neptus.types.coord.LocationType; +import pt.lsts.neptus.util.conf.GeneralPreferences; + +import java.io.IOException; +import java.net.InetAddress; +import java.net.InetSocketAddress; +import java.time.Duration; +import java.time.LocalTime; +import java.util.LinkedHashMap; +import java.util.Map; + +import static pt.lsts.neptus.comm.manager.imc.ImcMsgManager.DEFAULT_UDP_VEH_PORT; + +public class ImcMsgManagerAnnounceProcessor { + private ImcMsgManager manager; + + public ImcMsgManagerAnnounceProcessor(ImcMsgManager manager) { + this.manager = manager; + } + + /** + * @param info + * @param ann + * @param vci + * @param id + * @return + * @throws IOException + */ + SystemImcMsgCommInfo processAnnounceMessage(MessageInfo info, Announce ann, SystemImcMsgCommInfo vci, + ImcId16 id) throws IOException { + + LocalTime timeStart = LocalTime.now(); + + String sia = info.getPublisherInetAddress(); + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: publisher host address " + sia); + + boolean hostWasGuessed = true; + + InetSocketAddress[] retId = manager.announceWorker.getImcIpsPortsFromMessageImcUdp(ann); + int portUdp = 0; + String hostUdp = ""; + boolean udpIpPortFound = false; + if (retId.length > 0) { + portUdp = retId[0].getPort(); + hostUdp = retId[0].getAddress().getHostAddress(); + } + for (InetSocketAddress add : retId) { + if (sia.equalsIgnoreCase(add.getAddress().getHostAddress())) { + if (ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, add) != null) { + udpIpPortFound = true; + portUdp = add.getPort(); + hostUdp = add.getAddress().getHostAddress(); + hostWasGuessed = false; + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "UDP reachable @ " + hostUdp + ":" + portUdp); + break; + } + } + } + + // Let us try to know any one in the announce IPs + if (portUdp > 0 && !udpIpPortFound) { + InetSocketAddress reachableAddr = ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, retId); + if (reachableAddr != null) { + udpIpPortFound = true; + portUdp = reachableAddr.getPort(); + hostUdp = reachableAddr.getAddress().getHostAddress(); + hostWasGuessed = false; + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "UDP reachable @ " + hostUdp + ":" + portUdp); + } + } + + if (portUdp > 0 && !udpIpPortFound) { + // Lets try to see if we received a message from any of the IPs + String ipReceived = hostUdp.isEmpty() ? info.getPublisherInetAddress() : hostUdp; + hostWasGuessed = hostUdp.isEmpty() ? hostWasGuessed : true; + hostUdp = ipReceived; + udpIpPortFound = true; + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "no UDP reachable using " + hostUdp + ":" + portUdp); + } + + InetSocketAddress[] retIdT = manager.announceWorker.getImcIpsPortsFromMessageImcTcp(ann); + int portTcp = 0; + boolean tcpIpPortFound = false; + if (retIdT.length > 0) { + portTcp = retIdT[0].getPort(); + if ("".equalsIgnoreCase(hostUdp)) + hostUdp = retIdT[0].getAddress().getHostAddress(); + } + for (InetSocketAddress add : retIdT) { + if (sia.equalsIgnoreCase(add.getAddress().getHostAddress())) { + if ("".equalsIgnoreCase(hostUdp)) { + if (ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, add) != null) { + tcpIpPortFound = true; + hostUdp = add.getAddress().getHostAddress(); + hostWasGuessed = false; + portTcp = add.getPort(); + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "TCP reachable @ " + hostUdp + ":" + portTcp); + break; + } + else + continue; + } + portTcp = add.getPort(); + tcpIpPortFound = true; + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "no TCP reachable using " + hostUdp + ":" + portTcp); + break; + } + } + + // Let us try to know any one in the announce IPs + if (portTcp > 0 && !tcpIpPortFound) { + InetSocketAddress reachableAddr = ReachableCache.firstReachable(GeneralPreferences.imcReachabilityTestTimeout, retId); + if (reachableAddr != null) { + if ("".equalsIgnoreCase(hostUdp)) { + tcpIpPortFound = true; + hostUdp = reachableAddr.getAddress().getHostAddress(); + hostWasGuessed = false; + portTcp = reachableAddr.getPort(); + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "TCP reachable @ " + hostUdp + ":" + portTcp); + } + portTcp = reachableAddr.getPort(); + tcpIpPortFound = true; + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "no TCP reachable using " + hostUdp + ":" + portTcp); + } + } + + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "using UDP@" + hostUdp + + ":" + portUdp + " and using TCP@" + hostUdp + ":" + portTcp + " with host " + + (hostWasGuessed ? "guessed" : "found")); + + boolean requestEntityList = false; + if (vci == null) { + // Create a new system + vci = manager.initSystemCommInfo(id, info.getPublisherInetAddress() + ":" + + (portUdp == 0 ? DEFAULT_UDP_VEH_PORT : portUdp)); + manager.updateUdpOnIpMapper(vci); + requestEntityList = true; + } + // announceWorker.processAnnouceMessage(msg); + String name = ann.getSysName(); + String type = ann.getSysType().toString(); + vci.setSystemIdName(name); + ImcSystem resSys = ImcSystemsHolder.lookupSystem(id); + // NeptusLog.pub().info("<###>......................Announce..." + name + " | " + type + " :: " + hostUdp + " " + + // portUdp); + // NeptusLog.pub().warn(ReflectionUtil.getCallerStamp()+ " ..........................| " + name + " | " + type); + if (resSys != null) { + resSys.setServicesProvided(manager.announceWorker.getImcServicesFromMessage(ann)); + AnnounceWorker.processUidFromServices(resSys); + + // new 2012-06-23 + if (resSys.isOnIdErrorState()) { + EntitiesResolver.clearAliases(resSys.getName()); + EntitiesResolver.clearAliases(resSys.getId()); + } + + resSys.setName(name); + resSys.setType(ImcSystem.translateSystemTypeFromMessage(type)); + resSys.setTypeVehicle(ImcSystem.translateVehicleTypeFromMessage(type)); + // NeptusLog.pub().info(ReflectionUtil.getCallerStamp()+ " ------------------------| " + resSys.getName() + + // " | " + resSys.getType()); + if (portUdp != 0 && udpIpPortFound) { + resSys.setRemoteUDPPort(portUdp); + } + else { + if (resSys.getRemoteUDPPort() == 0) + resSys.setRemoteUDPPort(DEFAULT_UDP_VEH_PORT); + } + if (!"".equalsIgnoreCase(hostUdp) && !AnnounceWorker.NONE_IP.equalsIgnoreCase(hostUdp)) { +// hostWasGuessed = true; + if (AnnounceWorker.USE_REMOTE_IP.equalsIgnoreCase(hostUdp)) { + if (manager.dontIgnoreIpSourceRequest) + resSys.setHostAddress(info.getPublisherInetAddress()); + } + else { + if ((udpIpPortFound || tcpIpPortFound) && !hostWasGuessed) { + resSys.setHostAddress(hostUdp); + } + else if (hostWasGuessed) { + boolean alreadyFound = false; + try { + Map fAddr = new LinkedHashMap<>(); + InetAddress publisherIAddr = InetAddress.getByName(sia); + byte[] pba = publisherIAddr.getAddress(); + int i = 0; + for (InetSocketAddress inetSAddr : retId) { + byte[] lta = inetSAddr.getAddress().getAddress(); + if (lta.length != pba.length) + continue; + i = 0; + for (; i < lta.length; i++) { + if (pba[i] != lta[i]) + break; + } + if (i > 0 && i <= pba.length) + fAddr.put(inetSAddr, i); + } + for (InetSocketAddress inetSAddr : retIdT) { + if (fAddr.containsKey(inetSAddr)) + continue; + byte[] lta = inetSAddr.getAddress().getAddress(); + if (lta.length != pba.length) + continue; + i = 0; + for (; i < lta.length; i++) { + if (pba[i] != lta[i]) + break; + } + if (i > 0 && i <= pba.length) + fAddr.put(inetSAddr, i); + } + + InetSocketAddress foundCandidateAddr = fAddr.keySet().stream().max((a1, a2) -> { + return fAddr.get(a1) - fAddr.get(a2); + }).orElse(null); + if (foundCandidateAddr != null) { + resSys.setHostAddress(foundCandidateAddr.getAddress().getHostAddress()); + alreadyFound = true; + } + } + catch (Exception e) { + e.printStackTrace(); + } + + if (!alreadyFound) { + String curHostAddr = resSys.getHostAddress(); + boolean currIsInAnnounce = false; + for (InetSocketAddress inetSAddr : retId) { + if (curHostAddr.equalsIgnoreCase(inetSAddr.getAddress().getHostAddress())) { + currIsInAnnounce = true; + break; + } + } + if (!currIsInAnnounce) { + for (InetSocketAddress inetSAddr : retIdT) { + if (curHostAddr.equalsIgnoreCase(inetSAddr.getAddress().getHostAddress())) { + currIsInAnnounce = true; + break; + } + } + } + + if (!currIsInAnnounce) + resSys.setHostAddress(hostUdp); + } + } + } + } + if (portTcp != 0 && tcpIpPortFound) { + resSys.setTCPOn(true); + resSys.setRemoteTCPPort(portTcp); + } + else if (portTcp == 0) { + resSys.setTCPOn(false); + } + + if (resSys.isTCPOn() && retId.length == 0) { + resSys.setUDPOn(false); + } + else { + resSys.setUDPOn(true); + } + + NeptusLog.pub().debug("processAnnounceMessage for " + ann.getSysName() + "@" + id + " :: " + "final setup UDP@" + resSys.getHostAddress() + + ":" + resSys.getRemoteUDPPort() + " and using TCP@" + resSys.getHostAddress() + ":" + resSys.getRemoteTCPPort()); + + resSys.setOnAnnounceState(true); + + try { + double latRad = ann.getLat(); + double lonRad = ann.getLon(); + double height = ann.getHeight(); + if (latRad != 0 && lonRad != 0) { + LocationType loc = new LocationType(); + loc.setLatitudeDegs(Math.toDegrees(latRad)); + loc.setLongitudeDegs(Math.toDegrees(lonRad)); + loc.setHeight(height); + long locTime = (long) (info.getTimeSentSec() * 1000); + resSys.setLocation(loc, locTime); + } + } + catch (Exception e) { + e.printStackTrace(); + } + + // Adding temp getting heading from services + double headingDegreesFromServices = AnnounceWorker.processHeadingDegreesFromServices(resSys); + if (!Double.isNaN(headingDegreesFromServices) && !Double.isInfinite(headingDegreesFromServices)) { + long attTime = (long) (info.getTimeSentSec() * 1000); + resSys.setAttitudeDegrees(headingDegreesFromServices, attTime); + } + + Map er = EntitiesResolver.getEntities(resSys.getName()); + if (er == null || er.size() == 0) + requestEntityList = true; + + if (requestEntityList) + manager.announceWorker.sendEntityListRequestMsg(resSys); + + ImcSystemsHolder.registerSystem(resSys); + } + + Duration deltaT = Duration.between(timeStart, LocalTime.now()); + if (deltaT.getSeconds() > 1) { + NeptusLog.pub().warn("=====!!===== Too long processing announce DF " + deltaT + " :: " + ann.getAbbrev() + + " @ " + new ImcId16(ann.getSrc()).toPrettyString() + "\n=====!!===== Try reducing " + + "'General Preference->[IMC Communications]-> Reachability Test Timeout' from " + + GeneralPreferences.imcReachabilityTestTimeout + + " to in the order of tens or 1 or 2 hundreds of ms."); + } + + manager.imcDefinition.getResolver().addEntry(ann.getSrc(), ann.getSysName()); + return vci; + } +} diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java new file mode 100644 index 0000000000..8fa9abf6be --- /dev/null +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java @@ -0,0 +1,346 @@ +/* + * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) + * All rights reserved. + * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal + * + * This file is part of Neptus, Command and Control Framework. + * + * Commercial Licence Usage + * Licencees holding valid commercial Neptus licences may use this file + * in accordance with the commercial licence agreement provided with the + * Software or, alternatively, in accordance with the terms contained in a + * written agreement between you and Universidade do Porto. For licensing + * terms, conditions, and further information contact lsts@fe.up.pt. + * + * Modified European Union Public Licence - EUPL v.1.1 Usage + * Alternatively, this file may be used under the terms of the Modified EUPL, + * Version 1.1 only (the "Licence"), appearing in the file LICENSE.md + * included in the packaging of this file. You may not use this work + * except in compliance with the Licence. Unless required by applicable + * law or agreed to in writing, software distributed under the Licence is + * distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF + * ANY KIND, either express or implied. See the Licence for the specific + * language governing permissions and limitations at + * https://github.com/LSTS/neptus/blob/develop/LICENSE.md + * and http://ec.europa.eu/idabc/eupl.html. + * + * For more information please see . + * + * Author: Paulo Dias + * 15/4/2024 + */ +package pt.lsts.neptus.comm.manager.imc; + +import pt.lsts.imc.AssetReport; +import pt.lsts.imc.EntityInfo; +import pt.lsts.imc.EntityList; +import pt.lsts.imc.FuelLevel; +import pt.lsts.imc.IMCMessage; +import pt.lsts.imc.MessagePart; +import pt.lsts.imc.PlanControlState; +import pt.lsts.imc.RemoteSensorInfo; +import pt.lsts.imc.ReportedState; +import pt.lsts.imc.StateReport; +import pt.lsts.imc.net.IMCFragmentHandler; +import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.comm.IMCUtils; +import pt.lsts.neptus.comm.SystemUtils; +import pt.lsts.neptus.messages.listener.MessageInfo; +import pt.lsts.neptus.systems.external.ExternalSystem; +import pt.lsts.neptus.systems.external.ExternalSystemsHolder; +import pt.lsts.neptus.types.coord.LocationType; +import pt.lsts.neptus.types.vehicle.VehicleType; +import pt.lsts.neptus.util.AngleUtils; +import pt.lsts.neptus.util.MathMiscUtils; + +import java.util.ArrayList; +import java.util.Collections; + +class ImcMsgManagerMessageProcessor { + private final ImcMsgManager manager; + private final IMCFragmentHandler fragmentHandler; + + public ImcMsgManagerMessageProcessor(ImcMsgManager manager) { + this.manager = manager; + fragmentHandler = new IMCFragmentHandler(manager.imcDefinition); + } + + void processEntityInfo(MessageInfo info, EntityInfo msg) { + manager.imcDefinition.getResolver().setEntityName(msg.getSrc(), msg.getSrcEnt(), msg.getLabel()); + } + + void processMessagePart(MessageInfo info, MessagePart msg) { + IMCMessage m = fragmentHandler.setFragment((MessagePart)msg); + if (m != null) + manager.postInternalMessage(msg.getSourceName(), m); + } + + void processEntityList(ImcId16 id, MessageInfo info, EntityList msg) { + EntitiesResolver.setEntities(id.toString(), msg); + manager.imcDefinition.getResolver().setEntityMap(msg.getSrc(), msg.getList()); + ImcSystem sys = ImcSystemsHolder.lookupSystem(id); + if (sys != null) { + EntitiesResolver.setEntities(sys.getName(), msg); + } + } + + void processReportedState(MessageInfo info, ReportedState msg) { + // Process pos. state reported from other system + String sysId = msg.getSid(); + + double latRad = msg.getLat(); + double lonRad = msg.getLon(); + double depth = msg.getDepth(); + + double rollRad = msg.getRoll(); + double pitchRad = msg.getPitch(); + double yawRad = msg.getYaw(); + + double recTimeSecs = msg.getRcpTime(); + long recTimeMillis = Double.isFinite(recTimeSecs) ? (long) (recTimeSecs * 1E3) : msg.getTimestampMillis(); + + // msg.getSType(); // Not used + + ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); + ExternalSystem extSys = null; + if (imcSys == null) { + extSys = ExternalSystemsHolder.lookupSystem(sysId); + if (extSys == null) { + extSys = new ExternalSystem(sysId); + ExternalSystemsHolder.registerSystem(extSys); + } + } + + if (Double.isFinite(latRad) && Double.isFinite(lonRad)) { + LocationType loc = new LocationType(Math.toDegrees(latRad), Math.toDegrees(lonRad)); + if (Double.isFinite(depth)) + loc.setDepth(depth); + + if (imcSys != null) + imcSys.setLocation(loc, recTimeMillis); + else + extSys.setLocation(loc, recTimeMillis); + } + + if (Double.isFinite(rollRad) || Double.isFinite(pitchRad) || Double.isFinite(yawRad)) { + double rollDeg = Double.isFinite(rollRad) ? Math.toDegrees(rollRad) : 0; + double pitchDeg = Double.isFinite(pitchRad) ? Math.toDegrees(pitchRad) : 0; + double yawDeg = Double.isFinite(yawRad) ? Math.toDegrees(yawRad) : 0; + + if (imcSys != null) + imcSys.setAttitudeDegrees(rollDeg, pitchDeg, yawDeg, recTimeMillis); + else + extSys.setAttitudeDegrees(rollDeg, pitchDeg, yawDeg, recTimeMillis); + } + } + + void processStateReport(MessageInfo info, StateReport msg, ArrayList messagesCreatedToFoward) { + + String sysId = msg.getSourceName(); + + long dataTimeMillis = msg.getStime() * 1000; + + double lat = msg.getLatitude(); + double lon = msg.getLongitude(); + double depth = msg.getDepth() == 0xFFFF ? -1 : msg.getDepth() / 10.0; + // double altitude = msg.getAltitude() == 0xFFFF ? -1 : msg.getAltitude() / 10.0; + double heading = ((double)msg.getHeading() / 65535.0) * 360; + double speedMS = msg.getSpeed() / 100.; + NeptusLog.pub().info("Received report from "+msg.getSourceName()); + + ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); + if (imcSys == null) { + NeptusLog.pub().error("Could not find system with id "+sysId); + return; + } + + LocationType loc = new LocationType(lat, lon); + loc.setDepth(depth); + imcSys.setLocation(loc, dataTimeMillis); + imcSys.setAttitudeDegrees(heading, dataTimeMillis); + + imcSys.storeData(SystemUtils.GROUND_SPEED_KEY, speedMS, dataTimeMillis, true); + imcSys.storeData(SystemUtils.COURSE_DEGS_KEY, + (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(heading, 0)), + dataTimeMillis, true); + imcSys.storeData( + SystemUtils.HEADING_DEGS_KEY, + (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(heading, 0)), + dataTimeMillis, true); + + int fuelPerc = msg.getFuel(); + if (fuelPerc > 0) { + FuelLevel fuelLevelMsg = new FuelLevel(); + IMCUtils.copyHeader(msg, fuelLevelMsg); + fuelLevelMsg.setTimestampMillis(dataTimeMillis); + fuelLevelMsg.setValue(fuelPerc); + fuelLevelMsg.setConfidence(0); + imcSys.storeData(SystemUtils.FUEL_LEVEL_KEY, fuelLevelMsg, dataTimeMillis, true); + + messagesCreatedToFoward.add(fuelLevelMsg); + } + + int execState = msg.getExecState(); + PlanControlState pcsMsg = new PlanControlState(); + IMCUtils.copyHeader(msg, pcsMsg); + pcsMsg.setTimestampMillis(dataTimeMillis); + switch (execState) { + case -1: + pcsMsg.setState(PlanControlState.STATE.READY); + break; + case -3: + pcsMsg.setState(PlanControlState.STATE.INITIALIZING); + break; + case -2: + case -4: + pcsMsg.setState(PlanControlState.STATE.BLOCKED); + break; + default: + if (execState > 0) + pcsMsg.setState(PlanControlState.STATE.EXECUTING); + else + pcsMsg.setState(PlanControlState.STATE.BLOCKED); + break; + } + + pcsMsg.setPlanEta(-1); + pcsMsg.setPlanProgress(execState >= 0 ? execState : -1); + pcsMsg.setManId(""); + pcsMsg.setManEta(-1); + pcsMsg.setManType(0xFFFF); + + messagesCreatedToFoward.add(pcsMsg); + } + + void processAssetReport(MessageInfo info, AssetReport msg, ArrayList messagesCreatedToFoward) { + + String reporterId = msg.getSourceName(); + String sysId = msg.getName(); + + long dataTimeMillis = Double.valueOf(msg.getReportTime() * 1000).longValue(); + + AssetReport.MEDIUM mediumReported = msg.getMedium(); + + double latRad = msg.getLat(); + double lonRad = msg.getLon(); + double depth = msg.getDepth(); + double altitude = msg.getAlt(); + + double speedMS = msg.getSog(); + double cogRads = msg.getCog(); + + ArrayList otherMsgs = Collections.list(msg.getMsgs().elements()); // TODO + + ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); + ExternalSystem extSys = null; + if (imcSys == null) { + extSys = ExternalSystemsHolder.lookupSystem(sysId); + if (extSys == null) { + extSys = new ExternalSystem(sysId); + ExternalSystemsHolder.registerSystem(extSys); + } + } + + if (Double.isFinite(latRad) && Double.isFinite(lonRad)) { + LocationType loc = new LocationType(AngleUtils.nomalizeAngleDegrees180(Math.toDegrees(latRad)), + AngleUtils.nomalizeAngleDegrees180(Math.toDegrees(lonRad))); + if (Double.isFinite(depth)) { + loc.setDepth(depth); + } + if (imcSys != null) { + imcSys.setLocation(loc, dataTimeMillis); + } else { + extSys.setLocation(loc, dataTimeMillis); + } + } + double headingRads = Double.NaN; + if (Double.isFinite(cogRads) && Double.isFinite(speedMS) && Math.abs(speedMS) > 0.2) { + headingRads = AngleUtils.nomalizeAngleRads2Pi(cogRads * (speedMS < 0 ? -1 : 1)); + if (imcSys != null) { + imcSys.setAttitudeDegrees(headingRads, dataTimeMillis); + imcSys.storeData( + SystemUtils.HEADING_DEGS_KEY, + (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(headingRads), 0)), + dataTimeMillis, true); + } else { + extSys.setAttitudeDegrees(headingRads, dataTimeMillis); + extSys.storeData( + SystemUtils.HEADING_DEGS_KEY, + (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(headingRads), 0)), + dataTimeMillis, true); + } + } + + if (imcSys != null) { + imcSys.storeData(SystemUtils.GROUND_SPEED_KEY, speedMS, dataTimeMillis, true); + imcSys.storeData(SystemUtils.COURSE_DEGS_KEY, + (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(cogRads), 0)), + dataTimeMillis, true); + } else { + extSys.storeData(SystemUtils.GROUND_SPEED_KEY, speedMS, dataTimeMillis, true); + extSys.storeData(SystemUtils.COURSE_DEGS_KEY, + (int) AngleUtils.nomalizeAngleDegrees360(MathMiscUtils.round(Math.toDegrees(cogRads), 0)), + dataTimeMillis, true); + } + } + + void processRemoteSensorInfo(MessageInfo info, RemoteSensorInfo msg) { + // Process pos. state reported from other system + String sysId = msg.getId(); + + double latRad = msg.getLat(); + double lonRad = msg.getLon(); + double altitude = msg.getAlt(); + + double headingRad = msg.getHeading(); + + String sensorClass = msg.getSensorClass(); + + long recTimeMillis = msg.getTimestampMillis(); + + ImcSystem imcSys = ImcSystemsHolder.lookupSystemByName(sysId); + ExternalSystem extSys = null; + if (imcSys == null) { + extSys = ExternalSystemsHolder.lookupSystem(sysId); + if (extSys == null) { + extSys = new ExternalSystem(sysId); + ExternalSystemsHolder.registerSystem(extSys); + } + } + + if (Double.isFinite(latRad) && Double.isFinite(lonRad)) { + LocationType loc = new LocationType(Math.toDegrees(latRad), Math.toDegrees(lonRad)); + if (Double.isFinite(altitude)) + loc.setDepth(-altitude); + + if (imcSys != null) + imcSys.setLocation(loc, recTimeMillis); + else + extSys.setLocation(loc, recTimeMillis); + } + + if (Double.isFinite(headingRad)) { + double headingDeg = Math.toDegrees(headingRad); + + if (imcSys != null) + imcSys.setAttitudeDegrees(headingDeg, recTimeMillis); + else + extSys.setAttitudeDegrees(headingDeg, recTimeMillis); + } + + // Process sensor class + VehicleType.SystemTypeEnum type = SystemUtils.getSystemTypeFrom(sensorClass); + VehicleType.VehicleTypeEnum typeVehicle = SystemUtils.getVehicleTypeFrom(sensorClass); + ExternalSystem.ExternalTypeEnum typeExternal = SystemUtils.getExternalTypeFrom(sensorClass); + if (imcSys != null) { + imcSys.setType(type); + imcSys.setTypeVehicle(typeVehicle); + } + else { + extSys.setType(type); + extSys.setTypeVehicle(typeVehicle); + extSys.setTypeExternal(typeExternal); + } + } +} From 9e12db7468f5e7d37365acca37434be4455cca9d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 15 Apr 2024 11:22:10 +0100 Subject: [PATCH 02/92] comm/manager/imc/ImcMsgManagerAnnounceProcessor: Little cleanup. --- .../comm/manager/imc/ImcMsgManagerAnnounceProcessor.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java index 7968472b7d..319a23b5c0 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java @@ -49,7 +49,7 @@ import static pt.lsts.neptus.comm.manager.imc.ImcMsgManager.DEFAULT_UDP_VEH_PORT; public class ImcMsgManagerAnnounceProcessor { - private ImcMsgManager manager; + private final ImcMsgManager manager; public ImcMsgManagerAnnounceProcessor(ImcMsgManager manager) { this.manager = manager; @@ -107,7 +107,7 @@ SystemImcMsgCommInfo processAnnounceMessage(MessageInfo info, Announce ann, Syst } if (portUdp > 0 && !udpIpPortFound) { - // Lets try to see if we received a message from any of the IPs + // Let's try to see if we received a message from any of the IPs String ipReceived = hostUdp.isEmpty() ? info.getPublisherInetAddress() : hostUdp; hostWasGuessed = hostUdp.isEmpty() ? hostWasGuessed : true; hostUdp = ipReceived; @@ -328,7 +328,7 @@ else if (portTcp == 0) { } Map er = EntitiesResolver.getEntities(resSys.getName()); - if (er == null || er.size() == 0) + if (er == null || er.isEmpty()) requestEntityList = true; if (requestEntityList) From fbd0d8c885da0c216f31d09fd1feb5f970c8c72f Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 17 Apr 2024 10:56:04 +0100 Subject: [PATCH 03/92] util/conf/GeneralPreferences: Fix typos. --- .../neptus/util/conf/GeneralPreferences.java | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java b/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java index 32be371dd6..fbddec06ff 100644 --- a/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java +++ b/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java @@ -122,7 +122,7 @@ public class GeneralPreferences implements PropertiesProvider { description = "If enable allows the announce msg request to use the sender IP to be use in future comms. to the sender system.") public static boolean imcChangeBySourceIpRequest = true; - @NeptusProperty(name = "IMC Unicast Annonce Enable", category = "IMC Communications", userLevel = LEVEL.ADVANCED, + @NeptusProperty(name = "IMC Unicast Announce Enable", category = "IMC Communications", userLevel = LEVEL.ADVANCED, description = "To send announce also by Unicast. Enable or disable") public static boolean imcUnicastAnnounceEnable = true; @@ -134,7 +134,7 @@ public class GeneralPreferences implements PropertiesProvider { // ------------------------------------------------------------------------- - @NeptusProperty(name = "Logs Downloader - Enable Parcial Download", category = "IMC Logs Downloader", userLevel = LEVEL.ADVANCED, + @NeptusProperty(name = "Logs Downloader - Enable Partial Download", category = "IMC Logs Downloader", userLevel = LEVEL.ADVANCED, description = "Enable the partial logs downloads (resume partial downloads). NOTE: THE DOWNLOAD BOXES ONLY READ THIS OPTION UPON CREATION.") public static boolean logsDownloaderEnablePartialDownload = true; @@ -197,15 +197,15 @@ public class GeneralPreferences implements PropertiesProvider { description = "Select the comms. queues size.") public static int commsQueueSize = 1024; - @NeptusProperty(name = "Comms. Messsage Separation Time (ms)", category = "Communications", userLevel = LEVEL.ADVANCED, - description = "Select the comms. separation time in miliseconds that a message (by type) should be warn. Use \"-1\" for always warn.") + @NeptusProperty(name = "Comms. Message Separation Time (ms)", category = "Communications", userLevel = LEVEL.ADVANCED, + description = "Select the comms. separation time in milliseconds that a message (by type) should be warn. Use \"-1\" for always warn.") public static int commsMsgSeparationMillis = -1; @NeptusProperty(name = "Filter UDP Redirect Also By Port", editable = false, category = "IMC Communications", userLevel = LEVEL.ADVANCED) public static boolean filterUdpAlsoByPort = false; @NeptusProperty(name = "Redirect Unknown Comms. To First Vehicle In Comm. List", editable = false, category = "IMC Communications", userLevel = LEVEL.ADVANCED, - description = "Any messages comming from unknown vehicle will be redirect to the first on comm. list.") + description = "Any messages coming from unknown vehicle will be redirect to the first on comm. list.") public static boolean redirectUnknownIdsToFirstCommVehicle = false; @@ -244,22 +244,24 @@ public class GeneralPreferences implements PropertiesProvider { // ------------------------------------------------------------------------- @NeptusProperty(name = "Place Main Vehicle Combobox On Menu Or Status Bar", category="Console", userLevel = LEVEL.REGULAR, - description = "Place the console vehicle combobox on the menu bar or status bar (overcomes Unity hidding menus).") + description = "Place the console vehicle combobox on the menu bar or status bar (overcomes Unity hiding menus).") public static boolean placeMainVehicleComboOnMenuOrStatusBar = true; @NeptusProperty(name = "Use Main Vehicle Combo on Consoles", category="Console", userLevel = LEVEL.ADVANCED, - description = "Needs console retarts.") + description = "Needs console restarts.") public static boolean useMainVehicleComboOnConsoles = true; @NeptusProperty(name = "Place Notification Button on Console Status Bar", category="Console", userLevel = LEVEL.ADVANCED, - description = "Needs console retarts.") + description = "Needs console restarts.") public static boolean placeNotificationButtonOnConsoleStatusBar = true; // ------------------------------------------------------------------------- + @Deprecated @NeptusProperty(name = "AIS MMSI Query Prefix", category = "AIS MMSI Query", userLevel = LEVEL.ADVANCED) public static String aisMmsiQueryUrlPrefix = "http://api.ais.owm.io/1.2/vessels/"; - + + @Deprecated @NeptusProperty(name = "AIS MMSI Query Sufix", category = "AIS MMSI Query", userLevel = LEVEL.ADVANCED) public static String aisMmsiQueryUrlSufix = ".json?api_key=f7a0da8eacb49740eb45b5e74d130459"; @@ -277,7 +279,7 @@ public class GeneralPreferences implements PropertiesProvider { @NeptusProperty(name = "Preferred Z Units Array", category = "Z Value", userLevel = LEVEL.ADVANCED, editable = false, rendererClass = ArrayAsStringRenderer.class, - description = "This lists the valid Z units to show. This can be overided by the per vehicle settings. " + description = "This lists the valid Z units to show. This can be override by the per vehicle settings. " + "Leeave it empty for no restrictions.") public static ManeuverLocation.Z_UNITS[] validZUnits = {}; From 2de44d5404531769e0bd3fffc8a93a044c446549 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 24 Apr 2024 10:34:19 +0100 Subject: [PATCH 04/92] comm/iridium/RockBlockIridiumMessenger: Small fix to not give error due to certificate error for https (this is just see if we can reach). --- .../pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index e3bb4c090e..c374f04896 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -378,7 +378,7 @@ public static Future rockBlockIsReachable() { } try { - URL url = new URL("https://secure.rock7mobile.com/rockblock"); + URL url = new URL("http://secure.rock7mobile.com/rockblock"); int len = url.openConnection().getContentLength(); if (len > 0) lastSuccess = System.currentTimeMillis(); From 326db8b82b481fd3c3b9daa339964609f9c09e4d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 16 May 2024 18:45:14 +0100 Subject: [PATCH 05/92] comm/admin/CommsAdmin: WIP for adding channels support for comms with vehicles offline. --- .../lsts/neptus/comm/IMCSendMessageUtils.java | 9 +- .../pt/lsts/neptus/comm/admin/CommsAdmin.java | 409 ++++++++++++++++++ .../comm/manager/imc/ImcMsgManager.java | 75 +++- .../neptus/util/conf/GeneralPreferences.java | 12 + 4 files changed, 488 insertions(+), 17 deletions(-) create mode 100644 src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java diff --git a/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java b/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java index 4fe11efcdb..833dbbaeb8 100644 --- a/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java +++ b/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java @@ -60,6 +60,7 @@ import pt.lsts.neptus.types.vehicle.VehicleType.SystemTypeEnum; import pt.lsts.neptus.util.GuiUtils; import pt.lsts.neptus.util.StringUtils; +import pt.lsts.neptus.util.conf.GeneralPreferences; /** * @author pdias @@ -148,7 +149,13 @@ public static boolean sendMessage(IMCMessage msg, String sendProperties, Message for (String sid : ids) { boolean ret; ImcSystem sysL = ImcSystemsHolder.lookupSystemByName(sid); - if (acousticOpSysLst.length != 0 && sysL != null && !sysL.isActive()) { + if (GeneralPreferences.imcUseNewMultiChannelCommsEnable && sysL != null && !sysL.isActive()) { + ret = ImcMsgManager.getManager().sendMessageUsingActiveChannelWait(msg, sid, -1, parent, acousticOpUserAprovedQuestion); + if (ret) { + acousticOpUserAproved = true; + } + } + else if (acousticOpSysLst.length != 0 && sysL != null && !sysL.isActive()) { if (acousticOpUserAprovalRequired) { acousticOpUserAproved = (GuiUtils.confirmDialog(parent, I18n.text("Send by Acoustic Modem"), I18n.text("Some systems are not active. Do you want to send by acoustic modem?")) == JOptionPane.YES_OPTION); diff --git a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java new file mode 100644 index 0000000000..16934b2c56 --- /dev/null +++ b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java @@ -0,0 +1,409 @@ +/* + * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) + * All rights reserved. + * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal + * + * This file is part of Neptus, Command and Control Framework. + * + * Commercial Licence Usage + * Licencees holding valid commercial Neptus licences may use this file + * in accordance with the commercial licence agreement provided with the + * Software or, alternatively, in accordance with the terms contained in a + * written agreement between you and Universidade do Porto. For licensing + * terms, conditions, and further information contact lsts@fe.up.pt. + * + * Modified European Union Public Licence - EUPL v.1.1 Usage + * Alternatively, this file may be used under the terms of the Modified EUPL, + * Version 1.1 only (the "Licence"), appearing in the file LICENSE.md + * included in the packaging of this file. You may not use this work + * except in compliance with the Licence. Unless required by applicable + * law or agreed to in writing, software distributed under the Licence is + * distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF + * ANY KIND, either express or implied. See the Licence for the specific + * language governing permissions and limitations at + * https://github.com/LSTS/neptus/blob/develop/LICENSE.md + * and http://ec.europa.eu/idabc/eupl.html. + * + * For more information please see . + * + * Author: Paulo Dias + * 16/4/2024 + */ +package pt.lsts.neptus.comm.admin; + +import pt.lsts.imc.IMCDefinition; +import pt.lsts.imc.IMCMessage; +import pt.lsts.imc.MessagePart; +import pt.lsts.imc.TransmissionRequest; +import pt.lsts.imc.net.IMCFragmentHandler; +import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.comm.IMCSendMessageUtils; +import pt.lsts.neptus.comm.iridium.ImcIridiumMessage; +import pt.lsts.neptus.comm.iridium.IridiumManager; +import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; +import pt.lsts.neptus.comm.manager.imc.ImcSystem; +import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; +import pt.lsts.neptus.comm.manager.imc.MessageDeliveryListener; +import pt.lsts.neptus.types.vehicle.VehicleType; +import pt.lsts.neptus.util.conf.GeneralPreferences; + +import java.awt.Component; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.Collection; +import java.util.Collections; +import java.util.List; +import java.util.concurrent.Callable; +import java.util.concurrent.ExecutionException; +import java.util.concurrent.Future; +import java.util.concurrent.FutureTask; +import java.util.concurrent.TimeUnit; +import java.util.concurrent.TimeoutException; +import java.util.concurrent.atomic.AtomicReference; +import java.util.stream.Collectors; + +public class CommsAdmin { + + public static final int COMM_TIMEOUT_MILLIS = 20000; + public static final int MAX_ACOMMS_PAYLOAD_SIZE = 998; + public static final double TIMEOUT_ACOMMS_SECS = 60; + + public enum CommChannelType { + WIFI("WiFi", "Wi-Fi channel", "images/channels/wifi.png", + "images/channels/wifi_selected.png", "images/channels/wifi_disabled.png", true, false, false), + ACOUSTIC("Acoustic", "Acoustic channel", "images/channels/acoustic.png", + "images/channels/acoustic_selected.png", "images/channels/acoustic_disabled.png", true, false, false), + IRIDIUM("Iridium", "Iridium channel", "images/channels/iridium.png", + "images/channels/iridium_selected.png", "images/channels/iridium_disabled.png", true, false, false), + GSM("GSM", "GSM channel", "images/channels/gsm.png", + "images/channels/gsm_selected.png", "images/channels/gsm_disabled.png", true, false, false), + ; + + public final String name; + public final String description; + public final String icon; + public final String iconSelected; + public final String iconDisabled; + private boolean enabled; + private boolean active; + private boolean reliable; + + private CommChannelType(String name, String description, String icon, String iconSelected, + String iconDisabled, boolean enabled, boolean active, boolean reliable) { + this.name = name; + this.description = description; + this.icon = icon; + this.iconSelected = iconSelected; + this.iconDisabled = iconDisabled; + this.enabled = enabled; + this.active = active; + this.reliable = reliable; + } + + public boolean isEnabled() { + return enabled; + } + + public void setEnabled(boolean enabled) { + this.enabled = enabled; + } + + public boolean isActive() { + return active; + } + + public void setActive(boolean active) { + this.active = active; + } + + public boolean isReliable() { + return reliable; + } + + public void setReliable(boolean reliable) { + this.reliable = reliable; + } + } // CommChannelType + + private final String acousticOpServiceName = "acoustic/operation"; + private final String iridiumOpServiceName = "iridium"; + + private ImcMsgManager imcMsgManager = null; + private List channels = new ArrayList<>(); + + public CommsAdmin(ImcMsgManager imcMsgManager) { + this.imcMsgManager = imcMsgManager; + + Collections.addAll(channels, CommChannelType.values()); + } + + //public static boolean sendMessage(IMCMessage msg, String sendProperties, MessageDeliveryListener listener, + // Component parent, String errorTextForDialog, String... destinationIds) { + + public Future sendMessage(IMCMessage message, String destinationName, int timeoutMillis, + Component parentComponentForAlert, + boolean requireUserConfirmOtherThanWifi, String... channelsToSend) { + final ResultWaiter waiter = new ResultWaiter(timeoutMillis); // COMM_TIMEOUT_MILLIS + FutureTask result = new FutureTask(waiter) { + private long start = System.currentTimeMillis(); + + @Override + public ImcMsgManager.SendResult get() throws InterruptedException, ExecutionException { + try { + return waiter.call(); + } catch (Exception e) { + throw new ExecutionException(e); + } + } + + @Override + public ImcMsgManager.SendResult get(long timeout, TimeUnit unit) throws InterruptedException, ExecutionException, + TimeoutException { + long end = start + unit.toMillis(timeout); + while (System.currentTimeMillis() < end) { + if (waiter.result == null) { + Thread.sleep(100); + } else { + try { + return waiter.call(); + } catch (Exception e) { + throw new ExecutionException(e); + } + } + } + throw new TimeoutException("Time out exceeded"); + } + }; + + String channelsToUseConf = GeneralPreferences.imcChannelsToUse; + + //sendMessageToSystem(message, systemName, "TCP", waiter); + // Let us try to send the message to the destination + + // First check which channels are enabled here + List channelsToUse = new ArrayList<>(); + if (channelsToSend == null || channelsToSend.length == 0) { + channelsToUse.addAll(channels); + } else { + for (String channelName : channelsToSend) { + for (CommChannelType channel : channels) { + if (channel.name.equalsIgnoreCase(channelName)) { + channelsToUse.add(channel); + break; + } + } + } + } + + if (channelsToUse.isEmpty()) { + waiter.deliveryUnreacheable(message); + return result; + } + + final AtomicReference proxyAcousticSystem = new AtomicReference<>(); + final AtomicReference proxyGsmSystem = new AtomicReference<>(); + final AtomicReference proxyIridiumSystem = new AtomicReference<>(); + + ImcSystem system = ImcSystemsHolder.lookupSystemByName(destinationName); + + if (system == null) { + waiter.deliveryUnreacheable(message); + return result; + } + + // From the enabled channels, check which are active for the system + channelsToUse = channelsToUse.stream().filter(channel -> { + switch (channel) { + case WIFI: + if (system.isActive()) { + return true; + } + break; + case ACOUSTIC: + // Let's check if the system has this comm mean + + ImcSystem[] acousticOpSysLst = ImcSystemsHolder.lookupSystemByService( + acousticOpServiceName, VehicleType.SystemTypeEnum.ALL, true); + List canditatesList = Arrays.asList(acousticOpSysLst); + Collections.shuffle(canditatesList); + proxyAcousticSystem.set(canditatesList.stream().filter(sys -> IMCSendMessageUtils + .doesSystemWithAcousticCanReachSystem(sys, destinationName)) + .findFirst().orElse(null)); + if (proxyAcousticSystem.get() != null) { + return true; + } + break; + case IRIDIUM: + if (IridiumManager.getManager().isAvailable()) + return true; + break; + case GSM: + default: + break; + } + return false; + }).collect(Collectors.toList()); + + // We should now filter by the ones active for the system + + + // Now send the message to the first available channel + if (channelsToUse.isEmpty()) { + waiter.deliveryUnreacheable(message); + return result; + } + + // Try to check if the distance to vehícle is too far for the comm mean to be used + // **************************************************************************************** + + + // Send the message + for (CommChannelType channel : channelsToUse) { + switch (channel) { + case WIFI: + if (system.isActive()) { + imcMsgManager.sendMessage(message, system.getId(), null, waiter); + return result; + } + break; + case ACOUSTIC: + if (proxyAcousticSystem.get() != null && proxyAcousticSystem.get().isActive()) { + try { + ArrayList requests = new ArrayList(); + if (message.getPayloadSize() > MAX_ACOMMS_PAYLOAD_SIZE) { + IMCFragmentHandler handler = new IMCFragmentHandler(IMCDefinition.getInstance()); + + MessagePart[] parts = handler.fragment(message, MAX_ACOMMS_PAYLOAD_SIZE); + NeptusLog.pub().info("PlanDB message resulted in " + parts.length + " fragments"); + for (MessagePart part : parts) { + TransmissionRequest request = getAcousticTransmissionRequestForImcMessage(part, system); + requests.add(request); + } + } else { + TransmissionRequest request = getAcousticTransmissionRequestForImcMessage(message, system); + requests.add(request); + } + + for (TransmissionRequest request : requests) { + ImcMsgManager.getManager().sendMessageToSystem(request, proxyAcousticSystem.get().getName(), waiter); + } + + return result; + } catch (Exception e) { + NeptusLog.pub().error(this, e); + } + } + break; + case IRIDIUM: + sendViaIridium(proxyIridiumSystem.get().getName(), message, waiter); + return result; + case GSM: + default: + break; + } + } + + waiter.deliveryUnreacheable(message); + return result; + } + + private TransmissionRequest getAcousticTransmissionRequestForImcMessage(IMCMessage part, ImcSystem system) { + TransmissionRequest request = new TransmissionRequest(); + request.setCommMean(TransmissionRequest.COMM_MEAN.ACOUSTIC); + request.setReqId(Long.valueOf(imcMsgManager.getNextSeqInstanceNr()).intValue()); + request.setDataMode(TransmissionRequest.DATA_MODE.INLINEMSG); + request.setMsgData(part); + request.setDestination(system.getName()); + request.setDeadline(System.currentTimeMillis() / 1000.0 + TIMEOUT_ACOMMS_SECS); + return request; + } + + static class ResultWaiter implements Callable, MessageDeliveryListener { + + public ImcMsgManager.SendResult result = null; + private long timeoutMillis = 10000; + private long start; + + public ResultWaiter(long timeoutMillis) { + this.timeoutMillis = timeoutMillis; + this.start = System.currentTimeMillis(); + } + + @Override + public ImcMsgManager.SendResult call() throws Exception { + while (true) { + synchronized (this) { + if (result != null) { + return result; + } + if (System.currentTimeMillis() - start > timeoutMillis) { + return ImcMsgManager.SendResult.TIMEOUT; + } + } + Thread.sleep(100); + } + } + + @Override + public void deliveryError(IMCMessage message, Object error) { + result = ImcMsgManager.SendResult.ERROR; + } + + @Override + public void deliverySuccess(IMCMessage message) { + result = ImcMsgManager.SendResult.SUCCESS; + } + + @Override + public void deliveryTimeOut(IMCMessage message) { + result = ImcMsgManager.SendResult.TIMEOUT; + } + + @Override + public void deliveryUncertain(IMCMessage message, Object msg) { + result = ImcMsgManager.SendResult.UNCERTAIN_DELIVERY; + } + + @Override + public void deliveryUnreacheable(IMCMessage message) { + result = ImcMsgManager.SendResult.UNREACHABLE; + } + } + + public void sendViaIridium(String destination, IMCMessage message, ResultWaiter waiter) { + if (message.getTimestamp() == 0) + message.setTimestampMillis(System.currentTimeMillis()); + Collection irMsgs; + try { + irMsgs = IridiumManager.iridiumEncode(message); + } + catch (Exception e) { + NeptusLog.pub().warn( "Send by Iridium :: " + e.getMessage()); + waiter.deliveryError(message, e); + return; + } + int src = ImcMsgManager.getManager().getLocalId().intValue(); + int dst = IMCDefinition.getInstance().getResolver().resolve(destination); + int count = 0; + try { + NeptusLog.pub().warn(message.getAbbrev() + " resulted in " + irMsgs.size() + " iridium SBD messages."); + for (ImcIridiumMessage irMsg : irMsgs) { + irMsg.setDestination(dst); + irMsg.setSource(src); + irMsg.timestampMillis = message.getTimestampMillis(); + if (irMsg.timestampMillis == 0) + irMsg.timestampMillis = System.currentTimeMillis(); + IridiumManager.getManager().send(irMsg); + count++; + } + + NeptusLog.pub().warn("Iridium message sent", count + " Iridium messages were sent using " + + IridiumManager.getManager().getCurrentMessenger().getName()); + } + catch (Exception e) { + NeptusLog.pub().warn("Send by Iridium :: " + e.getMessage()); + waiter.deliveryError(message, e); + } + } +} diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java index ded2103b95..fc27bcd7c6 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java @@ -31,22 +31,20 @@ */ package pt.lsts.neptus.comm.manager.imc; -import java.io.IOException; +import java.awt.Component; import java.net.Inet4Address; -import java.net.InetAddress; import java.net.InetSocketAddress; import java.net.URI; import java.net.URL; import java.time.Duration; import java.time.LocalTime; import java.util.ArrayList; -import java.util.Collections; import java.util.HashSet; import java.util.LinkedHashMap; import java.util.LinkedList; -import java.util.Map; import java.util.Vector; import java.util.concurrent.Callable; +import java.util.concurrent.CompletableFuture; import java.util.concurrent.ExecutionException; import java.util.concurrent.ExecutorService; import java.util.concurrent.Executors; @@ -68,24 +66,20 @@ import pt.lsts.imc.AssetReport; import pt.lsts.imc.EntityInfo; import pt.lsts.imc.EntityList; -import pt.lsts.imc.FuelLevel; import pt.lsts.imc.IMCDefinition; import pt.lsts.imc.IMCMessage; import pt.lsts.imc.MessagePart; -import pt.lsts.imc.PlanControlState; -import pt.lsts.imc.PlanControlState.STATE; import pt.lsts.imc.RemoteSensorInfo; import pt.lsts.imc.ReportedState; import pt.lsts.imc.StateReport; import pt.lsts.imc.lsf.LsfMessageLogger; -import pt.lsts.imc.net.IMCFragmentHandler; import pt.lsts.imc.state.ImcSystemState; import pt.lsts.neptus.NeptusLog; import pt.lsts.neptus.comm.CommUtil; import pt.lsts.neptus.comm.IMCSendMessageUtils; import pt.lsts.neptus.comm.IMCUtils; import pt.lsts.neptus.comm.NoTransportAvailableException; -import pt.lsts.neptus.comm.SystemUtils; +import pt.lsts.neptus.comm.admin.CommsAdmin; import pt.lsts.neptus.comm.manager.CommBaseManager; import pt.lsts.neptus.comm.manager.CommManagerStatusChangeListener; import pt.lsts.neptus.comm.manager.MessageFrequencyCalculator; @@ -99,18 +93,11 @@ import pt.lsts.neptus.messages.listener.MessageInfoImpl; import pt.lsts.neptus.messages.listener.MessageListener; import pt.lsts.neptus.plugins.PluginUtils; -import pt.lsts.neptus.systems.external.ExternalSystem; -import pt.lsts.neptus.systems.external.ExternalSystem.ExternalTypeEnum; -import pt.lsts.neptus.systems.external.ExternalSystemsHolder; import pt.lsts.neptus.types.XmlOutputMethods; -import pt.lsts.neptus.types.coord.LocationType; import pt.lsts.neptus.types.vehicle.VehicleType; import pt.lsts.neptus.types.vehicle.VehicleType.SystemTypeEnum; -import pt.lsts.neptus.types.vehicle.VehicleType.VehicleTypeEnum; import pt.lsts.neptus.types.vehicle.VehiclesHolder; -import pt.lsts.neptus.util.AngleUtils; import pt.lsts.neptus.util.GuiUtils; -import pt.lsts.neptus.util.MathMiscUtils; import pt.lsts.neptus.util.NetworkInterfacesUtil; import pt.lsts.neptus.util.NetworkInterfacesUtil.NInterface; import pt.lsts.neptus.util.StringUtils; @@ -161,6 +148,8 @@ public class ImcMsgManager extends private int[] multicastPorts = new int[] { 6969 }; private boolean broadcastEnabled = true; + private CommsAdmin commsAdmin = null; + private ImcMsgManagerAnnounceProcessor announceProcessor; private ImcMsgManagerMessageProcessor messageProcessor; @@ -289,6 +278,12 @@ public void preferencesUpdated() { GeneralPreferences.addPreferencesListener(gplistener); gplistener.preferencesUpdated(); + + commsAdmin = new CommsAdmin(this); + } + + public CommsAdmin getCommsAdmin() { + return commsAdmin; } /* (non-Javadoc) @@ -1175,6 +1170,54 @@ public boolean sendMessage(IMCMessage message, ImcId16 vehicleCommId, String sen return sendMessage(message, vehicleCommId, sendProperties, null); } + /** + * This method is used to send a message to a specific system using new channels. + * Set timeoutMillis to -1 to use the default timeout. + * Leave channelsToSend empty to use the default channels. + * @return Future with the result of the send operation. + */ + public Future sendMessageUsingActiveChannel(IMCMessage message, String destinationName, int timeoutMillis, + Component parentComponentForAlert, + boolean requireUserConfirmOtherThanWifi, + String... channelsToSend) { + + //if (GeneralPreferences.imcUseNewMultiChannelCommsEnable) { + ImcSystem sys = ImcSystemsHolder.lookupSystemByName(destinationName); + if (sys == null) { + return CompletableFuture.completedFuture(SendResult.ERROR); + } + + timeoutMillis = timeoutMillis < 0 ? CommsAdmin.COMM_TIMEOUT_MILLIS : timeoutMillis; + + Future ret = commsAdmin.sendMessage(message, destinationName, timeoutMillis, + parentComponentForAlert, requireUserConfirmOtherThanWifi); + return ret; + } + + public boolean sendMessageUsingActiveChannelWait(IMCMessage message, String destinationName, int timeoutMillis, + Component parentComponentForAlert, + boolean requireUserConfirmOtherThanWifi, + String... channelsToSend) { + Future ret = sendMessageUsingActiveChannel(message, destinationName, timeoutMillis, + parentComponentForAlert, requireUserConfirmOtherThanWifi, channelsToSend); + try { + SendResult sendResult = ret.get(); + switch (sendResult) { + case SUCCESS: + case UNCERTAIN_DELIVERY: + return true; + case ERROR: + case TIMEOUT: + case UNREACHABLE: + default: + return false; + } + } + catch (Exception e) { + return false; + } + } + /** * @param message The message to send * @param systemCommId The id of the destination. diff --git a/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java b/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java index fbddec06ff..57ad9bd1e5 100644 --- a/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java +++ b/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java @@ -132,6 +132,18 @@ public class GeneralPreferences implements PropertiesProvider { " A value too high will create inbound messages delay.") public static int imcReachabilityTestTimeout = 50; + @NeptusProperty(name = "Communication - Send Use New Multi-Channels", category = "IMC Communications", userLevel = LEVEL.ADVANCED, + description = "To use the new multichannel comms. Enable or disable") + public static boolean imcUseNewMultiChannelCommsEnable = false; + + @NeptusProperty(name = "IMC Channels to Use", category = "IMC Communications", userLevel = LEVEL.ADVANCED, + description = "Comma separated transports list. Valid values are (WiFi, Acoustic, GSM, Satellite). (The order implies preference of use.)") + public static String imcChannelsToUse = "WiFi, Acoustic, Satellite"; + + @NeptusProperty(name = "IMC Channel - Max Acoustic Distance (m)", category = "IMC Communications", userLevel = LEVEL.ADVANCED, + description = "The maximum distance in meters to use the acoustic channel.") + public static int imcChannelMaxAcousticDistanceMeters = 2_000; + // ------------------------------------------------------------------------- @NeptusProperty(name = "Logs Downloader - Enable Partial Download", category = "IMC Logs Downloader", userLevel = LEVEL.ADVANCED, From e7d565e0acd331deb5996bc3b3af9a28b92a75db Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 5 Jun 2024 15:04:25 +0100 Subject: [PATCH 06/92] comm/admin/CommsAdmin: Fix sending msg. --- src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java index 16934b2c56..fde40b410b 100644 --- a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java +++ b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java @@ -296,7 +296,7 @@ public ImcMsgManager.SendResult get(long timeout, TimeUnit unit) throws Interrup } break; case IRIDIUM: - sendViaIridium(proxyIridiumSystem.get().getName(), message, waiter); + sendViaIridium(destinationName, message, waiter); return result; case GSM: default: @@ -400,6 +400,7 @@ public void sendViaIridium(String destination, IMCMessage message, ResultWaiter NeptusLog.pub().warn("Iridium message sent", count + " Iridium messages were sent using " + IridiumManager.getManager().getCurrentMessenger().getName()); + waiter.deliverySuccess(message); } catch (Exception e) { NeptusLog.pub().warn("Send by Iridium :: " + e.getMessage()); From 6d9f3a3151c5f6b41f565a89ac860674a7ebd506 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 5 Jun 2024 15:05:47 +0100 Subject: [PATCH 07/92] comm/iridium/ImcIridiumMessage: Reducing max payload for Iridium msgs to account for future RB send. --- src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java index c8ff6e0f99..849798559a 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java @@ -47,8 +47,9 @@ public class ImcIridiumMessage extends IridiumMessage { protected IMCMessage msg; - - public static int MaxPayloadSize = 270 - 12; + + // 5 bytes for RB addressing, 6 bytes for type and timestamp, 6 bytes for IMC header + public static int MaxPayloadSize = 270 - 17; public ImcIridiumMessage() { super(2010); From 34049e559d8844aeddc53b00b763247fbfbbe84a Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 5 Jun 2024 18:37:47 +0100 Subject: [PATCH 08/92] plugins/caravelenv/CaravelDataPlotter: First version for Caravel underway data. --- plugins-dev/caravel-env/plugins.lst | 1 + .../caravelenv/CaravelDataPlotter.java | 628 ++++++++++++++++++ 2 files changed, 629 insertions(+) create mode 100644 plugins-dev/caravel-env/plugins.lst create mode 100644 plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java diff --git a/plugins-dev/caravel-env/plugins.lst b/plugins-dev/caravel-env/plugins.lst new file mode 100644 index 0000000000..6298e57ec8 --- /dev/null +++ b/plugins-dev/caravel-env/plugins.lst @@ -0,0 +1 @@ +pt.lsts.neptus.plugins.caravelenv.CaravelDataPlotter diff --git a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java new file mode 100644 index 0000000000..f34511ad0d --- /dev/null +++ b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java @@ -0,0 +1,628 @@ +/* + * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) + * All rights reserved. + * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal + * + * This file is part of Neptus, Command and Control Framework. + * + * Commercial Licence Usage + * Licencees holding valid commercial Neptus licences may use this file + * in accordance with the commercial licence agreement provided with the + * Software or, alternatively, in accordance with the terms contained in a + * written agreement between you and Universidade do Porto. For licensing + * terms, conditions, and further information contact lsts@fe.up.pt. + * + * Modified European Union Public Licence - EUPL v.1.1 Usage + * Alternatively, this file may be used under the terms of the Modified EUPL, + * Version 1.1 only (the "Licence"), appearing in the file LICENSE.md + * included in the packaging of this file. You may not use this work + * except in compliance with the Licence. Unless required by applicable + * law or agreed to in writing, software distributed under the Licence is + * distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF + * ANY KIND, either express or implied. See the Licence for the specific + * language governing permissions and limitations at + * https://github.com/LSTS/neptus/blob/develop/LICENSE.md + * and http://ec.europa.eu/idabc/eupl.html. + * + * For more information please see . + * + * Author: Paulo Dias + * 5 June 2024 + */ +package pt.lsts.neptus.plugins.caravelenv; + +import com.google.common.eventbus.Subscribe; +import pt.lsts.imc.AirSaturation; +import pt.lsts.imc.Chlorophyll; +import pt.lsts.imc.DissolvedOrganicMatter; +import pt.lsts.imc.DissolvedOxygen; +import pt.lsts.imc.IMCMessage; +import pt.lsts.imc.Salinity; +import pt.lsts.imc.Temperature; +import pt.lsts.imc.Turbidity; +import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.colormap.ColorMap; +import pt.lsts.neptus.colormap.ColorMapFactory; +import pt.lsts.neptus.colormap.ColorMapUtils; +import pt.lsts.neptus.comm.manager.imc.ImcSystem; +import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; +import pt.lsts.neptus.console.ConsoleLayer; +import pt.lsts.neptus.messages.listener.Periodic; +import pt.lsts.neptus.plugins.NeptusProperty; +import pt.lsts.neptus.plugins.PluginDescription; +import pt.lsts.neptus.renderer2d.OffScreenLayerImageControl; +import pt.lsts.neptus.renderer2d.StateRenderer2D; +import pt.lsts.neptus.types.coord.LocationType; +import pt.lsts.neptus.util.conf.PreferencesListener; +import pt.lsts.neptus.util.coord.MapTileRendererCalculator; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.GraphicsConfiguration; +import java.awt.GraphicsDevice; +import java.awt.GraphicsEnvironment; +import java.awt.RenderingHints; +import java.awt.Transparency; +import java.awt.geom.Point2D; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.Collections; +import java.util.LinkedList; +import java.util.List; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.concurrent.atomic.AtomicInteger; + +/** + * @author pdias + * + */ +@PluginDescription(name = "Caravel Data Plotter", description = "Plotter for Caravel underway data.") +public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListener { + + @NeptusProperty(name = "Show temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") + public boolean showTemp = false; + @NeptusProperty(name = "Show salinity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") + public boolean showSal = true; + @NeptusProperty(name = "Show turbidity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") + public boolean showTurbidity = false; + @NeptusProperty(name = "Show chlorophyll", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") + public boolean showChlorophyll = false; + @NeptusProperty(name = "Show dissolved organic matter", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") + public boolean showDissolvedOrganicMatter = false; + @NeptusProperty(name = "Show dissolved oxygen", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") + public boolean showDissolvedOxygen = false; + @NeptusProperty(name = "Show air saturation", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") + public boolean showAirSaturation = false; + + @NeptusProperty(name = "Min temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") + private double minTemp = 15; + @NeptusProperty(name = "Max temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") + private double maxTemp = 35; + + @NeptusProperty(name = "Temperature color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") + private ColorMap colormapTemp = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Min salinity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") + private double minSal = 33; + @NeptusProperty(name = "Max salinity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") + private double maxSal = 36; + + @NeptusProperty(name = "Salinity color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") + private ColorMap colormapSal = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Min turbidity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") + private double minTurbidity = 0; + @NeptusProperty(name = "Max turbidity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") + private double maxTurbidity = 30; + + @NeptusProperty(name = "Turbidity color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") + private ColorMap colormapTurbidity = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Min chlorophyll", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") + private double minChlorophyll = 0; + @NeptusProperty(name = "Max chlorophyll", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") + private double maxChlorophyll = 2; + + @NeptusProperty(name = "Chlorophyll color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") + private ColorMap colormapChlorophyll = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Min dissolved organic matter", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") + private double minDissolvedOrganicMatter = 0; + @NeptusProperty(name = "Max dissolved organic matter", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") + private double maxDissolvedOrganicMatter = 10; + + @NeptusProperty(name = "Dissolved Organic Matter color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") + private ColorMap colormapDissolvedOrganicMatter = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Min dissolved oxygen", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") + private double minDissolvedOxygen = 0; + @NeptusProperty(name = "Max dissolved oxygen", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") + private double maxDissolvedOxygen = 300; + + @NeptusProperty(name = "Dissolved Oxygen color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") + private ColorMap colormapDissolvedOxygen = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Min air saturation", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") + private double minAirSaturation = 0; + @NeptusProperty(name = "Max air saturation", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") + private double maxAirSaturation = 100; + + @NeptusProperty(name = "Air Saturation color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") + private ColorMap colormapAirSaturation = ColorMapFactory.createJetColorMap(); + + @NeptusProperty(name = "Max samples", userLevel = NeptusProperty.LEVEL.REGULAR) + private int maxSamples = 35000; + + @NeptusProperty(name = "Clamp to fit", userLevel = NeptusProperty.LEVEL.REGULAR) + private boolean clampToFit = false; + + private OffScreenLayerImageControl offScreenSalinity = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenTemperature = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenTurbidity = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenChlorophyll = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenDissolvedOrganicMatter = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenDissolvedOxygen = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenAirSaturation = new OffScreenLayerImageControl(); + + private Thread painterThread = null; + private AtomicBoolean abortIndicator = null; + + private List pointsTemp = Collections.synchronizedList(new LinkedList<>()); + private List pointsSalinity = Collections.synchronizedList(new LinkedList<>()); + private List pointsTurbidity = Collections.synchronizedList(new LinkedList<>()); + private List pointsChlorophyll = Collections.synchronizedList(new LinkedList<>()); + private List pointsDissolvedOrganicMatter = Collections.synchronizedList(new LinkedList<>()); + private List pointsDissolvedOxygen = Collections.synchronizedList(new LinkedList<>()); + private List pointsAirSaturation = Collections.synchronizedList(new LinkedList<>()); + + private AtomicInteger trigger = new AtomicInteger(0); + private int triggerCount = 0; + + private class DataPoint { + LocationType location = null; + double value = Double.NaN; + } + + private class DataPointXY { + Point2D point = null; + double value = Double.NaN; + } + + /* (non-Javadoc) + * @see pt.lsts.neptus.console.ConsoleLayer#initLayer() + */ + @Override + public void initLayer() { + } + + /* (non-Javadoc) + * @see pt.lsts.neptus.console.ConsoleLayer#cleanLayer() + */ + @Override + public void cleanLayer() { + pointsTemp.clear(); + + } + + /* (non-Javadoc) + * @see pt.lsts.neptus.console.ConsoleLayer#userControlsOpacity() + */ + @Override + public boolean userControlsOpacity() { + return false; + } + +// /* (non-Javadoc) +// * @see pt.lsts.neptus.util.nmea.NmeaListener#nmeaSentence(java.lang.String) +// */ +// @Override +// public void nmeaSentence(String sentence) { +// if (sentence.startsWith("t1")) { +// LocationType loc = MyState.getLocation().getNewAbsoluteLatLonDepth(); +// +// DataPoint pt = new DataPoint(); +// pt.location = loc; +// +// String[] tks = sentence.split(","); +// for (String tk : tks) { +// try { +// String[] tts = tk.trim().split("="); +// if (tts.length < 2) +// continue; +// switch (tts[0].trim()) { +// case "t1": +// pt.temperature = Double.parseDouble(tts[1]); +// break; +// case "s": +// pt.salinity= Double.parseDouble(tts[1]); +// break; +// default: +// break; +// } +// } +// catch (NumberFormatException e) { +// e.printStackTrace(); +// } +// } +// +// try { +// Salinity msgSal = new Salinity(Double.valueOf(pt.salinity).floatValue()); +// msgSal.setSrc(GeneralPreferences.imcCcuId.intValue()); +// msgSal.setTimestampMillis(System.currentTimeMillis()); +// LsfMessageLogger.log(msgSal); +// Temperature msgTemp = new Temperature(Double.valueOf(pt.temperature).floatValue()); +// msgTemp.setSrc(GeneralPreferences.imcCcuId.intValue()); +// msgTemp.setTimestampMillis(System.currentTimeMillis()); +// LsfMessageLogger.log(msgTemp); +// } +// catch (Exception e) { +// e.printStackTrace(); +// } +// +// points.add(pt); +// if (points.size() > maxSamples) +// points.remove(0); +// trigger.incrementAndGet(); +// } +// } + + private LocationType getSystemLocation() { + // TODO FIXME + ImcSystem sys = ImcSystemsHolder.getSystemWithName(getConsole().getMainSystem()); + return sys == null ? null : sys.getLocation(); + } + + private void extractSensorMeasurementValueFromMessage(double value, List points, IMCMessage msg) { + LocationType loc = getSystemLocation(); + DataPoint pt = new DataPoint(); + pt.location = loc; + pt.value = value; + + points.add(pt); + if (points.size() > maxSamples) + points.remove(0); + trigger.incrementAndGet(); + } + + @Subscribe + public void on(Temperature msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsTemp, msg); + } + + @Subscribe + public void on(Salinity msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsSalinity, msg); + } + + @Subscribe + public void on(Turbidity msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsTurbidity, msg); + } + + @Subscribe + public void on(Chlorophyll msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsChlorophyll, msg); + } + + @Subscribe + public void on(DissolvedOrganicMatter msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsDissolvedOrganicMatter, msg); + } + + @Subscribe + public void on(DissolvedOxygen msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsDissolvedOxygen, msg); + } + + @Subscribe + public void on(AirSaturation msg) { + extractSensorMeasurementValueFromMessage(msg.getValue(), pointsAirSaturation, msg); + } + + @Periodic(value = 2_000) + private void update() { + offScreenTemperature.triggerImageRebuild(); + offScreenSalinity.triggerImageRebuild(); + offScreenTurbidity.triggerImageRebuild(); + offScreenChlorophyll.triggerImageRebuild(); + offScreenDissolvedOrganicMatter.triggerImageRebuild(); + offScreenDissolvedOxygen.triggerImageRebuild(); + offScreenAirSaturation.triggerImageRebuild(); + } + + /* (non-Javadoc) + * @see pt.lsts.neptus.console.ConsoleLayer#paint(java.awt.Graphics2D, pt.lsts.neptus.renderer2d.StateRenderer2D) + */ + @Override + public void paint(Graphics2D g, StateRenderer2D renderer) { + super.paint(g, renderer); + + boolean recreateImage = offScreenSalinity.