diff --git a/CourseExamples/src/DisExamples/EspduReceiver.java b/CourseExamples/src/DisExamples/EspduReceiver.java
new file mode 100644
index 0000000000000000000000000000000000000000..4153206bc4c6c6f724590370d887311d8dfaa0f0
--- /dev/null
+++ b/CourseExamples/src/DisExamples/EspduReceiver.java
@@ -0,0 +1,84 @@
+package DisExamples;
+
+import java.net.*;
+import java.util.*;
+
+import edu.nps.moves.disutil.*;
+
+import edu.nps.moves.dis.*;
+import java.io.IOException;
+
+/**
+ * Receives PDUs from the network in IEEE DIS format.
+ * Adapted from OpenDIS library example package edu.nps.moves.examples
+ *
+ * @author DMcG
+ * @version $Id:$
+ */
+public class EspduReceiver
+{
+ /** Max size of a PDU in binary format that we can receive. This is actually
+ * somewhat outdated--PDUs can be larger--but this is a reasonable starting point.
+ */
+ public static final int MAX_PDU_SIZE = 8192;
+
+ /** Default multicast group address we send on. */
+ public static final String DEFAULT_MULTICAST_ADDRESS = "239.1.2.3";
+
+ /** Default multicast port used, matches Wireshark DIS capture default */
+ public static final int DEFAULT_MULTICAST_PORT = 3000;
+
+ public static void main(String args[])
+ {
+ System.out.println("DisExamples.EspduReceiver started...");
+
+ MulticastSocket socket;
+ DatagramPacket packet;
+ InetAddress address;
+ PduFactory pduFactory = new PduFactory();
+
+ try {
+ // Specify the socket to receive data
+ socket = new MulticastSocket(DEFAULT_MULTICAST_PORT);
+ socket.setBroadcast(true);
+
+ //address = InetAddress.getByName(EspduSender.DEFAULT_MULTICAST_GROUP);
+ //socket.joinGroup(address);
+
+ // Loop infinitely, receiving datagrams
+ while (true)
+ {
+ byte buffer[] = new byte[MAX_PDU_SIZE];
+ packet = new DatagramPacket(buffer, buffer.length);
+
+ socket.receive(packet);
+
+ List<Pdu> pduBundle = pduFactory.getPdusFromBundle(packet.getData());
+ System.out.println("Bundle size is " + pduBundle.size());
+
+ Iterator iterator = pduBundle.iterator();
+
+ while(iterator.hasNext())
+ {
+ Pdu aPdu = (Pdu)iterator.next();
+
+ System.out.print("got PDU of type: " + aPdu.getClass().getName());
+ if(aPdu instanceof EntityStatePdu)
+ {
+ EntityID eid = ((EntityStatePdu)aPdu).getEntityID();
+ Vector3Double position = ((EntityStatePdu)aPdu).getEntityLocation();
+ System.out.print(" EID:[" + eid.getSite() + ", " + eid.getApplication() + ", " + eid.getEntity() + "] ");
+ System.out.print(" Location in DIS coordinates: [" + position.getX() + ", " + position.getY() + ", " + position.getZ() + "]");
+ }
+ System.out.println();
+ } // end trop through PDU bundle
+
+ } // end while
+ } // End try
+ catch (IOException e)
+ {
+
+ System.out.println(e);
+ }
+ } // end main
+} // end class
diff --git a/CourseExamples/src/DisExamples/EspduSender.java b/CourseExamples/src/DisExamples/EspduSender.java
new file mode 100644
index 0000000000000000000000000000000000000000..4f9a2e2c72c3567fbc204391b9b9375ff46a75d5
--- /dev/null
+++ b/CourseExamples/src/DisExamples/EspduSender.java
@@ -0,0 +1,321 @@
+package DisExamples;
+
+import java.io.*;
+import java.net.*;
+import java.util.*;
+
+import edu.nps.moves.dis.*;
+import edu.nps.moves.disutil.CoordinateConversions;
+import edu.nps.moves.disutil.DisTime;
+
+/**
+ * Creates and sends ESPDUs in IEEE binary format. Adapted from OpenDIS library
+ * example package edu.nps.moves.examples
+ *
+ * @author DMcG
+ */
+public class EspduSender {
+
+ public static final int NUMBER_TO_SEND = 5000;
+
+ public enum NetworkMode {
+ UNICAST, MULTICAST, BROADCAST
+ };
+
+ /**
+ * Default multicast group address we send on.
