bundles/core/org.eclipse.apogy.core/src-gen-custom/org/eclipse/apogy/core/impl/ApogyCoreFacadeCustomImpl.java - gerrit/apogy/apogy - Git at Google

 /*******************************************************************************
  * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency
  * All rights reserved. This program and the accompanying materials
  * are made available under the terms of the Eclipse Public License v1.0
  * which accompanies this distribution, and is available at
  * http://www.eclipse.org/legal/epl-v10.html
  *
  * Contributors:
  *     Pierre Allard,
  *     Regent L'Archeveque,
  *     Sebastien Gemme - initial API and implementation
  *
  * SPDX-License-Identifier: EPL-1.0
  *
  *******************************************************************************/
 package org.eclipse.apogy.core.impl;

 import java.io.BufferedReader;
 import java.io.BufferedWriter;
 import java.io.File;
 import java.io.FileOutputStream;
 import java.io.FileReader;
 import java.io.FileWriter;
 import java.io.InputStream;
 import java.net.URL;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.Date;
 import java.util.List;
 import java.util.Map;

 import javax.vecmath.Matrix4d;

 import org.eclipse.apogy.common.emf.transaction.ApogyCommonTransactionFacade;
 import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
 import org.eclipse.apogy.common.math.Matrix4x4;
 import org.eclipse.apogy.common.math.Tuple3d;
 import org.eclipse.apogy.common.topology.ApogyCommonTopologyFacade;
 import org.eclipse.apogy.common.topology.Node;
 import org.eclipse.apogy.common.topology.ReferencedContentNode;
 import org.eclipse.apogy.common.topology.TransformNode;
 import org.eclipse.apogy.core.ApogyCoreFactory;
 import org.eclipse.apogy.core.ApogySystem;
 import org.eclipse.apogy.core.ApogySystemApiAdapter;
 import org.eclipse.apogy.core.FeatureOfInterest;
 import org.eclipse.apogy.core.PositionedResult;
 import org.eclipse.apogy.core.ResultNode;
 import org.eclipse.apogy.core.invocator.AbstractTypeImplementation;
 import org.eclipse.apogy.core.invocator.ApogyCoreInvocatorFacade;
 import org.eclipse.apogy.core.invocator.AttributeResultValue;
 import org.eclipse.apogy.core.invocator.Environment;
 import org.eclipse.apogy.core.invocator.ReferenceResultValue;
 import org.eclipse.apogy.core.invocator.TypeApiAdapter;
 import org.eclipse.emf.common.util.URI;
 import org.eclipse.emf.ecore.EObject;
 import org.eclipse.emf.ecore.resource.Resource;
 import org.eclipse.emf.ecore.resource.ResourceSet;
 import org.eclipse.emf.ecore.util.EcoreUtil;
 import org.eclipse.emf.ecore.xmi.impl.XMIResourceFactoryImpl;
 import org.eclipse.emf.edit.command.AddCommand;
 import org.eclipse.emf.transaction.TransactionalEditingDomain;

 public class ApogyCoreFacadeCustomImpl extends ApogyCoreFacadeImpl {

 	@Override
 	public Matrix4x4 computeAbsolutePoseMatrix(ApogySystem apogySystem, Matrix4x4 relativePose) {
 		// Gets system pose.
 		Node root = ApogyCommonTopologyFacade.INSTANCE.findRoot(apogySystem.getTopologyRoot().getOriginNode());

 		Matrix4d systemPose = ApogyCommonTopologyFacade.INSTANCE
 				.expressInFrame(apogySystem.getTopologyRoot().getOriginNode(), root);

 		// Gets the system centric result.
 		Matrix4x4 pose = relativePose;
 		Matrix4d matrix = new Matrix4d();
 		matrix.setIdentity();
 		if (pose != null)
 			matrix = pose.asMatrix4d();

 		// Create the absolute position result.
 		Matrix4d m = new Matrix4d();
 		m.setIdentity();
 		m.mul(systemPose, matrix);

 		return ApogyCommonMathFacade.INSTANCE.createMatrix4x4(m);
 	}

 	public ResultNode createResultNode(PositionedResult result) {
 		// Creates the ResultNode.
 		ResultNode resultNode = ApogyCoreFactory.eINSTANCE.createResultNode();
 		resultNode.setResult(result);