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) + || offScreenTemperature.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) + || offScreenTurbidity.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) + || offScreenChlorophyll.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) + || offScreenDissolvedOrganicMatter.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) + || offScreenDissolvedOxygen.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) + || offScreenAirSaturation.paintPhaseStartTestRecreateImageAndRecreate(g, renderer); + + int c = trigger.get(); + if (c != triggerCount) { + recreateImage = true; + triggerCount = c; + } + + if (recreateImage) { + if (painterThread != null) { + try { + abortIndicator.set(true); + painterThread.interrupt(); + } + catch (Exception e) { + e.printStackTrace(); + } + } + + final MapTileRendererCalculator rendererCalculator = new MapTileRendererCalculator(renderer); + abortIndicator = new AtomicBoolean(); + painterThread = new Thread(new Runnable() { + @Override + public void run() { + Graphics2D g2 = offScreenSalinity.getImageGraphics(); + try { + + ArrayList ptsTemp = new ArrayList<>(); + ArrayList ptsSalinity = new ArrayList<>(); + ArrayList ptsTurbidity = new ArrayList<>(); + ArrayList ptsChlorophyll = new ArrayList<>(); + ArrayList ptsDissolvedOrganicMatter = new ArrayList<>(); + ArrayList ptsDissolvedOxygen = new ArrayList<>(); + ArrayList ptsAirSaturation = new ArrayList<>(); + + if (showTemp) { + ptsTemp = transformDataPointsToXY(pointsTemp, rendererCalculator); + } + if (showSal) { + ptsSalinity = transformDataPointsToXY(pointsSalinity, rendererCalculator); + } + if (showTurbidity) { + ptsTurbidity = transformDataPointsToXY(pointsTurbidity, rendererCalculator); + } + if (showChlorophyll) { + ptsChlorophyll = transformDataPointsToXY(pointsChlorophyll, rendererCalculator); + } + if (showDissolvedOrganicMatter) { + ptsDissolvedOrganicMatter = transformDataPointsToXY(pointsDissolvedOrganicMatter, rendererCalculator); + } + if (showDissolvedOxygen) { + ptsDissolvedOxygen = transformDataPointsToXY(pointsDissolvedOxygen, rendererCalculator); + } + if (showAirSaturation) { + ptsAirSaturation = transformDataPointsToXY(pointsAirSaturation, rendererCalculator); + } + + if (showTemp && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsTemp, colormapTemp, minTemp, maxTemp, offScreenTemperature, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenTemperature.triggerImageRebuild(); + } + } + + if (showSal && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsSalinity, colormapSal, minSal, maxSal, offScreenSalinity, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenSalinity.triggerImageRebuild(); + } + } + + if (showTurbidity && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsTurbidity, colormapTurbidity, minTurbidity, maxTurbidity, offScreenTurbidity, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenTurbidity.triggerImageRebuild(); + } + } + + if (showChlorophyll && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsChlorophyll, colormapChlorophyll, minChlorophyll, maxChlorophyll, offScreenChlorophyll, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenChlorophyll.triggerImageRebuild(); + } + } + + if (showDissolvedOrganicMatter && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsDissolvedOrganicMatter, colormapDissolvedOrganicMatter, minDissolvedOrganicMatter, maxDissolvedOrganicMatter, offScreenDissolvedOrganicMatter, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenDissolvedOrganicMatter.triggerImageRebuild(); + } + } + + if (showDissolvedOxygen && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsDissolvedOxygen, colormapDissolvedOxygen, minDissolvedOxygen, maxDissolvedOxygen, offScreenDissolvedOxygen, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenDissolvedOxygen.triggerImageRebuild(); + } + } + + if (showAirSaturation && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(ptsAirSaturation, colormapAirSaturation, minAirSaturation, maxAirSaturation, offScreenAirSaturation, g2, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenAirSaturation.triggerImageRebuild(); + } + } + + g2.dispose(); + } + catch (Exception | Error e) { + e.printStackTrace(); + offScreenTemperature.triggerImageRebuild(); + offScreenSalinity.triggerImageRebuild(); + offScreenTurbidity.triggerImageRebuild(); + offScreenChlorophyll.triggerImageRebuild(); + offScreenDissolvedOrganicMatter.triggerImageRebuild(); + offScreenDissolvedOxygen.triggerImageRebuild(); + offScreenAirSaturation.triggerImageRebuild(); + } + + renderer.invalidate(); + renderer.repaint(200); + } + }, CaravelDataPlotter.class.getSimpleName() + ":: Painter"); + painterThread.setDaemon(true); + painterThread.start(); + } + offScreenTemperature.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenSalinity.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenTurbidity.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenChlorophyll.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenDissolvedOrganicMatter.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenDissolvedOxygen.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenAirSaturation.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + + paintColorbars(g, renderer); + } + + private void recreateSensorDataCacheImage(ArrayList pts, ColorMap colormap, double minVal, + double maxVal, OffScreenLayerImageControl offScreenImageControl, Graphics2D g2, + MapTileRendererCalculator rendererCalculator) { + double fullImgWidth = rendererCalculator.getSize().getWidth() + offScreenImageControl.getOffScreenBufferPixel() * 2.; + double fullImgHeight = rendererCalculator.getSize().getHeight() + offScreenImageControl.getOffScreenBufferPixel() * 2.; + + double xMin = fullImgWidth; + double yMin = fullImgHeight; + xMin = 8; + yMin = 8; + + double cacheImgScaleX = 1. / xMin; + double cacheImgScaleY = 1. / yMin; + + double cacheImgWidth = fullImgWidth; + double cacheImgHeight = fullImgHeight; + cacheImgWidth *= cacheImgScaleX; + cacheImgHeight *= cacheImgScaleY; + + BufferedImage cacheImg = createBufferedImage((int) cacheImgWidth, (int) cacheImgHeight, Transparency.TRANSLUCENT); + pts.parallelStream().forEach(pt -> { + try { + if (abortIndicator.get()) + return; + + double v = (double) pt.value; + + if (clampToFit + && (Double.compare(v, minVal) < 0 || Double.compare(v, maxVal) > 0)) + return; + + Color color = colormap.getColor(ColorMapUtils.getColorIndexZeroToOneLog10(v, minVal, maxVal)); + cacheImg.setRGB((int) ((pt.point.getX() + offScreenImageControl.getOffScreenBufferPixel()) * cacheImgScaleX), + (int) ((pt.point.getY() + offScreenImageControl.getOffScreenBufferPixel()) * cacheImgScaleY), color.getRGB()); + } + catch (Exception e) { + NeptusLog.pub().trace(e); + } + }); + + Graphics2D gt = (Graphics2D) g2.create(); + try { + gt.translate(rendererCalculator.getWidth() / 2., rendererCalculator.getHeight() / 2.); + gt.setRenderingHint(RenderingHints.KEY_RENDERING, RenderingHints.VALUE_RENDER_DEFAULT); + gt.setRenderingHint(RenderingHints.KEY_ANTIALIASING,RenderingHints.VALUE_ANTIALIAS_DEFAULT); + gt.setRenderingHint(RenderingHints.KEY_INTERPOLATION, RenderingHints.VALUE_INTERPOLATION_BICUBIC); + gt.drawImage(cacheImg, -(int) (cacheImg.getWidth() / cacheImgScaleX / 2.), + -(int) (cacheImg.getHeight() / cacheImgScaleY / 2.), + (int) (cacheImg.getWidth() / cacheImgScaleX), + (int) (cacheImg.getHeight() / cacheImgScaleY), null, null); + } + catch (Exception e) { + NeptusLog.pub().trace(e); + } + if (gt != null) + gt.dispose(); + } + + private ArrayList transformDataPointsToXY(List points, MapTileRendererCalculator rendererCalculator) { + return pointsTemp.stream().collect(ArrayList::new, + (r, p) -> { + if (abortIndicator.get()) { + return; + } + Point2D pxy = rendererCalculator.getScreenPosition(p.location); + DataPointXY dpxy = new DataPointXY(); + dpxy.point = pxy; + dpxy.value = p.value; + r.add(dpxy); + }, (r1, r2) -> { + for (DataPointXY d2 : r2) { + if (abortIndicator.get()) { + break; + } + boolean found = false; + for (DataPointXY d1 : r1) { + if (abortIndicator.get()) { + break; + } + if (d2.point.equals(d1.point)) { + d1.value = (d1.value + d2.value) / 2.; + found = true; + break; + } + } + if (!found) { + r1.add(d2); + } + } + }); + } + + private static BufferedImage createBufferedImage(int cacheImgWidth, int cacheImgHeight, int translucent) { + GraphicsEnvironment ge = GraphicsEnvironment.getLocalGraphicsEnvironment(); + GraphicsDevice gs = ge.getDefaultScreenDevice(); + GraphicsConfiguration gc = gs.getDefaultConfiguration(); + return gc.createCompatibleImage((int) cacheImgWidth , (int) cacheImgHeight , Transparency.TRANSLUCENT); + } + + /** + * @param go + * @param renderer + */ + private void paintColorbars(Graphics2D go, StateRenderer2D renderer) { +// int offsetHeight = 130; +// int offsetWidth = 5; +// int offsetDelta = 130; +// if (showSal) { +// Graphics2D gl = (Graphics2D) go.create(); +// gl.translate(offsetWidth, offsetHeight); +// ColorBarPainterUtil.paintColorBar(gl, colorMapVar, I18n.text(info.name), info.unit, minValue, maxValue); +// gl.dispose(); +// offsetHeight += offsetDelta; +// } + } + + /* (non-Javadoc) + * @see pt.lsts.neptus.util.conf.PreferencesListener#preferencesUpdated() + */ + @Override + public void preferencesUpdated() { + getConsole().repaint(); + } +} \ No newline at end of file From 3d377bc49da62dd352b01b546f81b3d1c3159e12 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 6 Jun 2024 14:54:21 +0100 Subject: [PATCH 09/92] plugins/caravelenv/CaravelDataPlotter: Paint fixes. --- .../caravelenv/CaravelDataPlotter.java | 87 +++++++++++-------- 1 file changed, 53 insertions(+), 34 deletions(-) diff --git a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java index f34511ad0d..7be913079e 100644 --- a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java +++ b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java @@ -96,66 +96,66 @@ public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListe public boolean showAirSaturation = false; @NeptusProperty(name = "Min temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") - private double minTemp = 15; + public double minTemp = 15; @NeptusProperty(name = "Max temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") - private double maxTemp = 35; + public double maxTemp = 35; @NeptusProperty(name = "Temperature color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") - private ColorMap colormapTemp = ColorMapFactory.createJetColorMap(); + public ColorMap colormapTemp = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Min salinity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") - private double minSal = 33; + public double minSal = 33; @NeptusProperty(name = "Max salinity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") - private double maxSal = 36; + public double maxSal = 36; @NeptusProperty(name = "Salinity color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") - private ColorMap colormapSal = ColorMapFactory.createJetColorMap(); + public ColorMap colormapSal = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Min turbidity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") - private double minTurbidity = 0; + public double minTurbidity = 0; @NeptusProperty(name = "Max turbidity", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") - private double maxTurbidity = 30; + public double maxTurbidity = 30; @NeptusProperty(name = "Turbidity color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") - private ColorMap colormapTurbidity = ColorMapFactory.createJetColorMap(); + public ColorMap colormapTurbidity = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Min chlorophyll", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") - private double minChlorophyll = 0; + public double minChlorophyll = 0; @NeptusProperty(name = "Max chlorophyll", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") - private double maxChlorophyll = 2; + public double maxChlorophyll = 2; @NeptusProperty(name = "Chlorophyll color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") - private ColorMap colormapChlorophyll = ColorMapFactory.createJetColorMap(); + public ColorMap colormapChlorophyll = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Min dissolved organic matter", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") - private double minDissolvedOrganicMatter = 0; + public double minDissolvedOrganicMatter = 0; @NeptusProperty(name = "Max dissolved organic matter", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") - private double maxDissolvedOrganicMatter = 10; + public double maxDissolvedOrganicMatter = 10; @NeptusProperty(name = "Dissolved Organic Matter color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") - private ColorMap colormapDissolvedOrganicMatter = ColorMapFactory.createJetColorMap(); + public ColorMap colormapDissolvedOrganicMatter = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Min dissolved oxygen", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") - private double minDissolvedOxygen = 0; + public double minDissolvedOxygen = 0; @NeptusProperty(name = "Max dissolved oxygen", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") - private double maxDissolvedOxygen = 300; + public double maxDissolvedOxygen = 300; @NeptusProperty(name = "Dissolved Oxygen color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") - private ColorMap colormapDissolvedOxygen = ColorMapFactory.createJetColorMap(); + public ColorMap colormapDissolvedOxygen = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Min air saturation", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") - private double minAirSaturation = 0; + public double minAirSaturation = 0; @NeptusProperty(name = "Max air saturation", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") - private double maxAirSaturation = 100; + public double maxAirSaturation = 100; @NeptusProperty(name = "Air Saturation color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") - private ColorMap colormapAirSaturation = ColorMapFactory.createJetColorMap(); + public ColorMap colormapAirSaturation = ColorMapFactory.createJetColorMap(); @NeptusProperty(name = "Max samples", userLevel = NeptusProperty.LEVEL.REGULAR) - private int maxSamples = 35000; + public int maxSamples = 35000; @NeptusProperty(name = "Clamp to fit", userLevel = NeptusProperty.LEVEL.REGULAR) - private boolean clampToFit = false; + public boolean clampToFit = false; private OffScreenLayerImageControl offScreenSalinity = new OffScreenLayerImageControl(); private OffScreenLayerImageControl offScreenTemperature = new OffScreenLayerImageControl(); @@ -288,36 +288,43 @@ private void extractSensorMeasurementValueFromMessage(double value, List ptsTemp = new ArrayList<>(); ArrayList ptsSalinity = new ArrayList<>(); ArrayList ptsTurbidity = new ArrayList<>(); @@ -403,7 +416,7 @@ public void run() { if (showTemp && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsTemp, colormapTemp, minTemp, maxTemp, offScreenTemperature, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsTemp, colormapTemp, minTemp, maxTemp, offScreenTemperature, g2Temp, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -413,7 +426,7 @@ public void run() { if (showSal && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsSalinity, colormapSal, minSal, maxSal, offScreenSalinity, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsSalinity, colormapSal, minSal, maxSal, offScreenSalinity, g2Salinity, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -423,7 +436,7 @@ public void run() { if (showTurbidity && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsTurbidity, colormapTurbidity, minTurbidity, maxTurbidity, offScreenTurbidity, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsTurbidity, colormapTurbidity, minTurbidity, maxTurbidity, offScreenTurbidity, g2Turbidity, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -433,7 +446,7 @@ public void run() { if (showChlorophyll && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsChlorophyll, colormapChlorophyll, minChlorophyll, maxChlorophyll, offScreenChlorophyll, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsChlorophyll, colormapChlorophyll, minChlorophyll, maxChlorophyll, offScreenChlorophyll, g2Chlorophyll, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -443,7 +456,7 @@ public void run() { if (showDissolvedOrganicMatter && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsDissolvedOrganicMatter, colormapDissolvedOrganicMatter, minDissolvedOrganicMatter, maxDissolvedOrganicMatter, offScreenDissolvedOrganicMatter, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsDissolvedOrganicMatter, colormapDissolvedOrganicMatter, minDissolvedOrganicMatter, maxDissolvedOrganicMatter, offScreenDissolvedOrganicMatter, g2DissolvedOrganicMatter, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -453,7 +466,7 @@ public void run() { if (showDissolvedOxygen && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsDissolvedOxygen, colormapDissolvedOxygen, minDissolvedOxygen, maxDissolvedOxygen, offScreenDissolvedOxygen, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsDissolvedOxygen, colormapDissolvedOxygen, minDissolvedOxygen, maxDissolvedOxygen, offScreenDissolvedOxygen, g2DissolvedOxygen, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -463,7 +476,7 @@ public void run() { if (showAirSaturation && !abortIndicator.get()) { try { - recreateSensorDataCacheImage(ptsAirSaturation, colormapAirSaturation, minAirSaturation, maxAirSaturation, offScreenAirSaturation, g2, rendererCalculator); + recreateSensorDataCacheImage(ptsAirSaturation, colormapAirSaturation, minAirSaturation, maxAirSaturation, offScreenAirSaturation, g2AirSaturation, rendererCalculator); } catch (Exception e) { e.printStackTrace(); @@ -471,7 +484,13 @@ public void run() { } } - g2.dispose(); + g2Temp.dispose(); + g2Salinity.dispose(); + g2Turbidity.dispose(); + g2Chlorophyll.dispose(); + g2DissolvedOrganicMatter.dispose(); + g2DissolvedOxygen.dispose(); + g2AirSaturation.dispose(); } catch (Exception | Error e) { e.printStackTrace(); @@ -561,7 +580,7 @@ private void recreateSensorDataCacheImage(ArrayList pts, ColorMap c } private ArrayList transformDataPointsToXY(List points, MapTileRendererCalculator rendererCalculator) { - return pointsTemp.stream().collect(ArrayList::new, + return points.stream().collect(ArrayList::new, (r, p) -> { if (abortIndicator.get()) { return; From 0a8072d24864519f3d041d2519e5533938b46b09 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 14 Jun 2024 16:58:48 +0100 Subject: [PATCH 10/92] plugins/caravelenv/CaravelDataPlotter: More paint work, currents in WIP. --- .../caravelenv/CaravelDataPlotter.java | 436 +++++++++++++++--- 1 file changed, 374 insertions(+), 62 deletions(-) diff --git a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java index 7be913079e..fba8d274f9 100644 --- a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java +++ b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java @@ -33,8 +33,11 @@ package pt.lsts.neptus.plugins.caravelenv; import com.google.common.eventbus.Subscribe; +import org.apache.commons.lang3.tuple.Triple; import pt.lsts.imc.AirSaturation; import pt.lsts.imc.Chlorophyll; +import pt.lsts.imc.CurrentProfile; +import pt.lsts.imc.CurrentProfileCell; import pt.lsts.imc.DissolvedOrganicMatter; import pt.lsts.imc.DissolvedOxygen; import pt.lsts.imc.IMCMessage; @@ -42,43 +45,66 @@ import pt.lsts.imc.Temperature; import pt.lsts.imc.Turbidity; import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.colormap.ColorBarPainterUtil; import pt.lsts.neptus.colormap.ColorMap; import pt.lsts.neptus.colormap.ColorMapFactory; import pt.lsts.neptus.colormap.ColorMapUtils; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; import pt.lsts.neptus.console.ConsoleLayer; +import pt.lsts.neptus.console.plugins.MainVehicleChangeListener; import pt.lsts.neptus.messages.listener.Periodic; import pt.lsts.neptus.plugins.NeptusProperty; import pt.lsts.neptus.plugins.PluginDescription; import pt.lsts.neptus.renderer2d.OffScreenLayerImageControl; import pt.lsts.neptus.renderer2d.StateRenderer2D; import pt.lsts.neptus.types.coord.LocationType; +import pt.lsts.neptus.util.AngleUtils; import pt.lsts.neptus.util.conf.PreferencesListener; import pt.lsts.neptus.util.coord.MapTileRendererCalculator; +import scala.runtime.StringFormat; import java.awt.Color; +import java.awt.Graphics; import java.awt.Graphics2D; import java.awt.GraphicsConfiguration; import java.awt.GraphicsDevice; import java.awt.GraphicsEnvironment; import java.awt.RenderingHints; import java.awt.Transparency; +import java.awt.geom.Path2D; import java.awt.geom.Point2D; import java.awt.image.BufferedImage; import java.util.ArrayList; import java.util.Collections; +import java.util.LinkedHashMap; import java.util.LinkedList; import java.util.List; +import java.util.Map; +import java.util.Vector; import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicInteger; +import java.util.function.Consumer; + +import static com.sun.tools.doclint.Entity.gt; /** * @author pdias * */ @PluginDescription(name = "Caravel Data Plotter", description = "Plotter for Caravel underway data.") -public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListener { +public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListener, MainVehicleChangeListener { + + final static int ARROW_RADIUS = 12; + final static Path2D.Double arrow = new Path2D.Double(); + static { + arrow.moveTo(-5, 6); + arrow.lineTo(0, -6); + arrow.lineTo(5, 6); + arrow.lineTo(0, 3); + arrow.lineTo(-5, 6); + arrow.closePath(); + } @NeptusProperty(name = "Show temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") public boolean showTemp = false; @@ -94,6 +120,8 @@ public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListe public boolean showDissolvedOxygen = false; @NeptusProperty(name = "Show air saturation", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") public boolean showAirSaturation = false; + @NeptusProperty(name = "Show water current", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current") + public boolean showWaterCurrent = false; @NeptusProperty(name = "Min temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") public double minTemp = 15; @@ -151,6 +179,20 @@ public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListe @NeptusProperty(name = "Air Saturation color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") public ColorMap colormapAirSaturation = ColorMapFactory.createJetColorMap(); + @NeptusProperty(name = "Min water current", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current") + public double minWaterCurrent = -2; + @NeptusProperty(name = "Max water current", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current") + public double maxWaterCurrent = 2; + + @NeptusProperty(name = "Water Current color map", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current") + public ColorMap colormapWaterCurrent = ColorMapFactory.createJetColorMap(); + @NeptusProperty(name = "Water Current Depth", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current", + description = "The layer to show the water current data (m).") + public double waterCurrentDepth = 2.0; + @NeptusProperty(name = "Water Current Depth Window (m)", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current", + description = "Window is +- this value from the waterCurrentDepth.") + public short waterCurrentDepthWindow = 2; + @NeptusProperty(name = "Max samples", userLevel = NeptusProperty.LEVEL.REGULAR) public int maxSamples = 35000; @@ -164,6 +206,7 @@ public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListe private OffScreenLayerImageControl offScreenDissolvedOrganicMatter = new OffScreenLayerImageControl(); private OffScreenLayerImageControl offScreenDissolvedOxygen = new OffScreenLayerImageControl(); private OffScreenLayerImageControl offScreenAirSaturation = new OffScreenLayerImageControl(); + private OffScreenLayerImageControl offScreenWaterCurrent = new OffScreenLayerImageControl(); private Thread painterThread = null; private AtomicBoolean abortIndicator = null; @@ -175,20 +218,43 @@ public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListe private List pointsDissolvedOrganicMatter = Collections.synchronizedList(new LinkedList<>()); private List pointsDissolvedOxygen = Collections.synchronizedList(new LinkedList<>()); private List pointsAirSaturation = Collections.synchronizedList(new LinkedList<>()); + private List pointsWaterCurrent = Collections.synchronizedList(new LinkedList<>()); private AtomicInteger trigger = new AtomicInteger(0); private int triggerCount = 0; - private class DataPoint { + @Override + public void mainVehicleChange(String id) { + pointsTemp.clear(); + pointsSalinity.clear(); + pointsTurbidity.clear(); + pointsChlorophyll.clear(); + pointsDissolvedOrganicMatter.clear(); + pointsDissolvedOxygen.clear(); + pointsAirSaturation.clear(); + pointsWaterCurrent.clear(); + } + + private static class DataPoint { LocationType location = null; double value = Double.NaN; } - private class DataPointXY { + private static class DataPointPolar extends DataPoint { + double directionRads = Double.NaN; + double zDown = Double.NaN; + } + + private static class DataPointXY { Point2D point = null; double value = Double.NaN; } + private static class DataPointXYPolar extends DataPointXY { + double directionRads = Double.NaN; + double zDown = Double.NaN; + } + /* (non-Javadoc) * @see pt.lsts.neptus.console.ConsoleLayer#initLayer() */ @@ -273,6 +339,12 @@ private LocationType getSystemLocation() { return sys == null ? null : sys.getLocation(); } + private double getSystemLocationDepth() { + // TODO FIXME + ImcSystem sys = ImcSystemsHolder.getSystemWithName(getConsole().getMainSystem()); + return sys == null ? Double.NaN : sys.getLocation().getDepth(); + } + private void extractSensorMeasurementValueFromMessage(double value, List points, IMCMessage msg) { LocationType loc = getSystemLocation(); DataPoint pt = new DataPoint(); @@ -287,55 +359,144 @@ private void extractSensorMeasurementValueFromMessage(double value, List profile = msg.getProfile(); + for (int i = 0; i < profile.size(); i++) { + CurrentProfileCell cpcell = profile.get(i); + List points = pointsWaterCurrent; + + double measureDepth = cpcell.getCellPosition() + (depth < 0 ? 0 : depth); + + DataPointPolar pt = new DataPointPolar(); + pt.location = loc; + Triple valueSDQ = calcWaterSpeedAndDirectionFromBeams(nBeams, cpcell); + if (!Double.isNaN(valueSDQ.getLeft()) && !Double.isNaN(valueSDQ.getMiddle()) && !Double.isNaN(valueSDQ.getRight())) { + pt.value = valueSDQ.getLeft(); + pt.directionRads = valueSDQ.getMiddle(); + pt.zDown = measureDepth; + points.add(pt); + } + } + + if (pointsWaterCurrent.size() > maxSamples) + pointsWaterCurrent.remove(0); + trigger.incrementAndGet(); + } + + private Triple calcWaterSpeedAndDirectionFromBeams(short nBeams, CurrentProfileCell cpcell) { + double vel = Double.NaN; + double dirRads = Double.NaN; + double z = Double.NaN; + + if (nBeams == 3 || nBeams == 4) { + vel = Math.sqrt(Math.pow(cpcell.getBeams().get(0).getVel(), 2) + Math.pow(cpcell.getBeams().get(1).getVel(), 2)); + // East, North + dirRads = AngleUtils.nomalizeAngleRads2Pi(AngleUtils.calcAngle(0, 0, cpcell.getBeams().get(0).getVel(), cpcell.getBeams().get(1).getVel())); + // Up to Down + z = -1 * cpcell.getBeams().get(2).getVel(); + } + if (nBeams == 4) { + z = -1 * (cpcell.getBeams().get(2).getVel() + cpcell.getBeams().get(3).getVel()) / 2.0; + } + return Triple.of(vel, dirRads, z); + } + @Periodic(value = 2_000) private void update() { - offScreenTemperature.triggerImageRebuild(); - offScreenSalinity.triggerImageRebuild(); - offScreenTurbidity.triggerImageRebuild(); - offScreenChlorophyll.triggerImageRebuild(); - offScreenDissolvedOrganicMatter.triggerImageRebuild(); - offScreenDissolvedOxygen.triggerImageRebuild(); - offScreenAirSaturation.triggerImageRebuild(); + triggerAllImagesRebuild(); } /* (non-Javadoc) @@ -345,13 +506,15 @@ private void update() { public void paint(Graphics2D g, StateRenderer2D renderer) { super.paint(g, renderer); - boolean recreateImage = offScreenSalinity.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) - || offScreenTemperature.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) - || offScreenTurbidity.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) - || offScreenChlorophyll.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) - || offScreenDissolvedOrganicMatter.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) - || offScreenDissolvedOxygen.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) - || offScreenAirSaturation.paintPhaseStartTestRecreateImageAndRecreate(g, renderer); + // Wee need all tests to run to recreate the image cache and not just the first one that is true + boolean recreateImage = offScreenSalinity.paintPhaseStartTestRecreateImageAndRecreate(g, renderer); + recreateImage = offScreenTemperature.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; + recreateImage = offScreenTurbidity.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; + recreateImage = offScreenChlorophyll.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; + recreateImage = offScreenDissolvedOrganicMatter.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; + recreateImage = offScreenDissolvedOxygen.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; + recreateImage = offScreenAirSaturation.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; + recreateImage = offScreenWaterCurrent.paintPhaseStartTestRecreateImageAndRecreate(g, renderer) || recreateImage; int c = trigger.get(); if (c != triggerCount) { @@ -382,15 +545,17 @@ public void run() { Graphics2D g2DissolvedOrganicMatter = offScreenDissolvedOrganicMatter.getImageGraphics(); Graphics2D g2DissolvedOxygen = offScreenDissolvedOxygen.getImageGraphics(); Graphics2D g2AirSaturation = offScreenAirSaturation.getImageGraphics(); + Graphics2D g2WaterCurrent = offScreenWaterCurrent.getImageGraphics(); try { - ArrayList ptsTemp = new ArrayList<>(); - ArrayList ptsSalinity = new ArrayList<>(); - ArrayList ptsTurbidity = new ArrayList<>(); - ArrayList ptsChlorophyll = new ArrayList<>(); - ArrayList ptsDissolvedOrganicMatter = new ArrayList<>(); - ArrayList ptsDissolvedOxygen = new ArrayList<>(); - ArrayList ptsAirSaturation = new ArrayList<>(); + List ptsTemp = new ArrayList<>(); + List ptsSalinity = new ArrayList<>(); + List ptsTurbidity = new ArrayList<>(); + List ptsChlorophyll = new ArrayList<>(); + List ptsDissolvedOrganicMatter = new ArrayList<>(); + List ptsDissolvedOxygen = new ArrayList<>(); + List ptsAirSaturation = new ArrayList<>(); + List ptsWaterCurrent = new ArrayList<>(); if (showTemp) { ptsTemp = transformDataPointsToXY(pointsTemp, rendererCalculator); @@ -413,6 +578,9 @@ public void run() { if (showAirSaturation) { ptsAirSaturation = transformDataPointsToXY(pointsAirSaturation, rendererCalculator); } + if (showWaterCurrent) { + ptsWaterCurrent = transformCurrentDataPointsToXYPolar(pointsWaterCurrent, waterCurrentDepth, waterCurrentDepthWindow, rendererCalculator); + } if (showTemp && !abortIndicator.get()) { try { @@ -484,6 +652,17 @@ public void run() { } } + if (showWaterCurrent && !abortIndicator.get()) { + try { + recreateSensorDataCacheImage(Collections.unmodifiableList(ptsWaterCurrent), colormapWaterCurrent, minWaterCurrent, + maxWaterCurrent, offScreenWaterCurrent, g2WaterCurrent, rendererCalculator); + } + catch (Exception e) { + e.printStackTrace(); + offScreenWaterCurrent.triggerImageRebuild(); + } + } + g2Temp.dispose(); g2Salinity.dispose(); g2Turbidity.dispose(); @@ -491,16 +670,11 @@ public void run() { g2DissolvedOrganicMatter.dispose(); g2DissolvedOxygen.dispose(); g2AirSaturation.dispose(); + g2WaterCurrent.dispose(); } catch (Exception | Error e) { e.printStackTrace(); - offScreenTemperature.triggerImageRebuild(); - offScreenSalinity.triggerImageRebuild(); - offScreenTurbidity.triggerImageRebuild(); - offScreenChlorophyll.triggerImageRebuild(); - offScreenDissolvedOrganicMatter.triggerImageRebuild(); - offScreenDissolvedOxygen.triggerImageRebuild(); - offScreenAirSaturation.triggerImageRebuild(); + triggerAllImagesRebuild(); } renderer.invalidate(); @@ -517,11 +691,23 @@ public void run() { offScreenDissolvedOrganicMatter.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); offScreenDissolvedOxygen.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); offScreenAirSaturation.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); + offScreenWaterCurrent.paintPhaseEndFinishImageRecreateAndPaintImageCacheToRendererNoGraphicDispose(g, renderer); paintColorbars(g, renderer); } - private void recreateSensorDataCacheImage(ArrayList pts, ColorMap colormap, double minVal, + private void triggerAllImagesRebuild() { + offScreenTemperature.triggerImageRebuild(); + offScreenSalinity.triggerImageRebuild(); + offScreenTurbidity.triggerImageRebuild(); + offScreenChlorophyll.triggerImageRebuild(); + offScreenDissolvedOrganicMatter.triggerImageRebuild(); + offScreenDissolvedOxygen.triggerImageRebuild(); + offScreenAirSaturation.triggerImageRebuild(); + offScreenWaterCurrent.triggerImageRebuild(); + } + + private void recreateSensorDataCacheImage(List pts, ColorMap colormap, double minVal, double maxVal, OffScreenLayerImageControl offScreenImageControl, Graphics2D g2, MapTileRendererCalculator rendererCalculator) { double fullImgWidth = rendererCalculator.getSize().getWidth() + offScreenImageControl.getOffScreenBufferPixel() * 2.; @@ -541,25 +727,15 @@ private void recreateSensorDataCacheImage(ArrayList pts, ColorMap c cacheImgHeight *= cacheImgScaleY; BufferedImage cacheImg = createBufferedImage((int) cacheImgWidth, (int) cacheImgHeight, Transparency.TRANSLUCENT); - pts.parallelStream().forEach(pt -> { - try { - if (abortIndicator.get()) - return; - - double v = (double) pt.value; - - if (clampToFit - && (Double.compare(v, minVal) < 0 || Double.compare(v, maxVal) > 0)) - return; - - Color color = colormap.getColor(ColorMapUtils.getColorIndexZeroToOneLog10(v, minVal, maxVal)); - cacheImg.setRGB((int) ((pt.point.getX() + offScreenImageControl.getOffScreenBufferPixel()) * cacheImgScaleX), - (int) ((pt.point.getY() + offScreenImageControl.getOffScreenBufferPixel()) * cacheImgScaleY), color.getRGB()); + boolean useArrows = false; + if (!pts.isEmpty()) { + DataPointXY pt0 = pts.get(0); + if (pt0 instanceof DataPointXYPolar) { + useArrows = true; } - catch (Exception e) { - NeptusLog.pub().trace(e); - } - }); + } + pts.parallelStream().forEach(getDataPointXYSensorPainter(colormap, minVal, maxVal, offScreenImageControl, + cacheImg, cacheImgScaleX, cacheImgScaleY, rendererCalculator, useArrows)); Graphics2D gt = (Graphics2D) g2.create(); try { @@ -579,7 +755,48 @@ private void recreateSensorDataCacheImage(ArrayList pts, ColorMap c gt.dispose(); } - private ArrayList transformDataPointsToXY(List points, MapTileRendererCalculator rendererCalculator) { + private Consumer getDataPointXYSensorPainter(ColorMap colormap, double minVal, double maxVal, + OffScreenLayerImageControl offScreenImageControl, + BufferedImage cacheImg, double cacheImgScaleX, double cacheImgScaleY, + MapTileRendererCalculator rendererCalculator, boolean useArrows) { + return pt -> { + try { + if (abortIndicator.get()) + return; + + double v = (double) pt.value; + + if (clampToFit + && (Double.compare(v, minVal) < 0 || Double.compare(v, maxVal) > 0)) + return; + + Color color = colormap.getColor(ColorMapUtils.getColorIndexZeroToOneLog10(v, minVal, maxVal)); + if (useArrows && false) { + try { + DataPointXYPolar ptPloar = (DataPointXYPolar) pt; + Graphics2D g2 = (Graphics2D) offScreenImageControl.getImageGraphics(); + g2.setColor(color); + g2.translate((ptPloar.point.getX() + offScreenImageControl.getOffScreenBufferPixel()), + (ptPloar.point.getY() + offScreenImageControl.getOffScreenBufferPixel())); + double rot = ptPloar.directionRads + Math.PI / 2. - rendererCalculator.getRotation(); + g2.rotate(rot); + g2.fill(arrow); + g2.rotate(-rot); + } catch (Exception e) { + //NeptusLog.pub().trace(e); + } + } else { + cacheImg.setRGB((int) ((pt.point.getX() + offScreenImageControl.getOffScreenBufferPixel()) * cacheImgScaleX), + (int) ((pt.point.getY() + offScreenImageControl.getOffScreenBufferPixel()) * cacheImgScaleY), color.getRGB()); + } + } + catch (Exception e) { + NeptusLog.pub().trace(e); + } + }; + } + + private List transformDataPointsToXY(List points, MapTileRendererCalculator rendererCalculator) { return points.stream().collect(ArrayList::new, (r, p) -> { if (abortIndicator.get()) { @@ -613,6 +830,49 @@ private ArrayList transformDataPointsToXY(List points, M }); } + private List transformCurrentDataPointsToXYPolar(List points, + double waterCurrentDepth, int waterCurrentDepthWindow, + MapTileRendererCalculator rendererCalculator) { + final double minDepth = waterCurrentDepth - waterCurrentDepthWindow; + final double maxDepth = waterCurrentDepth + waterCurrentDepthWindow; + return points.stream().filter(dp -> dp.zDown >= minDepth && dp.zDown <= maxDepth) + .collect(ArrayList::new, + (r, p) -> { + if (abortIndicator.get()) { + return; + } + Point2D pxy = rendererCalculator.getScreenPosition(p.location); + DataPointXYPolar dpxy = new DataPointXYPolar(); + dpxy.point = pxy; + dpxy.value = p.value; + dpxy.directionRads = p.directionRads; + dpxy.zDown = p.zDown; + r.add(dpxy); + }, (r1, r2) -> { + for (DataPointXYPolar d2 : r2) { + if (abortIndicator.get()) { + break; + } + boolean found = false; + for (DataPointXYPolar d1 : r1) { + if (abortIndicator.get()) { + break; + } + if (d2.point.equals(d1.point)) { + d1.value = (d1.value + d2.value) / 2.; + d1.directionRads = (d1.directionRads + d2.directionRads) / 2.; + d1.zDown = (d1.zDown + d2.zDown) / 2.; + found = true; + break; + } + } + if (!found) { + r1.add(d2); + } + } + }); + } + private static BufferedImage createBufferedImage(int cacheImgWidth, int cacheImgHeight, int translucent) { GraphicsEnvironment ge = GraphicsEnvironment.getLocalGraphicsEnvironment(); GraphicsDevice gs = ge.getDefaultScreenDevice(); @@ -620,21 +880,72 @@ private static BufferedImage createBufferedImage(int cacheImgWidth, int cacheImg return gc.createCompatibleImage((int) cacheImgWidth , (int) cacheImgHeight , Transparency.TRANSLUCENT); } + private void paintColorbars(Graphics2D go, StateRenderer2D renderer) { + int offsetHeight = 130 * 2; + int offsetWidth = 5; + int offsetDelta = 130; + + if (showTemp) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapTemp, "Temperature", "ºC", minTemp, maxTemp); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showSal) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapSal, "Salinity", "PSU", minSal, maxSal); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showTurbidity) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapTurbidity, "Turbidity", "NTU", minTurbidity, maxTurbidity); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showChlorophyll) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapChlorophyll, "Chlorophyll", "µg/L", minChlorophyll, maxChlorophyll); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showDissolvedOrganicMatter) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapDissolvedOrganicMatter, "Dissolved Organic Matter", "PPB", minDissolvedOrganicMatter, maxDissolvedOrganicMatter); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showDissolvedOxygen) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapDissolvedOxygen, "Dissolved Oxygen", "µM", minDissolvedOxygen, maxDissolvedOxygen); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showAirSaturation) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + ColorBarPainterUtil.paintColorBar(go, colormapAirSaturation, "Air Saturation", "%", minAirSaturation, maxAirSaturation); + gl.dispose(); + offsetHeight += offsetDelta; + } else if (showWaterCurrent) { + Graphics2D gl = (Graphics2D) go.create(); + gl.translate(offsetWidth, offsetHeight); + String txtName = String.format("Water Current [%.2f ±%d]", waterCurrentDepth, waterCurrentDepthWindow); + ColorBarPainterUtil.paintColorBar(go, colormapWaterCurrent, txtName, "m/s", minWaterCurrent, maxWaterCurrent); + gl.dispose(); + offsetHeight += offsetDelta; + } + } + /** * @param go * @param renderer */ - private void paintColorbars(Graphics2D go, StateRenderer2D renderer) { -// int offsetHeight = 130; -// int offsetWidth = 5; -// int offsetDelta = 130; -// if (showSal) { -// Graphics2D gl = (Graphics2D) go.create(); -// gl.translate(offsetWidth, offsetHeight); -// ColorBarPainterUtil.paintColorBar(gl, colorMapVar, I18n.text(info.name), info.unit, minValue, maxValue); -// gl.dispose(); -// offsetHeight += offsetDelta; -// } + private void paintColorbars(Graphics2D go, StateRenderer2D renderer, ColorMap colormap, String name, + String unit, double minValue, double maxValue) { + Graphics2D gl = (Graphics2D) go.create(); + ColorBarPainterUtil.paintColorBar(gl, colormap, name, unit, minValue, maxValue); + gl.dispose(); } /* (non-Javadoc) @@ -642,6 +953,7 @@ private void paintColorbars(Graphics2D go, StateRenderer2D renderer) { */ @Override public void preferencesUpdated() { + triggerAllImagesRebuild(); getConsole().repaint(); } } \ No newline at end of file From 3db4bc2aba5d2de4bb5f8e5787199ac9d0cb9ede Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 14 Jun 2024 17:00:04 +0100 Subject: [PATCH 11/92] comm/manager/imc/ImcMsgManager: Avoiding depth=-height on locations created. --- src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java index 3a04da2c66..a637567816 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java @@ -1495,6 +1495,7 @@ else if (portTcp == 0) { loc.setLatitudeDegs(Math.toDegrees(latRad)); loc.setLongitudeDegs(Math.toDegrees(lonRad)); loc.setHeight(height); + loc.setDepth(-1); long locTime = (long) (info.getTimeSentSec() * 1000); resSys.setLocation(loc, locTime); } From 99de3402ddb702dd950320e03341df4c2e1e6a9e Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 14 Jun 2024 17:00:22 +0100 Subject: [PATCH 12/92] comm/manager/imc/SystemImcMsgCommInfo: Avoiding depth=-height on locations created. --- .../pt/lsts/neptus/comm/manager/imc/SystemImcMsgCommInfo.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/SystemImcMsgCommInfo.java b/src/java/pt/lsts/neptus/comm/manager/imc/SystemImcMsgCommInfo.java index ff78d87a54..c1f6c239c8 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/SystemImcMsgCommInfo.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/SystemImcMsgCommInfo.java @@ -342,7 +342,7 @@ protected boolean processMsgLocally(MessageInfo info, IMCMessage msg) { double lat = msg.getDouble("lat"); double lon = msg.getDouble("lon"); double height = msg.getDouble("height"); - msg.getDouble("depth"); + double depth = msg.getDouble("depth"); msg.getDouble("altitude"); double x = msg.getDouble("x"); double y = msg.getDouble("y"); @@ -355,6 +355,7 @@ protected boolean processMsgLocally(MessageInfo info, IMCMessage msg) { loc.setLatitudeRads(lat); loc.setLongitudeRads(lon); loc.setHeight(height); + loc.setDepth(depth); loc.setOffsetNorth(x); loc.setOffsetEast(y); loc.setOffsetDown(z); From 143c54db4bd7529a781ce339097bf3e97348e805 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 19 Jun 2024 18:32:37 +0100 Subject: [PATCH 13/92] comm/iridium/IridiumMessage: Added new UpdateDeviceActivation for adding recipient to caravel iridium sending. --- .../pt/lsts/neptus/comm/admin/CommsAdmin.java | 34 +++++- .../neptus/comm/iridium/IridiumMessage.java | 1 + .../comm/iridium/UpdateDeviceActivation.java | 109 ++++++++++++++++++ 3 files changed, 141 insertions(+), 3 deletions(-) create mode 100644 src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java diff --git a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java index fde40b410b..f6ae7fed34 100644 --- a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java +++ b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java @@ -41,6 +41,7 @@ import pt.lsts.neptus.comm.IMCSendMessageUtils; import pt.lsts.neptus.comm.iridium.ImcIridiumMessage; import pt.lsts.neptus.comm.iridium.IridiumManager; +import pt.lsts.neptus.comm.iridium.UpdateDeviceActivation; import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; @@ -49,11 +50,14 @@ import pt.lsts.neptus.util.conf.GeneralPreferences; import java.awt.Component; +import java.time.LocalDateTime; import java.util.ArrayList; import java.util.Arrays; import java.util.Collection; import java.util.Collections; +import java.util.HashMap; import java.util.List; +import java.util.Map; import java.util.concurrent.Callable; import java.util.concurrent.ExecutionException; import java.util.concurrent.Future; @@ -68,6 +72,7 @@ public class CommsAdmin { public static final int COMM_TIMEOUT_MILLIS = 20000; public static final int MAX_ACOMMS_PAYLOAD_SIZE = 998; public static final double TIMEOUT_ACOMMS_SECS = 60; + private int minutesBetweenDeviceActivationSendSeconds = 5; public enum CommChannelType { WIFI("WiFi", "Wi-Fi channel", "images/channels/wifi.png", @@ -132,6 +137,8 @@ public void setReliable(boolean reliable) { private ImcMsgManager imcMsgManager = null; private List channels = new ArrayList<>(); + private Map lastIridiumMessageSent = new HashMap<>(); + public CommsAdmin(ImcMsgManager imcMsgManager) { this.imcMsgManager = imcMsgManager; @@ -296,8 +303,9 @@ public ImcMsgManager.SendResult get(long timeout, TimeUnit unit) throws Interrup } break; case IRIDIUM: - sendViaIridium(destinationName, message, waiter); - return result; + sendDeviceActivationViaIridiumIfNeeded(destinationName); + sendViaIridium(destinationName, message, waiter); + return result; case GSM: default: break; @@ -379,7 +387,7 @@ public void sendViaIridium(String destination, IMCMessage message, ResultWaiter irMsgs = IridiumManager.iridiumEncode(message); } catch (Exception e) { - NeptusLog.pub().warn( "Send by Iridium :: " + e.getMessage()); + NeptusLog.pub().warn("Send by Iridium :: " + e.getMessage()); waiter.deliveryError(message, e); return; } @@ -407,4 +415,24 @@ public void sendViaIridium(String destination, IMCMessage message, ResultWaiter waiter.deliveryError(message, e); } } + + private void sendDeviceActivationViaIridiumIfNeeded(String destinationName) { + LocalDateTime lastSent = lastIridiumMessageSent.get(destinationName); + if (lastSent == null || lastSent.plusMinutes(minutesBetweenDeviceActivationSendSeconds).isAfter(LocalDateTime.now())) { + lastIridiumMessageSent.put(destinationName, LocalDateTime.now()); + int src = ImcMsgManager.getManager().getLocalId().intValue(); + int dst = IMCDefinition.getInstance().getResolver().resolve(destinationName); + UpdateDeviceActivation act = new UpdateDeviceActivation(); + act.setDestination(dst); + act.setSource(src); + act.timestampMillis = System.currentTimeMillis(); + act.setOperation(UpdateDeviceActivation.OperationType.OP_ACTIVATE); + act.setTimestamp(act.timestampMillis); + try { + IridiumManager.getManager().send(act); + } catch (Exception e) { + NeptusLog.pub().warn("Send by Iridium :: " + e.getMessage()); + } + } + } } diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java index ee695ae361..937ec6fc18 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java @@ -69,6 +69,7 @@ public IridiumMessage(int msgType) { iridiumTypes.put(2007, TargetAssetPosition.class); iridiumTypes.put(2010, ImcIridiumMessage.class); iridiumTypes.put(2011, ExtendedDeviceUpdate.class); + iridiumTypes.put(2012, UpdateDeviceActivation.class); } public byte[] serialize() throws Exception { diff --git a/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java b/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java new file mode 100644 index 0000000000..a977da35b8 --- /dev/null +++ b/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java @@ -0,0 +1,109 @@ +/* + * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) + * All rights reserved. + * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal + * + * This file is part of Neptus, Command and Control Framework. + * + * Commercial Licence Usage + * Licencees holding valid commercial Neptus licences may use this file + * in accordance with the commercial licence agreement provided with the + * Software or, alternatively, in accordance with the terms contained in a + * written agreement between you and Universidade do Porto. For licensing + * terms, conditions, and further information contact lsts@fe.up.pt. + * + * Modified European Union Public Licence - EUPL v.1.1 Usage + * Alternatively, this file may be used under the terms of the Modified EUPL, + * Version 1.1 only (the "Licence"), appearing in the file LICENSE.md + * included in the packaging of this file. You may not use this work + * except in compliance with the Licence. Unless required by applicable + * law or agreed to in writing, software distributed under the Licence is + * distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF + * ANY KIND, either express or implied. See the Licence for the specific + * language governing permissions and limitations at + * https://github.com/LSTS/neptus/blob/develop/LICENSE.md + * and http://ec.europa.eu/idabc/eupl.html. + * + * For more information please see . + * + * Author: pdias + * Jun 19, 2024 + */ +package pt.lsts.neptus.comm.iridium; + +import pt.lsts.imc.IMCInputStream; +import pt.lsts.imc.IMCMessage; +import pt.lsts.imc.IMCOutputStream; + +import java.util.Collection; +import java.util.Vector; + +/** + * @author zp + * + */ +public class UpdateDeviceActivation extends IridiumMessage { + + public static enum OperationType { + OP_DEACTIVATE, + OP_ACTIVATE; + + } + + public UpdateDeviceActivation() { + super(2012); + } + + + protected double timestamp = System.currentTimeMillis(); + protected OperationType operation = OperationType.OP_ACTIVATE; + + public double getTimestamp() { + return timestamp; + } + + public void setTimestamp(double timestamp) { + this.timestamp = timestamp; + } + + public OperationType getOperation() { + return operation; + } + + public void setOperation(OperationType operation) { + this.operation = operation; + } + + @Override + public int serializeFields(IMCOutputStream out) throws Exception { + out.writeDouble(timestampMillis); + out.writeByte(operation.ordinal()); + return 5; + } + + @Override + public int deserializeFields(IMCInputStream in) throws Exception { + try { + timestamp = in.readDouble(); + operation = OperationType.values()[in.readUnsignedByte()]; + } + catch (Exception e) { + // empty + } + return 5; + } + + @Override + public Collection asImc() { + return new Vector<>(); + } + + @Override + public String toString() { + String s = super.toString(); + s += "\t[timestamp: "+timestamp+"]\n"; + s += "\t[operation: "+operation.name()+"]\n"; + return s; + } +} From 39667b2ba6d0d1d5a0822150591610dbda50948b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 19 Jun 2024 19:13:22 +0100 Subject: [PATCH 14/92] plugins/planning/plandb/MissionTreePanel: Add option to ask for one specific plan info. --- .../plugins/planning/MissionTreePanel.java | 23 +++++++++++++++++++ .../planning/plandb/PlanDBControl.java | 6 ++++- 2 files changed, 28 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index d7706c5d7e..02a7df66d7 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -425,6 +425,22 @@ public void actionPerformed(ActionEvent e) { }); } + private void addActionSendPlanInfoRequest(final ConsoleLayout console2, final PlanDBControl pdbControl, + final ArrayList selectedItems, JPopupMenu popupMenu) { + if (!usePlanDBSyncFeatures) + return; + + popupMenu.add(I18n.textf("Get %planName info from %system", getPlanNamesString(selectedItems, true), console2.getMainSystem())) + .addActionListener(e -> { + for (NameId nameId : selectedItems) { + PlanType sel = (PlanType) nameId; + String mainSystem = console2.getMainSystem(); + pdbControl.setRemoteSystemId(mainSystem); + pdbControl.requestPlanInfo(sel.getId()); + } + }); + } + private StringBuilder getPlanNamesString(final ArrayList selectedItems, boolean plans) { StringBuilder objectNames = new StringBuilder(); @@ -640,6 +656,13 @@ public void mousePressed(MouseEvent e) { addActionSendPlan(getConsole(), pdbControl, toSend, popupMenu); if (toGetPlan.size() > 0) addActionGetRemotePlan(getConsole(), pdbControl, toGetPlan, popupMenu); + if (!toRemoveRemotely.isEmpty() || !toGetPlan.isEmpty()) { + ArrayList toGetInfo = new ArrayList<>(); + toGetInfo.addAll(toRemoveRemotely); + toGetInfo.addAll(toGetPlan); + toGetInfo = toGetInfo.stream().distinct().collect(ArrayList::new, ArrayList::add, ArrayList::addAll); + addActionSendPlanInfoRequest(getConsole(), pdbControl, toGetInfo, popupMenu); + } break; case Transponder: addActionAddNewTrans(popupMenu); diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java b/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java index 9a49f46d1b..7432fa6bb5 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java @@ -42,6 +42,7 @@ import pt.lsts.neptus.comm.manager.imc.ImcId16; import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; +import pt.lsts.neptus.i18n.I18n; import pt.lsts.neptus.messages.listener.MessageInfo; import pt.lsts.neptus.messages.listener.MessageListener; import pt.lsts.neptus.types.mission.MissionType; @@ -123,7 +124,10 @@ public boolean requestActivePlan() { public boolean requestPlanInfo(String plan_id) { IMCMessage imc_PlanDB = IMCDefinition.getInstance().create("PlanDB", "type", "REQUEST", "op", "GET_INFO", "request_id", IMCSendMessageUtils.getNextRequestId(), "plan_id", plan_id); - return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + // return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + return IMCSendMessageUtils.sendMessage(imc_PlanDB, ImcMsgManager.TRANSPORT_TCP, null, null, + I18n.text("Error sending plan info request"), true, "", + true, true, true, remoteSystemId); } public boolean deletePlan(String plan_id) { From 1ae3d7e07d708111741725e43db20e9813bcfa73 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 20 Jun 2024 17:32:11 +0100 Subject: [PATCH 15/92] comms/iridium/RockBlockIridiumMessenger: Fix for not reading MimeMultipart email. --- .../pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index c374f04896..c592a1088e 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -288,7 +288,7 @@ public Collection pollMessages(Date timeSince) throws Exception if (m.getReceivedDate().before(timeSince)) { break; } - else { + else if (m.getContent() instanceof MimeMultipart) { MimeMultipart mime = (MimeMultipart) m.getContent(); for (int j = 0; j < mime.getCount(); j++) { BodyPart p = mime.getBodyPart(j); From 157a294110c23b6d280aa59d8e69b5842ac15cdc Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 20 Jun 2024 17:34:06 +0100 Subject: [PATCH 16/92] comms/iridium/CommsAdmin: Fix sending device activation. --- .../pt/lsts/neptus/comm/admin/CommsAdmin.java | 8 +++++--- .../comm/iridium/UpdateDeviceActivation.java | 20 +++++++++---------- 2 files changed, 15 insertions(+), 13 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java index f6ae7fed34..91dc222186 100644 --- a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java +++ b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java @@ -47,6 +47,7 @@ import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; import pt.lsts.neptus.comm.manager.imc.MessageDeliveryListener; import pt.lsts.neptus.types.vehicle.VehicleType; +import pt.lsts.neptus.util.ByteUtil; import pt.lsts.neptus.util.conf.GeneralPreferences; import java.awt.Component; @@ -72,7 +73,7 @@ public class CommsAdmin { public static final int COMM_TIMEOUT_MILLIS = 20000; public static final int MAX_ACOMMS_PAYLOAD_SIZE = 998; public static final double TIMEOUT_ACOMMS_SECS = 60; - private int minutesBetweenDeviceActivationSendSeconds = 5; + private int minutesBetweenDeviceActivationSendMinutes = 5; public enum CommChannelType { WIFI("WiFi", "Wi-Fi channel", "images/channels/wifi.png", @@ -418,7 +419,7 @@ public void sendViaIridium(String destination, IMCMessage message, ResultWaiter private void sendDeviceActivationViaIridiumIfNeeded(String destinationName) { LocalDateTime lastSent = lastIridiumMessageSent.get(destinationName); - if (lastSent == null || lastSent.plusMinutes(minutesBetweenDeviceActivationSendSeconds).isAfter(LocalDateTime.now())) { + if (lastSent == null || lastSent.plusMinutes(minutesBetweenDeviceActivationSendMinutes).isAfter(LocalDateTime.now())) { lastIridiumMessageSent.put(destinationName, LocalDateTime.now()); int src = ImcMsgManager.getManager().getLocalId().intValue(); int dst = IMCDefinition.getInstance().getResolver().resolve(destinationName); @@ -427,8 +428,9 @@ private void sendDeviceActivationViaIridiumIfNeeded(String destinationName) { act.setSource(src); act.timestampMillis = System.currentTimeMillis(); act.setOperation(UpdateDeviceActivation.OperationType.OP_ACTIVATE); - act.setTimestamp(act.timestampMillis); + act.setTimestampSeconds(act.timestampMillis / 1000.); try { + NeptusLog.pub().warn(">>>> Send activation request <<<< " + ByteUtil.encodeToHex(act.serialize())); IridiumManager.getManager().send(act); } catch (Exception e) { NeptusLog.pub().warn("Send by Iridium :: " + e.getMessage()); diff --git a/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java b/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java index a977da35b8..fc4c035390 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java +++ b/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java @@ -56,15 +56,15 @@ public UpdateDeviceActivation() { } - protected double timestamp = System.currentTimeMillis(); + protected double timestampSeconds = System.currentTimeMillis() / 1000.; protected OperationType operation = OperationType.OP_ACTIVATE; - public double getTimestamp() { - return timestamp; + public double getTimestampSeconds() { + return timestampSeconds; } - public void setTimestamp(double timestamp) { - this.timestamp = timestamp; + public void setTimestampSeconds(double timestampSeconds) { + this.timestampSeconds = timestampSeconds; } public OperationType getOperation() { @@ -77,21 +77,21 @@ public void setOperation(OperationType operation) { @Override public int serializeFields(IMCOutputStream out) throws Exception { - out.writeDouble(timestampMillis); + out.writeDouble(timestampSeconds); out.writeByte(operation.ordinal()); - return 5; + return 9; } @Override public int deserializeFields(IMCInputStream in) throws Exception { try { - timestamp = in.readDouble(); + timestampSeconds = in.readDouble(); operation = OperationType.values()[in.readUnsignedByte()]; } catch (Exception e) { // empty } - return 5; + return 9; } @Override @@ -102,7 +102,7 @@ public Collection asImc() { @Override public String toString() { String s = super.toString(); - s += "\t[timestamp: "+timestamp+"]\n"; + s += "\t[timestampSeconds: "+timestampSeconds+"]\n"; s += "\t[operation: "+operation.name()+"]\n"; return s; } From cfdec8633dc81ff47a2c6ed2258d0b43ab1ec0df Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 20 Jun 2024 17:35:41 +0100 Subject: [PATCH 17/92] console/plugins/MissionTreePanel: Fix visibility for asking for getting plan info from vehicle. --- .../lsts/neptus/console/plugins/planning/MissionTreePanel.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index 02a7df66d7..49295f7e23 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -656,8 +656,9 @@ public void mousePressed(MouseEvent e) { addActionSendPlan(getConsole(), pdbControl, toSend, popupMenu); if (toGetPlan.size() > 0) addActionGetRemotePlan(getConsole(), pdbControl, toGetPlan, popupMenu); - if (!toRemoveRemotely.isEmpty() || !toGetPlan.isEmpty()) { + if (!toSend.isEmpty() || !toRemoveRemotely.isEmpty() || !toGetPlan.isEmpty()) { ArrayList toGetInfo = new ArrayList<>(); + toGetInfo.addAll(toSend); toGetInfo.addAll(toRemoveRemotely); toGetInfo.addAll(toGetPlan); toGetInfo = toGetInfo.stream().distinct().collect(ArrayList::new, ArrayList::add, ArrayList::addAll); From 2a32ee2b0cb9758c19a1dc3c3cbc335d7a5dafc4 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 20 Jun 2024 17:36:06 +0100 Subject: [PATCH 18/92] console/plugins/MissionTreePanel: Small tweaks. --- .../console/plugins/planning/MissionTreePanel.