+ */
+ public static final String DEFAULT_MULTICAST_ADDRESS = "239.1.2.3";
+
+ /**
+ * Default multicast port used, matches Wireshark DIS capture default
+ */
+ public static final int DEFAULT_MULTICAST_PORT = 3000;
+
+ /**
+ * 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
+ */
+ public static void main(String args[])
+ {
+ System.out.println("DisExamples.EspduSender started...");
+ /**
+ * an entity state pdu
+ */
+ EntityStatePdu espdu = new EntityStatePdu();
+ MulticastSocket socket = null; // must be initialized, even if null
+ DisTime disTime = DisTime.getInstance(); // TODO explain
+ int alternator = -1;
+
+ // ICBM coordinates for my office
+ double lat = 36.595517;
+ double lon = -121.877000;
+
+ // Default settings. These are used if no system properties are set.
+ // If system properties are passed in, these are over ridden.
+ int port = DEFAULT_MULTICAST_PORT;
+ NetworkMode mode = NetworkMode.BROADCAST;
+ InetAddress destinationIp = null; // must be initialized, even if null
+
+ try {
+ destinationIp = InetAddress.getByName(DEFAULT_MULTICAST_ADDRESS);
+ } catch (UnknownHostException e) {
+ System.out.println(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 a socket to send information
+ try {
+ // Port we send to
+ if (portString != null)
+ {
+ port = Integer.parseInt(portString);
+ }
+
+ socket = new MulticastSocket(port);
+
+ // Where we send packets to, the destination IP address
+ if (destinationIpString != null)
+ {
+ destinationIp = InetAddress.getByName(destinationIpString);
+ }
+
+ // Type of transport: unicast, broadcast, or multicast
+ // TODO convert to String constants
+ if (networkModeString != null) {
+ if (networkModeString.equalsIgnoreCase("unicast"))
+ {
+ mode = NetworkMode.UNICAST;
+ }
+ else if (networkModeString.equalsIgnoreCase("broadcast")) {
+ mode = NetworkMode.BROADCAST;
+ }
+ else if (networkModeString.equalsIgnoreCase("multicast")) {
+ mode = NetworkMode.MULTICAST;
+ if (!destinationIp.isMulticastAddress())
+ {
+ throw new RuntimeException("Sending to multicast address, but destination address " + destinationIp.toString() + "is not multicast");
+ }
+ socket.joinGroup(destinationIp);
+ }
+ } // end networkModeString
+ }
+ catch (IOException | RuntimeException e)
+ {
+ System.out.println("Unable to initialize networking. Exiting.");
+ System.out.println(e);
+ System.exit(-1);
+ }
+
+ // 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((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();
+ entityID.setSite(1); // 0 is apparently not a valid site number, per the spec
+ entityID.setApplication(1);
+ entityID.setEntity(2);
+
+ // 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.
+ EntityType entityType = espdu.getEntityType();
+ entityType.setEntityKind((short) 1); // Platform (vs lifeform, munition, sensor, etc.)
+ entityType.setCountry(225); // USA
+ entityType.setDomain((short) 1); // Land (vs air, surface, subsurface, space)
+ entityType.setCategory((short) 1); // Tank
+ entityType.setSubcategory((short) 1); // M1 Abrams
+ entityType.setSpec((short) 3); // M1A2 Abrams
+
+ Set<InetAddress> broadcastAddresses;
+ // Loop through sending N ESPDUs
+ try
+ {
+ System.out.println("Sending " + NUMBER_TO_SEND + " ESPDU packets to " + destinationIp.toString());
+ for (int idx = 0; idx < NUMBER_TO_SEND; idx++) {
+ // DIS time is a pain in the ass. 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.getDisAbsoluteTimestamp();
+ 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((double) (-1.0), (double) (idx));
+ lon = lon + (direction * 0.00006);
+ System.out.println(lon);
+
+ double disCoordinates[] = CoordinateConversions.getXYZfromLatLonDegrees(lat, lon, 1.0);
+ Vector3Double location = espdu.getEntityLocation();
+ location.setX(disCoordinates[0]);
+ location.setY(disCoordinates[1]);
+ location.setZ(disCoordinates[2]);
+ System.out.println("lat, lon:" + lat + ", " + lon);
+ System.out.println("DIS coord:" + disCoordinates[0] + ", " + disCoordinates[1] + ", " + disCoordinates[2]);
+
+ // 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);
+ espdu.marshal(dos);
+
+ FirePdu fire = new FirePdu();
+ byte[] fireArray = fire.marshal();
+
+ // The byte array here is the packet in DIS format. We put that into a
+ // datagram and send it.