 		// Sets the time as the ID
 		Date time = result.getTime();
 		if (time == null)
 			time = new Date();

 		resultNode.setNodeId(createNodeID(result));
 		resultNode.setDescription(result.getDescription());

 		// Attaches the result itself to the ResultNode.
 		if (result.getResultValue() instanceof AttributeResultValue) {
 			AttributeResultValue attributeResultValue = (AttributeResultValue) result.getResultValue();

 			if (attributeResultValue.getValue() != null) {
 				// TODO : Adds a marker in the topology ?
 			}
 		} else if (result.getResultValue() instanceof ReferenceResultValue) {
 			ReferenceResultValue referenceResultValue = (ReferenceResultValue) result.getResultValue();
 			if (referenceResultValue.getValue() != null) {
 				if (referenceResultValue.getValue() instanceof Node) {
 					// TODO : Do not copy the Node when bug#1429 in Link and
 					// ReferenceGroupNode is fixed.
 					Node node = EcoreUtil.copy((Node) referenceResultValue.getValue());
 					resultNode.getChildren().add(node);
 				} else {
 					// Creates and adds a ReferencedContentNode with the result
 					// as its content.
 					EObject content = referenceResultValue.getValue();
 					ReferencedContentNode<EObject> contentNode = ApogyCommonTopologyFacade.INSTANCE
 							.createReferencedContentNode(content);

 					// Adds a the node via a ReferenceNode under the
 					// DataProductNode.
 					resultNode.getChildren().add(contentNode);
 				}
 			}
 		}

 		return resultNode;
 	}

 	@Override
 	public ApogySystem getApogySystem(Environment environment, String fullyQualifiedName) {
 		ApogySystem result = null;
 		AbstractTypeImplementation typeImplementation = ApogyCoreInvocatorFacade.INSTANCE
 				.getTypeImplementation(environment, fullyQualifiedName);

 		if (typeImplementation != null) {
 			TypeApiAdapter typeApiAdapter = typeImplementation.getAdapterInstance();

 			if (typeApiAdapter instanceof ApogySystemApiAdapter) {
 				ApogySystemApiAdapter apogySystemApiAdapter = (ApogySystemApiAdapter) typeApiAdapter;
 				result = apogySystemApiAdapter.getApogySystem();
 			}
 		}

 		return result;
 	}

 	public ApogySystem getApogySystem(Environment environment, EObject instance) {
 		ApogySystem result = null;

 		AbstractTypeImplementation abstractTypeImplementation = ApogyCoreInvocatorFacade.INSTANCE
 				.findAbstractTypeImplementation(instance);
 		if (abstractTypeImplementation != null
 				&& abstractTypeImplementation.getAdapterInstance() instanceof ApogySystemApiAdapter) {
 			ApogySystemApiAdapter apogySystemApiAdapter = (ApogySystemApiAdapter) abstractTypeImplementation
 					.getAdapterInstance();
 			result = apogySystemApiAdapter.getApogySystem();
 		}

 		return result;
 	}

 	public ApogySystem loadApogySystemFromFile(String apogySystemFileAbsolutePath) throws Exception {
 		Resource.Factory.Registry reg = Resource.Factory.Registry.INSTANCE;
 		Map<String, Object> m = reg.getExtensionToFactoryMap();
 		m.put("key", new XMIResourceFactoryImpl());

 		// Create a resource set to hold the resources.
 		TransactionalEditingDomain domain = ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain();

 		ResourceSet resSet = domain.getResourceSet();

 		Resource resource = resSet.createResource(URI.createFileURI(apogySystemFileAbsolutePath));
 		resource.load(m);
 		ApogySystem apogySystem = (ApogySystem) resource.getContents().get(0);

 		return apogySystem;
 	}

 	public void saveApogySystemToFile(ApogySystem apogySystem, String apogySystemFileAbsolutePath) throws Exception {
 		// Create a resource set to hold the resources.
 		TransactionalEditingDomain domain = ApogyCommonTransactionFacade.INSTANCE
 				.getTransactionalEditingDomain(apogySystem);
 		if (domain == null) {
 			domain = ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain();
 		}