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index 49295f7e23..eba1c5f1c5 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -648,13 +648,13 @@ public void mousePressed(MouseEvent e) { NeptusLog.pub().error("The plan " + extendedTreeNode + " has no state."); } } - if (toRemoveRemotely.size() > 0) + if (!toRemoveRemotely.isEmpty()) addActionRemovePlanRemotely(getConsole(), pdbControl, toRemoveRemotely, popupMenu); - if (toRemoveLocally.size() > 0) + if (!toRemoveLocally.isEmpty()) addActionRemovePlanLocally(getConsole(), toRemoveLocally, popupMenu); - if (toSend.size() > 0) + if (!toSend.isEmpty()) addActionSendPlan(getConsole(), pdbControl, toSend, popupMenu); - if (toGetPlan.size() > 0) + if (!toGetPlan.isEmpty()) addActionGetRemotePlan(getConsole(), pdbControl, toGetPlan, popupMenu); if (!toSend.isEmpty() || !toRemoveRemotely.isEmpty() || !toGetPlan.isEmpty()) { ArrayList toGetInfo = new ArrayList<>(); @@ -682,10 +682,10 @@ public void mousePressed(MouseEvent e) { if (state == State.NOT_SYNC) notSyncTrans.add((TransponderElement) extendedTreeNode.getUserObject()); } - if (localTrans.size() > 0) { + if (!localTrans.isEmpty()) { addActionRemoveTrans(localTrans, popupMenu); } - if (notSyncTrans.size() > 0) { + if (!notSyncTrans.isEmpty()) { addActionGetRemoteTrans(getConsole(), popupMenu, notSyncTrans); } From 6bece02b8d5e1c776cf0cf539d7a361490bd33b3 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 20 Jun 2024 17:38:13 +0100 Subject: [PATCH 19/92] console/plugins/planning/plandb/PlanDBControl: Fix for updating GUI for when receives plan info. --- .../plugins/planning/plandb/PlanDBControl.java | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java b/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java index 7432fa6bb5..1bac11c645 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java @@ -32,8 +32,6 @@ */ package pt.lsts.neptus.console.plugins.planning.plandb; -import java.util.Vector; - import pt.lsts.imc.IMCDefinition; import pt.lsts.imc.IMCMessage; import pt.lsts.neptus.NeptusLog; @@ -48,6 +46,10 @@ import pt.lsts.neptus.types.mission.MissionType; import pt.lsts.neptus.types.mission.plan.PlanType; +import java.util.HashMap; +import java.util.Map; +import java.util.Vector; + /** * @author zp * @@ -183,6 +185,14 @@ else if (msg.getString("op").equals("GET_INFO")) { PlanDBInfo pinfo = new PlanDBInfo(); pinfo.parseIMCMessage(msg.getMessage("arg")); remoteState.storedPlans.put(msg.getAsString("plan_id"), pinfo); + + try { + for (IPlanDBListener l : listeners) + l.dbInfoUpdated(remoteState); + } + catch (Exception e) { + e.printStackTrace(); + } } else if (msg.getString("op").equals("DEL")) { remoteState.storedPlans.remove(msg.getAsString("plan_id")); From c803da817c18dc2f016186250ccbf434596c9167 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 8 Jul 2024 16:49:12 +0100 Subject: [PATCH 20/92] comm/manager/imc/EntitiesResolver: Save to properties file the EntityList values. --- .../comm/manager/imc/EntitiesResolver.java | 72 +++++++++++++++---- 1 file changed, 60 insertions(+), 12 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java b/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java index 853429ed7d..45cdb6e384 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java @@ -32,6 +32,8 @@ */ package pt.lsts.neptus.comm.manager.imc; +import java.io.File; +import java.io.IOException; import java.util.LinkedHashMap; import java.util.Map; @@ -39,33 +41,79 @@ import com.google.common.collect.HashBiMap; import pt.lsts.imc.EntityList; +import pt.lsts.imc.IMCMessage; +import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.util.PropertiesLoader; +import pt.lsts.neptus.util.conf.ConfigFetch; /** * @author zp * */ public class EntitiesResolver { + public static final String ENTITIES_RESOLVER_PROPERTIES_FILE = ".cache/db/entities-resolver.properties"; + + private static PropertiesLoader properties = null; + static { + String propertiesFile = ConfigFetch.resolvePathBasedOnConfigFile(ENTITIES_RESOLVER_PROPERTIES_FILE); + if (!new File(propertiesFile).exists()) { + String testFile = ConfigFetch.resolvePathBasedOnConfigFile("../" + ENTITIES_RESOLVER_PROPERTIES_FILE); + if (new File(testFile).exists()) + propertiesFile = testFile; + } + new File(propertiesFile).getParentFile().mkdirs(); + properties = new PropertiesLoader(propertiesFile, PropertiesLoader.PROPERTIES); + + while (properties.keys().hasMoreElements()) { + String key = properties.keys().nextElement().toString(); + String value = properties.getProperty(key); + setEntities(key, value, false); + } + } protected static LinkedHashMap> entitiesMap = new LinkedHashMap>(); public static final int DEFAULT_ENTITY = 255; - - + + public static void saveProperties() { + try { + properties.store("EntitiesResolver properties"); + } + catch (IOException e) { + NeptusLog.pub().error("saveProperties", e); + } + } + /** * Based on a EntityList message set all the messages for further queries * @param id Name of the name (String id) * @param message EntityList message */ public static void setEntities(String id, EntityList message) { - LinkedHashMap tlist = null; - tlist = message.getList(); - - BiMap aliases = HashBiMap.create(); - for (String key : tlist.keySet()) - aliases.put(Integer.parseInt(tlist.get(key)), key); - - entitiesMap.put(id, aliases); - } - + LinkedHashMap tlist = null; + tlist = message.getList(); + String listAsStr = IMCMessage.encodeTupleList(tlist); + setEntities(id, listAsStr, true); + } + + public static void setEntities(String id, String listAsStr, boolean save) { + LinkedHashMap tlist = null; + tlist = IMCMessage.decodeTupleList(listAsStr); + + BiMap aliases = HashBiMap.create(); + for (String key : tlist.keySet()) { + aliases.put(Integer.parseInt(tlist.get(key)), key); + } + + if (save) { + String old = properties.getProperty(id); + if (old == null || !old.equals(listAsStr)) { + properties.setProperty(id, listAsStr); + saveProperties(); + } + } + + entitiesMap.put(id, aliases); + } public static final Map getEntities(Object systemId) { return entitiesMap.get(systemId.toString()); } From 910948d077f36351eafec8cc31cbcf0d46e5ae5d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 11 Jul 2024 13:04:13 +0100 Subject: [PATCH 21/92] comm/manager/imc/EntitiesResolver: Temporary removed save to properties file the EntityList values. Null pointer issue on loading. --- .../comm/manager/imc/EntitiesResolver.java | 69 +++++++++---------- 1 file changed, 34 insertions(+), 35 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java b/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java index 45cdb6e384..90e2d71632 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java @@ -32,20 +32,19 @@ */ package pt.lsts.neptus.comm.manager.imc; -import java.io.File; -import java.io.IOException; -import java.util.LinkedHashMap; -import java.util.Map; - import com.google.common.collect.BiMap; import com.google.common.collect.HashBiMap; - import pt.lsts.imc.EntityList; import pt.lsts.imc.IMCMessage; import pt.lsts.neptus.NeptusLog; import pt.lsts.neptus.util.PropertiesLoader; import pt.lsts.neptus.util.conf.ConfigFetch; +import java.io.File; +import java.io.IOException; +import java.util.LinkedHashMap; +import java.util.Map; + /** * @author zp * @@ -53,34 +52,34 @@ public class EntitiesResolver { public static final String ENTITIES_RESOLVER_PROPERTIES_FILE = ".cache/db/entities-resolver.properties"; - private static PropertiesLoader properties = null; - static { - String propertiesFile = ConfigFetch.resolvePathBasedOnConfigFile(ENTITIES_RESOLVER_PROPERTIES_FILE); - if (!new File(propertiesFile).exists()) { - String testFile = ConfigFetch.resolvePathBasedOnConfigFile("../" + ENTITIES_RESOLVER_PROPERTIES_FILE); - if (new File(testFile).exists()) - propertiesFile = testFile; - } - new File(propertiesFile).getParentFile().mkdirs(); - properties = new PropertiesLoader(propertiesFile, PropertiesLoader.PROPERTIES); + //private static PropertiesLoader properties = null; + //static { + // String propertiesFile = ConfigFetch.resolvePathBasedOnConfigFile(ENTITIES_RESOLVER_PROPERTIES_FILE); + // if (!new File(propertiesFile).exists()) { + // String testFile = ConfigFetch.resolvePathBasedOnConfigFile("../" + ENTITIES_RESOLVER_PROPERTIES_FILE); + // if (new File(testFile).exists()) + // propertiesFile = testFile; + // } + // new File(propertiesFile).getParentFile().mkdirs(); + // properties = new PropertiesLoader(propertiesFile, PropertiesLoader.PROPERTIES); - while (properties.keys().hasMoreElements()) { - String key = properties.keys().nextElement().toString(); - String value = properties.getProperty(key); - setEntities(key, value, false); - } - } + // while (properties.keys().hasMoreElements()) { + // String key = properties.keys().nextElement().toString(); + // String value = properties.getProperty(key); + // //setEntities(key, value, false); + // } + //} protected static LinkedHashMap> entitiesMap = new LinkedHashMap>(); public static final int DEFAULT_ENTITY = 255; public static void saveProperties() { - try { - properties.store("EntitiesResolver properties"); - } - catch (IOException e) { - NeptusLog.pub().error("saveProperties", e); - } + //try { + // properties.store("EntitiesResolver properties"); + //} + //catch (IOException e) { + // NeptusLog.pub().error("saveProperties", e); + //} } /** @@ -104,13 +103,13 @@ public static void setEntities(String id, String listAsStr, boolean save) { aliases.put(Integer.parseInt(tlist.get(key)), key); } - if (save) { - String old = properties.getProperty(id); - if (old == null || !old.equals(listAsStr)) { - properties.setProperty(id, listAsStr); - saveProperties(); - } - } + //if (save) { + // String old = properties.getProperty(id); + // if (old == null || !old.equals(listAsStr)) { + // properties.setProperty(id, listAsStr); + // saveProperties(); + // } + //} entitiesMap.put(id, aliases); } From 9ed5ea8d2ffd021da90f270d11e99836df15900b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 11 Jul 2024 13:05:27 +0100 Subject: [PATCH 22/92] console/plugins/EntityStatePanel: Adding button to request entities list (temporary icon for now). --- .../console/plugins/EntityStatePanel.java | 80 +++++++++++++++++++ 1 file changed, 80 insertions(+) diff --git a/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java b/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java index 3f50d865ec..e0f318a5f9 100644 --- a/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java @@ -54,15 +54,23 @@ import javax.swing.table.DefaultTableColumnModel; import javax.swing.table.TableCellRenderer; import javax.swing.table.TableColumn; +import javax.swing.text.html.parser.Entity; import com.google.common.eventbus.Subscribe; +import pt.lsts.imc.EntityList; import pt.lsts.imc.IMCMessage; import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.comm.IMCSendMessageUtils; import pt.lsts.neptus.comm.manager.imc.EntitiesResolver; +import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; +import pt.lsts.neptus.comm.manager.imc.ImcSystem; +import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; +import pt.lsts.neptus.comm.manager.imc.MessageDeliveryListener; import pt.lsts.neptus.console.ConsoleLayout; import pt.lsts.neptus.console.ConsolePanel; import pt.lsts.neptus.console.events.ConsoleEventMainSystemChange; +import pt.lsts.neptus.console.notifications.Notification; import pt.lsts.neptus.gui.StatusLed; import pt.lsts.neptus.gui.ToolbarButton; import pt.lsts.neptus.i18n.I18n; @@ -91,6 +99,7 @@ public class EntityStatePanel extends ConsolePanel implements NeptusMessageListe private final Color COLOR_RED = Color.RED; private final Icon ICON_CLEAR = ImageUtils.getScaledIcon("images/buttons/clear.png", 16, 16); + private final Icon ICON_RQST = ImageUtils.getScaledIcon("images/buttons/log.png", 16, 16); // Events Data private LinkedHashMap dataMap = new LinkedHashMap(); @@ -160,6 +169,13 @@ public void actionPerformed(ActionEvent e) { } }); clearButton.setToolTipText(I18n.text("Clear table")); + ToolbarButton rqstEntListButton = new ToolbarButton(new AbstractAction("request", ICON_RQST) { + @Override + public void actionPerformed(ActionEvent e) { + sendEntityListRequestMsg();; + } + }); + rqstEntListButton.setToolTipText(I18n.text("Request entity list")); status = new StatusLed(); status.made5LevelIndicator(); status.setLevel(StatusLed.LEVEL_OFF); @@ -167,6 +183,7 @@ public void actionPerformed(ActionEvent e) { wPanel.setLayout(new FlowLayout(FlowLayout.LEFT)); wPanel.add(status); wPanel.add(clearButton); + wPanel.add(rqstEntListButton); this.add(wPanel, BorderLayout.NORTH); } @@ -383,6 +400,69 @@ public void messageArrived(IMCMessage message) { } } + void sendEntityListRequestMsg() { + try { + NeptusLog.pub().debug("Sending '" + getConsole().getMainSystem() + " | " + + " EntityList request..."); + EntityList msg = new EntityList(); + msg.setOp(EntityList.OP.QUERY); + boolean ret = IMCSendMessageUtils.sendMessage(msg, ImcMsgManager.TRANSPORT_TCP, + createDefaultMessageDeliveryListener(), this, I18n.text("Error requesting EntityList"), + true, "", true, true, true, + getConsole().getMainSystem()); + } + catch (Exception e) { + NeptusLog.pub().warn(e); + } + } + + private MessageDeliveryListener createDefaultMessageDeliveryListener() { + return (new MessageDeliveryListener() { + + private String getDest(IMCMessage message) { + ImcSystem sys = message != null ? ImcSystemsHolder.lookupSystem(message.getDst()) : null; + String dest = sys != null ? sys.getName() : I18n.text("unknown destination"); + return dest; + } + + @Override + public void deliveryUnreacheable(IMCMessage message) { + post(Notification.error( + I18n.text("Delivering Message"), + I18n.textf("Message %messageType to %destination delivery destination unreacheable", + message.getAbbrev(), getDest(message)))); + } + + @Override + public void deliveryTimeOut(IMCMessage message) { + post(Notification.error( + I18n.text("Delivering Message"), + I18n.textf("Message %messageType to %destination delivery timeout", + message.getAbbrev(), getDest(message)))); + } + + @Override + public void deliveryError(IMCMessage message, Object error) { + post(Notification.error( + I18n.text("Delivering Message"), + I18n.textf("Message %messageType to %destination delivery error. (%error)", + message.getAbbrev(), getDest(message), error))); + } + + @Override + public void deliveryUncertain(IMCMessage message, Object msg) { + } + + @Override + public void deliverySuccess(IMCMessage message) { + // post(Notification.success( + // I18n.text("Delivering Message"), + // I18n.textf("Message %messageType to %destination delivery success", + // message.getAbbrev(), getDest(message)))); + } + }); + } + /** * This is for representing an {@link EntityStateType} in a JTable. * From fda0ebf2c324f4ed10ddfc763adcfee9af9ee706 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 11 Jul 2024 13:06:43 +0100 Subject: [PATCH 23/92] comm/admin/CommsAdmin: Fix requesting activation time calculation. --- src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java index 91dc222186..676af2ce91 100644 --- a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java +++ b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java @@ -419,7 +419,7 @@ public void sendViaIridium(String destination, IMCMessage message, ResultWaiter private void sendDeviceActivationViaIridiumIfNeeded(String destinationName) { LocalDateTime lastSent = lastIridiumMessageSent.get(destinationName); - if (lastSent == null || lastSent.plusMinutes(minutesBetweenDeviceActivationSendMinutes).isAfter(LocalDateTime.now())) { + if (lastSent == null || lastSent.plusMinutes(minutesBetweenDeviceActivationSendMinutes).isBefore(LocalDateTime.now())) { lastIridiumMessageSent.put(destinationName, LocalDateTime.now()); int src = ImcMsgManager.getManager().getLocalId().intValue(); int dst = IMCDefinition.getInstance().getResolver().resolve(destinationName); From 0125fb03d492cec3e4f5a8a003af7721991f56ac Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 15 Jul 2024 11:35:34 +0100 Subject: [PATCH 24/92] comms/iridium/RockBlockIridiumMessenger: Time ordering received messages before pushing to internal bus. --- .../pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index c592a1088e..54170cf203 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -322,6 +322,7 @@ else if (m.getContent() instanceof MimeMultipart) { return new Vector<>(); } + messages.sort((m1, m2) -> Long.compare(m1.timestampMillis, m2.timestampMillis)); return messages; } From 4bc2d7428653b93fd73e024dd3794ad44a731862 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 18 Jul 2024 18:26:48 +0100 Subject: [PATCH 25/92] comm/iridium/IridiumMessage: Added new ImcFullIridiumMessage to serialize an IMC message with the header also. --- .../comm/iridium/ImcFullIridiumMessage.java | 94 +++++++++++++++++++ .../comm/iridium/ImcIridiumMessage.java | 8 +- .../neptus/comm/iridium/IridiumMessage.java | 1 + 3 files changed, 101 insertions(+), 2 deletions(-) create mode 100644 src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java diff --git a/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java new file mode 100644 index 0000000000..7437961fb4 --- /dev/null +++ b/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java @@ -0,0 +1,94 @@ +/* + * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) + * All rights reserved. + * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal + * + * This file is part of Neptus, Command and Control Framework. + * + * Commercial Licence Usage + * Licencees holding valid commercial Neptus licences may use this file + * in accordance with the commercial licence agreement provided with the + * Software or, alternatively, in accordance with the terms contained in a + * written agreement between you and Universidade do Porto. For licensing + * terms, conditions, and further information contact lsts@fe.up.pt. + * + * Modified European Union Public Licence - EUPL v.1.1 Usage + * Alternatively, this file may be used under the terms of the Modified EUPL, + * Version 1.1 only (the "Licence"), appearing in the file LICENSE.md + * included in the packaging of this file. You may not use this work + * except in compliance with the Licence. Unless required by applicable + * law or agreed to in writing, software distributed under the Licence is + * distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF + * ANY KIND, either express or implied. See the Licence for the specific + * language governing permissions and limitations at + * https://github.com/LSTS/neptus/blob/develop/LICENSE.md + * and http://ec.europa.eu/idabc/eupl.html. + * + * For more information please see . + * + * Author: pdias + * 18 Jul, 2024 + */ +package pt.lsts.neptus.comm.iridium; + +import pt.lsts.imc.IMCDefinition; +import pt.lsts.imc.IMCInputStream; +import pt.lsts.imc.IMCMessage; +import pt.lsts.imc.IMCOutputStream; + +import java.util.Collection; +import java.util.Vector; + +/** + * @author pdias + * + */ +public class ImcFullIridiumMessage extends ImcIridiumMessage { + + protected IMCMessage msg; + + // 5 bytes for RB addressing, 6 bytes for type and timestamp, 6 bytes for IMC header + public static int MaxPayloadSize = 270 - 17; + + public ImcFullIridiumMessage() { + super(2013); + } + + @Override + public int serializeFields(IMCOutputStream out) throws Exception { + if (msg != null) { + IMCDefinition.getInstance().serialize(msg, out); + timestampMillis = msg.getTimestampMillis(); + int size = IMCDefinition.getInstance().serializationSize(msg); + return size; + } + return 0; + } + + @Override + public int deserializeFields(IMCInputStream in) throws Exception { + try { + msg = IMCDefinition.getInstance().unserialize(in); + timestampMillis = msg.getTimestampMillis(); + setSource(msg.getSrc()); + setDestination(msg.getDst()); + } + catch (Exception e) { + e.printStackTrace(); + } + return IMCDefinition.getInstance().serializationSize(msg); + } + + @Override + public Collection asImc() { + Vector vec = new Vector<>(); + if (msg != null) + vec.add(msg); + + //msg.setSrc(getSource()); + //msg.setDst(getDestination()); + //msg.setTimestampMillis(timestampMillis); + return vec; + } +} diff --git a/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java index 849798559a..2d3cac956f 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/ImcIridiumMessage.java @@ -53,8 +53,12 @@ public class ImcIridiumMessage extends IridiumMessage { public ImcIridiumMessage() { super(2010); - } - + } + + protected ImcIridiumMessage(int msgType) { + super(msgType); + } + @Override public int serializeFields(IMCOutputStream out) throws Exception { if (msg != null) { diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java index 937ec6fc18..32e699b116 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java @@ -70,6 +70,7 @@ public IridiumMessage(int msgType) { iridiumTypes.put(2010, ImcIridiumMessage.class); iridiumTypes.put(2011, ExtendedDeviceUpdate.class); iridiumTypes.put(2012, UpdateDeviceActivation.class); + iridiumTypes.put(2013, ImcFullIridiumMessage.class); } public byte[] serialize() throws Exception { From a2e2b16b848325fda8195866d6a10d62baa140d4 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 23 Jul 2024 11:42:18 +0100 Subject: [PATCH 26/92] conf/params/caravel: Updated parameters. # Conflicts: # conf/params/caravel.en_US.xml # conf/params/caravel.pt_PT.xml --- conf/params/caravel.en_US.xml | 1575 ++++++--------------------------- conf/params/caravel.pt_PT.xml | 1575 ++++++--------------------------- 2 files changed, 560 insertions(+), 2590 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 8f620c5116..66fb1c4279 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -451,6 +451,15 @@ + + Minimum Turning Error + real + developer + global + 25 + ° + Minimum heading error to consider vessel is turning (in degrees). +
@@ -864,7 +873,7 @@ string developer global - AirMar220WX + Entity label of 'AbsoluteWind' message @@ -873,7 +882,7 @@ string developer global - HemisphereGPS + GPS Entity label of 'Displacement' message @@ -1330,6 +1339,28 @@ Roll rate above which measurement is discarded. + + Corridor -- Width + real + developer + global + 5.0 + m + Width of corridor for attack entry angle + 1.0 + 50.0 + + + Corridor -- Entry Angle + real + developer + global + 15 + ° + Attack angle when lateral track error equals corridor width + 2 + 45 +
@@ -2068,82 +2099,6 @@ None, Debug, Trace, Spew
-
- - Entity Label - string - developer - global - CPU Scaling - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Set CPU In Mode - string - developer - global - powersave - - Set CPU In Mode. - - - Use Linux Liquorix - boolean - developer - global - false - - Use Linux Liquorix. - - - Set Maximum CPU Frequency in MHz - integer - developer - global - 500 - - Set Maximum CPU Frequency in MHz. - -
Entity Label @@ -2865,6 +2820,15 @@ Input timeout before error is thrown. 0.0 + + Reference Change Distance + real + developer + global + 20000.0 + m + Distance needed for reference change. +
@@ -3255,7 +3219,7 @@ string developer global - uart:///dev/ttyS2:115200 + uart:///dev/ttyCPC:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3268,6 +3232,15 @@ Offset for the Voltage readings. + + Use LIDB for Iridium + boolean + developer + global + false + + Use LIDB for Iridium communication. + Operation Mode string @@ -3399,37 +3372,19 @@ string developer global - CPU1 + Private (CPU-MAIN) Power Channel Entity Label - - Power Channel 1 Turn On - boolean - developer - global - true - - Power Channel State - Power Channel 2 Entity Label string developer global - CPU2 + Private (CPU-AUX) Power Channel Entity Label - - Power Channel 2 Turn On - boolean - developer - global - false - - Power Channel State - Power Channel 3 Entity Label string @@ -3444,7 +3399,7 @@ boolean developer global - false + true Power Channel State @@ -3471,7 +3426,7 @@ string developer global - ETH + Private (ETH) Power Channel Entity Label @@ -3480,7 +3435,7 @@ boolean developer global - true + false Power Channel State @@ -3498,7 +3453,7 @@ boolean developer global - true + false Power Channel State @@ -3561,7 +3516,7 @@ string developer global - ECHOTRIP + Private (ECHOTRIP) Power Channel Entity Label @@ -3579,7 +3534,7 @@ string developer global - OXYGEN + Private (OXYGEN) Power Channel Entity Label @@ -3597,7 +3552,7 @@ string developer global - AIRMAR + Private (AIRMAR) Power Channel Entity Label @@ -3606,7 +3561,7 @@ boolean developer global - true + false Power Channel State @@ -3615,7 +3570,7 @@ string developer global - CTD + Private (CTD_P) Power Channel Entity Label @@ -3633,7 +3588,7 @@ string developer global - FLED + LED Power Channel Entity Label @@ -3651,7 +3606,7 @@ string developer global - ADCP_P + Private (DCP_P) Power Channel Entity Label @@ -3669,7 +3624,7 @@ string developer global - SPOT + Private (SPOT) Power Channel Entity Label @@ -3678,10 +3633,46 @@ boolean developer global + false + + Power Channel State + + + Power Channel 17 Entity Label + string + developer + global + ECHOMAX_P + + Power Channel Entity Label + + + Power Channel 17 Turn On + boolean + developer + global true Power Channel State + + Power Channel 18 Entity Label + string + developer + global + Private (MOBILE) + + Power Channel Entity Label + + + Power Channel 18 Turn On + boolean + developer + global + false + + Power Channel State + Power Data 1 Entity Label string @@ -3804,7 +3795,7 @@ string developer global - IMU + AHRS_P Power Data Label @@ -3831,7 +3822,7 @@ string developer global - CPU2 + CPU-AUX Power Data Label @@ -3840,7 +3831,7 @@ string developer global - CPU1 + CPU-MAIN Power Data Label @@ -3853,14 +3844,32 @@ Timeout Connection to CPC + + Is Main CPU + boolean + developer + global + false + + Is Main CPU + + + Set CPC to use NAV and Iridium at Boot + boolean + developer + global + false + + Set CPC to use NAV and Iridium at Boot. +
-
+
Entity Label string developer global - AIS + GPS Main entity label @@ -3878,7 +3887,7 @@ integer developer global - 10.0 + 30.0 @@ -3934,9 +3943,39 @@ string developer global - uart:///dev/ttyS10:38400 + uart:///dev/ttyS10:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 - Serial port device used to communicate with the sensor + Acquisition Frequency + 0 + 5 Initialization String 0 - Command @@ -4028,1012 +4067,80 @@ - - Sentence Order - list:string + + Initialization String 5 - Command + string developer global - Sentence order - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 + - - AIS Error - Max - integer + + Initialization String 5 - Reply + string developer global - 3 + - Max erros for Ais messages parser + - - AIS Error - Interval - real + + Initialization String 6 - Command + string developer global - 10.0 + - Invertal for checking AIS errors + - - Power Channel + + Initialization String 6 - Reply string developer global - Power Channel + - - Log messages - boolean + + Initialization String 7 - Command + string developer global - false + - Add messages received to logs + -
-
- - Entity Label + + Initialization String 7 - Reply string developer global - AirMar120WX + - Main entity label + - - Execution Priority - integer + + Initialization String 8 - Command + string developer global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 5.0 - - - - - Deactivation Time - integer - developer - global - 5.0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS8:4800 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 - - - Angle offset - real - developer - global - 5 - ° - Angle offset for relative wind - -
-
- - Entity Label - string - developer - global - Fluorometers - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - maneuver - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - user - - Visibility of the 'Active' parameter - - - Active - boolean - user - maneuver - 1 - - True to activate task, false otherwise - - - Serial Port - Device - string - developer - global - /dev/ttyS11 - - Serial port device used to communicate with the sensor - - - Serial Port - Baud Rate - integer - developer - global - 19200 - - Serial port Baud Rate - - - Input Timeout - real - developer - global - 5.0 - s - Amount of seconds to wait for data before reporting an error - 2.0 - - - Device Serial Number - string - developer - global - BBFL2W-8379 - - Device's serial number. Required to check communication with device. - - - CDOM -- Dark Counts - integer - developer - global - 62 - - Signal output of the meter in clean water with black tape over detector - - - CDOM -- Scale Factor - real - developer - global - 0.0916 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Chlorophyll -- Dark Counts - integer - developer - global - 49 - - Signal output of the meter in clean water with black tape over detector - - - Chlorophyll -- Scale Factor - real - developer - global - 0.0073 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Turbidity -- Dark Counts - integer - developer - global - 51 - - Signal output of the meter in clean water with black tape over detector - - - Turbidity -- Scale Factor - real - developer - global - 0.0024 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Sampling Duration - real - user - maneuver - 0.0 - - Sampling duration in seconds - - - Sampling Period - real - user - maneuver - 0.0 - - Sampling period in seconds - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Entity Label - string - developer - global - GPS - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 30.0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS9:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 - - Acquisition Frequency - 0 - 5 - - - Initialization String 0 - Command - string - developer - global - - - - - - Initialization String 0 - Reply - string - developer - global - - - - - - Initialization String 1 - Command - string - developer - global - - - - - - Initialization String 1 - Reply - string - developer - global - - - - - - Initialization String 2 - Command - string - developer - global - - - - - - Initialization String 2 - Reply - string - developer - global - - - - - - Initialization String 3 - Command - string - developer - global - - - - - - Initialization String 3 - Reply - string - developer - global - - - - - - Initialization String 4 - Command - string - developer - global - - - - - - Initialization String 4 - Reply - string - developer - global - - - - - - Initialization String 5 - Command - string - developer - global - - - - - - Initialization String 5 - Reply - string - developer - global - - - - - - Initialization String 6 - Command - string - developer - global - - - - - - Initialization String 6 - Reply - string - developer - global - - - - - - Initialization String 7 - Command - string - developer - global - - - - - - Initialization String 7 - Reply - string - developer - global - - - - - - Initialization String 8 - Command - string - developer - global - - - - - - Initialization String 8 - Reply - string - developer - global - - - - - - Initialization String 9 - Command - string - developer - global - - - - - - Initialization String 9 - Reply - string - developer - global - - - - -
-
- - Entity Label - string - developer - global - AHRS - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 20.0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS4 - - IO device URI in the form "uart://DEVICE".This device has only one baud rate. - - - Power Channel - Name - string - developer - global - - - Name of the power channel - - - Hard-Iron Calibration - list:real - developer - global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 - - - Output Frequency - integer - developer - global - 20 - Hz - Output frequency - 1 - 127 - - - Raw Data - boolean - developer - global - false - - Set to true to enable raw data output - - - Rotation Matrix - list:real - developer - global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - - Rotation matrix which is dependent of the mounting position - 9 - - - Timeout - Error - real - developer - global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 - - - Timeout - Failure - real - developer - global - 6.0 - s - Number of seconds without data before restarting task - 1.0 - - - Last Calibration Time - string - user - global - N/A - - Date of last successful calibration - -
-
- - Entity Label - string - developer - global - ADCP - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 5 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS6:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Initialization String 0 - Command - string - developer - global - SETDEFAULT,ALL - - - - - Initialization String 1 - Command - string - developer - global - SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n - - - - - Initialization String 2 - Command - string - developer - global - SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n - - - - - Initialization String 3 - Command - string - developer - global - SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n - - - - - Initialization String 4 - Command - string - developer - global - SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n - - - - - Initialization String 5 - Command - string - developer - global - SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n - - - - - Initialization String 6 - Command - string - developer - global - SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + - - Initialization String 7 - Command + + Initialization String 8 - Reply string developer global - SAVE,ALL\r\n + - - Initialization String 8 - Command + + Initialization String 9 - Command string developer global @@ -5041,8 +4148,8 @@ - - Initialization String 9 - Command + + Initialization String 9 - Reply string developer global @@ -5051,13 +4158,13 @@
-
+
Entity Label string developer global - Dissolved Oxygen + AHRS Main entity label @@ -5066,7 +4173,7 @@ integer developer global - 20 + 10 Execution priority @@ -5075,7 +4182,7 @@ integer developer global - 60 + 20.0 @@ -5131,238 +4238,87 @@ string developer global - uart:///dev/ttyS7:9600 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Measurement String Identifier - string - developer - global - 4835 - - Measurement command string identifier - - - Entity Label - Temperature - string - developer - global - CTD Temperature - - Entity label of the CTD - - - Entity Label - Depth - string - developer - global - CTD Depth - - Entity label of the CTD - - - Entity Label - Salinity - string - developer - global - CTD Salinity + uart:///dev/ttyS9 - Entity label of the CTD + IO device URI in the form "uart://DEVICE".This device has only one baud rate. Power Channel - Name string developer global - Dissolved Oxygen - - - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Entity Label - string - developer - global - CTD - - Main entity label - - - Execution Priority - integer - developer - global - 10 + - Execution priority + Name of the power channel - - Activation Time - integer + + Hard-Iron Calibration + list:real developer global - 10.0 - - + 0.0, 0.0, 0.0 + G + Hard-Iron calibration parameters + 3 - - Deactivation Time + + Output Frequency integer developer global - 0 - - + 20 + Hz + Output frequency + 1 + 127 - - Debug Level - string + + Raw Data + boolean developer global - None + false - - None, Debug, Trace, Spew - None, Debug, Trace, Spew + Set to true to enable raw data output - - Active - Scope - string + + Rotation Matrix + list:real developer global - global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - Scoped of the 'Active' parameter + Rotation matrix which is dependent of the mounting position + 9 - - Active - Visibility - string + + Timeout - Error + real developer global - developer - - Visibility of the 'Active' parameter + 3.0 + s + Number of seconds without data before reporting an error + 1.0 - - Active - boolean + + Timeout - Failure + real developer global - 1 - - True to activate task, false otherwise + 6.0 + s + Number of seconds without data before restarting task + 1.0 - - IO Port - Device + + Last Calibration Time string - developer - global - uart:///dev/ttyS5:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Start Acquisition - boolean - user - maneuver - true - - Controls sensor activation/deactivation - - - Sample Period (ms) - integer - user - global - 125 - ms - Sample period in milliseconds - - - Sample Time Duration - integer - user - maneuver - 5 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer user - maneuver - 20 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Power Channel - Name - string - developer - global - RBRlegato3 - - - - - Input Timeout - real - developer global - 26 + N/A - Input timeout + Date of last successful calibration
@@ -6290,7 +5246,7 @@ list:string developer global - CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage + CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed List of messages to transport @@ -6487,7 +5443,7 @@ string developer global - /dev/ttyS3 + /dev/ttyS8 Serial port device used to communicate with the modem @@ -6545,6 +5501,35 @@ Serial port baud rate for 9523N Module + + Address Section + string + developer + global + Iridium Addresses + + Name of the configuration section with modem addresses + + + Transmission Window + real + user + global + 100 + + Window to prioritize Transmission over Reception + 5 + + + Reception Window + real + user + global + 100 + + Window to prioritize Reception over Transmission + 5 +
@@ -6684,7 +5669,7 @@ list:string developer global - Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, CurrentProfile, CurrentProfileCell, Displacement, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed @@ -6841,7 +5826,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation List of messages to transport diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 5c165d6327..bfda4923ca 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -451,6 +451,15 @@ + + Minimum Turning Error + real + developer + global + 25 + ° + Minimum heading error to consider vessel is turning (in degrees). +
@@ -864,7 +873,7 @@ string developer global - AirMar220WX + Entity label of 'AbsoluteWind' message @@ -873,7 +882,7 @@ string developer global - HemisphereGPS + GPS Entity label of 'Displacement' message @@ -1330,6 +1339,28 @@ Roll rate above which measurement is discarded. + + Corridor -- Width + real + developer + global + 5.0 + m + Width of corridor for attack entry angle + 1.0 + 50.0 + + + Corridor -- Entry Angle + real + developer + global + 15 + ° + Attack angle when lateral track error equals corridor width + 2 + 45 +
@@ -2068,82 +2099,6 @@ None, Debug, Trace, Spew
-
- - Nome da Entidade - string - developer - global - CPU Scaling - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Set CPU In Mode - string - developer - global - powersave - - Set CPU In Mode. - - - Use Linux Liquorix - boolean - developer - global - false - - Use Linux Liquorix. - - - Set Maximum CPU Frequency in MHz - integer - developer - global - 500 - - Set Maximum CPU Frequency in MHz. - -
Nome da Entidade @@ -2865,6 +2820,15 @@ Input timeout before error is thrown. 0.0 + + Reference Change Distance + real + developer + global + 20000.0 + m + Distance needed for reference change. +
@@ -3255,7 +3219,7 @@ string developer global - uart:///dev/ttyS2:115200 + uart:///dev/ttyCPC:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3268,6 +3232,15 @@ Offset for the Voltage readings. + + Use LIDB for Iridium + boolean + developer + global + false + + Use LIDB for Iridium communication. + Operation Mode string @@ -3399,37 +3372,19 @@ string developer global - CPU1 + Private (CPU-MAIN) Power Channel Entity Label - - Power Channel 1 Turn On - boolean - developer - global - true - - Power Channel State - Power Channel 2 Entity Label string developer global - CPU2 + Private (CPU-AUX) Power Channel Entity Label - - Power Channel 2 Turn On - boolean - developer - global - false - - Power Channel State - Power Channel 3 Entity Label string @@ -3444,7 +3399,7 @@ boolean developer global - false + true Power Channel State @@ -3471,7 +3426,7 @@ string developer global - ETH + Private (ETH) Power Channel Entity Label @@ -3480,7 +3435,7 @@ boolean developer global - true + false Power Channel State @@ -3498,7 +3453,7 @@ boolean developer global - true + false Power Channel State @@ -3561,7 +3516,7 @@ string developer global - ECHOTRIP + Private (ECHOTRIP) Power Channel Entity Label @@ -3579,7 +3534,7 @@ string developer global - OXYGEN + Private (OXYGEN) Power Channel Entity Label @@ -3597,7 +3552,7 @@ string developer global - AIRMAR + Private (AIRMAR) Power Channel Entity Label @@ -3606,7 +3561,7 @@ boolean developer global - true + false Power Channel State @@ -3615,7 +3570,7 @@ string developer global - CTD + Private (CTD_P) Power Channel Entity Label @@ -3633,7 +3588,7 @@ string developer global - FLED + LED Power Channel Entity Label @@ -3651,7 +3606,7 @@ string developer global - ADCP_P + Private (DCP_P) Power Channel Entity Label @@ -3669,7 +3624,7 @@ string developer global - SPOT + Private (SPOT) Power Channel Entity Label @@ -3678,10 +3633,46 @@ boolean developer global + false + + Power Channel State + + + Power Channel 17 Entity Label + string + developer + global + ECHOMAX_P + + Power Channel Entity Label + + + Power Channel 17 Turn On + boolean + developer + global true Power Channel State + + Power Channel 18 Entity Label + string + developer + global + Private (MOBILE) + + Power Channel Entity Label + + + Power Channel 18 Turn On + boolean + developer + global + false + + Power Channel State + Power Data 1 Entity Label string @@ -3804,7 +3795,7 @@ string developer global - IMU + AHRS_P Power Data Label @@ -3831,7 +3822,7 @@ string developer global - CPU2 + CPU-AUX Power Data Label @@ -3840,7 +3831,7 @@ string developer global - CPU1 + CPU-MAIN Power Data Label @@ -3853,14 +3844,32 @@ Timeout Connection to CPC + + Is Main CPU + boolean + developer + global + false + + Is Main CPU + + + Set CPC to use NAV and Iridium at Boot + boolean + developer + global + false + + Set CPC to use NAV and Iridium at Boot. +
-
+
Nome da Entidade string developer global - AIS + GPS Nome principal da entidade @@ -3878,7 +3887,7 @@ integer developer global - 10.0 + 30.0 @@ -3934,9 +3943,39 @@ string developer global - uart:///dev/ttyS10:38400 + uart:///dev/ttyS10:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 - Serial port device used to communicate with the sensor + Acquisition Frequency + 0 + 5 Initialization String 0 - Command @@ -4028,1012 +4067,80 @@ - - Sentence Order - list:string + + Initialization String 5 - Command + string developer global - Sentence order - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 + - - AIS Error - Max - integer + + Initialization String 5 - Reply + string developer global - 3 + - Max erros for Ais messages parser + - - AIS Error - Interval - real + + Initialization String 6 - Command + string developer global - 10.0 + - Invertal for checking AIS errors + - - Power Channel + + Initialization String 6 - Reply string developer global - Power Channel + - - Log messages - boolean + + Initialization String 7 - Command + string developer global - false + - Add messages received to logs + -
-
- - Nome da Entidade + + Initialization String 7 - Reply string developer global - AirMar120WX + - Nome principal da entidade + - - Prioridade de Execução - integer + + Initialization String 8 - Command + string developer global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 5.0 - - - - - Tempo de Desativação - integer - developer - global - 5.0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS8:4800 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 - - - Angle offset - real - developer - global - 5 - ° - Angle offset for relative wind - -
-
- - Nome da Entidade - string - developer - global - Fluorometers - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - maneuver - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - user - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - user - maneuver - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - Serial Port - Device - string - developer - global - /dev/ttyS11 - - Serial port device used to communicate with the sensor - - - Serial Port - Baud Rate - integer - developer - global - 19200 - - Serial port Baud Rate - - - Input Timeout - real - developer - global - 5.0 - s - Amount of seconds to wait for data before reporting an error - 2.0 - - - Device Serial Number - string - developer - global - BBFL2W-8379 - - Device's serial number. Required to check communication with device. - - - CDOM -- Dark Counts - integer - developer - global - 62 - - Signal output of the meter in clean water with black tape over detector - - - CDOM -- Scale Factor - real - developer - global - 0.0916 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Chlorophyll -- Dark Counts - integer - developer - global - 49 - - Signal output of the meter in clean water with black tape over detector - - - Chlorophyll -- Scale Factor - real - developer - global - 0.0073 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Turbidity -- Dark Counts - integer - developer - global - 51 - - Signal output of the meter in clean water with black tape over detector - - - Turbidity -- Scale Factor - real - developer - global - 0.0024 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Sampling Duration - real - user - maneuver - 0.0 - - Sampling duration in seconds - - - Sampling Period - real - user - maneuver - 0.0 - - Sampling period in seconds - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Nome da Entidade - string - developer - global - GPS - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 30.0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS9:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 - - Acquisition Frequency - 0 - 5 - - - Initialization String 0 - Command - string - developer - global - - - - - - Initialization String 0 - Reply - string - developer - global - - - - - - Initialization String 1 - Command - string - developer - global - - - - - - Initialization String 1 - Reply - string - developer - global - - - - - - Initialization String 2 - Command - string - developer - global - - - - - - Initialization String 2 - Reply - string - developer - global - - - - - - Initialization String 3 - Command - string - developer - global - - - - - - Initialization String 3 - Reply - string - developer - global - - - - - - Initialization String 4 - Command - string - developer - global - - - - - - Initialization String 4 - Reply - string - developer - global - - - - - - Initialization String 5 - Command - string - developer - global - - - - - - Initialization String 5 - Reply - string - developer - global - - - - - - Initialization String 6 - Command - string - developer - global - - - - - - Initialization String 6 - Reply - string - developer - global - - - - - - Initialization String 7 - Command - string - developer - global - - - - - - Initialization String 7 - Reply - string - developer - global - - - - - - Initialization String 8 - Command - string - developer - global - - - - - - Initialization String 8 - Reply - string - developer - global - - - - - - Initialization String 9 - Command - string - developer - global - - - - - - Initialization String 9 - Reply - string - developer - global - - - - -
-
- - Nome da Entidade - string - developer - global - AHRS - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 20.0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS4 - - IO device URI in the form "uart://DEVICE".This device has only one baud rate. - - - Power Channel - Name - string - developer - global - - - Name of the power channel - - - Hard-Iron Calibration - list:real - developer - global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 - - - Output Frequency - integer - developer - global - 20 - Hz - Output frequency - 1 - 127 - - - Raw Data - boolean - developer - global - false - - Set to true to enable raw data output - - - Rotation Matrix - list:real - developer - global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - - Rotation matrix which is dependent of the mounting position - 9 - - - Timeout - Error - real - developer - global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 - - - Timeout - Failure - real - developer - global - 6.0 - s - Number of seconds without data before restarting task - 1.0 - - - Last Calibration Time - string - user - global - N/A - - Date of last successful calibration - -
-
- - Nome da Entidade - string - developer - global - ADCP - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 5 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS6:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Initialization String 0 - Command - string - developer - global - SETDEFAULT,ALL - - - - - Initialization String 1 - Command - string - developer - global - SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n - - - - - Initialization String 2 - Command - string - developer - global - SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n - - - - - Initialization String 3 - Command - string - developer - global - SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n - - - - - Initialization String 4 - Command - string - developer - global - SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n - - - - - Initialization String 5 - Command - string - developer - global - SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n - - - - - Initialization String 6 - Command - string - developer - global - SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + - - Initialization String 7 - Command + + Initialization String 8 - Reply string developer global - SAVE,ALL\r\n + - - Initialization String 8 - Command + + Initialization String 9 - Command string developer global @@ -5041,8 +4148,8 @@ - - Initialization String 9 - Command + + Initialization String 9 - Reply string developer global @@ -5051,13 +4158,13 @@
-
+
Nome da Entidade string developer global - Dissolved Oxygen + AHRS Nome principal da entidade @@ -5066,7 +4173,7 @@ integer developer global - 20 + 10 Prioridade de execução @@ -5075,7 +4182,7 @@ integer developer global - 60 + 20.0 @@ -5131,238 +4238,87 @@ string developer global - uart:///dev/ttyS7:9600 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Measurement String Identifier - string - developer - global - 4835 - - Measurement command string identifier - - - Entity Label - Temperature - string - developer - global - CTD Temperature - - Entity label of the CTD - - - Entity Label - Depth - string - developer - global - CTD Depth - - Entity label of the CTD - - - Entity Label - Salinity - string - developer - global - CTD Salinity + uart:///dev/ttyS9 - Entity label of the CTD + IO device URI in the form "uart://DEVICE".This device has only one baud rate. Power Channel - Name string developer global - Dissolved Oxygen - - - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Nome da Entidade - string - developer - global - CTD - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 + - Prioridade de execução + Name of the power channel - - Tempo de Ativação - integer + + Hard-Iron Calibration + list:real developer global - 10.0 - - + 0.0, 0.0, 0.0 + G + Hard-Iron calibration parameters + 3 - - Tempo de Desativação + + Output Frequency integer developer global - 0 - - + 20 + Hz + Output frequency + 1 + 127 - - Nível de Depuração - string + + Raw Data + boolean developer global - None + false - - None, Debug, Trace, Spew - None, Debug, Trace, Spew + Set to true to enable raw data output - - Ativa - Escopo - string + + Rotation Matrix + list:real developer global - global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - Escopo do parâmetro 'Ativa' + Rotation matrix which is dependent of the mounting position + 9 - - Ativa - Visibilidade - string + + Timeout - Error + real developer global - developer - - Visibilidade do parâmetro 'Ativa' + 3.0 + s + Number of seconds without data before reporting an error + 1.0 - - Ativa - boolean + + Timeout - Failure + real developer global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário + 6.0 + s + Number of seconds without data before restarting task + 1.0 - - IO Port - Device + + Last Calibration Time string - developer - global - uart:///dev/ttyS5:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Start Acquisition - boolean - user - maneuver - true - - Controls sensor activation/deactivation - - - Sample Period (ms) - integer - user - global - 125 - ms - Sample period in milliseconds - - - Sample Time Duration - integer - user - maneuver - 5 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer user - maneuver - 20 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Power Channel - Name - string - developer - global - RBRlegato3 - - - - - Input Timeout - real - developer global - 26 + N/A - Input timeout + Date of last successful calibration
@@ -6290,7 +5246,7 @@ list:string developer global - CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage + CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed List of messages to transport @@ -6487,7 +5443,7 @@ string developer global - /dev/ttyS3 + /dev/ttyS8 Serial port device used to communicate with the modem @@ -6545,6 +5501,35 @@ Serial port baud rate for 9523N Module + + Address Section + string + developer + global + Iridium Addresses + + Name of the configuration section with modem addresses + + + Transmission Window + real + user + global + 100 + + Window to prioritize Transmission over Reception + 5 + + + Reception Window + real + user + global + 100 + + Window to prioritize Reception over Transmission + 5 +
@@ -6684,7 +5669,7 @@ list:string developer global - Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, CurrentProfile, CurrentProfileCell, Displacement, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed @@ -6841,7 +5826,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation List of messages to transport From fa15ec2d06b591caf114053a1eabbeaafccc7f80 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 23 Jul 2024 11:31:54 +0100 Subject: [PATCH 27/92] conf/params/caravel: Updated parameters. # Conflicts: # conf/params/caravel.en_US.xml # conf/params/caravel.pt_PT.xml --- conf/params/caravel.en_US.xml | 1575 ++++++--------------------------- conf/params/caravel.pt_PT.xml | 1575 ++++++--------------------------- 2 files changed, 560 insertions(+), 2590 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 8f620c5116..66fb1c4279 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -451,6 +451,15 @@ + + Minimum Turning Error + real + developer + global + 25 + ° + Minimum heading error to consider vessel is turning (in degrees). +
@@ -864,7 +873,7 @@ string developer global - AirMar220WX + Entity label of 'AbsoluteWind' message @@ -873,7 +882,7 @@ string developer global - HemisphereGPS + GPS Entity label of 'Displacement' message @@ -1330,6 +1339,28 @@ Roll rate above which measurement is discarded. + + Corridor -- Width + real + developer + global + 5.0 + m + Width of corridor for attack entry angle + 1.0 + 50.0 + + + Corridor -- Entry Angle + real + developer + global + 15 + ° + Attack angle when lateral track error equals corridor width + 2 + 45 +
@@ -2068,82 +2099,6 @@ None, Debug, Trace, Spew
-
- - Entity Label - string - developer - global - CPU Scaling - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Set CPU In Mode - string - developer - global - powersave - - Set CPU In Mode. - - - Use Linux Liquorix - boolean - developer - global - false - - Use Linux Liquorix. - - - Set Maximum CPU Frequency in MHz - integer - developer - global - 500 - - Set Maximum CPU Frequency in MHz. - -
Entity Label @@ -2865,6 +2820,15 @@ Input timeout before error is thrown. 0.0 + + Reference Change Distance + real + developer + global + 20000.0 + m + Distance needed for reference change. +
@@ -3255,7 +3219,7 @@ string developer global - uart:///dev/ttyS2:115200 + uart:///dev/ttyCPC:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3268,6 +3232,15 @@ Offset for the Voltage readings. + + Use LIDB for Iridium + boolean + developer + global + false + + Use LIDB for Iridium communication. + Operation Mode string @@ -3399,37 +3372,19 @@ string developer global - CPU1 + Private (CPU-MAIN) Power Channel Entity Label - - Power Channel 1 Turn On - boolean - developer - global - true - - Power Channel State - Power Channel 2 Entity Label string developer global - CPU2 + Private (CPU-AUX) Power Channel Entity Label - - Power Channel 2 Turn On - boolean - developer - global - false - - Power Channel State - Power Channel 3 Entity Label string @@ -3444,7 +3399,7 @@ boolean developer global - false + true Power Channel State @@ -3471,7 +3426,7 @@ string developer global - ETH + Private (ETH) Power Channel Entity Label @@ -3480,7 +3435,7 @@ boolean developer global - true + false Power Channel State @@ -3498,7 +3453,7 @@ boolean developer global - true + false Power Channel State @@ -3561,7 +3516,7 @@ string developer global - ECHOTRIP + Private (ECHOTRIP) Power Channel Entity Label @@ -3579,7 +3534,7 @@ string developer global - OXYGEN + Private (OXYGEN) Power Channel Entity Label @@ -3597,7 +3552,7 @@ string developer global - AIRMAR + Private (AIRMAR) Power Channel Entity Label @@ -3606,7 +3561,7 @@ boolean developer global - true + false Power Channel State @@ -3615,7 +3570,7 @@ string developer global - CTD + Private (CTD_P) Power Channel Entity Label @@ -3633,7 +3588,7 @@ string developer global - FLED + LED Power Channel Entity Label @@ -3651,7 +3606,7 @@ string developer global - ADCP_P + Private (DCP_P) Power Channel Entity Label @@ -3669,7 +3624,7 @@ string developer global - SPOT + Private (SPOT) Power Channel Entity Label @@ -3678,10 +3633,46 @@ boolean developer global + false + + Power Channel State + + + Power Channel 17 Entity Label + string + developer + global + ECHOMAX_P + + Power Channel Entity Label + + + Power Channel 17 Turn On + boolean + developer + global true Power Channel State + + Power Channel 18 Entity Label + string + developer + global + Private (MOBILE) + + Power Channel Entity Label + + + Power Channel 18 Turn On + boolean + developer + global + false + + Power Channel State + Power Data 1 Entity Label string @@ -3804,7 +3795,7 @@ string developer global - IMU + AHRS_P Power Data Label @@ -3831,7 +3822,7 @@ string developer global - CPU2 + CPU-AUX Power Data Label @@ -3840,7 +3831,7 @@ string developer global - CPU1 + CPU-MAIN Power Data Label @@ -3853,14 +3844,32 @@ Timeout Connection to CPC + + Is Main CPU + boolean + developer + global + false + + Is Main CPU + + + Set CPC to use NAV and Iridium at Boot + boolean + developer + global + false + + Set CPC to use NAV and Iridium at Boot. +
-
+
Entity Label string developer global - AIS + GPS Main entity label @@ -3878,7 +3887,7 @@ integer developer global - 10.0 + 30.0 @@ -3934,9 +3943,39 @@ string developer global - uart:///dev/ttyS10:38400 + uart:///dev/ttyS10:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 - Serial port device used to communicate with the sensor + Acquisition Frequency + 0 + 5 Initialization String 0 - Command @@ -4028,1012 +4067,80 @@ - - Sentence Order - list:string + + Initialization String 5 - Command + string developer global - Sentence order - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 + - - AIS Error - Max - integer + + Initialization String 5 - Reply + string developer global - 3 + - Max erros for Ais messages parser + - - AIS Error - Interval - real + + Initialization String 6 - Command + string developer global - 10.0 + - Invertal for checking AIS errors + - - Power Channel + + Initialization String 6 - Reply string developer global - Power Channel + - - Log messages - boolean + + Initialization String 7 - Command + string developer global - false + - Add messages received to logs + -
-
- - Entity Label + + Initialization String 7 - Reply string developer global - AirMar120WX + - Main entity label + - - Execution Priority - integer + + Initialization String 8 - Command + string developer global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 5.0 - - - - - Deactivation Time - integer - developer - global - 5.0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS8:4800 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 - - - Angle offset - real - developer - global - 5 - ° - Angle offset for relative wind - -
-
- - Entity Label - string - developer - global - Fluorometers - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - maneuver - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - user - - Visibility of the 'Active' parameter - - - Active - boolean - user - maneuver - 1 - - True to activate task, false otherwise - - - Serial Port - Device - string - developer - global - /dev/ttyS11 - - Serial port device used to communicate with the sensor - - - Serial Port - Baud Rate - integer - developer - global - 19200 - - Serial port Baud Rate - - - Input Timeout - real - developer - global - 5.0 - s - Amount of seconds to wait for data before reporting an error - 2.0 - - - Device Serial Number - string - developer - global - BBFL2W-8379 - - Device's serial number. Required to check communication with device. - - - CDOM -- Dark Counts - integer - developer - global - 62 - - Signal output of the meter in clean water with black tape over detector - - - CDOM -- Scale Factor - real - developer - global - 0.0916 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Chlorophyll -- Dark Counts - integer - developer - global - 49 - - Signal output of the meter in clean water with black tape over detector - - - Chlorophyll -- Scale Factor - real - developer - global - 0.0073 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Turbidity -- Dark Counts - integer - developer - global - 51 - - Signal output of the meter in clean water with black tape over detector - - - Turbidity -- Scale Factor - real - developer - global - 0.0024 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Sampling Duration - real - user - maneuver - 0.0 - - Sampling duration in seconds - - - Sampling Period - real - user - maneuver - 0.0 - - Sampling period in seconds - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Entity Label - string - developer - global - GPS - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 30.0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS9:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 - - Acquisition Frequency - 0 - 5 - - - Initialization String 0 - Command - string - developer - global - - - - - - Initialization String 0 - Reply - string - developer - global - - - - - - Initialization String 1 - Command - string - developer - global - - - - - - Initialization String 1 - Reply - string - developer - global - - - - - - Initialization String 2 - Command - string - developer - global - - - - - - Initialization String 2 - Reply - string - developer - global - - - - - - Initialization String 3 - Command - string - developer - global - - - - - - Initialization String 3 - Reply - string - developer - global - - - - - - Initialization String 4 - Command - string - developer - global - - - - - - Initialization String 4 - Reply - string - developer - global - - - - - - Initialization String 5 - Command - string - developer - global - - - - - - Initialization String 5 - Reply - string - developer - global - - - - - - Initialization String 6 - Command - string - developer - global - - - - - - Initialization String 6 - Reply - string - developer - global - - - - - - Initialization String 7 - Command - string - developer - global - - - - - - Initialization String 7 - Reply - string - developer - global - - - - - - Initialization String 8 - Command - string - developer - global - - - - - - Initialization String 8 - Reply - string - developer - global - - - - - - Initialization String 9 - Command - string - developer - global - - - - - - Initialization String 9 - Reply - string - developer - global - - - - -
-
- - Entity Label - string - developer - global - AHRS - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 20.0 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS4 - - IO device URI in the form "uart://DEVICE".This device has only one baud rate. - - - Power Channel - Name - string - developer - global - - - Name of the power channel - - - Hard-Iron Calibration - list:real - developer - global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 - - - Output Frequency - integer - developer - global - 20 - Hz - Output frequency - 1 - 127 - - - Raw Data - boolean - developer - global - false - - Set to true to enable raw data output - - - Rotation Matrix - list:real - developer - global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - - Rotation matrix which is dependent of the mounting position - 9 - - - Timeout - Error - real - developer - global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 - - - Timeout - Failure - real - developer - global - 6.0 - s - Number of seconds without data before restarting task - 1.0 - - - Last Calibration Time - string - user - global - N/A - - Date of last successful calibration - -
-
- - Entity Label - string - developer - global - ADCP - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 5 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Active - Scope - string - developer - global - global - - Scoped of the 'Active' parameter - - - Active - Visibility - string - developer - global - developer - - Visibility of the 'Active' parameter - - - Active - boolean - developer - global - 1 - - True to activate task, false otherwise - - - IO Port - Device - string - developer - global - uart:///dev/ttyS6:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Initialization String 0 - Command - string - developer - global - SETDEFAULT,ALL - - - - - Initialization String 1 - Command - string - developer - global - SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n - - - - - Initialization String 2 - Command - string - developer - global - SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n - - - - - Initialization String 3 - Command - string - developer - global - SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n - - - - - Initialization String 4 - Command - string - developer - global - SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n - - - - - Initialization String 5 - Command - string - developer - global - SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n - - - - - Initialization String 6 - Command - string - developer - global - SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + - - Initialization String 7 - Command + + Initialization String 8 - Reply string developer global - SAVE,ALL\r\n + - - Initialization String 8 - Command + + Initialization String 9 - Command string developer global @@ -5041,8 +4148,8 @@ - - Initialization String 9 - Command + + Initialization String 9 - Reply string developer global @@ -5051,13 +4158,13 @@
-
+
Entity Label string developer global - Dissolved Oxygen + AHRS Main entity label @@ -5066,7 +4173,7 @@ integer developer global - 20 + 10 Execution priority @@ -5075,7 +4182,7 @@ integer developer global - 60 + 20.0 @@ -5131,238 +4238,87 @@ string developer global - uart:///dev/ttyS7:9600 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Measurement String Identifier - string - developer - global - 4835 - - Measurement command string identifier - - - Entity Label - Temperature - string - developer - global - CTD Temperature - - Entity label of the CTD - - - Entity Label - Depth - string - developer - global - CTD Depth - - Entity label of the CTD - - - Entity Label - Salinity - string - developer - global - CTD Salinity + uart:///dev/ttyS9 - Entity label of the CTD + IO device URI in the form "uart://DEVICE".This device has only one baud rate. Power Channel - Name string developer global - Dissolved Oxygen - - - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Entity Label - string - developer - global - CTD - - Main entity label - - - Execution Priority - integer - developer - global - 10 + - Execution priority + Name of the power channel - - Activation Time - integer + + Hard-Iron Calibration + list:real developer global - 10.0 - - + 0.0, 0.0, 0.0 + G + Hard-Iron calibration parameters + 3 - - Deactivation Time + + Output Frequency integer developer global - 0 - - + 20 + Hz + Output frequency + 1 + 127 - - Debug Level - string + + Raw Data + boolean developer global - None + false - - None, Debug, Trace, Spew - None, Debug, Trace, Spew + Set to true to enable raw data output - - Active - Scope - string + + Rotation Matrix + list:real developer global - global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - Scoped of the 'Active' parameter + Rotation matrix which is dependent of the mounting position + 9 - - Active - Visibility - string + + Timeout - Error + real developer global - developer - - Visibility of the 'Active' parameter + 3.0 + s + Number of seconds without data before reporting an error + 1.0 - - Active - boolean + + Timeout - Failure + real developer global - 1 - - True to activate task, false otherwise + 6.0 + s + Number of seconds without data before restarting task + 1.0 - - IO Port - Device + + Last Calibration Time string - developer - global - uart:///dev/ttyS5:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Start Acquisition - boolean - user - maneuver - true - - Controls sensor activation/deactivation - - - Sample Period (ms) - integer - user - global - 125 - ms - Sample period in milliseconds - - - Sample Time Duration - integer - user - maneuver - 5 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer user - maneuver - 20 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Power Channel - Name - string - developer - global - RBRlegato3 - - - - - Input Timeout - real - developer global - 26 + N/A - Input timeout + Date of last successful calibration
@@ -6290,7 +5246,7 @@ list:string developer global - CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage + CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed List of messages to transport @@ -6487,7 +5443,7 @@ string developer global - /dev/ttyS3 + /dev/ttyS8 Serial port device used to communicate with the modem @@ -6545,6 +5501,35 @@ Serial port baud rate for 9523N Module + + Address Section + string + developer + global + Iridium Addresses + + Name of the configuration section with modem addresses + + + Transmission Window + real + user + global + 100 + + Window to prioritize Transmission over Reception + 5 + + + Reception Window + real + user + global + 100 + + Window to prioritize Reception over Transmission + 5 +
@@ -6684,7 +5669,7 @@ list:string developer global - Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, CurrentProfile, CurrentProfileCell, Displacement, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed @@ -6841,7 +5826,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation List of messages to transport diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 5c165d6327..bfda4923ca 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -451,6 +451,15 @@ + + Minimum Turning Error + real + developer + global + 25 + ° + Minimum heading error to consider vessel is turning (in degrees). +
