Add support for H264/HEVC in FFMPEG

.github/workflows/gradle_publish.yml

@@ -1,25 +1,70 @@
 name: Publish package to GitHub Packages
-on: workflow_dispatch
+on:
+  workflow_dispatch:
+    inputs:
+      run_all:
+        description: "Publish all subprojects"
+        required: true
+        default: "false"
+      run_specific:
+        description: "Publish specific subproject"
+        required: false
+        default: ""
+  push:
+    branches: [ "master" ]
 jobs:
+  detect-changes:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 2
+      - name: Detect changed subprojects
+        id: changes
+        run: |
+          # get all projects
+          CHANGED=$(./gradlew projects --quiet | grep "Project " | awk '{print $3}' | sed "s/'\|://g")
+
+          #handle if project is specified
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            if [ "${{ inputs.run_all }}" = "false" ]; then
+              CHANGED=${{ inputs.run_specific }}
+            fi
+          else #merge to master, detect specific changes
+            CHANGED=$(grep -F -o -f <(echo "$CHANGED") <(git diff --name-only HEAD~ HEAD))
+          fi
+
+          CHANGED=$(echo -n "$CHANGED" | base64 -w 0)
+
+          echo "changed=$CHANGED" >> $GITHUB_OUTPUT
+      - name: Build matrix
+        id: set-matrix
+        run: |
+          ENCODED=${{ steps.changes.outputs.changed }}
+          CHANGED=$(echo -n "$ENCODED" | base64 --decode)
+          ARR=$(echo "$CHANGED" | jq -R -s -c 'split("\n")[:-1]')
+          echo "matrix={\"project\":$ARR}" >> $GITHUB_OUTPUT
+
   publish:
+    needs: detect-changes
     runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      packages: write
+    strategy:
+      matrix: ${{ fromJson(needs.detect-changes.outputs.matrix) }}
+      fail-fast: false
     steps:
-      - name: Checkout
-        uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
-          fetch-depth: 0
           submodules: recursive
-      - uses: actions/setup-java@v4
-        with:
-          java-version: '17'
-          distribution: 'temurin'
-      - name: Setup Gradle
-        uses: gradle/actions/setup-gradle@017a9effdb900e5b5b2fddfb590a105619dca3c3 # v4.4.2
-
-      - name: Publish package
-        run: ./gradlew publish --continue #don't block progress for other packages
+      - name: Publish project
+        run: |
+          echo "Publishing ${{ matrix.project }}"
+          VERSION=$(./gradlew --quiet :${{ matrix.project }}:printVersion)
+          if [ "${{ github.event_name }}" = "push" ]; then
+            VERSION="${VERSION}-SNAPSHOT"
+          fi
+          ./gradlew :${{ matrix.project }}:build -Pversion="$VERSION" -x test
+          ./gradlew :${{ matrix.project }}:publish -Pversion="$VERSION"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

build.gradle

@@ -23,6 +23,12 @@ subprojects {
     testImplementation "junit:junit:4.13.1"
   }
 
+  task printVersion {
+    doLast {
+      print project.version
+    }
+  }
+
   sourceCompatibility = 17
   targetCompatibility = 17
 
@@ -286,6 +292,9 @@ subprojects {
       publications {
         mavenJava(MavenPublication) {
           from components.java
+          artifact(p.tasks.osgi) {
+            classifier = 'bundle'
+          }
           pom.withXml {
             asNode().get('version') + ({
               resolveStrategy = Closure.DELEGATE_FIRST

processing/sensorhub-process-geoloc/src/main/java/org/sensorhub/process/geoloc/LLToLLA.java

