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Corridor split alpha #23

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4be2876
Integrate changes with 4.4
Sep 27, 2021
978c327
[-] - update SDK for 4.12 version (alpha) of UCS, protocol version 1.7
Sep 19, 2022
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39 changes: 25 additions & 14 deletions pom.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<groupId>com.ugcs</groupId>
<artifactId>ugcs-java-sdk</artifactId>
<name>UgCS Server Java SDK</name>
<version>4.2</version>
<version>4.12</version>
<packaging>pom</packaging>
<modules>
<module>ucs-messaging</module>
Expand All @@ -13,11 +13,11 @@
<module>ucs-client</module>
</modules>
<properties>
<maven.compiler.source>1.8</maven.compiler.source>
<maven.compiler.target>1.8</maven.compiler.target>
<maven.compiler.source>11</maven.compiler.source>
<maven.compiler.target>11</maven.compiler.target>
<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
<project.reporting.outputEncoding>UTF-8</project.reporting.outputEncoding>
<slf4j.version>1.7.25</slf4j.version>
<slf4j.version>1.7.26</slf4j.version>
<logback.version>1.2.3</logback.version>
<jackson.version>2.8.7</jackson.version>
</properties>
Expand All @@ -34,6 +34,11 @@
<artifactId>logback-classic</artifactId>
<version>${logback.version}</version>
</dependency>
<dependency>
<groupId>javax.naming</groupId>
<artifactId>jndi</artifactId>
<version>1.2.1</version>
</dependency>
<!-- protobuf -->
<dependency>
<groupId>com.google.protobuf</groupId>
Expand Down Expand Up @@ -79,17 +84,23 @@
<artifactId>jackson-databind</artifactId>
<version>${jackson.version}</version>
</dependency>
<dependency>
<groupId>com.fasterxml.jackson.dataformat</groupId>
<artifactId>jackson-dataformat-xml</artifactId>
<version>${jackson.version}</version>
</dependency>
<!-- testing -->
<dependency>
<groupId>junit</groupId>
<artifactId>junit</artifactId>
<version>4.12</version>
<scope>test</scope>
<groupId>org.junit</groupId>
<artifactId>junit-bom</artifactId>
<version>5.7.1</version>
<type>pom</type>
<scope>import</scope>
</dependency>
<dependency>
<groupId>org.mockito</groupId>
<artifactId>mockito-core</artifactId>
<version>2.21.0</version>
<version>2.28.2</version>
<scope>test</scope>
</dependency>
</dependencies>
Expand Down Expand Up @@ -166,15 +177,15 @@
</configuration>
</plugin>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>findbugs-maven-plugin</artifactId>
<version>3.0.3</version>
<groupId>com.github.spotbugs</groupId>
<artifactId>spotbugs-maven-plugin</artifactId>
<version>3.1.12</version>
<configuration>
<effort>Max</effort>
<threshold>Low</threshold>
<xmlOutput>true</xmlOutput>
<findbugsXmlOutputDirectory>${project.build.directory}</findbugsXmlOutputDirectory>
<excludeFilterFile>findbugs-exclude.xml</excludeFilterFile>
<xmlOutputDirectory>${project.build.directory}</xmlOutputDirectory>
<excludeFilterFile>spotbugs-exclude.xml</excludeFilterFile>
</configuration>
</plugin>
</plugins>
Expand Down
2 changes: 1 addition & 1 deletion ucs-api/pom.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<parent>
<groupId>com.ugcs</groupId>
<artifactId>ugcs-java-sdk</artifactId>
<version>4.2</version>
<version>4.12</version>
</parent>
<artifactId>ucs-api</artifactId>
<name>UCS API</name>
Expand Down
4 changes: 4 additions & 0 deletions ucs-api/src/main/java/com/ugcs/ucs/proto/mapping/HciMessageMapping.java
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Expand Up @@ -161,5 +161,9 @@ public HciMessageMapping() {
putMapping(163, GetElevationTilesResponse.class);
putMapping(164, ExportRouteToKmlRequest.class);
putMapping(165, ExportRouteToKmlResponse.class);
putMapping(168, GetTelemetrySnapshotRequest.class);
putMapping(169, GetTelemetrySnapshotResponse.class);
putMapping(170, SplitRouteByCorridorPointRequest.class);
putMapping(171, SplitRouteByCorridorPointResponse.class);
}
}
55 changes: 49 additions & 6 deletions ucs-api/src/main/proto/Domain.proto
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Expand Up @@ -135,6 +135,7 @@ enum VehicleParameterType {
enum PayloadType {
PT_CAMERA = 0;
PT_DATA_LINK = 1;
PT_LIDAR = 2;
}

enum PayloadParameterType {
Expand All @@ -147,6 +148,9 @@ enum PayloadParameterType {
PPT_SENSOR_HORIZONTAL_PIXELS = 6;
PPT_SENSOR_VERTICAL_PIXELS = 7;
PPT_MIN_TRIGGERING_INTERVAL = 8;
PPT_SCANNING_FOV = 9;
PPT_SCANNING_RANGE = 10;
PPT_SCANNING_SPEED = 11;
}

