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glue go and java

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js0ny 2025-12-05 06:40:58 +00:00
parent 3bbfed11fa
commit 8e462fedc1
4 changed files with 217 additions and 64 deletions
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65
ilp-rest-service/src/main/java/io/github/js0ny/ilp_coursework/data/common/DroneEvent.java Normal file
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@ -0,0 +1,65 @@
package io.github.js0ny.ilp_coursework.data.common;
import java.time.LocalDateTime;
import java.util.List;
import io.github.js0ny.ilp_coursework.data.response.DeliveryPathResponse;
// Corresponding in Go
//
/*
* type DroneEvent struct {
* DroneID string `json:"drone_id"`
* Latitude float64 `json:"latitude"`
* Longitude float64 `json:"longitude"`
* Timestamp string `json:"timestamp"`
* }
*/
public record DroneEvent(
String droneId,
double latitude,
double longitude,
String timestamp) {
// Helper method that converts from DeliveryPathResponse to List<DroneEvent>
public static List<DroneEvent> fromPathResponse(DeliveryPathResponse resp) {
List<DroneEvent> events = new java.util.ArrayList<>();
for (var p : resp.dronePaths()) {
String id = p.droneId() + "";
for (var d : p.deliveries()) {
for (var coord : d.flightPath()) {
String timestamp = java.time.Instant.now().toString();
events.add(new DroneEvent(
id,
coord.lat(),
coord.lng(),
timestamp));
}
}
}
return events;
}
// Helper method that converts from DeliveryPathResponse to List<DroneEvent>
// with base timestamp
public static List<DroneEvent> fromPathResponseWithTimestamp(DeliveryPathResponse resp,
LocalDateTime baseTimestamp) {
List<DroneEvent> events = new java.util.ArrayList<>();
java.time.LocalDateTime timestamp = baseTimestamp;
for (var p : resp.dronePaths()) {
String id = String.valueOf(p.droneId());
for (var d : p.deliveries()) {
for (var coord : d.flightPath()) {
events.add(new DroneEvent(
id,
coord.lat(),
coord.lng(),
timestamp.toString()));
timestamp = timestamp.plusSeconds(1); // Increment timestamp for each event
}
}
}
return events;
}
}

151
ilp-rest-service/src/main/java/io/github/js0ny/ilp_coursework/service/PathFinderService.java
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@ -20,6 +20,7 @@ import io.github.js0ny.ilp_coursework.data.response.DeliveryPathResponse;
import io.github.js0ny.ilp_coursework.data.response.DeliveryPathResponse.DronePath;
import io.github.js0ny.ilp_coursework.data.response.DeliveryPathResponse.DronePath.Delivery;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
@ -42,8 +43,10 @@ import java.util.stream.Collectors;
public class PathFinderService {
/**
* Hard stop on how many pathfinding iterations we attempt for a single segment before bailing,
* useful for preventing infinite loops caused by precision quirks or unexpected map data.
* Hard stop on how many pathfinding iterations we attempt for a single segment
* before bailing,
* useful for preventing infinite loops caused by precision quirks or unexpected
* map data.
*
* @see #computePath(LngLat, LngLat)
*/
@ -59,12 +62,18 @@ public class PathFinderService {
private final Map<Integer, LngLat> servicePointLocations;
private final List<Region> restrictedRegions;
@Autowired
private TelemetryService telemetryService;
/**
* Constructor for PathFinderService. The dependencies are injected by Spring and the
* constructor pre-computes reference maps used throughout the request lifecycle.
* Constructor for PathFinderService. The dependencies are injected by Spring
* and the
* constructor pre-computes reference maps used throughout the request
* lifecycle.
*
* @param gpsCalculationService Service handling geometric operations.
* @param droneInfoService Service that exposes drone metadata and capability information.
* @param droneInfoService Service that exposes drone metadata and
* capability information.
