pt.up.fe.dceg.neptus.util.comm.manager.imc

Class ImcSystem

java.lang.Object

pt.up.fe.dceg.neptus.util.comm.manager.imc.ImcSystem

All Implemented Interfaces:

java.lang.Comparable<ImcSystem>

public class ImcSystem
extends java.lang.Object
implements java.lang.Comparable<ImcSystem>

Author:

pdias

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ImcSystem.IMCAuthorityState

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	ACOUSTIC_SYSTEMS
protected boolean	active
protected PlanType	activePlan
protected long	attitudeTimeMillis
protected ImcSystem.IMCAuthorityState	authorityState
protected CommMean	commsInfo
static java.lang.String	COURSE_KEY
protected java.lang.String	emergencyPlanId
protected java.lang.String	emergencyStatusStr
static java.lang.String	FUEL_LEVEL_KEY
static java.lang.String	GROUND_SPEED_KEY
static java.lang.String	HEADING_KEY
protected ImcId16	id
static java.lang.String	INDICATED_SPEED_KEY
protected long	lastAnnounceStateReceived
protected long	lastErrorStateReceived
protected long	lastIdErrorStateReceived
protected java.lang.String	lastUid
static java.lang.String	LBL_CONFIG_KEY
protected CoordinateSystem	location
protected long	locationTimeMillis
protected java.lang.String	name
protected boolean	onAnnounceState
protected boolean	onErrorState
protected java.lang.String	onErrorStateStr
protected boolean	onIdErrorState
protected PlanDBControl	planDBControl
static java.lang.String	RPM_MAP_ENTITY_KEY
static java.lang.String	TRUE_SPEED_KEY
protected VehicleType.SystemTypeEnum	type
protected VehicleType.VehicleTypeEnum	typeVehicle
static java.lang.String	VERTICAL_SPEED_KEY
static java.lang.String	WEB_UPDATED_KEY

Constructor Summary

Constructors

Constructor and Description
ImcSystem(ImcId16 id)
ImcSystem(ImcId16 id, CommMean commMean)
ImcSystem(java.lang.String name, ImcId16 id)
ImcSystem(java.lang.String name, ImcId16 id, CommMean commMean)
ImcSystem(VehicleType vehicle)