+ byte[] data = baos.toByteArray();
+
+ broadcastAddresses = getBroadcastAddresses();
+ Iterator iterator = broadcastAddresses.iterator();
+ while (iterator.hasNext())
+ {
+ InetAddress broadcast = (InetAddress) iterator.next();
+ System.out.println("Sending broadcast datagram packet to " + broadcast);
+ DatagramPacket packet = new DatagramPacket(data, data.length, broadcast, port);
+ socket.send(packet);
+ // TODO experiment with these! 8)
+ packet = new DatagramPacket(fireArray, fireArray.length, broadcast, port); // alternate
+ socket.send(packet);
+ }
+
+ // Send every 1 sec. Otherwise all this will be all over in a fraction of a second.
+ Thread.sleep(1000); // msec
+
+ location = espdu.getEntityLocation();
+
+ System.out.println("Espdu #" + idx + " EID=[" + entityID.getSite() + "," + entityID.getApplication() + "," + entityID.getEntity() + "]");
+ System.out.println(" DIS coordinates location=[" + location.getX() + "," + location.getY() + "," + location.getZ() + "]");
+ double c[] = {location.getX(), location.getY(), location.getZ()};
+ double lla[] = CoordinateConversions.xyzToLatLonDegrees(c);
+// debug: System.out.println(" Location (lat/lon/alt): [" + lla[0] + ", " + lla[1] + ", " + lla[2] + "]");
+ }
+ } catch (IOException | InterruptedException e)
+ {
+ System.out.println("Problem with DisExamples.EspduSender, see exception trace:");
+ System.out.println(e);
+ }
+ }
+
+ /**
+ * 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.) 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 interfaces;
+
+ try {
+ interfaces = NetworkInterface.getNetworkInterfaces();
+
+ while (interfaces.hasMoreElements())
+ {
+ NetworkInterface anInterface = (NetworkInterface) interfaces.nextElement();
+
+ if (anInterface.isUp())
+ {
+ Iterator iterator = anInterface.getInterfaceAddresses().iterator();
+ while (iterator.hasNext())
+ {
+ InterfaceAddress anAddress = (InterfaceAddress) iterator.next();
+ 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("Problem with DisExamples.EspduSender.getBroadcastAddresses(), see exception trace:");
+ System.out.println(e);
+ }
+ return broadcastAddresses;
+ }
+}
diff --git a/CourseExamples/src/DisExamples/PduSender.java b/CourseExamples/src/DisExamples/PduSender.java
new file mode 100644
index 0000000000000000000000000000000000000000..fd762eb875e8691980c78a5211c4ef66a4d3ce55
--- /dev/null
+++ b/CourseExamples/src/DisExamples/PduSender.java
@@ -0,0 +1,178 @@
+package DisExamples;
+
+import java.io.*;
+import java.net.*;
+import java.util.*;
+
+import edu.nps.moves.dis.*;
+import edu.nps.moves.disenum.*;
+import edu.nps.moves.examples.ClassNameComparator;
+
+/**
+ * This is an example that sends many/most types of PDUs. Useful for testing standards
+ * compliance or getting a full set of PDUs. It also writes the generated PDUs to an XML file.
+ * Adapted from OpenDIS library example package edu.nps.moves.examples
+ *
+ * @author DMcG
+ * @version $Id:$
+ */
+public class PduSender
+{
+ /** Default multicast group address we send on. */
+ public static final String DEFAULT_MULTICAST_ADDRESS = "239.1.2.3";
+
+ /** Default multicast port used, matches Wireshark DIS capture default */
+ public static final int DEFAULT_MULTICAST_PORT = 3000;
+
+ private int port;
+ InetAddress multicastAddress;
+
+ public PduSender(int port, String multicast) {
+ try {
+ this.port = port;
+ multicastAddress = InetAddress.getByName(multicast);
+ if (!multicastAddress.isMulticastAddress()) {
+ System.out.println("Not a multicast address: " + multicast);
+ }
+ }
+ catch (UnknownHostException e) {
+ System.out.println("Unable to open socket: " + e);
+ }
+ }
+
+ public void run()
+ {
+ System.out.println("DisExamples.PduSender started...");
+ try {
+ List<Pdu> generatedPdus = new ArrayList<>();
+
+ // Loop through all the enumerated PDU types, create a PDU for each type,
+ // and add that PDU to a list.
