Table Of ContentProgramming GPS
and OpenStreetMap
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r
o
g Applications with Java
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Written by an expert in the development of GPS systems with digital maps and navigation, m
Programming GPS and OpenStreetMap Applications with Java provides a concrete paradigm m
for object-oriented modeling and programming. It presents a thorough introduction to the use of i
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available global positioning data for the development of applications involving digital maps. g
Kristof Beiglböck
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The author first describes the different formats of GPS data and digital maps and shows how to
P
use recorded GPS traces to replay and display this data on a digital map. Then, he works through in S
detail the processing steps of obtaining dedicated data from OpenStreetMaps and how to extract a
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a network for a simple navigation application. For each topic covered—GPS data, OpenStreetMaps,
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and navigation—Java code is developed that can easily be adapted to the readers’ needs and O
locality. p
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Finally, all components are put together in a sample computer-game application modeled on the n
S
well-known board game, Scotland Yard. The computer game is intended to be a basis from which t
r
readers can develop and customize their own application for their desired geographical area. e
e
The developed application can be “published” on the Internet and made available for interactive
t
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multiplayer competition.
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This book provides a fun and interesting way to learn distributed programming with Java and p
real-world data. Open-source software is available on a companion website at www.roaf.de. A
p
p
Features l
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• Includes open source software code that readers can use for their own applications a
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• Provides a concrete example of the paradigm for object-oriented modeling and programming o
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• Demonstrates the team development effort required for complex software applications s
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• Allows readers to customize the sample application to their own geographical location and i
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make it available for remote access h
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K14656
Computer Programming
Programming GPS and
OpenStreetMap Applications
with Java
TThhiiss ppaaggee iinntteennttiioonnaallllyy lleefftt bbllaannkk
Programming GPS and
OpenStreetMap Applications
with Java
The RealObject Application Framework
Kristof Beiglbo¨ck
CRC Press
Taylor & Francis Group
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Boca Raton, FL 33487-2742
© 2011 by Taylor & Francis Group, LLC
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Version Date: 20111208
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Contents
Preface ix
I FromVisiontoMission 1
1 SoftwareObjectsandReal-WorldRepresentations 3
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Controlling Remote Objects via References . . . . . . . . 4
1.3 Object-Oriented Programming . . . . . . . . . . . . . . . 9
1.4 Models in Physics. . . . . . . . . . . . . . . . . . . . . . . 11
2 TheVisionofaReal-WorldSimulator 15
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Physical Objects . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 Projecting Reality into Virtual Worlds . . . . . . . . . . . 16
2.4 Real-World Objects (ROs) . . . . . . . . . . . . . . . . . . 17
2.5 Real-Object Applications (ROApps) . . . . . . . . . . . . 19
2.6 Real-Object Application Framework (ROAF) . . . . . . . 20
2.7 Science Fiction . . . . . . . . . . . . . . . . . . . . . . . . 20
3 OOA—AnalysisandMission 23
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Language Analysis . . . . . . . . . . . . . . . . . . . . . . 23