Method Summary

Modifier and Type	Method and Description
void	clearStoredData()
int	compareTo(ImcSystem o)
boolean	containsData(java.lang.String key)
boolean	containsData(java.lang.String key, long ageMillis)
static CommMean	createCommMean(java.lang.String hostAddress, int port, int portTCP, ImcId16 imcId, boolean udpOn, boolean tcpOn)
PlanType	getActivePlan()
long	getAttitudeTimeMillis()
ImcSystem.IMCAuthorityState	getAuthorityState()
CommMean	getCommsInfo()
java.util.Collection<java.lang.String>	getDataStorageKeys()
java.lang.String	getEmergencyPlanId()
java.lang.String	getEmergencyStatusStr()
java.lang.String	getHostAddress()
ImcId16	getId()
java.net.InetSocketAddress	getInetSocketAddress()
long	getLastAnnounceStateReceived()
long	getLastErrorStateReceived()
long	getLastIdErrorStateReceived()
java.lang.String	getLastUid()
LocationType	getLocation()
long	getLocationTimeMillis()
java.lang.String	getName()
java.lang.String	getOnErrorStateStr()
double	getPitchDegrees()
PlanDBControl	getPlanDBControl()
int	getRemoteTCPPort()
int	getRemoteUDPPort()
double	getRollDegrees()
java.util.Vector<java.net.URI>	getServiceProvided(java.lang.String name)
java.util.Vector<java.net.URI>	getServiceProvided(java.lang.String scheme, java.lang.String name)
java.lang.String	getServicesProvided() /*
VehicleType.SystemTypeEnum	getType()
VehicleType.VehicleTypeEnum	getTypeVehicle()
VehicleType	getVehicle() Tries to get a corresponding vehicle in case the type of this system is VEHICLE
double	getYawDegrees()
int	hashCode()
boolean	isActive()
boolean	isOnAnnounceState()
boolean	isOnErrorState()
boolean	isOnIdErrorState()
boolean	isServiceProvided(java.lang.String name)
boolean	isServiceProvided(java.lang.String scheme, java.lang.String name)
boolean	isSimulated() Checks if there is a "SimulatedState" message in the dataStorage with age less than a minute.
boolean	isTCPOn()
boolean	isUDPOn()
boolean	isWithAuthority()
static void	main(java.lang.String[] args)
static java.net.InetSocketAddress	parseInetSocketAddress(java.lang.String inetSocketAddress)
boolean	removeData(java.lang.String key)
java.lang.Object	retrieveData(java.lang.String key) This will retrieve the data stored or null if not found.
long	retrieveDataTimeMillis(java.lang.String key)
void	setActive(boolean active)
void	setActivePlan(PlanType activePlan)
void	setAttitudeDegrees(double yawDegrees)
void	setAttitudeDegrees(double rollDegrees, double pitchDegrees, double yawDegrees)
void	setAttitudeDegrees(double rollDegrees, double pitchDegrees, double yawDegrees, long locationTimeMillis)
void	setAttitudeDegrees(double yawDegrees, long locationTimeMillis)
void	setAttitudeTimeMillis(long attitudeTimeMillis)
void	setAuthorityState(ImcSystem.IMCAuthorityState authorityState)
void	setCommsInfo(CommMean commsInfo)
void	setEmergencyPlanId(java.lang.String emergencyPlanId)
void	setEmergencyStatusStr(java.lang.String emergencyStatusStr)
boolean	setHostAddress(java.lang.String hostAddress) Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.
void	setId(ImcId16 id)
void	setLastAnnounceStateReceived(long lastAnnounceStateReceived)
void	setLastUid(java.lang.String lastUid)
void	setLocation(LocationType location)
void	setLocation(LocationType location, long locationTimeMillis)
void	setLocationTimeMillis(long locationTimeMillis)
void	setName(java.lang.String name)
void	setOnAnnounceState(boolean onAnnounceState)
void	setOnErrorState(boolean onErrorState)
void	setOnErrorStateStr(java.lang.String onErrorStateStr)
void	setOnIdErrorState(boolean onIdErrorState)
boolean	setRemoteTCPPort(int port) Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.
boolean	setRemoteUDPPort(int port) Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.
void	setServicesProvided(java.lang.String servicesProvided)
boolean	setTCPOn(boolean on) Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.
void	setType(VehicleType.SystemTypeEnum type)
void	setTypeVehicle(VehicleType.VehicleTypeEnum typeVehicle)
boolean	setUDPOn(boolean on) Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.
boolean	storeData(java.lang.String key, java.lang.Object data) This will store some data with a String key.
boolean	storeData(java.lang.String key, java.lang.Object data, long timeMillis, boolean keepNewest)
java.lang.String	toString()
static VehicleType.SystemTypeEnum	translateSystemTypeFromMessage(java.lang.String type)
static VehicleType.VehicleTypeEnum	translateVehicleTypeFromMessage(java.lang.String type)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

GROUND_SPEED_KEY

public static final java.lang.String GROUND_SPEED_KEY

See Also:

Constant Field Values

VERTICAL_SPEED_KEY

public static final java.lang.String VERTICAL_SPEED_KEY

See Also:

Constant Field Values

TRUE_SPEED_KEY

public static final java.lang.String TRUE_SPEED_KEY

See Also:

Constant Field Values

INDICATED_SPEED_KEY

public static final java.lang.String INDICATED_SPEED_KEY

See Also:

Constant Field Values

RPM_MAP_ENTITY_KEY

public static final java.lang.String RPM_MAP_ENTITY_KEY

See Also:

Constant Field Values

COURSE_KEY

public static final java.lang.String COURSE_KEY

See Also:

Constant Field Values

HEADING_KEY

public static final java.lang.String HEADING_KEY

See Also:

Constant Field Values

FUEL_LEVEL_KEY

public static final java.lang.String FUEL_LEVEL_KEY

See Also:

Constant Field Values

WEB_UPDATED_KEY

public static final java.lang.String WEB_UPDATED_KEY

See Also:

Constant Field Values

LBL_CONFIG_KEY

public static final java.lang.String LBL_CONFIG_KEY

See Also:

Constant Field Values

ACOUSTIC_SYSTEMS

public static final java.lang.String ACOUSTIC_SYSTEMS

See Also:

Constant Field Values

name

protected java.lang.String name

id

protected ImcId16 id

type

protected VehicleType.SystemTypeEnum type

typeVehicle

protected VehicleType.VehicleTypeEnum typeVehicle

commsInfo

protected CommMean commsInfo

active

protected boolean active

activePlan

protected PlanType activePlan

location

protected final CoordinateSystem location

locationTimeMillis

protected long locationTimeMillis

attitudeTimeMillis

protected long attitudeTimeMillis

emergencyPlanId

protected java.lang.String emergencyPlanId

emergencyStatusStr

protected java.lang.String emergencyStatusStr

onErrorState

protected boolean onErrorState

onErrorStateStr

protected java.lang.String onErrorStateStr

lastErrorStateReceived

protected long lastErrorStateReceived

onIdErrorState

protected boolean onIdErrorState

lastIdErrorStateReceived

protected long lastIdErrorStateReceived

lastUid

protected java.lang.String lastUid

onAnnounceState

protected boolean onAnnounceState

lastAnnounceStateReceived

protected long lastAnnounceStateReceived

planDBControl

protected final PlanDBControl planDBControl

authorityState

protected ImcSystem.IMCAuthorityState authorityState

Constructor Detail

ImcSystem

public ImcSystem(VehicleType vehicle)

Parameters:

vehicle -

ImcSystem

public ImcSystem(ImcId16 id)

Parameters:

id -

ImcSystem

public ImcSystem(java.lang.String name,
                 ImcId16 id)

Parameters:

name -

id -

ImcSystem

public ImcSystem(ImcId16 id,
                 CommMean commMean)

Parameters:

id -

commMean -

ImcSystem

public ImcSystem(java.lang.String name,
                 ImcId16 id,
                 CommMean commMean)

Parameters:

name -

id -

commMean -

Method Detail

getName

public java.lang.String getName()

Returns:

the name

setName

public void setName(java.lang.String name)

Parameters:

name - the name to set

getId

public ImcId16 getId()

Returns:

the id

setId

public void setId(ImcId16 id)

Parameters:

id - the id to set

getLocation

public LocationType getLocation()

Returns:

the location

setLocation

public void setLocation(LocationType location)

Parameters:

location - the location to set

setLocation

public void setLocation(LocationType location,
                        long locationTimeMillis)

setAttitudeDegrees

public void setAttitudeDegrees(double rollDegrees,
                               double pitchDegrees,
                               double yawDegrees)

setAttitudeDegrees

public void setAttitudeDegrees(double rollDegrees,
                               double pitchDegrees,
                               double yawDegrees,
                               long locationTimeMillis)

setAttitudeDegrees

public void setAttitudeDegrees(double yawDegrees)

setAttitudeDegrees

public void setAttitudeDegrees(double yawDegrees,
                               long locationTimeMillis)

getRollDegrees

public double getRollDegrees()

getPitchDegrees

public double getPitchDegrees()

getYawDegrees

public double getYawDegrees()

getLocationTimeMillis

public long getLocationTimeMillis()

Returns:

the locationTime

setLocationTimeMillis

public void setLocationTimeMillis(long locationTimeMillis)

Parameters:

locationTimeMillis - the locationTimeMillis to set

getAttitudeTimeMillis

public long getAttitudeTimeMillis()

Returns:

the attitudeTimeMillis

setAttitudeTimeMillis

public void setAttitudeTimeMillis(long attitudeTimeMillis)