+ for (PduType pdu : PduType.values()) {
+ Pdu aPdu = null;
+
+ switch (pdu) // using enumeration values from edu.nps.moves.disenum.*
+ {
+ case ENTITY_STATE:
+ aPdu = new EntityStatePdu();
+ break;
+
+ case COMMENT:
+ aPdu = new CommentPdu();
+ break;
+
+ case FIRE:
+ aPdu = new FirePdu();
+ break;
+
+ case DETONATION:
+ aPdu = new DetonationPdu();
+ break;
+
+ case COLLISION:
+ aPdu = new CollisionPdu();
+ break;
+
+ case SERVICE_REQUEST:
+ aPdu = new ServiceRequestPdu();
+ break;
+
+ case RESUPPLY_OFFER:
+ aPdu = new ResupplyOfferPdu();
+ break;
+
+ case RESUPPLY_RECEIVED:
+ aPdu = new ResupplyReceivedPdu();
+ break;
+
+ case RESUPPLY_CANCEL:
+ aPdu = new ResupplyCancelPdu();
+ break;
+
+ case REPAIR_COMPLETE:
+ aPdu = new RepairCompletePdu();
+ break;
+
+ case REPAIR_RESPONSE:
+ aPdu = new RepairResponsePdu();
+ break;
+
+ case CREATE_ENTITY:
+ aPdu = new CreateEntityPdu();
+ break;
+
+ case REMOVE_ENTITY:
+ aPdu = new RemoveEntityPdu();
+ break;
+
+ case START_RESUME:
+ aPdu = new StartResumePdu();
+ break;
+
+ case STOP_FREEZE:
+ aPdu = new StopFreezePdu();
+ break;
+
+ case ACKNOWLEDGE:
+ aPdu = new AcknowledgePdu();
+ break;
+
+ case ACTION_REQUEST:
+ aPdu = new ActionRequestPdu();
+ break;
+
+ default:
+ System.out.print("PDU of type " + pdu + " not supported, created or sent ");
+ System.out.println();
+ }
+
+ if (aPdu != null) {
+ generatedPdus.add(aPdu);
+ }
+ }
+
+ // Sort the created PDUs by class name
+ Collections.sort(generatedPdus, new ClassNameComparator());
+
+ // Send the PDUs we created
+ InetAddress localMulticastAddress = InetAddress.getByName(DEFAULT_MULTICAST_ADDRESS);
+ MulticastSocket socket = new MulticastSocket(DEFAULT_MULTICAST_PORT);
+ socket.joinGroup(localMulticastAddress);
+
+ for (int idx = 0; idx < generatedPdus.size(); idx++)
+ {
+ ByteArrayOutputStream baos = new ByteArrayOutputStream();
+ DataOutputStream dos = new DataOutputStream(baos);
+ byte[] buffer;
+
+ Pdu aPdu = generatedPdus.get(idx);
+ aPdu.marshal(dos);
+
+ buffer = baos.toByteArray();
+ DatagramPacket packet = new DatagramPacket(buffer, buffer.length, localMulticastAddress, DEFAULT_MULTICAST_PORT);
+ socket.send(packet);
+ System.out.println("Sent PDU of type " + aPdu.getClass().getName());
+ }
+
+ // write the PDUs out to an XML file.
+ //PduContainer container = new PduContainer();
+ //container.setPdus(generatedPdus);
+ //container.marshallToXml("examplePdus.xml");
+ } catch (IOException e) {
+ System.out.println(e);
+ }
+ }
+
+ public static void main(String args[])
+ {
+ if (args.length == 2) {
+ PduSender sender = new PduSender(Integer.parseInt(args[0]), args[1]);
+ sender.run();
+ } else {
+ System.out.println("Usage: PduSender <port> <multicast group>");
+ System.out.println("Default: PduSender " + DEFAULT_MULTICAST_PORT + " " + DEFAULT_MULTICAST_ADDRESS);
+ PduSender sender = new PduSender(DEFAULT_MULTICAST_PORT, DEFAULT_MULTICAST_ADDRESS);
+ sender.run();
+ }
+ }
+}