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feat(maps): add native AIS data support and AISVessel NodeProperty (#5369)
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31 files changed

Lines changed: 6278 additions & 79 deletions

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‎.idea/jsLibraryMappings.xml‎

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‎alchemist-maps/build.gradle.kts‎

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@@ -17,6 +17,7 @@ plugins {
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dependencies {
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ksp(alchemist("factories-generator"))
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api(alchemist("api"))
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api(libs.ais.lib.messages)
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implementation(alchemist("implementationbase"))
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implementation(alchemist("loading"))
@@ -49,6 +50,10 @@ publishing.publications {
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name.set("Andrea Placuzzi")
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email.set("andrea.placuzzi@studio.unibo.it")
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}
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developer {
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name.set("Lorenzo Antonioli")
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email.set("lorenzo.antonioli2@studio.unibo.it")
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}
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}
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contributors {
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contributor {

‎alchemist-maps/src/main/java/it/unibo/alchemist/model/maps/actions/ReproduceGPSTrace.java‎

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@@ -60,11 +60,17 @@ public ReproduceGPSTrace(
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final String normalizer,
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final Object... normalizerArgs
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) {
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super(environment, node,
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new IgnoreStreets<>(),
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new StraightLineTraceDependantSpeed<>(environment, node, reaction),
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new FollowTrace<>(reaction),
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path, cycle, normalizer, normalizerArgs);
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super(
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environment,
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node,
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new IgnoreStreets<>(),
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new StraightLineTraceDependantSpeed<>(environment, node, reaction),
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new FollowTrace<>(reaction),
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path,
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cycle,
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normalizer,
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normalizerArgs
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);
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}
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/**

‎alchemist-maps/src/main/java/it/unibo/alchemist/model/maps/deployments/FromGPSTrace.java‎

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This file was deleted.

‎alchemist-maps/src/main/kotlin/it/unibo/alchemist/boundary/gps/loaders/AISLoader.kt‎

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/*
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* Copyright (C) 2010-2026, Danilo Pianini and contributors
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* listed, for each module, in the respective subproject's build.gradle.kts file.
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*
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* This file is part of Alchemist, and is distributed under the terms of the
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* GNU General Public License, with a linking exception,
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* as described in the file LICENSE in the Alchemist distribution's top directory.
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*/
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package it.unibo.alchemist.boundary.gps.loaders
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import com.google.common.collect.ImmutableSet
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import it.unibo.alchemist.boundary.gps.GPSFileLoader
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import it.unibo.alchemist.boundary.gps.loaders.ais.AISDecoder
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import it.unibo.alchemist.boundary.gps.loaders.ais.AISPayload
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import it.unibo.alchemist.boundary.gps.loaders.ais.AISTrace
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import it.unibo.alchemist.model.maps.GPSTrace
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import it.unibo.alchemist.model.maps.positions.GPSPointImpl
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import it.unibo.alchemist.model.maps.routes.GPSTraceImpl
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import it.unibo.alchemist.model.times.DoubleTime
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import java.net.URL
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import kotlin.time.DurationUnit.SECONDS
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import kotlin.time.Instant
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import org.openstreetmap.osmosis.osmbinary.file.FileFormatException
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/**
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* Reads raw AIS NMEA files as Alchemist GPS traces.
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*/
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class AISLoader : GPSFileLoader {
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override fun readTrace(url: URL): List<GPSTrace> = runCatching {
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url.openStream().use { input ->
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AISPayload.fromTimedMessages(AISDecoder.parsePayload(input.bufferedReader().readText()))
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.values
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.flatten()
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.toTraces()
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}
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}.getOrElse {
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throw FileFormatException("Incorrect AIS Payload in $url").initCause(it)
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}
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override fun supportedExtensions(): ImmutableSet<String> = EXTENSIONS
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/**
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* AIS trace conversion helpers.
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*/
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companion object {
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private val EXTENSIONS = ImmutableSet.of("ais", "nmea", "txt")
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private val EPOCH = Instant.fromEpochSeconds(0)
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/**
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* Converts AIS payloads to GPS traces, preserving epoch-based times by default.
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*
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* @param timeOrigin instant mapped to simulation time zero.
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*/
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internal fun Iterable<AISPayload>.toTraces(timeOrigin: Instant = EPOCH): List<GPSTrace> = AISTrace
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.from(this)
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.map { trace -> trace.toTrace(timeOrigin) }
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private fun AISTrace.toTrace(timeOrigin: Instant): GPSTrace = GPSTraceImpl(
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positionPayloads.asSequence()
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.map {
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check(it.latitude != null && it.longitude != null)
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GPSPointImpl(
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it.latitude,
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it.longitude,
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it.timestamp.toTraceTime(timeOrigin),
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)
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}
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.toList(),
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)
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private fun Instant.toTraceTime(timeOrigin: Instant): DoubleTime = DoubleTime(
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(this - timeOrigin).toDouble(SECONDS),
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)
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}
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}

‎alchemist-maps/src/main/kotlin/it/unibo/alchemist/boundary/gps/loaders/ais/AISDecoder.kt‎

