#2340 Update map plotting to address glitchy behavior when selecting entities and histories. (#2341)

Co-authored-by: denny <dennis.sheirer@gmail.com>

src/main/java/io/github/dsheirer/map/MapPanel.java

@@ -51,7 +51,6 @@ import javax.swing.JToggleButton;
 import javax.swing.SpinnerNumberModel;
 import javax.swing.event.ChangeEvent;
 import javax.swing.event.ChangeListener;
-import javax.swing.event.TableModelEvent;
 
 /**
  * Swing map panel.
@@ -85,9 +84,9 @@ public class MapPanel extends JPanel implements IPlottableUpdateListener
     private JComboBox<Integer> mTrackHistoryLengthComboBox;
     private JSpinner mMapZoomSpinner;
     private SpinnerNumberModel mMapZoomSpinnerModel;
-    private TrackHistoryModel mTrackHistoryModel = new TrackHistoryModel();
     private JTable mTrackHistoryTable;
     private JLabel mSelectedTrackSystemLabel;
+    private final TrackHistoryModel EMPTY_HISTORY = new TrackHistoryModel();
 
     /**
      * Constructs an instance
@@ -138,6 +137,7 @@ public class MapPanel extends JPanel implements IPlottableUpdateListener
 
         cp.add(new JScrollPane(getTrackHistoryTable()), "span 3,wrap");
 
+//Uncomment this line to add a debug track generator button to the display
 //        cp.add(getTrackGeneratorToggle(), "span 3,wrap");
 
         JSplitPane splitPane = new JSplitPane(JSplitPane.HORIZONTAL_SPLIT);
@@ -149,10 +149,10 @@ public class MapPanel extends JPanel implements IPlottableUpdateListener
 
     private void setSelected(PlottableEntityHistory selected)
     {
-        mTrackHistoryModel.load(selected);
-
         if(selected != null)
         {
+            getTrackHistoryTable().setModel(selected.getTrackHistoryModel());
+
             Identifier system = selected.getIdentifierCollection().getIdentifier(IdentifierClass.CONFIGURATION, Form.SYSTEM, Role.ANY);
 
             if(system != null)
@@ -171,6 +171,7 @@ public class MapPanel extends JPanel implements IPlottableUpdateListener
         }
         else
         {
+            getTrackHistoryTable().setModel(EMPTY_HISTORY);
             getSelectedTrackSystemLabel().setText(SELECT_A_TRACK);
         }
 
@@ -217,13 +218,13 @@ public class MapPanel extends JPanel implements IPlottableUpdateListener
     {
         if(mTrackHistoryTable == null)
         {
-            mTrackHistoryTable = new JTable(mTrackHistoryModel);
+            mTrackHistoryTable = new JTable(EMPTY_HISTORY);
             mTrackHistoryTable.getSelectionModel().addListSelectionListener(e ->
             {
                 if(getCenterOnSelectedCheckBox().isSelected())
                 {
                     int modelIndex = getTrackHistoryTable().convertRowIndexToModel(getTrackHistoryTable().getSelectedRow());
-                    TimestampedGeoPosition geo = mTrackHistoryModel.get(modelIndex);
+                    TimestampedGeoPosition geo = ((TrackHistoryModel)(getTrackHistoryTable().getModel())).get(modelIndex);
 