@@ -864,7 +873,7 @@ string developer global - AirMar220WX + Entity label of 'AbsoluteWind' message @@ -873,7 +882,7 @@ string developer global - HemisphereGPS + GPS Entity label of 'Displacement' message @@ -1330,6 +1339,28 @@ Roll rate above which measurement is discarded. + + Corridor -- Width + real + developer + global + 5.0 + m + Width of corridor for attack entry angle + 1.0 + 50.0 + + + Corridor -- Entry Angle + real + developer + global + 15 + ° + Attack angle when lateral track error equals corridor width + 2 + 45 +
@@ -2068,82 +2099,6 @@ None, Debug, Trace, Spew
-
- - Nome da Entidade - string - developer - global - CPU Scaling - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Set CPU In Mode - string - developer - global - powersave - - Set CPU In Mode. - - - Use Linux Liquorix - boolean - developer - global - false - - Use Linux Liquorix. - - - Set Maximum CPU Frequency in MHz - integer - developer - global - 500 - - Set Maximum CPU Frequency in MHz. - -
Nome da Entidade @@ -2865,6 +2820,15 @@ Input timeout before error is thrown. 0.0 + + Reference Change Distance + real + developer + global + 20000.0 + m + Distance needed for reference change. +
@@ -3255,7 +3219,7 @@ string developer global - uart:///dev/ttyS2:115200 + uart:///dev/ttyCPC:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3268,6 +3232,15 @@ Offset for the Voltage readings. + + Use LIDB for Iridium + boolean + developer + global + false + + Use LIDB for Iridium communication. + Operation Mode string @@ -3399,37 +3372,19 @@ string developer global - CPU1 + Private (CPU-MAIN) Power Channel Entity Label - - Power Channel 1 Turn On - boolean - developer - global - true - - Power Channel State - Power Channel 2 Entity Label string developer global - CPU2 + Private (CPU-AUX) Power Channel Entity Label - - Power Channel 2 Turn On - boolean - developer - global - false - - Power Channel State - Power Channel 3 Entity Label string @@ -3444,7 +3399,7 @@ boolean developer global - false + true Power Channel State @@ -3471,7 +3426,7 @@ string developer global - ETH + Private (ETH) Power Channel Entity Label @@ -3480,7 +3435,7 @@ boolean developer global - true + false Power Channel State @@ -3498,7 +3453,7 @@ boolean developer global - true + false Power Channel State @@ -3561,7 +3516,7 @@ string developer global - ECHOTRIP + Private (ECHOTRIP) Power Channel Entity Label @@ -3579,7 +3534,7 @@ string developer global - OXYGEN + Private (OXYGEN) Power Channel Entity Label @@ -3597,7 +3552,7 @@ string developer global - AIRMAR + Private (AIRMAR) Power Channel Entity Label @@ -3606,7 +3561,7 @@ boolean developer global - true + false Power Channel State @@ -3615,7 +3570,7 @@ string developer global - CTD + Private (CTD_P) Power Channel Entity Label @@ -3633,7 +3588,7 @@ string developer global - FLED + LED Power Channel Entity Label @@ -3651,7 +3606,7 @@ string developer global - ADCP_P + Private (DCP_P) Power Channel Entity Label @@ -3669,7 +3624,7 @@ string developer global - SPOT + Private (SPOT) Power Channel Entity Label @@ -3678,10 +3633,46 @@ boolean developer global + false + + Power Channel State + + + Power Channel 17 Entity Label + string + developer + global + ECHOMAX_P + + Power Channel Entity Label + + + Power Channel 17 Turn On + boolean + developer + global true Power Channel State + + Power Channel 18 Entity Label + string + developer + global + Private (MOBILE) + + Power Channel Entity Label + + + Power Channel 18 Turn On + boolean + developer + global + false + + Power Channel State + Power Data 1 Entity Label string @@ -3804,7 +3795,7 @@ string developer global - IMU + AHRS_P Power Data Label @@ -3831,7 +3822,7 @@ string developer global - CPU2 + CPU-AUX Power Data Label @@ -3840,7 +3831,7 @@ string developer global - CPU1 + CPU-MAIN Power Data Label @@ -3853,14 +3844,32 @@ Timeout Connection to CPC + + Is Main CPU + boolean + developer + global + false + + Is Main CPU + + + Set CPC to use NAV and Iridium at Boot + boolean + developer + global + false + + Set CPC to use NAV and Iridium at Boot. +
-
+
Nome da Entidade string developer global - AIS + GPS Nome principal da entidade @@ -3878,7 +3887,7 @@ integer developer global - 10.0 + 30.0 @@ -3934,9 +3943,39 @@ string developer global - uart:///dev/ttyS10:38400 + uart:///dev/ttyS10:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 - Serial port device used to communicate with the sensor + Acquisition Frequency + 0 + 5 Initialization String 0 - Command @@ -4028,1012 +4067,80 @@ - - Sentence Order - list:string + + Initialization String 5 - Command + string developer global - Sentence order - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 + - - AIS Error - Max - integer + + Initialization String 5 - Reply + string developer global - 3 + - Max erros for Ais messages parser + - - AIS Error - Interval - real + + Initialization String 6 - Command + string developer global - 10.0 + - Invertal for checking AIS errors + - - Power Channel + + Initialization String 6 - Reply string developer global - Power Channel + - - Log messages - boolean + + Initialization String 7 - Command + string developer global - false + - Add messages received to logs + -
-
- - Nome da Entidade + + Initialization String 7 - Reply string developer global - AirMar120WX + - Nome principal da entidade + - - Prioridade de Execução - integer + + Initialization String 8 - Command + string developer global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 5.0 - - - - - Tempo de Desativação - integer - developer - global - 5.0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS8:4800 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 4.0 - s - Input timeout - 0.0 - - - Angle offset - real - developer - global - 5 - ° - Angle offset for relative wind - -
-
- - Nome da Entidade - string - developer - global - Fluorometers - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - maneuver - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - user - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - user - maneuver - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - Serial Port - Device - string - developer - global - /dev/ttyS11 - - Serial port device used to communicate with the sensor - - - Serial Port - Baud Rate - integer - developer - global - 19200 - - Serial port Baud Rate - - - Input Timeout - real - developer - global - 5.0 - s - Amount of seconds to wait for data before reporting an error - 2.0 - - - Device Serial Number - string - developer - global - BBFL2W-8379 - - Device's serial number. Required to check communication with device. - - - CDOM -- Dark Counts - integer - developer - global - 62 - - Signal output of the meter in clean water with black tape over detector - - - CDOM -- Scale Factor - real - developer - global - 0.0916 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Chlorophyll -- Dark Counts - integer - developer - global - 49 - - Signal output of the meter in clean water with black tape over detector - - - Chlorophyll -- Scale Factor - real - developer - global - 0.0073 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Turbidity -- Dark Counts - integer - developer - global - 51 - - Signal output of the meter in clean water with black tape over detector - - - Turbidity -- Scale Factor - real - developer - global - 0.0024 - - Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - - Sampling Duration - real - user - maneuver - 0.0 - - Sampling duration in seconds - - - Sampling Period - real - user - maneuver - 0.0 - - Sampling period in seconds - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Nome da Entidade - string - developer - global - GPS - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 30.0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS9:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 - - Acquisition Frequency - 0 - 5 - - - Initialization String 0 - Command - string - developer - global - - - - - - Initialization String 0 - Reply - string - developer - global - - - - - - Initialization String 1 - Command - string - developer - global - - - - - - Initialization String 1 - Reply - string - developer - global - - - - - - Initialization String 2 - Command - string - developer - global - - - - - - Initialization String 2 - Reply - string - developer - global - - - - - - Initialization String 3 - Command - string - developer - global - - - - - - Initialization String 3 - Reply - string - developer - global - - - - - - Initialization String 4 - Command - string - developer - global - - - - - - Initialization String 4 - Reply - string - developer - global - - - - - - Initialization String 5 - Command - string - developer - global - - - - - - Initialization String 5 - Reply - string - developer - global - - - - - - Initialization String 6 - Command - string - developer - global - - - - - - Initialization String 6 - Reply - string - developer - global - - - - - - Initialization String 7 - Command - string - developer - global - - - - - - Initialization String 7 - Reply - string - developer - global - - - - - - Initialization String 8 - Command - string - developer - global - - - - - - Initialization String 8 - Reply - string - developer - global - - - - - - Initialization String 9 - Command - string - developer - global - - - - - - Initialization String 9 - Reply - string - developer - global - - - - -
-
- - Nome da Entidade - string - developer - global - AHRS - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 20.0 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS4 - - IO device URI in the form "uart://DEVICE".This device has only one baud rate. - - - Power Channel - Name - string - developer - global - - - Name of the power channel - - - Hard-Iron Calibration - list:real - developer - global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 - - - Output Frequency - integer - developer - global - 20 - Hz - Output frequency - 1 - 127 - - - Raw Data - boolean - developer - global - false - - Set to true to enable raw data output - - - Rotation Matrix - list:real - developer - global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - - Rotation matrix which is dependent of the mounting position - 9 - - - Timeout - Error - real - developer - global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 - - - Timeout - Failure - real - developer - global - 6.0 - s - Number of seconds without data before restarting task - 1.0 - - - Last Calibration Time - string - user - global - N/A - - Date of last successful calibration - -
-
- - Nome da Entidade - string - developer - global - ADCP - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 5 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Ativa - Escopo - string - developer - global - global - - Escopo do parâmetro 'Ativa' - - - Ativa - Visibilidade - string - developer - global - developer - - Visibilidade do parâmetro 'Ativa' - - - Ativa - boolean - developer - global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário - - - IO Port - Device - string - developer - global - uart:///dev/ttyS6:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Initialization String 0 - Command - string - developer - global - SETDEFAULT,ALL - - - - - Initialization String 1 - Command - string - developer - global - SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n - - - - - Initialization String 2 - Command - string - developer - global - SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n - - - - - Initialization String 3 - Command - string - developer - global - SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n - - - - - Initialization String 4 - Command - string - developer - global - SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n - - - - - Initialization String 5 - Command - string - developer - global - SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n - - - - - Initialization String 6 - Command - string - developer - global - SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + - - Initialization String 7 - Command + + Initialization String 8 - Reply string developer global - SAVE,ALL\r\n + - - Initialization String 8 - Command + + Initialization String 9 - Command string developer global @@ -5041,8 +4148,8 @@ - - Initialization String 9 - Command + + Initialization String 9 - Reply string developer global @@ -5051,13 +4158,13 @@
-
+
Nome da Entidade string developer global - Dissolved Oxygen + AHRS Nome principal da entidade @@ -5066,7 +4173,7 @@ integer developer global - 20 + 10 Prioridade de execução @@ -5075,7 +4182,7 @@ integer developer global - 60 + 20.0 @@ -5131,238 +4238,87 @@ string developer global - uart:///dev/ttyS7:9600 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Measurement String Identifier - string - developer - global - 4835 - - Measurement command string identifier - - - Entity Label - Temperature - string - developer - global - CTD Temperature - - Entity label of the CTD - - - Entity Label - Depth - string - developer - global - CTD Depth - - Entity label of the CTD - - - Entity Label - Salinity - string - developer - global - CTD Salinity + uart:///dev/ttyS9 - Entity label of the CTD + IO device URI in the form "uart://DEVICE".This device has only one baud rate. Power Channel - Name string developer global - Dissolved Oxygen - - - - - Start Acquisition - boolean - user - maneuver - false - - Start Acquisition. - - - Sample Time Duration - integer - user - maneuver - 60 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer - user - maneuver - 80 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - -
-
- - Nome da Entidade - string - developer - global - CTD - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 + - Prioridade de execução + Name of the power channel - - Tempo de Ativação - integer + + Hard-Iron Calibration + list:real developer global - 10.0 - - + 0.0, 0.0, 0.0 + G + Hard-Iron calibration parameters + 3 - - Tempo de Desativação + + Output Frequency integer developer global - 0 - - + 20 + Hz + Output frequency + 1 + 127 - - Nível de Depuração - string + + Raw Data + boolean developer global - None + false - - None, Debug, Trace, Spew - None, Debug, Trace, Spew + Set to true to enable raw data output - - Ativa - Escopo - string + + Rotation Matrix + list:real developer global - global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 - Escopo do parâmetro 'Ativa' + Rotation matrix which is dependent of the mounting position + 9 - - Ativa - Visibilidade - string + + Timeout - Error + real developer global - developer - - Visibilidade do parâmetro 'Ativa' + 3.0 + s + Number of seconds without data before reporting an error + 1.0 - - Ativa - boolean + + Timeout - Failure + real developer global - 1 - - Verdadeiro para ativar tarefa, falso caso contrário + 6.0 + s + Number of seconds without data before restarting task + 1.0 - - IO Port - Device + + Last Calibration Time string - developer - global - uart:///dev/ttyS5:115200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Start Acquisition - boolean - user - maneuver - true - - Controls sensor activation/deactivation - - - Sample Period (ms) - integer - user - global - 125 - ms - Sample period in milliseconds - - - Sample Time Duration - integer - user - maneuver - 5 - - Sample Time Duration in seconds. - - - Periodicity of Data Sampling - integer user - maneuver - 20 - - Periodicity of Data Sampling in seconds. - - - Timeout Transmitting Iridium Message - integer - developer - global - 60 - - Timeout Transmitting Iridium Message. - - - Power Channel - Name - string - developer - global - RBRlegato3 - - - - - Input Timeout - real - developer global - 26 + N/A - Input timeout + Date of last successful calibration
@@ -6290,7 +5246,7 @@ list:string developer global - CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage + CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed List of messages to transport @@ -6487,7 +5443,7 @@ string developer global - /dev/ttyS3 + /dev/ttyS8 Serial port device used to communicate with the modem @@ -6545,6 +5501,35 @@ Serial port baud rate for 9523N Module + + Address Section + string + developer + global + Iridium Addresses + + Name of the configuration section with modem addresses + + + Transmission Window + real + user + global + 100 + + Window to prioritize Transmission over Reception + 5 + + + Reception Window + real + user + global + 100 + + Window to prioritize Reception over Transmission + 5 +
@@ -6684,7 +5669,7 @@ list:string developer global - Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, CurrentProfile, CurrentProfileCell, Displacement, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed @@ -6841,7 +5826,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation List of messages to transport From 65129397140443ab4eb68c961b27e89fb965373d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 23 Jul 2024 18:11:20 +0100 Subject: [PATCH 28/92] console/plugins/planning/MissionTreePanel: Cleanup. --- .../plugins/planning/MissionTreePanel.java | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index eba1c5f1c5..e5c8eb1f65 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -267,15 +267,16 @@ private void updatePlanDBListener(String id) { } private void removePlanDBListener() { - if (pdbControl != null) - pdbControl.removeListener(planDBListener); + if (pdbControl != null) { + pdbControl.removeListener(planDBListener); + } } @Override public Vector getSelectedPlans() { ArrayList selectedItems = browser.getSelectedItems(); Vector plans = new Vector(); - if (selectedItems.size() > 0) { + if (!selectedItems.isEmpty()) { for (NameId o : selectedItems) { if (o instanceof PlanType) plans.add((PlanType) o); @@ -334,7 +335,7 @@ public void on(PlanSpecification msg) { @Subscribe public void on(PlanControlState msg) { - // If vehicle stops, the timers stop as well + // If vehicle stops, the timers stop as well if (msg.getState() == STATE.READY || msg.getState() == STATE.BLOCKED) { browser.transStopTimers(); this.running = false; @@ -602,8 +603,10 @@ public void mousePressed(MouseEvent e) { switch (selecType) { case Plans: - if (selectedItems.size() == 1) + if (selectedItems.size() == 1) { addActionRenamePlan(getConsole(), selectedItems, popupMenu); + addForMainVehiclePlan = false; + } popupMenu.addSeparator(); // New @@ -693,7 +696,7 @@ public void mousePressed(MouseEvent e) { // Switch JMenu switchM = new JMenu(I18n.text("Switch")); ArrayList transponders = browser.getTransponders(); - if (transponders.size() > 0) { + if (!transponders.isEmpty()) { TransponderElement transA, transB; for (int iA = 0; iA < transponders.size(); iA++) { transA = transponders.get(iA); From 8bb0dd0c79245741afa269459243dd744b07b3be Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 23 Jul 2024 18:12:48 +0100 Subject: [PATCH 29/92] console/plugins/planning/MissionTreePanel: Cleanup visibility for asking for getting plan and info from vehicle. --- .../plugins/planning/MissionTreePanel.java | 69 ++++++++++++++++--- 1 file changed, 61 insertions(+), 8 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index e5c8eb1f65..4871bb68e4 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -62,6 +62,8 @@ import pt.lsts.imc.PlanControlState; import pt.lsts.imc.PlanControlState.STATE; import pt.lsts.imc.PlanSpecification; +import pt.lsts.imc.StateReport; +import pt.lsts.imc.state.ImcSystemState; import pt.lsts.neptus.NeptusLog; import pt.lsts.neptus.comm.IMCSendMessageUtils; import pt.lsts.neptus.comm.IMCUtils; @@ -134,6 +136,8 @@ public class MissionTreePanel extends ConsolePanel protected MissionBrowser browser = new MissionBrowser(); protected PlanDBControl pdbControl; + protected String mainVehicleLastPlanId = null; + /** * This adapter is called by a class monitoring PlanDB messages. It is only called if a PlanDB message with field * type set to success is received. @@ -208,6 +212,23 @@ public void actionPerformed(ActionEvent e) { }); } + @Subscribe + public void mainVehicleChangeNotification(ConsoleEventMainSystemChange ev) { + mainVehicleLastPlanId = null; + try { + ImcSystemState state = getConsole().getImcMsgManager().getState(getMainVehicleId()); + if (state != null) { + PlanControlState pcsMsg = state.last(PlanControlState.class); + if (pcsMsg != null) { + on(pcsMsg); + } + } + } + catch (Exception e) { + e.printStackTrace(); + } + } + @Subscribe public void on(ConsoleEventMainSystemChange evt) { running = false; @@ -335,6 +356,10 @@ public void on(PlanSpecification msg) { @Subscribe public void on(PlanControlState msg) { + if (getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { + mainVehicleLastPlanId = msg.getPlanId(); + } + // If vehicle stops, the timers stop as well if (msg.getState() == STATE.READY || msg.getState() == STATE.BLOCKED) { browser.transStopTimers(); @@ -600,6 +625,14 @@ public void mousePressed(MouseEvent e) { ArrayList toShare = new ArrayList(); + ArrayList toRemoveLocally = new ArrayList(); + ArrayList toRemoveRemotely = new ArrayList(); + ArrayList toGetPlan = new ArrayList(); + ArrayList toGetPlanInfo = new ArrayList(); + ArrayList toSend = new ArrayList(); + + boolean addForMainVehiclePlan = mainVehicleLastPlanId != null; + switch (selecType) { case Plans: @@ -609,19 +642,19 @@ public void mousePressed(MouseEvent e) { } popupMenu.addSeparator(); - // New - ArrayList toRemoveLocally = new ArrayList(); - ArrayList toRemoveRemotely = new ArrayList(); - ArrayList toGetPlan = new ArrayList(); - ArrayList toSend = new ArrayList(); - + State syncState; // Separate plans by state to give appropriated options to each // addActionChangePlanVehicles(selection, popupMenu); // add appropriatly when multivehicles are // needed for (ExtendedTreeNode extendedTreeNode : selectedNodes) { syncState = (State) extendedTreeNode.getUserInfo().get(NodeInfoKey.SYNC.name()); - + + if (mainVehicleLastPlanId != null && mainVehicleLastPlanId + .equalsIgnoreCase(((NameId) extendedTreeNode.getUserObject()).getIdentification())) { + addForMainVehiclePlan = false; + } + if (syncState != null) { switch (syncState) { case REMOTE: @@ -631,6 +664,7 @@ public void mousePressed(MouseEvent e) { case SYNC: toRemoveRemotely.add((NameId) extendedTreeNode.getUserObject()); toRemoveLocally.add((NameId) extendedTreeNode.getUserObject()); + toGetPlanInfo.add((NameId) extendedTreeNode.getUserObject()); toShare.add((NameId) extendedTreeNode.getUserObject()); break; case NOT_SYNC: @@ -638,11 +672,13 @@ public void mousePressed(MouseEvent e) { toRemoveLocally.add((NameId) extendedTreeNode.getUserObject()); toSend.add((NameId) extendedTreeNode.getUserObject()); toGetPlan.add((NameId) extendedTreeNode.getUserObject()); + toGetPlanInfo.add((NameId) extendedTreeNode.getUserObject()); toShare.add((NameId) extendedTreeNode.getUserObject()); break; case LOCAL: toRemoveLocally.add((NameId) extendedTreeNode.getUserObject()); toSend.add((NameId) extendedTreeNode.getUserObject()); + toGetPlanInfo.add((NameId) extendedTreeNode.getUserObject()); toShare.add((NameId) extendedTreeNode.getUserObject()); break; } @@ -651,6 +687,23 @@ public void mousePressed(MouseEvent e) { NeptusLog.pub().error("The plan " + extendedTreeNode + " has no state."); } } + + if (addForMainVehiclePlan) { + NameId nameId = new NameId() { + @Override + public String getIdentification() { + return mainVehicleLastPlanId; + } + @Override + public String getDisplayName() { + return mainVehicleLastPlanId; + } + }; + toGetPlan.add(nameId); + + toGetPlanInfo.add(nameId); + } + if (!toRemoveRemotely.isEmpty()) addActionRemovePlanRemotely(getConsole(), pdbControl, toRemoveRemotely, popupMenu); if (!toRemoveLocally.isEmpty()) @@ -659,7 +712,7 @@ public void mousePressed(MouseEvent e) { addActionSendPlan(getConsole(), pdbControl, toSend, popupMenu); if (!toGetPlan.isEmpty()) addActionGetRemotePlan(getConsole(), pdbControl, toGetPlan, popupMenu); - if (!toSend.isEmpty() || !toRemoveRemotely.isEmpty() || !toGetPlan.isEmpty()) { + if (!toGetPlanInfo.isEmpty()) { ArrayList toGetInfo = new ArrayList<>(); toGetInfo.addAll(toSend); toGetInfo.addAll(toRemoveRemotely); From 2bc673b54f461a196f7406e83ae6a5c60644a3ce Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 24 Jul 2024 11:01:21 +0100 Subject: [PATCH 30/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 141 +++++++++++++++++++++++++++++++++- conf/params/caravel.pt_PT.xml | 141 +++++++++++++++++++++++++++++++++- 2 files changed, 276 insertions(+), 6 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 66fb1c4279..ac5b83475b 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -42,7 +42,7 @@ string developer global - Debug + None None, Debug, Trace, Spew @@ -72,7 +72,7 @@ list:string developer global - abort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode + abort, errors, info, force, go, help, phone, sk, start @@ -2245,6 +2245,141 @@ Change log file after synchronization
+
+ + Entity Label + string + developer + global + Emergency Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Execution Frequency + real + developer + global + 1.0 + Hz + Frequency at which task is executed + + + Active - Scope + string + developer + global + idle + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + idle + true + + True to activate task, false otherwise + + + SMS Recipient Number + string + user + global + +351912439480 + + Phone number of the SMS recipient + + + Lost Communications Timeout + real + user + global + 1800 + s + Lost Communications Timeout + 60.0 + + + Transmission Interface + string + developer + global + Iridium + + Desired transmission interface + GSM, Iridium, Both + GSM, Iridium, Both + + + Expiration Time - Abort SMS + integer + developer + global + 30 + s + Abort SMS Timeout + 30.0 + + + Expiration Time - Lost Communications + integer + developer + global + 30 + s + Expiration time of lost communications SMS + 0.0 + +
Entity Label diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index bfda4923ca..01801b2829 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -42,7 +42,7 @@ string developer global - Debug + None None, Debug, Trace, Spew @@ -72,7 +72,7 @@ list:string developer global - abort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode + abort, errors, info, force, go, help, phone, sk, start @@ -2245,6 +2245,141 @@ Change log file after synchronization
+
+ + Nome da Entidade + string + developer + global + Emergency Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Frequência de Execução + real + developer + global + 1.0 + Hz + Frequência com que a tarefa é executada + + + Ativa - Escopo + string + developer + global + idle + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + idle + true + + Verdadeiro para ativar tarefa, falso caso contrário + + + Número de Destino de Mensagens SMS + string + user + global + +351912439480 + + Número de telefone do destinatário de mensagens SMS + + + Timeout de Perda de Comunicações + real + user + global + 1800 + s + Timeout de Perda de Comunicações + 60.0 + + + Transmission Interface + string + developer + global + Iridium + + Desired transmission interface + GSM, Iridium, Both + GSM, Iridium, Both + + + Expiration Time - Abort SMS + integer + developer + global + 30 + s + Abort SMS Timeout + 30.0 + + + Expiration Time - Lost Communications + integer + developer + global + 30 + s + Expiration time of lost communications SMS + 0.0 + +
Nome da Entidade From 16cfdeed0911dadb034d2ec64031b514c2e478d6 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 24 Jul 2024 11:01:21 +0100 Subject: [PATCH 31/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 141 +++++++++++++++++++++++++++++++++- conf/params/caravel.pt_PT.xml | 141 +++++++++++++++++++++++++++++++++- 2 files changed, 276 insertions(+), 6 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 66fb1c4279..ac5b83475b 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -42,7 +42,7 @@ string developer global - Debug + None None, Debug, Trace, Spew @@ -72,7 +72,7 @@ list:string developer global - abort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode + abort, errors, info, force, go, help, phone, sk, start @@ -2245,6 +2245,141 @@ Change log file after synchronization
+
+ + Entity Label + string + developer + global + Emergency Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Execution Frequency + real + developer + global + 1.0 + Hz + Frequency at which task is executed + + + Active - Scope + string + developer + global + idle + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + idle + true + + True to activate task, false otherwise + + + SMS Recipient Number + string + user + global + +351912439480 + + Phone number of the SMS recipient + + + Lost Communications Timeout + real + user + global + 1800 + s + Lost Communications Timeout + 60.0 + + + Transmission Interface + string + developer + global + Iridium + + Desired transmission interface + GSM, Iridium, Both + GSM, Iridium, Both + + + Expiration Time - Abort SMS + integer + developer + global + 30 + s + Abort SMS Timeout + 30.0 + + + Expiration Time - Lost Communications + integer + developer + global + 30 + s + Expiration time of lost communications SMS + 0.0 + +
Entity Label diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index bfda4923ca..01801b2829 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -42,7 +42,7 @@ string developer global - Debug + None None, Debug, Trace, Spew @@ -72,7 +72,7 @@ list:string developer global - abort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode + abort, errors, info, force, go, help, phone, sk, start @@ -2245,6 +2245,141 @@ Change log file after synchronization
+
+ + Nome da Entidade + string + developer + global + Emergency Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Frequência de Execução + real + developer + global + 1.0 + Hz + Frequência com que a tarefa é executada + + + Ativa - Escopo + string + developer + global + idle + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + idle + true + + Verdadeiro para ativar tarefa, falso caso contrário + + + Número de Destino de Mensagens SMS + string + user + global + +351912439480 + + Número de telefone do destinatário de mensagens SMS + + + Timeout de Perda de Comunicações + real + user + global + 1800 + s + Timeout de Perda de Comunicações + 60.0 + + + Transmission Interface + string + developer + global + Iridium + + Desired transmission interface + GSM, Iridium, Both + GSM, Iridium, Both + + + Expiration Time - Abort SMS + integer + developer + global + 30 + s + Abort SMS Timeout + 30.0 + + + Expiration Time - Lost Communications + integer + developer + global + 30 + s + Expiration time of lost communications SMS + 0.0 + +
Nome da Entidade From 5b210215b37e1e9bfa9697f87b1c3e870c79af21 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 25 Jul 2024 13:54:03 +0100 Subject: [PATCH 32/92] comm/iridium/HubIridiumMessenger: Avoid potential null pointer and cleanups. --- .../comm/iridium/HubIridiumMessenger.java | 136 ++++++------------ 1 file changed, 46 insertions(+), 90 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java index 1cd8e12667..59151ce24c 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java @@ -83,17 +83,11 @@ public class HubIridiumMessenger implements IridiumMessenger { protected String messagesUrl = serverUrl+"iridium"; protected int timeoutMillis = 10000; protected HashSet listeners = new HashSet<>(); - private static Pattern p = Pattern.compile("\\((.)\\) \\((.*)\\) (.*) / (.*), (.*) / .*"); - private static TimeZone tz = TimeZone.getTimeZone("UTC"); - private static DateFormat dateFormat = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss"); + private static final Pattern p = Pattern.compile("\\((.)\\) \\((.*)\\) (.*) / (.*), (.*) / .*"); + private static final TimeZone tz = TimeZone.getTimeZone("UTC"); + private static final DateFormat dateFormat = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss"); static { dateFormat.setTimeZone(tz); } - // protected Thread t = null; - - // public HubIridiumMessenger() { - // startPolling(); - // } - public DeviceUpdate pollActiveDevices() throws Exception { Gson gson = new Gson(); URL url = new URL(activeSystemsUrl); @@ -108,11 +102,15 @@ public DeviceUpdate pollActiveDevices() throws Exception { for (HubSystemMsg s : sys) { if (s.imcid > Integer.MAX_VALUE) continue; + + Date date = stringToDate(s.updated_at); + if (date == null) + date = new Date(); Position pos = new Position(); pos.id = (int) s.imcid; pos.latRads = s.coordinates[0]; pos.lonRads = s.coordinates[1]; - pos.timestamp = stringToDate(s.updated_at).getTime() / 1000.0; + pos.timestamp = date.getTime() / 1000.0; pos.posType = PosType.Unknown; up.getPositions().put(pos.id, pos); } @@ -120,43 +118,6 @@ public DeviceUpdate pollActiveDevices() throws Exception { return up; } -// public void startPolling() { -// if (t != null) -// stopPolling(); -// t = new Thread("Hub Iridium message updater") { -// @Override -// public void run() { -// Date lastTime = null; -// while (true) { -// try { -// Thread.sleep(60 * 1000); -// -// if (lastTime == null) -// lastTime = new Date(System.currentTimeMillis() - (3600 * 1000)); -// -// Collection newMessages = pollMessages(lastTime); -// lastTime = new Date(); -// -// for (IridiumMessage m : newMessages) -// for (IridiumMessageListener listener : listeners) -// listener.messageReceived(m); -// } -// catch (Exception e) { -// e.printStackTrace(); -// } -// } -// } -// }; -// t.setDaemon(true); -// t.start(); -// } - -// public void stopPolling() { -// if (t != null) -// t.interrupt(); -// t = null; -// } -// @Override public void addListener(IridiumMessageListener listener) { listeners.add(listener); @@ -184,20 +145,21 @@ public void sendMessage(IridiumMessage msg) throws Exception { conn.setRequestProperty ("Authorization", authKey); } - OutputStream os = conn.getOutputStream(); - os.write(data); - os.close(); + try (OutputStream os = conn.getOutputStream()) { + os.write(data); + } - NeptusLog.pub().info(messagesUrl+" : "+conn.getResponseCode()+" "+conn.getResponseMessage()); + NeptusLog.pub().info("{} : {} {}", messagesUrl, conn.getResponseCode(), conn.getResponseMessage()); - InputStream is = conn.getInputStream(); - ByteArrayOutputStream incoming = new ByteArrayOutputStream(); - IOUtils.copy(is, incoming); - is.close(); - - NeptusLog.pub().info("Sent "+msg.getClass().getSimpleName()+" through HTTP: "+conn.getResponseCode()+" "+conn.getResponseMessage()); - try { - logHubInteraction(msg.getClass().getSimpleName()+" ("+msg.getMessageType()+")", messagesUrl, conn.getRequestMethod(), ""+conn.getResponseCode(), ByteUtil.encodeToHex(msg.serialize()), new String(incoming.toByteArray())); + try (InputStream is = conn.getInputStream(); ByteArrayOutputStream incoming = new ByteArrayOutputStream()) { + IOUtils.copy(is, incoming); + + NeptusLog.pub().info("Sent {} through HTTP: {} {}", msg.getClass().getSimpleName(), + conn.getResponseCode(), conn.getResponseMessage()); + + logHubInteraction(msg.getClass().getSimpleName()+" ("+msg.getMessageType()+")", messagesUrl, + conn.getRequestMethod(), ""+conn.getResponseCode(), ByteUtil.encodeToHex(msg.serialize()), + incoming.toString()); } catch (Exception e) { NeptusLog.pub().error(e); @@ -210,9 +172,9 @@ public void sendMessage(IridiumMessage msg) throws Exception { public synchronized void logHubInteraction(String message, String url, String method, String statusCode, String requestData, String responseData) throws Exception { if (! (new File("log/hub.log")).exists()) { - BufferedWriter tmp = new BufferedWriter(new FileWriter(new File("log/hub.log"), false)); - tmp.write("Time of Day, Message Type, URL, Method, Status Code, Request Data (hex encoded), Response Data\n"); - tmp.close(); + try (BufferedWriter tmp = new BufferedWriter(new FileWriter(new File("log/hub.log"), false))) { + tmp.write("Time of Day, Message Type, URL, Method, Status Code, Request Data (hex encoded), Response Data\n"); + } } BufferedWriter postWriter = new BufferedWriter(new FileWriter(new File("log/hub.log"), true)); @@ -231,15 +193,14 @@ public synchronized void logHubInteraction(String message, String url, String me @Override public Collection pollMessages(Date timeSince) throws Exception { + NeptusLog.pub().info("Polling messages since {}", dateToString(timeSince)); - NeptusLog.pub().info("Polling messages since "+dateToString(timeSince)); - - String since = null; - if (timeSince != null) - since = dateToString(timeSince); - URL u = new URL(messagesUrl+"?since="+(timeSince.getTime()/1000)); - if (since == null) + URL u; + if (timeSince != null) { + u = new URL(messagesUrl + "?since=" + (timeSince.getTime() / 1000)); + } else { u = new URL(messagesUrl); + } HttpURLConnection conn = (HttpURLConnection) u.openConnection(); conn.setDoOutput(true); conn.setRequestMethod( "GET" ); @@ -251,10 +212,12 @@ public Collection pollMessages(Date timeSince) throws Exception ByteArrayOutputStream baos = new ByteArrayOutputStream(); IOUtils.copy(conn.getInputStream(), baos); - logHubInteraction("Iridium Poll", u.toString(), conn.getRequestMethod(), ""+conn.getResponseCode(), "", new String(baos.toByteArray())); + logHubInteraction("Iridium Poll", u.toString(), conn.getRequestMethod(), "" + + conn.getResponseCode(), "", baos.toString()); if (conn.getResponseCode() != 200) throw new Exception("Hub iridium server returned "+conn.getResponseCode()+": "+conn.getResponseMessage()); + HubMessage[] msgs = gson.fromJson(baos.toString(), HubMessage[].class); Vector ret = new Vector<>(); @@ -264,7 +227,6 @@ public Collection pollMessages(Date timeSince) throws Exception ret.add(m.message()); } catch (Exception e) { - String report = new String(Hex.decodeHex(m.msg.toCharArray())); Matcher matcher = p.matcher(report); if (matcher.matches()) { @@ -273,8 +235,8 @@ public Collection pollMessages(Date timeSince) throws Exception String latMins = matcher.group(4); String lonMins = matcher.group(5); - String latParts[] = latMins.split(" "); - String lonParts[] = lonMins.split(" "); + String[] latParts = latMins.split(" "); + String[] lonParts = lonMins.split(" "); double lat = getCoords(latParts); double lon = getCoords(lonParts); long timestamp = parseTimeString(timeOfDay).getTime(); @@ -284,8 +246,8 @@ public Collection pollMessages(Date timeSince) throws Exception if (system != null) { system.setLocation(new LocationType(lat, lon), timestamp); } - - NeptusLog.pub().info("Text report: "+report); + + NeptusLog.pub().info("Text report: {}", report); } IridiumCommand msg = new IridiumCommand(); @@ -364,7 +326,6 @@ public Date updatedAt() { } public static class HubSystemMsg { - public long imcid; public String name; public String updated_at; @@ -386,27 +347,22 @@ public void cleanup() { listeners.clear(); //stopPolling(); } - + + @Override + public String toString() { + return getName(); + } + public static void main(String[] args) throws Exception { GeneralPreferences.ripplesUrl = "https://ripples.lsts.pt"; - + HubIridiumMessenger messenger = new HubIridiumMessenger(); Date d = new Date(System.currentTimeMillis() - (1000 * 3600 * 5)); - + System.out.println(dateToString(d)); System.out.println(d.getTime()); Collection msgs = messenger.pollMessages(d); System.out.println(msgs.size()); - msgs.stream().forEach(m -> { - System.out.println(m.asImc()); - }); - - - - } - - @Override - public String toString() { - return getName(); + msgs.forEach(m -> System.out.println(m.asImc())); } } From 39030c332b8c0ff8a66b75c9e4a4dd943b7ce2cd Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 25 Jul 2024 18:50:35 +0100 Subject: [PATCH 33/92] plugins/caravelenv/CaravelDataPlotter: Added filter for accepted data source entities and fix color map painting. --- .../caravelenv/CaravelDataPlotter.java | 68 ++++++++++++++++--- 1 file changed, 59 insertions(+), 9 deletions(-) diff --git a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java index fba8d274f9..6b604e3d4d 100644 --- a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java +++ b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java @@ -49,6 +49,7 @@ import pt.lsts.neptus.colormap.ColorMap; import pt.lsts.neptus.colormap.ColorMapFactory; import pt.lsts.neptus.colormap.ColorMapUtils; +import pt.lsts.neptus.comm.manager.imc.EntitiesResolver; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; import pt.lsts.neptus.console.ConsoleLayer; @@ -123,6 +124,23 @@ public class CaravelDataPlotter extends ConsoleLayer implements PreferencesListe @NeptusProperty(name = "Show water current", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current") public boolean showWaterCurrent = false; + @NeptusProperty(name = "Valid temperature data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") + public String validTempDataSources = "CTD, Daemon"; + @NeptusProperty(name = "Valid salinity data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Salinity") + public String validSalDataSources = "CTD, Daemon"; + @NeptusProperty(name = "Valid turbidity data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Turbidity") + public String validTurbidityDataSources = "Fluorometers, Daemon"; + @NeptusProperty(name = "Valid chlorophyll data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Chlorophyll") + public String validChlorophyllDataSources = "Fluorometers, Daemon"; + @NeptusProperty(name = "Valid dissolved organic matter data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Organic Matter") + public String validDissolvedOrganicMatterDataSources = "Fluorometers, Daemon"; + @NeptusProperty(name = "Valid dissolved oxygen data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Dissolved Oxygen") + public String validDissolvedOxygenDataSources = "Dissolved Oxygen, Daemon"; + @NeptusProperty(name = "Valid air saturation data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Air Saturation") + public String validAirSaturationDataSources = "Dissolved Oxygen, Daemon"; + @NeptusProperty(name = "Valid water current data sources", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Water Current") + public String validWaterCurrentDataSources = "ADCP, Daemon"; + @NeptusProperty(name = "Min temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") public double minTemp = 15; @NeptusProperty(name = "Max temperature", userLevel = NeptusProperty.LEVEL.REGULAR, category = "Temperature") @@ -362,6 +380,10 @@ public void on(Temperature msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validTempDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsTemp, msg); offScreenTemperature.triggerImageRebuild(); } @@ -371,6 +393,10 @@ public void on(Salinity msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validSalDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsSalinity, msg); offScreenSalinity.triggerImageRebuild(); } @@ -380,6 +406,10 @@ public void on(Turbidity msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validTurbidityDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsTurbidity, msg); offScreenTurbidity.triggerImageRebuild(); } @@ -389,6 +419,10 @@ public void on(Chlorophyll msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validChlorophyllDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsChlorophyll, msg); offScreenChlorophyll.triggerImageRebuild(); } @@ -398,6 +432,10 @@ public void on(DissolvedOrganicMatter msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validDissolvedOrganicMatterDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsDissolvedOrganicMatter, msg); offScreenDissolvedOrganicMatter.triggerImageRebuild(); } @@ -407,6 +445,10 @@ public void on(DissolvedOxygen msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validDissolvedOxygenDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsDissolvedOxygen, msg); offScreenDissolvedOxygen.triggerImageRebuild(); } @@ -416,6 +458,10 @@ public void on(AirSaturation msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validAirSaturationDataSources.contains(entity)) { + return; + } extractSensorMeasurementValueFromMessage(msg.getValue(), pointsAirSaturation, msg); offScreenAirSaturation.triggerImageRebuild(); } @@ -425,6 +471,10 @@ public void on(CurrentProfile msg) { if (!getConsole().getMainSystem().equalsIgnoreCase(msg.getSourceName())) { return; } + String entity = EntitiesResolver.resolveName(msg.getSourceName(), (int) msg.getSrcEnt()); + if (entity != null && !validWaterCurrentDataSources.contains(entity)) { + return; + } LocationType loc = getSystemLocation(); double depth = getSystemLocationDepth(); @@ -881,57 +931,57 @@ private static BufferedImage createBufferedImage(int cacheImgWidth, int cacheImg } private void paintColorbars(Graphics2D go, StateRenderer2D renderer) { - int offsetHeight = 130 * 2; + int offsetHeight = 130 * 3; int offsetWidth = 5; int offsetDelta = 130; if (showTemp) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapTemp, "Temperature", "ºC", minTemp, maxTemp); + ColorBarPainterUtil.paintColorBar(gl, colormapTemp, "Temperature", "ºC", minTemp, maxTemp); gl.dispose(); offsetHeight += offsetDelta; } else if (showSal) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapSal, "Salinity", "PSU", minSal, maxSal); + ColorBarPainterUtil.paintColorBar(gl, colormapSal, "Salinity", "PSU", minSal, maxSal); gl.dispose(); offsetHeight += offsetDelta; } else if (showTurbidity) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapTurbidity, "Turbidity", "NTU", minTurbidity, maxTurbidity); + ColorBarPainterUtil.paintColorBar(gl, colormapTurbidity, "Turbidity", "NTU", minTurbidity, maxTurbidity); gl.dispose(); offsetHeight += offsetDelta; } else if (showChlorophyll) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapChlorophyll, "Chlorophyll", "µg/L", minChlorophyll, maxChlorophyll); + ColorBarPainterUtil.paintColorBar(gl, colormapChlorophyll, "Chlorophyll", "µg/L", minChlorophyll, maxChlorophyll); gl.dispose(); offsetHeight += offsetDelta; } else if (showDissolvedOrganicMatter) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapDissolvedOrganicMatter, "Dissolved Organic Matter", "PPB", minDissolvedOrganicMatter, maxDissolvedOrganicMatter); + ColorBarPainterUtil.paintColorBar(gl, colormapDissolvedOrganicMatter, "Dissolved Organic Matter", "PPB", minDissolvedOrganicMatter, maxDissolvedOrganicMatter); gl.dispose(); offsetHeight += offsetDelta; } else if (showDissolvedOxygen) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapDissolvedOxygen, "Dissolved Oxygen", "µM", minDissolvedOxygen, maxDissolvedOxygen); + ColorBarPainterUtil.paintColorBar(gl, colormapDissolvedOxygen, "Dissolved Oxygen", "µM", minDissolvedOxygen, maxDissolvedOxygen); gl.dispose(); offsetHeight += offsetDelta; } else if (showAirSaturation) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); - ColorBarPainterUtil.paintColorBar(go, colormapAirSaturation, "Air Saturation", "%", minAirSaturation, maxAirSaturation); + ColorBarPainterUtil.paintColorBar(gl, colormapAirSaturation, "Air Saturation", "%", minAirSaturation, maxAirSaturation); gl.dispose(); offsetHeight += offsetDelta; } else if (showWaterCurrent) { Graphics2D gl = (Graphics2D) go.create(); gl.translate(offsetWidth, offsetHeight); String txtName = String.format("Water Current [%.2f ±%d]", waterCurrentDepth, waterCurrentDepthWindow); - ColorBarPainterUtil.paintColorBar(go, colormapWaterCurrent, txtName, "m/s", minWaterCurrent, maxWaterCurrent); + ColorBarPainterUtil.paintColorBar(gl, colormapWaterCurrent, txtName, "m/s", minWaterCurrent, maxWaterCurrent); gl.dispose(); offsetHeight += offsetDelta; } From 5a3bf014ae164b6850e0a6c515460a8816f051eb Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 29 Jul 2024 14:51:12 +0100 Subject: [PATCH 34/92] comm/manager/imc/EntitiesResolver: Re-added Save to properties file the EntityList values. --- .../comm/manager/imc/EntitiesResolver.java | 65 ++++++++++--------- 1 file changed, 34 insertions(+), 31 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java b/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java index 90e2d71632..1931284e6c 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/EntitiesResolver.java @@ -42,6 +42,7 @@ import java.io.File; import java.io.IOException; +import java.util.Enumeration; import java.util.LinkedHashMap; import java.util.Map; @@ -52,34 +53,36 @@ public class EntitiesResolver { public static final String ENTITIES_RESOLVER_PROPERTIES_FILE = ".cache/db/entities-resolver.properties"; - //private static PropertiesLoader properties = null; - //static { - // String propertiesFile = ConfigFetch.resolvePathBasedOnConfigFile(ENTITIES_RESOLVER_PROPERTIES_FILE); - // if (!new File(propertiesFile).exists()) { - // String testFile = ConfigFetch.resolvePathBasedOnConfigFile("../" + ENTITIES_RESOLVER_PROPERTIES_FILE); - // if (new File(testFile).exists()) - // propertiesFile = testFile; - // } - // new File(propertiesFile).getParentFile().mkdirs(); - // properties = new PropertiesLoader(propertiesFile, PropertiesLoader.PROPERTIES); + protected static LinkedHashMap> entitiesMap = new LinkedHashMap>(); + public static final int DEFAULT_ENTITY = 255; - // while (properties.keys().hasMoreElements()) { - // String key = properties.keys().nextElement().toString(); - // String value = properties.getProperty(key); - // //setEntities(key, value, false); - // } - //} + private static PropertiesLoader properties = null; - protected static LinkedHashMap> entitiesMap = new LinkedHashMap>(); - public static final int DEFAULT_ENTITY = 255; + static { + String propertiesFile = ConfigFetch.resolvePathBasedOnConfigFile(ENTITIES_RESOLVER_PROPERTIES_FILE); + if (!new File(propertiesFile).exists()) { + String testFile = ConfigFetch.resolvePathBasedOnConfigFile("../" + ENTITIES_RESOLVER_PROPERTIES_FILE); + if (new File(testFile).exists()) + propertiesFile = testFile; + } + new File(propertiesFile).getParentFile().mkdirs(); + properties = new PropertiesLoader(propertiesFile, PropertiesLoader.PROPERTIES); + + Enumeration it = properties.keys(); + while (it.hasMoreElements()) { + String key = it.nextElement().toString(); + String value = properties.getProperty(key); + setEntities(key, value, false); + } + } public static void saveProperties() { - //try { - // properties.store("EntitiesResolver properties"); - //} - //catch (IOException e) { - // NeptusLog.pub().error("saveProperties", e); - //} + try { + properties.store("EntitiesResolver properties"); + } + catch (IOException e) { + NeptusLog.pub().error("saveProperties", e); + } } /** @@ -103,13 +106,13 @@ public static void setEntities(String id, String listAsStr, boolean save) { aliases.put(Integer.parseInt(tlist.get(key)), key); } - //if (save) { - // String old = properties.getProperty(id); - // if (old == null || !old.equals(listAsStr)) { - // properties.setProperty(id, listAsStr); - // saveProperties(); - // } - //} + if (save) { + String old = properties.getProperty(id); + if (old == null || !old.equals(listAsStr)) { + properties.setProperty(id, listAsStr); + saveProperties(); + } + } entitiesMap.put(id, aliases); } From c5406539c784de7e391c60f9ed01e5afd76c113b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 29 Jul 2024 15:21:54 +0100 Subject: [PATCH 35/92] plugins/remote-actions-extra/RemoteActionsExtra: Saving now the remote actions in file cache. --- .../RemoteActionsExtra.java | 56 ++++++++++++++++++- 1 file changed, 55 insertions(+), 1 deletion(-) diff --git a/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java b/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java index 54655c13a8..ac907420c5 100644 --- a/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java +++ b/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java @@ -35,6 +35,7 @@ import com.google.common.eventbus.Subscribe; import net.miginfocom.swing.MigLayout; import pt.lsts.imc.EntityState; +import pt.lsts.imc.IMCMessage; import pt.lsts.imc.RemoteActions; import pt.lsts.imc.RemoteActionsRequest; import pt.lsts.imc.VehicleState; @@ -49,13 +50,18 @@ import pt.lsts.neptus.plugins.Popup; import pt.lsts.neptus.plugins.update.Periodic; import pt.lsts.neptus.util.MathMiscUtils; +import pt.lsts.neptus.util.PropertiesLoader; +import pt.lsts.neptus.util.conf.ConfigFetch; import javax.swing.JButton; import javax.swing.JLabel; import javax.swing.SwingConstants; import java.awt.event.KeyEvent; +import java.io.File; +import java.io.IOException; import java.util.ArrayList; import java.util.Collections; +import java.util.Enumeration; import java.util.LinkedHashMap; import java.util.List; import java.util.Map; @@ -68,6 +74,7 @@ description = "This plugin listen for non motion related remote actions and displays its controls.") @Popup(name = "Remote Actions Extra", width = 300, height = 200, pos = Popup.POSITION.BOTTOM, accelerator = KeyEvent.VK_3) public class RemoteActionsExtra extends ConsolePanel implements MainVehicleChangeListener, ConfigurationListener { + public static final String REMOTE_ACTIONS_EXTRA_PROPERTIES_FILE = ".cache/db/remote-actions-extra.properties"; static final boolean DEFAULT_AXIS_DECIMAL_VAL = false; private static final int DECIMAL_HOUSES_FOR_DECIMAL_AXIS = 6; @@ -125,6 +132,44 @@ enum ActionTypeEnum { private final TakeControlMonitor takeControlMonitor; + private static PropertiesLoader properties = null; + static { + String propertiesFile = ConfigFetch.resolvePathBasedOnConfigFile(REMOTE_ACTIONS_EXTRA_PROPERTIES_FILE); + if (!new File(propertiesFile).exists()) { + String testFile = ConfigFetch.resolvePathBasedOnConfigFile("../" + REMOTE_ACTIONS_EXTRA_PROPERTIES_FILE); + if (new File(testFile).exists()) + propertiesFile = testFile; + } + new File(propertiesFile).getParentFile().mkdirs(); + properties = new PropertiesLoader(propertiesFile, PropertiesLoader.PROPERTIES); + + Enumeration it = properties.keys(); + while (it.hasMoreElements()) { + String key = it.nextElement().toString(); + String value = properties.getProperty(key); + setRemoteActionsExtra(key, value, false); + } + } + + private static void saveProperties() { + try { + properties.store("RemoteActionsExtra properties"); + } + catch (IOException e) { + NeptusLog.pub().error("saveProperties", e); + } + } + + private static void setRemoteActionsExtra(String system, String actionsStr, boolean save) { + if (save) { + String old = properties.getProperty(system); + if (old == null || !old.equals(actionsStr)) { + properties.setProperty(system, actionsStr); + saveProperties(); + } + } + } + @NeptusProperty(name = "OBS Entity Name", userLevel = NeptusProperty.LEVEL.ADVANCED, description = "Used to check the state of the OBS take control status.") public String obsEntityName = "OBS Broker"; @@ -213,7 +258,15 @@ private synchronized void resetUIWithActions() { @Subscribe public void on(ConsoleEventMainSystemChange evt) { - configureActions("", DEFAULT_AXIS_DECIMAL_VAL, false); + String actionsString = ""; + try { + if (properties.containsKey(getConsole().getMainSystem())) { + actionsString = (String) properties.get(getConsole().getMainSystem()); + } + } catch (Exception e) { + NeptusLog.pub().error(e.getMessage()); + } + configureActions(actionsString, DEFAULT_AXIS_DECIMAL_VAL, false); takeControlMonitor.on(evt); } @@ -225,6 +278,7 @@ public void on(RemoteActionsRequest msg) { if (msg.getOp() != RemoteActionsRequest.OP.REPORT) return; + setRemoteActionsExtra(msg.getSourceName(), IMCMessage.encodeTupleList(msg.getActions()), true); configureActions(msg.getActions(), DEFAULT_AXIS_DECIMAL_VAL, false); } From 5daf4a5b672de1ec9a4a1cd44ceb46f9fd917a61 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 30 Jul 2024 11:21:25 +0100 Subject: [PATCH 36/92] plugins/remote-actions-extra/RemoteActionsExtra: Fix to on init read the actions for the main system. --- .../RemoteActionsExtra.java | 91 ++++++++++--------- 1 file changed, 49 insertions(+), 42 deletions(-) diff --git a/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java b/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java index ac907420c5..2feeec1eb9 100644 --- a/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java +++ b/plugins-dev/remote-actions-extra/src/java/pt/lsts/neptus/plugins/remoteactionsextra/RemoteActionsExtra.java @@ -186,6 +186,7 @@ public RemoteActionsExtra(ConsoleLayout console, boolean usedInsideAnotherConsol @Override public void initSubPanel() { + updateForMainSystems(); resetUIWithActions(); } @@ -205,48 +206,50 @@ private synchronized void resetUIWithActions() { removeAll(); setLayout(new MigLayout("insets 10px")); - if (extraActionsTypesMap.isEmpty()) { - add(new JLabel("No actions available", SwingConstants.CENTER), "dock center"); - invalidate(); - validate(); - repaint(100); - return; - } + synchronized (extraActionsTypesMap) { + if (extraActionsTypesMap.isEmpty()) { + add(new JLabel("No actions available", SwingConstants.CENTER), "dock center"); + invalidate(); + validate(); + repaint(100); + return; + } - // Let us process the actions list - List> groupedActions = groupActionsBySimilarity(extraActionsTypesMap.keySet(), true); - groupedActions = processActions(groupedActions, 2, false); - - int grpIdx = 0; - for (List grp1 : groupedActions) { - grpIdx++; - String lastAct = grp1.get(grp1.size() - 1); - for (String action : grp1) { - String wrapLay = ""; - if (lastAct.equals(action)) { - wrapLay = "wrap"; - } - switch (extraActionsTypesMap.get(action)) { - case BUTTON: - JButton button = new JButton(action); - button.addActionListener(e -> { - curState.changeButtonActionValue(action, 1); - }); - String lay = "dock center, sg grp" + grpIdx; - lay += ", " + wrapLay; - add(button, lay); - if ("Take Control".equalsIgnoreCase(action)) { - takeControlMonitor.setButton(button); - takeControlMonitor.askedControl(); - } - break; - case AXIS: - // TODO - case SLIDER: - // TODO - case HALF_SLIDER: - // TODO - break; + // Let us process the actions list + List> groupedActions = groupActionsBySimilarity(extraActionsTypesMap.keySet(), true); + groupedActions = processActions(groupedActions, 2, false); + + int grpIdx = 0; + for (List grp1 : groupedActions) { + grpIdx++; + String lastAct = grp1.get(grp1.size() - 1); + for (String action : grp1) { + String wrapLay = ""; + if (lastAct.equals(action)) { + wrapLay = "wrap"; + } + switch (extraActionsTypesMap.get(action)) { + case BUTTON: + JButton button = new JButton(action); + button.addActionListener(e -> { + curState.changeButtonActionValue(action, 1); + }); + String lay = "dock center, sg grp" + grpIdx; + lay += ", " + wrapLay; + add(button, lay); + if ("Take Control".equalsIgnoreCase(action)) { + takeControlMonitor.setButton(button); + takeControlMonitor.askedControl(); + } + break; + case AXIS: + // TODO + case SLIDER: + // TODO + case HALF_SLIDER: + // TODO + break; + } } } } @@ -258,6 +261,11 @@ private synchronized void resetUIWithActions() { @Subscribe public void on(ConsoleEventMainSystemChange evt) { + updateForMainSystems(); + takeControlMonitor.on(evt); + } + + private void updateForMainSystems() { String actionsString = ""; try { if (properties.containsKey(getConsole().getMainSystem())) { @@ -267,7 +275,6 @@ public void on(ConsoleEventMainSystemChange evt) { NeptusLog.pub().error(e.getMessage()); } configureActions(actionsString, DEFAULT_AXIS_DECIMAL_VAL, false); - takeControlMonitor.on(evt); } @Subscribe From 47e83e185289a563a717a97d6f6c360c074ee5bd Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 30 Jul 2024 16:47:32 +0100 Subject: [PATCH 37/92] console/plugins/planning/plandb/PlanDBControl: Now the get/send/delete/clear plan also use the TCP and Iridium msg sending. --- .../planning/plandb/PlanDBControl.java | 20 +++++++++++++++---- 1 file changed, 16 insertions(+), 4 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java b/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java index 1bac11c645..bb628cf5d6 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/plandb/PlanDBControl.java @@ -102,7 +102,10 @@ public boolean clearDatabase() { IMCMessage imc_PlanDB = IMCDefinition.getInstance().create("PlanDB", "type", "REQUEST", "op", "CLEAR", "request_id", IMCSendMessageUtils.getNextRequestId()); - return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + //return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + return IMCSendMessageUtils.sendMessage(imc_PlanDB, ImcMsgManager.TRANSPORT_TCP, null, null, + I18n.text("Error sending clear all plans request"), true, "", + true, true, true, remoteSystemId); } public boolean sendPlan(PlanType plan) { @@ -110,13 +113,19 @@ public boolean sendPlan(PlanType plan) { "request_id", IMCSendMessageUtils.getNextRequestId(), "plan_id", plan.getId(), "arg", plan.asIMCPlan(), "info", ""); - return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + //return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + return IMCSendMessageUtils.sendMessage(imc_PlanDB, ImcMsgManager.TRANSPORT_TCP, null, null, + I18n.text("Error sending plan request"), true, "", + true, true, true, remoteSystemId); } public boolean requestPlan(String plan_id) { IMCMessage imc_PlanDB = IMCDefinition.getInstance().create("PlanDB", "type", "REQUEST", "op", "GET", "request_id", IMCSendMessageUtils.getNextRequestId(), "plan_id", plan_id); - return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + //return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + return IMCSendMessageUtils.sendMessage(imc_PlanDB, ImcMsgManager.TRANSPORT_TCP, null, null, + I18n.text("Error sending request plan request"), true, "", + true, true, true, remoteSystemId); } public boolean requestActivePlan() { @@ -136,7 +145,10 @@ public boolean deletePlan(String plan_id) { IMCMessage imc_PlanDB = IMCDefinition.getInstance().create("PlanDB", "type", "REQUEST", "op", "DEL", "request_id", IMCSendMessageUtils.getNextRequestId(), "plan_id", plan_id); NeptusLog.pub().debug("Sending to " + remoteSystemId); - return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + //return ImcMsgManager.getManager().sendMessageToSystem(imc_PlanDB, remoteSystemId); + return IMCSendMessageUtils.sendMessage(imc_PlanDB, ImcMsgManager.TRANSPORT_TCP, null, null, + I18n.text("Error delete plan request"), true, "", + true, true, true, remoteSystemId); } public void updateKnownState(IMCMessage imc_PlanDBState) { From e3b6e48d94ef6f72a90faa4c29743dafe08dbec5 Mon Sep 17 00:00:00 2001 From: xBogas <119903183+xBogas@users.noreply.github.com> Date: Wed, 31 Jul 2024 18:01:14 +0100 Subject: [PATCH 38/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 1931 ++++++++++++++++++++++++++++++--- conf/params/caravel.pt_PT.xml | 1931 ++++++++++++++++++++++++++++++--- 2 files changed, 3528 insertions(+), 334 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index ac5b83475b..5a5c327ab3 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -185,7 +185,7 @@ real developer global - 0.25 + 0.75 Percentage of thrust assistance @@ -563,6 +563,15 @@ + + Entity Label - CAS + string + developer + global + Path Control + + Entity label of CAS entity +
@@ -855,7 +864,7 @@ string developer global - GPS Navigation + Simulated Navigation Manager Entity label of 'GpsFix' message @@ -873,7 +882,7 @@ string developer global - + AirMar120WX Entity label of 'AbsoluteWind' message @@ -2099,6 +2108,82 @@ None, Debug, Trace, Spew
+
+ + Entity Label + string + developer + global + CPU Scaling + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Set CPU In Mode + string + developer + global + powersave + + Set CPU In Mode. + + + Use Linux Liquorix + boolean + developer + global + false + + Use Linux Liquorix. + + + Set Maximum CPU Frequency in MHz + integer + developer + global + 500 + + Set Maximum CPU Frequency in MHz. + +
Entity Label @@ -2353,7 +2438,7 @@ string developer global - Iridium + Both Desired transmission interface GSM, Iridium, Both @@ -2443,7 +2528,7 @@ list:string developer global - Daemon, GPS, Navigation, Operational Limits, Path Control + Daemon, GPS, Operational Limits, Path Control Default entities to monitor @@ -2452,7 +2537,7 @@ list:string developer global - Clock, Collisions + Clock, Navigation Manager Additional default entities to monitor in Hardware profile @@ -2674,6 +2759,118 @@ 0.0
+
+ + Entity Label + string + developer + global + Payload Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + Payload timeout + real + developer + global + 120 + + Payload timeout in seconds. + + + Payload Messages + list:string + developer + global + + + List of messages <Message>:<Entity> to send using Iridium. + + + Maximum payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + +
Entity Label @@ -2916,7 +3113,7 @@ global GPS - Name of preferred navigation unit. + Name of preferred GPS navigation unit. Secondary unit @@ -2925,7 +3122,7 @@ global CPC - Name of secondary preferred navigation unit. + Name of secondary preferred GPS navigation unit. Third unit @@ -2934,7 +3131,7 @@ global AIS - Name of third preferred navigation unit. + Name of third preferred GPS navigation unit. Convert Height to Geoid Height @@ -3354,7 +3551,7 @@ string developer global - uart:///dev/ttyCPC:115200 + uart:///dev/ttyS2:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3570,7 +3767,7 @@ boolean developer global - false + true Power Channel State @@ -3588,7 +3785,7 @@ boolean developer global - false + true Power Channel State @@ -3651,7 +3848,7 @@ string developer global - Private (ECHOTRIP) + ECHOTRIP Power Channel Entity Label @@ -3660,7 +3857,7 @@ boolean developer global - false + true Power Channel State @@ -3669,7 +3866,7 @@ string developer global - Private (OXYGEN) + OXYGEN Power Channel Entity Label @@ -3678,7 +3875,7 @@ boolean developer global - false + true Power Channel State @@ -3687,7 +3884,7 @@ string developer global - Private (AIRMAR) + AIRMAR Power Channel Entity Label @@ -3696,7 +3893,7 @@ boolean developer global - false + true Power Channel State @@ -3705,7 +3902,7 @@ string developer global - Private (CTD_P) + CTD_P Power Channel Entity Label @@ -3714,7 +3911,7 @@ boolean developer global - false + true Power Channel State @@ -3741,7 +3938,7 @@ string developer global - Private (DCP_P) + ADCP_P Power Channel Entity Label @@ -3750,7 +3947,7 @@ boolean developer global - false + true Power Channel State @@ -3795,7 +3992,7 @@ string developer global - Private (MOBILE) + MOBILE Power Channel Entity Label @@ -3804,7 +4001,7 @@ boolean developer global - false + true Power Channel State @@ -3984,7 +4181,7 @@ boolean developer global - false + true Is Main CPU @@ -3998,13 +4195,13 @@ Set CPC to use NAV and Iridium at Boot.