 		ResourceSet resourceSet = domain.getResourceSet();
 		Resource resource = resourceSet.createResource(URI.createFileURI(apogySystemFileAbsolutePath));

 		domain.getCommandStack().execute(new AddCommand(domain, resource.getContents(), apogySystem));

 		resource.save(Collections.EMPTY_MAP);
 	}

 	@Override
 	public List<FeatureOfInterest> loadFeatureOfInterestFromFile(String urlString) throws Exception {
 		List<FeatureOfInterest> foiList = new ArrayList<FeatureOfInterest>();

 		URL url = new URL(urlString);
 		File tempFile = copyURLContent(url);
 		BufferedReader reader = new BufferedReader(new FileReader(tempFile));

 		String line = null;
 		while ((line = reader.readLine()) != null) {
 			line = line.trim();
 			FeatureOfInterest foi = parserCSVLine(line);
 			if (foi != null) {
 				foiList.add(foi);
 			}
 		}

 		reader.close();

 		return foiList;
 	}

 	private FeatureOfInterest parserCSVLine(String line) throws Exception {
 		FeatureOfInterest foi = null;

 		String[] entries = line.split(",");

 		if (entries.length < 8) {
 			throw new Exception("Line <" + line + "> contains too few entries !");
 		}

 		String name = entries[0];
 		String description = entries[1];
 		double x = Double.parseDouble(entries[2]);
 		double y = Double.parseDouble(entries[3]);
 		double z = Double.parseDouble(entries[4]);

 		double rx = Double.parseDouble(entries[5]);
 		double ry = Double.parseDouble(entries[6]);
 		double rz = Double.parseDouble(entries[7]);

 		foi = ApogyCoreFactory.eINSTANCE.createFeatureOfInterest();
 		foi.setName(name);
 		foi.setDescription(description);

 		// Sets pose.
 		TransformNode tmp = ApogyCommonTopologyFacade.INSTANCE.createTransformNodeXYZ(x, y, z, rx, ry, rz);
 		Matrix4d m = tmp.asMatrix4d();
 		foi.setPose(ApogyCommonMathFacade.INSTANCE.createMatrix4x4(m));

 		return foi;
 	}

 	@Override
 	public void saveFeatureOfInterestToFile(String path, List<FeatureOfInterest> foiList) throws Exception {
 		// Converts the FOI to CSV format
 		String cvsData = convertToCSV(foiList);

 		// Write data to the file.
 		BufferedWriter writer = new BufferedWriter(new FileWriter(path));
 		writer.write(cvsData);
 		writer.close();
 	}

 	private String convertToCSV(List<FeatureOfInterest> foiList) {
 		String csvString = new String();

 		for (FeatureOfInterest foi : foiList) {
 			if (foi.getName() != null) {
 				// Replace comma by space
 				csvString += foi.getName().replaceAll(",", ";") + ",";
 			} else {
 				csvString += ",";
 			}

 			if (foi.getDescription() != null) {
 				// Replace comma by space
 				csvString += foi.getDescription().replaceAll(",", ";") + ",";
 			} else {
 				csvString += ",";
 			}

 			Tuple3d position = ApogyCommonMathFacade.INSTANCE.extractPosition(foi.getPose());

 			csvString += position.getX() + ",";
 			csvString += position.getY() + ",";
 			csvString += position.getZ() + ",";

 			Tuple3d orientation = ApogyCommonMathFacade.INSTANCE.extractOrientation(foi.getPose());
 			csvString += orientation.getX() + ",";
 			csvString += orientation.getY() + ",";
 			csvString += orientation.getZ() + "\n";

 		}

 		return csvString;
 	}

 //  FIXME Not used.
 //	private List<TimeSource> getAllAvaibleTimeSource() {
 //		List<TimeSource> timeSources = new ArrayList<TimeSource>();
 //
 //		List<EClass> timeSourceEClass = ApogyCommonEMFFacade.INSTANCE
 //				.getAllSubEClasses(ApogyCommonEMFPackage.Literals.TIME_SOURCE);
 //
 //		for (EClass eClass : timeSourceEClass) {
 //			try {
 //				EObject eObject = EcoreUtil.create(eClass);
 //				if (eObject instanceof TimeSource) {
 //					timeSources.add((TimeSource) eObject);
 //				}
 //			} catch (Throwable t) {
 //				Logger.error(t.getMessage(), t);
 //			}
 //		}
 //
 //		return timeSources;
 //	}