                     if(geo != null)
                     {
@@ -469,64 +470,6 @@ public class MapPanel extends JPanel implements IPlottableUpdateListener
         {
             mPlottedTracksTable = new JTable(mMapService.getPlottableEntityModel());
             mPlottedTracksTable.setAutoCreateRowSorter(true);
-            mMapService.getPlottableEntityModel().addTableModelListener(e ->
-            {
-                //Update the followed entity for DELETE/UPDATE operations
-                if(mFollowedTrack != null)
-                {
-                    if(e.getType() == TableModelEvent.DELETE)
-                    {
-                        for(int x = e.getFirstRow(); x <= e.getLastRow(); x++)
-                        {
-                            if(mMapService.getPlottableEntityModel().get(x).equals(mFollowedTrack))
-                            {
-                                follow(null);
-                                return;
-                            }
-                        }
-                    }
-                    else if(e.getType() == TableModelEvent.UPDATE)
-                    {
-                        if(e.getFirstRow() == 0 && e.getLastRow() == Integer.MAX_VALUE)
-                        {
-                            return;
-                        }
-
-                        for(int x = e.getFirstRow(); x <= e.getLastRow(); x++)
-                        {
-                            PlottableEntityHistory entity = mMapService.getPlottableEntityModel().get(x);
-
-                            if(entity.equals(getSelected()))
-                            {
-                                mTrackHistoryModel.update();
-                            }
-
-                            if(entity != null && entity.equals(mFollowedTrack))
-                            {
-                                centerOn(mMapService.getPlottableEntityModel().get(x));
-                                return;
-                            }
-                        }
-                    }
-                }
-
-                if(e.getType() == TableModelEvent.UPDATE && !(e.getFirstRow() == 0 && e.getLastRow() == Integer.MAX_VALUE))
-                {
-                    for(int x = e.getFirstRow(); x <= e.getLastRow(); x++)
-                    {
-                        PlottableEntityHistory entity = mMapService.getPlottableEntityModel().get(x);
-
-                        if(entity != null && entity.equals(getSelected()))
-                        {
-                            mTrackHistoryModel.update();
-                        }
-                    }
-                }
-                else if(e.getType() == TableModelEvent.DELETE && getSelected() == null)
-                {
-                    mTrackHistoryModel.load(null);
-                }
-            });
 
             //Register selection listener to update button/label states
             mPlottedTracksTable.getSelectionModel().addListSelectionListener(e ->

src/main/java/io/github/dsheirer/map/PlottableEntityHistory.java

@@ -1,6 +1,6 @@
 /*
  * *****************************************************************************
- * Copyright (C) 2014-2024 Dennis Sheirer
+ * Copyright (C) 2014-2025 Dennis Sheirer
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -22,19 +22,15 @@ package io.github.dsheirer.map;
 import io.github.dsheirer.identifier.Identifier;
 import io.github.dsheirer.identifier.IdentifierCollection;
 import io.github.dsheirer.module.decode.event.PlottableDecodeEvent;
-import java.util.ArrayList;
-import java.util.List;
-import org.jdesktop.swingx.mapviewer.GeoPosition;
 
 /**
  * Plottable entity history with location history.
  */
 public class PlottableEntityHistory
 {
-    public static final int MAX_LOCATION_HISTORY = 10;
+    private final TrackHistoryModel mTrackHistoryModel = new TrackHistoryModel();
-    private List<TimestampedGeoPosition> mLocationHistory = new ArrayList<>();
     private PlottableDecodeEvent mCurrentEvent;
-    private Identifier mIdentifier;
+    private final Identifier mIdentifier;
 
     /**
      * Constructs a plottable entity history
@@ -42,28 +38,24 @@ public class PlottableEntityHistory
     public PlottableEntityHistory(Identifier identifier, PlottableDecodeEvent event)
     {
         mIdentifier = identifier;
+        mCurrentEvent = event;
         add(event);
     }
 
     /**
      * Location history for this entity
      */
-    public List<TimestampedGeoPosition> getLocationHistory()
+    public TrackHistoryModel getTrackHistoryModel()
     {
-        return new ArrayList<>(mLocationHistory);
+        return mTrackHistoryModel;
     }
 
     /**
-     * Latest position for this entity.
+     * Latest position for this history
      */
     public TimestampedGeoPosition getLatestPosition()
     {
-        if(mLocationHistory.size() > 0)
+        return mTrackHistoryModel.get(0);
-        {
-            return mLocationHistory.get(0);
-        }
-
-        return null;
     }
 
     /**
@@ -89,43 +81,9 @@ public class PlottableEntityHistory
     {
         if(event.isValidLocation())
         {
-            TimestampedGeoPosition mostRecentPosition = getLatestPosition();
+            mTrackHistoryModel.add(new TimestampedGeoPosition(event.getLocation(), event.getTimeStart()));
-            TimestampedGeoPosition latest = new TimestampedGeoPosition(event.getLocation(), event.getTimeStart());
-
-            if(isUnique(latest, mostRecentPosition))
-            {
-                mCurrentEvent = event;
-                mLocationHistory.add(0, latest);
-
-                while(mLocationHistory.size() > MAX_LOCATION_HISTORY)
-                {
-                    mLocationHistory.remove(mLocationHistory.size() - 1);
-                }
-            }
-        }
-    }
-
-    /**
-     * Indicates if the latest time and position is at least 30 seconds newer than the previous position and either the
-     * latitude or longitude differs by at least 0.00001 degrees.
-     * @param latest location
-     * @param previous location
-     * @return indication of uniqueness.
-     */
-    private boolean isUnique(TimestampedGeoPosition latest, TimestampedGeoPosition previous)
-    {
-        if(latest != null && previous == null)
-        {
-            return true;
         }
 