enum SeverityLevel {
Expand Down Expand Up @@ -180,6 +184,11 @@ enum FailsafeAction {
FA_NA = 4;
}

enum RecordingState {
RS_OFF = 0;
RS_ON = 1;
}

enum TriggerState {
TS_SINGLE_SHOT = 0;
TS_START_RECORDING = 1;
Expand Down Expand Up @@ -269,6 +278,7 @@ enum ActionCode {
AC_REPEAT_SERVO = 15;
AC_TRANSITION_FIXED = 16;
AC_TRANSITION_VTOL = 17;
AC_LIDAR_RECORDING_CONTROL = 18;
}

enum NfzType {
Expand Down Expand Up @@ -327,6 +337,8 @@ enum Subsystem {
S_ADSB_VEHICLE = 10;
S_WEATHER_STATION = 11;
S_VSM = 12;
S_LIDAR = 13;
S_RANGEFINDER = 14;
}

enum Semantic {
Expand Down Expand Up @@ -367,11 +379,17 @@ enum Semantic {
S_FLIGHT_MODE = 35;
S_LIST = 36;
S_AUTOPILOT_STATUS = 37;
S_TIMESTAMP = 38;
S_ANY = 39;
S_TEMPERATURE = 40;
S_HUMIDITY = 41;
S_PRECIPITATION = 42;
S_TIMESTAMP = 38;
S_ANY = 39;
S_DISTANCE = 43;
}

enum KmlExportAltitudeMode {
E_AMSL = 1;
E_RELATIVE_TO_FIRST_WP = 2;
}

//*****************************************************************************
Expand Down Expand Up @@ -452,10 +470,12 @@ message DomainObjectWrapper {
optional SetServo setServo = 82;
optional RepeatServo repeatServo = 83;
optional TransitionFixed transitionFixed = 84;
optional TransitionVtol transitionVtol = 85;
optional TransitionVtol transitionVtol = 85;
optional RouteUpload routeUpload = 86;
optional RoutePass routePass = 87;
optional Setting setting = 88;
optional LidarRecordingControlDefinition lidarRecordingControlDefinition = 89;
optional LidarRecordingControl lidarRecordingControl = 90;
}

//*****************************************************************************
Expand Down Expand Up @@ -505,7 +525,6 @@ message MissionPreference {
optional string tag = 7;
}


message Setting {
optional int32 id = 1;
optional string name = 2;
Expand Down Expand Up @@ -765,7 +784,7 @@ message Route {
optional int64 scheduledTime = 6 [(ugcs_field_posix_time) = true];
optional Mission mission = 7;
repeated SegmentDefinition segments = 8;
optional TrajectoryType trajectoryType = 10;
optional TrajectoryType trajectoryType = 10 [deprecated=true];
optional double safeAltitude = 11;
optional double maxAltitude = 12;
optional double initialSpeed = 13;
Expand Down Expand Up @@ -935,6 +954,7 @@ message Action {
optional RepeatServo repeatServo = 24;
optional TransitionVtol transitionVtol = 26;
optional TransitionFixed transitionFixed = 27;
optional LidarRecordingControl lidarRecordingControl = 28;
optional string tag = 21;
optional double estimatedTime = 25;
}
Expand All @@ -951,6 +971,7 @@ message Waypoint {
optional WaypointTurnType turnType = 9;
optional AltitudeFrame altitudeFrame = 11;
optional string tag = 10;
optional double cornerRadius = 12;
}

message CameraControl {
Expand Down Expand Up @@ -1009,6 +1030,14 @@ message HeadingChange {
optional string tag = 6;
}

// Start/Stop lidar data recording.
message LidarRecordingControl {
optional int32 id = 1;
optional int32 version = 2;
optional RecordingState targetState = 3;
optional string tag = 4;
}

message PoiChange {
optional int32 id = 1;
optional int32 version = 2;
Expand Down Expand Up @@ -1123,8 +1152,9 @@ message ActionDefinition {
optional PanoramaDefinition panoramaDefinition = 13;
optional SetServoDefinition setServoDefinition = 14;
optional RepeatServoDefinition repeatServoDefinition = 15;
optional TransitionVtolDefinition transitionVtolDefinition = 17;
optional TransitionVtolDefinition transitionVtolDefinition = 17;
optional TransitionFixedDefinition transitionFixedDefinition = 18;
optional LidarRecordingControlDefinition lidarRecordingControlDefinition = 19;
optional string tag = 16;
}

Expand Down Expand Up @@ -1165,6 +1195,13 @@ message CameraSeriesByDistanceDefinition {
optional string tag = 8;
}

message LidarRecordingControlDefinition {
optional int32 id = 1;
optional int32 version = 2;
optional RecordingState targetState = 3;
optional string tag = 4;
}

message HeadingDefinition {
optional int32 id = 1;
optional int32 version = 2;
Expand Down Expand Up @@ -1474,6 +1511,12 @@ message VehicleTrack {
optional Track track = 2;
}

message TelemetrySnapshot {
optional Vehicle vehicle = 1 [(ugcs_field_id) = true];
optional int64 snapshotTime = 2 [(ugcs_field_posix_time) = true];
repeated Telemetry telemetry = 3;
}