 // FIXME Not used.
 //	private CurrentTimeSource getCurrentTimeSource(Collection<TimeSource> timeSources) {
 //		CurrentTimeSource currentTimeSource = null;
 //
 //		Iterator<TimeSource> it = timeSources.iterator();
 //		while (it.hasNext() && currentTimeSource == null) {
 //			TimeSource timeSource = it.next();
 //			if (timeSource instanceof CurrentTimeSource) {
 //				currentTimeSource = (CurrentTimeSource) timeSource;
 //			}
 //		}
 //
 //		return currentTimeSource;
 //	}
 	// FIXME Move under Common Facade.
 	private File copyURLContent(URL url) throws Exception {
 		File tempFile = null;

 		String fileName = getFileName(url);
 		String fileExtension = getFileExtension(url);

 		tempFile = File.createTempFile(fileName, fileExtension);

 		url.openConnection();
 		InputStream reader = url.openStream();

 		FileOutputStream writer = new FileOutputStream(tempFile);
 		byte[] buffer = new byte[153600];
 		int bytesRead = 0;
 		while ((bytesRead = reader.read(buffer)) > 0) {
 			writer.write(buffer, 0, bytesRead);
 			buffer = new byte[153600];
 		}
 		writer.close();
 		reader.close();

 		if (tempFile != null) {
 			tempFile.deleteOnExit();
 		}

 		return tempFile;
 	}

 	// FIXME Move under Common Facade.
 	private String getFileName(URL url) {
 		String fileName = url.getFile();

 		int startIndex = fileName.lastIndexOf(File.separator);
 		int endIndex = fileName.lastIndexOf(".");
 		if (startIndex > 0 && endIndex > 0) {
 			fileName = fileName.substring(startIndex + 1, endIndex);
 		}

 		return fileName;
 	}

 	private String getFileExtension(URL url) {
 		String fileExtension = url.getFile();

 		int index = fileExtension.lastIndexOf(".");
 		if (index > 0) {
 			fileExtension = fileExtension.substring(index);
 		}

 		return fileExtension;
 	}

 	private String createNodeID(PositionedResult positionedResult) {
 		String nodeId = positionedResult.eClass().getName();

 		Date date = positionedResult.getTime();
 		if (date != null) {
 			nodeId += " - " + date.toString();
 		}

 		return nodeId;
 	}
 } // ApogyCoreFacadeImpl
	/*******************************************************************************
	* Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency
	* All rights reserved. This program and the accompanying materials
	* are made available under the terms of the Eclipse Public License v1.0
	* which accompanies this distribution, and is available at
	* http://www.eclipse.org/legal/epl-v10.html
	*
	* Contributors:
	* Pierre Allard,
	* Regent L'Archeveque,
	* Sebastien Gemme - initial API and implementation
	*
	* SPDX-License-Identifier: EPL-1.0
	*
	*******************************************************************************/
	package org.eclipse.apogy.core.impl;

	import java.io.BufferedReader;
	import java.io.BufferedWriter;
	import java.io.File;
	import java.io.FileOutputStream;
	import java.io.FileReader;
	import java.io.FileWriter;
	import java.io.InputStream;
	import java.net.URL;
	import java.util.ArrayList;
	import java.util.Collections;
	import java.util.Date;
	import java.util.List;
	import java.util.Map;

	import javax.vecmath.Matrix4d;

