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Commit 5a850f69 authored by Brutzman, Don's avatar Brutzman, Don
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add selfTest, multiple utilities, manual (partial) deep copy of espdu

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examples/src/OpenDis7Examples/PduTrack.java
+ 119
− 35
View file @ 5a850f69
......@@ -50,9 +50,13 @@ public class PduTrack
{
private String descriptor = new String();
private ArrayList<Pdu> pduList = new ArrayList<>();
private EntityStatePdu initialEspdu;
private EntityStatePdu latestEspdu;
private Vector3Double initialLocation;
private Vector3Double latestLocation;
private ArrayList<Vector3Double> waypointsList = new ArrayList<>();
private ArrayList<EulerAngles> anglesList = new ArrayList<>();
private ArrayList<EulerAngles> eulerAnglesList = new ArrayList<>();
/** timelineList in seconds */
private ArrayList<Float> timelineList = new ArrayList<>();
......@@ -92,6 +96,34 @@ public class PduTrack
return this;
}
/**
* @return the initialLocation
*/
public Vector3Double getInitialLocation() {
if (initialLocation == null)
{
System.out.println (TRACE_PREFIX + "getInitialLocation() not found, isTrackEmpty()=" + isTrackEmpty() + ", returning 0 0 0");
return new Vector3Double();
}
return initialLocation;
}
/**
* @return the latestLocation
*/
public Vector3Double getLatestLocation() {
if (latestLocation == null)
{
System.out.println (TRACE_PREFIX + "getLatestLocation() not found, isTrackEmpty()=" + isTrackEmpty() + ", returning 0 0 0");
return new Vector3Double();
}
return latestLocation;
}
/**
* @return the pduList
*/
public ArrayList<Pdu> getPduList() {
return pduList;
}
/**
* @return the waypointsList
*/
......@@ -99,10 +131,10 @@ public class PduTrack
return waypointsList;
}
/**
* @return the anglesList
* @return the eulerAnglesList
*/
public ArrayList<EulerAngles> getAnglesList() {
return anglesList;
public ArrayList<EulerAngles> getEulerAnglesList() {
return eulerAnglesList;
}
/**
* Time in seconds corresponding to each PDU
......@@ -118,7 +150,26 @@ public class PduTrack
*/
public PduTrack addPdu(Pdu newPdu)
{
pduList.add(newPdu);
if (newPdu.getPduType() == DisPduType.ENTITY_STATE)
{
EntityStatePdu deepCopyEspdu = new EntityStatePdu();
deepCopyEspdu.setEntityID (((EntityStatePdu)newPdu).getEntityID());
deepCopyEspdu.setForceId (((EntityStatePdu)newPdu).getForceId());
deepCopyEspdu.setEntityType (((EntityStatePdu)newPdu).getEntityType());
deepCopyEspdu.setMarking (((EntityStatePdu)newPdu).getMarking());
deepCopyEspdu.setEntityLocation (((EntityStatePdu)newPdu).getEntityLocation());
deepCopyEspdu.setEntityOrientation(((EntityStatePdu)newPdu).getEntityOrientation());
pduList.add(deepCopyEspdu);
if (initialLocation == null)
{
initialEspdu = deepCopyEspdu; // must save object since pduList might contain more than ESPDUs
initialLocation = deepCopyEspdu.getEntityLocation();
}
latestEspdu = deepCopyEspdu; // must save object since pduList might contain more than ESPDUs
latestLocation = deepCopyEspdu.getEntityLocation();
}
else pduList.add(newPdu); // TODO copy() - careful, must be a new object and not a reference
return this;
}
/**
......@@ -127,10 +178,14 @@ public class PduTrack
*/
public PduTrack clearPduLists()
{
pduList.clear();
waypointsList.clear();
anglesList.clear();
timelineList.clear();
getPduList().clear();
waypointsList.clear();
eulerAnglesList.clear();
timelineList.clear();
initialEspdu = null;
latestEspdu = null;
initialLocation = null;
latestLocation = null;
return this;
}
......@@ -198,6 +253,14 @@ public class PduTrack
// https://stackoverflow.com/questions/16252269/how-to-sort-an-arraylist
return this;
}
/**
* Determine whether any ESPDUs have been received by this track
* @return whether track is empty
*/
public boolean isTrackEmpty()
{
return (getEspduCount() == 0);
}
/**
* Compute track duration in timestamp ticks
* @return duration in timestamp ticks between initial and final ESPDU timestamps in waypointList
......@@ -205,9 +268,10 @@ public class PduTrack