@@ -0,0 +1,97 @@
+/***************************** BEGIN LICENSE BLOCK ***************************
+
+ The contents of this file are subject to the Mozilla Public License, v. 2.0.
+ If a copy of the MPL was not distributed with this file, You can obtain one
+ at http://mozilla.org/MPL/2.0/.
+
+ Software distributed under the License is distributed on an "AS IS" basis,
+ WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
+ for the specific language governing rights and limitations under the License.
+
+ The Initial Developer is Botts Innovative Research Inc. Portions created by the Initial
+ Developer are Copyright (C) 2026 the Initial Developer. All Rights Reserved.
+
+ ******************************* END LICENSE BLOCK ***************************/
+
+package org.sensorhub.process.geoloc;
+
+import net.opengis.swe.v20.DataBlock;
+import net.opengis.swe.v20.Quantity;
+import net.opengis.swe.v20.Vector;
+import org.sensorhub.algo.vecmath.Vect3d;
+import org.sensorhub.api.processing.OSHProcessInfo;
+import org.sensorhub.api.sensor.PositionConfig;
+import org.vast.process.ExecutableProcessImpl;
+import org.vast.process.ProcessException;
+import org.vast.swe.SWEConstants;
+import org.vast.swe.helper.GeoPosHelper;
+
+
+/**
+ * <p>
+ * Process for converting 2D LatLon coordinates to 3D LLA by appending
+ * a configurable default altitude value.
+ * </p>
+ *
+ * @author Kalyn Stricklin
+ * @since May 6, 2026
+ */
+public class LLToLLA extends ExecutableProcessImpl
+{
+    public static final OSHProcessInfo INFO = new OSHProcessInfo("geoloc:LL2LLA", "LatLon to LLA",
+        "LatLon to LLA conversion using a default altitude", LLToLLA.class);
+
+    protected Vector latLonInput;
+    protected Quantity defaultAlt;
+    protected Vector llaOutput;
+
+
+    public LLToLLA()
+    {
+        super(INFO);
+        GeoPosHelper sweHelper = new GeoPosHelper();
+
+        // create LatLon input (2D: lat, lon)
+        latLonInput = sweHelper.newLocationVectorLatLon(null);
+        inputData.add("latLonLocation", latLonInput);
+
+        // create default altitude parameter
+        defaultAlt = sweHelper.createQuantity()
+            .definition(GeoPosHelper.DEF_ALTITUDE_ELLIPSOID)
+            .label("Default Altitude")
+            .description("Default altitude value appended to produce LLA output")
+            .uom("m")
+            .build();
+        var altData = defaultAlt.createDataBlock();
+        altData.setDoubleValue(0.0);
+        defaultAlt.setData(altData);
+        paramData.add("defaultAltitude", defaultAlt);
+
+        // create LLA output (3D: lat, lon, alt)
+        llaOutput = sweHelper.newLocationVectorLLA(null);
+        outputData.add("llaLocation", llaOutput);
+    }
+
+
+    @Override
+    public void init() throws ProcessException
+    {
+        super.init();
+    }
+
+
+    @Override
+    public void execute() throws ProcessException
+    {
+        DataBlock llData = latLonInput.getData();
+        double lat = llData.getDoubleValue(0);
+        double lon = llData.getDoubleValue(1);
+
+        double alt = defaultAlt.getData().getDoubleValue();
+
+        DataBlock llaData = llaOutput.getData();
+        llaData.setDoubleValue(0, lat);
+        llaData.setDoubleValue(1, lon);
+        llaData.setDoubleValue(2, alt);
+    }
+}

processing/sensorhub-process-geoloc/src/main/java/org/sensorhub/process/geoloc/ProcessDescriptors.java

@@ -25,7 +25,8 @@ public ProcessDescriptors()
         addImpl(ECEFPosMatrix.INFO);
         addImpl(ECEFToLLA.INFO);
         addImpl(LLAToECEF.INFO);
-
+        addImpl(LLToLLA.INFO);
+
         addImpl(RayIntersectSphere.INFO);
         addImpl(RayIntersectEllipsoid.INFO);
         addImpl(RayIntersectTerrain.INFO);

sensors/aviation/sensorhub-driver-misb-uas/build.gradle

@@ -1,13 +1,14 @@
 description = 'MISB UAS Sensors'
 ext.details = "Driver for UAS system providing video and telemetry based on MISB ST 0601 / STANAG 4609"
-version = '2.0.0'
+version = '2.2.0'
 
 // To build in entire java cv platform of projects use
 //    implementation('org.bytedeco:javacv-platform:1.5.2')
 dependencies {
     implementation 'org.sensorhub:sensorhub-core:' + oshCoreVersion
     implementation project(':sensorhub-driver-videocam')
     implementation project(':sensorhub-process-ffmpeg')
+    implementation project(':sensorhub-lib-stanag4609')
     testImplementation('junit:junit:4.13')
     testImplementation('org.jcodec:jcodec-javase:0.1.9')
 }

sensors/aviation/sensorhub-driver-misb-uas/src/main/java/org/sensorhub/impl/sensor/uas/UasSensorBase.java

@@ -1,34 +1,37 @@
-package org.sensorhub.impl.sensor.uas;
+/***************************** BEGIN LICENSE BLOCK ***************************
 