*/
public PathFinderService(
GpsCalculationService gpsCalculationService, DroneInfoService droneInfoService) {
@ -77,8 +86,7 @@ public class PathFinderService {
this.drones = droneInfoService.fetchAllDrones();
List<ServicePoint> servicePoints = droneInfoService.fetchServicePoints();
List<ServicePointDrones> servicePointAssignments =
droneInfoService.fetchDronesForServicePoints();
List<ServicePointDrones> servicePointAssignments = droneInfoService.fetchDronesForServicePoints();
List<RestrictedArea> restrictedAreas = droneInfoService.fetchRestrictedAreas();
this.droneById = this.drones.stream().collect(Collectors.toMap(Drone::id, drone -> drone));
@ -96,17 +104,17 @@ public class PathFinderService {
}
}
this.servicePointLocations =
servicePoints.stream()
.collect(
Collectors.toMap(
ServicePoint::id, sp -> new LngLat(sp.location())));
this.servicePointLocations = servicePoints.stream()
.collect(
Collectors.toMap(
ServicePoint::id, sp -> new LngLat(sp.location())));
this.restrictedRegions = restrictedAreas.stream().map(RestrictedArea::toRegion).toList();
}
/**
* Produce a delivery plan for the provided dispatch records. Deliveries are grouped per
* Produce a delivery plan for the provided dispatch records. Deliveries are
* grouped per
* compatible drone and per trip to satisfy each drone move limit.
*
* @param records Dispatch records to be fulfilled.
@ -148,17 +156,14 @@ public class PathFinderService {
continue;
}
List<MedDispatchRecRequest> sortedDeliveries =
entry.getValue().stream()
.sorted(
Comparator.comparingDouble(
rec ->
gpsCalculationService.calculateDistance(
servicePointLocation, rec.delivery())))
.toList();
List<MedDispatchRecRequest> sortedDeliveries = entry.getValue().stream()
.sorted(
Comparator.comparingDouble(
rec -> gpsCalculationService.calculateDistance(
servicePointLocation, rec.delivery())))
.toList();
List<List<MedDispatchRecRequest>> trips =
splitTrips(sortedDeliveries, drone, servicePointLocation);
List<List<MedDispatchRecRequest>> trips = splitTrips(sortedDeliveries, drone, servicePointLocation);
for (List<MedDispatchRecRequest> trip : trips) {
TripResult result = buildTrip(drone, servicePointLocation, trip);
@ -170,15 +175,22 @@ public class PathFinderService {
}
}
return new DeliveryPathResponse(totalCost, totalMoves, paths.toArray(new DronePath[0]));
var resp = new DeliveryPathResponse(totalCost, totalMoves, paths.toArray(new DronePath[0]));
telemetryService.sendEventAsyncByPathResponse(resp);
return resp;
}
/**
* Convenience wrapper around {@link #calculateDeliveryPath} that serializes the result into a
/*
* Convenience wrapper around {@link #calculateDeliveryPath} that serializes the
* result into a
* GeoJSON FeatureCollection suitable for mapping visualization.
*
* @param records Dispatch records to be fulfilled.
*
* @return GeoJSON payload representing every delivery flight path.
*
* @throws IllegalStateException When the payload cannot be serialized.
*/
public String calculateDeliveryPathAsGeoJson(MedDispatchRecRequest[] records) {
@ -227,8 +239,10 @@ public class PathFinderService {
}
/**
* Group dispatch records by their assigned drone, ensuring every record is routed through
* {@link #findBestDrone(MedDispatchRecRequest)} exactly once and discarding invalid entries.
* Group dispatch records by their assigned drone, ensuring every record is
* routed through
* {@link #findBestDrone(MedDispatchRecRequest)} exactly once and discarding
* invalid entries.
*
* @param records Dispatch records to be grouped.
* @return Map keyed by drone ID with the deliveries it should service.
@ -247,7 +261,8 @@ public class PathFinderService {
}
/**
* Choose the best drone for the provided record. Currently that equates to picking the closest
* Choose the best drone for the provided record. Currently that equates to
* picking the closest
* compatible drone to the delivery location.
*
* @param record Dispatch record that needs fulfillment.
