From 6fea9b0f00d49f0e99968b299c26981f98038930 Mon Sep 17 00:00:00 2001
From: brutzman <brutzman@nps.edu>
Date: Sat, 1 Jan 2022 23:54:32 -0800
Subject: [PATCH] continuing development of PduTrack
---
.../ExampleTrackInterpolation.java | 17 ++-
.../ExampleTrackInterpolationLog.txt | 22 ++--
examples/src/OpenDis7Examples/PduTrack.java | 120 +++++++++++++++---
3 files changed, 127 insertions(+), 32 deletions(-)
diff --git a/examples/src/OpenDis7Examples/ExampleTrackInterpolation.java b/examples/src/OpenDis7Examples/ExampleTrackInterpolation.java
index a4633ec3f1..d3bf130981 100644
--- a/examples/src/OpenDis7Examples/ExampleTrackInterpolation.java
+++ b/examples/src/OpenDis7Examples/ExampleTrackInterpolation.java
@@ -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())
diff --git a/examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt b/examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt
index f045873bee..e0ed9f91c6 100644
--- a/examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt
+++ b/examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt
@@ -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)
diff --git a/examples/src/OpenDis7Examples/PduTrack.java b/examples/src/OpenDis7Examples/PduTrack.java
index f96abb1aff..75bce6a52a 100644
--- a/examples/src/OpenDis7Examples/PduTrack.java
+++ b/examples/src/OpenDis7Examples/PduTrack.java
@@ -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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