From 47b1ca64062f808bc0a5564a73ddbbacaed0f65c Mon Sep 17 00:00:00 2001
From: brutzman <brutzman@nps.edu>
Date: Fri, 10 Jun 2022 23:01:40 -0700
Subject: [PATCH] Added further model detail. TODO fix sendSinglePduDelayed
thread handling since it is blocking...
---
.../TwoCraneBerthsOpenDis7.java | 71 ++++++++++++++-----
1 file changed, 52 insertions(+), 19 deletions(-)
diff --git a/examples/src/SimkitOpenDis7Examples/TwoCraneBerthsOpenDis7.java b/examples/src/SimkitOpenDis7Examples/TwoCraneBerthsOpenDis7.java
index 8299b965fb..c5e105ff25 100644
--- a/examples/src/SimkitOpenDis7Examples/TwoCraneBerthsOpenDis7.java
+++ b/examples/src/SimkitOpenDis7Examples/TwoCraneBerthsOpenDis7.java
@@ -2,6 +2,8 @@ package SimkitOpenDis7Examples;
import edu.nps.moves.dis7.enumerations.DisPduType;
import edu.nps.moves.dis7.pdus.EntityStatePdu;
+import edu.nps.moves.dis7.pdus.EulerAngles;
+import edu.nps.moves.dis7.pdus.Vector3Double;
import edu.nps.moves.dis7.utilities.DisChannel;
import edu.nps.moves.dis7.utilities.PduFactory;
import java.util.SortedSet;
@@ -22,7 +24,8 @@ import simkit.SimEntityBase;
*/
public class TwoCraneBerthsOpenDis7 extends SimEntityBase
{
- private final DisChannel disChannel = new DisChannel();
+ // Utility constructor method: initial descriptor and verboseness of disNetworkInterface, pduRecorder
+ private final DisChannel disChannel = new DisChannel("TwoCraneBerthsOpenDis7", false, true);
/**
* Queue of Ships waiting to go into the berth
@@ -185,52 +188,82 @@ public class TwoCraneBerthsOpenDis7 extends SimEntityBase
waitDelay("EndUnloadingOneCrane", ship.getRemainingUnloadingTime(), ship);
}
- PduFactory pduFactory = new PduFactory();
+ // can be member variables (for efficiency, move above) or else embdedded within method (move below)
+ PduFactory pduFactory = new PduFactory();
+ EntityStatePdu espduCrane = (EntityStatePdu) pduFactory.createPdu(DisPduType.ENTITY_STATE);
+
+ /**
+ * Perform crane unloading operations and send PDUs to report progress
+ * @param numberContainers how many containers to offload
+ * @param positionOfCrane Y coordinate down pier across from ship's berth, aligned with cargo
+ */
public void performCraneUnloadOperations(
// which crane
// which berth
- int numberOfContainers,
+ int numberContainers,
double positionOfCrane
- // lenthOfCrane
+ // lengthOfCrane
)
{
+ // Pier coordinate system follows, Right-Hand Rule (RHR) throughout:
+ // +X axis to right with X=0 on centerline of pier (train tracks
+ // +Y axis down pier with Y=0 at head of pier,
+ // +Z axis vertical with Z=0 at level of pier
+ // phi is rotation about +X axis, radians
+ // theta is rotation about +Y axis, radians
+ // psi is rotation about +X axis, radians
+
double craneLinearSpeed = 1.0; // m/sec
double craneRotationRate = 10.0; // degrees/second
double containerHookupTime = 60.0; // seconds average
double containerDetachTime = 30.0; // seconds average
+
+ Vector3Double positionPierHead = new Vector3Double();
+// Vector3Double positionPierHead = new Vector3Double(0.0, 0.0, 0.0); // TODO needs utility constructor
- 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
+ // not modeling crane elevation angle, only orientation of crane cab and gantry
+ EulerAngles orientationToShip = (new EulerAngles()).setPsi((float) (90.0 * Math.PI/180.0)); // TODO utility methods needed
+ EulerAngles orientationToPier = (new EulerAngles()).setPsi((float) ( 0.0 * Math.PI/180.0)); // TODO utility methods needed
+
+// espduCrane.reset(); // TODO intialization utility method
+// espduCrane.setEntityAppearance(TODO); // highlight active crane?
+
+ // 1. Crane at head of pier, operator present, boom elevated vertically in stow postion
+// espduCrane.setEntityLocation(0.0, 0.0, 0.0); // ambiguous, error prone
+ espduCrane.setEntityLocation(positionPierHead); // preferred
// 2, Ship arrives, tug departs
- // shop PDU here or assum it happened earlier
+ // ship PDU could be sent here, or probably more logical to ensure it happened earlier
// 3. Crane moves to position of ship
- espduCrane.setEntityLocation(positionOfCrane, 0.0, 0.0);
+ espduCrane.setEntityLocation(positionOfCrane, 0.0, 0.0); // head of pier, ambiguous
// 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++)
+ // 4. repeat until done: Crane rotates, lift container, rotates, lower container
+ for (int containerIndex = 1; containerIndex <= numberContainers; containerIndex++)
{
// perform one operation
- espduCrane.setEntityOrientation(0, 0, 0);
+ espduCrane.setEntityOrientation(orientationToShip);
disChannel.sendSinglePdu(espduCrane);
- espduCrane.setEntityOrientation(0, 0, 0);
- double rotationDelay = 90.0 / craneRotationRate;
+ espduCrane.setEntityOrientation(orientationToPier);
+ double rotationDelay = 90.0 / craneRotationRate; // units analysis: degrees / (degrees/second) = seconds
disChannel.sendCommentPdu(disChannel.COMMENTPDU_NARRATIVE, "Hooking up Container " + containerIndex + " to crane");
- disChannel.sendSinglePduDelayed(containerHookupTime, espduCrane);
+
+ // TODO fix sendSinglePduDelayed thread handling since it is blocking...
+ // 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);
+// espduCrane.setEntityOrientation(0, 0, 90); // ambiguous, degrees or radians? TODO javadoc
+ espduCrane.setEntityOrientation(orientationToPier);
+ // TODO fix sendSinglePduDelayed thread handling since it is blocking...
+ // disChannel.sendSinglePduDelayed(containerHookupTime + rotationDelay, espduCrane);
// unhook
// rotate back
+ // send PDUs accordingly
- // if this container is special, meaning on watchlist, report it
+ // Future work: if this container is special, meaning on watchlist, report it
}
// 4. Crane stows boom in vertical position
--
GitLab