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Brutzman, Don authoredBrutzman, Don authored
EspduSender.java 21.34 KiB
package OpenDis7Examples;
import edu.nps.moves.dis7.entities.usa.platform.land.M1A2;
import edu.nps.moves.dis7.enumerations.Country;
import edu.nps.moves.dis7.enumerations.EntityKind;
import edu.nps.moves.dis7.enumerations.PlatformDomain;
import edu.nps.moves.dis7.pdus.*;
import edu.nps.moves.dis7.utilities.*;
import java.io.*;
import java.net.*;
import java.util.*;
/**
* Creates and sends ESPDUs in IEEE binary format. Adapted from OpenDIS library
* example package edu.nps.moves.examples
*
* @author Don McGregor
* @author Don Brutzman
*/
public class EspduSender
{
/** Default constructor */
public EspduSender()
{
// default constructor
}
/**
* Number of complete loops to perform.
* Putting any upper limit on # packets sent avoids possibility of non-terminating infinite loops that continue sending packets. */
public static final int SEND_LOOPS_TO_PERFORM = 5; // 5
/**
* Default multicast group address we send on.
* @see <a href="https://en.wikipedia.org/wiki/Multicast_address" target="_blank">https://en.wikipedia.org/wiki/Multicast_address</a> */
public static final String DEFAULT_MULTICAST_ADDRESS = "239.1.2.3";
/**
* Default multicast port used, matches Wireshark DIS capture default
* @see <a href="https://en.wikipedia.org/wiki/Port_(computer_networking)" target="_blank">https://en.wikipedia.org/wiki/Port_(computer_networking)</a> */
public static final int DEFAULT_MULTICAST_PORT = 3000;
/** Type of network connection:
* Point to point <a href="https://en.wikipedia.org/wiki/Unicast" target="_blank">UNICAST</a>,
* Many to many <a href="https://en.wikipedia.org/wiki/Multicast" target="_blank">MULTICAST</a>, or
* (rarely used, potentially harmful) <a href="https://en.wikipedia.org/wiki/Broadcasting_(networking)" target="_blank">BROADCAST</a>
*/
public enum NetworkMode {
/** Point to point @see <a href="https://en.wikipedia.org/wiki/Unicast" target="_blank">https://en.wikipedia.org/wiki/Unicast</a> */
UNICAST,
/** Many to many @see <a href="https://en.wikipedia.org/wiki/Multicast" target="_blank">https://en.wikipedia.org/wiki/Multicast</a> */
MULTICAST,
/** (rarely used, potentially harmful) @see <a href="https://en.wikipedia.org/wiki/Broadcasting_(networking)" target="_blank">https://en.wikipedia.org/wiki/Broadcasting_(networking)</a> */
BROADCAST
};
/**
* Output prefix to identify this class, helps with logging
*/
private final static String TRACE_PREFIX = "[" + EspduSender.class.getName() + "] ";
/**
* Possible system properties, passed in via -Dattr=val networkMode:
* unicast, broadcast, multicast destinationIp: where to send the packet. If
* in multicast mode, this can be multicast. To determine broadcast
* destination IP, use an online broadcast address calculator, for example
* http://www.remotemonitoringsystems.ca/broadcast.php If in multicast mode,
* a join() will be done on the multicast address. port: port used for both
* source and destination.
*
* @param args command-line arguments */
@SuppressWarnings("SleepWhileInLoop") // allows Thread.sleep(value) without warning in code
public static void main(String args[])
{
System.out.println(TRACE_PREFIX + " started...");
// Default settings. These are used if no system properties are set.
// If system properties are passed in, these are overridden later.