3.3 Semantic Network . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Gathering Information . . . . . . . . . . . . . . . . . . . . 27
3.5 Data Dictionary . . . . . . . . . . . . . . . . . . . . . . . 27
3.6 Problem Statement . . . . . . . . . . . . . . . . . . . . . . 29
3.7 Candidate Objects . . . . . . . . . . . . . . . . . . . . . . 30
3.8 The Mission . . . . . . . . . . . . . . . . . . . . . . . . . . 31
v
vi Contents
II GlobalPositioning 33
4 Space&Time 35
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 A GeoPoint for Spatial Coordinate Systems . . . . . . . . 35
4.3 A Position Interface for Various Coordinate Systems . . 37
4.4 A Route to Manage an Array of Positions . . . . . . . . 38
4.5 NAVSTAR GPS . . . . . . . . . . . . . . . . . . . . . . . 39
4.6 GPSpoint implements GPSinfo . . . . . . . . . . . . . . 40
4.7 GPStrace extends Route . . . . . . . . . . . . . . . . . . 43
4.8 JavaGPS . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.9 Requirements for a GPSunit . . . . . . . . . . . . . . . . . 45
4.10 Real vs. Simulated Motion . . . . . . . . . . . . . . . . . 47
4.11 Recording a liveTrace . . . . . . . . . . . . . . . . . . . 48
4.12 Loading a GPX File to a GPStrace. . . . . . . . . . . . . . 49
4.13 Play Back a GPStrace . . . . . . . . . . . . . . . . . . . . 51
4.14 The GPS Package: roaf.gps . . . . . . . . . . . . . . . . 51
5 FromGeographytoCartography 55
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.2 Map Projection Systems . . . . . . . . . . . . . . . . . . . 55
5.3 Requirements for a Map GUI . . . . . . . . . . . . . . . . 56
5.4 The Framework Pattern . . . . . . . . . . . . . . . . . . . 57
5.5 Creating a MapPanel . . . . . . . . . . . . . . . . . . . . . 58
5.6 Creating a Swing Mapping Application. . . . . . . . . . . 61
5.7 Interacting via MapEvents . . . . . . . . . . . . . . . . . . 62
5.8 Deploying the GPXviewer.jar . . . . . . . . . . . . . . . . 64
5.9 The GUI Mapping Package . . . . . . . . . . . . . . . . . 65
III ROs-RealObjects 67
6 ObjectsinMotion 69
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.2 Every RealObject has a GPSunit . . . . . . . . . . . . . . 69
6.3 abstract Motion of a RealObject . . . . . . . . . . . . . 71
6.4 Creating a Motorcycle . . . . . . . . . . . . . . . . . . . . 75
6.5 Observing Motorcycles . . . . . . . . . . . . . . . . . . . . 76
7 ProcessingDigitalMaps 79
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 79
7.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
7.3 A Map Compiler for OSM Data . . . . . . . . . . . . . . . 81
Contents vii
7.4 Collecting Geometry in the Field . . . . . . . . . . . . . . 81
7.5 Map Attribution with JOSM . . . . . . . . . . . . . . . . 84
7.6 Map Formats . . . . . . . . . . . . . . . . . . . . . . . . . 86
7.7 Processing Maps with Osmosis . . . . . . . . . . . . . . . 88
7.8 Parsing OSM Files with the OSMparser . . . . . . . . . . 91
7.9 Toolchain Configuration . . . . . . . . . . . . . . . . . . . 95
7.10 Rendering OpenStreetMaps with Kosmos . . . . . . . . . 97
8 MakingMapsNavigable 103
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 103
8.2 Map Compiler Branches . . . . . . . . . . . . . . . . . . . 103
8.3 Networking . . . . . . . . . . . . . . . . . . . . . . . . . . 109
8.4 Creating a NavigableMap . . . . . . . . . . . . . . . . . . 114
8.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 119
9 NavigatingObjects 123
9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 123
9.2 Navigation Systems. . . . . . . . . . . . . . . . . . . . . . 123
9.3 Route Calculation . . . . . . . . . . . . . . . . . . . . . . 125
9.4 Exploring the Graph with a GameMap . . . . . . . . . . . . 126
9.5 The Navigator . . . . . . . . . . . . . . . . . . . . . . . . 129
IV ROApps: RealObjectApplications 131
10 SeparatingtheROClientandtheROAppServer 133
10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 133
10.2 Observing Remote Objects . . . . . . . . . . . . . . . . . 133
10.3 ROAF Client Software . . . . . . . . . . . . . . . . . . . . 138
10.4 The roaf.util.RMI Class . . . . . . . . . . . . . . . . . . 139
11 ClientServerArchitecture 143
11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 143
11.2 Status Report . . . . . . . . . . . . . . . . . . . . . . . . . 143
11.3 Four-layer Architecture . . . . . . . . . . . . . . . . . . . 144
