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Universal Controller Driver/Process Fixes for OSGi #162

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5505785
Move controller library classes to driver module and fix build for osgi
Feb 3, 2026
4a366f5
Refactoring
Feb 3, 2026
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10 changes: 5 additions & 5 deletions processing/sensorhub-process-universalcontroller/build.gradle
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Expand Up @@ -11,19 +11,19 @@ dependencies {
// add info to OSGi manifest
osgi {
manifest {
attributes('Bundle-Vendor': 'Sensia Software LLC')
attributes('Bundle-Activator': 'org.sensorhub.process.universalcontroller.Activator')
attributes('Bundle-Vendor': 'Botts Innovative Research, Inc.')
attributes('Bundle-Activator': 'org.sensorhub.impl.process.universalcontroller.Activator')
}
}

// add info to maven pom
ext.pom >>= {
developers {
developer {
id 'alexalmanza'
id 'earocorn'
name 'Alex Almanza'
organization 'Botts Innovative Research'
organizationUrl 'http://www.botts-inc.com'
organization 'Botts Innovative Research, Inc.'
organizationUrl 'https://www.botts-inc.com'
}
}
}
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2 changes: 1 addition & 1 deletion ...rocess/universalcontroller/Activator.java → ...rocess/universalcontroller/Activator.java
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Expand Up @@ -12,7 +12,7 @@

******************************* END LICENSE BLOCK ***************************/

package org.sensorhub.process.universalcontroller;
package org.sensorhub.impl.process.universalcontroller;

import org.osgi.framework.BundleActivator;
import org.sensorhub.utils.OshBundleActivator;
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6 changes: 3 additions & 3 deletions ...roller/impl/ControllerMAVLinkProcess.java → ...lcontroller/ControllerMAVLinkProcess.java
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@@ -1,9 +1,9 @@
package org.sensorhub.process.universalcontroller.impl;
package org.sensorhub.impl.process.universalcontroller;

import com.sample.impl.sensor.universalcontroller.helpers.UniversalControllerComponent;
import org.sensorhub.impl.sensor.universalcontroller.helpers.UniversalControllerComponent;
import net.opengis.swe.v20.*;
import org.sensorhub.api.processing.OSHProcessInfo;
import org.sensorhub.process.universalcontroller.helpers.AbstractControllerTaskingProcess;
import org.sensorhub.impl.process.universalcontroller.helpers.AbstractControllerTaskingProcess;
import org.vast.process.ProcessException;
import org.vast.swe.SWEConstants;
import org.vast.swe.SWEHelper;
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6 changes: 3 additions & 3 deletions ...controller/impl/ControllerPTZProcess.java → ...ersalcontroller/ControllerPTZProcess.java
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@@ -1,9 +1,9 @@
package org.sensorhub.process.universalcontroller.impl;
package org.sensorhub.impl.process.universalcontroller;

import com.sample.impl.sensor.universalcontroller.helpers.UniversalControllerComponent;
import org.sensorhub.impl.sensor.universalcontroller.helpers.UniversalControllerComponent;
import net.opengis.swe.v20.DataType;
import net.opengis.swe.v20.Quantity;
import org.sensorhub.process.universalcontroller.helpers.AbstractControllerTaskingProcess;
import org.sensorhub.impl.process.universalcontroller.helpers.AbstractControllerTaskingProcess;
import org.sensorhub.api.processing.OSHProcessInfo;
import org.vast.process.ProcessException;
import org.vast.swe.SWEHelper;
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7 changes: 3 additions & 4 deletions ...oller/impl/ControllerProcessTemplate.java → ...controller/ControllerProcessTemplate.java
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@@ -1,10 +1,9 @@
package org.sensorhub.process.universalcontroller.impl;
package org.sensorhub.impl.process.universalcontroller;

import com.sample.impl.sensor.universalcontroller.helpers.UniversalControllerComponent;
import org.sensorhub.impl.sensor.universalcontroller.helpers.UniversalControllerComponent;
import org.sensorhub.api.processing.OSHProcessInfo;
import org.sensorhub.process.universalcontroller.helpers.AbstractControllerTaskingProcess;
import org.sensorhub.impl.process.universalcontroller.helpers.AbstractControllerTaskingProcess;
import org.vast.process.ProcessException;
import org.vast.process.ProcessInfo;

public class ControllerProcessTemplate extends AbstractControllerTaskingProcess {