-        if(latest != null && previous != null)
+        mCurrentEvent = event;
-        {
-            return latest.getTimestamp() > (previous.getTimestamp() + 30_000) ||
-                   Math.abs(latest.getLatitude() - previous.getLatitude()) > 0.00001 ||
-                   Math.abs(latest.getLongitude() - previous.getLongitude()) > 0.00001;
-        }
-
-        return false;
     }
 }

src/main/java/io/github/dsheirer/map/PlottableEntityRenderer.java

@@ -1,6 +1,6 @@
 /*
  * *****************************************************************************
- * Copyright (C) 2014-2024 Dennis Sheirer
+ * Copyright (C) 2014-2025 Dennis Sheirer
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -80,9 +80,9 @@ public class PlottableEntityRenderer
      */
     public void paintPlottableEntity(Graphics2D g, JXMapViewer viewer, PlottableEntityHistory entity, boolean antiAliasing)
     {
-        List<TimestampedGeoPosition> locationHistory = entity.getLocationHistory();
+        List<TimestampedGeoPosition> locationHistory = entity.getTrackHistoryModel().getTrackHistory();
 
-        if(!locationHistory.isEmpty() && locationHistory.get(locationHistory.size() - 1).isValid())
+        if(!locationHistory.isEmpty() && locationHistory.getLast().isValid())
         {
             Graphics2D graphics = (Graphics2D)g.create();
 
@@ -171,7 +171,7 @@ public class PlottableEntityRenderer
      */
     private void paintRoute(Graphics2D graphics, JXMapViewer viewer, PlottableEntityHistory entity, Color color)
     {
-        List<TimestampedGeoPosition> locations = entity.getLocationHistory();
+        List<TimestampedGeoPosition> locations = entity.getTrackHistoryModel().getTrackHistory();
 
         if(!locations.isEmpty())
         {

src/main/java/io/github/dsheirer/map/TrackGenerator.java

@@ -1,6 +1,6 @@
 /*
  * *****************************************************************************
- * Copyright (C) 2014-2024 Dennis Sheirer
+ * Copyright (C) 2014-2025 Dennis Sheirer
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -28,6 +28,7 @@ import io.github.dsheirer.identifier.configuration.SystemConfigurationIdentifier
 import io.github.dsheirer.module.decode.dmr.identifier.DMRRadio;
 import io.github.dsheirer.module.decode.event.DecodeEventType;
 import io.github.dsheirer.module.decode.event.PlottableDecodeEvent;
+import io.github.dsheirer.module.decode.p25.identifier.radio.APCO25RadioIdentifier;
 import io.github.dsheirer.protocol.Protocol;
 import io.github.dsheirer.util.ThreadPool;
 import java.util.ArrayList;
@@ -44,13 +45,9 @@ import org.jdesktop.swingx.mapviewer.GeoPosition;
  */
 public class TrackGenerator
 {
-    private static GeoPosition DEFAULT_START_POSITION = new GeoPosition(43.048, -76.147);
+    private static final GeoPosition DEFAULT_START_POSITION = new GeoPosition(43.048, -76.147);
-    private static final String ALIAS_LIST_NAME = "DMR Test Alias List";
+    private final MapService mMapService;
-    private MapService mMapService;
+    private final List<TrackElementGenerator> mTrackElementGenerators = new ArrayList<>();
-    private List<TrackElementGenerator> mTrackElementGenerators = new ArrayList<>();
-    private double mBaseSpeedKPH = 40.0;
-    private int mTrackCount = 25;
-    private ScheduledFuture<?> mGeneratorFuture;
 
     /**
      * Constructs an instance to publish tracks to the specified map service
@@ -60,19 +57,27 @@ public class TrackGenerator
     {
         mMapService = mapService;
 
