transform

type AOUTransformer ¶ added in v0.0.20

type AOUTransformer struct {
	// contains filtered or unexported fields
}

AOUTransformer computes an Area of Uncertainty (AOU) shape for entities that have a DetectionComponent and sufficient sensor accuracy data (MIL-STD-2525C §5.3.4.11.1).

Two cases:

• Ellipse AOU: entity has detection + geo + geo.covariance → rotated ellipse polygon written to entity.Shape (GeoShapeComponent).
• Line-of-bearing AOU: entity has detection + bearing + no geo + pose.parent → wedge/line LocalShapeComponent relative to the sensor parent. ShapeTransformer converts it to WGS84.

func NewAOUTransformer() *AOUTransformer

func (t *AOUTransformer) Name() string

func (t *AOUTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (t *AOUTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (t *AOUTransformer) Validate(_ map[string]*pb.Entity, _ *pb.Entity) error

type Bus ¶

type Bus interface {
	Dirty(id string, entity *pb.Entity, changeType pb.EntityChange)
}

Bus is an interface for the subset of engine.Bus that transformers need.

type CameraTransformer ¶

type CameraTransformer struct {
	// contains filtered or unexported fields
}

CameraTransformer generates a LocalShapeComponent coverage wedge for an entity's CameraComponent when fov and range are set. Generated shape entities have IDs of the form "{entityID}~coverage~0". All generated IDs are written into SensorComponent.coverage on the source entity.

func NewCameraTransformer() *CameraTransformer

func (ct *CameraTransformer) Name() string

func (ct *CameraTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (ct *CameraTransformer) Resolve(head map[string]*pb.Entity, changedID string, components map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (ct *CameraTransformer) Validate(head map[string]*pb.Entity, incoming *pb.Entity) error

type ChatTransformer ¶ added in v0.0.20

type ChatTransformer struct {
	// contains filtered or unexported fields
}

func NewChatTransformer() *ChatTransformer

func (ct *ChatTransformer) Name() string

func (ct *ChatTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (ct *ChatTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (ct *ChatTransformer) SetNodeEntityID(id string)

func (ct *ChatTransformer) Validate(head map[string]*pb.Entity, incoming *pb.Entity) error

type ClassificationTransformer ¶

type ClassificationTransformer struct{}

ClassificationTransformer derives classification data from MIL-STD-2525C symbol codes and vice versa.

Forward: SIDC → ClassificationComponent (deprecated fields + taxonomy) Reverse: taxonomy → SymbolComponent (when no symbol exists)

func NewClassificationTransformer() *ClassificationTransformer

func (ct *ClassificationTransformer) Name() string

func (ct *ClassificationTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (ct *ClassificationTransformer) Resolve(head map[string]*pb.Entity, changedID string, components map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (ct *ClassificationTransformer) Validate(head map[string]*pb.Entity, incoming *pb.Entity) error

type ImageBboxTransformer ¶ added in v0.0.23

type ImageBboxTransformer struct{}

ImageBboxTransformer computes PoseComponent and bearing angular extents for evidence entities that carry an ImageBoundingBox. Uses pinhole projection: camera horizontal FOV + frame dimensions → focal length in pixels, then pixel coordinates → angular offsets from the optical axis.

Must run before PoseTransformer so the generated PoseComponent is resolved into absolute bearing and geo.

func NewImageBboxTransformer() *ImageBboxTransformer

func (t *ImageBboxTransformer) Name() string

func (t *ImageBboxTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (t *ImageBboxTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (t *ImageBboxTransformer) Validate(_ map[string]*pb.Entity, _ *pb.Entity) error

type MediaTransformer ¶ added in v0.0.20

type MediaTransformer struct {
	// contains filtered or unexported fields
}

MediaTransformer stamps epoch timestamps onto CameraComponent streams. Source URLs are kept as-is in the entity — proxy handlers read them directly from the entity when needed.

