Java tutorial
/* Copyright (c) 2011 Danish Maritime Authority * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 3 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this library. If not, see <http://www.gnu.org/licenses/>. */ package dk.dma.ais.abnormal.analyzer.analysis; import com.google.inject.Inject; import dk.dma.ais.abnormal.analyzer.AppStatisticsService; import dk.dma.ais.abnormal.event.db.EventRepository; import dk.dma.ais.abnormal.event.db.domain.CloseEncounterEvent; import dk.dma.ais.abnormal.event.db.domain.Event; import dk.dma.ais.abnormal.event.db.domain.TrackingPoint; import dk.dma.ais.abnormal.event.db.domain.builders.CloseEncounterEventBuilder; import dk.dma.ais.abnormal.util.Categorizer; import dk.dma.ais.tracker.eventEmittingTracker.EventEmittingTracker; import dk.dma.ais.tracker.eventEmittingTracker.InterpolatedTrackingReport; import dk.dma.ais.tracker.eventEmittingTracker.Track; import dk.dma.ais.tracker.eventEmittingTracker.TrackingReport; import dk.dma.enav.model.geometry.CoordinateSystem; import dk.dma.enav.model.geometry.Ellipse; import dk.dma.enav.util.CoordinateConverter; import net.jcip.annotations.NotThreadSafe; import org.apache.commons.configuration.Configuration; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import java.util.Collection; import java.util.Collections; import java.util.Date; import java.util.Set; import java.util.TreeSet; import static dk.dma.ais.abnormal.analyzer.config.Configuration.CONFKEY_ANALYSIS_CLOSEENCOUNTER_PREDICTIONTIME_MAX; import static dk.dma.ais.abnormal.analyzer.config.Configuration.CONFKEY_ANALYSIS_CLOSEENCOUNTER_RUN_PERIOD; import static dk.dma.ais.abnormal.analyzer.config.Configuration.CONFKEY_ANALYSIS_CLOSEENCOUNTER_SOG_MIN; import static dk.dma.ais.abnormal.util.AisDataHelper.nameOrMmsi; import static dk.dma.ais.abnormal.util.TrackPredicates.isEngagedInFishing; import static dk.dma.ais.abnormal.util.TrackPredicates.isEngagedInTowing; import static dk.dma.ais.abnormal.util.TrackPredicates.isFishingVessel; import static dk.dma.ais.abnormal.util.TrackPredicates.isSlowVessel; import static dk.dma.ais.abnormal.util.TrackPredicates.isSmallVessel; import static dk.dma.ais.abnormal.util.TrackPredicates.isSupportVessel; import static dk.dma.ais.abnormal.util.TrackPredicates.isUndefinedVessel; import static dk.dma.enav.safety.SafetyZones.safetyZone; import static dk.dma.enav.safety.SafetyZones.vesselExtent; import static java.lang.Math.max; import static java.lang.Math.min; import static java.util.stream.Collectors.toSet; /** * This analysis manages events where two vessels have a close encounter and therefore * are in risk of collision. * * The analysis works by calculating an ellipse around each ship. The ellipse's size and orientation depends on the * vessels loa, beam, speed, and course. The ellipse is translated forward from the vessel's center so that it covers * a larger area in front of the vessel. If two ellipses intersect there is a risk of collision and this is registered * as an abnormal event. * * This analysis is rather extensive, and we can therefore now allow to block the EventBus * for the duration of a complete analysis. Instead the worked is spawned to a separate worker * thread. * * @author Thomas Borg Salling <tbsalling@tbsalling.dk> */ @NotThreadSafe public class CloseEncounterAnalysis extends PeriodicAnalysis { private static final Logger LOG = LoggerFactory.getLogger(CloseEncounterAnalysis.class); private final AppStatisticsService statisticsService; /** Minimum speed over ground to consider close encounter (in knots) */ private final float sogMin; @Inject public CloseEncounterAnalysis(Configuration configuration, AppStatisticsService statisticsService, EventEmittingTracker trackingService, EventRepository eventRepository) { super(eventRepository, trackingService, null); this.statisticsService = statisticsService; this.sogMin = configuration.getFloat(CONFKEY_ANALYSIS_CLOSEENCOUNTER_SOG_MIN, 