	import org.eclipse.apogy.common.emf.transaction.ApogyCommonTransactionFacade;
	import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
	import org.eclipse.apogy.common.math.Matrix4x4;
	import org.eclipse.apogy.common.math.Tuple3d;
	import org.eclipse.apogy.common.topology.ApogyCommonTopologyFacade;
	import org.eclipse.apogy.common.topology.Node;
	import org.eclipse.apogy.common.topology.ReferencedContentNode;
	import org.eclipse.apogy.common.topology.TransformNode;
	import org.eclipse.apogy.core.ApogyCoreFactory;
	import org.eclipse.apogy.core.ApogySystem;
	import org.eclipse.apogy.core.ApogySystemApiAdapter;
	import org.eclipse.apogy.core.FeatureOfInterest;
	import org.eclipse.apogy.core.PositionedResult;
	import org.eclipse.apogy.core.ResultNode;
	import org.eclipse.apogy.core.invocator.AbstractTypeImplementation;
	import org.eclipse.apogy.core.invocator.ApogyCoreInvocatorFacade;
	import org.eclipse.apogy.core.invocator.AttributeResultValue;
	import org.eclipse.apogy.core.invocator.Environment;
	import org.eclipse.apogy.core.invocator.ReferenceResultValue;
	import org.eclipse.apogy.core.invocator.TypeApiAdapter;
	import org.eclipse.emf.common.util.URI;
	import org.eclipse.emf.ecore.EObject;
	import org.eclipse.emf.ecore.resource.Resource;
	import org.eclipse.emf.ecore.resource.ResourceSet;
	import org.eclipse.emf.ecore.util.EcoreUtil;
	import org.eclipse.emf.ecore.xmi.impl.XMIResourceFactoryImpl;
	import org.eclipse.emf.edit.command.AddCommand;
	import org.eclipse.emf.transaction.TransactionalEditingDomain;

	public class ApogyCoreFacadeCustomImpl extends ApogyCoreFacadeImpl {

	@Override
	public Matrix4x4 computeAbsolutePoseMatrix(ApogySystem apogySystem, Matrix4x4 relativePose) {
	// Gets system pose.
	Node root = ApogyCommonTopologyFacade.INSTANCE.findRoot(apogySystem.getTopologyRoot().getOriginNode());

	Matrix4d systemPose = ApogyCommonTopologyFacade.INSTANCE
	.expressInFrame(apogySystem.getTopologyRoot().getOriginNode(), root);

	// Gets the system centric result.
	Matrix4x4 pose = relativePose;
	Matrix4d matrix = new Matrix4d();
	matrix.setIdentity();
	if (pose != null)
	matrix = pose.asMatrix4d();

	// Create the absolute position result.
	Matrix4d m = new Matrix4d();
	m.setIdentity();
	m.mul(systemPose, matrix);

	return ApogyCommonMathFacade.INSTANCE.createMatrix4x4(m);
	}

	public ResultNode createResultNode(PositionedResult result) {
	// Creates the ResultNode.
	ResultNode resultNode = ApogyCoreFactory.eINSTANCE.createResultNode();
	resultNode.setResult(result);

	// Sets the time as the ID
	Date time = result.getTime();
	if (time == null)
	time = new Date();

	resultNode.setNodeId(createNodeID(result));
	resultNode.setDescription(result.getDescription());

	// Attaches the result itself to the ResultNode.
	if (result.getResultValue() instanceof AttributeResultValue) {
	AttributeResultValue attributeResultValue = (AttributeResultValue) result.getResultValue();

	if (attributeResultValue.getValue() != null) {
	// TODO : Adds a marker in the topology ?
	}
	} else if (result.getResultValue() instanceof ReferenceResultValue) {
	ReferenceResultValue referenceResultValue = (ReferenceResultValue) result.getResultValue();
	if (referenceResultValue.getValue() != null) {
	if (referenceResultValue.getValue() instanceof Node) {
	// TODO : Do not copy the Node when bug#1429 in Link and
	// ReferenceGroupNode is fixed.
	Node node = EcoreUtil.copy((Node) referenceResultValue.getValue());
	resultNode.getChildren().add(node);
	} else {
	// Creates and adds a ReferencedContentNode with the result
	// as its content.
	EObject content = referenceResultValue.getValue();
	ReferencedContentNode<EObject> contentNode = ApogyCommonTopologyFacade.INSTANCE
	.createReferencedContentNode(content);

	// Adds a the node via a ReferenceNode under the
	// DataProductNode.
	resultNode.getChildren().add(contentNode);
	}
	}
	}

	return resultNode;
	}

	@Override
	public ApogySystem getApogySystem(Environment environment, String fullyQualifiedName) {
	ApogySystem result = null;
	AbstractTypeImplementation typeImplementation = ApogyCoreInvocatorFacade.INSTANCE
	.getTypeImplementation(environment, fullyQualifiedName);

	if (typeImplementation != null) {
	TypeApiAdapter typeApiAdapter = typeImplementation.getAdapterInstance();

	if (typeApiAdapter instanceof ApogySystemApiAdapter) {
	ApogySystemApiAdapter apogySystemApiAdapter = (ApogySystemApiAdapter) typeApiAdapter;
	result = apogySystemApiAdapter.getApogySystem();
	}
	}

	return result;
	}

	public ApogySystem getApogySystem(Environment environment, EObject instance) {
	ApogySystem result = null;