@ -272,9 +287,8 @@ public class PathFinderService {
continue;
}
double distance =
gpsCalculationService.calculateDistance(
servicePointLocation, record.delivery());
double distance = gpsCalculationService.calculateDistance(
servicePointLocation, record.delivery());
if (distance < bestScore) {
bestScore = distance;
@ -288,14 +302,16 @@ public class PathFinderService {
}
/**
* Break a sequence of deliveries into several trips that each respect the drone move limit. The
* Break a sequence of deliveries into several trips that each respect the drone
* move limit. The
* deliveries should already be ordered by proximity for sensible grouping.
*
* @param deliveries Deliveries assigned to a drone.
* @param drone Drone that will service the deliveries.
* @param deliveries Deliveries assigned to a drone.
* @param drone Drone that will service the deliveries.
* @param servicePoint Starting and ending point of every trip.
* @return Partitioned trips with at least one delivery each.
* @throws IllegalStateException If a single delivery exceeds the drone's move limit.
* @throws IllegalStateException If a single delivery exceeds the drone's move
* limit.
*/
private List<List<MedDispatchRecRequest>> splitTrips(
List<MedDispatchRecRequest> deliveries, Drone drone, LngLat servicePoint) {
@ -331,13 +347,15 @@ public class PathFinderService {
}
/**
* Build a single trip for the provided drone, including the entire flight path to every
* delivery and back home. The resulting structure contains the {@link DronePath} representation
* Build a single trip for the provided drone, including the entire flight path
* to every
* delivery and back home. The resulting structure contains the
* {@link DronePath} representation
* as well as cost and moves consumed.
*
* @param drone Drone executing the trip.
* @param drone Drone executing the trip.
* @param servicePoint Starting/ending location of the trip.
* @param deliveries Deliveries to include in the trip in execution order.
* @param deliveries Deliveries to include in the trip in execution order.
* @return Trip information or {@code null} if no deliveries are provided.
* @see DeliveryPathResponse.DronePath
*/
@ -377,10 +395,9 @@ public class PathFinderService {
flightPlans.add(new Delivery(delivery.id(), flightPath));
}
float cost =
drone.capability().costInitial()
+ drone.capability().costFinal()
+ (float) (drone.capability().costPerMove() * moves);
float cost = drone.capability().costInitial()
+ drone.capability().costFinal()
+ (float) (drone.capability().costPerMove() * moves);
DronePath path = new DronePath(drone.parseId(), flightPlans);
@ -388,11 +405,12 @@ public class PathFinderService {
}
/**
* Estimate the number of moves a prospective trip would need by replaying the path calculation
* Estimate the number of moves a prospective trip would need by replaying the
* path calculation
* without mutating any persistent state.
*
* @param servicePoint Trip origin.
* @param deliveries Deliveries that would compose the trip.
* @param deliveries Deliveries that would compose the trip.
* @return Total moves required to fly the proposed itinerary.
*/
private int estimateTripMoves(LngLat servicePoint, List<MedDispatchRecRequest> deliveries) {
@ -411,10 +429,11 @@ public class PathFinderService {
}
/**
* Build a path between {@code start} and {@code target} by repeatedly moving in snapped
* Build a path between {@code start} and {@code target} by repeatedly moving in
* snapped
* increments while avoiding restricted zones.
*
* @param start Start coordinate.
* @param start Start coordinate.
* @param target Destination coordinate.
* @return Sequence of visited coordinates and move count.
* @see #nextPosition(LngLat, LngLat)
@ -444,18 +463,20 @@ public class PathFinderService {
}
/**
* Determine the next position on the path from {@code current} toward {@code target},
* preferring the snapped angle closest to the desired heading that does not infiltrate a
* Determine the next position on the path from {@code current} toward
* {@code target},
* preferring the snapped angle closest to the desired heading that does not
* infiltrate a
* restricted region.
*
* @param current Current coordinate.
* @param target Destination coordinate.
* @return Next admissible coordinate or the original point if none can be found.
* @param target Destination coordinate.
* @return Next admissible coordinate or the original point if none can be
* found.