11.4 The ServerEngine . . . . . . . . . . . . . . . . . . . . . . 145
11.5 The RealObjectsServer . . . . . . . . . . . . . . . . . . 146
11.6 SOs: ServerObjects . . . . . . . . . . . . . . . . . . . . . 149
11.7 Server Tuning . . . . . . . . . . . . . . . . . . . . . . . . . 151
11.8 The RealObjectsBox. . . . . . . . . . . . . . . . . . . . . 160
11.9 ROAdio Broadcasting . . . . . . . . . . . . . . . . . . . . 161
viii Contents
12 RollingoutaROApp 167
12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 167
12.2 LC: The Game Scenario . . . . . . . . . . . . . . . . . . . 167
12.3 Server Architecture . . . . . . . . . . . . . . . . . . . . . . 169
12.4 Application Layer: RealObjectApplication Extends
RemoteObjectsServer . . . . . . . . . . . . . . . . . . . . 172
12.5 ROF: The RealObject Framework . . . . . . . . . . . . . . 175
12.6 ROApp clients: LCPlayer Extends RealObject . . . . . 175
12.7 More ServerObjects . . . . . . . . . . . . . . . . . . . . . 182
12.8 The ROApp Scenario. . . . . . . . . . . . . . . . . . . . . 185
13 MissionAccomplished: TimetoPlay 191
13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 191
13.2 Using the Application . . . . . . . . . . . . . . . . . . . . 191
13.3 Interactive GUIPlayers . . . . . . . . . . . . . . . . . . . . 196
13.4 Intelligent Players . . . . . . . . . . . . . . . . . . . . . . 200
13.5 Robocode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
V ROAF:RealObjectApplicationFramework 207
14 Evolution 209
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 209
14.2 Game Scenario versus Real World . . . . . . . . . . . . . 210
14.3 ROApp Classification . . . . . . . . . . . . . . . . . . . . 215
14.4 RO Classification . . . . . . . . . . . . . . . . . . . . . . . 219
14.5 Decouple Mature ROs . . . . . . . . . . . . . . . . . . . . 220
14.6 The RealObject Hierarchy . . . . . . . . . . . . . . . . . 221
Appendix: Downloads 227
A.1 Source Code for the Exploration Phase . . . . . . . . . . . 228
A.2 Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
A.3 Release Candidate roaf v1.0 . . . . . . . . . . . . . . . . 230
A.4 Third-party Sources . . . . . . . . . . . . . . . . . . . . . 230
Index 233
Preface
Softwaredevelopmenthascomealongwayfromdatastructurestoobjects.
Theentityofanobjecthaschangedtheperceptionanddesignofprograms.
Objects have become independent programs separating external meaning
and internal processing. According to the natural meaning of “object”
derived from physical things, software objects were initially introduced to
reflectreal-worldrepresentations. Thisbooktracestheideaofcreatingreal
objects as virtual projections of physical things.
Virtual machines were introduced to abstract the underlying hardware
and to free object development from operating systems. A modern GPS
smart phone represents a personal programming environment equipped
with location and other sensors and broadband connectivity that can sub-
mit and retrieve real-world information in real time. The book suggests a
Java implementation for remote objects on mobile runtime environments.
Each object can collect telemetry of its real-world counterpart to become
an element of a large network. For example, imagine a rudimentary smart
phone attached to a car, collecting engine characteristics together with its
GPS trace and submitting it live to a real-object server application.
The increased availability of live data poses a great challenge to reflect
therealworldinavirtualworld. Digitalmapshavegainedimportanceand
are an essential tool for organizing spatial data. The processing of digital
maps is described in detail in this book. Today’s GPS devices represent
a fascinating and relatively cheap technology for scanning the planet. To
connect server and client objects in a semantic way, the book covers the
handling of GPS data as client coordinates for time and space.
We develop a general multipurpose architecture to deal with GPS data
from many client objects at a time. The intention is to unify and reduce
the programming effort with a Java framework to coordinate (live) GPS
data on digital maps. A real-object application is created as a server soft-
ware to collect live data from any number of remote real objects. The
server software is pre-implemented to synchronize and validate the remote
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