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4 changes: 2 additions & 2 deletions ...oller/impl/PrimaryControllerSelector.java → ...controller/PrimaryControllerSelector.java
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@@ -1,6 +1,6 @@
package org.sensorhub.process.universalcontroller.impl;
package org.sensorhub.impl.process.universalcontroller;

import com.sample.impl.sensor.universalcontroller.helpers.UniversalControllerProcessHelper;
import org.sensorhub.impl.sensor.universalcontroller.helpers.UniversalControllerProcessHelper;
import net.opengis.swe.v20.DataRecord;
import org.sensorhub.api.processing.OSHProcessInfo;
import org.vast.data.DataBlockList;
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4 changes: 1 addition & 3 deletions ...iversalcontroller/ProcessDescriptors.java → ...iversalcontroller/ProcessDescriptors.java
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Expand Up @@ -12,11 +12,9 @@

******************************* END LICENSE BLOCK ***************************/

package org.sensorhub.process.universalcontroller;
package org.sensorhub.impl.process.universalcontroller;

import org.sensorhub.impl.processing.AbstractProcessProvider;
import org.sensorhub.process.universalcontroller.impl.ControllerPTZProcess;
import org.sensorhub.process.universalcontroller.impl.PrimaryControllerSelector;


public class ProcessDescriptors extends AbstractProcessProvider
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4 changes: 2 additions & 2 deletions ...ers/AbstractControllerTaskingProcess.java → ...ers/AbstractControllerTaskingProcess.java
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@@ -1,6 +1,6 @@
package org.sensorhub.process.universalcontroller.helpers;
package org.sensorhub.impl.process.universalcontroller.helpers;

import com.sample.impl.sensor.universalcontroller.helpers.UniversalControllerProcessHelper;
import org.sensorhub.impl.sensor.universalcontroller.helpers.UniversalControllerProcessHelper;
import org.vast.process.ExecutableProcessImpl;
import org.vast.process.ProcessException;
import org.vast.process.ProcessInfo;
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2 changes: 1 addition & 1 deletion ...ller/helpers/ControllerProcessHelper.java → ...ller/helpers/ControllerProcessHelper.java
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@@ -1,4 +1,4 @@
package org.sensorhub.process.universalcontroller.helpers;
package org.sensorhub.impl.process.universalcontroller.helpers;

public class ControllerProcessHelper extends ProcessHelper {

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2 changes: 1 addition & 1 deletion ...rsalcontroller/helpers/ProcessHelper.java → ...rsalcontroller/helpers/ProcessHelper.java
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@@ -1,4 +1,4 @@
package org.sensorhub.process.universalcontroller.helpers;
package org.sensorhub.impl.process.universalcontroller.helpers;

import net.opengis.gml.v32.impl.ReferenceImpl;
import net.opengis.sensorml.v20.AbstractProcess;
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2 changes: 1 addition & 1 deletion ...roller/src/main/resources/META-INF/services/org.sensorhub.api.processing.IProcessProvider
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@@ -1 +1 @@
org.sensorhub.process.universalcontroller.ProcessDescriptors
org.sensorhub.impl.process.universalcontroller.ProcessDescriptors
15 changes: 3 additions & 12 deletions ...controller/src/test/java/org/sensorhub/process/universalcontroller/TestProcessWriter.java
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package org.sensorhub.process.universalcontroller;

import net.opengis.gml.v32.impl.ReferenceImpl;
import net.opengis.sensorml.v20.AbstractProcess;
import net.opengis.sensorml.v20.SimpleProcess;
import net.opengis.sensorml.v20.impl.SettingsImpl;
import net.opengis.swe.v20.AbstractSWEIdentifiable;
import net.opengis.swe.v20.DataComponent;
import org.junit.Test;
import org.sensorhub.process.universalcontroller.helpers.ProcessHelper;
import org.sensorhub.process.universalcontroller.impl.ControllerPTZProcess;
import org.sensorhub.process.universalcontroller.impl.PrimaryControllerSelector;
import org.vast.sensorML.*;

import java.util.UUID;
import org.sensorhub.impl.process.universalcontroller.helpers.ProcessHelper;
import org.sensorhub.impl.process.universalcontroller.ControllerPTZProcess;
import org.sensorhub.impl.process.universalcontroller.PrimaryControllerSelector;

import static org.junit.Assert.assertEquals;