	AbstractTypeImplementation abstractTypeImplementation = ApogyCoreInvocatorFacade.INSTANCE
	.findAbstractTypeImplementation(instance);
	if (abstractTypeImplementation != null
	&& abstractTypeImplementation.getAdapterInstance() instanceof ApogySystemApiAdapter) {
	ApogySystemApiAdapter apogySystemApiAdapter = (ApogySystemApiAdapter) abstractTypeImplementation
	.getAdapterInstance();
	result = apogySystemApiAdapter.getApogySystem();
	}

	return result;
	}

	public ApogySystem loadApogySystemFromFile(String apogySystemFileAbsolutePath) throws Exception {
	Resource.Factory.Registry reg = Resource.Factory.Registry.INSTANCE;
	Map<String, Object> m = reg.getExtensionToFactoryMap();
	m.put("key", new XMIResourceFactoryImpl());

	// Create a resource set to hold the resources.
	TransactionalEditingDomain domain = ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain();

	ResourceSet resSet = domain.getResourceSet();

	Resource resource = resSet.createResource(URI.createFileURI(apogySystemFileAbsolutePath));
	resource.load(m);
	ApogySystem apogySystem = (ApogySystem) resource.getContents().get(0);

	return apogySystem;
	}

	public void saveApogySystemToFile(ApogySystem apogySystem, String apogySystemFileAbsolutePath) throws Exception {
	// Create a resource set to hold the resources.
	TransactionalEditingDomain domain = ApogyCommonTransactionFacade.INSTANCE
	.getTransactionalEditingDomain(apogySystem);
	if (domain == null) {
	domain = ApogyCommonTransactionFacade.INSTANCE.getDefaultEditingDomain();
	}

	ResourceSet resourceSet = domain.getResourceSet();
	Resource resource = resourceSet.createResource(URI.createFileURI(apogySystemFileAbsolutePath));

	domain.getCommandStack().execute(new AddCommand(domain, resource.getContents(), apogySystem));

	resource.save(Collections.EMPTY_MAP);
	}

	@Override
	public List<FeatureOfInterest> loadFeatureOfInterestFromFile(String urlString) throws Exception {
	List<FeatureOfInterest> foiList = new ArrayList<FeatureOfInterest>();

	URL url = new URL(urlString);
	File tempFile = copyURLContent(url);
	BufferedReader reader = new BufferedReader(new FileReader(tempFile));

	String line = null;
	while ((line = reader.readLine()) != null) {
	line = line.trim();
	FeatureOfInterest foi = parserCSVLine(line);
	if (foi != null) {
	foiList.add(foi);
	}
	}

	reader.close();

	return foiList;
	}

	private FeatureOfInterest parserCSVLine(String line) throws Exception {
	FeatureOfInterest foi = null;

	String[] entries = line.split(",");

	if (entries.length < 8) {
	throw new Exception("Line <" + line + "> contains too few entries !");
	}

	String name = entries[0];
	String description = entries[1];
	double x = Double.parseDouble(entries[2]);
	double y = Double.parseDouble(entries[3]);
	double z = Double.parseDouble(entries[4]);

	double rx = Double.parseDouble(entries[5]);
	double ry = Double.parseDouble(entries[6]);
	double rz = Double.parseDouble(entries[7]);

	foi = ApogyCoreFactory.eINSTANCE.createFeatureOfInterest();
	foi.setName(name);
	foi.setDescription(description);

	// Sets pose.
	TransformNode tmp = ApogyCommonTopologyFacade.INSTANCE.createTransformNodeXYZ(x, y, z, rx, ry, rz);
	Matrix4d m = tmp.asMatrix4d();
	foi.setPose(ApogyCommonMathFacade.INSTANCE.createMatrix4x4(m));

	return foi;
	}

	@Override
	public void saveFeatureOfInterestToFile(String path, List<FeatureOfInterest> foiList) throws Exception {
	// Converts the FOI to CSV format
	String cvsData = convertToCSV(foiList);

