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fix(atak): align Jetson harness and render CoT points #112

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Merged
benschwierking merged 1 commit into from
May 3, 2026
Merged

fix(atak): align Jetson harness and render CoT points #112

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232 changes: 226 additions & 6 deletions atak/plugin/app/src/main/java/TacticalEdgeRouteAgent/plugin/TERAPlugin.java
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@
import java.util.ArrayList;
import java.util.List;
import java.util.UUID;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

import gov.tak.api.plugin.IPlugin;
import gov.tak.api.plugin.IServiceController;
Expand Down Expand Up @@ -201,7 +203,7 @@ public void onComplete(boolean ok, String msg, JSONObject planJson) {
appendChatMessage(transcript, chatScroll, hasMessages,
"TERA", msg, false);
if (ok && planJson != null) {
drawRoute(planJson);
drawMapResponse(planJson);
}
});
}
Expand Down Expand Up @@ -478,28 +480,35 @@ private void clearActiveRoute() {
activeWaypointMarkers.clear();
}

private void drawRoute(JSONObject planJson) {
private void drawMapResponse(JSONObject planJson) {
MapView mapView = MapView.getMapView();
if (mapView == null) return;

clearActiveRoute();

boolean routeDrawn = drawRoute(mapView, planJson);
int pointCount = drawPointMarkers(mapView, planJson, !routeDrawn);

if (!routeDrawn && pointCount == 0) {
Toast.makeText(pluginContext, "No route or points in response", Toast.LENGTH_SHORT).show();
}
}

private boolean drawRoute(MapView mapView, JSONObject planJson) {
try {
// Extract LineString coordinates from route.geometry.coordinates
// GeoJSON format: [[lon, lat], [lon, lat], ...]
JSONObject route = planJson.optJSONObject("route");
if (route == null) {
Toast.makeText(pluginContext, "No route in response", Toast.LENGTH_SHORT).show();
return;
return false;
}
JSONObject geometry = route.optJSONObject("geometry");
if (geometry == null) {
geometry = route; // some responses embed geometry directly
}
JSONArray coords = geometry.optJSONArray("coordinates");
if (coords == null || coords.length() < 2) {
Toast.makeText(pluginContext, "Route has no coordinates", Toast.LENGTH_SHORT).show();
return;
return false;
}

GeoPoint[] points = new GeoPoint[coords.length()];
Expand Down Expand Up @@ -541,11 +550,206 @@ private void drawRoute(JSONObject planJson) {
double centerLat = sumLat / coords.length();
double centerLon = sumLon / coords.length();
mapView.getMapController().panTo(new GeoPoint(centerLat, centerLon), true);
return true;

} catch (JSONException e) {
Toast.makeText(pluginContext, "Route parse error: " + e.getMessage(),
Toast.LENGTH_SHORT).show();
return false;
}
}

private int drawPointMarkers(MapView mapView, JSONObject response, boolean includeWaypoints) {
List<PointMarkerSpec> specs = new ArrayList<>();
if (includeWaypoints) {
collectPointSpecs(specs, response.optJSONArray("waypoints"), "WP");
}
collectPointSpecs(specs, response.optJSONArray("points"), "Point");
collectPointSpecs(specs, response.optJSONArray("markers"), "Marker");
collectPointSpecs(specs, response.optJSONArray("cot_events"), "CoT");
collectPointSpecs(specs, response.optJSONArray("events"), "CoT");
collectPointSpec(specs, response.optJSONObject("point"), "Point");
collectPointSpec(specs, response.optJSONObject("marker"), "Marker");
collectPointSpec(specs, response.optJSONObject("cot_event"), "CoT");
collectFeatureSpecs(specs, response.optJSONObject("feature"));
collectFeatureArraySpecs(specs, response.optJSONArray("features"));

GeoPoint first = null;
int rendered = 0;
for (PointMarkerSpec spec : specs) {
GeoPoint point = new GeoPoint(spec.lat, spec.lon);
if (!point.isValid()) {
continue;
}
Marker marker = new Marker(point, spec.uid);
marker.setTitle(spec.label);
marker.setType(spec.type);
mapView.getRootGroup().addItem(marker);
activeWaypointMarkers.add(marker);
rendered += 1;
if (first == null) {
first = point;
}
}
if (first != null) {
mapView.getMapController().panTo(first, true);
}
return rendered;
}

private void collectPointSpecs(List<PointMarkerSpec> specs, JSONArray points,
String defaultLabel) {
if (points == null) {
return;
}
for (int i = 0; i < points.length(); i++) {
collectPointSpec(specs, points.optJSONObject(i), defaultLabel + "-" + (i + 1));
}
}

private void collectFeatureArraySpecs(List<PointMarkerSpec> specs, JSONArray features) {
if (features == null) {
return;
}
for (int i = 0; i < features.length(); i++) {
collectFeatureSpecs(specs, features.optJSONObject(i));
}
}

private void collectFeatureSpecs(List<PointMarkerSpec> specs, JSONObject feature) {
if (feature == null) {
return;
}
JSONObject geometry = feature.optJSONObject("geometry");
if (geometry == null || !"Point".equalsIgnoreCase(geometry.optString("type"))) {
return;
}
JSONArray coords = geometry.optJSONArray("coordinates");
if (coords == null || coords.length() < 2) {
return;
}
JSONObject properties = feature.optJSONObject("properties");
String label = labelFrom(properties, "Point");
specs.add(new PointMarkerSpec(coords.optDouble(1, Double.NaN),
coords.optDouble(0, Double.NaN), label, cotTypeFrom(properties),
uidFrom(properties)));
}

private void collectPointSpec(List<PointMarkerSpec> specs, JSONObject point,
String defaultLabel) {
if (point == null) {
return;
}