-        MutableIdentifierCollection base = new MutableIdentifierCollection();
-        base.update(SystemConfigurationIdentifier.create("Test System"));
-        base.update(SiteConfigurationIdentifier.create("Test Site"));
-        base.update(FrequencyConfigurationIdentifier.create(155000000l));
-        base.update(AliasListConfigurationIdentifier.create(ALIAS_LIST_NAME));
-
         Random random = new Random();
 
-        for(int x = 0; x < mTrackCount; x++)
+        int trackCount = 25;
+        for(int x = 0; x < trackCount; x++)
         {
-            MutableIdentifierCollection mic = new MutableIdentifierCollection(base.getIdentifiers());
+            MutableIdentifierCollection mic = new MutableIdentifierCollection();
-            mic.update(DMRRadio.createFrom(x + 1));
+            mic.update(SystemConfigurationIdentifier.create("Test System"));
-            double speedKPH = mBaseSpeedKPH + (random.nextDouble() * 15);
+            mic.update(SiteConfigurationIdentifier.create("Test Site"));
+            mic.update(FrequencyConfigurationIdentifier.create(155000000l));
+            if(x % 2 == 1)
+            {
+                mic.update(AliasListConfigurationIdentifier.create("DMR " + x + " LIST"));
+                mic.update(DMRRadio.createFrom(x + 1));
+            }
+            else
+            {
+                mic.update(AliasListConfigurationIdentifier.create("P25 " + x + " LIST"));
+                mic.update(APCO25RadioIdentifier.createFrom(x + 1));
+            }
+            double baseSpeedKPH = 20.0;
+            double speedKPH = baseSpeedKPH + random.nextDouble(15);
             mTrackElementGenerators.add(new TrackElementGenerator(speedKPH, mic));
         }
     }
@@ -82,9 +87,9 @@ public class TrackGenerator
      */
     public void start()
     {
-        if(mGeneratorFuture == null)
+        for(TrackElementGenerator generator: mTrackElementGenerators)
         {
-            mGeneratorFuture = ThreadPool.SCHEDULED.scheduleAtFixedRate(() -> update(), 0, 1, TimeUnit.SECONDS);
+            generator.start();
         }
     }
 
@@ -93,59 +98,81 @@ public class TrackGenerator
      */
     public void stop()
     {
-        if(mGeneratorFuture != null)
+        for(TrackElementGenerator generator: mTrackElementGenerators)
         {
-            mGeneratorFuture.cancel(true);
+            generator.stop();
-            mGeneratorFuture = null;
-        }
-    }
-
-    /**
-     * Updates each of the track generates causing them to dispatch a new decode event to the map service.
-     *
-     * Invoke this method once per second.
-     */
-    private void update()
-    {
-        for(TrackElementGenerator tg: mTrackElementGenerators)
-        {
-            mMapService.receive(tg.update());
         }
     }
 
     /**
      * Test track element generator
      */
-    public static class TrackElementGenerator
+    public class TrackElementGenerator
     {
         public static double EARTH_RADIUS_KM = 6378.137;
         public static double ONE_SECOND = 1.0 / 60.0 / 60.0; //1 hour divided by 60 minutes divided by 60 seconds.
         private IdentifierCollection mIdentifierCollection;
         private double mSpeedKPH;
-        private GeoPosition mPosition = new GeoPosition(DEFAULT_START_POSITION.getLatitude(), DEFAULT_START_POSITION.getLongitude());
+        private GeoPosition mPosition;
         private Random mRandom = new Random();
         private double mHeading = 360.0 * mRandom.nextDouble();
+        private ScheduledFuture<?> mGeneratorFuture;
 
         /**
          * Constructs an instance
-         * @param trackId for the track
          * @param speedKPH speed in KPH
+         * @param identifierCollection for the track
          */
         public TrackElementGenerator(double speedKPH, IdentifierCollection identifierCollection)
         {
             mSpeedKPH = speedKPH;
             mIdentifierCollection = identifierCollection;
+            double latOffset = (1.0 - (mRandom.nextFloat() * 2)) / 800;
+            double lonOffset = (1.0 - (mRandom.nextFloat() * 2)) / 800;
+            mPosition = new GeoPosition(DEFAULT_START_POSITION.getLatitude() + latOffset,
+                    DEFAULT_START_POSITION.getLongitude() + lonOffset);
         }
 
