Added further model detail. TODO fix sendSinglePduDelayed thread handling since it is blocking...

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