*/
private LngLat nextPosition(LngLat current, LngLat target) {
double desiredAngle =
Math.toDegrees(
Math.atan2(target.lat() - current.lat(), target.lng() - current.lng()));
double desiredAngle = Math.toDegrees(
Math.atan2(target.lat() - current.lat(), target.lng() - current.lng()));
List<Angle> candidateAngles = buildAngleCandidates(desiredAngle);
for (Angle angle : candidateAngles) {
LngLat next = gpsCalculationService.nextPosition(current, angle);
@ -467,8 +488,10 @@ public class PathFinderService {
}
/**
* Build a sequence of candidate angles centered on the desired heading, expanding symmetrically
* clockwise and counter-clockwise to explore alternative headings if the primary path is
* Build a sequence of candidate angles centered on the desired heading,
* expanding symmetrically
* clockwise and counter-clockwise to explore alternative headings if the
* primary path is
* blocked.
*
* @param desiredAngle Bearing in degrees between current and target positions.
@ -503,15 +526,17 @@ public class PathFinderService {
}
/**
* Representation of a computed path segment wrapping the visited positions and the number of
* Representation of a computed path segment wrapping the visited positions and
* the number of
* moves taken to traverse them.
*
* @param positions Ordered coordinates that describe the path.
* @param moves Number of moves consumed by the path.
* @param moves Number of moves consumed by the path.
*/
private record PathSegment(List<LngLat> positions, int moves) {
/**
* Append the positions from this segment to {@code target}, skipping the first coordinate
* Append the positions from this segment to {@code target}, skipping the first
* coordinate
* as it is already represented by the last coordinate in the consumer path.
*
* @param target Mutable list to append to.
@ -524,8 +549,10 @@ public class PathFinderService {
}
/**
* Bundle containing the calculated {@link DronePath}, total moves and financial cost for a
* Bundle containing the calculated {@link DronePath}, total moves and financial
* cost for a
* single trip.
*/
private record TripResult(DronePath path, int moves, float cost) {}
private record TripResult(DronePath path, int moves, float cost) {
}
}

61
ilp-rest-service/src/main/java/io/github/js0ny/ilp_coursework/service/TelemetryService.java Normal file
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@ -0,0 +1,61 @@
package io.github.js0ny.ilp_coursework.service;
import java.net.http.HttpClient;
import java.time.Duration;
import java.time.LocalDateTime;
import java.util.concurrent.CompletableFuture;
import org.springframework.stereotype.Service;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.github.js0ny.ilp_coursework.data.common.DroneEvent;
import io.github.js0ny.ilp_coursework.data.response.DeliveryPathResponse;
@Service
public class TelemetryService {
private final HttpClient client;
private final ObjectMapper mapper;
private final String BLACKBOX_URL;
public TelemetryService() {
this.client = HttpClient.newBuilder().connectTimeout(Duration.ofSeconds(2)).build();
this.mapper = new ObjectMapper();
this.BLACKBOX_URL = System.getenv().getOrDefault("BLACKBOX_ENDPOINT", "http://localhost:3000");
}
public void sendEventAsyncByPathResponse(DeliveryPathResponse resp) {
var events = DroneEvent.fromPathResponse(resp);
for (var event : events) {
sendEventAsync(event);
}
}
public void sendEventAsyncByPathResponse(DeliveryPathResponse resp, LocalDateTime baseTimestamp) {
var events = DroneEvent.fromPathResponseWithTimestamp(resp, baseTimestamp);
for (var event : events) {
sendEventAsync(event);
}
}
public void sendEventAsync(DroneEvent event) {
CompletableFuture.runAsync(() -> {
try {
String json = mapper.writeValueAsString(event);
var request = java.net.http.HttpRequest.newBuilder()
.uri(java.net.URI.create(BLACKBOX_URL + "/ingest"))
.header("Content-Type", "application/json")
.POST(java.net.http.HttpRequest.BodyPublishers.ofString(json))
.build();
client.send(request, java.net.http.HttpResponse.BodyHandlers.ofString());
} catch (Exception e) {
System.err.println("[ERROR] Failed to send telemetry event: " + e.getMessage());
}
});
}
}