public int getEspduCount()
{
int counter = 0;
for (Pdu nextPdu : pduList)
for (Pdu nextPdu : getPduList())
{
counter += 1;
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
counter += 1;
}
return counter;
}
......@@ -222,7 +286,7 @@ public class PduTrack
int durationTicks = -1; // used if pduList is empty
// must skip through pduList since non-ESPDU PDUs may be present
for (Pdu nextPdu : pduList)
for (Pdu nextPdu : getPduList())
{
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
{
......@@ -233,7 +297,7 @@ public class PduTrack
}
if ((initialTime >= 0) && (finalTime >= 0))
durationTicks = (finalTime - initialTime);
if (pduList.isEmpty())
if (getPduList().isEmpty())
{
System.out.println(TRACE_PREFIX + "getTrackDuration() computed illegal duration=" + durationTicks + " due to empty pdu list");
}
......@@ -265,26 +329,27 @@ public class PduTrack
{
// https://stackoverflow.com/questions/6536094/java-arraylist-copy
getWaypointsList().clear();
getAnglesList().clear();
float clock = 0.0f;
for (Pdu nextPdu : pduList)
waypointsList.clear();
eulerAnglesList.clear();
float clock = 0.0f;
for (int i = 0; i < pduList.size(); i++)
{
Pdu nextPdu = pduList.get(i);
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
{
EntityStatePdu espdu = (EntityStatePdu)nextPdu;
getWaypointsList().add(espdu.getEntityLocation());
getAnglesList().add(espdu.getEntityOrientation());
waypointsList.add(espdu.getEntityLocation());
eulerAnglesList.add(espdu.getEntityOrientation());
if (defaultWaypointInterval > 0)
{
timelineList.add(clock);
clock += defaultWaypointInterval;
}
else
{
timelineList.add(espdu.getTimestamp() * 1.0f); // TODO convert
}
if (defaultWaypointInterval > 0)
{
timelineList.add(clock);
clock += defaultWaypointInterval;
}
else
{
timelineList.add(espdu.getTimestamp() * 1.0f); // TODO convert
}
}
}
return this;
......@@ -326,9 +391,9 @@ public class PduTrack
for (int i = 0; i < waypointsList.size(); i++)
{
Vector3Double nextPosition = waypointsList.get(i);
sb.append(String.valueOf(nextPosition.getX()) + " " +
String.valueOf(nextPosition.getY()) + " " +
String.valueOf(nextPosition.getZ()));
sb.append(String.valueOf(nextPosition.getX())).append(" ")
.append(String.valueOf(nextPosition.getY())).append(" ")
.append(String.valueOf(nextPosition.getZ()));
if (i < waypointsList.size() - 1)
sb.append(",");
}
......@@ -341,7 +406,7 @@ public class PduTrack
/**
* @return the wayPointInterval
*/
public float getWayPointInterval() {
public float getDefaultWaypointInterval() {
return defaultWaypointInterval;
}
......@@ -349,7 +414,7 @@ public class PduTrack
* Set uniform waypoint interval (currently for testing)
* @param newWaypointInterval the wayPointInterval to set, in seconds, must be greater than zero
* @return same object to permit progressive setters */
public PduTrack setWaypointInterval(float newWaypointInterval) {
public PduTrack setDefaultWaypointInterval(float newWaypointInterval) {
if (newWaypointInterval > 0.0)
this.defaultWaypointInterval = newWaypointInterval;
else
......@@ -372,10 +437,29 @@ public class PduTrack
return this;
}
/** Self test to check basic operation, invoked by main() */
/** Self test to check basic operation, invoked by main()
*/
public void selfTest()
{
// TODO
System.out.println(TRACE_PREFIX + "selfTest() start...");
PduTrack pduTrack = new PduTrack();
pduTrack.setDescriptor("PduTrack selfTest()");
pduTrack.setDefaultWaypointInterval(1.0f);
EntityStatePdu espdu = new EntityStatePdu();
espdu.setMarking("PduTrack");
for (int i = 0; i < 5; i++)
{
espdu.setEntityLocation(i, i, i);
pduTrack.addPdu(espdu);
}
System.out.println(TRACE_PREFIX + "getEspduCount()=" + pduTrack.getEspduCount());
System.out.println(TRACE_PREFIX + "getDefaultWaypointInterval()=" + pduTrack.getDefaultWaypointInterval());
System.out.println(TRACE_PREFIX + "getTrackDurationSeconds()=" + pduTrack.getTrackDurationSeconds());
System.out.println(TRACE_PREFIX + "selfTest() complete.");
}
/**
......
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