-
+
Entity Label string developer global - GPS + AIS Main entity label @@ -4022,7 +4219,7 @@ integer developer global - 30.0 + 10.0 @@ -4078,39 +4275,9 @@ string developer global - uart:///dev/ttyS10:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 + uart:///dev/ttyS10:38400 - Acquisition Frequency - 0 - 5 + Serial port device used to communicate with the sensor Initialization String 0 - Command @@ -4202,35 +4369,1021 @@ - - Initialization String 5 - Command - string + + Sentence Order + list:string developer global - + GPS Sentence order - - Initialization String 5 - Reply - string + + Input Timeout + real developer global - - - + 4.0 + s + Input timeout + 0.0 - - Initialization String 6 - Command - string + + AIS Error - Max + integer developer global - + 3 - + Max erros for Ais messages parser - - Initialization String 6 - Reply + + AIS Error - Interval + real + developer + global + 10.0 + + Invertal for checking AIS errors + + + Power Channel + string + developer + global + + + Power Channel + + + Log messages + boolean + developer + global + false + + Add messages received to logs + +
+
+ + Entity Label + string + developer + global + AirMar120WX + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 3.0 + + + + + Deactivation Time + integer + developer + global + 3.0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS8:4800 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 7.0 + s + Input timeout + 0.0 + + + Angle offset + real + developer + global + 5 + ° + Angle offset for relative wind + +
+
+ + Entity Label + string + developer + global + Fluorometers + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + Serial Port - Device + string + developer + global + /dev/ttyS11 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 19200 + + Serial port Baud Rate + + + Input Timeout + real + developer + global + 5.0 + s + Amount of seconds to wait for data before reporting an error + 2.0 + + + Device Serial Number + string + developer + global + BBFL2W-8379 + + Device's serial number. Required to check communication with device. + + + CDOM -- Dark Counts + integer + developer + global + 62 + + Signal output of the meter in clean water with black tape over detector + + + CDOM -- Scale Factor + real + developer + global + 0.0916 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Chlorophyll -- Dark Counts + integer + developer + global + 49 + + Signal output of the meter in clean water with black tape over detector + + + Chlorophyll -- Scale Factor + real + developer + global + 0.0073 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Turbidity -- Dark Counts + integer + developer + global + 51 + + Signal output of the meter in clean water with black tape over detector + + + Turbidity -- Scale Factor + real + developer + global + 0.0024 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Sampling Duration + real + user + maneuver + 0.0 + + Sampling duration in seconds + + + Sampling Period + real + user + maneuver + 0.0 + + Sampling period in seconds + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + +
+
+ + Entity Label + string + developer + global + GPS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 30.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS9:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 + + Acquisition Frequency + 0 + 5 + + + Initialization String 0 - Command + string + developer + global + + + + + + Initialization String 0 - Reply + string + developer + global + + + + + + Initialization String 1 - Command + string + developer + global + + + + + + Initialization String 1 - Reply + string + developer + global + + + + + + Initialization String 2 - Command + string + developer + global + + + + + + Initialization String 2 - Reply + string + developer + global + + + + + + Initialization String 3 - Command + string + developer + global + + + + + + Initialization String 3 - Reply + string + developer + global + + + + + + Initialization String 4 - Command + string + developer + global + + + + + + Initialization String 4 - Reply + string + developer + global + + + + + + Initialization String 5 - Command + string + developer + global + + + + + + Initialization String 5 - Reply + string + developer + global + + + + + + Initialization String 6 - Command + string + developer + global + + + + + + Initialization String 6 - Reply + string + developer + global + + + + + + Initialization String 7 - Command + string + developer + global + + + + + + Initialization String 7 - Reply + string + developer + global + + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 8 - Reply + string + developer + global + + + + + + Initialization String 9 - Command + string + developer + global + + + + + + Initialization String 9 - Reply + string + developer + global + + + + +
+
+ + Entity Label + string + developer + global + AHRS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 20.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS4 + + IO device URI in the form "uart://DEVICE".This device has only one baud rate. + + + Power Channel - Name + string + developer + global + + + Name of the power channel + + + Hard-Iron Calibration + list:real + developer + global + 0.0410, -0.0470, 0.0 + G + Hard-Iron calibration parameters + 3 + + + Output Frequency + integer + developer + global + 20 + Hz + Output frequency + 1 + 127 + + + Raw Data + boolean + developer + global + false + + Set to true to enable raw data output + + + Rotation Matrix + list:real + developer + global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + + Rotation matrix which is dependent of the mounting position + 9 + + + Timeout - Error + real + developer + global + 3.0 + s + Number of seconds without data before reporting an error + 1.0 + + + Timeout - Failure + real + developer + global + 6.0 + s + Number of seconds without data before restarting task + 1.0 + + + Last Calibration Time + string + user + global + 2024-05-09 14:04 + + Date of last successful calibration + +
+
+ + Entity Label + string + developer + global + ADCP + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 5 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS6:115200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + + Periodicity of Data Sampling in seconds. + + + Initialization String 0 - Command + string + developer + global + SETDEFAULT,ALL + + + + + Initialization String 1 - Command + string + developer + global + SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n + + + + + Initialization String 2 - Command + string + developer + global + SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n + + + + + Initialization String 3 - Command + string + developer + global + SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n + + + + + Initialization String 4 - Command + string + developer + global + SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n + + + + + Initialization String 5 - Command + string + developer + global + SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n + + + + + Initialization String 6 - Command + string + developer + global + SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + + + + + Initialization String 7 - Command + string + developer + global + SAVE,ALL\r\n + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 9 - Command string developer global @@ -4238,53 +5391,129 @@ - - Initialization String 7 - Command +
+
+ + Entity Label string developer global - + Dissolved Oxygen + + Main entity label + + + Execution Priority + integer + developer + global + 20 + + Execution priority + + + Activation Time + integer + developer + global + 60 - - Initialization String 7 - Reply - string + + Deactivation Time + integer developer global - + 0 - - Initialization String 8 - Command + + Debug Level string developer global - + None + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Initialization String 8 - Reply + + Active - Scope string developer global - + global - + Scoped of the 'Active' parameter - - Initialization String 9 - Command + + Active - Visibility string developer global - + developer - + Visibility of the 'Active' parameter - - Initialization String 9 - Reply + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS7:9600 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Measurement String Identifier + string + developer + global + 4835 + + Measurement command string identifier + + + Entity Label - Temperature + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Depth + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Salinity + string + developer + global + CTD + + Entity label of the CTD + + + Power Channel - Name string developer global @@ -4292,14 +5521,59 @@ + + Data rate + real + developer + global + 1 + Hz + Data Acquisition Rate. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + s + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + s + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + s + Timeout Transmitting Iridium Message. +
-
+
Entity Label string developer global - AHRS + CTD Main entity label @@ -4317,7 +5591,7 @@ integer developer global - 20.0 + 10.0 @@ -4346,7 +5620,7 @@ string developer global - global + maneuver Scoped of the 'Active' parameter @@ -4355,15 +5629,15 @@ string developer global - developer + user Visibility of the 'Active' parameter Active boolean - developer - global + user + maneuver 1 True to activate task, false otherwise @@ -4373,9 +5647,45 @@ string developer global - uart:///dev/ttyS9 + uart:///dev/ttyS5:115200 - IO device URI in the form "uart://DEVICE".This device has only one baud rate. + IO device URI in the form "uart://DEVICE:BAUD" + + + Sample Period (ms) + integer + user + global + 125 + ms + Sample period in milliseconds + + + Sample Time Duration + integer + user + maneuver + 5 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 20 + + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. Power Channel - Name @@ -4384,85 +5694,101 @@ global - Name of the power channel + Power channel name for the device. Set to empty to disable. - - Hard-Iron Calibration - list:real + + Input Timeout + real developer global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 + 60 + + Input timeout in seconds. Must be greater than 2*Sample Time Duration - - Output Frequency +
+
+ + Entity Label + string + developer + global + Thermal Zone + + Main entity label + + + Execution Priority integer developer global - 20 - Hz - Output frequency - 1 - 127 + 10 + + Execution priority - - Raw Data - boolean + + Activation Time + integer developer global - false + 0 - Set to true to enable raw data output + - - Rotation Matrix - list:real + + Deactivation Time + integer developer global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + 0 - Rotation matrix which is dependent of the mounting position - 9 + - - Timeout - Error - real + + Debug Level + string developer global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Timeout - Failure + + Execution Frequency real developer global - 6.0 - s - Number of seconds without data before restarting task - 1.0 + 1 + Hz + Frequency at which task is executed + + + Path + string + developer + global + /sys/class/thermal/thermal_zone0/temp + + Path to the sysfs file - - Last Calibration Time + + Entity Label - Temperature string - user + developer global - N/A + Mainboard (Core) - Date of last successful calibration + Entity label of temperature sensor
-
+
Entity Label string developer global - Thermal Zone + Autonaut Supervisor Main entity label @@ -4509,27 +5835,29 @@ real developer global - 1 + 2 Hz Frequency at which task is executed - - Path - string + + Loiter On Service -- Radius + real developer global - /sys/class/thermal/thermal_zone0/temp + 30.0 - Path to the sysfs file + Radius for loiter on service option + 5.0 - - Entity Label - Temperature - string + + Loiter On Service -- Speed + real developer global - Mainboard (Core) + 0.5 - Entity label of temperature sensor + Speed for loiter on service option + 0.1
@@ -5310,6 +6638,145 @@ Maximum amount of seconds to wait for missing fragments in incoming messages
+
+ + Entity Label + string + developer + global + GSM + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 10 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Serial Port - Device + string + developer + global + /dev/ttyUSB3 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate + + + Reply Timeout + real + developer + global + 2.0 + s + Amount of time to wait for a command reply + + + PIN + string + developer + global + + + PIN Code + + + RSSI Periodicity + real + developer + global + 10 + s + Periodicity of RSSI reports + + + Read SMS Periodicity + real + developer + global + 10 + s + Periodicity of received SMS checks + + + SMS Send Timeout + real + developer + global + 60 + s + Maximum amount of time to wait for SMS send completion + + + USSD code + integer + developer + global + 111 + + USSD code + + + Request Balance + boolean + user + global + false + + Enable Balance Request + + + Balance Periodicity + integer + developer + global + 60 + + Balance Periodicity + +
Entity Label @@ -5498,6 +6965,136 @@ Text messages received via Iridium will be tagged with this origin
+
+ + Entity Label + string + developer + global + Iridium Operation + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + global + 0 + + True to activate task, false otherwise + + + Maximum iridium payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Rate Limiters + list:string + developer + global + PlanControlState:120, EstimatedState:120, VehicleState:120, StateReport:120, FuelLevel:120 + + List of <Message>:<Period> to send messages at a specific period. + + + Filtered Entities + list:string + developer + global + + + List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. + + + Transport + list:string + developer + global + PlanControl, PlanControlState, EstimatedState, VehicleState, StateReport, FuelLevel, Aborted + + List of messages to transport + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + + + Iridium Operation Timeout + integer + developer + global + 600 + + Iridium operation timeout in seconds. + +
Entity Label @@ -5578,7 +7175,7 @@ string developer global - /dev/ttyS8 + /dev/ttyS3 Serial port device used to communicate with the modem @@ -5925,7 +7522,7 @@ list:string developer global - Distance:Altimeter+DVL Filtered+Echo Sounder + Distance:Altimeter+DVL Filtered+Echo Sounder, DevDataText:AIS List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. @@ -5961,7 +7558,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation, AisInfo, RemoteSensorInfo, DevDataText List of messages to transport diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 01801b2829..7960bb4988 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -185,7 +185,7 @@ real developer global - 0.25 + 0.75 Percentage of thrust assistance @@ -563,6 +563,15 @@ + + Entity Label - CAS + string + developer + global + Path Control + + Entity label of CAS entity +
@@ -855,7 +864,7 @@ string developer global - GPS Navigation + Simulated Navigation Manager Entity label of 'GpsFix' message @@ -873,7 +882,7 @@ string developer global - + AirMar120WX Entity label of 'AbsoluteWind' message @@ -2099,6 +2108,82 @@ None, Debug, Trace, Spew
+
+ + Nome da Entidade + string + developer + global + CPU Scaling + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Set CPU In Mode + string + developer + global + powersave + + Set CPU In Mode. + + + Use Linux Liquorix + boolean + developer + global + false + + Use Linux Liquorix. + + + Set Maximum CPU Frequency in MHz + integer + developer + global + 500 + + Set Maximum CPU Frequency in MHz. + +
Nome da Entidade @@ -2353,7 +2438,7 @@ string developer global - Iridium + Both Desired transmission interface GSM, Iridium, Both @@ -2443,7 +2528,7 @@ list:string developer global - Daemon, GPS, Navigation, Operational Limits, Path Control + Daemon, GPS, Operational Limits, Path Control Default entities to monitor @@ -2452,7 +2537,7 @@ list:string developer global - Clock, Collisions + Clock, Navigation Manager Additional default entities to monitor in Hardware profile @@ -2674,6 +2759,118 @@ 0.0
+
+ + Nome da Entidade + string + developer + global + Payload Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + maneuver + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + maneuver + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + Payload timeout + real + developer + global + 120 + + Payload timeout in seconds. + + + Payload Messages + list:string + developer + global + + + List of messages <Message>:<Entity> to send using Iridium. + + + Maximum payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + +
Nome da Entidade @@ -2916,7 +3113,7 @@ global GPS - Name of preferred navigation unit. + Name of preferred GPS navigation unit. Secondary unit @@ -2925,7 +3122,7 @@ global CPC - Name of secondary preferred navigation unit. + Name of secondary preferred GPS navigation unit. Third unit @@ -2934,7 +3131,7 @@ global AIS - Name of third preferred navigation unit. + Name of third preferred GPS navigation unit. Convert Height to Geoid Height @@ -3354,7 +3551,7 @@ string developer global - uart:///dev/ttyCPC:115200 + uart:///dev/ttyS2:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3570,7 +3767,7 @@ boolean developer global - false + true Power Channel State @@ -3588,7 +3785,7 @@ boolean developer global - false + true Power Channel State @@ -3651,7 +3848,7 @@ string developer global - Private (ECHOTRIP) + ECHOTRIP Power Channel Entity Label @@ -3660,7 +3857,7 @@ boolean developer global - false + true Power Channel State @@ -3669,7 +3866,7 @@ string developer global - Private (OXYGEN) + OXYGEN Power Channel Entity Label @@ -3678,7 +3875,7 @@ boolean developer global - false + true Power Channel State @@ -3687,7 +3884,7 @@ string developer global - Private (AIRMAR) + AIRMAR Power Channel Entity Label @@ -3696,7 +3893,7 @@ boolean developer global - false + true Power Channel State @@ -3705,7 +3902,7 @@ string developer global - Private (CTD_P) + CTD_P Power Channel Entity Label @@ -3714,7 +3911,7 @@ boolean developer global - false + true Power Channel State @@ -3741,7 +3938,7 @@ string developer global - Private (DCP_P) + ADCP_P Power Channel Entity Label @@ -3750,7 +3947,7 @@ boolean developer global - false + true Power Channel State @@ -3795,7 +3992,7 @@ string developer global - Private (MOBILE) + MOBILE Power Channel Entity Label @@ -3804,7 +4001,7 @@ boolean developer global - false + true Power Channel State @@ -3984,7 +4181,7 @@ boolean developer global - false + true Is Main CPU @@ -3998,13 +4195,13 @@ Set CPC to use NAV and Iridium at Boot.
-
+
Nome da Entidade string developer global - GPS + AIS Nome principal da entidade @@ -4022,7 +4219,7 @@ integer developer global - 30.0 + 10.0 @@ -4078,39 +4275,9 @@ string developer global - uart:///dev/ttyS10:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 + uart:///dev/ttyS10:38400 - Acquisition Frequency - 0 - 5 + Serial port device used to communicate with the sensor Initialization String 0 - Command @@ -4202,35 +4369,1021 @@ - - Initialization String 5 - Command - string + + Sentence Order + list:string developer global - + GPS Sentence order - - Initialization String 5 - Reply - string + + Input Timeout + real developer global - - - + 4.0 + s + Input timeout + 0.0 - - Initialization String 6 - Command - string + + AIS Error - Max + integer developer global - + 3 - + Max erros for Ais messages parser - - Initialization String 6 - Reply + + AIS Error - Interval + real + developer + global + 10.0 + + Invertal for checking AIS errors + + + Power Channel + string + developer + global + + + Power Channel + + + Log messages + boolean + developer + global + false + + Add messages received to logs + +
+
+ + Nome da Entidade + string + developer + global + AirMar120WX + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 3.0 + + + + + Tempo de Desativação + integer + developer + global + 3.0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS8:4800 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 7.0 + s + Input timeout + 0.0 + + + Angle offset + real + developer + global + 5 + ° + Angle offset for relative wind + +
+
+ + Nome da Entidade + string + developer + global + Fluorometers + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + maneuver + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + maneuver + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + Serial Port - Device + string + developer + global + /dev/ttyS11 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 19200 + + Serial port Baud Rate + + + Input Timeout + real + developer + global + 5.0 + s + Amount of seconds to wait for data before reporting an error + 2.0 + + + Device Serial Number + string + developer + global + BBFL2W-8379 + + Device's serial number. Required to check communication with device. + + + CDOM -- Dark Counts + integer + developer + global + 62 + + Signal output of the meter in clean water with black tape over detector + + + CDOM -- Scale Factor + real + developer + global + 0.0916 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Chlorophyll -- Dark Counts + integer + developer + global + 49 + + Signal output of the meter in clean water with black tape over detector + + + Chlorophyll -- Scale Factor + real + developer + global + 0.0073 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Turbidity -- Dark Counts + integer + developer + global + 51 + + Signal output of the meter in clean water with black tape over detector + + + Turbidity -- Scale Factor + real + developer + global + 0.0024 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Sampling Duration + real + user + maneuver + 0.0 + + Sampling duration in seconds + + + Sampling Period + real + user + maneuver + 0.0 + + Sampling period in seconds + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + +
+
+ + Nome da Entidade + string + developer + global + GPS + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 30.0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS9:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 + + Acquisition Frequency + 0 + 5 + + + Initialization String 0 - Command + string + developer + global + + + + + + Initialization String 0 - Reply + string + developer + global + + + + + + Initialization String 1 - Command + string + developer + global + + + + + + Initialization String 1 - Reply + string + developer + global + + + + + + Initialization String 2 - Command + string + developer + global + + + + + + Initialization String 2 - Reply + string + developer + global + + + + + + Initialization String 3 - Command + string + developer + global + + + + + + Initialization String 3 - Reply + string + developer + global + + + + + + Initialization String 4 - Command + string + developer + global + + + + + + Initialization String 4 - Reply + string + developer + global + + + + + + Initialization String 5 - Command + string + developer + global + + + + + + Initialization String 5 - Reply + string + developer + global + + + + + + Initialization String 6 - Command + string + developer + global + + + + + + Initialization String 6 - Reply + string + developer + global + + + + + + Initialization String 7 - Command + string + developer + global + + + + + + Initialization String 7 - Reply + string + developer + global + + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 8 - Reply + string + developer + global + + + + + + Initialization String 9 - Command + string + developer + global + + + + + + Initialization String 9 - Reply + string + developer + global + + + + +
+
+ + Nome da Entidade + string + developer + global + AHRS + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 20.0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS4 + + IO device URI in the form "uart://DEVICE".This device has only one baud rate. + + + Power Channel - Name + string + developer + global + + + Name of the power channel + + + Hard-Iron Calibration + list:real + developer + global + 0.0410, -0.0470, 0.0 + G + Hard-Iron calibration parameters + 3 + + + Output Frequency + integer + developer + global + 20 + Hz + Output frequency + 1 + 127 + + + Raw Data + boolean + developer + global + false + + Set to true to enable raw data output + + + Rotation Matrix + list:real + developer + global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + + Rotation matrix which is dependent of the mounting position + 9 + + + Timeout - Error + real + developer + global + 3.0 + s + Number of seconds without data before reporting an error + 1.0 + + + Timeout - Failure + real + developer + global + 6.0 + s + Number of seconds without data before restarting task + 1.0 + + + Last Calibration Time + string + user + global + 2024-05-09 14:04 + + Date of last successful calibration + +
+
+ + Nome da Entidade + string + developer + global + ADCP + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 5 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS6:115200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + + Periodicity of Data Sampling in seconds. + + + Initialization String 0 - Command + string + developer + global + SETDEFAULT,ALL + + + + + Initialization String 1 - Command + string + developer + global + SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n + + + + + Initialization String 2 - Command + string + developer + global + SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n + + + + + Initialization String 3 - Command + string + developer + global + SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n + + + + + Initialization String 4 - Command + string + developer + global + SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n + + + + + Initialization String 5 - Command + string + developer + global + SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n + + + + + Initialization String 6 - Command + string + developer + global + SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + + + + + Initialization String 7 - Command + string + developer + global + SAVE,ALL\r\n + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 9 - Command string developer global @@ -4238,53 +5391,129 @@ - - Initialization String 7 - Command +
+
+ + Nome da Entidade string developer global - + Dissolved Oxygen + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 20 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 60 - - Initialization String 7 - Reply - string + + Tempo de Desativação + integer developer global - + 0 - - Initialization String 8 - Command + + Nível de Depuração string developer global - + None + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Initialization String 8 - Reply + + Ativa - Escopo string developer global - + global - + Escopo do parâmetro 'Ativa' - - Initialization String 9 - Command + + Ativa - Visibilidade string developer global - + developer - + Visibilidade do parâmetro 'Ativa' - - Initialization String 9 - Reply + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS7:9600 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Measurement String Identifier + string + developer + global + 4835 + + Measurement command string identifier + + + Entity Label - Temperature + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Depth + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Salinity + string + developer + global + CTD + + Entity label of the CTD + + + Power Channel - Name string developer global @@ -4292,14 +5521,59 @@ + + Data rate + real + developer + global + 1 + Hz + Data Acquisition Rate. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + s + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + s + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + s + Timeout Transmitting Iridium Message. +
-
+
Nome da Entidade string developer global - AHRS + CTD Nome principal da entidade @@ -4317,7 +5591,7 @@ integer developer global - 20.0 + 10.0 @@ -4346,7 +5620,7 @@ string developer global - global + maneuver Escopo do parâmetro 'Ativa' @@ -4355,15 +5629,15 @@ string developer global - developer + user Visibilidade do parâmetro 'Ativa' Ativa boolean - developer - global + user + maneuver 1 Verdadeiro para ativar tarefa, falso caso contrário @@ -4373,9 +5647,45 @@ string developer global - uart:///dev/ttyS9 + uart:///dev/ttyS5:115200 - IO device URI in the form "uart://DEVICE".This device has only one baud rate. + IO device URI in the form "uart://DEVICE:BAUD" + + + Sample Period (ms) + integer + user + global + 125 + ms + Sample period in milliseconds + + + Sample Time Duration + integer + user + maneuver + 5 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 20 + + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. Power Channel - Name @@ -4384,85 +5694,101 @@ global - Name of the power channel + Power channel name for the device. Set to empty to disable. - - Hard-Iron Calibration - list:real + + Input Timeout + real developer global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 + 60 + + Input timeout in seconds. Must be greater than 2*Sample Time Duration - - Output Frequency +
+
+ + Nome da Entidade + string + developer + global + Thermal Zone + + Nome principal da entidade + + + Prioridade de Execução integer developer global - 20 - Hz - Output frequency - 1 - 127 + 10 + + Prioridade de execução - - Raw Data - boolean + + Tempo de Ativação + integer developer global - false + 0 - Set to true to enable raw data output + - - Rotation Matrix - list:real + + Tempo de Desativação + integer developer global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + 0 - Rotation matrix which is dependent of the mounting position - 9 + - - Timeout - Error - real + + Nível de Depuração + string developer global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Timeout - Failure + + Frequência de Execução real developer global - 6.0 - s - Number of seconds without data before restarting task - 1.0 + 1 + Hz + Frequência com que a tarefa é executada + + + Path + string + developer + global + /sys/class/thermal/thermal_zone0/temp + + Path to the sysfs file - - Last Calibration Time + + Entity Label - Temperature string - user + developer global - N/A + Mainboard (Core) - Date of last successful calibration + Entity label of temperature sensor
-
+
Nome da Entidade string developer global - Thermal Zone + Autonaut Supervisor Nome principal da entidade @@ -4509,27 +5835,29 @@ real developer global - 1 + 2 Hz Frequência com que a tarefa é executada - - Path - string + + Loiter On Service -- Radius + real developer global - /sys/class/thermal/thermal_zone0/temp + 30.0 - Path to the sysfs file + Radius for loiter on service option + 5.0 - - Entity Label - Temperature - string + + Loiter On Service -- Speed + real developer global - Mainboard (Core) + 0.5 - Entity label of temperature sensor + Speed for loiter on service option + 0.1
@@ -5310,6 +6638,145 @@ Maximum amount of seconds to wait for missing fragments in incoming messages
+
+ + Nome da Entidade + string + developer + global + GSM + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 10 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Serial Port - Device + string + developer + global + /dev/ttyUSB3 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate + + + Reply Timeout + real + developer + global + 2.0 + s + Amount of time to wait for a command reply + + + PIN + string + developer + global + + + PIN Code + + + RSSI Periodicity + real + developer + global + 10 + s + Periodicity of RSSI reports + + + Read SMS Periodicity + real + developer + global + 10 + s + Periodicity of received SMS checks + + + SMS Send Timeout + real + developer + global + 60 + s + Maximum amount of time to wait for SMS send completion + + + USSD code + integer + developer + global + 111 + + USSD code + + + Request Balance + boolean + user + global + false + + Enable Balance Request + + + Balance Periodicity + integer + developer + global + 60 + + Balance Periodicity + +
Nome da Entidade @@ -5498,6 +6965,136 @@ Text messages received via Iridium will be tagged with this origin
+
+ + Nome da Entidade + string + developer + global + Iridium Operation + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + global + 0 + + Verdadeiro para ativar tarefa, falso caso contrário + + + Maximum iridium payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Rate Limiters + list:string + developer + global + PlanControlState:120, EstimatedState:120, VehicleState:120, StateReport:120, FuelLevel:120 + + List of <Message>:<Period> to send messages at a specific period. + + + Filtered Entities + list:string + developer + global + + + List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. + + + Transport + list:string + developer + global + PlanControl, PlanControlState, EstimatedState, VehicleState, StateReport, FuelLevel, Aborted + + List of messages to transport + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + + + Iridium Operation Timeout + integer + developer + global + 600 + + Iridium operation timeout in seconds. + +
Nome da Entidade @@ -5578,7 +7175,7 @@ string developer global - /dev/ttyS8 + /dev/ttyS3 Serial port device used to communicate with the modem @@ -5925,7 +7522,7 @@ list:string developer global - Distance:Altimeter+DVL Filtered+Echo Sounder + Distance:Altimeter+DVL Filtered+Echo Sounder, DevDataText:AIS List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. @@ -5961,7 +7558,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation, AisInfo, RemoteSensorInfo, DevDataText List of messages to transport From 5f198415c9c27878b212933b8a2d83c7bc973688 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 1 Aug 2024 14:05:29 +0100 Subject: [PATCH 39/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 1933 +++++++++++++++++++++--- conf/params/caravel.pt_PT.xml | 2631 ++++++++++++++++++++++++++------- 2 files changed, 3879 insertions(+), 685 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index ac5b83475b..4bef2d036e 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -185,7 +185,7 @@ real developer global - 0.25 + 0.75 Percentage of thrust assistance @@ -563,6 +563,15 @@ + + Entity Label - CAS + string + developer + global + Path Control + + Entity label of CAS entity +
@@ -855,7 +864,7 @@ string developer global - GPS Navigation + Simulated Navigation Manager Entity label of 'GpsFix' message @@ -873,7 +882,7 @@ string developer global - + AirMar120WX Entity label of 'AbsoluteWind' message @@ -2099,6 +2108,82 @@ None, Debug, Trace, Spew
+
+ + Entity Label + string + developer + global + CPU Scaling + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Set CPU In Mode + string + developer + global + powersave + + Set CPU In Mode. + + + Use Linux Liquorix + boolean + developer + global + false + + Use Linux Liquorix. + + + Set Maximum CPU Frequency in MHz + integer + developer + global + 500 + + Set Maximum CPU Frequency in MHz. + +
Entity Label @@ -2353,7 +2438,7 @@ string developer global - Iridium + Both Desired transmission interface GSM, Iridium, Both @@ -2443,7 +2528,7 @@ list:string developer global - Daemon, GPS, Navigation, Operational Limits, Path Control + Daemon, GPS, Operational Limits, Path Control Default entities to monitor @@ -2452,7 +2537,7 @@ list:string developer global - Clock, Collisions + Clock, Navigation Manager Additional default entities to monitor in Hardware profile @@ -2674,6 +2759,118 @@ 0.0
+
+ + Entity Label + string + developer + global + Payload Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + Payload timeout + real + developer + global + 120 + + Payload timeout in seconds. + + + Payload Messages + list:string + developer + global + EstimatedState:Navigation Manager, Temperature:CTD, Temperature:AirMar120WX, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager + + List of messages <Message>:<Entity> to send using Iridium. + + + Maximum payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + +
Entity Label @@ -2916,7 +3113,7 @@ global GPS - Name of preferred navigation unit. + Name of preferred GPS navigation unit. Secondary unit @@ -2925,7 +3122,7 @@ global CPC - Name of secondary preferred navigation unit. + Name of secondary preferred GPS navigation unit. Third unit @@ -2934,7 +3131,7 @@ global AIS - Name of third preferred navigation unit. + Name of third preferred GPS navigation unit. Convert Height to Geoid Height @@ -3354,7 +3551,7 @@ string developer global - uart:///dev/ttyCPC:115200 + uart:///dev/ttyS2:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3570,7 +3767,7 @@ boolean developer global - false + true Power Channel State @@ -3588,7 +3785,7 @@ boolean developer global - false + true Power Channel State @@ -3651,7 +3848,7 @@ string developer global - Private (ECHOTRIP) + ECHOTRIP Power Channel Entity Label @@ -3660,7 +3857,7 @@ boolean developer global - false + true Power Channel State @@ -3669,7 +3866,7 @@ string developer global - Private (OXYGEN) + OXYGEN Power Channel Entity Label @@ -3678,7 +3875,7 @@ boolean developer global - false + true Power Channel State @@ -3687,7 +3884,7 @@ string developer global - Private (AIRMAR) + AIRMAR Power Channel Entity Label @@ -3696,7 +3893,7 @@ boolean developer global - false + true Power Channel State @@ -3705,7 +3902,7 @@ string developer global - Private (CTD_P) + CTD_P Power Channel Entity Label @@ -3714,7 +3911,7 @@ boolean developer global - false + true Power Channel State @@ -3741,7 +3938,7 @@ string developer global - Private (DCP_P) + ADCP_P Power Channel Entity Label @@ -3750,7 +3947,7 @@ boolean developer global - false + true Power Channel State @@ -3795,7 +3992,7 @@ string developer global - Private (MOBILE) + MOBILE Power Channel Entity Label @@ -3804,7 +4001,7 @@ boolean developer global - false + true Power Channel State @@ -3984,7 +4181,7 @@ boolean developer global - false + true Is Main CPU @@ -3998,13 +4195,13 @@ Set CPC to use NAV and Iridium at Boot.
-
+
Entity Label string developer global - GPS + AIS Main entity label @@ -4022,7 +4219,7 @@ integer developer global - 30.0 + 10.0 @@ -4078,39 +4275,9 @@ string developer global - uart:///dev/ttyS10:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 + uart:///dev/ttyS10:38400 - Acquisition Frequency - 0 - 5 + Serial port device used to communicate with the sensor Initialization String 0 - Command @@ -4202,89 +4369,1151 @@ - - Initialization String 5 - Command - string + + Sentence Order + list:string developer global - + GPS Sentence order - - Initialization String 5 - Reply - string + + Input Timeout + real developer global - - - + 4.0 + s + Input timeout + 0.0 - - Initialization String 6 - Command - string + + AIS Error - Max + integer developer global - + 3 - + Max erros for Ais messages parser - - Initialization String 6 - Reply - string + + AIS Error - Interval + real + developer + global + 10.0 + + Invertal for checking AIS errors + + + Power Channel + string + developer + global + + + Power Channel + + + Log messages + boolean + developer + global + false + + Add messages received to logs + +
+
+ + Entity Label + string + developer + global + AirMar120WX + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 3.0 + + + + + Deactivation Time + integer + developer + global + 3.0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS8:4800 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 7.0 + s + Input timeout + 0.0 + + + Angle offset + real + developer + global + 5 + ° + Angle offset for relative wind + +
+
+ + Entity Label + string + developer + global + Fluorometers + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + Serial Port - Device + string + developer + global + /dev/ttyS11 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 19200 + + Serial port Baud Rate + + + Input Timeout + real + developer + global + 5.0 + s + Amount of seconds to wait for data before reporting an error + 2.0 + + + Device Serial Number + string + developer + global + BBFL2W-8379 + + Device's serial number. Required to check communication with device. + + + CDOM -- Dark Counts + integer + developer + global + 62 + + Signal output of the meter in clean water with black tape over detector + + + CDOM -- Scale Factor + real + developer + global + 0.0916 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Chlorophyll -- Dark Counts + integer + developer + global + 49 + + Signal output of the meter in clean water with black tape over detector + + + Chlorophyll -- Scale Factor + real + developer + global + 0.0073 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Turbidity -- Dark Counts + integer + developer + global + 51 + + Signal output of the meter in clean water with black tape over detector + + + Turbidity -- Scale Factor + real + developer + global + 0.0024 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Sampling Duration + real + user + maneuver + 0.0 + + Sampling duration in seconds + + + Sampling Period + real + user + maneuver + 0.0 + + Sampling period in seconds + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + +
+
+ + Entity Label + string + developer + global + GPS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 30.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS9:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 + + Acquisition Frequency + 0 + 5 + + + Initialization String 0 - Command + string + developer + global + + + + + + Initialization String 0 - Reply + string + developer + global + + + + + + Initialization String 1 - Command + string + developer + global + + + + + + Initialization String 1 - Reply + string + developer + global + + + + + + Initialization String 2 - Command + string + developer + global + + + + + + Initialization String 2 - Reply + string + developer + global + + + + + + Initialization String 3 - Command + string + developer + global + + + + + + Initialization String 3 - Reply + string + developer + global + + + + + + Initialization String 4 - Command + string + developer + global + + + + + + Initialization String 4 - Reply + string + developer + global + + + + + + Initialization String 5 - Command + string + developer + global + + + + + + Initialization String 5 - Reply + string + developer + global + + + + + + Initialization String 6 - Command + string + developer + global + + + + + + Initialization String 6 - Reply + string + developer + global + + + + + + Initialization String 7 - Command + string + developer + global + + + + + + Initialization String 7 - Reply + string + developer + global + + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 8 - Reply + string + developer + global + + + + + + Initialization String 9 - Command + string + developer + global + + + + + + Initialization String 9 - Reply + string + developer + global + + + + +
+
+ + Entity Label + string + developer + global + AHRS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 20.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS4 + + IO device URI in the form "uart://DEVICE".This device has only one baud rate. + + + Power Channel - Name + string + developer + global + + + Name of the power channel + + + Hard-Iron Calibration + list:real + developer + global + 0.0410, -0.0470, 0.0 + G + Hard-Iron calibration parameters + 3 + + + Output Frequency + integer + developer + global + 20 + Hz + Output frequency + 1 + 127 + + + Raw Data + boolean + developer + global + false + + Set to true to enable raw data output + + + Rotation Matrix + list:real + developer + global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + + Rotation matrix which is dependent of the mounting position + 9 + + + Timeout - Error + real + developer + global + 3.0 + s + Number of seconds without data before reporting an error + 1.0 + + + Timeout - Failure + real + developer + global + 6.0 + s + Number of seconds without data before restarting task + 1.0 + + + Last Calibration Time + string + user + global + 2024-05-09 14:04 + + Date of last successful calibration + +
+
+ + Entity Label + string + developer + global + ADCP + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 5 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS6:115200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + + Periodicity of Data Sampling in seconds. + + + Initialization String 0 - Command + string + developer + global + SETDEFAULT,ALL + + + + + Initialization String 1 - Command + string + developer + global + SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n + + + + + Initialization String 2 - Command + string + developer + global + SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n + + + + + Initialization String 3 - Command + string + developer + global + SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n + + + + + Initialization String 4 - Command + string + developer + global + SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n + + + + + Initialization String 5 - Command + string + developer + global + SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n + + + + + Initialization String 6 - Command + string + developer + global + SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + + + + + Initialization String 7 - Command + string + developer + global + SAVE,ALL\r\n + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 9 - Command + string developer global - - Initialization String 7 - Command +
+
+ + Entity Label string developer global - + Dissolved Oxygen + + Main entity label + + + Execution Priority + integer + developer + global + 20 + + Execution priority + + + Activation Time + integer + developer + global + 60 - - Initialization String 7 - Reply - string + + Deactivation Time + integer developer global - + 0 - - Initialization String 8 - Command + + Debug Level string developer global - + None + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Initialization String 8 - Reply + + Active - Scope string developer global - + global - + Scoped of the 'Active' parameter - - Initialization String 9 - Command + + Active - Visibility string developer global - + developer - + Visibility of the 'Active' parameter - - Initialization String 9 - Reply + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS7:9600 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Measurement String Identifier + string + developer + global + 4835 + + Measurement command string identifier + + + Entity Label - Temperature + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Depth + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Salinity + string + developer + global + CTD + + Entity label of the CTD + + + Power Channel - Name string developer global @@ -4292,14 +5521,59 @@ + + Data rate + real + developer + global + 1 + Hz + Data Acquisition Rate. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + s + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + s + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + s + Timeout Transmitting Iridium Message. +
-
+
Entity Label string developer global - AHRS + CTD Main entity label @@ -4317,7 +5591,7 @@ integer developer global - 20.0 + 10.0 @@ -4346,7 +5620,7 @@ string developer global - global + maneuver Scoped of the 'Active' parameter @@ -4355,15 +5629,15 @@ string developer global - developer + user Visibility of the 'Active' parameter Active boolean - developer - global + user + maneuver 1 True to activate task, false otherwise @@ -4373,9 +5647,45 @@ string developer global - uart:///dev/ttyS9 + uart:///dev/ttyS5:115200 - IO device URI in the form "uart://DEVICE".This device has only one baud rate. + IO device URI in the form "uart://DEVICE:BAUD" + + + Sample Period (ms) + integer + user + global + 125 + ms + Sample period in milliseconds + + + Sample Time Duration + integer + user + maneuver + 5 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 20 + + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. Power Channel - Name @@ -4384,85 +5694,101 @@ global - Name of the power channel + Power channel name for the device. Set to empty to disable. - - Hard-Iron Calibration - list:real + + Input Timeout + real developer global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 + 60 + + Input timeout in seconds. Must be greater than 2*Sample Time Duration - - Output Frequency +
+
+ + Entity Label + string + developer + global + Thermal Zone + + Main entity label + + + Execution Priority integer developer global - 20 - Hz - Output frequency - 1 - 127 + 10 + + Execution priority - - Raw Data - boolean + + Activation Time + integer developer global - false + 0 - Set to true to enable raw data output + - - Rotation Matrix - list:real + + Deactivation Time + integer developer global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + 0 - Rotation matrix which is dependent of the mounting position - 9 + - - Timeout - Error - real + + Debug Level + string developer global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Timeout - Failure + + Execution Frequency real developer global - 6.0 - s - Number of seconds without data before restarting task - 1.0 + 1 + Hz + Frequency at which task is executed + + + Path + string + developer + global + /sys/class/thermal/thermal_zone0/temp + + Path to the sysfs file - - Last Calibration Time + + Entity Label - Temperature string - user + developer global - N/A + Mainboard (Core) - Date of last successful calibration + Entity label of temperature sensor
-
+
Entity Label string developer global - Thermal Zone + Autonaut Supervisor Main entity label @@ -4509,27 +5835,29 @@ real developer global - 1 + 2 Hz Frequency at which task is executed - - Path - string + + Loiter On Service -- Radius + real developer global - /sys/class/thermal/thermal_zone0/temp + 30.0 - Path to the sysfs file + Radius for loiter on service option + 5.0 - - Entity Label - Temperature - string + + Loiter On Service -- Speed + real developer global - Mainboard (Core) + 0.5 - Entity label of temperature sensor + Speed for loiter on service option + 0.1
@@ -5310,6 +6638,145 @@ Maximum amount of seconds to wait for missing fragments in incoming messages
+
+ + Entity Label + string + developer + global + GSM + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 10 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Serial Port - Device + string + developer + global + /dev/ttyUSB3 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate + + + Reply Timeout + real + developer + global + 2.0 + s + Amount of time to wait for a command reply + + + PIN + string + developer + global + + + PIN Code + + + RSSI Periodicity + real + developer + global + 10 + s + Periodicity of RSSI reports + + + Read SMS Periodicity + real + developer + global + 10 + s + Periodicity of received SMS checks + + + SMS Send Timeout + real + developer + global + 60 + s + Maximum amount of time to wait for SMS send completion + + + USSD code + integer + developer + global + 111 + + USSD code + + + Request Balance + boolean + user + global + false + + Enable Balance Request + + + Balance Periodicity + integer + developer + global + 60 + + Balance Periodicity + +
Entity Label @@ -5498,6 +6965,136 @@ Text messages received via Iridium will be tagged with this origin
+
+ + Entity Label + string + developer + global + Iridium Operation + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + global + 0 + + True to activate task, false otherwise + + + Maximum iridium payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Rate Limiters + list:string + developer + global + PlanControlState:120, EstimatedState:120, VehicleState:120, StateReport:120, FuelLevel:120 + + List of <Message>:<Period> to send messages at a specific period. + + + Filtered Entities + list:string + developer + global + + + List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. + + + Transport + list:string + developer + global + PlanControl, PlanControlState, EstimatedState, VehicleState, StateReport, FuelLevel, Aborted + + List of messages to transport + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + + + Iridium Operation Timeout + integer + developer + global + 600 + + Iridium operation timeout in seconds. + +
Entity Label @@ -5578,7 +7175,7 @@ string developer global - /dev/ttyS8 + /dev/ttyS3 Serial port device used to communicate with the modem @@ -5925,7 +7522,7 @@ list:string developer global - Distance:Altimeter+DVL Filtered+Echo Sounder + Distance:Altimeter+DVL Filtered+Echo Sounder, DevDataText:AIS List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. @@ -5961,7 +7558,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation, AisInfo, RemoteSensorInfo, DevDataText List of messages to transport diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 01801b2829..af4f31bdf8 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,26 +1,26 @@ - +
- Nome da Entidade + Entity Label string developer global Text Actions - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -29,7 +29,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -38,7 +38,7 @@ - Nível de Depuração + Debug Level string developer global @@ -79,25 +79,25 @@
- Nome da Entidade + Entity Label string developer global Heading Controller - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -106,7 +106,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -115,7 +115,7 @@ - Nível de Depuração + Debug Level string developer global @@ -185,7 +185,7 @@ real developer global - 0.25 + 0.75 Percentage of thrust assistance @@ -461,27 +461,27 @@ Minimum heading error to consider vessel is turning (in degrees).
-
+
- Nome da Entidade + Entity Label string developer global Remote Control - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -490,7 +490,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -499,7 +499,7 @@ - Nível de Depuração + Debug Level string developer global @@ -510,40 +510,40 @@ None, Debug, Trace, Spew - Frequência de Execução + Execution Frequency real developer global 10 Hz - Frequência com que a tarefa é executada + Frequency at which task is executed - Ativa - Escopo + Active - Scope string developer global maneuver - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global developer - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean developer maneuver true - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise Connection Timeout @@ -563,28 +563,37 @@ + + Entity Label - CAS + string + developer + global + Path Control + + Entity label of CAS entity +
-
+
- Nome da Entidade + Entity Label string developer global Path Control - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -593,7 +602,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -602,7 +611,7 @@ - Nível de Depuração + Debug Level string developer global @@ -855,7 +864,7 @@ string developer global - GPS Navigation + Simulated Navigation Manager Entity label of 'GpsFix' message @@ -873,7 +882,7 @@ string developer global - + AirMar120WX Entity label of 'AbsoluteWind' message @@ -1362,27 +1371,27 @@ 45
-
+
- Nome da Entidade + Entity Label string developer global Communications Relay Maneuver - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -1391,7 +1400,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -1400,7 +1409,7 @@ - Nível de Depuração + Debug Level string developer global @@ -1438,27 +1447,27 @@ Z Mode to use. One of Depth, Altitude or Height.
-
+
- Nome da Entidade + Entity Label string developer global Compass Calibration Maneuver - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -1467,7 +1476,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -1476,7 +1485,7 @@ - Nível de Depuração + Debug Level string developer global @@ -1532,27 +1541,27 @@ Perform compass calibration if true
-
+
- Nome da Entidade + Entity Label string developer global Multiplexer Maneuver - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -1561,7 +1570,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -1570,7 +1579,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2050,27 +2059,76 @@ Minimum radius for StationKeepingExtended to prevent incompatibility with path controller
-
+
- Nome da Entidade + Entity Label string developer global Teleoperation Maneuver - Nome principal da entidade + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Entity Label + string + developer + global + CPU Scaling + + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2079,7 +2137,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2088,7 +2146,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2098,28 +2156,55 @@ None, Debug, Trace, Spew None, Debug, Trace, Spew + + Set CPU In Mode + string + developer + global + powersave + + Set CPU In Mode. + + + Use Linux Liquorix + boolean + developer + global + false + + Use Linux Liquorix. + + + Set Maximum CPU Frequency in MHz + integer + developer + global + 500 + + Set Maximum CPU Frequency in MHz. +
- Nome da Entidade + Entity Label string developer global CPU Usage - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2128,7 +2213,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2137,7 +2222,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2148,27 +2233,27 @@ None, Debug, Trace, Spew
-
+
- Nome da Entidade + Entity Label string developer global Clock - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2177,7 +2262,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2186,7 +2271,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2245,27 +2330,27 @@ Change log file after synchronization
-
+
- Nome da Entidade + Entity Label string developer global Emergency Monitor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2274,7 +2359,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2283,7 +2368,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2294,58 +2379,58 @@ None, Debug, Trace, Spew - Frequência de Execução + Execution Frequency real developer global 1.0 Hz - Frequência com que a tarefa é executada + Frequency at which task is executed - Ativa - Escopo + Active - Scope string developer global idle - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global user - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean user idle true - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise - Número de Destino de Mensagens SMS + SMS Recipient Number string user global +351912439480 - Número de telefone do destinatário de mensagens SMS + Phone number of the SMS recipient - Timeout de Perda de Comunicações + Lost Communications Timeout real user global 1800 s - Timeout de Perda de Comunicações + Lost Communications Timeout 60.0 @@ -2353,7 +2438,7 @@ string developer global - Iridium + Both Desired transmission interface GSM, Iridium, Both @@ -2380,27 +2465,27 @@ 0.0
-
+
- Nome da Entidade + Entity Label string developer global Entity Monitor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2409,7 +2494,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2418,7 +2503,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2443,7 +2528,7 @@ list:string developer global - Daemon, GPS, Navigation, Operational Limits, Path Control + Daemon, GPS, Operational Limits, Path Control Default entities to monitor @@ -2452,7 +2537,7 @@ list:string developer global - Clock, Collisions + Clock, Navigation Manager Additional default entities to monitor in Hardware profile @@ -2478,25 +2563,25 @@
- Nome da Entidade + Entity Label string developer global Log Monitor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2505,7 +2590,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2514,7 +2599,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2534,27 +2619,27 @@ Log time in format %ud:%uh:%um
-
+
- Nome da Entidade + Entity Label string developer global Operational Limits - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2563,7 +2648,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2572,7 +2657,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2583,13 +2668,13 @@ None, Debug, Trace, Spew - Frequência de Execução + Execution Frequency real developer global 4 Hz - Frequência com que a tarefa é executada + Frequency at which task is executed Initial Setting - Maximum Depth @@ -2674,27 +2759,139 @@ 0.0
+
+ + Entity Label + string + developer + global + Payload Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + Payload timeout + real + developer + global + 120 + + Payload timeout in seconds. + + + Payload Messages + list:string + developer + global + EstimatedState:Navigation Manager, Temperature:CTD, Temperature:AirMar120WX, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager + + List of messages <Message>:<Entity> to send using Iridium. + + + Maximum payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + +
- Nome da Entidade + Entity Label string developer global Wave Frequency Estimator - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2703,7 +2900,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2712,7 +2909,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2723,7 +2920,7 @@ None, Debug, Trace, Spew - Ativa + Active boolean developer global @@ -2845,25 +3042,25 @@
- Nome da Entidade + Entity Label string developer global Navigation Manager - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2872,7 +3069,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -2881,7 +3078,7 @@ - Nível de Depuração + Debug Level string developer global @@ -2916,7 +3113,7 @@ global GPS - Name of preferred navigation unit. + Name of preferred GPS navigation unit. Secondary unit @@ -2925,7 +3122,7 @@ global CPC - Name of secondary preferred navigation unit. + Name of secondary preferred GPS navigation unit. Third unit @@ -2934,7 +3131,7 @@ global AIS - Name of third preferred navigation unit. + Name of third preferred GPS navigation unit. Convert Height to Geoid Height @@ -2965,27 +3162,27 @@ Distance needed for reference change.
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+
- Nome da Entidade + Entity Label string developer global Plan Database - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -2994,7 +3191,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -3003,7 +3200,7 @@ - Nível de Depuração + Debug Level string developer global @@ -3023,27 +3220,27 @@ Path to DB file
-
+
- Nome da Entidade + Entity Label string developer global Plan Engine - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -3052,7 +3249,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -3061,7 +3258,7 @@ - Nível de Depuração + Debug Level string developer global @@ -3171,27 +3368,27 @@ Entity label of the Plan Generator
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+
- Nome da Entidade + Entity Label string developer global Plan Generator - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -3200,7 +3397,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -3209,7 +3406,7 @@ - Nível de Depuração + Debug Level string developer global @@ -3276,25 +3473,25 @@
- Nome da Entidade + Entity Label string developer global CPC - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -3303,7 +3500,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -3312,7 +3509,7 @@ - Nível de Depuração + Debug Level string developer global @@ -3323,38 +3520,38 @@ None, Debug, Trace, Spew - Ativa - Escopo + Active - Scope string developer global global - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global developer - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean developer global 1 - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise IO Port - Device string developer global - uart:///dev/ttyCPC:115200 + uart:///dev/ttyS2:115200 IO device URI in the form "uart://DEVICE:BAUD" @@ -3570,7 +3767,7 @@ boolean developer global - false + true Power Channel State @@ -3588,7 +3785,7 @@ boolean developer global - false + true Power Channel State @@ -3651,7 +3848,7 @@ string developer global - Private (ECHOTRIP) + ECHOTRIP Power Channel Entity Label @@ -3660,7 +3857,7 @@ boolean developer global - false + true Power Channel State @@ -3669,7 +3866,7 @@ string developer global - Private (OXYGEN) + OXYGEN Power Channel Entity Label @@ -3678,7 +3875,7 @@ boolean developer global - false + true Power Channel State @@ -3687,7 +3884,7 @@ string developer global - Private (AIRMAR) + AIRMAR Power Channel Entity Label @@ -3696,7 +3893,7 @@ boolean developer global - false + true Power Channel State @@ -3705,7 +3902,7 @@ string developer global - Private (CTD_P) + CTD_P Power Channel Entity Label @@ -3714,7 +3911,7 @@ boolean developer global - false + true Power Channel State @@ -3741,7 +3938,7 @@ string developer global - Private (DCP_P) + ADCP_P Power Channel Entity Label @@ -3750,7 +3947,7 @@ boolean developer global - false + true Power Channel State @@ -3795,7 +3992,7 @@ string developer global - Private (MOBILE) + MOBILE Power Channel Entity Label @@ -3804,7 +4001,7 @@ boolean developer global - false + true Power Channel State @@ -3984,7 +4181,7 @@ boolean developer global - false + true Is Main CPU @@ -3998,36 +4195,36 @@ Set CPC to use NAV and Iridium at Boot.