NetworkMode networkMode = NetworkMode.MULTICAST;
InetAddress multicastInetAddress = null; // must be initialized, even if null
int port = DEFAULT_MULTICAST_PORT;
MulticastSocket socket = null; // must be initialized to avoid later error, even if null;
EntityStatePdu espdu = new EntityStatePdu();
// DisTime disTime = new DisTime();
// ICBM coordinates for my office
double latitude = 36.595517;
double longitude = -121.877000;
try
{
multicastInetAddress = InetAddress.getByName(DEFAULT_MULTICAST_ADDRESS);
}
catch (UnknownHostException e)
{
System.out.println(TRACE_PREFIX + e + " Cannot create multicast address");
System.exit(0);
}
// All system properties, passed in on the command line via -Dattribute=value
Properties systemProperties = System.getProperties();
// IP address we send to
String destinationIpString = systemProperties.getProperty("destinationIp");
// Port we send to, and local port we open the socket on
String portString = systemProperties.getProperty("port");
// Network mode: unicast, multicast, broadcast
String networkModeString = systemProperties.getProperty("networkMode"); // unicast or multicast or broadcast
// Set up socket to send information
try
{
if (portString != null) // Update port we send to, if provided
{
port = Integer.parseInt(portString);
}
socket = new MulticastSocket(port);
// Where we send packets to, the destination IP address
if (destinationIpString != null)
{
multicastInetAddress = InetAddress.getByName(destinationIpString);
}
// Type of transport: unicast, broadcast, or multicast
if (networkModeString != null)
{
if (networkModeString.equalsIgnoreCase("unicast"))
{
networkMode = NetworkMode.UNICAST;
}
else if (networkModeString.equalsIgnoreCase("broadcast"))
{
networkMode = NetworkMode.BROADCAST;
}
else if (networkModeString.equalsIgnoreCase("multicast"))
{
networkMode = NetworkMode.MULTICAST;
if (!multicastInetAddress.isMulticastAddress()) {
throw new RuntimeException("*** Error: sending to multicast address, but destination address " + multicastInetAddress.toString() + "is not multicast");
}
// socket.joinGroup(multicastInetAddress); // deprecated, TODO select correct NetworkInterface
// =======================================================================
// updated approach using NetworkInterface
NetworkInterface networkInterface = NetworkInterface.getByInetAddress(multicastInetAddress);
if (networkInterface != null)
System.out.println("networkInterface=" + networkInterface.getDisplayName()); // typically null if loopback
SocketAddress localMulticastSocketAddress = new InetSocketAddress(multicastInetAddress, DEFAULT_MULTICAST_PORT);
MulticastSocket multicastSocket = new MulticastSocket(DEFAULT_MULTICAST_PORT);
multicastSocket.joinGroup(localMulticastSocketAddress, networkInterface);
// =======================================================================
}
} // end networkModeString
else if (networkMode == NetworkMode.MULTICAST)
{
networkModeString = "multicast";
}
else if (networkMode == NetworkMode.UNICAST)
{
networkModeString = "unicast";
}
else if (networkMode == NetworkMode.BROADCAST)
{
networkModeString = "broadcast";
}
}
catch (IOException | RuntimeException e)
{
System.out.println(TRACE_PREFIX + "Unable to initialize network correctly, exiting.");
System.out.println(e);
System.exit(-1); // outta here
}
System.out.println(TRACE_PREFIX + " sending " + networkModeString + " ESPDU packets to " +
multicastInetAddress.getHostAddress() + " port " + port);
// Initialize values in the Entity State PDU object. The exercise ID is
// a way to differentiate between different virtual worlds on one network.
// Note that some values (such as the PDU type and PDU family) are set
// automatically when you create the ESPDU.
espdu.setExerciseID((byte)1); //(short) 1);
// The EID is the unique identifier for objects in the world. This
// EID should match up with the ID for the object specified in the
// VMRL/x3d/virtual world.
EntityID entityID = espdu.getEntityID(); // initialize, reset, override
// TODO check: 0 is apparently not a valid site number, per DIS specification
entityID.setSiteID ((short)1); // TODO utility method to allow int values
entityID.setApplicationID((short)2);
entityID.setEntityID ((short)3);
espdu.setEntityID(entityID); // TODO utility method to allow setting all three at once
// Set the entity type. SISO has a big list of enumerations, so that by
// specifying various numbers we can say this is an M1A2 American tank,
// the USS Enterprise, and so on. We'll make this a tank. There is a
// separate project elsehwhere in this project that implements DIS
// enumerations in C++ and Java, but to keep things simple we just use
// numbers here.
// Manual way to override platform information:
EntityType entityType = espdu.getEntityType()
.setEntityKind (EntityKind.PLATFORM).setEntityKind (EntityKind.PLATFORM) //(short) 1); // Platform (vs lifeform, munition, sensor, etc.); //(short) 1); // Platform (vs lifeform, munition, sensor, etc.)
.setCountry (Country.UNITED_STATES_OF_AMERICA_USA) // 225 USA
.setDomain (Domain.inst(PlatformDomain.LAND)) // Land (vs air, surface, subsurface, space)
.setCategory ((byte) 1) // Tank
.setSubCategory((byte) 1) // M1 Abrams
.setSpecific ((byte) 3); // M1A2 Abrams
// New way using entity jar(s)
espdu.setEntityType(new edu.nps.moves.dis7.entities.usa.platform.land.M1A2());
// or simply use an enumeration by name, with accompanying import statement at top of file
espdu.setEntityType(new M1A2());
// Inspecting an enumeration
System.out.println("===============");
System.out.println("espdu entityType information:");
System.out.println(" EntityKind =" + espdu.getEntityType().getEntityKind());
System.out.println(" Country =" + espdu.getEntityType().getCountry());
System.out.println(" Domain =" + espdu.getEntityType().getDomain());
System.out.println(" Category =" + espdu.getEntityType().getCategory());
System.out.println(" SubCategory=" + espdu.getEntityType().getSubCategory());
System.out.println(" Specific =" + espdu.getEntityType().getCountry());
// TODO round trip lookup
Set<InetAddress> localNetworkAddresses;
try // Loop through sending N ESPDUs
{
System.out.println(TRACE_PREFIX + "sending " + SEND_LOOPS_TO_PERFORM + " sets of packets:"); // + address.toString()
for (int index = 1; index <= SEND_LOOPS_TO_PERFORM; index++)
{
// DIS time is a pain in the uh, neck. DIS time units are 2^31-1 units per
// hour, and time is set to DIS time units from the top of the hour.
