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Commit 6fea9b0f authored by Brutzman, Don's avatar Brutzman, Don
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continuing development of PduTrack

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examples/src/OpenDis7Examples/ExampleTrackInterpolation.java
+ 15
− 2
View file @ 6fea9b0f
......@@ -82,6 +82,11 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
float speedEntity_1 = 1.0f; // meters/second
EntityStatePdu.Direction directionEntity_1 = EntityStatePdu.Direction.NORTH;
PduTrack pduTrack_1 = new PduTrack();
pduTrack_1.setDescriptor("testing 123");
pduTrack_1.setWaypointInterval(1.0f); // overrides timestamps
pduTrack_1.addPdu(espdu_1); // initial location
// OK send initial PDUs prior to loop
if (pduRecorder.hasVerboseOutput())
System.out.println("sending PDUs for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent");
......@@ -118,8 +123,6 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
// Where is my entity? Insert changes in position; this sample only changes X position.
espdu_1.advanceEntityLocation(currentTimeStep);
Vector3Double location = espdu_1.getEntityLocation();
// make your reports: narrative code for CommentPdu here (set all to empty strings to avoid sending)
narrativeMessage1 = "MV3500 TrackSimulationProgram";
......@@ -151,6 +154,8 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
if (pduRecorder.hasVerboseOutput())
System.out.println(TRACE_PREFIX + "PDUs successfully sent for this loop");
pduList.add(espdu_1);
pduTrack_1.addPdu(espdu_1);
Vector3Double location = espdu_1.getEntityLocation();
reportPdu(simulationLoopCount, location, directionEntity_1);
// ===============================
......@@ -163,6 +168,14 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
} // end of simulation loop
System.out.println(TRACE_PREFIX + "all PDUs successfully sent for this loop, pduList.size()=" + pduList.size());
pduTrack_1 = pduTrack_1.sortPdus().createRawWaypoints();
System.out.println("pduTrack_1 getEspduCount()=" + pduTrack_1.getEspduCount());
System.out.println("pduTrack_1 duration = " + pduTrack_1.getTrackDurationSeconds() + " seconds = " +
pduTrack_1.getTrackDurationTicks() + " ticks");
System.out.println(pduTrack_1.createX3dTimeSensorString());
System.out.println(pduTrack_1.createX3dPositionInterpolatorString());
narrativeMessage2 = "runSimulation() completed successfully"; // all done
sendCommentPdu(narrativeComment, narrativeMessage1, narrativeMessage2, narrativeMessage3);
if (pduRecorder.hasVerboseOutput())
......
examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt
+ 13
− 9
View file @ 6fea9b0f
......@@ -9,15 +9,15 @@ run-single:
[OpenDis7Examples.ExampleTrackInterpolation] main() started...
[DisThreadedNetworkInterface] using network interface Intel(R) Wi-Fi 6E AX210 160MHz
[DisThreadedNetworkInterface] datagramSocket.joinGroup address=239.1.2.3 port=3000 isConnected()=false createDatagramSocket() complete.
DisThreadedNetworkInterface createThreads() receiveThread.isAlive()=true
DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true
[DisThreadedNetworkInterface] createThreads() receiveThread.isAlive()=true
[DisThreadedNetworkInterface] createThreads() sendingThread.isAlive()=true
Network confirmation: address=239.1.2.3 port=3000
Beginning pdu save to directory ./pduLog
Recorder log file open: C:\x-nps-gitlab\NetworkedGraphicsMV3500\examples\pduLog\PduCaptureLog112.dislog
Recorder log file open: C:\x-nps-gitlab\NetworkedGraphicsMV3500\examples\pduLog\PduCaptureLog132.dislog
[DisThreadedNetworkInterface] using network interface Intel(R) Wi-Fi 6E AX210 160MHz
[DisThreadedNetworkInterface] datagramSocket.joinGroup address=239.1.2.3 port=3000 isConnected()=false createDatagramSocket() complete.