	// Write data to the file.
	BufferedWriter writer = new BufferedWriter(new FileWriter(path));
	writer.write(cvsData);
	writer.close();
	}

	private String convertToCSV(List<FeatureOfInterest> foiList) {
	String csvString = new String();

	for (FeatureOfInterest foi : foiList) {
	if (foi.getName() != null) {
	// Replace comma by space
	csvString += foi.getName().replaceAll(",", ";") + ",";
	} else {
	csvString += ",";
	}

	if (foi.getDescription() != null) {
	// Replace comma by space
	csvString += foi.getDescription().replaceAll(",", ";") + ",";
	} else {
	csvString += ",";
	}

	Tuple3d position = ApogyCommonMathFacade.INSTANCE.extractPosition(foi.getPose());

	csvString += position.getX() + ",";
	csvString += position.getY() + ",";
	csvString += position.getZ() + ",";

	Tuple3d orientation = ApogyCommonMathFacade.INSTANCE.extractOrientation(foi.getPose());
	csvString += orientation.getX() + ",";
	csvString += orientation.getY() + ",";
	csvString += orientation.getZ() + "\n";

	}

	return csvString;
	}

	// FIXME Not used.
	// private List<TimeSource> getAllAvaibleTimeSource() {
	// List<TimeSource> timeSources = new ArrayList<TimeSource>();
	//
	// List<EClass> timeSourceEClass = ApogyCommonEMFFacade.INSTANCE
	// .getAllSubEClasses(ApogyCommonEMFPackage.Literals.TIME_SOURCE);
	//
	// for (EClass eClass : timeSourceEClass) {
	// try {
	// EObject eObject = EcoreUtil.create(eClass);
	// if (eObject instanceof TimeSource) {
	// timeSources.add((TimeSource) eObject);
	// }
	// } catch (Throwable t) {
	// Logger.error(t.getMessage(), t);
	// }
	// }
	//
	// return timeSources;
	// }

	// FIXME Not used.
	// private CurrentTimeSource getCurrentTimeSource(Collection<TimeSource> timeSources) {
	// CurrentTimeSource currentTimeSource = null;
	//
	// Iterator<TimeSource> it = timeSources.iterator();
	// while (it.hasNext() && currentTimeSource == null) {
	// TimeSource timeSource = it.next();
	// if (timeSource instanceof CurrentTimeSource) {
	// currentTimeSource = (CurrentTimeSource) timeSource;
	// }
	// }
	//
	// return currentTimeSource;
	// }
	// FIXME Move under Common Facade.
	private File copyURLContent(URL url) throws Exception {
	File tempFile = null;

	String fileName = getFileName(url);
	String fileExtension = getFileExtension(url);

	tempFile = File.createTempFile(fileName, fileExtension);

	url.openConnection();
	InputStream reader = url.openStream();

	FileOutputStream writer = new FileOutputStream(tempFile);
	byte[] buffer = new byte[153600];
	int bytesRead = 0;
	while ((bytesRead = reader.read(buffer)) > 0) {
	writer.write(buffer, 0, bytesRead);
	buffer = new byte[153600];
	}
	writer.close();
	reader.close();

	if (tempFile != null) {
	tempFile.deleteOnExit();
	}

	return tempFile;
	}

	// FIXME Move under Common Facade.
	private String getFileName(URL url) {
	String fileName = url.getFile();

	int startIndex = fileName.lastIndexOf(File.separator);
	int endIndex = fileName.lastIndexOf(".");
	if (startIndex > 0 && endIndex > 0) {
	fileName = fileName.substring(startIndex + 1, endIndex);
	}

	return fileName;
	}

	private String getFileExtension(URL url) {
	String fileExtension = url.getFile();

	int index = fileExtension.lastIndexOf(".");
	if (index > 0) {
	fileExtension = fileExtension.substring(index);
	}

	return fileExtension;
	}

	private String createNodeID(PositionedResult positionedResult) {
	String nodeId = positionedResult.eClass().getName();

	Date date = positionedResult.getTime();
	if (date != null) {
	nodeId += " - " + date.toString();
	}

	return nodeId;
	}
	} // ApogyCoreFacadeImpl