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158 changes: 158 additions & 0 deletions processing/sensorhub-process-universalcontroller/src/test/resources/controller-ptz.xml
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<sml:AggregateProcess xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:sml="http://www.opengis.net/sensorml/2.0" xmlns:swe="http://www.opengis.net/swe/2.0" xmlns:gml="http://www.opengis.net/gml/3.2" xmlns:gco="http://www.isotc211.org/2005/gco" xmlns:gmd="http://www.isotc211.org/2005/gmd" gml:id="F1">
<gml:identifier codeSpace="uid">861a1f13-aee5-463e-a19e-8f0f9103375f</gml:identifier>
<sml:outputs>
<sml:OutputList>
<sml:output name="rpan">
<swe:Quantity definition="http://sensorml.com/ont/swe/property/RelativePan">
<swe:label>Relative Pan</swe:label>
<swe:uom code="deg"/>
</swe:Quantity>
</sml:output>
<sml:output name="rtilt">
<swe:Quantity definition="http://sensorml.com/ont/swe/property/RelativeTilt">
<swe:label>Relative Tilt</swe:label>
<swe:uom code="deg"/>
</swe:Quantity>
</sml:output>
<sml:output name="rzoom">
<swe:Quantity definition="http://sensorml.com/ont/swe/property/RelativeZoomFactor">
<swe:label>Relative Zoom Factor</swe:label>
<swe:uom code="1"/>
</swe:Quantity>
</sml:output>
<sml:output name="sensitivity">
<swe:Quantity definition="http://sensorml.com/ont/swe/property/JoystickSensitivity">
<swe:label>Sensitivity</swe:label>
<swe:uom code=""/>
</swe:Quantity>
</sml:output>
</sml:OutputList>
</sml:outputs>
<sml:components>
<sml:ComponentList>
<sml:component name="gamepadsource">
<sml:SimpleProcess gml:id="F2">
<sml:typeOf xlink:href="urn:osh:process:datasource:stream"/>
<sml:configuration>
<sml:Settings>
<sml:setValue ref="parameters/producerURI">urn:osh:sensor:universalcontroller001</sml:setValue>
</sml:Settings>
</sml:configuration>
</sml:SimpleProcess>
</sml:component>
<sml:component name="primaryselector">
<sml:SimpleProcess gml:id="F3">
<sml:typeOf xlink:href="urn:osh:process:primarycontrollerselector"/>
</sml:SimpleProcess>
</sml:component>
<sml:component name="axisprocess">
<sml:SimpleProcess gml:id="F4">
<sml:typeOf xlink:href="urn:osh:process:universalcontrollerptz"/>
</sml:SimpleProcess>
</sml:component>
<sml:component name="axiscamcontrolrpan">
<sml:SimpleProcess gml:id="F6">
<sml:typeOf xlink:href="urn:osh:process:datasink:commandstream"/>
<sml:configuration>
<sml:Settings>
<sml:setValue ref="parameters/systemUID">urn:axis:cam:00408CFBA322</sml:setValue>
<sml:setValue ref="parameters/inputName">ptzControl</sml:setValue>
</sml:Settings>
</sml:configuration>
</sml:SimpleProcess>
</sml:component>
<sml:component name="axiscamcontrolrtilt">
<sml:SimpleProcess gml:id="F7">
<sml:typeOf xlink:href="urn:osh:process:datasink:commandstream"/>
<sml:configuration>
<sml:Settings>
<sml:setValue ref="parameters/systemUID">urn:axis:cam:00408CFBA322</sml:setValue>
<sml:setValue ref="parameters/inputName">ptzControl</sml:setValue>
</sml:Settings>
</sml:configuration>
</sml:SimpleProcess>
</sml:component>
<sml:component name="axiscamcontrolrzoom">
<sml:SimpleProcess gml:id="F8">
<sml:typeOf xlink:href="urn:osh:process:datasink:commandstream"/>
<sml:configuration>
<sml:Settings>
<sml:setValue ref="parameters/systemUID">urn:axis:cam:00408CFBA322</sml:setValue>
<sml:setValue ref="parameters/inputName">ptzControl</sml:setValue>
</sml:Settings>
</sml:configuration>
</sml:SimpleProcess>
</sml:component>
</sml:ComponentList>
</sml:components>
<sml:connections>
<sml:ConnectionList>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/primaryControlStreamIndex"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/primaryControlStreamIndex"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/numControlStreams"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/numControlStreams"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/numGamepads"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/numGamepads"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/gamepads"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/gamepads"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/primaryselector/outputs/componentRecord"/>
<sml:destination ref="components/axisprocess/inputs/componentRecord"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/axisprocess/outputs/rpan"/>