DisThreadedNetworkInterface createThreads() receiveThread.isAlive()=true
DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true
[DisThreadedNetworkInterface] createThreads() receiveThread.isAlive()=true
[DisThreadedNetworkInterface] createThreads() sendingThread.isAlive()=true
[PduRecorder PduRecorder] listening to IP address 239.1.2.3 on port 3000
0 Entity location=( 0.0, 0.0, 0.0) NORTH
1 Entity location=( 0.0, 1.0, 0.0) NORTH
......@@ -62,12 +62,16 @@ DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true
40 Entity location=( 0.0, 0.0, 0.0) WEST
[OpenDis7Examples.ExampleTrackInterpolation] loop termination condition met, simulationComplete=true
[OpenDis7Examples.ExampleTrackInterpolation] all PDUs successfully sent for this loop, pduList.size()=41
*** setKillSentinelAndInterrupts() killed=true sendingThread.isInterrupted()=true receiveThread.isInterrupted()=true
*** DisThreadedNetworkInterface close(): pdus2send.size()=0 baos.size()=0 dos.size()=0
pduTrack_1 getEspduCount()=41
pduTrack_1 duration = 41.0 seconds = -1 ticks
<TimeSensor DEF='testing123Clock' cycleInterval='41.0' loop='true'/>
<PositionInterpolator DEF='testing123Positions' key='0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 26.0 27.0 28.0 29.0 30.0 31.0 32.0 33.0 34.0 35.0 36.0 37.0 38.0 39.0 40.0' keyValue='0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0,0.0 0.0 0.0'/>
*** setKillSentinelAndInterrupts() killed=true sendingThread.isInterrupted()=false receiveThread.isInterrupted()=true
[DisThreadedNetworkInterface PduRecorder] close(): pdus2send.size()=0 baos.size()=0 dos.size()=0
*** killThread() status: sendingThread.isAlive()=false sendingThread.isInterrupted()=true
*** killThread() status: receiveThread.isAlive()=false receiveThread.isInterrupted()=true
*** Thread close status: sendingThread.isAlive()=false receiveThread.isAlive()=false
Closing recorder log file: C:\x-nps-gitlab\NetworkedGraphicsMV3500\examples\pduLog\PduCaptureLog112.dislog
PduRecorder.selfTest() stop() closing recorder log file: C:\x-nps-gitlab\NetworkedGraphicsMV3500\examples\pduLog\PduCaptureLog132.dislog
[OpenDis7Examples.ExampleTrackInterpolation] complete.
BUILD SUCCESSFUL (total time: 12 seconds)
BUILD SUCCESSFUL (total time: 11 seconds)
examples/src/OpenDis7Examples/PduTrack.java
+ 99
− 21
View file @ 6fea9b0f
......@@ -46,15 +46,18 @@ import java.util.ArrayList;
* Create a track from DIS ESPDUs
* @author brutzman
*/
public class PduTrack {
public class PduTrack
{
private String descriptor = new String();
private ArrayList<Pdu> pduList = new ArrayList<>();
private ArrayList<Vector3Double> waypointsList = new ArrayList<>();
private ArrayList<EulerAngles> anglesList = new ArrayList<>();
private ArrayList<Integer> timestampList = new ArrayList<>();
/** timelineList in seconds */
private ArrayList<Float> timelineList = new ArrayList<>();
private String descriptor = new String();
private float defaultWaypointInterval = -1;
private float durationSeconds = -1;
private String x3dTimeSensorDEF = new String();
private String x3dPositionInterpolatorDEF = new String();
private String x3dOrientationInterpolatorDEF = new String();
......@@ -102,10 +105,11 @@ public class PduTrack {
return anglesList;
}
/**
* @return the timestampList
* Time in seconds corresponding to each PDU
* @return the timelineList
*/
public ArrayList<Integer> getTimestampList() {
return timestampList;
public ArrayList<Float> getTimelineList() {
return timelineList;
}
/**
* Add PDU, typically ESPDU
......@@ -126,7 +130,7 @@ public class PduTrack {
pduList.clear();
waypointsList.clear();
anglesList.clear();
timestampList.clear();
timelineList.clear();
return this;
}
......@@ -194,16 +198,30 @@ public class PduTrack {
// https://stackoverflow.com/questions/16252269/how-to-sort-an-arraylist
return this;
}
/**
* Compute track duration in timestamp ticks
* @return duration in timestamp ticks between initial and final ESPDU timestamps in waypointList
*/
public int getEspduCount()
{
int counter = 0;
for (Pdu nextPdu : pduList)
{