-
+
- Nome da Entidade + Entity Label string developer global - GPS + AIS - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global - 30.0 + 10.0 - Tempo de Desativação + Deactivation Time integer developer global @@ -4036,7 +4233,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4047,70 +4244,40 @@ None, Debug, Trace, Spew - Ativa - Escopo + Active - Scope string developer global global - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global developer - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean developer global 1 - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise IO Port - Device string developer global - uart:///dev/ttyS10:19200 - - IO device URI in the form "uart://DEVICE:BAUD" - - - Input Timeout - real - developer - global - 10.0 - s - Input timeout - 0.0 - - - Sentence Order - list:string - developer - global - GPGGA, GPROT - - Sentence order - - - Acquisition Frequency - integer - developer - global - 1 + uart:///dev/ttyS10:38400 - Acquisition Frequency - 0 - 5 + Serial port device used to communicate with the sensor Initialization String 0 - Command @@ -4202,80 +4369,1012 @@ - - Initialization String 5 - Command - string + + Sentence Order + list:string developer global - + GPS Sentence order - - Initialization String 5 - Reply - string + + Input Timeout + real developer global - - - + 4.0 + s + Input timeout + 0.0 - - Initialization String 6 - Command - string + + AIS Error - Max + integer developer global - + 3 - + Max erros for Ais messages parser - - Initialization String 6 - Reply - string + + AIS Error - Interval + real developer global - + 10.0 - + Invertal for checking AIS errors - - Initialization String 7 - Command + + Power Channel string developer global - + Power Channel - - Initialization String 7 - Reply - string + + Log messages + boolean developer global - + false - + Add messages received to logs - - Initialization String 8 - Command +
+
+ + Entity Label string developer global - + AirMar120WX - + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 3.0 + + + + + Deactivation Time + integer + developer + global + 3.0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS8:4800 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 7.0 + s + Input timeout + 0.0 + + + Angle offset + real + developer + global + 5 + ° + Angle offset for relative wind + +
+
+ + Entity Label + string + developer + global + Fluorometers + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + Serial Port - Device + string + developer + global + /dev/ttyS11 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 19200 + + Serial port Baud Rate + + + Input Timeout + real + developer + global + 5.0 + s + Amount of seconds to wait for data before reporting an error + 2.0 + + + Device Serial Number + string + developer + global + BBFL2W-8379 + + Device's serial number. Required to check communication with device. + + + CDOM -- Dark Counts + integer + developer + global + 62 + + Signal output of the meter in clean water with black tape over detector + + + CDOM -- Scale Factor + real + developer + global + 0.0916 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Chlorophyll -- Dark Counts + integer + developer + global + 49 + + Signal output of the meter in clean water with black tape over detector + + + Chlorophyll -- Scale Factor + real + developer + global + 0.0073 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Turbidity -- Dark Counts + integer + developer + global + 51 + + Signal output of the meter in clean water with black tape over detector + + + Turbidity -- Scale Factor + real + developer + global + 0.0024 + + Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer + + + Sampling Duration + real + user + maneuver + 0.0 + + Sampling duration in seconds + + + Sampling Period + real + user + maneuver + 0.0 + + Sampling period in seconds + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + +
+
+ + Entity Label + string + developer + global + GPS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 30.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS9:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 + + Acquisition Frequency + 0 + 5 + + + Initialization String 0 - Command + string + developer + global + + + + + + Initialization String 0 - Reply + string + developer + global + + + + + + Initialization String 1 - Command + string + developer + global + + + + + + Initialization String 1 - Reply + string + developer + global + + + + + + Initialization String 2 - Command + string + developer + global + + + + + + Initialization String 2 - Reply + string + developer + global + + + + + + Initialization String 3 - Command + string + developer + global + + + + + + Initialization String 3 - Reply + string + developer + global + + + + + + Initialization String 4 - Command + string + developer + global + + + + + + Initialization String 4 - Reply + string + developer + global + + + + + + Initialization String 5 - Command + string + developer + global + + + + + + Initialization String 5 - Reply + string + developer + global + + + + + + Initialization String 6 - Command + string + developer + global + + + + + + Initialization String 6 - Reply + string + developer + global + + + + + + Initialization String 7 - Command + string + developer + global + + + + + + Initialization String 7 - Reply + string + developer + global + + + + + + Initialization String 8 - Command + string + developer + global + + + Initialization String 8 - Reply string developer global - + + + + + + Initialization String 9 - Command + string + developer + global + + + + + + Initialization String 9 - Reply + string + developer + global + + + + +
+
+ + Entity Label + string + developer + global + AHRS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 20.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS4 + + IO device URI in the form "uart://DEVICE".This device has only one baud rate. + + + Power Channel - Name + string + developer + global + + + Name of the power channel + + + Hard-Iron Calibration + list:real + developer + global + 0.0410, -0.0470, 0.0 + G + Hard-Iron calibration parameters + 3 + + + Output Frequency + integer + developer + global + 20 + Hz + Output frequency + 1 + 127 + + + Raw Data + boolean + developer + global + false + + Set to true to enable raw data output + + + Rotation Matrix + list:real + developer + global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + + Rotation matrix which is dependent of the mounting position + 9 + + + Timeout - Error + real + developer + global + 3.0 + s + Number of seconds without data before reporting an error + 1.0 + + + Timeout - Failure + real + developer + global + 6.0 + s + Number of seconds without data before restarting task + 1.0 + + + Last Calibration Time + string + user + global + 2024-05-09 14:04 + + Date of last successful calibration + +
+
+ + Entity Label + string + developer + global + ADCP + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 5 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS6:115200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Timeout Transmitting Iridium Message + integer + developer + global + 60 + + Timeout Transmitting Iridium Message. + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + + Periodicity of Data Sampling in seconds. + + + Initialization String 0 - Command + string + developer + global + SETDEFAULT,ALL + + + + + Initialization String 1 - Command + string + developer + global + SETPLAN,MIAVG=1,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBURST=0,SV=0,FN="RAWDATA.ad2cp",SO=0,FREQ=500,NSTT=0\r\n + + + + + Initialization String 2 - Command + string + developer + global + SETAVG,NC=16,CS=4,BD=1.0,CY="ENU",PL=0,AI=1,VP=0.000,VR=5.0,DF=3,NPING=3,NB=4,CH=0,MUX=0,BW="NARROW",ALTI=1,BT=0,ICE=0,ALTISTART=0.5,ALTIEND=70,RAWALTI=60\r\n + + + + + Initialization String 3 - Command + string + developer + global + SETTMAVG,EN=1,CD=1,PD=1,AVG=1,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=3,DISTILT=0,TPG=1,MAPBINS=0\r\n - - Initialization String 9 - Command + + Initialization String 4 - Command + string + developer + global + SETTMALTI,EN=1,TS=1,TQ=1,FO=0,SO=1,DF=200,TPR=0\r\n + + + + + Initialization String 5 - Command + string + developer + global + SETTMBURST,EN=0,NS=1,SO=0,FO=0,DF=3,ENAVG=0,CY="ENU",MAPBINS=0\r\n + + + + + Initialization String 6 - Command + string + developer + global + SETINST,BR=115200,RS=232,LED="ON",ORIENT="ZDOWN",CMTOUT=300,DMTOUT=60,CFMTOUT=60\r\n + + + + + Initialization String 7 - Command + string + developer + global + SAVE,ALL\r\n + + + + + Initialization String 8 - Command string developer global @@ -4283,8 +5382,8 @@ - - Initialization String 9 - Reply + + Initialization String 9 - Command string developer global @@ -4293,36 +5392,36 @@
-
+
- Nome da Entidade + Entity Label string developer global - AHRS + Dissolved Oxygen - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global - 10 + 20 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global - 20.0 + 60 - Tempo de Desativação + Deactivation Time integer developer global @@ -4331,7 +5430,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4342,40 +5441,76 @@ None, Debug, Trace, Spew - Ativa - Escopo + Active - Scope string developer global global - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global developer - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean developer global 1 - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise IO Port - Device string developer global - uart:///dev/ttyS9 + uart:///dev/ttyS7:9600 - IO device URI in the form "uart://DEVICE".This device has only one baud rate. + IO device URI in the form "uart://DEVICE:BAUD" + + + Measurement String Identifier + string + developer + global + 4835 + + Measurement command string identifier + + + Entity Label - Temperature + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Depth + string + developer + global + CTD + + Entity label of the CTD + + + Entity Label - Salinity + string + developer + global + CTD + + Entity label of the CTD Power Channel - Name @@ -4384,99 +5519,290 @@ global - Name of the power channel + - - Hard-Iron Calibration - list:real + + Data rate + real developer global - 0.0, 0.0, 0.0 - G - Hard-Iron calibration parameters - 3 + 1 + Hz + Data Acquisition Rate. - - Output Frequency + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. + + + Sample Time Duration + integer + user + maneuver + 60 + s + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + s + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message integer developer global - 20 - Hz - Output frequency - 1 - 127 + 60 + s + Timeout Transmitting Iridium Message. - - Raw Data +
+
+ + Entity Label + string + developer + global + CTD + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 10.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active boolean + user + maneuver + 1 + + True to activate task, false otherwise + + + IO Port - Device + string developer global - false + uart:///dev/ttyS5:115200 - Set to true to enable raw data output + IO device URI in the form "uart://DEVICE:BAUD" - - Rotation Matrix - list:real + + Sample Period (ms) + integer + user + global + 125 + ms + Sample period in milliseconds + + + Sample Time Duration + integer + user + maneuver + 5 + + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 20 + + Periodicity of Data Sampling in seconds. + + + Timeout Transmitting Iridium Message + integer developer global - 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + 60 - Rotation matrix which is dependent of the mounting position - 9 + Timeout Transmitting Iridium Message. + + + Power Channel - Name + string + developer + global + + + Power channel name for the device. Set to empty to disable. + + + Input Timeout + real + developer + global + 60 + + Input timeout in seconds. Must be greater than 2*Sample Time Duration + +
+
+ + Entity Label + string + developer + global + Thermal Zone + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew - - Timeout - Error + + Execution Frequency real developer global - 3.0 - s - Number of seconds without data before reporting an error - 1.0 + 1 + Hz + Frequency at which task is executed - - Timeout - Failure - real + + Path + string developer global - 6.0 - s - Number of seconds without data before restarting task - 1.0 + /sys/class/thermal/thermal_zone0/temp + + Path to the sysfs file - - Last Calibration Time + + Entity Label - Temperature string - user + developer global - N/A + Mainboard (Core) - Date of last successful calibration + Entity label of temperature sensor
-
+
- Nome da Entidade + Entity Label string developer global - Thermal Zone + Autonaut Supervisor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -4485,7 +5811,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -4494,7 +5820,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4505,54 +5831,56 @@ None, Debug, Trace, Spew - Frequência de Execução + Execution Frequency real developer global - 1 + 2 Hz - Frequência com que a tarefa é executada + Frequency at which task is executed - - Path - string + + Loiter On Service -- Radius + real developer global - /sys/class/thermal/thermal_zone0/temp + 30.0 - Path to the sysfs file + Radius for loiter on service option + 5.0 - - Entity Label - Temperature - string + + Loiter On Service -- Speed + real developer global - Mainboard (Core) + 0.5 - Entity label of temperature sensor + Speed for loiter on service option + 0.1
-
+
- Nome da Entidade + Entity Label string developer global Power Supervisor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -4561,7 +5889,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -4570,7 +5898,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4617,27 +5945,27 @@ Name of the slave systems
-
+
- Nome da Entidade + Entity Label string developer global Report Supervisor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -4646,7 +5974,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -4655,7 +5983,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4666,7 +5994,7 @@ None, Debug, Trace, Spew - Relatórios Acústicos + Acoustic Reports boolean user global @@ -4675,7 +6003,7 @@ Enable acoustic system state reporting - Periodicidade de Relatórios Acústicos + Acoustic Reports Periodicity real user global @@ -4686,7 +6014,7 @@ 600 - Relatórios de Rádio + Radio Reports boolean user global @@ -4695,7 +6023,7 @@ Enable Radio system state reporting - Periodicidade de relatórios de rádio + Radio Reports Periodicity real user global @@ -4706,27 +6034,27 @@ 600
-
+
- Nome da Entidade + Entity Label string developer global Vehicle Supervisor - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -4735,7 +6063,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -4744,7 +6072,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4755,13 +6083,13 @@ None, Debug, Trace, Spew - Frequência de Execução + Execution Frequency real developer global 2 Hz - Frequência com que a tarefa é executada + Frequency at which task is executed Vital Entities @@ -4791,27 +6119,27 @@ Timeout for starting or stopping a maneuver
-
+
- Nome da Entidade + Entity Label string developer global Service Announcer - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -4820,7 +6148,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -4829,7 +6157,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4930,27 +6258,27 @@ List of interfaces whose services will not be announced
-
+
- Nome da Entidade + Entity Label string developer global Cache - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -4959,7 +6287,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -4968,7 +6296,7 @@ - Nível de Depuração + Debug Level string developer global @@ -4988,27 +6316,27 @@ List of messages ordered by loading order
-
+
- Nome da Entidade + Entity Label string developer global Communications Manager - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5017,7 +6345,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5026,7 +6354,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5100,27 +6428,27 @@ Send Iridium text messages as plain text (and not IMC)
-
+
- Nome da Entidade + Entity Label string developer global Service Discovery - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5129,7 +6457,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5138,7 +6466,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5176,27 +6504,27 @@ Print incoming messages (Debug)
-
+
- Nome da Entidade + Entity Label string developer global FTP Server - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5205,7 +6533,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5214,7 +6542,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5252,27 +6580,27 @@ Timeout period of a session
-
+
- Nome da Entidade + Entity Label string developer global Message Fragments - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5281,7 +6609,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5290,7 +6618,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5310,27 +6638,166 @@ Maximum amount of seconds to wait for missing fragments in incoming messages
-
+
+ + Entity Label + string + developer + global + GSM + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 10 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Serial Port - Device + string + developer + global + /dev/ttyUSB3 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate + + + Reply Timeout + real + developer + global + 2.0 + s + Amount of time to wait for a command reply + + + PIN + string + developer + global + + + PIN Code + + + RSSI Periodicity + real + developer + global + 10 + s + Periodicity of RSSI reports + + + Read SMS Periodicity + real + developer + global + 10 + s + Periodicity of received SMS checks + + + SMS Send Timeout + real + developer + global + 60 + s + Maximum amount of time to wait for SMS send completion + + + USSD code + integer + developer + global + 111 + + USSD code + + + Request Balance + boolean + user + global + false + + Enable Balance Request + + + Balance Periodicity + integer + developer + global + 60 + + Balance Periodicity + +
+
- Nome da Entidade + Entity Label string developer global HTTP Server - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5339,7 +6806,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5348,7 +6815,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5386,27 +6853,27 @@ List of messages to transport
-
+
- Nome da Entidade + Entity Label string developer global Iridium Transport - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5415,7 +6882,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5424,7 +6891,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5435,31 +6902,31 @@ None, Debug, Trace, Spew - Ativa - Escopo + Active - Scope string developer global global - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global user - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean user global true - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise Device updates - Periodicity @@ -5498,27 +6965,157 @@ Text messages received via Iridium will be tagged with this origin
-
+
+ + Entity Label + string + developer + global + Iridium Operation + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + global + 0 + + True to activate task, false otherwise + + + Maximum iridium payload size + integer + developer + global + 250 + + Maximum size of iridium payload messages in bytes. + + + Rate Limiters + list:string + developer + global + PlanControlState:120, EstimatedState:120, VehicleState:120, StateReport:120, FuelLevel:120 + + List of <Message>:<Period> to send messages at a specific period. + + + Filtered Entities + list:string + developer + global + + + List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. + + + Transport + list:string + developer + global + PlanControl, PlanControlState, EstimatedState, VehicleState, StateReport, FuelLevel, Aborted + + List of messages to transport + + + Message TTL + integer + developer + global + 120 + + Time to live for iridium messages. + + + Iridium Operation Timeout + integer + developer + global + 600 + + Iridium operation timeout in seconds. + +
+
- Nome da Entidade + Entity Label string developer global Iridium Modem - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5527,7 +7124,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5536,7 +7133,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5547,38 +7144,38 @@ None, Debug, Trace, Spew - Ativa - Escopo + Active - Scope string developer global global - Escopo do parâmetro 'Ativa' + Scoped of the 'Active' parameter - Ativa - Visibilidade + Active - Visibility string developer global user - Visibilidade do parâmetro 'Ativa' + Visibility of the 'Active' parameter - Ativa + Active boolean user global true - Verdadeiro para ativar tarefa, falso caso contrário + True to activate task, false otherwise Serial Port - Device string developer global - /dev/ttyS8 + /dev/ttyS3 Serial port device used to communicate with the modem @@ -5666,27 +7263,27 @@ 5
-
+
- Nome da Entidade + Entity Label string developer global Log Book - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5695,7 +7292,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5704,7 +7301,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5715,27 +7312,27 @@ None, Debug, Trace, Spew
-
+
- Nome da Entidade + Entity Label string developer global Logger - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 2 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5744,7 +7341,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5753,7 +7350,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5811,25 +7408,25 @@
- Nome da Entidade + Entity Label string developer global UDP - Nome principal da entidade + Main entity label - Prioridade de Execução + Execution Priority integer developer global 10 - Prioridade de execução + Execution priority - Tempo de Ativação + Activation Time integer developer global @@ -5838,7 +7435,7 @@ - Tempo de Desativação + Deactivation Time integer developer global @@ -5847,7 +7444,7 @@ - Nível de Depuração + Debug Level string developer global @@ -5925,7 +7522,7 @@ list:string developer global - Distance:Altimeter+DVL Filtered+Echo Sounder + Distance:Altimeter+DVL Filtered+Echo Sounder, DevDataText:AIS List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. @@ -5961,7 +7558,7 @@ list:string developer global - Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation, AisInfo, RemoteSensorInfo, DevDataText List of messages to transport From 8a5c1bfce7a5a396960923844714c2f9ab4ba70d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 1 Aug 2024 18:49:02 +0100 Subject: [PATCH 40/92] comm/iridium/IridiumManager: Cleanup. --- src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java index 02c5b534aa..a091a9e822 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java @@ -33,6 +33,7 @@ package pt.lsts.neptus.comm.iridium; import java.awt.Component; +import java.time.Duration; import java.util.ArrayList; import java.util.Arrays; import java.util.Collection; @@ -104,7 +105,7 @@ public IridiumMessenger getCurrentMessenger() { private Runnable pollMessages = new Runnable() { - Date lastTime = new Date(System.currentTimeMillis() - 3600 * 1000); + Date lastTime = new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); @Override public void run() { try { From 20522ddd1b44c6e9531a6311e0511c0cb88bd572 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 1 Aug 2024 18:51:49 +0100 Subject: [PATCH 41/92] comm/manager/imc/ImcMsgManager: Don't change the src entity for not own messages. --- src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java index fc27bcd7c6..1d611698f0 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java @@ -1475,7 +1475,8 @@ public int registerEntity(String name) throws InvalidNameException { * @param message */ private void checkAndSetMessageSrcEntity(IMCMessage message) { - if (message.getSrcEnt() == 0 || message.getSrcEnt() == IMCMessage.DEFAULT_ENTITY_ID) { + if (ImcMsgManager.getManager().getLocalId().intValue() == message.getSrc() && + (message.getSrcEnt() == 0 || message.getSrcEnt() == IMCMessage.DEFAULT_ENTITY_ID)) { String caller = getCallerClass(); if (caller != null) { From 5da0583b086e9ddc83ee72ef45d7c81b1505240b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 1 Aug 2024 18:52:45 +0100 Subject: [PATCH 42/92] plugins/sunfish/iridium/feedback/IridiumStatusTableModel: Updated for new ImcFullIridiumMessage. --- .../sunfish/iridium/feedback/IridiumStatusTableModel.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java index 0b5778c537..714c1e3941 100644 --- a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java +++ b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java @@ -220,7 +220,8 @@ public Object getValueAt(int rowIndex, int columnIndex) { switch (columnIndex) { case TIMESTAMP: { - if(messageType.equalsIgnoreCase("ImcIridiumMessage")) { + if(messageType.equalsIgnoreCase("ImcIridiumMessage") || + messageType.equalsIgnoreCase("ImcFullIridiumMessage")) { IMCMessage msg = ((ImcIridiumMessage) m).getMsg(); if(msg.getMgid() == StateReport.ID_STATIC) { long stime = ((StateReport) msg).getStime() * 1000; @@ -255,7 +256,8 @@ else if (dst == 65535 || dst == ImcMsgManager.getManager().getLocalId().intValue } return IridiumCommsStatus.UNCERTAIN; case MSG_TYPE: - if(messageType.equalsIgnoreCase("ImcIridiumMessage")) + if(messageType.equalsIgnoreCase("ImcIridiumMessage") || + messageType.equalsIgnoreCase("ImcFullIridiumMessage")) return ((ImcIridiumMessage) m).getMsg().getClass().getSimpleName(); else return messageType; From 7a7a1fb540b9fb8f3a8767c3d28c3492f1da1b4f Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 2 Aug 2024 18:40:32 +0100 Subject: [PATCH 43/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 8 +- conf/params/caravel.pt_PT.xml | 972 +++++++++++++++++----------------- 2 files changed, 490 insertions(+), 490 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 4bef2d036e..5ea35e5303 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -909,7 +909,7 @@ boolean developer global - true + false Enable collision avoidance algorithm @@ -918,7 +918,7 @@ boolean developer global - true + false Enable anti-grounding algorithm @@ -2848,7 +2848,7 @@ list:string developer global - EstimatedState:Navigation Manager, Temperature:CTD, Temperature:AirMar120WX, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager + EstimatedState:Navigation Manager, Temperature:CTD, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager List of messages <Message>:<Entity> to send using Iridium. diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index af4f31bdf8..aa0917178b 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,26 +1,26 @@ - +
- Entity Label + Nome da Entidade string developer global Text Actions - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -29,7 +29,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -38,7 +38,7 @@ - Debug Level + Nível de Depuração string developer global @@ -79,25 +79,25 @@
- Entity Label + Nome da Entidade string developer global Heading Controller - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -106,7 +106,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -115,7 +115,7 @@ - Debug Level + Nível de Depuração string developer global @@ -461,27 +461,27 @@ Minimum heading error to consider vessel is turning (in degrees).
-
+
- Entity Label + Nome da Entidade string developer global Remote Control - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -490,7 +490,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -499,7 +499,7 @@ - Debug Level + Nível de Depuração string developer global @@ -510,40 +510,40 @@ None, Debug, Trace, Spew - Execution Frequency + Frequência de Execução real developer global 10 Hz - Frequency at which task is executed + Frequência com que a tarefa é executada - Active - Scope + Ativa - Escopo string developer global maneuver - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer maneuver true - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário Connection Timeout @@ -573,27 +573,27 @@ Entity label of CAS entity
-
+
- Entity Label + Nome da Entidade string developer global Path Control - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -602,7 +602,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -611,7 +611,7 @@ - Debug Level + Nível de Depuração string developer global @@ -909,7 +909,7 @@ boolean developer global - true + false Enable collision avoidance algorithm @@ -918,7 +918,7 @@ boolean developer global - true + false Enable anti-grounding algorithm @@ -1371,27 +1371,27 @@ 45
-
+
- Entity Label + Nome da Entidade string developer global Communications Relay Maneuver - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -1400,7 +1400,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -1409,7 +1409,7 @@ - Debug Level + Nível de Depuração string developer global @@ -1447,27 +1447,27 @@ Z Mode to use. One of Depth, Altitude or Height.
-
+
- Entity Label + Nome da Entidade string developer global Compass Calibration Maneuver - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -1476,7 +1476,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -1485,7 +1485,7 @@ - Debug Level + Nível de Depuração string developer global @@ -1541,27 +1541,27 @@ Perform compass calibration if true
-
+
- Entity Label + Nome da Entidade string developer global Multiplexer Maneuver - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -1570,7 +1570,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -1579,7 +1579,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2059,27 +2059,27 @@ Minimum radius for StationKeepingExtended to prevent incompatibility with path controller
-
+
- Entity Label + Nome da Entidade string developer global Teleoperation Maneuver - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2088,7 +2088,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2097,7 +2097,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2110,25 +2110,25 @@
- Entity Label + Nome da Entidade string developer global CPU Scaling - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2137,7 +2137,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2146,7 +2146,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2186,25 +2186,25 @@
- Entity Label + Nome da Entidade string developer global CPU Usage - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2213,7 +2213,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2222,7 +2222,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2233,27 +2233,27 @@ None, Debug, Trace, Spew
-
+
- Entity Label + Nome da Entidade string developer global Clock - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2262,7 +2262,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2271,7 +2271,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2330,27 +2330,27 @@ Change log file after synchronization
-
+
- Entity Label + Nome da Entidade string developer global Emergency Monitor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2359,7 +2359,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2368,7 +2368,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2379,58 +2379,58 @@ None, Debug, Trace, Spew - Execution Frequency + Frequência de Execução real developer global 1.0 Hz - Frequency at which task is executed + Frequência com que a tarefa é executada - Active - Scope + Ativa - Escopo string developer global idle - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user idle true - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário - SMS Recipient Number + Número de Destino de Mensagens SMS string user global +351912439480 - Phone number of the SMS recipient + Número de telefone do destinatário de mensagens SMS - Lost Communications Timeout + Timeout de Perda de Comunicações real user global 1800 s - Lost Communications Timeout + Timeout de Perda de Comunicações 60.0 @@ -2465,27 +2465,27 @@ 0.0
-
+
- Entity Label + Nome da Entidade string developer global Entity Monitor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2494,7 +2494,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2503,7 +2503,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2563,25 +2563,25 @@
- Entity Label + Nome da Entidade string developer global Log Monitor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2590,7 +2590,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2599,7 +2599,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2619,27 +2619,27 @@ Log time in format %ud:%uh:%um
-
+
- Entity Label + Nome da Entidade string developer global Operational Limits - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2648,7 +2648,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2657,7 +2657,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2668,13 +2668,13 @@ None, Debug, Trace, Spew - Execution Frequency + Frequência de Execução real developer global 4 Hz - Frequency at which task is executed + Frequência com que a tarefa é executada Initial Setting - Maximum Depth @@ -2761,25 +2761,25 @@
- Entity Label + Nome da Entidade string developer global Payload Monitor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2788,7 +2788,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2797,7 +2797,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2808,31 +2808,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global maneuver - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user maneuver 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário Payload timeout @@ -2848,7 +2848,7 @@ list:string developer global - EstimatedState:Navigation Manager, Temperature:CTD, Temperature:AirMar120WX, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager + EstimatedState:Navigation Manager, Temperature:CTD, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager List of messages <Message>:<Entity> to send using Iridium. @@ -2873,25 +2873,25 @@
- Entity Label + Nome da Entidade string developer global Wave Frequency Estimator - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -2900,7 +2900,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -2909,7 +2909,7 @@ - Debug Level + Nível de Depuração string developer global @@ -2920,7 +2920,7 @@ None, Debug, Trace, Spew - Active + Ativa boolean developer global @@ -3042,25 +3042,25 @@
- Entity Label + Nome da Entidade string developer global Navigation Manager - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -3069,7 +3069,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -3078,7 +3078,7 @@ - Debug Level + Nível de Depuração string developer global @@ -3162,27 +3162,27 @@ Distance needed for reference change.
-
+
- Entity Label + Nome da Entidade string developer global Plan Database - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -3191,7 +3191,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -3200,7 +3200,7 @@ - Debug Level + Nível de Depuração string developer global @@ -3220,27 +3220,27 @@ Path to DB file
-
+
- Entity Label + Nome da Entidade string developer global Plan Engine - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -3249,7 +3249,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -3258,7 +3258,7 @@ - Debug Level + Nível de Depuração string developer global @@ -3368,27 +3368,27 @@ Entity label of the Plan Generator
-
+
- Entity Label + Nome da Entidade string developer global Plan Generator - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -3397,7 +3397,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -3406,7 +3406,7 @@ - Debug Level + Nível de Depuração string developer global @@ -3473,25 +3473,25 @@
- Entity Label + Nome da Entidade string developer global CPC - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -3500,7 +3500,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -3509,7 +3509,7 @@ - Debug Level + Nível de Depuração string developer global @@ -3520,31 +3520,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -4197,25 +4197,25 @@
- Entity Label + Nome da Entidade string developer global AIS - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -4224,7 +4224,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -4233,7 +4233,7 @@ - Debug Level + Nível de Depuração string developer global @@ -4244,31 +4244,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -4427,25 +4427,25 @@
- Entity Label + Nome da Entidade string developer global AirMar120WX - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -4454,7 +4454,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -4463,7 +4463,7 @@ - Debug Level + Nível de Depuração string developer global @@ -4474,31 +4474,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -4531,25 +4531,25 @@
- Entity Label + Nome da Entidade string developer global Fluorometers - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -4558,7 +4558,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -4567,7 +4567,7 @@ - Debug Level + Nível de Depuração string developer global @@ -4578,31 +4578,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global maneuver - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user maneuver 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário Serial Port - Device @@ -4725,25 +4725,25 @@
- Entity Label + Nome da Entidade string developer global GPS - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -4752,7 +4752,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -4761,7 +4761,7 @@ - Debug Level + Nível de Depuração string developer global @@ -4772,31 +4772,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -5020,25 +5020,25 @@
- Entity Label + Nome da Entidade string developer global AHRS - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5047,7 +5047,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5056,7 +5056,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5067,31 +5067,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -5183,25 +5183,25 @@
- Entity Label + Nome da Entidade string developer global ADCP - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5210,7 +5210,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5219,7 +5219,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5230,31 +5230,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -5394,25 +5394,25 @@
- Entity Label + Nome da Entidade string developer global Dissolved Oxygen - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 20 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5421,7 +5421,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5430,7 +5430,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5441,31 +5441,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global developer - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean developer global 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -5569,25 +5569,25 @@
- Entity Label + Nome da Entidade string developer global CTD - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5596,7 +5596,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5605,7 +5605,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5616,31 +5616,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global maneuver - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user maneuver 1 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário IO Port - Device @@ -5706,27 +5706,27 @@ Input timeout in seconds. Must be greater than 2*Sample Time Duration
-
+
- Entity Label + Nome da Entidade string developer global Thermal Zone - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5735,7 +5735,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5744,7 +5744,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5755,13 +5755,13 @@ None, Debug, Trace, Spew - Execution Frequency + Frequência de Execução real developer global 1 Hz - Frequency at which task is executed + Frequência com que a tarefa é executada Path @@ -5784,25 +5784,25 @@
- Entity Label + Nome da Entidade string developer global Autonaut Supervisor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5811,7 +5811,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5820,7 +5820,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5831,13 +5831,13 @@ None, Debug, Trace, Spew - Execution Frequency + Frequência de Execução real developer global 2 Hz - Frequency at which task is executed + Frequência com que a tarefa é executada Loiter On Service -- Radius @@ -5860,27 +5860,27 @@ 0.1
-
+
- Entity Label + Nome da Entidade string developer global Power Supervisor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5889,7 +5889,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5898,7 +5898,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5945,27 +5945,27 @@ Name of the slave systems
-
+
- Entity Label + Nome da Entidade string developer global Report Supervisor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -5974,7 +5974,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -5983,7 +5983,7 @@ - Debug Level + Nível de Depuração string developer global @@ -5994,7 +5994,7 @@ None, Debug, Trace, Spew - Acoustic Reports + Relatórios Acústicos boolean user global @@ -6003,7 +6003,7 @@ Enable acoustic system state reporting - Acoustic Reports Periodicity + Periodicidade de Relatórios Acústicos real user global @@ -6014,7 +6014,7 @@ 600 - Radio Reports + Relatórios de Rádio boolean user global @@ -6023,7 +6023,7 @@ Enable Radio system state reporting - Radio Reports Periodicity + Periodicidade de relatórios de rádio real user global @@ -6034,27 +6034,27 @@ 600
-
+
- Entity Label + Nome da Entidade string developer global Vehicle Supervisor - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6063,7 +6063,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6072,7 +6072,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6083,13 +6083,13 @@ None, Debug, Trace, Spew - Execution Frequency + Frequência de Execução real developer global 2 Hz - Frequency at which task is executed + Frequência com que a tarefa é executada Vital Entities @@ -6119,27 +6119,27 @@ Timeout for starting or stopping a maneuver
-
+
- Entity Label + Nome da Entidade string developer global Service Announcer - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6148,7 +6148,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6157,7 +6157,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6258,27 +6258,27 @@ List of interfaces whose services will not be announced
-
+
- Entity Label + Nome da Entidade string developer global Cache - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6287,7 +6287,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6296,7 +6296,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6316,27 +6316,27 @@ List of messages ordered by loading order
-
+
- Entity Label + Nome da Entidade string developer global Communications Manager - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6345,7 +6345,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6354,7 +6354,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6428,27 +6428,27 @@ Send Iridium text messages as plain text (and not IMC)
-
+
- Entity Label + Nome da Entidade string developer global Service Discovery - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6457,7 +6457,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6466,7 +6466,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6504,27 +6504,27 @@ Print incoming messages (Debug)
-
+
- Entity Label + Nome da Entidade string developer global FTP Server - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6533,7 +6533,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6542,7 +6542,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6580,27 +6580,27 @@ Timeout period of a session
-
+
- Entity Label + Nome da Entidade string developer global Message Fragments - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6609,7 +6609,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6618,7 +6618,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6640,25 +6640,25 @@
- Entity Label + Nome da Entidade string developer global GSM - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6667,7 +6667,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6676,7 +6676,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6777,27 +6777,27 @@ Balance Periodicity
-
+
- Entity Label + Nome da Entidade string developer global HTTP Server - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6806,7 +6806,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6815,7 +6815,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6853,27 +6853,27 @@ List of messages to transport
-
+
- Entity Label + Nome da Entidade string developer global Iridium Transport - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6882,7 +6882,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -6891,7 +6891,7 @@ - Debug Level + Nível de Depuração string developer global @@ -6902,31 +6902,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user global true - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário Device updates - Periodicity @@ -6967,25 +6967,25 @@
- Entity Label + Nome da Entidade string developer global Iridium Operation - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -6994,7 +6994,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -7003,7 +7003,7 @@ - Debug Level + Nível de Depuração string developer global @@ -7014,31 +7014,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user global 0 - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário Maximum iridium payload size @@ -7095,27 +7095,27 @@ Iridium operation timeout in seconds.
-
+
- Entity Label + Nome da Entidade string developer global Iridium Modem - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -7124,7 +7124,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -7133,7 +7133,7 @@ - Debug Level + Nível de Depuração string developer global @@ -7144,31 +7144,31 @@ None, Debug, Trace, Spew - Active - Scope + Ativa - Escopo string developer global global - Scoped of the 'Active' parameter + Escopo do parâmetro 'Ativa' - Active - Visibility + Ativa - Visibilidade string developer global user - Visibility of the 'Active' parameter + Visibilidade do parâmetro 'Ativa' - Active + Ativa boolean user global true - True to activate task, false otherwise + Verdadeiro para ativar tarefa, falso caso contrário Serial Port - Device @@ -7263,27 +7263,27 @@ 5
-
+
- Entity Label + Nome da Entidade string developer global Log Book - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -7292,7 +7292,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -7301,7 +7301,7 @@ - Debug Level + Nível de Depuração string developer global @@ -7312,27 +7312,27 @@ None, Debug, Trace, Spew
-
+
- Entity Label + Nome da Entidade string developer global Logger - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 2 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -7341,7 +7341,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -7350,7 +7350,7 @@ - Debug Level + Nível de Depuração string developer global @@ -7408,25 +7408,25 @@
- Entity Label + Nome da Entidade string developer global UDP - Main entity label + Nome principal da entidade - Execution Priority + Prioridade de Execução integer developer global 10 - Execution priority + Prioridade de execução - Activation Time + Tempo de Ativação integer developer global @@ -7435,7 +7435,7 @@ - Deactivation Time + Tempo de Desativação integer developer global @@ -7444,7 +7444,7 @@ - Debug Level + Nível de Depuração string developer global From 6ee3573591b457a57cae4e97762a90efae257ba0 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 2 Aug 2024 18:43:03 +0100 Subject: [PATCH 44/92] conf/params/caravel: Updated parameters. # Conflicts: # conf/params/caravel.en_US.xml # conf/params/caravel.pt_PT.xml --- conf/params/caravel.en_US.xml | 8 ++++---- conf/params/caravel.pt_PT.xml | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 5a5c327ab3..5ea35e5303 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -909,7 +909,7 @@ boolean developer global - true + false Enable collision avoidance algorithm @@ -918,7 +918,7 @@ boolean developer global - true + false Enable anti-grounding algorithm @@ -2848,7 +2848,7 @@ list:string developer global - + EstimatedState:Navigation Manager, Temperature:CTD, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager List of messages <Message>:<Entity> to send using Iridium. diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 7960bb4988..aa0917178b 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -909,7 +909,7 @@ boolean developer global - true + false Enable collision avoidance algorithm @@ -918,7 +918,7 @@ boolean developer global - true + false Enable anti-grounding algorithm @@ -2848,7 +2848,7 @@ list:string developer global - + EstimatedState:Navigation Manager, Temperature:CTD, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager List of messages <Message>:<Entity> to send using Iridium. From 1d2e83aebe72586dea4ae2f09345c751203c4df7 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 20 Aug 2024 13:06:13 +0100 Subject: [PATCH 45/92] comm/iridium/ImcFullIridiumMessage: Fix obfuscated msg variable by mistake. --- src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java index 7437961fb4..81f2903e91 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java @@ -46,8 +46,6 @@ */ public class ImcFullIridiumMessage extends ImcIridiumMessage { - protected IMCMessage msg; - // 5 bytes for RB addressing, 6 bytes for type and timestamp, 6 bytes for IMC header public static int MaxPayloadSize = 270 - 17; From d787dba5e96f53583931fe0cef0ffb59a04d8c5b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 20 Aug 2024 13:07:11 +0100 Subject: [PATCH 46/92] plugins/sunfish/iridium/feedback/IridiumStatusTableModel: Fix for potential exception. --- .../feedback/IridiumStatusTableModel.java | 110 ++++++++++-------- 1 file changed, 62 insertions(+), 48 deletions(-) diff --git a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java index 714c1e3941..b4714b5333 100644 --- a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java +++ b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatusTableModel.java @@ -210,59 +210,71 @@ public int getColumnCount() { @Override public Object getValueAt(int rowIndex, int columnIndex) { + try { + IridiumMessage m = msgs.get(rowIndex); - IridiumMessage m = msgs.get(rowIndex); - - String messageType = m.getMessageType() == 0 ? "Custom Iridium Message" : m.getClass().getSimpleName(); - int src = m.getSource(); - int dst = m.getDestination(); + String messageType = m.getMessageType() == 0 ? "Custom Iridium Message" : m.getClass().getSimpleName(); + int src = m.getSource(); + int dst = m.getDestination(); - switch (columnIndex) { - case TIMESTAMP: - { - if(messageType.equalsIgnoreCase("ImcIridiumMessage") || - messageType.equalsIgnoreCase("ImcFullIridiumMessage")) { - IMCMessage msg = ((ImcIridiumMessage) m).getMsg(); - if(msg.getMgid() == StateReport.ID_STATIC) { - long stime = ((StateReport) msg).getStime() * 1000; - TimeZone.getTimeZone(TimeZone.getDefault().getID()); - StringBuilder sb = new StringBuilder("V "); - sb.append(sdf.format(new Date(stime))); + switch (columnIndex) { + case TIMESTAMP: { + try { + if (messageType.equalsIgnoreCase("ImcIridiumMessage") || + messageType.equalsIgnoreCase("ImcFullIridiumMessage")) { + IMCMessage msg = ((ImcIridiumMessage) m).getMsg(); + if (msg.getMgid() == StateReport.ID_STATIC) { + long stime = ((StateReport) msg).getStime() * 1000; + TimeZone.getTimeZone(TimeZone.getDefault().getID()); + StringBuilder sb = new StringBuilder("V "); + sb.append(sdf.format(new Date(stime))); + return sb.toString(); + } + } + StringBuilder sb = new StringBuilder("M "); + sb.append(sdf.format(new Date(m.timestampMillis))); return sb.toString(); } + catch (Exception e) { + NeptusLog.pub().warn("?? " + messageType + " " + m + " :: " + e.getMessage()); + return "?? " + messageType + " " + m; + } } - StringBuilder sb = new StringBuilder("M "); - sb.append(sdf.format(new Date(m.timestampMillis))); - return sb.toString(); - } - case SYSTEM: - return IMCDefinition.getInstance().getResolver().resolve(src); - case STATUS: - if (status.containsKey(rowIndex)) { - return status.get(rowIndex)._status; - } - /* - * else if(src == ImcMsgManager.getManager().getLocalId().intValue()) return IridiumCommsStatus.SENT; - */ - if(messageType.equalsIgnoreCase("IridiumCommand")) { - IridiumCommand cmd = (IridiumCommand) m; - String txt = cmd.getCommand(); - if(txt.startsWith("ERROR")) - return IridiumCommsStatus.ERROR; + case SYSTEM: + return IMCDefinition.getInstance().getResolver().resolve(src); + case STATUS: + if (status.containsKey(rowIndex)) { + return status.get(rowIndex)._status; + } + /* + * else if(src == ImcMsgManager.getManager().getLocalId().intValue()) return IridiumCommsStatus.SENT; + */ + if (messageType.equalsIgnoreCase("IridiumCommand")) { + IridiumCommand cmd = (IridiumCommand) m; + String txt = cmd.getCommand(); + if (txt.startsWith("ERROR")) + return IridiumCommsStatus.ERROR; - } - else if (dst == 65535 || dst == ImcMsgManager.getManager().getLocalId().intValue()) { // dst - 65535 - 255 // - broadcast - return IridiumCommsStatus.DELIVERED; - } + } + else if (dst == 65535 || dst == ImcMsgManager.getManager().getLocalId().intValue()) { // dst - 65535 - 255 // - broadcast + return IridiumCommsStatus.DELIVERED; + } return IridiumCommsStatus.UNCERTAIN; - case MSG_TYPE: - if(messageType.equalsIgnoreCase("ImcIridiumMessage") || - messageType.equalsIgnoreCase("ImcFullIridiumMessage")) - return ((ImcIridiumMessage) m).getMsg().getClass().getSimpleName(); - else - return messageType; - default: - return "??"; + case MSG_TYPE: + try { + if (messageType.equalsIgnoreCase("ImcIridiumMessage") || + messageType.equalsIgnoreCase("ImcFullIridiumMessage")) + return ((ImcIridiumMessage) m).getMsg().getClass().getSimpleName(); + else + return messageType; + } catch (Exception e) { + return "::" + messageType; + } + default: + return "??"; + } + } catch (Exception e) { + return "?? " + rowIndex + " " + columnIndex + " " + e.getMessage(); } } @@ -299,13 +311,15 @@ else if(date.startsWith("M ")) { * @param milis - milliseconds */ public void cleanupAfter(long millis) { - msgs.removeIf(msg -> (System.currentTimeMillis() - msg.timestampMillis) > millis); + synchronized (msgs) { + msgs.removeIf(msg -> (System.currentTimeMillis() - msg.timestampMillis) > millis); + } fireTableDataChanged(); } } /** - * Iridium Local Transmissions Status + * Iridium Local Transmissions StatusTDefaultRowSorter * */ class TransmissionStatus { From 77aa5f80fb2a11d583bb6a6b9c3e8ec8cfb6db91 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 20 Aug 2024 13:07:26 +0100 Subject: [PATCH 47/92] plugins/sunfish/iridium/feedback/IridiumStatus: Fix for potential exception. --- .../sunfish/iridium/feedback/IridiumStatus.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatus.java b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatus.java index eabf841e9a..77b2a5091d 100644 --- a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatus.java +++ b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/iridium/feedback/IridiumStatus.java @@ -187,6 +187,16 @@ public void run() { @Override public int compare(String sdf1, String sdf2) { + if (sdf1 == null && sdf2 == null) { + return 0; + } + else if (sdf1 == null) { + return -1; + } + else if (sdf2 == null) { + return 1; + } + SimpleDateFormat sdf = new SimpleDateFormat("HH:mm:ss.SSS dd-MM-yyyy 'Z'"); sdf1 = sdf1.replaceAll("V ", ""); sdf2 = sdf2.replaceAll("V ", ""); From 76a7ae5d182f7a76d86a449937e441eaf7b238ff Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 20 Aug 2024 16:47:05 +0100 Subject: [PATCH 48/92] console/plugins/AbortPanel: Fir for new channel comms (still needs to clean the popup msgs). --- .../neptus/console/plugins/AbortPanel.java | 51 ++++++++++++++++++- 1 file changed, 50 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/AbortPanel.java b/src/java/pt/lsts/neptus/console/plugins/AbortPanel.java index 44494d5839..0e106193c6 100644 --- a/src/java/pt/lsts/neptus/console/plugins/AbortPanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/AbortPanel.java @@ -58,8 +58,11 @@ import pt.lsts.imc.Abort; import pt.lsts.imc.IMCMessage; import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.comm.IMCSendMessageUtils; +import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; +import pt.lsts.neptus.comm.manager.imc.MessageDeliveryListener; import pt.lsts.neptus.console.ConsoleLayout; import pt.lsts.neptus.console.ConsolePanel; import pt.lsts.neptus.console.notifications.Notification; @@ -249,7 +252,11 @@ public void actionPerformed(final ActionEvent e) { SwingWorker worker = new SwingWorker() { @Override protected Void doInBackground() throws Exception { - send(new IMCMessage("Abort")); + // send(new IMCMessage("Abort")); + IMCSendMessageUtils.sendMessage(new IMCMessage("Abort"), ImcMsgManager.TRANSPORT_TCP, + createDefaultMessageDeliveryListener(), getConsole(), "", true, + "", true, true, true, + getConsole().getMainSystem()); boolean sentToAll = false; if ((e.getModifiers() & ActionEvent.CTRL_MASK) != 0) { @@ -318,6 +325,48 @@ protected void done() { return abortAction; } + private MessageDeliveryListener createDefaultMessageDeliveryListener() { + return new MessageDeliveryListener() { + private String getDest(IMCMessage message) { + ImcSystem sys = message != null ? ImcSystemsHolder.lookupSystem(message.getDst()) : null; + String dest = sys != null ? sys.getName() : I18n.text("unknown destination"); + return dest; + } + + @Override + public void deliveryUnreacheable(IMCMessage message) { + post(Notification.error( + I18n.text("Delivering Message"), + I18n.textf("Message %messageType to %destination delivery destination unreacheable", + message.getAbbrev(), getDest(message)))); + } + + @Override + public void deliveryTimeOut(IMCMessage message) { + post(Notification.error( + I18n.text("Delivering Message"), + I18n.textf("Message %messageType to %destination delivery timeout", + message.getAbbrev(), getDest(message)))); + } + + @Override + public void deliveryError(IMCMessage message, Object error) { + post(Notification.error( + I18n.text("Delivering Message"), + I18n.textf("Message %messageType to %destination delivery error. (%error)", + message.getAbbrev(), getDest(message), error))); + } + + @Override + public void deliveryUncertain(IMCMessage message, Object msg) { + } + + @Override + public void deliverySuccess(IMCMessage message) { + } + }; + } + @Override public boolean isLocked() { return !getAbortButton().isEnabled(); From 5b9302c4dd83ad5db437ffc9c21d3fdcd6d8b31d Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 21 Aug 2024 14:03:08 +0100 Subject: [PATCH 49/92] console/plugins/EntityStatePanel: Adding speak on entity change. --- .../console/plugins/EntityStatePanel.java | 22 +++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java b/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java index e0f318a5f9..afb76605e6 100644 --- a/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/EntityStatePanel.java @@ -38,6 +38,7 @@ import java.awt.Dimension; import java.awt.FlowLayout; import java.awt.event.ActionEvent; +import java.time.Duration; import java.util.HashMap; import java.util.LinkedHashMap; import java.util.Timer; @@ -54,7 +55,6 @@ import javax.swing.table.DefaultTableColumnModel; import javax.swing.table.TableCellRenderer; import javax.swing.table.TableColumn; -import javax.swing.text.html.parser.Entity; import com.google.common.eventbus.Subscribe; @@ -81,6 +81,7 @@ import pt.lsts.neptus.plugins.Popup.POSITION; import pt.lsts.neptus.util.DateTimeUtil; import pt.lsts.neptus.util.ImageUtils; +import pt.lsts.neptus.util.speech.SpeechUtil; /** * @author pdias @@ -114,6 +115,8 @@ public class EntityStatePanel extends ConsolePanel implements NeptusMessageListe private JTable table = null; private StatusLed status; + private long timeSinceLastUpdateVoiceWarning = -1; + /** * @param console */ @@ -375,11 +378,14 @@ public void messageArrived(IMCMessage message) { EntityStateType eType = dataMap.get(entityName); Integer index = eType == null ? null : data.indexOf(eType); + boolean wasChange = false; + // Updating (not the first time receiving for this entity) if (index != null) { eType = data.get(index); if (message.getLong("state") != eType.getState().longValue()) { // Means it has changed, time to post a -// msg_type type = msg_type.info; + // msg_type type = msg_type.info; + wasChange = true; } eType.update(entityName, new Enumerated(message.getMessageType().getFieldPossibleValues("state"), message.getLong("state")), message.getString("description"), System.currentTimeMillis()); @@ -387,6 +393,7 @@ public void messageArrived(IMCMessage message) { etmodel.fireTableRowsUpdated(index, index); } else { + wasChange = true; eType = new EntityStateType(entityName, new Enumerated(message.getMessageType().getFieldPossibleValues( "state"), message.getLong("state")), getDescription(), System.currentTimeMillis()); @@ -397,6 +404,9 @@ public void messageArrived(IMCMessage message) { } } calcTotalState(); + + if (wasChange) + speakUpdateEntityState(); } } @@ -416,6 +426,14 @@ void sendEntityListRequestMsg() { } } + private synchronized void speakUpdateEntityState() { + if (System.currentTimeMillis() - timeSinceLastUpdateVoiceWarning > Duration.ofSeconds(10).toMillis()) { + timeSinceLastUpdateVoiceWarning = System.currentTimeMillis(); + String msg = I18n.text("Entity state"); + SpeechUtil.readSimpleText(msg); + } + } + private MessageDeliveryListener createDefaultMessageDeliveryListener() { return (new MessageDeliveryListener() { From 3701f2ba14148645d1649ffc60eec685070358d5 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 21 Aug 2024 14:03:50 +0100 Subject: [PATCH 50/92] console/comm/iridium/IridiumManager: Adding speak on new message. --- .../neptus/comm/iridium/IridiumManager.java | 20 +++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java index a091a9e822..76ed294c45 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java @@ -54,9 +54,11 @@ import pt.lsts.imc.net.IMCFragmentHandler; import pt.lsts.neptus.NeptusLog; import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; +import pt.lsts.neptus.i18n.I18n; import pt.lsts.neptus.util.ByteUtil; import pt.lsts.neptus.util.ImageUtils; import pt.lsts.neptus.util.conf.GeneralPreferences; +import pt.lsts.neptus.util.speech.SpeechUtil; /** * This class will handle Iridium communications @@ -75,6 +77,8 @@ public class IridiumManager { public static final int IRIDIUM_MTU = 270; public static final int IRIDIUM_HEADER = 6; + + private long timeSinceLastUpdateVoiceWarning = -1; public enum IridiumMessengerEnum { DuneIridiumMessenger, @@ -111,8 +115,12 @@ public void run() { try { Date now = new Date(); Collection msgs = getCurrentMessenger().pollMessages(lastTime); - for (IridiumMessage m : msgs) + if (!msgs.isEmpty()) { + speakUpdateEntityState(); + } + for (IridiumMessage m : msgs) { processMessage(m); + } lastTime = now; } @@ -122,7 +130,15 @@ public void run() { } } }; - + + private synchronized void speakUpdateEntityState() { + if (System.currentTimeMillis() - timeSinceLastUpdateVoiceWarning > Duration.ofSeconds(10).toMillis()) { + timeSinceLastUpdateVoiceWarning = System.currentTimeMillis(); + String msg = I18n.text("Ireedeehum received"); // To be able to speak Iridium + SpeechUtil.readSimpleText(msg); + } + } + public boolean isAvailable() { return getCurrentMessenger().isAvailable(); } From b5286e2d5502c1a0fdbc5332fd08ce3152da3144 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 23 Aug 2024 17:30:54 +0100 Subject: [PATCH 51/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 57 ++++++++++++++++++++++++++--------- conf/params/caravel.pt_PT.xml | 57 ++++++++++++++++++++++++++--------- 2 files changed, 84 insertions(+), 30 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 5ea35e5303..270f97cc7e 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -907,7 +907,7 @@ Enable Collision Avoidance boolean - developer + user global false @@ -916,7 +916,7 @@ Enable Anti Grounding boolean - developer + user global false @@ -3093,7 +3093,7 @@ string developer global - GPS + AHRS Entity label of 'GpsFix' and 'GroundVelocity' messages @@ -3902,7 +3902,7 @@ string developer global - CTD_P + Private (CTD_P) Power Channel Entity Label @@ -5620,7 +5620,7 @@ string developer global - maneuver + global Scoped of the 'Active' parameter @@ -5629,15 +5629,15 @@ string developer global - user + developer Visibility of the 'Active' parameter Active boolean - user - maneuver + developer + global 1 True to activate task, false otherwise @@ -5658,7 +5658,16 @@ global 125 ms - Sample period in milliseconds + Sample Period in milliseconds + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. Sample Time Duration @@ -5705,6 +5714,24 @@ Input timeout in seconds. Must be greater than 2*Sample Time Duration + + Medium Threshold + real + developer + global + 0.2 + + Medium conductivity threshold. + + + Medium Periodicity + real + developer + global + 1.0 + + Medium dispatch periodicity. +
@@ -6244,7 +6271,7 @@ string developer global - + usv System type @@ -7081,7 +7108,7 @@ integer developer global - 120 + 240 Time to live for iridium messages. @@ -7090,7 +7117,7 @@ integer developer global - 600 + 1200 Iridium operation timeout in seconds. @@ -7247,7 +7274,7 @@ real user global - 100 + 300 Window to prioritize Transmission over Reception 5 @@ -7257,7 +7284,7 @@ real user global - 100 + 60 Window to prioritize Reception over Transmission 5 diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index aa0917178b..92f3c6cec2 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -907,7 +907,7 @@ Enable Collision Avoidance boolean - developer + user global false @@ -916,7 +916,7 @@ Enable Anti Grounding boolean - developer + user global false @@ -3093,7 +3093,7 @@ string developer global - GPS + AHRS Entity label of 'GpsFix' and 'GroundVelocity' messages @@ -3902,7 +3902,7 @@ string developer global - CTD_P + Private (CTD_P) Power Channel Entity Label @@ -5620,7 +5620,7 @@ string developer global - maneuver + global Escopo do parâmetro 'Ativa' @@ -5629,15 +5629,15 @@ string developer global - user + developer Visibilidade do parâmetro 'Ativa' Ativa boolean - user - maneuver + developer + global 1 Verdadeiro para ativar tarefa, falso caso contrário @@ -5658,7 +5658,16 @@ global 125 ms - Sample period in milliseconds + Sample Period in milliseconds + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. Sample Time Duration @@ -5705,6 +5714,24 @@ Input timeout in seconds. Must be greater than 2*Sample Time Duration + + Medium Threshold + real + developer + global + 0.2 + + Medium conductivity threshold. + + + Medium Periodicity + real + developer + global + 1.0 + + Medium dispatch periodicity. +
@@ -6244,7 +6271,7 @@ string developer global - + usv System type @@ -7081,7 +7108,7 @@ integer developer global - 120 + 240 Time to live for iridium messages. @@ -7090,7 +7117,7 @@ integer developer global - 600 + 1200 Iridium operation timeout in seconds. @@ -7247,7 +7274,7 @@ real user global - 100 + 300 Window to prioritize Transmission over Reception 5 @@ -7257,7 +7284,7 @@ real user global - 100 + 60 Window to prioritize Reception over Transmission 5 From f6512652d6848a565a7e58ab2f70d8462b0f7e47 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 23 Aug 2024 17:30:54 +0100 Subject: [PATCH 52/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 57 ++++++++++++++++++++++++++--------- conf/params/caravel.pt_PT.xml | 57 ++++++++++++++++++++++++++--------- 2 files changed, 84 insertions(+), 30 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 5ea35e5303..270f97cc7e 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +
Entity Label @@ -907,7 +907,7 @@ Enable Collision Avoidance boolean - developer + user global false @@ -916,7 +916,7 @@ Enable Anti Grounding boolean - developer + user global false @@ -3093,7 +3093,7 @@ string developer global - GPS + AHRS Entity label of 'GpsFix' and 'GroundVelocity' messages @@ -3902,7 +3902,7 @@ string developer global - CTD_P + Private (CTD_P) Power Channel Entity Label @@ -5620,7 +5620,7 @@ string developer global - maneuver + global Scoped of the 'Active' parameter @@ -5629,15 +5629,15 @@ string developer global - user + developer Visibility of the 'Active' parameter Active boolean - user - maneuver + developer + global 1 True to activate task, false otherwise @@ -5658,7 +5658,16 @@ global 125 ms - Sample period in milliseconds + Sample Period in milliseconds + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. Sample Time Duration @@ -5705,6 +5714,24 @@ Input timeout in seconds. Must be greater than 2*Sample Time Duration + + Medium Threshold + real + developer + global + 0.2 + + Medium conductivity threshold. + + + Medium Periodicity + real + developer + global + 1.0 + + Medium dispatch periodicity. +
@@ -6244,7 +6271,7 @@ string developer global - + usv System type @@ -7081,7 +7108,7 @@ integer developer global - 120 + 240 Time to live for iridium messages. @@ -7090,7 +7117,7 @@ integer developer global - 600 + 1200 Iridium operation timeout in seconds. @@ -7247,7 +7274,7 @@ real user global - 100 + 300 Window to prioritize Transmission over Reception 5 @@ -7257,7 +7284,7 @@ real user global - 100 + 60 Window to prioritize Reception over Transmission 5 diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index aa0917178b..92f3c6cec2 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -907,7 +907,7 @@ Enable Collision Avoidance boolean - developer + user global false @@ -916,7 +916,7 @@ Enable Anti Grounding boolean - developer + user global false @@ -3093,7 +3093,7 @@ string developer global - GPS + AHRS Entity label of 'GpsFix' and 'GroundVelocity' messages @@ -3902,7 +3902,7 @@ string developer global - CTD_P + Private (CTD_P) Power Channel Entity Label @@ -5620,7 +5620,7 @@ string developer global - maneuver + global Escopo do parâmetro 'Ativa' @@ -5629,15 +5629,15 @@ string developer global - user + developer Visibilidade do parâmetro 'Ativa' Ativa boolean - user - maneuver + developer + global 1 Verdadeiro para ativar tarefa, falso caso contrário @@ -5658,7 +5658,16 @@ global 125 ms - Sample period in milliseconds + Sample Period in milliseconds + + + Start Acquisition + boolean + user + maneuver + false + + Start Acquisition. Sample Time Duration @@ -5705,6 +5714,24 @@ Input timeout in seconds. Must be greater than 2*Sample Time Duration + + Medium Threshold + real + developer + global + 0.2 + + Medium conductivity threshold. + + + Medium Periodicity + real + developer + global + 1.0 + + Medium dispatch periodicity. +
@@ -6244,7 +6271,7 @@ string developer global - + usv System type @@ -7081,7 +7108,7 @@ integer developer global - 120 + 240 Time to live for iridium messages. @@ -7090,7 +7117,7 @@ integer developer global - 600 + 1200 Iridium operation timeout in seconds. @@ -7247,7 +7274,7 @@ real user global - 100 + 300 Window to prioritize Transmission over Reception 5 @@ -7257,7 +7284,7 @@ real user global - 100 + 60 Window to prioritize Reception over Transmission 5 From 43cea6e4f36037427ba88409c28c7d578f8e11d2 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 14 Nov 2024 15:28:28 +0000 Subject: [PATCH 53/92] comm/manager/imc/ImcMsgManagerMessageProcessor: Fix processing heading on StateReport message. --- .../neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java index 8fa9abf6be..e6a389258c 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java @@ -145,7 +145,7 @@ void processStateReport(MessageInfo info, StateReport msg, ArrayList double lon = msg.getLongitude(); double depth = msg.getDepth() == 0xFFFF ? -1 : msg.getDepth() / 10.0; // double altitude = msg.getAltitude() == 0xFFFF ? -1 : msg.getAltitude() / 10.0; - double heading = ((double)msg.getHeading() / 65535.0) * 360; + double heading = Math.toDegrees(AngleUtils.nomalizeAngleRads2Pi(((double) msg.getHeading() / 65535.0) * Math.PI * 2)); double speedMS = msg.getSpeed() / 100.; NeptusLog.pub().info("Received report from "+msg.getSourceName()); From c70e5f76a2c9f8a621bfc7894d4762e5b7c39eb5 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 14 Nov 2024 15:32:55 +0000 Subject: [PATCH 54/92] comm/manager/imc/ImcMsgManagerAnnounceProcessor: Avoiding depth=-height on locations created. --- .../neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java index 319a23b5c0..80b744a5c6 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java @@ -312,6 +312,7 @@ else if (portTcp == 0) { loc.setLatitudeDegs(Math.toDegrees(latRad)); loc.setLongitudeDegs(Math.toDegrees(lonRad)); loc.setHeight(height); + loc.setDepth(-1); long locTime = (long) (info.getTimeSentSec() * 1000); resSys.setLocation(loc, locTime); } From 4b68231ef14837c92ad648732b799344561c2082 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 15 Nov 2024 17:22:33 +0000 Subject: [PATCH 55/92] lib/libimc.jar: Updated to LSTS/imc@76cc63e and LSTS/imcjava@eb600cb compiled with Java 8. --- build.gradle | 4 ++-- lib/{libimc-5.90.2.jar => libimc-5.90.4.jar} | Bin 2359159 -> 2392493 bytes ...der-5.90.2.jar => libimcsender-5.90.4.jar} | Bin 1351364 -> 1351378 bytes 3 files changed, 2 insertions(+), 2 deletions(-) rename lib/{libimc-5.90.2.jar => libimc-5.90.4.jar} (86%) rename lib/{libimcsender-5.90.2.jar => libimcsender-5.90.4.jar} (96%) diff --git a/build.gradle b/build.gradle index 051d53c6d9..5563a7b944 100644 --- a/build.gradle +++ b/build.gradle @@ -349,8 +349,8 @@ project(':core') { } dependencies { - implementation name: 'libimc-5.90.2' - implementation name: 'libimcsender-5.90.2' + implementation name: 'libimc-5.90.4' + implementation name: 'libimcsender-5.90.4' implementation name: 'aisparser-2.0.0' implementation name: 'jssc' //dependency of aisparser, and serial port reader diff --git a/lib/libimc-5.90.2.jar b/lib/libimc-5.90.4.jar similarity index 86% rename from lib/libimc-5.90.2.jar rename to lib/libimc-5.90.4.jar index 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zuY}AxO~~4$;X{y5GQPm!%wD)sb`uS(TqL{4RmS)0&lLSLGwKf=Jh1-Yf#U`a_|MAs zN8y4ePca<4|1%{Q_ow1jvL{W=WVZk5$PtUCmSyAX-ET00{45%^Kb?HPmg^f*)#|%l zksj#oXj!4CX`z*o&9yve>r7_<&>c_VkkWnuOczDMI`zkh99eBQo1@y8N` z{t_RtSk|y>E)TzfNJlx0lyj(P6;`ihlbNH%aQ^?kwy&yn*R+)dtC3X0cj%t0Wsm4( z`ApFwF{%6KZCbTXu9w^`*?f$1HEvopztH8zKRzJ?Xyj@vVFq7c!k4lGZCot}sDn0Q HIw<}R&C#K& From b53c6ed4b14a0d08037c074c77e4da1712d66694 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 15 Nov 2024 17:37:09 +0000 Subject: [PATCH 56/92] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 703 ++++++++++++++++++++++++++-------- conf/params/caravel.pt_PT.xml | 703 ++++++++++++++++++++++++++-------- 2 files changed, 1084 insertions(+), 322 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 270f97cc7e..f9a5c13c39 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,5 +1,5 @@ - +

Entity Label @@ -2108,6 +2108,102 @@ None, Debug, Trace, Spew
+
+ + Entity Label + string + developer + global + Boot Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Boot Message Delay + real + developer + global + 10 + + Delay, in seconds, before dispatching boot message. Value can not be less than 1s. + 1 + + + Boot Message TTL + real + developer + global + 300 + + Boot message time-to-live, in seconds. Value can not be less than 60s. + 60 + + + Default SMS Recipient Number + string + user + global + + + Phone number of the SMS recipient + + + Task Label for SMS Number + string + user + global + Monitors.Emergency + + Task Label for SMS Number + + + Task Parameter for SMS Number + string + user + global + SMS Recipient Number + + Task Parameter for SMS Number + +
Entity Label @@ -2330,6 +2426,55 @@ Change log file after synchronization
+
+ + Entity Label + string + developer + global + DUNE Resources Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
Entity Label @@ -2848,7 +2993,7 @@ list:string developer global - EstimatedState:Navigation Manager, Temperature:CTD, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager + VerticalProfile:CTD, VerticalProfile:ADCP List of messages <Message>:<Entity> to send using Iridium. @@ -3708,6 +3853,15 @@ Power Channel Entity Label + + Power Channel 1 Max Current + integer + developer + global + 5001 + + Power Channel Max Current + Power Channel 2 Entity Label string @@ -3717,6 +3871,15 @@ Power Channel Entity Label + + Power Channel 2 Max Current + integer + developer + global + 5002 + + Power Channel Max Current + Power Channel 3 Entity Label string @@ -3735,6 +3898,15 @@ Power Channel State + + Power Channel 3 Max Current + integer + developer + global + 5003 + + Power Channel Max Current + Power Channel 4 Entity Label string @@ -3753,6 +3925,15 @@ Power Channel State + + Power Channel 4 Max Current + integer + developer + global + 5004 + + Power Channel Max Current + Power Channel 5 Entity Label string @@ -3771,6 +3952,15 @@ Power Channel State + + Power Channel 5 Max Current + integer + developer + global + 5005 + + Power Channel Max Current + Power Channel 6 Entity Label string @@ -3789,6 +3979,15 @@ Power Channel State + + Power Channel 6 Max Current + integer + developer + global + 5006 + + Power Channel Max Current + Power Channel 7 Entity Label string @@ -3807,6 +4006,15 @@ Power Channel State + + Power Channel 7 Max Current + integer + developer + global + 5007 + + Power Channel Max Current + Power Channel 8 Entity Label string @@ -3825,6 +4033,15 @@ Power Channel State + + Power Channel 8 Max Current + integer + developer + global + 5008 + + Power Channel Max Current + Power Channel 9 Entity Label string @@ -3843,6 +4060,15 @@ Power Channel State + + Power Channel 9 Max Current + integer + developer + global + 5009 + + Power Channel Max Current + Power Channel 10 Entity Label string @@ -3861,6 +4087,15 @@ Power Channel State + + Power Channel 10 Max Current + integer + developer + global + 5010 + + Power Channel Max Current + Power Channel 11 Entity Label string @@ -3879,6 +4114,15 @@ Power Channel State + + Power Channel 11 Max Current + integer + developer + global + 5011 + + Power Channel Max Current + Power Channel 12 Entity Label string @@ -3897,6 +4141,15 @@ Power Channel State + + Power Channel 12 Max Current + integer + developer + global + 5012 + + Power Channel Max Current + Power Channel 13 Entity Label string @@ -3915,12 +4168,21 @@ Power Channel State + + Power Channel 13 Max Current + integer + developer + global + 5013 + + Power Channel Max Current + Power Channel 14 Entity Label string developer global - LED + Private (FLED) Power Channel Entity Label @@ -3933,6 +4195,15 @@ Power Channel State + + Power Channel 14 Max Current + integer + developer + global + 5014 + + Power Channel Max Current + Power Channel 15 Entity Label string @@ -3951,6 +4222,15 @@ Power Channel State + + Power Channel 15 Max Current + integer + developer + global + 5015 + + Power Channel Max Current + Power Channel 16 Entity Label string @@ -3969,6 +4249,15 @@ Power Channel State + + Power Channel 16 Max Current + integer + developer + global + 5016 + + Power Channel Max Current + Power Channel 17 Entity Label string @@ -3987,6 +4276,15 @@ Power Channel State + + Power Channel 17 Max Current + integer + developer + global + 5017 + + Power Channel Max Current + Power Channel 18 Entity Label string @@ -4005,6 +4303,15 @@ Power Channel State + + Power Channel 18 Max Current + integer + developer + global + 5018 + + Power Channel Max Current + Power Data 1 Entity Label string @@ -4194,6 +4501,42 @@ Set CPC to use NAV and Iridium at Boot. + + Force Water Mode at Boot + boolean + developer + global + false + + Force Water Mode at Boot. + + + Use Software Fuse + boolean + developer + global + false + + CPC Use Software Fuse. + + + Timeout Transmission Request + integer + developer + global + 120 + + Timeout, in seconds, for TransmissionRequest + + + Default SMS Recipient Number + string + user + global + + + Phone number of the SMS recipient +
@@ -4582,7 +4925,7 @@ string developer global - maneuver + global Scoped of the 'Active' parameter @@ -4591,15 +4934,15 @@ string developer global - user + developer Visibility of the 'Active' parameter Active boolean - user - maneuver + developer + global 1 True to activate task, false otherwise @@ -4695,23 +5038,32 @@ Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - Sampling Duration - real + + Start Acquisition + boolean user maneuver - 0.0 + false - Sampling duration in seconds + Start Acquisition. - - Sampling Period - real - user + + Sample Time Duration + integer + user maneuver - 0.0 - - Sampling period in seconds + 60 + s + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + s + Periodicity of Data Sampling in seconds. Timeout Transmitting Iridium Message @@ -6405,7 +6757,7 @@ string developer global - GSM + SMS Entity label of GSM modem @@ -6665,145 +7017,6 @@ Maximum amount of seconds to wait for missing fragments in incoming messages
-
- - Entity Label - string - developer - global - GSM - - Main entity label - - - Execution Priority - integer - developer - global - 10 - - Execution priority - - - Activation Time - integer - developer - global - 10 - - - - - Deactivation Time - integer - developer - global - 0 - - - - - Debug Level - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Serial Port - Device - string - developer - global - /dev/ttyUSB3 - - Serial port device used to communicate with the sensor - - - Serial Port - Baud Rate - integer - developer - global - 115200 - - Serial port baud rate - - - Reply Timeout - real - developer - global - 2.0 - s - Amount of time to wait for a command reply - - - PIN - string - developer - global - - - PIN Code - - - RSSI Periodicity - real - developer - global - 10 - s - Periodicity of RSSI reports - - - Read SMS Periodicity - real - developer - global - 10 - s - Periodicity of received SMS checks - - - SMS Send Timeout - real - developer - global - 60 - s - Maximum amount of time to wait for SMS send completion - - - USSD code - integer - developer - global - 111 - - USSD code - - - Request Balance - boolean - user - global - false - - Enable Balance Request - - - Balance Periodicity - integer - developer - global - 60 - - Balance Periodicity - -
Entity Label @@ -6866,7 +7079,7 @@ integer developer global - 5 + 10 Number of worker threads @@ -6875,7 +7088,16 @@ list:string developer global - CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed + Announce, CpuUsage, Current, Distance, EntityState, EntityInfo, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, VehicleState, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed + + List of messages to transport + + + Number Lines From LogBook to send + integer + developer + global + 500 List of messages to transport @@ -7289,6 +7511,26 @@ Window to prioritize Reception over Transmission 5 + + Maximum Errors + integer + developer + global + 3 + + Maximum number of errors to trigger restart + 0 + + + Error Reset Period + real + developer + global + 300 + + Period to reset error count + 60 +
@@ -7433,6 +7675,145 @@
+
+ + Entity Label + string + developer + global + SMS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 10 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Serial Port - Device + string + developer + global + /dev/ttyUSB3 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate + + + Reply Timeout + real + developer + global + 2.0 + s + Amount of time to wait for a command reply + + + PIN + string + developer + global + + + PIN Code + + + RSSI Periodicity + real + developer + global + 10 + s + Periodicity of RSSI reports + + + Read SMS Periodicity + real + developer + global + 10 + s + Periodicity of received SMS checks + + + SMS Send Timeout + real + developer + global + 60 + s + Maximum amount of time to wait for SMS send completion + + + USSD code + integer + developer + global + 111 + + USSD code + + + Request Balance + boolean + user + global + false + + Enable Balance Request + + + Balance Periodicity + integer + developer + global + 60 + + Balance Periodicity + +
Entity Label diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 92f3c6cec2..a796079900 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,5 +1,5 @@ - +
Nome da Entidade @@ -2108,6 +2108,102 @@ None, Debug, Trace, Spew
+
+ + Nome da Entidade + string + developer + global + Boot Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Boot Message Delay + real + developer + global + 10 + + Delay, in seconds, before dispatching boot message. Value can not be less than 1s. + 1 + + + Boot Message TTL + real + developer + global + 300 + + Boot message time-to-live, in seconds. Value can not be less than 60s. + 60 + + + Default SMS Recipient Number + string + user + global + + + Número de telefone do destinatário de mensagens SMS + + + Task Label for SMS Number + string + user + global + Monitors.Emergency + + Task Label for SMS Number + + + Task Parameter for SMS Number + string + user + global + SMS Recipient Number + + Task Parameter for SMS Number + +
Nome da Entidade @@ -2330,6 +2426,55 @@ Change log file after synchronization
+
+ + Nome da Entidade + string + developer + global + DUNE Resources Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
Nome da Entidade @@ -2848,7 +2993,7 @@ list:string developer global - EstimatedState:Navigation Manager, Temperature:CTD, Salinity:CTD, CurrentProfile:ADCP, EstimatedState:Simulated Navigation Manager + VerticalProfile:CTD, VerticalProfile:ADCP List of messages <Message>:<Entity> to send using Iridium. @@ -3708,6 +3853,15 @@ Power Channel Entity Label + + Power Channel 1 Max Current + integer + developer + global + 5001 + + Power Channel Max Current + Power Channel 2 Entity Label string @@ -3717,6 +3871,15 @@ Power Channel Entity Label + + Power Channel 2 Max Current + integer + developer + global + 5002 + + Power Channel Max Current + Power Channel 3 Entity Label string @@ -3735,6 +3898,15 @@ Power Channel State + + Power Channel 3 Max Current + integer + developer + global + 5003 + + Power Channel Max Current + Power Channel 4 Entity Label string @@ -3753,6 +3925,15 @@ Power Channel State + + Power Channel 4 Max Current + integer + developer + global + 5004 + + Power Channel Max Current + Power Channel 5 Entity Label string @@ -3771,6 +3952,15 @@ Power Channel State + + Power Channel 5 Max Current + integer + developer + global + 5005 + + Power Channel Max Current + Power Channel 6 Entity Label string @@ -3789,6 +3979,15 @@ Power Channel State + + Power Channel 6 Max Current + integer + developer + global + 5006 + + Power Channel Max Current + Power Channel 7 Entity Label string @@ -3807,6 +4006,15 @@ Power Channel State + + Power Channel 7 Max Current + integer + developer + global + 5007 + + Power Channel Max Current + Power Channel 8 Entity Label string @@ -3825,6 +4033,15 @@ Power Channel State + + Power Channel 8 Max Current + integer + developer + global + 5008 + + Power Channel Max Current + Power Channel 9 Entity Label string @@ -3843,6 +4060,15 @@ Power Channel State + + Power Channel 9 Max Current + integer + developer + global + 5009 + + Power Channel Max Current + Power Channel 10 Entity Label string @@ -3861,6 +4087,15 @@ Power Channel State + + Power Channel 10 Max Current + integer + developer + global + 5010 + + Power Channel Max Current + Power Channel 11 Entity Label string @@ -3879,6 +4114,15 @@ Power Channel State + + Power Channel 11 Max Current + integer + developer + global + 5011 + + Power Channel Max Current + Power Channel 12 Entity Label string @@ -3897,6 +4141,15 @@ Power Channel State + + Power Channel 12 Max Current + integer + developer + global + 5012 + + Power Channel Max Current + Power Channel 13 Entity Label string @@ -3915,12 +4168,21 @@ Power Channel State + + Power Channel 13 Max Current + integer + developer + global + 5013 + + Power Channel Max Current + Power Channel 14 Entity Label string developer global - LED + Private (FLED) Power Channel Entity Label @@ -3933,6 +4195,15 @@ Power Channel State + + Power Channel 14 Max Current + integer + developer + global + 5014 + + Power Channel Max Current + Power Channel 15 Entity Label string @@ -3951,6 +4222,15 @@ Power Channel State + + Power Channel 15 Max Current + integer + developer + global + 5015 + + Power Channel Max Current + Power Channel 16 Entity Label string @@ -3969,6 +4249,15 @@ Power Channel State + + Power Channel 16 Max Current + integer + developer + global + 5016 + + Power Channel Max Current + Power Channel 17 Entity Label string @@ -3987,6 +4276,15 @@ Power Channel State + + Power Channel 17 Max Current + integer + developer + global + 5017 + + Power Channel Max Current + Power Channel 18 Entity Label string @@ -4005,6 +4303,15 @@ Power Channel State + + Power Channel 18 Max Current + integer + developer + global + 5018 + + Power Channel Max Current + Power Data 1 Entity Label string @@ -4194,6 +4501,42 @@ Set CPC to use NAV and Iridium at Boot. + + Force Water Mode at Boot + boolean + developer + global + false + + Force Water Mode at Boot. + + + Use Software Fuse + boolean + developer + global + false + + CPC Use Software Fuse. + + + Timeout Transmission Request + integer + developer + global + 120 + + Timeout, in seconds, for TransmissionRequest + + + Default SMS Recipient Number + string + user + global + + + Número de telefone do destinatário de mensagens SMS +
@@ -4582,7 +4925,7 @@ string developer global - maneuver + global Escopo do parâmetro 'Ativa' @@ -4591,15 +4934,15 @@ string developer global - user + developer Visibilidade do parâmetro 'Ativa' Ativa boolean - user - maneuver + developer + global 1 Verdadeiro para ativar tarefa, falso caso contrário @@ -4695,23 +5038,32 @@ Scale factor is used to derive instrument output concentration from the raw signal output of the fluorometer - - Sampling Duration - real + + Start Acquisition + boolean user maneuver - 0.0 + false - Sampling duration in seconds + Start Acquisition. - - Sampling Period - real - user + + Sample Time Duration + integer + user maneuver - 0.0 - - Sampling period in seconds + 60 + s + Sample Time Duration in seconds. + + + Periodicity of Data Sampling + integer + user + maneuver + 80 + s + Periodicity of Data Sampling in seconds. Timeout Transmitting Iridium Message @@ -6405,7 +6757,7 @@ string developer global - GSM + SMS Entity label of GSM modem @@ -6665,145 +7017,6 @@ Maximum amount of seconds to wait for missing fragments in incoming messages
-
- - Nome da Entidade - string - developer - global - GSM - - Nome principal da entidade - - - Prioridade de Execução - integer - developer - global - 10 - - Prioridade de execução - - - Tempo de Ativação - integer - developer - global - 10 - - - - - Tempo de Desativação - integer - developer - global - 0 - - - - - Nível de Depuração - string - developer - global - None - - - None, Debug, Trace, Spew - None, Debug, Trace, Spew - - - Serial Port - Device - string - developer - global - /dev/ttyUSB3 - - Serial port device used to communicate with the sensor - - - Serial Port - Baud Rate - integer - developer - global - 115200 - - Serial port baud rate - - - Reply Timeout - real - developer - global - 2.0 - s - Amount of time to wait for a command reply - - - PIN - string - developer - global - - - PIN Code - - - RSSI Periodicity - real - developer - global - 10 - s - Periodicity of RSSI reports - - - Read SMS Periodicity - real - developer - global - 10 - s - Periodicity of received SMS checks - - - SMS Send Timeout - real - developer - global - 60 - s - Maximum amount of time to wait for SMS send completion - - - USSD code - integer - developer - global - 111 - - USSD code - - - Request Balance - boolean - user - global - false - - Enable Balance Request - - - Balance Periodicity - integer - developer - global - 60 - - Balance Periodicity - -
Nome da Entidade @@ -6866,7 +7079,7 @@ integer developer global - 5 + 10 Number of worker threads @@ -6875,7 +7088,16 @@ list:string developer global - CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed + Announce, CpuUsage, Current, Distance, EntityState, EntityInfo, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, VehicleState, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed + + List of messages to transport + + + Number Lines From LogBook to send + integer + developer + global + 500 List of messages to transport @@ -7289,6 +7511,26 @@ Window to prioritize Reception over Transmission 5 + + Maximum Errors + integer + developer + global + 3 + + Maximum number of errors to trigger restart + 0 + + + Error Reset Period + real + developer + global + 300 + + Period to reset error count + 60 +
@@ -7433,6 +7675,145 @@
+
+ + Nome da Entidade + string + developer + global + SMS + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 10 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Serial Port - Device + string + developer + global + /dev/ttyUSB3 + + Serial port device used to communicate with the sensor + + + Serial Port - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate + + + Reply Timeout + real + developer + global + 2.0 + s + Amount of time to wait for a command reply + + + PIN + string + developer + global + + + PIN Code + + + RSSI Periodicity + real + developer + global + 10 + s + Periodicity of RSSI reports + + + Read SMS Periodicity + real + developer + global + 10 + s + Periodicity of received SMS checks + + + SMS Send Timeout + real + developer + global + 60 + s + Maximum amount of time to wait for SMS send completion + + + USSD code + integer + developer + global + 111 + + USSD code + + + Request Balance + boolean + user + global + false + + Enable Balance Request + + + Balance Periodicity + integer + developer + global + 60 + + Balance Periodicity + +
Nome da Entidade From a99afa6c351f2f14b09c968f583c9a22feef442b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 18 Nov 2024 13:43:56 +0000 Subject: [PATCH 57/92] console/ConsolePanel: Change sendViaIridium to return if there was an error sending through Iridium (success is not guaranteed in some cases). --- src/java/pt/lsts/neptus/console/ConsolePanel.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/ConsolePanel.java b/src/java/pt/lsts/neptus/console/ConsolePanel.java index 5f236f020d..a64a5b63b8 100644 --- a/src/java/pt/lsts/neptus/console/ConsolePanel.java +++ b/src/java/pt/lsts/neptus/console/ConsolePanel.java @@ -832,7 +832,7 @@ public boolean send(IMCMessage message) { return send(destination, message); } - public void sendViaIridium(String destination, IMCMessage message) { + public boolean sendViaIridium(String destination, IMCMessage message) { if (message.getTimestamp() == 0) message.setTimestampMillis(System.currentTimeMillis()); Collection irMsgs = new ArrayList(); @@ -841,7 +841,7 @@ public void sendViaIridium(String destination, IMCMessage message) { } catch (Exception e) { GuiUtils.errorMessage(getConsole(), "Send by Iridium", e.getMessage()); - return; + return false; } int src = getConsole().getImcMsgManager().getLocalId().intValue(); int dst = IMCDefinition.getInstance().getResolver().resolve(destination); @@ -860,10 +860,11 @@ public void sendViaIridium(String destination, IMCMessage message) { getConsole().post(Notification.success("Iridium message sent", count + " Iridium messages were sent using " + IridiumManager.getManager().getCurrentMessenger().getName())); + return true; } catch (Exception e) { GuiUtils.errorMessage(getConsole(), "Send by Iridium", e.getMessage()); - return; + return false; } } From e9dc267ab68f1220633e01002e21a36980d07816 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 18 Nov 2024 13:44:50 +0000 Subject: [PATCH 58/92] plugins/oplimits/OperationLimitsSubPanel: Protecting from freezing the gui. --- .../oplimits/OperationLimitsSubPanel.java | 27 ++++++++++++++----- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/plugins-dev/oplimits/src/java/pt/lsts/neptus/plugins/oplimits/OperationLimitsSubPanel.java b/plugins-dev/oplimits/src/java/pt/lsts/neptus/plugins/oplimits/OperationLimitsSubPanel.java index 3727d9cd11..0b3c1620e8 100644 --- a/plugins-dev/oplimits/src/java/pt/lsts/neptus/plugins/oplimits/OperationLimitsSubPanel.java +++ b/plugins-dev/oplimits/src/java/pt/lsts/neptus/plugins/oplimits/OperationLimitsSubPanel.java @@ -69,6 +69,7 @@ import javax.swing.JOptionPane; import javax.swing.JPanel; import javax.swing.JPopupMenu; +import javax.swing.SwingWorker; import javax.swing.border.EmptyBorder; import com.google.common.eventbus.Subscribe; @@ -251,10 +252,17 @@ public void actionPerformed(ActionEvent e) { synchronized (OperationLimitsSubPanel.this) { lastMD5 = msg.payloadMD5(); - boolean ret = send(msg); - if (ret) { - send(new GetOperationalLimits()); - } + SwingWorker worker = new SwingWorker() { + @Override + protected Boolean doInBackground() throws Exception { + boolean ret = send(msg); + if (ret) { + send(new GetOperationalLimits()); + } + return ret; + } + }; + worker.execute(); } } }; @@ -273,7 +281,13 @@ public void actionPerformed(ActionEvent e) { updateAction.putValue(AbstractAction.SMALL_ICON, ICON_UPDATE_REQUEST); } updateAction.putValue(AbstractAction.SHORT_DESCRIPTION, TEXT_REQUEST_RESPONSE_WAITING); - send(IMCDefinition.getInstance().create("GetOperationalLimits")); + SwingWorker worker = new SwingWorker() { + @Override + protected Boolean doInBackground() throws Exception { + return send(IMCDefinition.getInstance().create("GetOperationalLimits")); + } + }; + worker.execute(); } }; @@ -365,8 +379,7 @@ public boolean send(IMCMessage message) { if (userAproveRequest) { lastRequest = new Date(); } - sendViaIridium(destination, message); - return true; + return sendViaIridium(destination, message); } else { return false; } From 46bc14062292d8c78692555ed023f505b30e4bac Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 18 Nov 2024 14:17:35 +0000 Subject: [PATCH 59/92] console/plugins/planning/MissionTreePanel: Protecting from freezing the gui. --- .../plugins/planning/MissionTreePanel.java | 140 +++++++++++++----- 1 file changed, 101 insertions(+), 39 deletions(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index 6661ea106b..3c2e97e4fe 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -206,8 +206,16 @@ private void addClearPlanDbMenuItem() { PluginUtils.getPluginIcon(getClass())), new ActionListener() { @Override public void actionPerformed(ActionEvent e) { - if (pdbControl != null) - pdbControl.clearDatabase(); + if (pdbControl != null) { + SwingWorker sw = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + pdbControl.clearDatabase(); + return null; + } + }; + sw.execute(); + } } }); } @@ -438,22 +446,28 @@ private void addActionSendPlan(final ConsoleLayout console2, final PlanDBControl final ArrayList selectedItems, JPopupMenu popupMenu) { if (!usePlanDBSyncFeatures) return; - + popupMenu.add( I18n.textf("Send %planName to %system", getPlanNamesString(selectedItems, true), console2.getMainSystem())) - .addActionListener( - - new ActionListener() { - @Override - public void actionPerformed(ActionEvent e) { - for (NameId nameId : selectedItems) { - PlanType sel = (PlanType) nameId; - String mainSystem = console2.getMainSystem(); - pdbControl.setRemoteSystemId(mainSystem); - pdbControl.sendPlan(sel); - } - } - }); + .addActionListener(e -> { + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + for (NameId nameId : selectedItems) { + PlanType sel = (PlanType) nameId; + String mainSystem = console2.getMainSystem(); + pdbControl.setRemoteSystemId(mainSystem); + boolean ret = pdbControl.sendPlan(sel); + if (!ret) { + NeptusLog.pub().error("Error sending plan " + sel.getId()); + break; + } + } + return null; + } + }; + worker.execute(); + }); } private void addActionSendPlanInfoRequest(final ConsoleLayout console2, final PlanDBControl pdbControl, @@ -463,12 +477,23 @@ private void addActionSendPlanInfoRequest(final ConsoleLayout console2, final Pl popupMenu.add(I18n.textf("Get %planName info from %system", getPlanNamesString(selectedItems, true), console2.getMainSystem())) .addActionListener(e -> { - for (NameId nameId : selectedItems) { - PlanType sel = (PlanType) nameId; - String mainSystem = console2.getMainSystem(); - pdbControl.setRemoteSystemId(mainSystem); - pdbControl.requestPlanInfo(sel.getId()); - } + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + for (NameId nameId : selectedItems) { + PlanType sel = (PlanType) nameId; + String mainSystem = console2.getMainSystem(); + pdbControl.setRemoteSystemId(mainSystem); + boolean ret = pdbControl.requestPlanInfo(sel.getId()); + if (!ret) { + NeptusLog.pub().error("Error requesting plan info " + sel.getId()); + break; + } + } + return null; + } + }; + worker.execute(); }); } @@ -535,9 +560,21 @@ private void addActionGetRemotePlan(final ConsoleLayout console2, final PlanDBCo .addActionListener(new ActionListener() { @Override public void actionPerformed(ActionEvent e) { - for (NameId nameId : remotePlans) { - pdbControl.requestPlan(nameId.getIdentification()); - } + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + pdbControl.setRemoteSystemId(console2.getMainSystem()); + for (NameId nameId : remotePlans) { + boolean ret = pdbControl.requestPlan(nameId.getIdentification()); + if (!ret) { + NeptusLog.pub().error("Error requesting plan " + nameId.getIdentification()); + break; + } + } + return null; + } + }; + worker.execute(); } }); } @@ -557,7 +594,14 @@ public void actionPerformed(ActionEvent e) { // Request LBLConfig LblConfig msgLBLConfiguration = new LblConfig(); msgLBLConfiguration.setOp(LblConfig.OP.GET_CFG); - sendMsg(msgLBLConfiguration); + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + sendMsg(msgLBLConfiguration); + return null; + } + }; + worker.execute(); } }); } @@ -572,10 +616,21 @@ private void addActionRemovePlanRemotely(final ConsoleLayout console2, final Pla console2.getMainSystem())).addActionListener(new ActionListener() { @Override public void actionPerformed(ActionEvent e) { - pdbControl.setRemoteSystemId(console2.getMainSystem()); - for (NameId nameId : synAndUnsyncPlans) { - pdbControl.deletePlan(nameId.getIdentification()); - } + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + pdbControl.setRemoteSystemId(console2.getMainSystem()); + for (NameId nameId : synAndUnsyncPlans) { + boolean ret = pdbControl.deletePlan(nameId.getIdentification()); + if (!ret) { + NeptusLog.pub().error("Error deleting plan " + nameId.getIdentification()); + break; + } + } + return null; + } + }; + worker.execute(); } }); } @@ -807,15 +862,22 @@ private void addActionRemoveAllTrans(JPopupMenu popupMenu) { popupMenu.add(I18n.text("Remove all transponders from vehicle")).addActionListener(new ActionListener() { @Override public void actionPerformed(ActionEvent e) { - LblConfig msgLBLConfiguration = new LblConfig(); - msgLBLConfiguration.setOp(LblConfig.OP.SET_CFG); - msgLBLConfiguration.setBeacons(new Vector()); - sendMsg(msgLBLConfiguration); - msgLBLConfiguration = new LblConfig(); - msgLBLConfiguration.setOp(LblConfig.OP.GET_CFG); - sendMsg(msgLBLConfiguration); - // TODO On hold until removing all beacons is stable - // browser.removeAllTransponders(console.getMission()); + SwingWorker sw = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + LblConfig msgLBLConfiguration = new LblConfig(); + msgLBLConfiguration.setOp(LblConfig.OP.SET_CFG); + msgLBLConfiguration.setBeacons(new Vector()); + sendMsg(msgLBLConfiguration); + msgLBLConfiguration = new LblConfig(); + msgLBLConfiguration.setOp(LblConfig.OP.GET_CFG); + sendMsg(msgLBLConfiguration); + // TODO On hold until removing all beacons is stable + // browser.removeAllTransponders(console.getMission()); + return null; + } + }; + sw.execute(); } }); } From d1fe4d2e6d5328e53649d1b8c95a0ad8450b0b1a Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 18 Nov 2024 14:18:24 +0000 Subject: [PATCH 60/92] console/plugins/planning/MissionTreePanel: To fix - marking possible wrong info to user. --- .../lsts/neptus/console/plugins/planning/MissionTreePanel.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index 3c2e97e4fe..ee72e789ec 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -584,7 +584,7 @@ private void addActionGetRemoteTrans(final ConsoleLayout console2, JPopupMenu po if (!useTransponderFeatures) return; - StringBuilder itemsInString = getPlanNamesString(remoteTrans, false); + StringBuilder itemsInString = getPlanNamesString(remoteTrans, false); // Check info text, seams wrong, it is a transponder popupMenu.add(I18n.textf("Get %planName from %system", itemsInString, console2.getMainSystem())) .addActionListener(new ActionListener() { @Override From 454e530bfbdc4a2cb171ad3f4875b1463ba8b265 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 19 Nov 2024 17:14:18 +0000 Subject: [PATCH 61/92] params/SystemConfigurationEditorPanel: Start collapse and keep open state switching back and forward from advanced. --- .../SystemConfigurationEditorPanel.java | 29 +++++++++++++++++-- 1 file changed, 26 insertions(+), 3 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index fe5e3b6539..c41064f4c9 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -42,6 +42,7 @@ import java.util.Collection; import java.util.LinkedHashMap; import java.util.LinkedHashSet; +import java.util.List; import java.util.Map; import java.util.Set; @@ -316,7 +317,7 @@ public void setRefreshing(boolean refreshing) { private synchronized void refreshPropertiesOnPanel() { titleLabel.setText("" + createTitle() + ""); - removeAllPropertiesFromPanel(); + List openCategories = removeAllPropertiesFromPanel(); resetPropertiesEditorAndRendererFactories(); @@ -347,7 +348,16 @@ private synchronized void refreshPropertiesOnPanel() { for (String sectionName : secNames) { queryValues(sectionName, scopeToUse.getText(), visibility.getText()); } - + + for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { + Item o = (Item) psp.getTable().getSheetModel().getObject(i); + if (o.isVisible() && !o.hasToggle()) { + if (!openCategories.contains(o.getParent().getName())) { + o.getParent().toggle(); + } + } + } + revalidate(); repaint(); } @@ -359,11 +369,24 @@ private synchronized void resetPropertiesOnPanel() { psp.repaint(); } - private void removeAllPropertiesFromPanel() { + private List removeAllPropertiesFromPanel() { + List toggledCategories = new ArrayList<>(); + for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { + Item o = (Item) psp.getTable().getSheetModel().getObject(i); + if (o.isVisible() && !o.hasToggle()) { + String name = o.getParent().getName(); + if (!toggledCategories.contains(name)) { + toggledCategories.add(name); + } + } + } + params.clear(); for (Property p : psp.getProperties()) { psp.removeProperty(p); } + + return toggledCategories; } private String createTitle() { From 9501854ccad96bb53d68d0113a2138cc075641d6 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 21 Nov 2024 13:46:03 +0000 Subject: [PATCH 62/92] params/SystemConfigurationEditorPanel: Adding expand all elements button. --- .../SystemConfigurationEditorPanel.java | 22 +++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index c41064f4c9..f55c424520 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -95,7 +95,8 @@ public class SystemConfigurationEditorPanel extends JPanel implements PropertyCh private JButton refreshButton; private JButton resetButton; private JButton collapseButton; - + private JButton expandButton; + private JLabel titleLabel; private JCheckBox checkAdvance; private JComboBox scopeComboBox; @@ -222,8 +223,25 @@ public void actionPerformed(ActionEvent e) { } }); collapseButton.setToolTipText(I18n.text("Collapse all sections.")); - add(collapseButton, "sg buttons, split"); + add(collapseButton, "sg buttons"); + expandButton = new JButton(new AbstractAction(I18n.text("Expand All")) { + @Override + public void actionPerformed(ActionEvent e) { + for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { + Item o = (Item) psp.getTable().getSheetModel().getObject(i); + if (!o.isVisible()) { + if (o.hasToggle() && !o.isVisible()) { + o.toggle(); + } else if (!o.hasToggle() && o.getParent() != null && !o.getParent().isVisible()) { + o.getParent().toggle(); + } + } + } + } + }); + expandButton.setToolTipText(I18n.text("Expand all sections.")); + add(expandButton, "sg buttons, split"); resetButton = new JButton(new AbstractAction(I18n.text("Reset")) { @Override From 896dbddce83aaabe4719d1eba25049e8f5babf43 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Nov 2024 17:06:05 +0000 Subject: [PATCH 63/92] params/SystemConfigurationEditorPanel: First version to choose from parameters to request or send. --- .../SystemConfigurationEditorPanel.java | 245 ++++++++++++++++-- 1 file changed, 229 insertions(+), 16 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index f55c424520..5c8bda40d0 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -32,28 +32,43 @@ */ package pt.lsts.neptus.params; +import java.awt.CardLayout; import java.awt.Component; +import java.awt.Dialog; +import java.awt.Window; import java.awt.event.ActionEvent; import java.awt.event.ItemEvent; import java.awt.event.ItemListener; +import java.awt.event.KeyEvent; import java.beans.PropertyChangeEvent; import java.beans.PropertyChangeListener; import java.util.ArrayList; import java.util.Collection; +import java.util.Collections; import java.util.LinkedHashMap; import java.util.LinkedHashSet; import java.util.List; import java.util.Map; import java.util.Set; +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.Future; +import java.util.stream.Collectors; import javax.swing.AbstractAction; +import javax.swing.Action; import javax.swing.JButton; import javax.swing.JCheckBox; import javax.swing.JComboBox; +import javax.swing.JComponent; +import javax.swing.JDialog; import javax.swing.JLabel; import javax.swing.JList; import javax.swing.JPanel; +import javax.swing.JScrollPane; +import javax.swing.KeyStroke; import javax.swing.ListCellRenderer; +import javax.swing.SwingUtilities; +import javax.swing.WindowConstants; import com.l2fprod.common.propertysheet.Property; import com.l2fprod.common.propertysheet.PropertyEditorRegistry; @@ -87,9 +102,15 @@ @SuppressWarnings("serial") public class SystemConfigurationEditorPanel extends JPanel implements PropertyChangeListener { + public static final String CARD_PROPERTIES = "properties"; + public static final String CARD_CATEGORIES = "categories"; protected final LinkedHashMap params = new LinkedHashMap<>(); + private static boolean isAskForCategories = false; + protected PropertySheetPanel psp; + private JPanel categoriesPanel; + private JPanel swapPropertiesAndCategoriesPanel; private JButton sendButton; private JButton saveButton; private JButton refreshButton; @@ -99,6 +120,7 @@ public class SystemConfigurationEditorPanel extends JPanel implements PropertyCh private JLabel titleLabel; private JCheckBox checkAdvance; + private JCheckBox checkSelection; private JComboBox scopeComboBox; protected boolean refreshing = false; @@ -177,8 +199,14 @@ public void run() { psp.setToolBarVisible(false); resetPropertiesEditorAndRendererFactories(); - - add(psp, "w 100%, h 100%, wrap"); + + categoriesPanel = new JPanel(new MigLayout("fill, insets 0")); + + swapPropertiesAndCategoriesPanel = new JPanel(new CardLayout()); + swapPropertiesAndCategoriesPanel.add(psp, CARD_PROPERTIES); + //swapPropertiesAndCategoriesPanel.add(categoriesPanel, CARD_CATEGORIES); + + add(swapPropertiesAndCategoriesPanel, "w 100%, h 100%, wrap"); sendButton = new JButton(new AbstractAction(I18n.text("Send")) { @Override @@ -194,7 +222,7 @@ public void actionPerformed(ActionEvent e) { refreshButton = new JButton(new AbstractAction(I18n.text("Refresh")) { @Override public void actionPerformed(ActionEvent e) { - refreshPropertiesOnPanel(); + refreshPropertiesOnPanel(true); } }); refreshButton.setToolTipText(I18n.text("Requests the entities sections parameters from the vehicle.")); @@ -260,10 +288,7 @@ public void actionPerformed(ActionEvent e) { checkAdvance = new JCheckBox(I18n.text("Access Developer Parameters")); checkAdvance.setToolTipText("" + I18n.textc("Be careful changing these values.
They may make the vehicle inoperable.", "This will be a tooltip, and use
to change line.")); -// if (ConfigFetch.getDistributionType() == DistributionEnum.DEVELOPER) - add(checkAdvance); -// else -// visibility = Visibility.USER; + add(checkAdvance, "split, sg checkboxes"); if (visibility == Visibility.DEVELOPER) checkAdvance.setSelected(true); else @@ -276,17 +301,47 @@ public void itemStateChanged(ItemEvent e) { else visibility = Visibility.USER; - refreshPropertiesOnPanel(); + // FIXME This might not make sense to not always ask for categories + refreshPropertiesOnPanel(true); } }); checkAdvance.setFocusable(false); - refreshPropertiesOnPanel(); + checkSelection = new JCheckBox(I18n.text("Ask for categories")); + checkSelection.setToolTipText("" + I18n.textc("Ask for categories before send.", + "This will be a tooltip, and use
to change line.")); + checkSelection.addItemListener(e -> { + isAskForCategories = checkSelection.isSelected(); + updateSendButtons(); + }); + checkSelection.setSelected(isAskForCategories); + checkSelection.setFocusable(false); + add(checkSelection, "sg checkboxes"); + + refreshPropertiesOnPanel(false); revalidate(); repaint(); } + private void updateSendButtons() { + List actions = new ArrayList<>(); + actions.add(sendButton.getAction()); + actions.add(refreshButton.getAction()); + actions.add(saveButton.getAction()); + + String suffix = " #"; + for (Action action : actions) { + String name = (String) action.getValue("Name"); + if (!isAskForCategories && name.endsWith(suffix)) { + name = name.substring(0, name.length() - 2); + } else if (isAskForCategories && !name.endsWith(suffix)) { + name += suffix; + } + action.putValue("Name", name); + } + } + private void resetPropertiesEditorAndRendererFactories() { per = new PropertyEditorRegistry(); // per.registerDefaults(); @@ -316,7 +371,8 @@ public String getSystemId() { public void setSystemId(String systemId) { this.systemId = systemId; sid = ImcSystemsHolder.getSystemWithName(this.systemId); - refreshPropertiesOnPanel(); + // FIXME This might not make sense to not always ask for categories + refreshPropertiesOnPanel(true); } /** @@ -333,7 +389,10 @@ public void setRefreshing(boolean refreshing) { this.refreshing = refreshing; } - private synchronized void refreshPropertiesOnPanel() { + private synchronized void refreshPropertiesOnPanel(boolean askForCategories) { + // FIXME + Map oldCategoriesOnPanel = getCategoriesOnPanel(true); + titleLabel.setText("" + createTitle() + ""); List openCategories = removeAllPropertiesFromPanel(); @@ -363,10 +422,8 @@ private synchronized void refreshPropertiesOnPanel() { sp.propertyChange(evt); } } - for (String sectionName : secNames) { - queryValues(sectionName, scopeToUse.getText(), visibility.getText()); - } + // Close all categories for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { Item o = (Item) psp.getTable().getSheetModel().getObject(i); if (o.isVisible() && !o.hasToggle()) { @@ -376,6 +433,28 @@ private synchronized void refreshPropertiesOnPanel() { } } + List queryCategoriesList; + if (askForCategories && isAskForCategories) { + List validCategories; + try { + validCategories = askForCategories(oldCategoriesOnPanel).get(); + } + catch (Exception e) { + // Do nothing + validCategories = Collections.emptyList(); + } + queryCategoriesList = new ArrayList<>(); + for (String category : validCategories) { + if (category != null && validCategories.contains(category)) + queryCategoriesList.add(category); + } + } else { + queryCategoriesList = secNames; + } + for (String sectionName : queryCategoriesList) { + queryValues(sectionName, scopeToUse.getText(), visibility.getText()); + } + revalidate(); repaint(); } @@ -484,14 +563,139 @@ private void sendProperty(SystemProperty... propsList) { } } + private Map getCategoriesOnPanel(boolean onlyVisible) { + Map categories = new LinkedHashMap<>(); + for (SystemProperty sp : params.values()) { + String category = sp.getCategoryId(); + if (!categories.containsKey(category)) + categories.put(category, sp.getCategory()); + } + + if (onlyVisible) { + List visibleCategoriesI18n = new ArrayList<>(); + for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { + Item o = (Item) psp.getTable().getSheetModel().getObject(i); + if (o.hasToggle()) { // Is a category + if (!visibleCategoriesI18n.contains(o.getName())) { + visibleCategoriesI18n.add(o.getName()); //I18n name + } + } else if (!o.hasToggle() && o.getParent() != null) { + if (!visibleCategoriesI18n.contains(o.getParent().getName())) { + visibleCategoriesI18n.add(o.getParent().getName()); //I18n name + } + } + } + + categories = categories.entrySet().stream().filter(e -> visibleCategoriesI18n.contains(e.getValue())) + .collect(Collectors.toMap(Map.Entry::getKey, Map.Entry::getValue)); + } + + return categories; + } + + private Future> askForCategories() { + return askForCategories(null); + } + + private Future> askForCategories(Map previousCheckCategoriesOnPanel) { + CompletableFuture> future = new CompletableFuture<>(); + Map categories = getCategoriesOnPanel(true); + List chosenCategories = new ArrayList<>(categories.keySet()); + List checkBoxes = new ArrayList<>(); + for (String category : chosenCategories.stream().sorted().collect(Collectors.toList())) { + JCheckBox cb = new JCheckBox(categories.get(category)); + cb.addActionListener(e -> { + if (((JCheckBox) e.getSource()).isSelected()) { + if (!chosenCategories.contains(category)) + chosenCategories.add(category); + } else { + chosenCategories.remove(category); + } + }); + cb.doClick(); // To set ticked; + if (previousCheckCategoriesOnPanel != null && !previousCheckCategoriesOnPanel.containsKey(category)) { + cb.setSelected(true); + } + checkBoxes.add(cb); + } + categoriesPanel.removeAll(); + categoriesPanel.setLayout(new MigLayout("align center, fill, insets 50")); + + JPanel checklistPanels = new JPanel(new MigLayout("fillx, wrap 2", "[left]rel[grow,fill]", "[]10[]")); + JScrollPane scrollPane = new JScrollPane(checklistPanels); + categoriesPanel.add(scrollPane, "spanx, grow, wrap"); + for (JCheckBox cb : checkBoxes) { + checklistPanels.add(cb, ""); + } + + JPanel selButtonsPanel = new JPanel(new MigLayout("alignx leading", "[center]rel[]", "[]10[]")); + JButton selectAllButton = new JButton(I18n.text("Sel All")); + JButton selectNoneButton = new JButton(I18n.text("Sel None")); + selButtonsPanel.add(selectAllButton, "sg selection, center"); + selButtonsPanel.add(selectNoneButton, "sg selection"); + categoriesPanel.add(selButtonsPanel, "wrap"); + selectAllButton.addActionListener(e -> { + checkBoxes.forEach(cb -> { + if (!cb.isSelected()) { + cb.doClick(); + } + }); + }); + selectNoneButton.addActionListener(e -> { + checkBoxes.forEach(cb -> { + if (cb.isSelected()) { + cb.doClick(); + } + }); + }); + + JPanel okButtonsPanel = new JPanel(new MigLayout("alignx trailing", "[]rel[right]", "[]10[]")); + JButton okButton = new JButton(I18n.text("Ok")); + JButton cancelButton = new JButton(I18n.text("Cancel")); + okButtonsPanel.add(okButton, "gapbefore, sg okcancel, right, tag ok"); + okButtonsPanel.add(cancelButton, "sg okcancel, right, tag cancel"); + categoriesPanel.add(okButtonsPanel, ""); + okButton.addActionListener(e -> { + future.complete(new ArrayList<>(chosenCategories)); + SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); + }); + cancelButton.addActionListener(e -> { + future.completeExceptionally(new RuntimeException("User cancelled")); + SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); + }); + + JDialog dg = new JDialog(SwingUtilities.getWindowAncestor(SystemConfigurationEditorPanel.this), + Dialog.ModalityType.DOCUMENT_MODAL); + dg.setContentPane(categoriesPanel); + dg.setSize(500, 500); + dg.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE); + dg.getRootPane().registerKeyboardAction(ev -> { dg.dispose(); }, + KeyStroke.getKeyStroke(KeyEvent.VK_ESCAPE, 0), JComponent.WHEN_IN_FOCUSED_WINDOW); + GuiUtils.centerParent(dg, (Window) dg.getParent()); + dg.setVisible(true); + + //return new ArrayList<>(categories.keySet()); + return future; + } + /** * This will send to the system the necessary SetEntityParameters messages with SystemProperty message(s) * that are needed. It will only send the SystemProperty messages that are locally dirty. */ private void sendPropertiesToSystem() { + List validCategories = null; + try { + validCategories = askForCategories().get(); + } + catch (Exception e) { + return; + } + Set sentProps = new LinkedHashSet(); ArrayList sysPropToSend = new ArrayList<>(); for (SystemProperty sp : params.values()) { + if (!validCategories.contains(sp.getCategoryId())) + continue; // Skip if not in the list of valid categories if (sp.getTimeDirty() > sp.getTimeSync()) { // sendProperty(sp); sysPropToSend.add(sp); @@ -514,11 +718,20 @@ private void sendPropertiesToSystem() { } private void savePropertiesToSystem() { + List validCategories = null; + try { + validCategories = askForCategories().get(); + } + catch (Exception e) { + return; + } Collection propsInPanel = params.values(); - if (propsInPanel.size() > 0) { + if (!propsInPanel.isEmpty()) { ArrayList secNames = new ArrayList<>(); for (SystemProperty sp : propsInPanel) { String sectionName = sp.getCategoryId(); + if (!validCategories.contains(sectionName)) + continue; // Skip if not in the list of valid categories if (!secNames.contains(sectionName)) secNames.add(sectionName); } @@ -611,7 +824,7 @@ public static void main(String[] args) { final SystemConfigurationEditorPanel sc1 = new SystemConfigurationEditorPanel(vehicle, Scope.MANEUVER, Visibility.USER, true, true, true, ImcMsgManager.getManager()); final SystemConfigurationEditorPanel sc2 = new SystemConfigurationEditorPanel(vehicle, Scope.MANEUVER, - Visibility.USER, true, true, true, ImcMsgManager.getManager()); + Visibility.USER, true, false, true, ImcMsgManager.getManager()); // ImcMsgManager.getManager().addListener(new MessageListener() { // @Override From 7b4c8c50105af29d34edb5486a2dae42da73c3ee Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 27 Nov 2024 17:20:36 +0000 Subject: [PATCH 64/92] params/SystemConfigurationEditorPanel: Tweak interface for category selection. --- .../SystemConfigurationEditorPanel.java | 56 +++++++++++-------- 1 file changed, 32 insertions(+), 24 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 5c8bda40d0..92528d62f4 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -330,7 +330,7 @@ private void updateSendButtons() { actions.add(refreshButton.getAction()); actions.add(saveButton.getAction()); - String suffix = " #"; + String suffix = " >"; for (Action action : actions) { String name = (String) action.getValue("Name"); if (!isAskForCategories && name.endsWith(suffix)) { @@ -437,7 +437,7 @@ private synchronized void refreshPropertiesOnPanel(boolean askForCategories) { if (askForCategories && isAskForCategories) { List validCategories; try { - validCategories = askForCategories(oldCategoriesOnPanel).get(); + validCategories = askForCategories("refresh", oldCategoriesOnPanel).get(); } catch (Exception e) { // Do nothing @@ -593,11 +593,11 @@ private Map getCategoriesOnPanel(boolean onlyVisible) { return categories; } - private Future> askForCategories() { - return askForCategories(null); + private Future> askForCategories(String forWhat) { + return askForCategories(forWhat, null); } - private Future> askForCategories(Map previousCheckCategoriesOnPanel) { + private Future> askForCategories(String forWhat, Map previousCheckCategoriesOnPanel) { CompletableFuture> future = new CompletableFuture<>(); Map categories = getCategoriesOnPanel(true); List chosenCategories = new ArrayList<>(categories.keySet()); @@ -612,49 +612,57 @@ private Future> askForCategories(Map previousCheckC chosenCategories.remove(category); } }); - cb.doClick(); // To set ticked; + cb.setSelected(true); // To set ticked; if (previousCheckCategoriesOnPanel != null && !previousCheckCategoriesOnPanel.containsKey(category)) { cb.setSelected(true); } + // if selected add to checkCategories + if (!chosenCategories.contains(category)) + chosenCategories.add(category); checkBoxes.add(cb); } categoriesPanel.removeAll(); - categoriesPanel.setLayout(new MigLayout("align center, fill, insets 50")); + categoriesPanel.setLayout(new MigLayout("align center, fill, insets 20")); + + JLabel systemLabel = new JLabel(I18n.textf("%systemName Categories", getSystemId())); + systemLabel.setFont(systemLabel.getFont().deriveFont(systemLabel.getFont().getStyle() | java.awt.Font.BOLD)); + JLabel label = new JLabel(I18n.textf("Select the categories to be used for >> %action", forWhat)); + categoriesPanel.add(systemLabel, "wrap"); + categoriesPanel.add(label, "wrap"); JPanel checklistPanels = new JPanel(new MigLayout("fillx, wrap 2", "[left]rel[grow,fill]", "[]10[]")); JScrollPane scrollPane = new JScrollPane(checklistPanels); - categoriesPanel.add(scrollPane, "spanx, grow, wrap"); + categoriesPanel.add(scrollPane, "w 100%, h 100%, wrap"); for (JCheckBox cb : checkBoxes) { checklistPanels.add(cb, ""); } - JPanel selButtonsPanel = new JPanel(new MigLayout("alignx leading", "[center]rel[]", "[]10[]")); JButton selectAllButton = new JButton(I18n.text("Sel All")); JButton selectNoneButton = new JButton(I18n.text("Sel None")); - selButtonsPanel.add(selectAllButton, "sg selection, center"); - selButtonsPanel.add(selectNoneButton, "sg selection"); - categoriesPanel.add(selButtonsPanel, "wrap"); + categoriesPanel.add(selectAllButton, "sg buttons, split"); + categoriesPanel.add(selectNoneButton, "sg buttons, split, gapafter 30"); selectAllButton.addActionListener(e -> { checkBoxes.forEach(cb -> { if (!cb.isSelected()) { - cb.doClick(); + String categoryLabel = cb.getText(); + String category = categories.entrySet().stream() + .filter(ee -> ee.getValue().equals(categoryLabel)) + .map(Map.Entry::getKey).findFirst().orElse(null); + if (!chosenCategories.contains(cb.getText())) + chosenCategories.add(category); + cb.setSelected(true); } }); }); selectNoneButton.addActionListener(e -> { - checkBoxes.forEach(cb -> { - if (cb.isSelected()) { - cb.doClick(); - } - }); + chosenCategories.clear(); + checkBoxes.forEach(cb -> cb.setSelected(false)); }); - JPanel okButtonsPanel = new JPanel(new MigLayout("alignx trailing", "[]rel[right]", "[]10[]")); JButton okButton = new JButton(I18n.text("Ok")); JButton cancelButton = new JButton(I18n.text("Cancel")); - okButtonsPanel.add(okButton, "gapbefore, sg okcancel, right, tag ok"); - okButtonsPanel.add(cancelButton, "sg okcancel, right, tag cancel"); - categoriesPanel.add(okButtonsPanel, ""); + categoriesPanel.add(okButton, "gapbefore push, sg buttons, split"); + categoriesPanel.add(cancelButton, "sg buttons, split"); okButton.addActionListener(e -> { future.complete(new ArrayList<>(chosenCategories)); SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); @@ -685,7 +693,7 @@ private Future> askForCategories(Map previousCheckC private void sendPropertiesToSystem() { List validCategories = null; try { - validCategories = askForCategories().get(); + validCategories = askForCategories("send").get(); } catch (Exception e) { return; @@ -720,7 +728,7 @@ private void sendPropertiesToSystem() { private void savePropertiesToSystem() { List validCategories = null; try { - validCategories = askForCategories().get(); + validCategories = askForCategories("save").get(); } catch (Exception e) { return; From 54664ce0543eaf3aad1fa01b7685a9393ea475f1 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 29 Nov 2024 15:56:46 +0000 Subject: [PATCH 65/92] params/SystemConfigurationEditorPanel: Reworked interface for choose categories. --- .../SystemConfigurationEditorPanel.java | 314 +++++++++++------- 1 file changed, 196 insertions(+), 118 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 92528d62f4..32dd01fbac 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -34,12 +34,9 @@ import java.awt.CardLayout; import java.awt.Component; -import java.awt.Dialog; -import java.awt.Window; import java.awt.event.ActionEvent; import java.awt.event.ItemEvent; import java.awt.event.ItemListener; -import java.awt.event.KeyEvent; import java.beans.PropertyChangeEvent; import java.beans.PropertyChangeListener; import java.util.ArrayList; @@ -59,16 +56,12 @@ import javax.swing.JButton; import javax.swing.JCheckBox; import javax.swing.JComboBox; -import javax.swing.JComponent; -import javax.swing.JDialog; import javax.swing.JLabel; import javax.swing.JList; import javax.swing.JPanel; import javax.swing.JScrollPane; -import javax.swing.KeyStroke; import javax.swing.ListCellRenderer; -import javax.swing.SwingUtilities; -import javax.swing.WindowConstants; +import javax.swing.SwingWorker; import com.l2fprod.common.propertysheet.Property; import com.l2fprod.common.propertysheet.PropertyEditorRegistry; @@ -76,8 +69,8 @@ import com.l2fprod.common.propertysheet.PropertySheet; import com.l2fprod.common.propertysheet.PropertySheetPanel; import com.l2fprod.common.propertysheet.PropertySheetTableModel.Item; - import net.miginfocom.swing.MigLayout; + import pt.lsts.imc.EntityParameter; import pt.lsts.imc.EntityParameters; import pt.lsts.imc.IMCMessage; @@ -85,10 +78,12 @@ import pt.lsts.imc.SaveEntityParameters; import pt.lsts.imc.SetEntityParameters; import pt.lsts.neptus.NeptusLog; +import pt.lsts.neptus.comm.IMCSendMessageUtils; import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; import pt.lsts.neptus.comm.manager.imc.MessageDeliveryListener; +import pt.lsts.neptus.gui.InfiniteProgressPanel; import pt.lsts.neptus.i18n.I18n; import pt.lsts.neptus.params.SystemProperty.Scope; import pt.lsts.neptus.params.SystemProperty.Visibility; @@ -104,13 +99,19 @@ public class SystemConfigurationEditorPanel extends JPanel implements PropertyCh public static final String CARD_PROPERTIES = "properties"; public static final String CARD_CATEGORIES = "categories"; + public static final String CARD_PROGRESS = "progress"; + protected final LinkedHashMap params = new LinkedHashMap<>(); private static boolean isAskForCategories = false; - protected PropertySheetPanel psp; - private JPanel categoriesPanel; private JPanel swapPropertiesAndCategoriesPanel; + private JPanel mainPanel; + private JPanel categoriesPanel; + + private JPanel propertiesPanel; + private InfiniteProgressPanel progressPanel; + protected PropertySheetPanel psp; private JButton sendButton; private JButton saveButton; private JButton refreshButton; @@ -149,6 +150,8 @@ public SystemConfigurationEditorPanel(String systemId, Scope scopeToUse, Visibil private void initialize(boolean showSendButton, boolean showScopeCombo, boolean showResetButton) { setLayout(new MigLayout()); + mainPanel = new JPanel(new MigLayout("fill, insets 0")); + scopeComboBox = new JComboBox(Scope.values()) { public void setSelectedItem(Object anObject) { super.setSelectedItem(anObject); @@ -188,7 +191,7 @@ public void run() { }); titleLabel = new JLabel("" + createTitle() + ""); - add(titleLabel, "w 100%, wrap"); + mainPanel.add(titleLabel, "w 100%, wrap"); // Configure Property sheet psp = new PropertySheetPanel(); @@ -200,43 +203,73 @@ public void run() { resetPropertiesEditorAndRendererFactories(); + propertiesPanel = new JPanel(new CardLayout()); + propertiesPanel.add(psp, CARD_PROPERTIES); + progressPanel = new InfiniteProgressPanel(I18n.text("Please wait...")); + propertiesPanel.add(progressPanel, CARD_PROGRESS); + + mainPanel.add(propertiesPanel, "w 100%, h 100%, wrap"); + categoriesPanel = new JPanel(new MigLayout("fill, insets 0")); swapPropertiesAndCategoriesPanel = new JPanel(new CardLayout()); - swapPropertiesAndCategoriesPanel.add(psp, CARD_PROPERTIES); - //swapPropertiesAndCategoriesPanel.add(categoriesPanel, CARD_CATEGORIES); + //swapPropertiesAndCategoriesPanel.add(psp, CARD_PROPERTIES); + swapPropertiesAndCategoriesPanel.add(mainPanel, CARD_PROPERTIES); + swapPropertiesAndCategoriesPanel.add(categoriesPanel, CARD_CATEGORIES); - add(swapPropertiesAndCategoriesPanel, "w 100%, h 100%, wrap"); + //add(swapPropertiesAndCategoriesPanel, "w 100%, h 100%, wrap"); + add(swapPropertiesAndCategoriesPanel, "w 100%, h 100%"); sendButton = new JButton(new AbstractAction(I18n.text("Send")) { @Override public void actionPerformed(ActionEvent e) { - sendPropertiesToSystem(); + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + sendPropertiesToSystem(); + return null; + } + }; + worker.execute(); } }); sendButton.setToolTipText(I18n.text("Send the modified properties.")); if (showSendButton) { - add(sendButton, "sg buttons, split"); + mainPanel.add(sendButton, "sg buttons, split"); } refreshButton = new JButton(new AbstractAction(I18n.text("Refresh")) { @Override public void actionPerformed(ActionEvent e) { - refreshPropertiesOnPanel(true); + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + refreshPropertiesOnPanel(true); + return null; + } + }; + worker.execute(); } }); refreshButton.setToolTipText(I18n.text("Requests the entities sections parameters from the vehicle.")); - add(refreshButton, "sg buttons, split"); + mainPanel.add(refreshButton, "sg buttons, split"); saveButton = new JButton(new AbstractAction(I18n.text("Save")) { @Override public void actionPerformed(ActionEvent e) { - savePropertiesToSystem(); + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + savePropertiesToSystem(); + return null; + } + }; + worker.execute(); } }); saveButton.setToolTipText(I18n.text("Saves the visible entities sections in the vehicle.")); if (showSendButton) { - add(saveButton, "sg buttons, split"); + mainPanel.add(saveButton, "sg buttons, split"); } collapseButton = new JButton(new AbstractAction(I18n.text("Collapse All")) { @@ -251,7 +284,7 @@ public void actionPerformed(ActionEvent e) { } }); collapseButton.setToolTipText(I18n.text("Collapse all sections.")); - add(collapseButton, "sg buttons"); + mainPanel.add(collapseButton, "sg buttons, gapbefore unrel"); expandButton = new JButton(new AbstractAction(I18n.text("Expand All")) { @Override @@ -269,7 +302,7 @@ public void actionPerformed(ActionEvent e) { } }); expandButton.setToolTipText(I18n.text("Expand all sections.")); - add(expandButton, "sg buttons, split"); + mainPanel.add(expandButton, "sg buttons, split"); resetButton = new JButton(new AbstractAction(I18n.text("Reset")) { @Override @@ -279,16 +312,16 @@ public void actionPerformed(ActionEvent e) { }); resetButton.setToolTipText(I18n.text("Local reset. Needs to be sent to system.")); if (showResetButton) - add(resetButton, "sg buttons, gapbefore 30, split, wrap"); + mainPanel.add(resetButton, "sg buttons, gapbefore 30, split, wrap"); resetButton.setToolTipText(I18n.text("Local reset. Needs to be sent to system.")); if (showScopeCombo) - add(scopeComboBox, "split, w :160:"); + mainPanel.add(scopeComboBox, "split, w :160:"); checkAdvance = new JCheckBox(I18n.text("Access Developer Parameters")); checkAdvance.setToolTipText("" + I18n.textc("Be careful changing these values.
