twenty minutes following class

examples/src/SimkitOpenDis7Examples/TwoCraneBerthsOpenDis7.java

 package SimkitOpenDis7Examples;
 
+import edu.nps.moves.dis7.enumerations.DisPduType;
+import edu.nps.moves.dis7.pdus.EntityStatePdu;
+import edu.nps.moves.dis7.utilities.DisChannel;
+import edu.nps.moves.dis7.utilities.PduFactory;
 import java.util.SortedSet;
 import java.util.TreeSet;
 import simkit.Priority;
@@ -16,7 +20,9 @@ import simkit.SimEntityBase;
  * @author abuss@nps.edu@nps.edu
  * @author brutzman@nps.edu
  */
-public class TwoCraneBerthsOpenDis7 extends SimEntityBase {
+public class TwoCraneBerthsOpenDis7 extends SimEntityBase
+{
+    private final DisChannel disChannel = new DisChannel();
 
     /**
      * Queue of Ships waiting to go into the berth
@@ -159,7 +165,7 @@ public class TwoCraneBerthsOpenDis7 extends SimEntityBase {
      */
     public void doStartUnloadingOneCrane() {
         SortedSet<Ship> oldQueue = getQueue();
-        Ship ship = queue.first();
+        Ship ship = queue.first(); // TODO rename ship queue
         queue.remove(ship);
         firePropertyChange("queue", oldQueue, getQueue());
 
@@ -171,9 +177,70 @@ public class TwoCraneBerthsOpenDis7 extends SimEntityBase {
         SortedSet<Ship> oldBerth = getBerth();
         berth.add(ship);
         firePropertyChange("berth", oldBerth, getBerth());
+        
+        performCraneUnloadOperations( 10, // numberOfContainers
+                                       0.0  // initial position
+                                     );    // TODO indicate berth
 
         waitDelay("EndUnloadingOneCrane", ship.getRemainingUnloadingTime(), ship);
     }
+    
+    PduFactory pduFactory = new PduFactory();
+    public void performCraneUnloadOperations(
+                    // which crane
+                    // which berth
+                    int numberOfContainers, 
+                    double positionOfCrane
+                    // lenthOfCrane
+                )
+    {
+        double   craneLinearSpeed  =  1.0; // m/sec
+        double   craneRotationRate = 10.0; // degrees/second
+        double containerHookupTime = 60.0; // seconds average
+        double containerDetachTime = 30.0; // seconds average
+        
+        EntityStatePdu espduCrane = (EntityStatePdu) pduFactory.createPdu(DisPduType.ENTITY_STATE);
+        // 1. Crane at head of pier, operatior present, boom elevated vertically in stow postion
+        // espduCrane1.setPosition 0 0 0
+                
+        // 2, Ship arrives, tug departs
+        // shop PDU here or assum it happened earlier
+        
+        // 3. Crane moves to position of ship
+        espduCrane.setEntityLocation(positionOfCrane, 0.0, 0.0); 
+        // TODO compute travel time
+        // update: travel to positionOfCrane by craneLinearSpeed
+        
+        // 4. repeat until done: Crane rotates, lift container, rotates, lower container
+        for (int containerIndex = 1; containerIndex <= numberOfContainers; containerIndex++)
+        {
+            // perform one operation
+            espduCrane.setEntityOrientation(0, 0, 0);
+            disChannel.sendSinglePdu(espduCrane);
+            espduCrane.setEntityOrientation(0, 0, 0);
+            double rotationDelay = 90.0 / craneRotationRate; 
+            disChannel.sendCommentPdu(disChannel.COMMENTPDU_NARRATIVE, "Hooking up Container " + containerIndex + " to crane");
+            disChannel.sendSinglePduDelayed(containerHookupTime, espduCrane);
+            disChannel.sendCommentPdu(disChannel.COMMENTPDU_NARRATIVE, "Container hooked up");
+            disChannel.sendSinglePduDelayed(containerHookupTime, espduCrane);
+            
+            espduCrane.setEntityOrientation(90, 0, 0);
+            disChannel.sendSinglePduDelayed(rotationDelay, espduCrane);
+
+            // unhook
+            // rotate back
+
+            // if this container is special, meaning on watchlist, report it
+        }
+        
+        // 4. Crane stows boom in vertical position
+        // espcudCrnet orientation
+        
+        // 5. Crane returns to head of pier
+        // update: travel from positionOfCrane to head by craneLinearSpeed
+        espduCrane.setEntityLocation(positionOfCrane, 0.0, 0.0); 
+        disChannel.sendSinglePdu(espduCrane);
+    }
 
     /**
      * Remove given Ship from berth<br>