         /**
-         *
+         * Starts this track generator
-         * @param heading 0-360 degrees
          */
-        public PlottableDecodeEvent update()
+        public void start()
         {
-            mHeading = mHeading + (15.0 - (mRandom.nextDouble() * 30.0));
+            if(mGeneratorFuture == null)
-            mHeading = Math.max(mHeading, 0);
+            {
-            mHeading = Math.min(mHeading, 360.0);
+                long intervalMS = 500 + (mRandom.nextLong(1000));
+                mSpeedKPH /= (intervalMS / 1000.0);
+                System.out.println("Speed: " + mSpeedKPH);
+                mGeneratorFuture = ThreadPool.SCHEDULED.scheduleAtFixedRate(this::update, 0, intervalMS, TimeUnit.MILLISECONDS);
+            }
+        }
+
+        /**
+         * Stops this track generator
+         */
+        public void stop()
+        {
+            if(mGeneratorFuture != null)
+            {
+                mGeneratorFuture.cancel(true);
+                mGeneratorFuture = null;
+            }
+        }
+
+        /**
+         * Pushes a new update to the map service.
+         */
+        public void update()
+        {
+            mHeading = mHeading + (30.0 - (mRandom.nextDouble(60)));
+            if(mHeading < 0)
+            {
+                mHeading += 360;
+            }
+            else if(mHeading >= 360)
+            {
+                mHeading -= 360;
+            }
             double distanceKM = mSpeedKPH * ONE_SECOND;
             double headingRadians = Math.toRadians(mHeading);
 
@@ -168,7 +195,7 @@ public class TrackGenerator
                             .protocol(Protocol.DMR)
                             .identifiers(mIdentifierCollection)
                             .build();
-            return event;
+            mMapService.receive(event);
         }
     }
 }

src/main/java/io/github/dsheirer/map/TrackHistoryModel.java

@@ -1,6 +1,6 @@
 /*
  * *****************************************************************************
- * Copyright (C) 2014-2024 Dennis Sheirer
+ * Copyright (C) 2014-2025 Dennis Sheirer
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -28,15 +28,15 @@ import java.util.List;
 import javax.swing.table.AbstractTableModel;
 
 /**
- * Table model for track history.
+ * Track history table model.
  */
 public class TrackHistoryModel extends AbstractTableModel
 {
+    public static final int MAX_LOCATION_HISTORY = 10;
     private static final String[] COLUMNS = new String[]{"Time", "Latitude", "Longitude"};
-    private SimpleDateFormat mSimpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+    private final SimpleDateFormat mSimpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
-    private DecimalFormat mDegreeFormat = new DecimalFormat("0.00000");
+    private final DecimalFormat mDegreeFormat = new DecimalFormat("0.00000");
-    private List<TimestampedGeoPosition> mTimestampedGeoPositions = new ArrayList<>();
+    private final List<TimestampedGeoPosition> mTimestampedGeoPositions = new ArrayList<>();
-    private PlottableEntityHistory mPlottableEntityHistory;
 
     /**
      * Constructs an instance
@@ -45,6 +45,65 @@ public class TrackHistoryModel extends AbstractTableModel
     {
     }
 