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/*
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* Copyright (C) 2010-2023, Danilo Pianini and contributors
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* listed, for each module, in the respective subproject's build.gradle.kts file.
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*
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* This file is part of Alchemist, and is distributed under the terms of the
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* GNU General Public License, with a linking exception,
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* as described in the file LICENSE in the Alchemist distribution's top directory.
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*/
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package it.unibo.alchemist.boundary.gps.loaders.ais
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import dk.dma.ais.binary.SixbitException
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import dk.dma.ais.message.AisMessage
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import dk.dma.ais.message.AisMessageException
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import dk.dma.ais.message.UTCDateResponseMessage
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import dk.dma.ais.sentence.SentenceException
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import dk.dma.ais.sentence.Vdm
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import java.io.File
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import java.time.LocalDate
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import kotlin.time.Instant
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import org.slf4j.LoggerFactory
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/**
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* Utility object to decode AIS raw messages.
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*/
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object AISDecoder {
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private const val DATE_TIME_PREFIX = "!DATE-TIME,"
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private const val DATE_TIME_SEPARATOR = 'T'
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private const val FALLBACK_DATE = "1970-01-01"
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private const val INVALID_CHECKSUM = "Invalid checksum"
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private const val OUT_OF_SEQUENCE_SENTENCE = "Out of sequence sentence:"
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private val logger = LoggerFactory.getLogger(AISDecoder::class.java)
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/** Parses all the raw AIS lines contained in a [File].
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* @param file the [File] from which parse AIS info.
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**/
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fun parseFile(file: File): List<Pair<Instant, AisMessage>> = parsePayload(file.readText(Charsets.UTF_8))
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/**
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* @return the messages parsed from a raw [String] to [AisMessage], paired with timestamps obtained from AIS
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* source tags, AIS UTC response messages, or in-file `!DATE-TIME` markers when no AIS timestamp is available.
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**/
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fun parsePayload(payload: String): List<Pair<Instant, AisMessage>> =
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parsePayload(payload, startOfDay(FALLBACK_DATE))
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/**
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* @param date the payload date as an instant. Messages preceding the first explicit timestamp use this instant.
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* @return the message parsed from a raw [String] to [AisMessage] and maps it to the timestamp of the raw message.
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**/
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fun parsePayload(payload: String, date: Instant): List<Pair<Instant, AisMessage>> {
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var payloadDate = LocalDate.parse(date.toIsoDate())
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var currentTimestamp = date
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var vdmAccumulator = Vdm()
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return buildList {
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for (line in payload.lines()) {
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when {
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line.startsWith(DATE_TIME_PREFIX) -> {
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val time = line.substringAfter(DATE_TIME_PREFIX).trim()
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var timestamp = Instant.parse("${payloadDate}T${time}Z")
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if (timestamp < currentTimestamp) {
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payloadDate = payloadDate.plusDays(1)
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timestamp = Instant.parse("${payloadDate}T${time}Z")
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}
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currentTimestamp = timestamp
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}
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line.isBlank() -> Unit
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else -> vdmAccumulator = vdmAccumulator.parseSentence(line) { message ->
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val messageTimestamp = message.timestamp ?: currentTimestamp
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currentTimestamp = messageTimestamp
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add(messageTimestamp to message)
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}
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}
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}
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}
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}
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private fun startOfDay(date: String): Instant = Instant.parse("${date}T00:00:00Z")
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private fun Instant.toIsoDate(): String = toString().substringBefore(DATE_TIME_SEPARATOR)
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private val AisMessage.timestamp: Instant?
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get() = sourceTag?.timestamp?.time?.let(Instant::fromEpochMilliseconds)
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?: (this as? UTCDateResponseMessage)?.date?.time?.let(Instant::fromEpochMilliseconds)
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private val SentenceException.hasInvalidChecksum: Boolean
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get() = message?.contains(INVALID_CHECKSUM) == true
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private val SentenceException.isOutOfSequence: Boolean
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get() = message?.contains(OUT_OF_SEQUENCE_SENTENCE) == true
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private val SentenceException.isRecoverable: Boolean
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get() = isOutOfSequence || hasInvalidChecksum
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private fun Vdm.parseSentence(line: String, onComplete: (AisMessage) -> Unit): Vdm {
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val vdm = runCatching { apply { parse(line) } }.getOrElse { exception ->
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if (exception is SentenceException && exception.isRecoverable) {
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logger.debug(
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"Resetting partial AIS message after an out-of-sequence sentence or invalid checksum",
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exception,
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)
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return Vdm()
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} else {
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throw exception
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}
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}
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return if (vdm.isCompletePacket) {
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vdm.toAisMessage()?.let(onComplete)
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Vdm()
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} else {
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vdm
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}
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}
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private val Throwable.isUndecodableMessage: Boolean
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get() = this is AisMessageException || this is SixbitException
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private fun Vdm.toAisMessage(): AisMessage? = runCatching {
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AisMessage.getInstance(this)
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}.getOrElse { exception ->
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if (exception.isUndecodableMessage) {
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logger.debug("Discarding undecodable AIS message", exception)
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null
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} else {
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throw exception
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}
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}
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}

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