-import java.util.ArrayList;
-import java.util.List;
-import java.util.concurrent.Executors;
-import java.util.concurrent.ScheduledExecutorService;
+ The contents of this file are subject to the Mozilla Public License, v. 2.0.
+ If a copy of the MPL was not distributed with this file, You can obtain one
+ at http://mozilla.org/MPL/2.0/.
+
+ Software distributed under the License is distributed on an "AS IS" basis,
+ WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
+ for the specific language governing rights and limitations under the License.
+
+ Copyright (C) 2021 Botts Innovative Research, Inc. All Rights Reserved.
+
+ ******************************* END LICENSE BLOCK ***************************/
+package org.sensorhub.impl.sensor.uas;
 
 import org.sensorhub.api.common.SensorHubException;
 import org.sensorhub.impl.sensor.AbstractSensorModule;
 import org.sensorhub.impl.sensor.uas.common.SimulationClock;
-import org.sensorhub.impl.sensor.uas.common.SyncTime;
 import org.sensorhub.impl.sensor.uas.config.UasConfig;
-import org.sensorhub.impl.sensor.uas.klv.SetDecoder;
-import org.sensorhub.impl.sensor.uas.outputs.AirframeAttitude;
-import org.sensorhub.impl.sensor.uas.outputs.FullTelemetry;
-import org.sensorhub.impl.sensor.uas.outputs.GeoRefImageFrame;
-import org.sensorhub.impl.sensor.uas.outputs.GimbalAttitude;
-import org.sensorhub.impl.sensor.uas.outputs.Identification;
-import org.sensorhub.impl.sensor.uas.outputs.Security;
-import org.sensorhub.impl.sensor.uas.outputs.SensorLocation;
-import org.sensorhub.impl.sensor.uas.outputs.SensorParams;
-import org.sensorhub.impl.sensor.uas.outputs.UasOutput;
-import org.sensorhub.impl.sensor.uas.outputs.Video;
-import org.sensorhub.impl.sensor.uas.outputs.VmtiOutput;
+import org.sensorhub.impl.sensor.uas.outputs.*;
 import org.sensorhub.misb.stanag4609.comm.MpegTsProcessor;
+import org.sensorhub.misb.stanag4609.klv.codec.SetDecoder;
+import org.sensorhub.misb.stanag4609.time.SyncTime;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.vast.ogc.om.MovingFeature;
 import org.vast.swe.SWEConstants;
 import org.vast.util.Asserts;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+
 /**
  * Base class for two sensors that parse an MPEG TS stream.
  * 

sensors/aviation/sensorhub-driver-misb-uas/src/main/java/org/sensorhub/impl/sensor/uas/outputs/AirframeAttitude.java

@@ -13,16 +13,15 @@
  ******************************* END LICENSE BLOCK ***************************/
 package org.sensorhub.impl.sensor.uas.outputs;
 
+import net.opengis.swe.v20.DataBlock;
 import org.sensorhub.api.data.DataEvent;
 import org.sensorhub.impl.sensor.uas.UasSensorBase;
 import org.sensorhub.impl.sensor.uas.config.UasConfig;
-import org.sensorhub.impl.sensor.uas.klv.UasDataLinkSet;
+import org.sensorhub.misb.stanag4609.klv.codec.misb0601.UasDataLinkSet;
 import org.sensorhub.misb.stanag4609.tags.TagSet;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
-import net.opengis.swe.v20.DataBlock;
-
 /**
  * Output specification and provider for MISB-TS STANAG 4609 ST0601.16 UAS Metadata
  *

sensors/aviation/sensorhub-driver-misb-uas/src/main/java/org/sensorhub/impl/sensor/uas/outputs/FullTelemetry.java

@@ -13,17 +13,16 @@
  ******************************* END LICENSE BLOCK ***************************/
 package org.sensorhub.impl.sensor.uas.outputs;
 
+import net.opengis.swe.v20.DataBlock;
 import org.sensorhub.api.data.DataEvent;
 import org.sensorhub.impl.sensor.uas.UasSensorBase;
 import org.sensorhub.impl.sensor.uas.config.UasConfig;
-import org.sensorhub.impl.sensor.uas.klv.SecurityLocalSet;
-import org.sensorhub.impl.sensor.uas.klv.UasDataLinkSet;
+import org.sensorhub.misb.stanag4609.klv.codec.misb0102.SecurityLocalSet;
+import org.sensorhub.misb.stanag4609.klv.codec.misb0601.UasDataLinkSet;
 import org.sensorhub.misb.stanag4609.tags.TagSet;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
-import net.opengis.swe.v20.DataBlock;
-
 /**
  * Output specification and provider for MISB-TS STANAG 4609 ST0601.16 UAS Metadata
  *