counter += 1;
}
return counter;
}
/**
* Compute track duration in timestamp ticks
* @return duration in timestamp ticks between initial and final ESPDU timestamps in waypointList
*/
public int getTrackDurationTicks()
{
int initialTime = -1;
int finalTime = -1;
int duration = -1; // used if pduList is empty
int initialTime = -1;
int finalTime = -1;
int durationTicks = -1; // used if pduList is empty
// must skip through pduList since non-ESPDU PDUs may be present
for (Pdu nextPdu : pduList)
{
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
......@@ -214,16 +232,16 @@ public class PduTrack {
}
}
if ((initialTime >= 0) && (finalTime >= 0))
duration = (finalTime - initialTime);
durationTicks = (finalTime - initialTime);
if (pduList.isEmpty())
{
System.out.println(TRACE_PREFIX + "getTrackDuration() computed illegal duration=" + duration + " due to empty pdu list");
System.out.println(TRACE_PREFIX + "getTrackDuration() computed illegal duration=" + durationTicks + " due to empty pdu list");
}
else if ((duration <= 0))
else if ((durationTicks <= 0) && (defaultWaypointInterval <= 0))
{
System.out.println(TRACE_PREFIX + "getTrackDuration() computed illegal duration=" + duration + " due to illegal pdu list");
System.out.println(TRACE_PREFIX + "getTrackDuration() computed illegal duration=" + durationTicks + " due to illegal pdu list");
}
return duration;
return durationTicks;
}
/**
* Compute track duration in seconds
......@@ -231,7 +249,12 @@ public class PduTrack {
*/
public float getTrackDurationSeconds()
{
float durationSeconds = getTrackDurationTicks() * 1.0f; // TODO convert
if (defaultWaypointInterval > 0)
{
return getEspduCount() * defaultWaypointInterval;
}
else if (getTrackDurationTicks() < 0)
durationSeconds = getTrackDurationTicks() * 1.0f; // TODO convert
return durationSeconds;
}
/**
......@@ -244,6 +267,7 @@ public class PduTrack {
getWaypointsList().clear();
getAnglesList().clear();
float clock = 0.0f;
for (Pdu nextPdu : pduList)
{
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
......@@ -251,7 +275,16 @@ public class PduTrack {
EntityStatePdu espdu = (EntityStatePdu)nextPdu;
getWaypointsList().add(espdu.getEntityLocation());
getAnglesList().add(espdu.getEntityOrientation());
getTimestampList().add(espdu.getTimestamp());
if (defaultWaypointInterval > 0)
{
timelineList.add(clock);
clock += defaultWaypointInterval;
}
else
{
timelineList.add(espdu.getTimestamp() * 1.0f); // TODO convert
}
}
}
return this;
......@@ -281,18 +314,63 @@ public class PduTrack {
sb.append("<PositionInterpolator");
sb.append(" DEF='").append(getX3dPositionInterpolatorDEF()).append("'");
sb.append(" key='");
for (int i = 0; i < timestampList.size(); i++)
for (int i = 0; i < timelineList.size(); i++)
{
float nextDuration = timestampList.get(i) * 1.0f; // TODO convert
float nextDuration = timelineList.get(i) * 1.0f; // TODO convert
sb.append(String.valueOf(nextDuration));
if (i < timestampList.size() - 1)
if (i < timelineList.size() - 1)
sb.append(" ");
}
sb.append("'");
sb.append(" keyValue='");
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()));
if (i < waypointsList.size() - 1)
sb.append(",");
}
sb.append("'");
sb.append("/>");
return sb.toString();
}
/**
* @return the wayPointInterval
*/
public float getWayPointInterval() {
return defaultWaypointInterval;
}
/**
* 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) {
if (newWaypointInterval > 0.0)
this.defaultWaypointInterval = newWaypointInterval;
else
{
System.out.println(TRACE_PREFIX + "error in setWaypointInterval(newWaypointInterval=" + newWaypointInterval + ") must be greater than zero");
return this;
}
float clock = 0.0f;
if (!timelineList.isEmpty())
{
ArrayList<Float> newTimelineList = new ArrayList<>();
for (int i = 0; i < timelineList.size(); i++)
{
newTimelineList.add(clock);
clock += defaultWaypointInterval;
}
timelineList = newTimelineList;
}
return this;
}
/** Self test to check basic operation, invoked by main() */
public void selfTest()
......
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