5.0f); setTrackPredictionTimeMax(configuration.getInteger(CONFKEY_ANALYSIS_CLOSEENCOUNTER_PREDICTIONTIME_MAX, -1)); setAnalysisPeriodMillis(configuration.getInt(CONFKEY_ANALYSIS_CLOSEENCOUNTER_RUN_PERIOD, 30000) * 1000); LOG.info(this.getClass().getSimpleName() + " created (" + this + ")."); } @Override public String toString() { return "CloseEncounterAnalysis{" + "sogMin=" + sogMin + "} " + super.toString(); } protected void performAnalysis() { LOG.debug("Starting " + getAnalysisName()); final long systemTimeMillisBeforeAnalysis = System.currentTimeMillis(); Collection<Track> tracks = getTrackingService().getTracks(); tracks.forEach(t -> analyseCloseEncounters(tracks, t)); final long systemTimeMillisAfterAnalysis = System.currentTimeMillis(); statisticsService.incAnalysisStatistics(getAnalysisName(), "Analyses performed"); LOG.debug(getAnalysisName() + " of " + tracks.size() + " tracks completed in " + (systemTimeMillisAfterAnalysis - systemTimeMillisBeforeAnalysis) + " msecs."); } private void analyseCloseEncounters(Collection<Track> allTracks, Track track) { clearTrackPairsAnalyzed(); if (isSupportVessel.negate().test(track) && isEngagedInTowing.negate().test(track)) { findNearByTracks(allTracks, track, 60000, 1852).stream().filter(isSupportVessel.negate()) .filter(isEngagedInTowing.negate()).forEach(nearByTrack -> { if (isFishingVessel.test(track) && isFishingVessel.test(nearByTrack)) { return; } if (isUndefinedVessel.test(track) && isUndefinedVessel.test(nearByTrack)) { return; } if (isSlowVessel.test(track) && isSlowVessel.test(nearByTrack)) { return; } if (isSmallVessel.test(track) && isSmallVessel.test(nearByTrack)) { return; } if (isEngagedInFishing.test(track) && isEngagedInFishing.test(nearByTrack)) { return; } if (!(track.getSpeedOverGround() > sogMin || nearByTrack.getSpeedOverGround() > sogMin)) { return; } analyseCloseEncounter(track, nearByTrack); }); } } void analyseCloseEncounter(Track track1, Track track2) { if (track1.getSpeedOverGround() > sogMin && !isTrackPairAnalyzed(track1, track2)) { final long t = max(track1.getTimeOfLastPositionReport(), track2.getTimeOfLastPositionReport()); if (t > track1.getTimeOfLastPositionReport()) { track1.predict(t); } if (t > track2.getTimeOfLastPositionReport()) { track2.predict(t); } if (isLastAisTrackingReportTooOld(track1, t)) { LOG.debug("Skipping analysis: MMSI " + track1.getMmsi() + " was predicted for too long."); return; } if (isLastAisTrackingReportTooOld(track2, t)) { LOG.debug("Skipping analysis: MMSI " + track2.getMmsi() + " was predicted for too long."); return; } boolean allValuesPresent = false; float track1Cog = Float.NaN, track1Sog = Float.NaN, track2Hdg = Float.NaN; int track1Loa = -1, track1Beam = -1, track1Stern = -1, track1Starboard = -1, track2Loa = -1, track2Beam = -1, track2Stern = -1, track2Starboard = -1; try { track1Cog = track1.getCourseOverGround(); track1Sog = track1.getSpeedOverGround(); track1Loa = track1.getVesselLength(); track1Beam = track1.getVesselBeam(); track1Stern = track1.getShipDimensionStern(); track1Starboard = track1.getShipDimensionStarboard(); track2Hdg = track2.getTrueHeading(); track2Loa = track2.getVesselLength(); track2Beam = track2.getVesselBeam(); track2Stern = track2.getShipDimensionStern(); track2Starboard = track2.getShipDimensionStarboard(); allValuesPresent = true; } catch (NullPointerException e) { } if (allValuesPresent && !Float.isNaN(track1Cog) && !Float.isNaN(track2Hdg)) { Ellipse safetyEllipseTrack1 = safetyZone(track1.getPosition(), track1.getPosition(), track1Cog, track1Sog, track1Loa, track1Beam, track1Stern, track1Starboard); Ellipse extentTrack2 = vesselExtent(track1.getPosition(), track2.getPosition(), track2Hdg, track2Loa, track2Beam, track2Stern, track2Starboard); if (safetyEllipseTrack1 != null && extentTrack2 != null && safetyEllipseTrack1.intersects(extentTrack2)) { track1.setProperty(Track.SAFETY_ZONE, safetyEllipseTrack1); track2.setProperty(Track.EXTENT, extentTrack2); raiseOrMaintainAbnormalEvent(CloseEncounterEvent.class, track1, track2); } else { lowerExistingAbnormalEventIfExists(CloseEncounterEvent.class, track1); } } markTrackPairAnalyzed(track1, track2); } else { LOG.debug("PREVIOUSLY COMPARED " + track1.getMmsi() + " AGAINST " + track2.getMmsi()); } } private Set<String> trackPairsAnalyzed; void clearTrackPairsAnalyzed() { trackPairsAnalyzed = new TreeSet<>(); } void markTrackPairAnalyzed(Track track1, Track track2) { String trackPairKey = calculateTrackPairKey(track1, track2); trackPairsAnalyzed.add(trackPairKey); } static String calculateTrackPairKey(Track track1, Track track2) { int mmsi1 = track1.getMmsi(); int mmsi2 = track2.getMmsi(); return min(mmsi1, mmsi2) + "-" + max(mmsi1, mmsi2); } boolean isTrackPairAnalyzed(Track track1, Track track2) { String trackPairKey = calculateTrackPairKey(track1, track2); return trackPairsAnalyzed.contains(trackPairKey); } /** * In the set of candidateTracks: find the candidateTracks which are near to the nearToTrack - with 'near' * defined as * * - last reported position timestamp within +/- 1 minute of nearToTrack's * - last reported position within 1 nm of nearToTrack * * @param candidateTracks the set of candidate candidateTracks to search among. * @param nearToTrack the nearToTrack to find other near-by candidateTracks for. * @return the set of nearby candidateTracks */ Set<Track> findNearByTracks(Collection<Track> candidateTracks, Track nearToTrack, int maxTimestampDeviationMillis, int maxDistanceDeviationMeters) { Set<Track> nearbyTracks = Collections.EMPTY_SET; TrackingReport positionReport = nearToTrack.getNewestTrackingReport(); if (positionReport != null) { final long timestamp = positionReport.getTimestamp(); nearbyTracks = candidateTracks.stream() .filter(candidateTrack -> candidateTrack.getMmsi() != nearToTrack.getMmsi() && candidateTrack.getTimeOfLastPositionReport() > 0L && candidateTrack.getTimeOfLastPositionReport() > timestamp - maxTimestampDeviationMillis && candidateTrack.getTimeOfLastPositionReport() < timestamp + maxTimestampDeviationMillis && candidateTrack.getPosition().distanceTo(nearToTrack.getPosition(), CoordinateSystem.CARTESIAN) < maxDistanceDeviationMeters) .collect(toSet()); } return nearbyTracks; } @Override protected Event buildEvent(Track primaryTrack, Track... otherTracks) { if (otherTracks == null) { throw new IllegalArgumentException("otherTracks cannot be null."); } if (otherTracks.length != 1) { throw new IllegalArgumentException( "otherTracks.length must be exactly 1, not " + otherTracks.length + "."); } final Track secondaryTrack = otherTracks[0]; String primaryShipName = nameOrMmsi(primaryTrack.getShipName(), primaryTrack.getMmsi()); String secondaryShipName = nameOrMmsi(secondaryTrack.getShipName(), secondaryTrack.getMmsi()); String primaryShipType = "unknown type"; Integer primaryShipTypeBoxed = primaryTrack.getShipType(); short primaryShipTypeCategory = Categorizer.mapShipTypeToCategory(primaryShipTypeBoxed); if (primaryShipTypeBoxed != null) { primaryShipType = Categorizer.mapShipTypeCategoryToString(primaryShipTypeCategory); } short primaryShipLengthCategory = Categorizer.mapShipLengthToCategory(primaryTrack.getVesselLength()); String secondaryShipType = "?"; Integer secondaryShipTypeBoxed = secondaryTrack.getShipType(); short secondaryShipTypeCategory = Categorizer.mapShipTypeToCategory(secondaryShipTypeBoxed); if (secondaryShipTypeBoxed != null) { secondaryShipType = Categorizer.mapShipTypeCategoryToString(secondaryShipTypeCategory); } short secondaryShipLengthCategory = Categorizer.mapShipLengthToCategory(secondaryTrack.getVesselLength()); StringBuffer title = new StringBuffer(); title.append("Close encounter"); StringBuffer description = new StringBuffer(); description.append("Close encounter between "); description.append(primaryShipName); description.append(" (" + primaryShipType + ") and "); description.append(secondaryShipName); description.append(" (" + secondaryShipType + ") on "); description.append(DATE_FORMAT.format(new Date(primaryTrack.getTimeOfLastPositionReport()))); description.append("."); Ellipse primaryTrackSafetyEllipse = (Ellipse) primaryTrack.getProperty(Track.SAFETY_ZONE); Ellipse secondaryTrackExtent = (Ellipse) secondaryTrack.getProperty(Track.EXTENT); CoordinateConverter CoordinateConverter = new CoordinateConverter( primaryTrackSafetyEllipse.getGeodeticReference().getLongitude(), primaryTrackSafetyEllipse.getGeodeticReference().getLatitude()); double primaryTrackLatitude = CoordinateConverter.y2Lat(primaryTrackSafetyEllipse.getX(), primaryTrackSafetyEllipse.getY()); double primaryTrackLongitude = CoordinateConverter.x2Lon(primaryTrackSafetyEllipse.getX(), primaryTrackSafetyEllipse.getY()); double secondaryTrackLatitude = CoordinateConverter.y2Lat(secondaryTrackExtent.getX(), secondaryTrackExtent.getY()); double secondaryTrackLongitude = CoordinateConverter.x2Lon(secondaryTrackExtent.getX(), secondaryTrackExtent.getY()); statisticsService.incAnalysisStatistics(getAnalysisName(), "Events raised"); LOG.info(description.toString()); Event event = CloseEncounterEventBuilder.CloseEncounterEvent().safetyZoneOfPrimaryVessel() .targetTimestamp(new Date(primaryTrack.getTimeOfLastPositionReport())) .centerLatitude(primaryTrackLatitude).centerLongitude(primaryTrackLongitude) .majorAxisHeading(primaryTrackSafetyEllipse.getMajorAxisGeodeticHeading()) .majorSemiAxisLength(primaryTrackSafetyEllipse.getAlpha()) .minorSemiAxisLength(primaryTrackSafetyEllipse.getBeta()).extentOfSecondaryVessel() .targetTimestamp(new Date(secondaryTrack.getTimeOfLastPositionReport())) .centerLatitude(secondaryTrackLatitude).centerLongitude(secondaryTrackLongitude) .majorAxisHeading(secondaryTrackExtent.getMajorAxisGeodeticHeading()) .majorSemiAxisLength(secondaryTrackExtent.getAlpha()) .minorSemiAxisLength(secondaryTrackExtent.getBeta()).title(title.toString()) .description(description.toString()).state(Event.State.ONGOING) .startTime(new Date(primaryTrack.getTimeOfLastPositionReport())).behaviour().isPrimary(true) .vessel().mmsi(primaryTrack.getMmsi()).imo(primaryTrack.getIMO()) .callsign(primaryTrack.getCallsign()).type(primaryShipTypeBoxed /* primaryShipTypeCategory */) .toBow(primaryTrack.getShipDimensionBow()).toStern(primaryTrack.getShipDimensionStern()) .toPort(primaryTrack.getShipDimensionPort()).toStarboard(primaryTrack.getShipDimensionStarboard()) .name(primaryTrack.getShipName()).trackingPoint() .timestamp(new Date(primaryTrack.getTimeOfLastPositionReport())) .positionInterpolated(primaryTrack.getNewestTrackingReport() instanceof InterpolatedTrackingReport) .eventCertainty(TrackingPoint.EventCertainty.RAISED) .speedOverGround(primaryTrack.getSpeedOverGround()) .courseOverGround(primaryTrack.getCourseOverGround()).trueHeading(primaryTrack.getTrueHeading()) .latitude(primaryTrack.getPosition().getLatitude()) .longitude(primaryTrack.getPosition().getLongitude()).behaviour().isPrimary(false).vessel() .mmsi(secondaryTrack.getMmsi()).imo(secondaryTrack.getIMO()).callsign(secondaryTrack.getCallsign()) .type(secondaryShipTypeBoxed /* secondaryShipTypeCategory */) .toBow(secondaryTrack.getShipDimensionBow()).toStern(secondaryTrack.getShipDimensionStern()) .toPort(secondaryTrack.getShipDimensionPort()) .toStarboard(secondaryTrack.getShipDimensionStarboard()).name(secondaryTrack.getShipName()) .trackingPoint().timestamp(new Date(secondaryTrack.getTimeOfLastPositionReport())) .positionInterpolated( secondaryTrack.getNewestTrackingReport() instanceof InterpolatedTrackingReport) .eventCertainty(TrackingPoint.EventCertainty.RAISED) .speedOverGround(secondaryTrack.getSpeedOverGround()) .courseOverGround(secondaryTrack.getCourseOverGround()).trueHeading(secondaryTrack.getTrueHeading()) .latitude(secondaryTrack.getPosition().getLatitude()) .longitude(secondaryTrack.getPosition().getLongitude()).getEvent(); addPreviousTrackingPoints(event, primaryTrack); addPreviousTrackingPoints(event, secondaryTrack); return event; } }