Parameters:

attitudeTimeMillis - the attitudeTimeMillis to set

getType

public VehicleType.SystemTypeEnum getType()

Returns:

the type

setType

public void setType(VehicleType.SystemTypeEnum type)

Parameters:

type - the type to set

getTypeVehicle

public VehicleType.VehicleTypeEnum getTypeVehicle()

Returns:

the typeVehicle

setTypeVehicle

public void setTypeVehicle(VehicleType.VehicleTypeEnum typeVehicle)

Parameters:

typeVehicle - the typeVehicle to set

getVehicle

public VehicleType getVehicle()

Tries to get a corresponding vehicle in case the type of this system is VEHICLE

Returns:

the corresponding VehicleType or null if no vehicle has the same IMC ID

getPlanDBControl

public PlanDBControl getPlanDBControl()

Returns:

the planDBControl

isWithAuthority

public boolean isWithAuthority()

getAuthorityState

public ImcSystem.IMCAuthorityState getAuthorityState()

Returns:

the authorityState

setAuthorityState

public void setAuthorityState(ImcSystem.IMCAuthorityState authorityState)

Parameters:

authorityState - the authorityState to set

getCommsInfo

public CommMean getCommsInfo()

Returns:

the commsInfo

setCommsInfo

public void setCommsInfo(CommMean commsInfo)

Parameters:

commsInfo - the commsInfo to set

getHostAddress

public java.lang.String getHostAddress()

Returns:

setHostAddress

public boolean setHostAddress(java.lang.String hostAddress)

Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.

Parameters:

hostAddress -

Returns:

isUDPOn

public boolean isUDPOn()

Returns:

setUDPOn

public boolean setUDPOn(boolean on)

Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.

Returns:

isTCPOn

public boolean isTCPOn()

Returns:

setTCPOn

public boolean setTCPOn(boolean on)

Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.

Returns:

getRemoteUDPPort

public int getRemoteUDPPort()

Returns:

the UDP remote port or if some error occur return '0'

setRemoteUDPPort

public boolean setRemoteUDPPort(int port)

Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.

Parameters:

port -

Returns:

getRemoteTCPPort

public int getRemoteTCPPort()

Returns:

the TCP remote port or if some error occur return '0'

setRemoteTCPPort

public boolean setRemoteTCPPort(int port)

Remember that #createCommMean(String, int, ImcId16, boolean, boolean) should be called first to create it first or call setCommsInfo(CommMean) if it is already created from outside.

Parameters:

port -

Returns:

getInetSocketAddress

public java.net.InetSocketAddress getInetSocketAddress()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

createCommMean

public static CommMean createCommMean(java.lang.String hostAddress,
                                      int port,
                                      int portTCP,
                                      ImcId16 imcId,
                                      boolean udpOn,
                                      boolean tcpOn)

Parameters:

hostAddress -

port -

imcId -

rtpsOn -

udpOn -

Returns:

parseInetSocketAddress

public static java.net.InetSocketAddress parseInetSocketAddress(java.lang.String inetSocketAddress)

compareTo

public int compareTo(ImcSystem o)

Specified by:

compareTo in interface java.lang.Comparable<ImcSystem>

isActive

public boolean isActive()

Returns:

the active

setActive

public void setActive(boolean active)

Parameters:

active - the active to set

getActivePlan

public PlanType getActivePlan()

Returns:

the activePlan

setActivePlan

public void setActivePlan(PlanType activePlan)

Parameters:

activePlan - the activePlan to set

getEmergencyPlanId

public java.lang.String getEmergencyPlanId()

Returns:

the emergencyPlanId

setEmergencyPlanId

public void setEmergencyPlanId(java.lang.String emergencyPlanId)

Parameters:

emergencyPlanId - the emergencyPlanId to set

getEmergencyStatusStr

public java.lang.String getEmergencyStatusStr()

Returns:

the emergencyStatusStr

setEmergencyStatusStr

public void setEmergencyStatusStr(java.lang.String emergencyStatusStr)