func NewMediaTransformer() *MediaTransformer

func (mt *MediaTransformer) Name() string

func (mt *MediaTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (mt *MediaTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (mt *MediaTransformer) SetEpoch(entityID string, streamIndex int, t time.Time)

func (mt *MediaTransformer) Validate(_ map[string]*pb.Entity, _ *pb.Entity) error

type PolarNormalizeTransformer ¶ added in v0.0.20

type PolarNormalizeTransformer struct{}

PolarNormalizeTransformer ensures that PolarOffset entities have both the convenience error fields (azimuth_error_deg, elevation_error_deg, range_error_m) and the CovarianceMatrix populated. If only one form is set, it fills in the other. This must run before PoseTransformer so that downstream consumers see both forms.

func NewPolarNormalizeTransformer() *PolarNormalizeTransformer

func (t *PolarNormalizeTransformer) Name() string

func (t *PolarNormalizeTransformer) Reindex(_ map[string]*pb.Entity, _ string)

func (t *PolarNormalizeTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (t *PolarNormalizeTransformer) Validate(_ map[string]*pb.Entity, _ *pb.Entity) error

type PoseTransformer ¶

type PoseTransformer struct {
	// contains filtered or unexported fields
}

PoseTransformer resolves PoseComponent into absolute GeoSpatialComponent and OrientationComponent by walking the parent chain. When a parent entity changes, all children referencing it are re-resolved.

For CartesianOffset: the ENU offset is applied to the parent's geo position. For PolarOffset with range: azimuth/elevation/range are converted to ENU, then applied. For PolarOffset without range (bearing-only): no geo is produced, but BearingComponent is set.

func NewPoseTransformer() *PoseTransformer

func (pt *PoseTransformer) Name() string

func (pt *PoseTransformer) Reindex(head map[string]*pb.Entity, id string)

func (pt *PoseTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (pt *PoseTransformer) Validate(head map[string]*pb.Entity, incoming *pb.Entity) error

type ShapeTransformer ¶

type ShapeTransformer struct {
	// contains filtered or unexported fields
}

ShapeTransformer resolves LocalShapeComponent (ENU local shapes) with a non-empty RelativeTo into GeoShapeComponent (WGS84 geo shapes) on the same entity. It looks up the parent entity's GeoSpatialComponent and OrientationComponent to perform the transform.

func NewShapeTransformer() *ShapeTransformer

func (st *ShapeTransformer) Name() string

func (st *ShapeTransformer) Reindex(head map[string]*pb.Entity, id string)

func (st *ShapeTransformer) Resolve(head map[string]*pb.Entity, changedID string, _ map[int32]meta.Component) (upsert []*pb.Entity, remove []string)

func (st *ShapeTransformer) Validate(head map[string]*pb.Entity, incoming *pb.Entity) error

type Transformer ¶

type Transformer interface {
	// Name returns a stable identifier (e.g. "pose", "aou"), recorded as the
	// generator of any component the transformer produces.
	Name() string

	// Validate is called BEFORE merge. Return error to reject the push.
	Validate(head map[string]*pb.Entity, incoming *pb.Entity) error

	// Reindex registers a loaded entity in internal indexes without
	// computing or mutating any components.
	// this is called by engine when loading a cold entity into hot
	Reindex(head map[string]*pb.Entity, id string)

	// Resolve is called AFTER an entity is merged into head.
	// components contains per-component metadata for the changed entity,
	// keyed by proto field number. Transformers can check Generated to know
	// whether a component was set by another transformer or externally pushed.
	// Returns entities to upsert and entity IDs to delete.
	Resolve(head map[string]*pb.Entity, changedID string, components map[int32]meta.Component) (upsert []*pb.Entity, remove []string)
}

Transformer is a callback-based interface for managing derived entities. Transformers watch pushes and GC events to maintain generated entities that are derived from source entities (e.g. sensor coverage from sensor range).