JSONObject geometry = point.optJSONObject("geometry");
if (geometry != null && "Point".equalsIgnoreCase(geometry.optString("type"))) {
JSONArray coords = geometry.optJSONArray("coordinates");
if (coords != null && coords.length() >= 2) {
specs.add(new PointMarkerSpec(coords.optDouble(1, Double.NaN),
coords.optDouble(0, Double.NaN), labelFrom(point, defaultLabel),
cotTypeFrom(point), uidFrom(point)));
return;
}
}

JSONObject nestedPoint = point.optJSONObject("point");
if (nestedPoint != null) {
collectPointSpec(specs, nestedPoint, labelFrom(point, defaultLabel));
return;
}

String cotXml = point.optString("cot_xml", point.optString("xml", ""));
PointMarkerSpec cotSpec = pointFromCotXml(cotXml, labelFrom(point, defaultLabel),
cotTypeFrom(point), uidFrom(point));
if (cotSpec != null) {
specs.add(cotSpec);
return;
}

double lat = firstFinite(
point.optDouble("lat", Double.NaN),
point.optDouble("latitude", Double.NaN),
point.optDouble("center_lat", Double.NaN));
double lon = firstFinite(
point.optDouble("lon", Double.NaN),
point.optDouble("longitude", Double.NaN),
point.optDouble("center_lon", Double.NaN));
if (Double.isNaN(lat) || Double.isNaN(lon)) {
return;
}
specs.add(new PointMarkerSpec(lat, lon, labelFrom(point, defaultLabel),
cotTypeFrom(point), uidFrom(point)));
}

private PointMarkerSpec pointFromCotXml(String xml, String defaultLabel,
String defaultType, String defaultUid) {
if (xml == null || xml.trim().isEmpty()) {
return null;
}
double lat = xmlDoubleAttribute(xml, "lat");
double lon = xmlDoubleAttribute(xml, "lon");
if (Double.isNaN(lat) || Double.isNaN(lon)) {
return null;
}
String callsign = xmlAttribute(xml, "callsign");
String uid = xmlAttribute(xml, "uid");
String type = xmlAttribute(xml, "type");
return new PointMarkerSpec(lat, lon,
callsign.isEmpty() ? defaultLabel : callsign,
type.isEmpty() ? defaultType : type,
uid.isEmpty() ? defaultUid : uid);
}

private double xmlDoubleAttribute(String xml, String name) {
String value = xmlAttribute(xml, name);
if (value.isEmpty()) {
return Double.NaN;
}
try {
return Double.parseDouble(value);
} catch (NumberFormatException ignored) {
return Double.NaN;
}
}

private String xmlAttribute(String xml, String name) {
Matcher matcher = Pattern.compile(name + "=\"([^\"]+)\"").matcher(xml);
return matcher.find() ? matcher.group(1) : "";
}

private double firstFinite(double first, double second, double third) {
if (!Double.isNaN(first)) return first;
if (!Double.isNaN(second)) return second;
return third;
}

private String labelFrom(JSONObject json, String fallback) {
if (json == null) {
return fallback;
}
String label = json.optString("label", "");
if (label.trim().isEmpty()) label = json.optString("name", "");
if (label.trim().isEmpty()) label = json.optString("title", "");
if (label.trim().isEmpty()) label = json.optString("callsign", "");
return label.trim().isEmpty() ? fallback : label;
}

private String cotTypeFrom(JSONObject json) {
if (json == null) {
return "a-f-G-U-C";
}
String type = json.optString("cot_type", "");
if (type.trim().isEmpty()) type = json.optString("type", "");
return type.trim().isEmpty() ? "a-f-G-U-C" : type;
}

private String uidFrom(JSONObject json) {
if (json == null) {
return UUID.randomUUID().toString();
}
String uid = json.optString("uid", "");
if (uid.trim().isEmpty()) uid = json.optString("id", "");
return uid.trim().isEmpty() ? UUID.randomUUID().toString() : uid;
}

private String statusForPlanResult(boolean ok, String message) {
Expand Down Expand Up @@ -729,4 +933,20 @@ private void appendChatMessage(LinearLayout transcript, ScrollView chatScroll,
LinearLayout.LayoutParams.WRAP_CONTENT));
scrollChatToBottom(chatScroll);
}

private static final class PointMarkerSpec {
final double lat;
final double lon;
final String label;
final String type;
final String uid;

PointMarkerSpec(double lat, double lon, String label, String type, String uid) {
this.lat = lat;
this.lon = lon;
this.label = label;
this.type = type;
this.uid = uid;
}
}
}
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