<sml:destination ref="components/axiscamcontrolrpan/inputs/ptzControl/rpan"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/axisprocess/outputs/rtilt"/>
<sml:destination ref="components/axiscamcontrolrtilt/inputs/ptzControl/rtilt"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/axisprocess/outputs/rzoom"/>
<sml:destination ref="components/axiscamcontrolrzoom/inputs/ptzControl/rzoom"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/axisprocess/outputs/rtilt"/>
<sml:destination ref="outputs/rtilt"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/axisprocess/outputs/rzoom"/>
<sml:destination ref="outputs/rzoom"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/axisprocess/outputs/sensitivity"/>
<sml:destination ref="outputs/sensitivity"/>
</sml:Link>
</sml:connection>
</sml:ConnectionList>
</sml:connections>
</sml:AggregateProcess>
94 changes: 94 additions & 0 deletions ...essing/sensorhub-process-universalcontroller/src/test/resources/controller-to-mavlink.xml
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<sml:AggregateProcess xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:sml="http://www.opengis.net/sensorml/2.0" xmlns:swe="http://www.opengis.net/swe/2.0" xmlns:gml="http://www.opengis.net/gml/3.2" xmlns:gco="http://www.isotc211.org/2005/gco" xmlns:gmd="http://www.isotc211.org/2005/gmd" gml:id="F1">
<gml:identifier codeSpace="uid">861a1f13-aee5-463e-a19e-8f0f9103375f</gml:identifier>
<sml:outputs>
<sml:OutputList>
<sml:output name="velocity">
<swe:Quantity definition="http://sensorml.com/ont/swe/property/RelativePan">
<swe:label>Relative Pan</swe:label>
<swe:uom code="deg"/>
</swe:Quantity>
</sml:output>
</sml:OutputList>
</sml:outputs>
<sml:components>
<sml:ComponentList>
<sml:component name="gamepadsource">
<sml:SimpleProcess gml:id="F2">
<sml:typeOf xlink:href="urn:osh:process:datasource:stream"/>
<sml:configuration>
<sml:Settings>
<sml:setValue ref="parameters/producerURI">urn:osh:sensor:universalcontroller001</sml:setValue>
</sml:Settings>
</sml:configuration>
</sml:SimpleProcess>
</sml:component>
<sml:component name="primaryselector">
<sml:SimpleProcess gml:id="F3">
<sml:typeOf xlink:href="urn:osh:process:primarycontrollerselector"/>
</sml:SimpleProcess>
</sml:component>
<sml:component name="mavlinkProcess">
<sml:SimpleProcess gml:id="F4">
<sml:typeOf xlink:href="urn:osh:process:controllerMavlinkProcess"/>
</sml:SimpleProcess>
</sml:component>
<sml:component name="drone">
<sml:SimpleProcess gml:id="P3">
<sml:typeOf xlink:href="urn:osh:process:datasink:commandstream"/>
<sml:configuration>
<sml:Settings>
<sml:setValue ref="parameters/systemUID">urn:osh:template_driver:sensor001</sml:setValue>
<sml:setValue ref="parameters/inputName">offboardControl</sml:setValue>
</sml:Settings>
</sml:configuration>
</sml:SimpleProcess>
</sml:component>
</sml:ComponentList>
</sml:components>
<sml:connections>
<sml:ConnectionList>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/primaryControlStreamIndex"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/primaryControlStreamIndex"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/numControlStreams"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/numControlStreams"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/numGamepads"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/numGamepads"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/gamepadsource/outputs/UniversalControllerOutput/gamepads"/>
<sml:destination ref="components/primaryselector/inputs/gamepadRecord/gamepads"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/primaryselector/outputs/componentRecord"/>
<sml:destination ref="components/mavlinkProcess/inputs/componentRecord"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/mavlinkProcess/outputs/velocity"/>
<sml:destination ref="components/drone/inputs/offboardControl/velocity"/>
</sml:Link>
</sml:connection>
<sml:connection>
<sml:Link>
<sml:source ref="components/mavlinkProcess/outputs/yawRate"/>
<sml:destination ref="components/drone/inputs/offboardControl/yawRate"/>
</sml:Link>
</sml:connection>
</sml:ConnectionList>
</sml:connections>
</sml:AggregateProcess>
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