Parameters:

emergencyStatusStr - the emergencyStatusStr to set

getServicesProvided

public java.lang.String getServicesProvided()

/*

Returns:

the servicesProvided

setServicesProvided

public void setServicesProvided(java.lang.String servicesProvided)

Parameters:

servicesProvided - the servicesProvided to set

isServiceProvided

public boolean isServiceProvided(java.lang.String name)

isServiceProvided

public boolean isServiceProvided(java.lang.String scheme,
                                 java.lang.String name)

getServiceProvided

public java.util.Vector<java.net.URI> getServiceProvided(java.lang.String name)

getServiceProvided

public java.util.Vector<java.net.URI> getServiceProvided(java.lang.String scheme,
                                                         java.lang.String name)

isOnErrorState

public boolean isOnErrorState()

Returns:

the onErrorState

setOnErrorState

public void setOnErrorState(boolean onErrorState)

Parameters:

onErrorState - the onErrorState to set

getOnErrorStateStr

public java.lang.String getOnErrorStateStr()

Returns:

the onErrorStateStr

setOnErrorStateStr

public void setOnErrorStateStr(java.lang.String onErrorStateStr)

Parameters:

onErrorStateStr - the onErrorStateStr to set

getLastErrorStateReceived

public long getLastErrorStateReceived()

Returns:

the lastErrorStateReceived

isOnIdErrorState

public boolean isOnIdErrorState()

Returns:

the onIdErrorState

setOnIdErrorState

public void setOnIdErrorState(boolean onIdErrorState)

Parameters:

onIdErrorState - the onIdErrorState to set

getLastIdErrorStateReceived

public long getLastIdErrorStateReceived()

Returns:

the lastIdErrorStateReceived

getLastUid

public java.lang.String getLastUid()

Returns:

the lastUid

setLastUid

public void setLastUid(java.lang.String lastUid)

Parameters:

lastUid - the lastUid to set

isOnAnnounceState

public boolean isOnAnnounceState()

Returns:

the onAnnounceState

setOnAnnounceState

public void setOnAnnounceState(boolean onAnnounceState)

Parameters:

onAnnounceState - the onAnnounceState to set

getLastAnnounceStateReceived

public long getLastAnnounceStateReceived()

Returns:

the lastAnnounceStateReceived

setLastAnnounceStateReceived

public void setLastAnnounceStateReceived(long lastAnnounceStateReceived)

Parameters:

lastAnnounceStateReceived - the lastAnnounceStateReceived to set

getDataStorageKeys

public java.util.Collection<java.lang.String> getDataStorageKeys()

Returns:

the dataStorage keys

containsData

public boolean containsData(java.lang.String key)

Parameters:

key -

Returns:

containsData

public boolean containsData(java.lang.String key,
                            long ageMillis)

retrieveData

public java.lang.Object retrieveData(java.lang.String key)

This will retrieve the data stored or null if not found.

Parameters:

key -

Returns:

retrieveDataTimeMillis

public long retrieveDataTimeMillis(java.lang.String key)

Parameters:

key -

Returns:

storeData

public boolean storeData(java.lang.String key,
                         java.lang.Object data)

This will store some data with a String key. The previous data if existed will be overwritten.

Parameters:

key -

data -

storeData

public boolean storeData(java.lang.String key,
                         java.lang.Object data,
                         long timeMillis,
                         boolean keepNewest)

Parameters:

key -

data -

timeMillis -

removeData

public boolean removeData(java.lang.String key)

isSimulated

public boolean isSimulated()

Checks if there is a "SimulatedState" message in the dataStorage with age less than a minute.

clearStoredData

public void clearStoredData()

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

translateSystemTypeFromMessage

public static VehicleType.SystemTypeEnum translateSystemTypeFromMessage(java.lang.String type)

Parameters:

type -

Returns:

translateVehicleTypeFromMessage

public static VehicleType.VehicleTypeEnum translateVehicleTypeFromMessage(java.lang.String type)

main

public static void main(java.lang.String[] args)

Parameters:

args -