//*****************************************************************************
// Events
//*****************************************************************************
Expand Down
34 changes: 33 additions & 1 deletion ucs-api/src/main/proto/Messages.proto
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Expand Up @@ -3,7 +3,7 @@ syntax = "proto2";
option java_package = "com.ugcs.ucs.proto";
option java_outer_classname = "MessagesProto";
option (ugcs_protocol_major_version) = 1;
option (ugcs_protocol_minor_version) = 2;
option (ugcs_protocol_minor_version) = 7;

import "Options.proto";
import "Domain.proto";
Expand Down Expand Up @@ -85,6 +85,7 @@ message LicensePermissionsDto {
required bool kmlExport = 20;
optional int32 vehicleConnectionsLimit = 21;
optional bool dssClient = 22 [default = false];
repeated string forbiddenCommandCodes = 23;
}

message PlatformAndBooleanPairDto {
Expand Down Expand Up @@ -154,6 +155,10 @@ message PlatformParametersDto {
required PlatformParameters parameters = 2;
}

message PayloadParametersMappingDto {
required PayloadType payloadType = 1;
repeated PayloadParameterType parameterTypes = 2;
}
// Keys and values

message PlatformAndVehicleTypePairDto {
Expand Down Expand Up @@ -530,6 +535,7 @@ message GetRasterGridResponse {
required int32 height = 3;
required bool noData = 4;
}

//Request for elevation tiles in specified rectangle
message GetElevationTilesRequest {
required int32 clientId = 1;
Expand Down Expand Up @@ -685,6 +691,7 @@ message GetKmlRouteRepresentationRequest {
required string routeName = 2;
required VehicleProfile routeVehicleProfile = 3;
repeated Wgs84LocationDto waypoints = 4;
required KmlExportAltitudeMode altitudeMode = 5;
}
//Deprecated
message GetKmlRouteRepresentationResponse {
Expand All @@ -694,6 +701,7 @@ message GetKmlRouteRepresentationResponse {
message ExportRouteToKmlRequest {
required int32 clientId = 1;
optional ProcessedRoute route = 2;
required KmlExportAltitudeMode altitudeMode = 3;
}

message ExportRouteToKmlResponse {
Expand Down Expand Up @@ -938,6 +946,7 @@ message GetMappingRequest {
optional bool getFacadeScanPatterns = 9;
optional bool getAltitudeFrames = 10;
optional bool getPlatformParameters = 11;
optional bool getPayloadParameters = 12;
}

message GetMappingResponse {
Expand All @@ -951,6 +960,7 @@ message GetMappingResponse {
optional FacadeScanPatternsMappingDto facadeScanPaterrnsMapping = 9;
optional AltitudeFramesMappingDto altitudeFramesMapping = 10;
repeated PlatformParametersDto platformParameters = 11;
repeated PayloadParametersMappingDto payloadParameters = 12;
}

// Locks
Expand Down Expand Up @@ -1069,6 +1079,17 @@ message SplitRouteByDistanceResponse {
repeated Route parts = 1;
}

message SplitRouteByCorridorPointRequest {
required int32 clientId = 1;
required Route route = 2;
required int32 segmentIndex = 3;
required int32 pointIndex = 4;
}

message SplitRouteByCorridorPointResponse {
repeated Route parts = 1;
}

message JoinRouteRequest {
required int32 clientId = 1;
repeated Route parts = 2;
Expand Down Expand Up @@ -1136,3 +1157,14 @@ message UnsubscribeEventRequest {

message UnsubscribeEventResponse {
}

message GetTelemetrySnapshotRequest {
required int32 clientId = 1;
// list of vehicles to get snapshots for
repeated Vehicle vehicles = 2;
}

message GetTelemetrySnapshotResponse {
// list of vehicle telemetry snapshots
repeated TelemetrySnapshot snapshots = 1;
}
2 changes: 1 addition & 1 deletion ucs-client/pom.xml
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Expand Up @@ -4,7 +4,7 @@
<parent>
<groupId>com.ugcs</groupId>
<artifactId>ugcs-java-sdk</artifactId>
<version>4.2</version>
<version>4.12</version>
</parent>
<artifactId>ucs-client</artifactId>
<name>UCS Client</name>
Expand Down
5 changes: 3 additions & 2 deletions ucs-client/src/main/java/com/ugcs/ucs/client/Client.java
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Expand Up @@ -45,7 +45,8 @@ public Client(SocketAddress serverAddress) {
this.connector = new MinaConnector(
new MessageWrapperCodecFactory(new HciMessageMapping()),
1,
1);
1,
null);
}

public void addNotificationListener(ServerNotificationListener listener) {
Expand Down Expand Up @@ -183,4 +184,4 @@ public boolean select(Object message) {
&& !STATUS_MESSAGE_TYPES.contains(wrapper.getMessage().getClass());
}
}
}
}
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