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plugins/alert-intrusion/AlertIntrusion: Fix null pointer.
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@paulosousadias
paulosousadias committed Sep 2, 2024
1 parent 64508c3 commit 488fd5a
Showing 1 changed file with 68 additions and 57 deletions.
125 changes: 68 additions & 57 deletions ...ns-dev/alert-intrusion/src/java/pt/lsts/neptus/plugins/alertintrusion/AlertIntrusion.java
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Original file line number Diff line number Diff line change
Expand Up @@ -333,38 +333,42 @@ public void paint(Graphics2D g, StateRenderer2D renderer) {
AtomicReference<String> shipClosest = new AtomicReference<>(null);
AtomicDouble distanceClosest = new AtomicDouble(Double.MAX_VALUE);
AtomicReference<Date> timeClosest = new AtomicReference<>(null);
collisionsTree.get(lastMainVehicle).forEach((time, pair) -> {
String sysName = pair.first();
double distance = pair.second();
if (distance < distanceClosest.get()) {
shipClosest.set(sysName);
distanceClosest.set(distance);
timeClosest.set(time);

LocationType loc = null;
ImcSystem sys = ImcSystemsHolder.lookupSystemByName(sysName);
if (sys != null) {
loc = sys.getLocation().getNewAbsoluteLatLonDepth();
} else {
ExternalSystem esys = ExternalSystemsHolder.lookupSystem(sysName);
if (esys != null) {
loc = esys.getLocation().getNewAbsoluteLatLonDepth();
Map<Date, Pair<String, Double>> ctlast = collisionsTree.get(lastMainVehicle);
if (ctlast != null) {
ctlast.forEach((time, pair) -> {
String sysName = pair.first();
double distance = pair.second();
if (distance < distanceClosest.get()) {
shipClosest.set(sysName);
distanceClosest.set(distance);
timeClosest.set(time);

LocationType loc = null;
ImcSystem sys = ImcSystemsHolder.lookupSystemByName(sysName);
if (sys != null) {
loc = sys.getLocation().getNewAbsoluteLatLonDepth();
}
}
if (loc != null) {
Graphics2D gg = (Graphics2D) g2.create();
Point2D spos = renderer.getScreenPosition(loc);
gg.translate(spos.getX() - 20 - 8, spos.getY());
boolean res = !gg.drawImage(colregImageSmall, null, null);
if (res) {
askForLaterRepaint.compareAndSet(false, true);
else {
ExternalSystem esys = ExternalSystemsHolder.lookupSystem(sysName);
if (esys != null) {
loc = esys.getLocation().getNewAbsoluteLatLonDepth();
}
}
if (loc != null) {
Graphics2D gg = (Graphics2D) g2.create();
Point2D spos = renderer.getScreenPosition(loc);
gg.translate(spos.getX() - 20 - 8, spos.getY());
boolean res = !gg.drawImage(colregImageSmall, null, null);
if (res) {
askForLaterRepaint.compareAndSet(false, true);
}
gg.dispose();
}
gg.dispose();
}

}
//Point2D pt = renderer.getScreenPosition(loc);
});
}
//Point2D pt = renderer.getScreenPosition(loc);
});
}
if (shipClosest.get() != null) {
String line1 = shipClosest.get();
String line2 = Math.round(distanceClosest.get()) + "m at " + sdf.format(timeClosest.get());
Expand All @@ -385,39 +389,46 @@ public void paint(Graphics2D g, StateRenderer2D renderer) {
Point2D indicatorPoint = new Point2D.Double(20 + 25, 100 + 25);
AtomicReference<Short> mainlookAngle = new AtomicReference<>((short) 0);
boolean[] lookAngle = {false, false, false, false};
collisionsTree.get(lastMainVehicle).forEach((time, pair) -> {
String sysName = pair.first();
LocationType loc = null;
ImcSystem sys = ImcSystemsHolder.lookupSystemByName(sysName);
if (sys != null) {
loc = sys.getLocation().getNewAbsoluteLatLonDepth();
} else {
ExternalSystem esys = ExternalSystemsHolder.lookupSystem(sysName);
if (esys != null) {
loc = esys.getLocation().getNewAbsoluteLatLonDepth();
ctlast = collisionsTree.get(lastMainVehicle);
if (ctlast != null) {
ctlast.forEach((time, pair) -> {
String sysName = pair.first();
LocationType loc = null;
ImcSystem sys = ImcSystemsHolder.lookupSystemByName(sysName);
if (sys != null) {
loc = sys.getLocation().getNewAbsoluteLatLonDepth();
}
}
if (loc != null) {
Point2D pointShipClosest = renderer.getScreenPosition(loc);
Pair<Double, Short> angleRadAndQuadrant = calculateAngleToRotate(indicatorPoint, pointShipClosest);
if (angleRadAndQuadrant.second() == 0) {
lookAngle[0] = true;
} else if (angleRadAndQuadrant.second() == 1) {
lookAngle[1] = true;
} else if (angleRadAndQuadrant.second() == 2) {
lookAngle[2] = true;
} else if (angleRadAndQuadrant.second() == 3) {
lookAngle[3] = true;
else {
ExternalSystem esys = ExternalSystemsHolder.lookupSystem(sysName);
if (esys != null) {
loc = esys.getLocation().getNewAbsoluteLatLonDepth();
}
}
if (loc != null) {
Point2D pointShipClosest = renderer.getScreenPosition(loc);
Pair<Double, Short> angleRadAndQuadrant = calculateAngleToRotate(indicatorPoint, pointShipClosest);
if (angleRadAndQuadrant.second() == 0) {
lookAngle[0] = true;
}
else if (angleRadAndQuadrant.second() == 1) {
lookAngle[1] = true;
}
else if (angleRadAndQuadrant.second() == 2) {
lookAngle[2] = true;
}
else if (angleRadAndQuadrant.second() == 3) {
lookAngle[3] = true;
}

if (shipClosest.get() != null) {
String closestSysName = shipClosest.get();
if (closestSysName.equals(sysName)) {
mainlookAngle.set(angleRadAndQuadrant.second());
if (shipClosest.get() != null) {
String closestSysName = shipClosest.get();
if (closestSysName.equals(sysName)) {
mainlookAngle.set(angleRadAndQuadrant.second());
}
}
}
}
});
});
}
for (int i = 0; i < lookAngle.length; i++) {
if (lookAngle[i]) {
Graphics2D gg = (Graphics2D) g2.create();
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