+    /**
+     * Complete history for this entity.
+     */
+    public List<TimestampedGeoPosition> getTrackHistory()
+    {
+        return Collections.unmodifiableList(mTimestampedGeoPositions);
+    }
+
+    /**
+     * Adds the position to the history if it is unique and trims the history to MAX_LOCATION_HISTORY size.
+     * @param latest position to add.
+     */
+    public void add(TimestampedGeoPosition latest)
+    {
+        TimestampedGeoPosition mostRecentPosition = null;
+
+        if(!mTimestampedGeoPositions.isEmpty())
+        {
+            mostRecentPosition = mTimestampedGeoPositions.getFirst();
+        }
+
+        if(isUnique(latest, mostRecentPosition))
+        {
+            mTimestampedGeoPositions.addFirst(latest);
+            fireTableRowsInserted(0, 0);
+
+            while(mTimestampedGeoPositions.size() > MAX_LOCATION_HISTORY)
+            {
+                int index = mTimestampedGeoPositions.size() - 1;
+                mTimestampedGeoPositions.removeLast();
+                fireTableRowsDeleted(index, index);
+            }
+        }
+    }
+
+    /**
+     * Indicates if the latest time and position is at least 30 seconds newer than the previous position and either the
+     * latitude or longitude differs by at least 0.00001 degrees.
+     * @param latest location
+     * @param previous location
+     * @return indication of uniqueness.
+     */
+    private boolean isUnique(TimestampedGeoPosition latest, TimestampedGeoPosition previous)
+    {
+        if(latest != null && previous == null)
+        {
+            return true;
+        }
+
+        if(latest != null)
+        {
+            return latest.getTimestamp() > (previous.getTimestamp() + 2_000) ||
+                    Math.abs(latest.getLatitude() - previous.getLatitude()) > 0.00001 ||
+                    Math.abs(latest.getLongitude() - previous.getLongitude()) > 0.00001;
+        }
+
+        return false;
+    }
+
     /**
      * Get the geo position at the specified index
      * @param index to retrieve
@@ -52,7 +111,7 @@ public class TrackHistoryModel extends AbstractTableModel
      */
     public TimestampedGeoPosition get(int index)
     {
-        if(index < mTimestampedGeoPositions.size())
+        if(index >= 0 && index < mTimestampedGeoPositions.size())
         {
             return mTimestampedGeoPositions.get(index);
         }
@@ -60,53 +119,6 @@ public class TrackHistoryModel extends AbstractTableModel
         return null;
     }
 
-    /**
-     * Loads the plottable entity history into this model
-     * @param plottableEntityHistory to load
-     */
-    public void load(PlottableEntityHistory plottableEntityHistory)
-    {
-        mPlottableEntityHistory = plottableEntityHistory;
-
-        if(mTimestampedGeoPositions.size() > 0)
-        {
-            int lastRow = mTimestampedGeoPositions.size() - 1;
-            mTimestampedGeoPositions.clear();
-            fireTableRowsDeleted(0, lastRow);
-        }
-
-        if(mPlottableEntityHistory != null)
-        {
-            mTimestampedGeoPositions.addAll(mPlottableEntityHistory.getLocationHistory());
-
-            if(mTimestampedGeoPositions.size() > 0)
-            {
-                fireTableRowsInserted(0, mTimestampedGeoPositions.size() - 1);
-            }
-        }
-    }
-
-    /**
-     * Updates or refreshes the track history from the current plottable entity.
-     */
-    public void update()
-    {
-        if(mPlottableEntityHistory != null)
-        {
-            List<TimestampedGeoPosition> geos = mPlottableEntityHistory.getLocationHistory();
-            Collections.reverse(geos);
-
-            for(TimestampedGeoPosition geo: geos)
-            {
-                if(!mTimestampedGeoPositions.contains(geo))
-                {
-                    mTimestampedGeoPositions.add(0, geo);
-                    fireTableRowsInserted(0, 0);
-                }
-            }
-        }
-    }
-
     @Override
     public int getRowCount()
     {

src/main/java/io/github/dsheirer/module/decode/p25/phase1/message/lc/motorola/LCMotorolaUnitGPS.java

@@ -19,7 +19,6 @@
 
 package io.github.dsheirer.module.decode.p25.phase1.message.lc.motorola;
 
-import io.github.dsheirer.bits.BinaryMessage;
 import io.github.dsheirer.bits.CorrectedBinaryMessage;
 import io.github.dsheirer.bits.IntField;
 import io.github.dsheirer.identifier.Identifier;
@@ -123,16 +122,4 @@ public class LCMotorolaUnitGPS extends LinkControlWord
 
         return mIdentifiers;
     }
-
-    static void main()
-    {
-        BinaryMessage mick = BinaryMessage.load("000001101001000000000000101100011010110101010011011000101001000001000010");
-        BinaryMessage newj = BinaryMessage.load("000001101001000000000000001110010000011010111110110010110011100011000010");
-
-        LCMotorolaUnitGPS motoMick = new LCMotorolaUnitGPS(new CorrectedBinaryMessage(mick));
-        LCMotorolaUnitGPS motoNewJ = new LCMotorolaUnitGPS(new CorrectedBinaryMessage(newj));
-
-        System.out.println("MICK: " + motoMick);
-        System.out.println("NEWJ: " + motoNewJ);
-    }
 }