They may make the vehicle inoperable.", "This will be a tooltip, and use
to change line.")); - add(checkAdvance, "split, sg checkboxes"); + mainPanel.add(checkAdvance, "split, sg checkboxes"); if (visibility == Visibility.DEVELOPER) checkAdvance.setSelected(true); else @@ -302,7 +335,14 @@ public void itemStateChanged(ItemEvent e) { visibility = Visibility.USER; // FIXME This might not make sense to not always ask for categories - refreshPropertiesOnPanel(true); + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + refreshPropertiesOnPanel(false); + return null; + } + }; + worker.execute(); } }); checkAdvance.setFocusable(false); @@ -316,8 +356,9 @@ public void itemStateChanged(ItemEvent e) { }); checkSelection.setSelected(isAskForCategories); checkSelection.setFocusable(false); - add(checkSelection, "sg checkboxes"); + mainPanel.add(checkSelection, "sg checkboxes"); + // FIXME This might not make sense to not always ask for categories if no wifi refreshPropertiesOnPanel(false); revalidate(); @@ -390,73 +431,88 @@ public void setRefreshing(boolean refreshing) { } private synchronized void refreshPropertiesOnPanel(boolean askForCategories) { - // FIXME - Map oldCategoriesOnPanel = getCategoriesOnPanel(true); + try { + showWaiterUpdateProperties(true); - titleLabel.setText("" + createTitle() + ""); - List openCategories = removeAllPropertiesFromPanel(); - - resetPropertiesEditorAndRendererFactories(); - - ArrayList pr = ConfigurationManager.getInstance().getProperties(systemId, visibility, scopeToUse); - ArrayList secNames = new ArrayList<>(); - for (SystemProperty sp : pr) { - String sectionName = sp.getCategoryId(); - String name = sp.getName(); - if (!secNames.contains(sectionName)) - secNames.add(sectionName); - params.put(sectionName + "." + name, sp); - sp.addPropertyChangeListener(this); - psp.addProperty(sp); - if (sp.getEditor() != null) { - per.registerEditor(sp, sp.getEditor()); - } - if (sp.getRenderer() != null) { - prr.registerRenderer(sp, sp.getRenderer()); + // FIXME + Map oldCategoriesOnPanel = getCategoriesOnPanel(true); + + titleLabel.setText("" + createTitle() + ""); + List openCategories = removeAllPropertiesFromPanel(); + + resetPropertiesEditorAndRendererFactories(); + + ArrayList pr = ConfigurationManager.getInstance().getProperties(systemId, visibility, scopeToUse); + ArrayList secNames = new ArrayList<>(); + for (SystemProperty sp : pr) { + String sectionName = sp.getCategoryId(); + String name = sp.getName(); + if (!secNames.contains(sectionName)) + secNames.add(sectionName); + params.put(sectionName + "." + name, sp); + sp.addPropertyChangeListener(this); + psp.addProperty(sp); + if (sp.getEditor() != null) { + per.registerEditor(sp, sp.getEditor()); + } + if (sp.getRenderer() != null) { + prr.registerRenderer(sp, sp.getRenderer()); + } } - } - // Let us make sure all dependencies between properties are ok - for (SystemProperty spCh : params.values()) { - for (SystemProperty sp : params.values()) { - PropertyChangeEvent evt = new PropertyChangeEvent(spCh, spCh.getName(), null, spCh.getValue()); - sp.propertyChange(evt); + // Let us make sure all dependencies between properties are ok + for (SystemProperty spCh : params.values()) { + for (SystemProperty sp : params.values()) { + PropertyChangeEvent evt = new PropertyChangeEvent(spCh, spCh.getName(), null, spCh.getValue()); + sp.propertyChange(evt); + } } - } - // Close all categories - for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { - Item o = (Item) psp.getTable().getSheetModel().getObject(i); - if (o.isVisible() && !o.hasToggle()) { - if (!openCategories.contains(o.getParent().getName())) { - o.getParent().toggle(); + // Close all categories + for (int i = 0; i < psp.getTable().getSheetModel().getRowCount(); i++) { + Item o = (Item) psp.getTable().getSheetModel().getObject(i); + if (o.isVisible() && !o.hasToggle()) { + if (!openCategories.contains(o.getParent().getName())) { + o.getParent().toggle(); + } } } - } - List queryCategoriesList; - if (askForCategories && isAskForCategories) { - List validCategories; - try { - validCategories = askForCategories("refresh", oldCategoriesOnPanel).get(); - } - catch (Exception e) { - // Do nothing - validCategories = Collections.emptyList(); + List queryCategoriesList; + if (askForCategories && isAskForCategories) { + List validCategories; + try { + validCategories = askForCategories("refresh", oldCategoriesOnPanel).get(); + } + catch (Exception e) { + // Do nothing + validCategories = Collections.emptyList(); + } + queryCategoriesList = new ArrayList<>(); + for (String category : validCategories) { + if (category != null && validCategories.contains(category)) + queryCategoriesList.add(category); + } + } else { + queryCategoriesList = secNames; } - queryCategoriesList = new ArrayList<>(); - for (String category : validCategories) { - if (category != null && validCategories.contains(category)) - queryCategoriesList.add(category); + + showWaiterUpdateProperties(false); + revalidate(); + repaint(); + + for (String sectionName : queryCategoriesList) { + boolean ret = queryValues(sectionName, scopeToUse.getText(), visibility.getText()); + if (!ret) + break; } - } else { - queryCategoriesList = secNames; } - for (String sectionName : queryCategoriesList) { - queryValues(sectionName, scopeToUse.getText(), visibility.getText()); + catch (Exception e) { + NeptusLog.pub().error(e); + } finally { + showWaiterUpdateProperties(false); + revalidate(); + repaint(); } - - revalidate(); - repaint(); } private synchronized void resetPropertiesOnPanel() { @@ -486,6 +542,11 @@ private List removeAllPropertiesFromPanel() { return toggledCategories; } + private void showWaiterUpdateProperties(boolean wait) { + ((CardLayout) propertiesPanel.getLayout()).show(propertiesPanel, wait ? CARD_PROGRESS : CARD_PROPERTIES); + progressPanel.setBusy(wait); + } + private String createTitle() { return I18n.textf("%systemName Parameters", getSystemId() == null ? "" : getSystemId()); } @@ -507,22 +568,22 @@ public void propertyChange(PropertyChangeEvent evt) { } } - private void queryValues(String entityName, String scope, String visibility) { + private boolean queryValues(String entityName, String scope, String visibility) { QueryEntityParameters qep = new QueryEntityParameters(); qep.setScope(scope); qep.setVisibility(visibility); qep.setName(entityName); - send(qep); + return send(qep); } - private void saveRequest(String entityName) { + private boolean saveRequest(String entityName) { SaveEntityParameters qep = new SaveEntityParameters(); qep.setName(entityName); - send(qep); + return send(qep); } private void sendProperty(SystemProperty... propsList) { - Map> mapCategoryParameterList = new LinkedHashMap>(); + Map> mapCategoryParameterList = new LinkedHashMap>(); for (SystemProperty prop : propsList) { if (prop.getValue() == null) continue; @@ -559,7 +620,8 @@ private void sendProperty(SystemProperty... propsList) { } for (SetEntityParameters setEntityParameters : msgs) { - send(setEntityParameters); + if (!send(setEntityParameters)) + break; } } @@ -622,9 +684,10 @@ private Future> askForCategories(String forWhat, Map" + createTitle() + ""); - JLabel systemLabel = new JLabel(I18n.textf("%systemName Categories", getSystemId())); systemLabel.setFont(systemLabel.getFont().deriveFont(systemLabel.getFont().getStyle() | java.awt.Font.BOLD)); JLabel label = new JLabel(I18n.textf("Select the categories to be used for >> %action", forWhat)); categoriesPanel.add(systemLabel, "wrap"); @@ -665,24 +728,27 @@ private Future> askForCategories(String forWhat, Map { future.complete(new ArrayList<>(chosenCategories)); - SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); + // SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); + CardLayout card = (CardLayout) swapPropertiesAndCategoriesPanel.getLayout(); + card.show(swapPropertiesAndCategoriesPanel, CARD_PROPERTIES); + revalidate(); + repaint(); }); cancelButton.addActionListener(e -> { future.completeExceptionally(new RuntimeException("User cancelled")); - SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); + // SwingUtilities.getWindowAncestor(categoriesPanel).dispose(); + CardLayout card = (CardLayout) swapPropertiesAndCategoriesPanel.getLayout(); + card.show(swapPropertiesAndCategoriesPanel, CARD_PROPERTIES); + revalidate(); + repaint(); }); + GuiUtils.reactEnterKeyPress(okButton); + GuiUtils.reactEscapeKeyPress(cancelButton); - JDialog dg = new JDialog(SwingUtilities.getWindowAncestor(SystemConfigurationEditorPanel.this), - Dialog.ModalityType.DOCUMENT_MODAL); - dg.setContentPane(categoriesPanel); - dg.setSize(500, 500); - dg.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE); - dg.getRootPane().registerKeyboardAction(ev -> { dg.dispose(); }, - KeyStroke.getKeyStroke(KeyEvent.VK_ESCAPE, 0), JComponent.WHEN_IN_FOCUSED_WINDOW); - GuiUtils.centerParent(dg, (Window) dg.getParent()); - dg.setVisible(true); - - //return new ArrayList<>(categories.keySet()); + CardLayout card = (CardLayout) swapPropertiesAndCategoriesPanel.getLayout(); + card.show(swapPropertiesAndCategoriesPanel, CARD_CATEGORIES); + revalidate(); + repaint(); return future; } @@ -720,7 +786,8 @@ private void sendPropertiesToSystem() { secNames.add(sectionName); } for (String sec : secNames) { - queryValues(sec, scopeToUse.getText(), visibility.getText()); + if (!queryValues(sec, scopeToUse.getText(), visibility.getText())) + break; } } } @@ -742,18 +809,24 @@ private void savePropertiesToSystem() { continue; // Skip if not in the list of valid categories if (!secNames.contains(sectionName)) secNames.add(sectionName); - } - for (String sec : secNames) { - queryValues(sec, scopeToUse.getText(), visibility.getText()); } - + boolean ret = true; for (String sec : secNames) { - saveRequest(sec); + ret = queryValues(sec, scopeToUse.getText(), visibility.getText()); + if (!ret) + break; + } + + if (ret) { + for (String sec : secNames) { + if (!saveRequest(sec)) + break; + } } } } - private void send(IMCMessage msg) { + private boolean send(IMCMessage msg) { //}, boolean askApprovalOtherThanWifi) { MessageDeliveryListener mdl = new MessageDeliveryListener() { @Override public void deliveryUnreacheable(IMCMessage message) { @@ -777,12 +850,17 @@ public void deliveryError(IMCMessage message, Object error) { }; if (sid == null) sid = ImcSystemsHolder.getSystemWithName(getSystemId()); - if (sid != null) { - imcMsgManager.sendReliablyNonBlocking(msg, sid.getId(), mdl); - } - else { - imcMsgManager.sendMessageToSystem(msg, getSystemId()); - } + boolean sendReliably = sid != null; + String system = sid != null ? sid.getName() : systemId; +// if (sid != null) { +// imcMsgManager.sendReliablyNonBlocking(msg, sid.getId(), mdl); +// } +// else { +// imcMsgManager.sendMessageToSystem(msg, getSystemId()); +// } + return IMCSendMessageUtils.sendMessage(msg, (sendReliably ? ImcMsgManager.TRANSPORT_TCP + : null), mdl, this, I18n.text("Error sending msg params"), + false, "", true, true, true, system); } public static void updatePropertyWithMessageArrived(SystemConfigurationEditorPanel systemConfEditor, IMCMessage message) { From 41b24382fb942fd85de910697858423d9bba1269 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 9 Dec 2024 15:13:20 +0000 Subject: [PATCH 66/92] util/conf/GeneralPreferences: Fix typo. --- src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java | 8 ++++---- src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java index a5ae008fcc..38122746e2 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java @@ -120,10 +120,10 @@ public void run() { return; } running = true; - double poolIntervalMin = Math.max(0.17, Math.min(30, GeneralPreferences.iridiumMessengerPoolMinutes)); - Duration poolInterval = poolIntervalMin >= 1 ? Duration.ofMinutes((long) poolIntervalMin) - : Duration.ofSeconds((long) (60 * poolIntervalMin)); - if (lastCall != null && System.currentTimeMillis() - lastCall.getTime() < poolInterval.toMillis()) { + double pollIntervalMin = Math.max(0.17, Math.min(30, GeneralPreferences.iridiumMessengerPollMinutes)); + Duration pollInterval = pollIntervalMin >= 1 ? Duration.ofMinutes((long) pollIntervalMin) + : Duration.ofSeconds((long) (60 * pollIntervalMin)); + if (lastCall != null && System.currentTimeMillis() - lastCall.getTime() < pollInterval.toMillis()) { return; } diff --git a/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java b/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java index 4946189cf3..782dc56908 100644 --- a/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java +++ b/src/java/pt/lsts/neptus/util/conf/GeneralPreferences.java @@ -246,10 +246,10 @@ public class GeneralPreferences implements PropertiesProvider { @NeptusProperty(name = "Iridium Messenger", category="Iridium Communications", userLevel = LEVEL.REGULAR, description = "Iridium messaging implementation") public static IridiumMessengerEnum iridiumMessenger = IridiumMessengerEnum.HubIridiumMessenger; - @NeptusProperty(name = "Iridium Messenger Pool Messages", category="Iridium Communications", userLevel = LEVEL.REGULAR, - description = "Iridium messaging pool messages in minutes. Valid values between 0.17 (~10s) and 30. Doesn't need restart to apply", + @NeptusProperty(name = "Iridium Messenger Poll Messages", category="Iridium Communications", userLevel = LEVEL.REGULAR, + description = "Iridium messaging poll messages in minutes. Valid values between 0.17 (~10s) and 30. Doesn't need restart to apply", units = "minutes") - public static double iridiumMessengerPoolMinutes = 5; + public static double iridiumMessengerPollMinutes = 5; // ------------------------------------------------------------------------- From 4ce9863b53abd64458c309f5516e9dc6649270be Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Mon, 9 Dec 2024 15:14:00 +0000 Subject: [PATCH 67/92] comm/iridium/IridiumManager: Cleanup. --- src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java index 38122746e2..64af52bbd5 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java @@ -133,7 +133,7 @@ public void run() { Collection msgs = getCurrentMessenger().pollMessages(lastTime); NeptusLog.pub().info("Polled {} messages from Iridium network.", msgs.size()); - if (!msgs.isEmpty()) { + if (!msgs.isEmpty()) { speakUpdateEntityState(); } for (IridiumMessage m : msgs) { From d2a67917bfbe3b41d8337aa41b940c14a91be6ed Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 13:50:47 +0000 Subject: [PATCH 68/92] comm/manager/imc/ImcMsgManager: Fix to use the channelsToSend passed in the method. --- src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java index 1d611698f0..5f9db08ce3 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java @@ -1190,7 +1190,7 @@ public Future sendMessageUsingActiveChannel(IMCMessage message, Stri timeoutMillis = timeoutMillis < 0 ? CommsAdmin.COMM_TIMEOUT_MILLIS : timeoutMillis; Future ret = commsAdmin.sendMessage(message, destinationName, timeoutMillis, - parentComponentForAlert, requireUserConfirmOtherThanWifi); + parentComponentForAlert, requireUserConfirmOtherThanWifi, channelsToSend); return ret; } From 59a35fc17e051805e2d643921c803463a6828212 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 13:53:24 +0000 Subject: [PATCH 69/92] comm/IMCSendMessageUtils: Added option to pass also channels to use to send, and also not to popup GUI on error. --- .../lsts/neptus/comm/IMCSendMessageUtils.java | 32 ++++++++++++++----- 1 file changed, 24 insertions(+), 8 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java b/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java index 833dbbaeb8..73bcb4b296 100644 --- a/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java +++ b/src/java/pt/lsts/neptus/comm/IMCSendMessageUtils.java @@ -122,6 +122,20 @@ public static boolean sendMessage(IMCMessage msg, Component parent, String error acousticOpUseOnlyActive, acousticOpUserAprovedQuestion, sendOnlyThroughOneAcoustically, ids); } + public static boolean sendMessage(IMCMessage msg, String sendProperties, MessageDeliveryListener listener, Component parent, String errorTextForDialog, + boolean ignoreAcousticSending, String acousticOpServiceName, boolean acousticOpUseOnlyActive, + boolean acousticOpUserApprovedQuestion, boolean sendOnlyThroughOneAcoustically, String... ids) { + return sendMessage(msg, sendProperties, listener, parent, errorTextForDialog, ignoreAcousticSending, acousticOpServiceName, + acousticOpUseOnlyActive, acousticOpUserApprovedQuestion, sendOnlyThroughOneAcoustically, true, new String[0], ids); + } + + public static boolean sendMessage(IMCMessage msg, String sendProperties, MessageDeliveryListener listener, Component parent, String errorTextForDialog, + boolean ignoreAcousticSending, String acousticOpServiceName, boolean acousticOpUseOnlyActive, + boolean acousticOpUserApprovedQuestion, boolean sendOnlyThroughOneAcoustically, boolean popGuiOnError, String... ids) { + return sendMessage(msg, sendProperties, listener, parent, errorTextForDialog, ignoreAcousticSending, acousticOpServiceName, + acousticOpUseOnlyActive, acousticOpUserApprovedQuestion, sendOnlyThroughOneAcoustically, popGuiOnError, new String[0], ids); + } + /** * @param msg * @param sendProperties The same of {@link ImcMsgManager#sendMessage(IMCMessage, pt.lsts.neptus.comm.manager.imc.ImcId16, String, pt.lsts.neptus.comm.manager.imc.MessageDeliveryListener)}, @@ -129,28 +143,29 @@ public static boolean sendMessage(IMCMessage msg, Component parent, String error * @param parent The parent component for popup error message * @param errorTextForDialog * @param ignoreAcousticSending If this is true mean don't use acoustic. - * @param acousticOpServiceName + * @param acousticOpServiceName * @param acousticOpUseOnlyActive - * @param acousticOpUserAprovedQuestion + * @param acousticOpUserApprovedQuestion * @param ids * @return */ public static boolean sendMessage(IMCMessage msg, String sendProperties, MessageDeliveryListener listener, Component parent, String errorTextForDialog, boolean ignoreAcousticSending, String acousticOpServiceName, boolean acousticOpUseOnlyActive, - boolean acousticOpUserAprovedQuestion, boolean sendOnlyThroughOneAcoustically, String... ids) { + boolean acousticOpUserApprovedQuestion, boolean sendOnlyThroughOneAcoustically, boolean popGuiOnError, String[] channelsToSend, String... ids) { ImcSystem[] acousticOpSysLst = !ignoreAcousticSending ? ImcSystemsHolder.lookupSystemByService( acousticOpServiceName, SystemTypeEnum.ALL, acousticOpUseOnlyActive) : new ImcSystem[0]; - boolean acousticOpUserAprovalRequired = acousticOpUserAprovedQuestion; - boolean acousticOpUserAproved = !acousticOpUserAprovedQuestion; + boolean acousticOpUserAprovalRequired = acousticOpUserApprovedQuestion; + boolean acousticOpUserAproved = !acousticOpUserApprovedQuestion; boolean retAll = true; for (String sid : ids) { boolean ret; ImcSystem sysL = ImcSystemsHolder.lookupSystemByName(sid); if (GeneralPreferences.imcUseNewMultiChannelCommsEnable && sysL != null && !sysL.isActive()) { - ret = ImcMsgManager.getManager().sendMessageUsingActiveChannelWait(msg, sid, -1, parent, acousticOpUserAprovedQuestion); + ret = ImcMsgManager.getManager().sendMessageUsingActiveChannelWait(msg, sid, -1, parent, + acousticOpUserApprovedQuestion, channelsToSend); if (ret) { acousticOpUserAproved = true; } @@ -171,11 +186,12 @@ else if (acousticOpSysLst.length != 0 && sysL != null && !sysL.isActive()) { } retAll = retAll && ret; if (!ret) { - if (parent instanceof ConsolePanel) { + NeptusLog.pub().warn(errorTextForDialog); + if (popGuiOnError && parent instanceof ConsolePanel) { ((ConsolePanel) parent).post(Notification.error(I18n.text("Send Message"), errorTextForDialog).src( I18n.text("Console"))); } - else { + else if (popGuiOnError && parent != null) { GuiUtils.errorMessage(parent, I18n.text("Send Message"), errorTextForDialog); } } From ca8309f14900299df1290dce020b507d353a6e74 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 13:55:57 +0000 Subject: [PATCH 70/92] params/SystemConfigurationEditorPanel: Added option to make choice of channels to use, to decrease the number of messages sent by Iridium without user intervention. --- .../SystemConfigurationEditorPanel.java | 32 +++++++++++-------- 1 file changed, 18 insertions(+), 14 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 32dd01fbac..08d654aaa6 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -79,6 +79,7 @@ import pt.lsts.imc.SetEntityParameters; import pt.lsts.neptus.NeptusLog; import pt.lsts.neptus.comm.IMCSendMessageUtils; +import pt.lsts.neptus.comm.admin.CommsAdmin; import pt.lsts.neptus.comm.manager.imc.ImcMsgManager; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; @@ -244,7 +245,7 @@ public void actionPerformed(ActionEvent e) { SwingWorker worker = new SwingWorker() { @Override protected Void doInBackground() throws Exception { - refreshPropertiesOnPanel(true); + refreshPropertiesOnPanel(true, true, new String[] {CommsAdmin.CommChannelType.WIFI.name}); return null; } }; @@ -338,7 +339,7 @@ public void itemStateChanged(ItemEvent e) { SwingWorker worker = new SwingWorker() { @Override protected Void doInBackground() throws Exception { - refreshPropertiesOnPanel(false); + refreshPropertiesOnPanel(false, false, new String[] {CommsAdmin.CommChannelType.WIFI.name}); return null; } }; @@ -359,7 +360,7 @@ protected Void doInBackground() throws Exception { mainPanel.add(checkSelection, "sg checkboxes"); // FIXME This might not make sense to not always ask for categories if no wifi - refreshPropertiesOnPanel(false); + refreshPropertiesOnPanel(false, false, new String[] {CommsAdmin.CommChannelType.WIFI.name}); revalidate(); repaint(); @@ -413,7 +414,7 @@ public void setSystemId(String systemId) { this.systemId = systemId; sid = ImcSystemsHolder.getSystemWithName(this.systemId); // FIXME This might not make sense to not always ask for categories - refreshPropertiesOnPanel(true); + refreshPropertiesOnPanel(false, false, new String[]{CommsAdmin.CommChannelType.WIFI.name}); } /** @@ -430,7 +431,7 @@ public void setRefreshing(boolean refreshing) { this.refreshing = refreshing; } - private synchronized void refreshPropertiesOnPanel(boolean askForCategories) { + private synchronized void refreshPropertiesOnPanel(boolean askForCategories, boolean popGuiOnError, String[] channelsToUse) { try { showWaiterUpdateProperties(true); @@ -501,7 +502,7 @@ private synchronized void refreshPropertiesOnPanel(boolean askForCategories) { repaint(); for (String sectionName : queryCategoriesList) { - boolean ret = queryValues(sectionName, scopeToUse.getText(), visibility.getText()); + boolean ret = queryValues(sectionName, scopeToUse.getText(), visibility.getText(), popGuiOnError, channelsToUse); if (!ret) break; } @@ -568,18 +569,18 @@ public void propertyChange(PropertyChangeEvent evt) { } } - private boolean queryValues(String entityName, String scope, String visibility) { + private boolean queryValues(String entityName, String scope, String visibility, boolean popGuiOnError, String... channelsToUse) { QueryEntityParameters qep = new QueryEntityParameters(); qep.setScope(scope); qep.setVisibility(visibility); qep.setName(entityName); - return send(qep); + return send(qep, popGuiOnError, channelsToUse); } private boolean saveRequest(String entityName) { SaveEntityParameters qep = new SaveEntityParameters(); qep.setName(entityName); - return send(qep); + return send(qep, true); } private void sendProperty(SystemProperty... propsList) { @@ -620,7 +621,7 @@ private void sendProperty(SystemProperty... propsList) { } for (SetEntityParameters setEntityParameters : msgs) { - if (!send(setEntityParameters)) + if (!send(setEntityParameters, true)) break; } } @@ -786,7 +787,8 @@ private void sendPropertiesToSystem() { secNames.add(sectionName); } for (String sec : secNames) { - if (!queryValues(sec, scopeToUse.getText(), visibility.getText())) + // TODO See if we want to ask back from Iridium + if (!queryValues(sec, scopeToUse.getText(), visibility.getText(), true)) break; } } @@ -812,7 +814,8 @@ private void savePropertiesToSystem() { } boolean ret = true; for (String sec : secNames) { - ret = queryValues(sec, scopeToUse.getText(), visibility.getText()); + // TODO See if we want to ask back from Iridium + ret = queryValues(sec, scopeToUse.getText(), visibility.getText(), true); if (!ret) break; } @@ -826,7 +829,7 @@ private void savePropertiesToSystem() { } } - private boolean send(IMCMessage msg) { //}, boolean askApprovalOtherThanWifi) { + private boolean send(IMCMessage msg, boolean popGuiOnError, String... channelsToUse) { //}, boolean askApprovalOtherThanWifi) { MessageDeliveryListener mdl = new MessageDeliveryListener() { @Override public void deliveryUnreacheable(IMCMessage message) { @@ -860,7 +863,8 @@ public void deliveryError(IMCMessage message, Object error) { // } return IMCSendMessageUtils.sendMessage(msg, (sendReliably ? ImcMsgManager.TRANSPORT_TCP : null), mdl, this, I18n.text("Error sending msg params"), - false, "", true, true, true, system); + false, "", true, true, + true, popGuiOnError, channelsToUse, system); } public static void updatePropertyWithMessageArrived(SystemConfigurationEditorPanel systemConfEditor, IMCMessage message) { From af5494365dea46f3eab3546354928cbdb6aeddd0 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 14:29:23 +0000 Subject: [PATCH 71/92] params/SystemConfigurationEditorPanel: Cleanup. --- .../neptus/params/SystemConfigurationEditorPanel.java | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 08d654aaa6..191ec9282c 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -181,13 +181,10 @@ public Component getListCellRendererComponent(JList list, Scope @Override public void itemStateChanged(ItemEvent e) { scopeToUse = (Scope) e.getItem(); - new Thread() { - @Override - public void run() { - if (refreshButton != null) - refreshButton.doClick(50); - } - }.start(); + new Thread(() -> { + if (refreshButton != null) + refreshButton.doClick(50); + }).start(); } }); From 6add76a7b1bc0053c5f43c86630e977b14f8c52c Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 14:34:03 +0000 Subject: [PATCH 72/92] params/SystemConfigurationEditorPanel: Cleanup. --- .../pt/lsts/neptus/params/SystemConfigurationEditorPanel.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 191ec9282c..b1eff46089 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -211,11 +211,9 @@ public void itemStateChanged(ItemEvent e) { categoriesPanel = new JPanel(new MigLayout("fill, insets 0")); swapPropertiesAndCategoriesPanel = new JPanel(new CardLayout()); - //swapPropertiesAndCategoriesPanel.add(psp, CARD_PROPERTIES); swapPropertiesAndCategoriesPanel.add(mainPanel, CARD_PROPERTIES); swapPropertiesAndCategoriesPanel.add(categoriesPanel, CARD_CATEGORIES); - //add(swapPropertiesAndCategoriesPanel, "w 100%, h 100%, wrap"); add(swapPropertiesAndCategoriesPanel, "w 100%, h 100%"); sendButton = new JButton(new AbstractAction(I18n.text("Send")) { From 6b998ea7588eb33afc8e338cc152c4c9b5cf2f6c Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 14:34:32 +0000 Subject: [PATCH 73/92] params/SystemConfigurationEditorPanel: Cleanup. --- .../SystemConfigurationEditorPanel.java | 39 +++++++++---------- 1 file changed, 18 insertions(+), 21 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index b1eff46089..e195cf65a0 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -322,24 +322,21 @@ public void actionPerformed(ActionEvent e) { checkAdvance.setSelected(true); else checkAdvance.setSelected(false); - checkAdvance.addItemListener(new ItemListener() { - @Override - public void itemStateChanged(ItemEvent e) { - if (checkAdvance.isSelected()) - visibility = Visibility.DEVELOPER; - else - visibility = Visibility.USER; - - // FIXME This might not make sense to not always ask for categories - SwingWorker worker = new SwingWorker() { - @Override - protected Void doInBackground() throws Exception { - refreshPropertiesOnPanel(false, false, new String[] {CommsAdmin.CommChannelType.WIFI.name}); - return null; - } - }; - worker.execute(); - } + checkAdvance.addItemListener(e -> { + if (checkAdvance.isSelected()) + visibility = Visibility.DEVELOPER; + else + visibility = Visibility.USER; + + // FIXME This might not make sense to not always ask for categories + SwingWorker worker = new SwingWorker() { + @Override + protected Void doInBackground() throws Exception { + refreshPropertiesOnPanel(false, false, new String[] {CommsAdmin.CommChannelType.WIFI.name}); + return null; + } + }; + worker.execute(); }); checkAdvance.setFocusable(false); @@ -579,7 +576,7 @@ private boolean saveRequest(String entityName) { } private void sendProperty(SystemProperty... propsList) { - Map> mapCategoryParameterList = new LinkedHashMap>(); + Map> mapCategoryParameterList = new LinkedHashMap<>(); for (SystemProperty prop : propsList) { if (prop.getValue() == null) continue; @@ -772,8 +769,8 @@ private void sendPropertiesToSystem() { sentProps.add(sp); } } - if (sysPropToSend.size() > 0) { - sendProperty(sysPropToSend.toArray(new SystemProperty[sysPropToSend.size()])); + if (!sysPropToSend.isEmpty()) { + sendProperty(sysPropToSend.toArray(new SystemProperty[0])); ArrayList secNames = new ArrayList<>(); for (SystemProperty sp : sentProps) { From f35832b6c50dfb7c8aaa16ab78d7598d0cba3984 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 10 Dec 2024 14:37:05 +0000 Subject: [PATCH 74/92] params/SystemConfigurationEditorPanel: Cleanup. --- .../lsts/neptus/params/SystemConfigurationEditorPanel.java | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index e195cf65a0..1999b50a06 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -318,10 +318,7 @@ public void actionPerformed(ActionEvent e) { checkAdvance.setToolTipText("" + I18n.textc("Be careful changing these values.
They may make the vehicle inoperable.", "This will be a tooltip, and use
to change line.")); mainPanel.add(checkAdvance, "split, sg checkboxes"); - if (visibility == Visibility.DEVELOPER) - checkAdvance.setSelected(true); - else - checkAdvance.setSelected(false); + checkAdvance.setSelected(visibility == Visibility.DEVELOPER); checkAdvance.addItemListener(e -> { if (checkAdvance.isSelected()) visibility = Visibility.DEVELOPER; From e73783df69fd8925351101ac97448abc73f0d3f8 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 11 Dec 2024 17:31:09 +0000 Subject: [PATCH 75/92] params/SystemConfigurationEditorPanel: Reduce the Iridium msgs if one fails skip the next msgs. --- .../params/SystemConfigurationEditorPanel.java | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 1999b50a06..15d3265d3b 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -572,7 +572,7 @@ private boolean saveRequest(String entityName) { return send(qep, true); } - private void sendProperty(SystemProperty... propsList) { + private boolean sendProperty(SystemProperty... propsList) { Map> mapCategoryParameterList = new LinkedHashMap<>(); for (SystemProperty prop : propsList) { if (prop.getValue() == null) @@ -611,8 +611,9 @@ private void sendProperty(SystemProperty... propsList) { for (SetEntityParameters setEntityParameters : msgs) { if (!send(setEntityParameters, true)) - break; + return false; // If one fails, rest is skipped, this helps to avoid iridium to be flooded all errors } + return true; } private Map getCategoriesOnPanel(boolean onlyVisible) { @@ -767,8 +768,12 @@ private void sendPropertiesToSystem() { } } if (!sysPropToSend.isEmpty()) { - sendProperty(sysPropToSend.toArray(new SystemProperty[0])); - + boolean ret = sendProperty(sysPropToSend.toArray(new SystemProperty[0])); + + if (!ret) { + return; + } + ArrayList secNames = new ArrayList<>(); for (SystemProperty sp : sentProps) { String sectionName = sp.getCategoryId(); From 2bcb49c789e690435908f9e9e0f65f8cdcf17cc9 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 11 Dec 2024 17:31:40 +0000 Subject: [PATCH 76/92] params/SystemConfigurationEditorPanel: Saving previous user choices. --- .../SystemConfigurationEditorPanel.java | 45 ++++++++++++++----- 1 file changed, 35 insertions(+), 10 deletions(-) diff --git a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java index 15d3265d3b..9160b47ce2 100644 --- a/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java +++ b/src/java/pt/lsts/neptus/params/SystemConfigurationEditorPanel.java @@ -136,7 +136,11 @@ public class SystemConfigurationEditorPanel extends JPanel implements PropertyCh protected ImcSystem sid = null; protected ImcMsgManager imcMsgManager; - + + // Category name, category label on gui + private Map touchedCategoriesList; + private Map lastSelectedCategoriesList; + public SystemConfigurationEditorPanel(String systemId, Scope scopeToUse, Visibility visibility, boolean showSendButton, boolean showScopeCombo, boolean showResetButton, ImcMsgManager imcMsgManager) { this.systemId = systemId; @@ -425,7 +429,7 @@ private synchronized void refreshPropertiesOnPanel(boolean askForCategories, boo showWaiterUpdateProperties(true); // FIXME - Map oldCategoriesOnPanel = getCategoriesOnPanel(true); + //Map oldCategoriesOnPanel = getCategoriesOnPanel(true); titleLabel.setText("" + createTitle() + ""); List openCategories = removeAllPropertiesFromPanel(); @@ -471,7 +475,7 @@ private synchronized void refreshPropertiesOnPanel(boolean askForCategories, boo if (askForCategories && isAskForCategories) { List validCategories; try { - validCategories = askForCategories("refresh", oldCategoriesOnPanel).get(); + validCategories = askForCategories("refresh", lastSelectedCategoriesList).get(); } catch (Exception e) { // Do nothing @@ -555,6 +559,10 @@ public void propertyChange(PropertyChangeEvent evt) { sprop.propertyChange(evt); } sp.propertyChange(evt); + + if (touchedCategoriesList == null) + touchedCategoriesList = new LinkedHashMap<>(); + touchedCategoriesList.putIfAbsent(sp.getCategoryId(), sp.getCategory()); } } @@ -655,6 +663,13 @@ private Future> askForCategories(String forWhat, Map categories = getCategoriesOnPanel(true); List chosenCategories = new ArrayList<>(categories.keySet()); List checkBoxes = new ArrayList<>(); + + if ((previousCheckCategoriesOnPanel == null || previousCheckCategoriesOnPanel.isEmpty()) + && lastSelectedCategoriesList != null) { + previousCheckCategoriesOnPanel = new LinkedHashMap<>(); + previousCheckCategoriesOnPanel.putAll(lastSelectedCategoriesList); + } + for (String category : chosenCategories.stream().sorted().collect(Collectors.toList())) { JCheckBox cb = new JCheckBox(categories.get(category)); cb.addActionListener(e -> { @@ -667,7 +682,7 @@ private Future> askForCategories(String forWhat, Map> askForCategories(String forWhat, Map(); + } else { + lastSelectedCategoriesList.clear(); + } + chosenCategories.forEach(cat -> lastSelectedCategoriesList.putIfAbsent(cat, categories.get(cat))); }); cancelButton.addActionListener(e -> { future.completeExceptionally(new RuntimeException("User cancelled")); @@ -750,16 +772,16 @@ private Future> askForCategories(String forWhat, Map validCategories = null; try { - validCategories = askForCategories("send").get(); + validCategories = isAskForCategories ? askForCategories("send", touchedCategoriesList).get() : null; } catch (Exception e) { return; } - Set sentProps = new LinkedHashSet(); + Set sentProps = new LinkedHashSet<>(); ArrayList sysPropToSend = new ArrayList<>(); for (SystemProperty sp : params.values()) { - if (!validCategories.contains(sp.getCategoryId())) + if (validCategories != null && !validCategories.contains(sp.getCategoryId())) continue; // Skip if not in the list of valid categories if (sp.getTimeDirty() > sp.getTimeSync()) { // sendProperty(sp); @@ -769,6 +791,9 @@ private void sendPropertiesToSystem() { } if (!sysPropToSend.isEmpty()) { boolean ret = sendProperty(sysPropToSend.toArray(new SystemProperty[0])); + if (ret) { + touchedCategoriesList.clear(); + } if (!ret) { return; @@ -789,9 +814,9 @@ private void sendPropertiesToSystem() { } private void savePropertiesToSystem() { - List validCategories = null; + List validCategories; try { - validCategories = askForCategories("save").get(); + validCategories = isAskForCategories ? askForCategories("save").get() : null; } catch (Exception e) { return; @@ -801,7 +826,7 @@ private void savePropertiesToSystem() { ArrayList secNames = new ArrayList<>(); for (SystemProperty sp : propsInPanel) { String sectionName = sp.getCategoryId(); - if (!validCategories.contains(sectionName)) + if (validCategories != null && !validCategories.contains(sectionName)) continue; // Skip if not in the list of valid categories if (!secNames.contains(sectionName)) secNames.add(sectionName); From 601d959aa48f461c59b07245f4b3eec9300da30c Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 7 Jan 2025 10:51:27 +0000 Subject: [PATCH 77/92] Updated copy years. --- .../pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java | 2 +- src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java | 2 +- src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java | 2 +- .../pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java | 2 +- .../neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java | 2 +- .../neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java index 6b604e3d4d..bce18d2400 100644 --- a/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java +++ b/plugins-dev/caravel-env/src/java/pt/lsts/neptus/plugins/caravelenv/CaravelDataPlotter.java @@ -1,5 +1,5 @@ /* - * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Copyright (c) 2004-2025 Universidade do Porto - Faculdade de Engenharia * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * All rights reserved. * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal diff --git a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java index 676af2ce91..bf741a5e39 100644 --- a/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java +++ b/src/java/pt/lsts/neptus/comm/admin/CommsAdmin.java @@ -1,5 +1,5 @@ /* - * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Copyright (c) 2004-2025 Universidade do Porto - Faculdade de Engenharia * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * All rights reserved. * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal diff --git a/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java index 81f2903e91..90681429ef 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/ImcFullIridiumMessage.java @@ -1,5 +1,5 @@ /* - * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Copyright (c) 2004-2025 Universidade do Porto - Faculdade de Engenharia * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * All rights reserved. * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal diff --git a/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java b/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java index fc4c035390..51ae4c1b1e 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java +++ b/src/java/pt/lsts/neptus/comm/iridium/UpdateDeviceActivation.java @@ -1,5 +1,5 @@ /* - * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Copyright (c) 2004-2025 Universidade do Porto - Faculdade de Engenharia * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * All rights reserved. * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java index 80b744a5c6..4ba7404ab1 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerAnnounceProcessor.java @@ -1,5 +1,5 @@ /* - * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Copyright (c) 2004-2025 Universidade do Porto - Faculdade de Engenharia * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * All rights reserved. * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java index e6a389258c..6c2c98eda4 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManagerMessageProcessor.java @@ -1,5 +1,5 @@ /* - * Copyright (c) 2004-2024 Universidade do Porto - Faculdade de Engenharia + * Copyright (c) 2004-2025 Universidade do Porto - Faculdade de Engenharia * Laboratório de Sistemas e Tecnologia Subaquática (LSTS) * All rights reserved. * Rua Dr. Roberto Frias s/n, sala I203, 4200-465 Porto, Portugal From 2dcdb0a51d7d64f0e1ebfa35f81ebf7a604f4c21 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 7 Jan 2025 13:52:32 +0000 Subject: [PATCH 78/92] plugins/sunfish/IridiumComms: Updated logo for small size better visibility. --- .../neptus/plugins/sunfish/IridiumComms.java | 2 +- .../images/iridium/iridium-logo-alt.png | Bin 0 -> 21160 bytes 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 src/resources/images/iridium/iridium-logo-alt.png diff --git a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java index 55ce279305..e0fbb6d62c 100644 --- a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java +++ b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java @@ -87,7 +87,7 @@ * @author zp * */ -@PluginDescription(name = "Iridium Communications Plug-in", icon = "images/iridium/iridium-logo.png") +@PluginDescription(name = "Iridium Communications Plug-in", icon = "images/iridium/iridium-logo-alt.png") @SuppressWarnings("unused") public class IridiumComms extends 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zx@emcL=C|uA)|rPH=J?%ao0(_D>6VurM#ZH%DFN|JS532H}N(wf0}H}G;ikaj5QIE zH|lScROv7aLvZGr3Kyp|=n(;q$m4)ZXA#cCUUvxaw*Kn<+v@4fQU&MP#;|Mnz-uw0 zdgfigY^g}Em#6~p4yFq&E?~(R`tgcpRT6lPq8wanoJ%fV5>+cB0Kn@zq#UMokve=5 zPNxH2LWA=6OAphyX-3Pm94opb2!RKBL5E_bw>GvDiBB^|?hgFlW+boJ)ay1z%c*r$ zr8V+_o;zB}F5_f}M+26?vr6SHkcvsu_>fzx#aXi2yD=u#Kk1dxgiU2 zCr0A8F8@N@FmS32SWYNJQ0=iB36NSae_c?zm*H1lvn*spZDQs@HUc|27sD;AaCzAY{m_?K#)i_CmC!jcf#8BBVEIGh@*;j7Z6+iw) z4nSNBHS+!)v)l>G2@#+>0$J-YTQUsfaQ_D+{+=Q}809bvOk>6!YQ?z@)upe#0SbxJ zcQ6ruNo55zkRj--uxtmwK{?a0*kC6=exXd(H?9c6*PiDE_yYKRxWD?4#8Z{n{VJ%I zdVmY$G|A;{Qd87zU?=0dj02Np59F}O7tsO3fpv%-0>VH3;yXo%34nbrVJGkn0?1Te zD1dghJOBi{VVV+M#wi6Puo1}D&!3$t$&>lkHdkSKN--L#8s6P!>5byz^^Cyj0zDnU w0{DyFf2Z_6=Cc1KM}G>?f0s$0If@B(DQ-Yg%^zoB|24O=0_ Date: Thu, 9 Jan 2025 16:33:43 +0000 Subject: [PATCH 79/92] comm/iridium/HubIridiumMessenger: Fix to not send IMEI if is empty. --- src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java index 752098bdcd..27451d2388 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java @@ -199,7 +199,8 @@ public void sendMessageRaw(String destinationName, String imeiAddr, byte[] data) conn.setRequestProperty( "source", GeneralPreferences.imcCcuName.toLowerCase(Locale.ROOT)); conn.setRequestProperty( "destination", destinationName); - conn.setRequestProperty( "imei", imeiAddr); + if (imeiAddr != null && !imeiAddr.isEmpty()) + conn.setRequestProperty( "imei", imeiAddr); conn.setRequestProperty( "Content-Length", String.valueOf(data.length * 2) ); From 788123bce59c0c7f177a34793108a6858558653c Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 9 Jan 2025 16:49:40 +0000 Subject: [PATCH 80/92] comm/iridium/HubIridiumMessenger: Fix to not send IMEI if is trimmed empty. --- src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java index 27451d2388..0290faabd8 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java @@ -199,7 +199,7 @@ public void sendMessageRaw(String destinationName, String imeiAddr, byte[] data) conn.setRequestProperty( "source", GeneralPreferences.imcCcuName.toLowerCase(Locale.ROOT)); conn.setRequestProperty( "destination", destinationName); - if (imeiAddr != null && !imeiAddr.isEmpty()) + if (imeiAddr != null && !imeiAddr.trim().isEmpty()) conn.setRequestProperty( "imei", imeiAddr); conn.setRequestProperty( "Content-Length", String.valueOf(data.length * 2) ); From 09fec55addc4a1199d81bcc10f1ac54df5a83943 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 9 Jan 2025 16:43:10 +0000 Subject: [PATCH 81/92] comm/iridium/RockBlockIridiumMessenger: Fix to not send IMEI if is trimmed empty. --- .../pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index 4ac4a4433a..7971cb5457 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -232,7 +232,7 @@ public void sendMessage(IridiumMessage msg) throws Exception { @Override public void sendMessageRaw(String destinationName, String imeiAddr, byte[] data) throws Exception { - if (imeiAddr == null || imeiAddr.isEmpty()) { + if (imeiAddr == null || imeiAddr.trim().isEmpty()) { VehicleType vt = VehiclesHolder.getVehicleById(destinationName); if (vt == null) { throw new Exception("Cannot send message to an unknown destination"); From 50af48abfdde707ce17beb859f38f5cea44d9650 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 15 Jan 2025 10:43:40 +0000 Subject: [PATCH 82/92] plugins/sunfish/IridiumComms: Updated logo. --- .../src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java index e0fbb6d62c..55ce279305 100644 --- a/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java +++ b/plugins-dev/sunfish/src/java/pt/lsts/neptus/plugins/sunfish/IridiumComms.java @@ -87,7 +87,7 @@ * @author zp * */ -@PluginDescription(name = "Iridium Communications Plug-in", icon = "images/iridium/iridium-logo-alt.png") +@PluginDescription(name = "Iridium Communications Plug-in", icon = "images/iridium/iridium-logo.png") @SuppressWarnings("unused") public class IridiumComms extends SimpleRendererInteraction { From ede121715970f4e25e1cd12042d265bac3be4d77 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 15 Jan 2025 17:27:56 +0000 Subject: [PATCH 83/92] types/comm/protocol/IridiumArgs: Allowing 2 imei for Iridium. Also switches the active one dependent of the received msgs. --- .../comm/iridium/HubIridiumMessenger.java | 19 +++++- .../neptus/comm/iridium/IridiumManager.java | 3 +- .../iridium/RockBlockIridiumMessenger.java | 10 ++- .../types/comm/protocol/IridiumArgs.java | 68 ++++++++++++++++++- .../neptus/types/vehicle/VehiclesHolder.java | 2 +- 5 files changed, 92 insertions(+), 10 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java index 0290faabd8..7833f4a924 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/HubIridiumMessenger.java @@ -40,6 +40,9 @@ import pt.lsts.neptus.comm.manager.imc.ImcId16; import pt.lsts.neptus.comm.manager.imc.ImcSystem; import pt.lsts.neptus.comm.manager.imc.ImcSystemsHolder; +import pt.lsts.neptus.types.comm.CommMean; +import pt.lsts.neptus.types.comm.protocol.IridiumArgs; +import pt.lsts.neptus.types.comm.protocol.ProtocolArgs; import pt.lsts.neptus.types.coord.LocationType; import pt.lsts.neptus.types.vehicle.VehicleType; import pt.lsts.neptus.types.vehicle.VehiclesHolder; @@ -267,6 +270,7 @@ public Collection pollMessages(Date timeSince) throws Exception for (HubMessage m : msgs) { try { ret.add(m.message()); + updateVehicleWithLastSeenImei(m.imei, m.createdAt()); } catch (Exception e) { String report = new String(Hex.decodeHex(m.msg.toCharArray())); @@ -284,11 +288,12 @@ public Collection pollMessages(Date timeSince) throws Exception long timestamp = parseTimeString(timeOfDay).getTime(); ImcSystem system = ImcSystemsHolder.getSystemWithName(vehicle); - + if (system != null) { system.setLocation(new LocationType(lat, lon), timestamp); } + updateVehicleWithLastSeenImei(m.imei, m.createdAt() != null ? m.createdAt() : m.updatedAt()); NeptusLog.pub().info("Text report: {}", report); } @@ -300,7 +305,17 @@ public Collection pollMessages(Date timeSince) throws Exception return ret; } - + + public static void updateVehicleWithLastSeenImei(String imei, Date date) { + VehicleType veh = VehiclesHolder.getVehicleWithImei(imei); + if (veh != null) { + IridiumArgs iridiumArgs = (IridiumArgs) veh.getProtocolsArgs().get(CommMean.IRIDIUM); + if (iridiumArgs != null) { + iridiumArgs.setLastSeenImei(imei, date); + } + } + } + public static Date parseTimeString(String timeOfDay) { GregorianCalendar date = new GregorianCalendar(TimeZone.getTimeZone("UTC")); String[] timeParts = timeOfDay.split(":"); diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java index 3c0ccd6fe7..5b51c67543 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java @@ -122,8 +122,9 @@ public IridiumMessenger getCurrentMessenger() { } private final Runnable pollMessages = new Runnable() { - Date lastTime = new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); + //Date lastTime = new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); //Date lastTime = new GregorianCalendar(2024, Calendar.NOVEMBER, 6).getTime(); // new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); + Date lastTime = new GregorianCalendar(2025, Calendar.JANUARY, 14).getTime(); // new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); @Override public void run() { diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index 7971cb5457..b12f973db9 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -85,6 +85,8 @@ import pt.lsts.neptus.util.conf.ConfigFetch; import pt.lsts.neptus.util.http.client.HttpClientConnectionHelper; +import static pt.lsts.neptus.comm.iridium.HubIridiumMessenger.updateVehicleWithLastSeenImei; + /** * This class uses the RockBlock HTTP API (directly) to send messages to Iridium destinations and a gmail inbox to poll * for incoming messages @@ -225,7 +227,7 @@ public void sendMessage(IridiumMessage msg) throws Exception { if (askCredentials()) return; - String result = sendToRockBlockHttp(args.getImei(), getRockBlockUsername(), getRockBlockPassword(), + String result = sendToRockBlockHttp(args.getLastSeenImei(), getRockBlockUsername(), getRockBlockPassword(), msg.serialize()); checkResponseFromServer(result); } @@ -238,7 +240,7 @@ public void sendMessageRaw(String destinationName, String imeiAddr, byte[] data) throw new Exception("Cannot send message to an unknown destination"); } IridiumArgs args = (IridiumArgs) vt.getProtocolsArgs().get("iridium"); - imeiAddr = args.getImei(); + imeiAddr = args.getLastSeenImei(); } if (askCredentials()) @@ -326,7 +328,8 @@ else if (m.getContent() instanceof MimeMultipart) { if (matcher.matches()) { InputStream stream = (InputStream) p.getContent(); byte[] data = IOUtils.toByteArray(stream); - IridiumMessage msg = process(data, matcher.group(1), matcher.group(2), m.getSentDate()); + IridiumMessage msg = process(data, matcher.group(1), matcher.group(2), + m.getSentDate() == null ? m.getReceivedDate() : m.getSentDate()); if (msg != null) messages.add(msg); } @@ -363,6 +366,7 @@ private IridiumMessage process(byte[] data, String fromImei, String seqNumber, D if (irMsg.source == ImcId16.NULL_ID.intValue()) { // Let us try to fill the source from imei irMsg.source = HubIridiumMessenger.HubMessage.findSystemIdByImei(fromImei); + updateVehicleWithLastSeenImei(fromImei, sentDate); } // If not set, set the timestamp diff --git a/src/java/pt/lsts/neptus/types/comm/protocol/IridiumArgs.java b/src/java/pt/lsts/neptus/types/comm/protocol/IridiumArgs.java index e338c733bd..95bf4fdb77 100644 --- a/src/java/pt/lsts/neptus/types/comm/protocol/IridiumArgs.java +++ b/src/java/pt/lsts/neptus/types/comm/protocol/IridiumArgs.java @@ -39,10 +39,13 @@ import com.l2fprod.common.propertysheet.DefaultProperty; import com.l2fprod.common.propertysheet.Property; +import org.dom4j.Node; import pt.lsts.neptus.gui.PropertiesProvider; import pt.lsts.neptus.plugins.NeptusProperty; import pt.lsts.neptus.plugins.PluginUtils; +import java.util.Date; + /** * @author zp * @@ -51,13 +54,20 @@ public class IridiumArgs extends ProtocolArgs implements PropertiesProvider { @NeptusProperty private String imei = ""; - + @NeptusProperty + private String imei1 = ""; + + private int lastActiveImei = 0; + private Date lastImeiDateReceived = new Date(0); + @Override public Document asDocument(String rootElementName) { Document document = DocumentHelper.createDocument(); Element root = document.addElement(rootElementName); if (!imei.isEmpty()) root.addElement("imei", imei); + if (!imei1.isEmpty()) + root.addElement("imei1", imei1); return document; } @@ -65,7 +75,9 @@ public Document asDocument(String rootElementName) { public boolean load(Element elem) { try { imei = elem.selectSingleNode("//imei").getText(); - return true; + Node imei1Elem = elem.selectSingleNode("//imei1"); + imei1 = imei1Elem != null ? imei1Elem.getText() : ""; + return true; } catch (Exception e) { e.printStackTrace(); @@ -73,6 +85,48 @@ public boolean load(Element elem) { } } + public boolean setLastSeenImei(int imei, Date date) { + if (!lastImeiDateReceived.before(date)) + return false; + int oldImei = lastActiveImei; + if (imei == 0) + lastActiveImei = 0; + else if (imei == 1) + lastActiveImei = 1; + else + return false; + if (oldImei != lastActiveImei) + System.out.println("Switched to IMEI " + getLastSeenImei()); + lastImeiDateReceived = date; + return true; + } + + public boolean setLastSeenImei(String imei, Date date) { + if (!lastImeiDateReceived.before(date)) + return false; + int oldImei = lastActiveImei; + if (imei == null || imei.isEmpty()) + return false; + if (imei.equals(this.imei)) + lastActiveImei = 0; + else if (imei.equals(this.imei1)) + lastActiveImei = 1; + else + return false; + if (oldImei != lastActiveImei) + System.out.println("Switched to IMEI " + getLastSeenImei()); + lastImeiDateReceived = date; + return true; + } + + public String getLastSeenImei() { + if (lastActiveImei == 0) + return imei; + else if (lastActiveImei == 1) + return imei1; + return ""; + } + /** * @return the imei */ @@ -86,7 +140,15 @@ public String getImei() { public void setImei(String imei) { this.imei = imei; } - + + public String getImei1() { + return imei1; + } + + public void setImei1(String imei1) { + this.imei1 = imei1; + } + @Override public DefaultProperty[] getProperties() { return PluginUtils.getPluginProperties(this); diff --git a/src/java/pt/lsts/neptus/types/vehicle/VehiclesHolder.java b/src/java/pt/lsts/neptus/types/vehicle/VehiclesHolder.java index 0e554c1c12..bd791c4a92 100644 --- a/src/java/pt/lsts/neptus/types/vehicle/VehiclesHolder.java +++ b/src/java/pt/lsts/neptus/types/vehicle/VehiclesHolder.java @@ -185,7 +185,7 @@ public static VehicleType getVehicleWithImei(String imei) { return vtList.stream().filter(vt -> vt.getProtocolsArgs().containsKey(CommMean.IRIDIUM)).filter(vt -> { IridiumArgs args = (IridiumArgs) vt.getProtocolsArgs().get(CommMean.IRIDIUM); - return args.getImei().equals(imei); + return args.getImei().equals(imei) || (args.getImei1() != null && args.getImei1().equals(imei)); }).findFirst().orElse(null); } From 827425f785915dc08ad8e533a770b876744b6e94 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 16 Jan 2025 12:50:50 +0000 Subject: [PATCH 84/92] comm/iridium/IridiumManager: Fix hard coded change for test. --- src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java index 5b51c67543..3c0ccd6fe7 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumManager.java @@ -122,9 +122,8 @@ public IridiumMessenger getCurrentMessenger() { } private final Runnable pollMessages = new Runnable() { - //Date lastTime = new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); + Date lastTime = new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); //Date lastTime = new GregorianCalendar(2024, Calendar.NOVEMBER, 6).getTime(); // new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); - Date lastTime = new GregorianCalendar(2025, Calendar.JANUARY, 14).getTime(); // new Date(System.currentTimeMillis() - Duration.ofHours(1).toMillis()); @Override public void run() { From b09e4f3fa9f25de905048cb43857e52e72d9d739 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 17 Jan 2025 09:11:28 +0000 Subject: [PATCH 85/92] comm/iridium/RockBlockIridiumMessenger: Cleanup. --- .../lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index b12f973db9..0d85e39a12 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -328,7 +328,9 @@ else if (m.getContent() instanceof MimeMultipart) { if (matcher.matches()) { InputStream stream = (InputStream) p.getContent(); byte[] data = IOUtils.toByteArray(stream); - IridiumMessage msg = process(data, matcher.group(1), matcher.group(2), + String fromImei = matcher.group(1); + String seqNumber = matcher.group(2); + IridiumMessage msg = process(data, fromImei, seqNumber, m.getSentDate() == null ? m.getReceivedDate() : m.getSentDate()); if (msg != null) messages.add(msg); From 07943d73e27ce25595ec692aca138111f2896f09 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 17 Jan 2025 09:12:05 +0000 Subject: [PATCH 86/92] comm/iridium/RockBlockIridiumMessenger: Fix last seen IMEI update to vehicle. --- .../pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java index 0d85e39a12..7b12b373ae 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java +++ b/src/java/pt/lsts/neptus/comm/iridium/RockBlockIridiumMessenger.java @@ -368,8 +368,8 @@ private IridiumMessage process(byte[] data, String fromImei, String seqNumber, D if (irMsg.source == ImcId16.NULL_ID.intValue()) { // Let us try to fill the source from imei irMsg.source = HubIridiumMessenger.HubMessage.findSystemIdByImei(fromImei); - updateVehicleWithLastSeenImei(fromImei, sentDate); } + updateVehicleWithLastSeenImei(fromImei, sentDate); // If not set, set the timestamp if (!new Date(irMsg.timestampMillis).before(now) && sentDate != null) { From 885aec3e4b2318ab6add1c53f7715fd1c01bdae7 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 17 Jan 2025 09:13:24 +0000 Subject: [PATCH 87/92] comm/iridium/IridiumMessage: This can no longer be done here or overshadow the text messages guessing of the source. --- src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java b/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java index dc340cea86..75e39ca022 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/IridiumMessage.java @@ -106,8 +106,8 @@ public static IridiumMessage deserialize(byte[] data) throws Exception { } if (m != null) { - m.setSource(mgid > -1 ? source : 0xFFFF); - m.setDestination(mgid > -1 ? dest : 0xFFFF); + //m.setSource(mgid > -1 ? source : 0xFFFF); + //m.setDestination(mgid > -1 ? dest : 0xFFFF); m.setMessageType(mgid); if (mgid > -1) m.deserializeFields(iis); From d89b6cfd23018268cd32aeac9aee8315a15394b7 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 17 Jan 2025 09:14:53 +0000 Subject: [PATCH 88/92] comm/iridium/PlainTextReportMessage: Adding process of (vehicle - xxx) text part in the text message. --- .../lsts/neptus/comm/iridium/PlainTextReportMessage.java | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/java/pt/lsts/neptus/comm/iridium/PlainTextReportMessage.java b/src/java/pt/lsts/neptus/comm/iridium/PlainTextReportMessage.java index 33fa60a010..a888fc9780 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/PlainTextReportMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/PlainTextReportMessage.java @@ -60,6 +60,7 @@ public class PlainTextReportMessage extends IridiumMessage { String report; String vehicle; + String vehicleAlt; String timeOfDay; int source = 0xFFFF; double latDeg; @@ -104,6 +105,7 @@ public Collection asImc() { public String toString() { return "Report: " + report + "\n" + "Vehicle: " + vehicle + "\n" + + "Vehicle Alt: " + (vehicleAlt == null ? "" : vehicleAlt) + "\n" + "Time of day: " + timeOfDay + "\n" + "Lat: " + latDeg + "\n" + "Lon: " + lonDeg + "\n" @@ -124,6 +126,11 @@ private void parse() throws Exception { } vehicle = matcher.group(2); + String[] tks = vehicle.split(" - "); + if (tks.length > 1) { + vehicleAlt = vehicle.replaceFirst(tks[0], "").trim(); + vehicle = tks[0]; + } timeOfDay = matcher.group(3); String latMins = matcher.group(4); String lonMins = matcher.group(5); From d3b5eb00d2b4e5f59f82294fb1cf7914d0c175f0 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 17 Jan 2025 09:15:14 +0000 Subject: [PATCH 89/92] comm/iridium/PlainTextReportMessage: Adding process of (vehicle - xxx) text part in the text message. --- .../neptus/comm/iridium/PlainTextMessage.java | 38 +++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/src/java/pt/lsts/neptus/comm/iridium/PlainTextMessage.java b/src/java/pt/lsts/neptus/comm/iridium/PlainTextMessage.java index 93545a2d9c..2367e053db 100644 --- a/src/java/pt/lsts/neptus/comm/iridium/PlainTextMessage.java +++ b/src/java/pt/lsts/neptus/comm/iridium/PlainTextMessage.java @@ -32,27 +32,35 @@ */ package pt.lsts.neptus.comm.iridium; +import pt.lsts.imc.IMCDefinition; import pt.lsts.imc.IMCInputStream; import pt.lsts.imc.IMCMessage; import pt.lsts.imc.IMCOutputStream; import pt.lsts.imc.TextMessage; import pt.lsts.neptus.NeptusLog; +import javax.xml.bind.annotation.adapters.HexBinaryAdapter; +import java.io.ByteArrayInputStream; import java.io.UnsupportedEncodingException; import java.nio.charset.StandardCharsets; import java.util.ArrayList; import java.util.Collection; import java.util.List; +import java.util.regex.Matcher; +import java.util.regex.Pattern; /** * @author pdias * */ public class PlainTextMessage extends IridiumMessage { + private static final Pattern p0 = Pattern.compile("\\(([^\\)]*)\\).*"); String text; byte[] rawData; + public String vehicle = ""; + public PlainTextMessage() { super(-1); } @@ -73,6 +81,17 @@ public int deserializeFields(IMCInputStream in) throws Exception { rawData = data; text = new String(data, StandardCharsets.UTF_8); text = text.trim(); + + Matcher matcher = p0.matcher(text); + if (matcher.matches()) { + vehicle = matcher.group(1).trim(); + String[] tks = vehicle.split(" - "); + if (tks.length > 1) { + vehicle = tks[0]; + } + source = IMCDefinition.getInstance().getResolver().resolve(vehicle); + } + return text.getBytes(StandardCharsets.UTF_8).length; } @@ -125,4 +144,23 @@ static IridiumMessage createTextMessageFrom(IMCInputStream in) throws Exception plainTextMessage.deserializeFields(in); return plainTextMessage; } + + public static void main(String[] args) { + String textMsg = "(caravel) 2025/01/16 09:52:16 (APC):Using Modem 1"; + + byte[] bytesMsh = textMsg.getBytes(); + + IMCInputStream iis = new IMCInputStream(new ByteArrayInputStream(bytesMsh), IMCDefinition.getInstance()); + iis.setBigEndian(false); + PlainTextMessage txtIridium = new PlainTextMessage(); + try { + txtIridium.deserializeFields(iis); + NeptusLog.pub().info("Received a plain text from " + txtIridium.text); + System.out.println("Received a plain text from " + txtIridium + " :: " + txtIridium.vehicle); + } + catch (Exception e) { + NeptusLog.pub().error(e); + e.printStackTrace(); + } + } } From 598680838eee43355db4b65429bd5958faa1da56 Mon Sep 17 00:00:00 2001 From: Miguel Carvalho Date: Thu, 16 Jan 2025 13:16:01 +0000 Subject: [PATCH 90/92] swing/HoldFillButton: Added tick icon when button action is actually fired. --- .../lsts/neptus/gui/swing/HoldFillButton.java | 27 +++++++++++++----- src/resources/images/buttons/tick.png | Bin 0 -> 8263 bytes 2 files changed, 20 insertions(+), 7 deletions(-) create mode 100644 src/resources/images/buttons/tick.png diff --git a/src/java/pt/lsts/neptus/gui/swing/HoldFillButton.java b/src/java/pt/lsts/neptus/gui/swing/HoldFillButton.java index df4b343073..90c4c67733 100644 --- a/src/java/pt/lsts/neptus/gui/swing/HoldFillButton.java +++ b/src/java/pt/lsts/neptus/gui/swing/HoldFillButton.java @@ -52,9 +52,12 @@ public class HoldFillButton extends JButton { private Timer timer; private int progress = 0; - private int holdDurationMs = 2000; // 2 seconds + private int holdDurationMillis = 2000; + private final Color fillColor = new Color(0, 128, 255, 100); + private final int tempButtonDurationMillis = 1000; private final List actionListeners = new ArrayList<>(); private final ImageIcon LOCK_CLOCK = new ImageIcon(ImageUtils.getScaledImage("images/buttons/lock_clock.png", 15, 15)); + private final ImageIcon TICK = new ImageIcon(ImageUtils.getScaledImage("images/buttons/tick.png", 15, 15)); public HoldFillButton(String text) { super(text); @@ -62,10 +65,10 @@ public HoldFillButton(String text) { setupButton(); } - public HoldFillButton(String text, int holdDurationMs) { + public HoldFillButton(String text, int holdDurationMillis) { super(text); setIcon(LOCK_CLOCK); - this.holdDurationMs = holdDurationMs; + this.holdDurationMillis = holdDurationMillis; setupButton(); } @@ -81,13 +84,14 @@ public void mousePressed(MouseEvent e) { timer = new Timer(10, event -> { long elapsed = System.currentTimeMillis() - pressStartTime; - progress = (int) (elapsed * 100 / holdDurationMs); + progress = (int) (elapsed * 100 / holdDurationMillis); repaint(); - if (elapsed >= holdDurationMs) { + if (elapsed >= holdDurationMillis) { timer.stop(); triggerAction(); progress = 0; + repaint(); } }); timer.start(); @@ -104,6 +108,8 @@ public void mouseReleased(MouseEvent e) { } private void triggerAction() { + progress = 0; + changeButtonTemporarily(); fireCustomActionPerformed(); } }); @@ -120,6 +126,15 @@ this, ActionEvent.ACTION_PERFORMED, getActionCommand() } } + private void changeButtonTemporarily() { + setIcon(TICK); + Timer timer = new Timer(tempButtonDurationMillis, (ActionEvent event) -> { + setIcon(LOCK_CLOCK); + }); + timer.setRepeats(false); // Run only once + timer.start(); + } + @Override public void addActionListener(ActionListener l) { if (l == null) { @@ -138,8 +153,6 @@ protected void paintComponent(Graphics g) { int fillWidth = (int) (getWidth() * (progress / 100.0)); - Color fillColor = new Color(0, 128, 255, 100); - g2d.setColor(fillColor); g2d.fillRect(0, 0, fillWidth, getHeight()); } diff --git a/src/resources/images/buttons/tick.png b/src/resources/images/buttons/tick.png new file mode 100644 index 0000000000000000000000000000000000000000..9b79a6f4c8b0ac227d6d2c940bf9952fe358bfd6 GIT binary patch literal 8263 zcmcI}g$hrfKo%3g1|#4D!nY-jRGRIz%HRuQoD4Q zf^?TCU83K8KCj=u@SE3bX72mk_nmX@z30xHb0<V;? zxsF_k%H2}6?>}eGF3z@(eZOHVrQ5-q_}) zwvwp|k5=E*;p~yEvDw`@{c7`y>8ioak&e~w`h_OkOpR_8_^LCkcCM~{r88kLt?WB4 zXFT7Z801TM)wR}}K9U4aHAoFrxRwg6k z*4I=~H1eC;&T)K<)ZqwcjTh#{pm{M+>uii{s)}u7=Iq@{3FWPB*w2N|Q%I=zURNtcp{bxXYuS)j0(sB4a8KXq0ct?r+DT*9|WCYtwgQ;hzQ z`^kN+Itm5XvXU~bG*#DDjK+TX((@1S1C&oU>&*!6F7M|A6an|*z(~5R5ed$7gAj02 zO9*%D`u*kvZ)*Le@m9~bqBjCNDTUC5-1{_Ha)!^JXVL7#X>?eS6?##!W&ao+<}YN1 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2001 From: Miguel Carvalho Date: Fri, 17 Jan 2025 09:23:27 +0000 Subject: [PATCH 91/92] comm/manager/imc/ImcId16: Added new compareTo method against integers. --- src/java/pt/lsts/neptus/comm/manager/imc/ImcId16.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcId16.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcId16.java index a9e32cb55e..d781c57342 100644 --- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcId16.java +++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcId16.java @@ -105,10 +105,14 @@ public static boolean isValidIdForSource(long id) { @Override public int compareTo(ImcId16 o) { - //return (int) (longValue() - o.longValue()); return (longValue() < o.longValue() ? -1 : (longValue() == o.longValue() ? 0 : 1)); } + public int compareTo(int id) { + long i = id & 0xFFFF; + return (longValue() < i ? -1 : (longValue() == i ? 0 : 1)); + } + @Override public boolean equals(Object obj) { if(this == obj) From 1161d477d31df7e77aefe43abab90829f6474bb4 Mon Sep 17 00:00:00 2001 From: Miguel Carvalho Date: Fri, 17 Jan 2025 10:01:22 +0000 Subject: [PATCH 92/92] console/plugins/planning/MissionTreePanel: Added emergency_autonaut to plan names to automatically accept updates. --- .../lsts/neptus/console/plugins/planning/MissionTreePanel.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java index 216aabb636..41848150ff 100644 --- a/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java +++ b/src/java/pt/lsts/neptus/console/plugins/planning/MissionTreePanel.java @@ -131,7 +131,7 @@ public class MissionTreePanel extends ConsolePanel private int maxAcceptableElapsedTime = 600; @NeptusProperty(name = "Plan Names to Automatically Accept Updates", description = "Comma separated values. This upon reception of a plan " + "with the same name as the ones listed here, it will be automatically accepted the changes and replace it.") - private String planNamesToAutoAcceptUpdates = "teleoperation-mode, service_loiter"; + private String planNamesToAutoAcceptUpdates = "teleoperation-mode, service_loiter, emergency_autonaut"; private MissionTreeMouse mouseAdapter; private boolean running = false;

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