// This means that if you start sending just before the top of the hour
// the time units can roll over to zero as you are sending. The receivers
// (escpecially homegrown ones) are often not able to detect rollover
// and may start discarding packets as dupes or out of order. We use
// an NPS timestamp here, hundredths of a second since the start of the
// year. The DIS standard for time is often ignored in the wild; I've seen
// people use Unix time (seconds since 1970) and more. Or you can
// just stuff idx into the timestamp field to get something that is monotonically
// increasing.
// Note that timestamp is used to detect duplicate and out of order packets.
// That means if you DON'T change the timestamp, many implementations will simply
// discard subsequent packets that have an identical timestamp. Also, if they
// receive a PDU with an timestamp lower than the last one they received, they
// may discard it as an earlier, out-of-order PDU. So it is a good idea to
// update the timestamp on ALL packets sent.
// An alterative approach: actually follow the standard. It's a crazy concept,
// but it might just work.
int timestamp = DisTime.getCurrentDisTimestamp();
espdu.setTimestamp(timestamp);
// Set the position of the entity in the world. DIS uses a cartesian
// coordinate system with the origin at the center of the earth, the x
// axis out at the equator and prime meridian, y out at the equator and
// 90 deg east, and z up and out the north pole. To place an object on
// the earth's surface you also need a model for the shape of the earth
// (it's not a sphere.) All the fancy math necessary to do this is in
// the SEDRIS SRM package. There are also some one-off formulas for
// doing conversions from, for example, lat/lon/altitude to DIS coordinates.
// Here we use those one-off formulas.
// Modify the position of the object. This will send the object a little
// due east by adding some to the longitude every iteration. Since we
// are on the Pacific coast, this sends the object east. Assume we are
// at zero altitude. In other worlds you'd use DTED to determine the
// local ground altitude at that lat/lon, or you'd just use ground clamping.
// The x and y values will change, but the z value should not.
//lon = lon + (double)((double)idx / 100000.0);
//System.out.println("lla=" + lat + "," + lon + ", 0.0");
double direction = Math.pow(-1.0, index);
longitude = longitude + (direction * 0.00006);
double disCoordinates[] = CoordinateConversions.getXYZfromLatLonDegrees(latitude, longitude, 1.0);
Vector3Double location = espdu.getEntityLocation();
location.setX(disCoordinates[0]); location.setY(disCoordinates[1]);
location.setZ(disCoordinates[2]);
System.out.println("===============");
System.out.println("Create new PDUs");
System.out.println(" latitude, longitude: [" + latitude + ", " + longitude + "]");
System.out.println(" coordinate conversion: [" + disCoordinates[0] + ", " + disCoordinates[1] + ", " + disCoordinates[2] + "]");
location = espdu.getEntityLocation();
System.out.println("Espdu #" + index + " entityID=[" + entityID.getSiteID()+ "," + entityID.getApplicationID()+ "," + entityID.getEntityID()+ "]");
double c[] = {location.getX(), location.getY(), location.getZ()};
double lla[] = CoordinateConversions.xyzToLatLonDegrees(c);
// System.out.println(" DIS entityLocation: [" + location.getX() + "," + location.getY() + "," + location.getZ() + "]");
String debugString = " Location (latitude/longitude/altitude): [" + lla[0] + ", " + lla[1] + ", " + lla[2] + "]";
// System.out.println(debugString);
// Optionally, we can do some rotation of the entity
/*
Orientation orientation = espdu.getEntityOrientation();
float psi = orientation.getPsi();
psi = psi + idx;
orientation.setPsi(psi);
orientation.setTheta((float)(orientation.getTheta() + idx /2.0));
*/
// You can set other ESPDU values here, such as the velocity, acceleration,
// and so on.
// Marshal out the espdu object to a byte array, then send a datagram
// packet with that data in it.
ByteArrayOutputStream baos = new ByteArrayOutputStream();
DataOutputStream dos = new DataOutputStream(baos);
DatagramPacket packet;
// The byte array here is the packet in DIS format. We put that into a
// datagram and send it.
espdu.marshal(dos);
byte[] espduArray = baos.toByteArray();
FirePdu firePdu = new FirePdu();
firePdu.setLocationInWorldCoordinates(espdu.getEntityLocation());
byte[] fireArray = firePdu.marshal().array(); // can also use ByteBuffer
System.out.println("FirePdu #" + index + " firePdu=[FireMissionIndex=" + firePdu.getFireMissionIndex() + ", descriptor=" + firePdu.getDescriptor()+ "]");
// CommentPdu newCommentPdu = new CommentPdu();
// ArrayList<VariableDatum> payloadList = new ArrayList<>();
// ArrayList<String> commentsList = new ArrayList<>();
// commentsList.add("Hello CommentPDU");
// commentsList.add("Here is a second line of text in this comment.");
// if (!commentsList.isEmpty())
// System.out.println("Preparing CommentPDU:");
//
// for (String comment : commentsList)
// {
// VariableDatum newVariableDatum = new VariableDatum();
// newVariableDatum.setVariableDatumValue (comment.getBytes()); // conversion
// newVariableDatum.setVariableDatumLengthInBytes(comment.getBytes().length); // also available in bits, see spec and javadoc
// // alternatively, you do not need to set this and the marshaller will figure it out from the byte array
// // (see javadoc for VariableDatum.setVariableDatumLength())
// payloadList.add(newVariableDatum);
// System.out.println(" \"" + comment + "\"");
// }
// newCommentPdu.setVariableDatums(payloadList);
// byte[] commentArray = newCommentPdu.marshal();
localNetworkAddresses = getBroadcastAddresses();
for (InetAddress networkAddress : localNetworkAddresses) {
if (espduArray.length > 0)
{
packet = new DatagramPacket(espduArray, espduArray.length, networkAddress, port);
System.out.println(TRACE_PREFIX + "sending datagram packet [" + espdu.getPduType().toString() + "] " + "packet.getLength()=" + packet.getLength() + ", " + // diagnostic, beware of ever-growing packet size
String.format("to %-15s", networkAddress.getHostAddress()) + " port " + port);
socket.send(packet);
}
// TODO experiment with these! 8)
if (fireArray.length > 0)
{
packet = new DatagramPacket(fireArray, fireArray.length, networkAddress, port); // alternate
System.out.println(TRACE_PREFIX + "sending datagram packet [" + firePdu.getPduType().toString() + " ] " +
"packet.getLength()= " + packet.getLength() + ", " + // diagnostic, beware of ever-growing packet size
String.format("to %-15s", networkAddress.getHostAddress()) + " port " + port);
socket.send(packet);
}
// // TODO experiment with these! 8)
// if (newCommentPdu != null)
// {
// System.out.println(TRACE_PREFIX + "sending datagram packet [" + newCommentPdu.getPduType().toString() + " ] to " +
// String.format("%-15s", networkAddress.getHostAddress()) + " port " + port);
// packet = new DatagramPacket(commentArray, commentArray.length, networkAddress, port); // alternate
// socket.send(packet);
// }
}
// Send every 1 second within loop. Otherwise all this will be all over in a fraction of a second.
Thread.sleep(1000); // msec
}
}
catch (Exception e)
{
System.out.println(TRACE_PREFIX + "Problem with " + e + ", see exception trace:");
System.out.println(e);
}
System.out.println("===============");
System.out.println(TRACE_PREFIX + "complete.");
}
/**
* A number of sites get all snippy about using 255.255.255.255 for a
* broadcast address; it trips their security software and they kick you off
* their network. (Comcast, NPS, etc.) This determines the broadcast address for
* all connected interfaces, based on the IP and subnet mask. If you have a
* dual-homed host it will return a broadcast address for both. If you have
* some VMs running on your host this will pick up the addresses for those
* as well--e.g. running VMWare on your laptop with a local IP this will also
* pick up a 192.168 address assigned to the VM by the host OS.
*
* @return set of all broadcast addresses
*/
public static Set<InetAddress> getBroadcastAddresses()
{
Set<InetAddress> broadcastAddresses = new HashSet<>();
Enumeration<NetworkInterface> interfaces;
try {
interfaces = NetworkInterface.getNetworkInterfaces();
while (interfaces.hasMoreElements())
{
NetworkInterface anInterface = interfaces.nextElement();
if (anInterface.isUp())
{
for (InterfaceAddress anAddress : anInterface.getInterfaceAddresses()) {
if ((anAddress == null || anAddress.getAddress().isLinkLocalAddress()))
{
continue;
}
//System.out.println("Getting broadcast address for " + anAddress);
InetAddress broadcastAddress = anAddress.getBroadcast();
if (broadcastAddress != null) {
broadcastAddresses.add(broadcastAddress);
}
}
}
}
}
catch (SocketException e)
{
System.out.println(TRACE_PREFIX + "Problem with .getBroadcastAddresses(), see exception trace:" + e);
System.out.println(e);
}
return broadcastAddresses;
}
}