Skip to content
Snippets Groups Projects
Commit 6fea9b0f authored by Brutzman, Don's avatar Brutzman, Don
Browse files

continuing development of PduTrack

parent 23bf42af
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
examples/src/OpenDis7Examples/ExampleTrackInterpolation.java
+ 15
− 2
View file @ 6fea9b0f
...@@ -82,6 +82,11 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram ...@@ -82,6 +82,11 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
float speedEntity_1 = 1.0f; // meters/second float speedEntity_1 = 1.0f; // meters/second
EntityStatePdu.Direction directionEntity_1 = EntityStatePdu.Direction.NORTH; 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 // OK send initial PDUs prior to loop
if (pduRecorder.hasVerboseOutput()) if (pduRecorder.hasVerboseOutput())
System.out.println("sending PDUs for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent"); System.out.println("sending PDUs for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent");
...@@ -118,8 +123,6 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram ...@@ -118,8 +123,6 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
// Where is my entity? Insert changes in position; this sample only changes X position. // Where is my entity? Insert changes in position; this sample only changes X position.
espdu_1.advanceEntityLocation(currentTimeStep); 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) // make your reports: narrative code for CommentPdu here (set all to empty strings to avoid sending)
narrativeMessage1 = "MV3500 TrackSimulationProgram"; narrativeMessage1 = "MV3500 TrackSimulationProgram";
...@@ -151,6 +154,8 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram ...@@ -151,6 +154,8 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
if (pduRecorder.hasVerboseOutput()) if (pduRecorder.hasVerboseOutput())
System.out.println(TRACE_PREFIX + "PDUs successfully sent for this loop"); System.out.println(TRACE_PREFIX + "PDUs successfully sent for this loop");
pduList.add(espdu_1); pduList.add(espdu_1);
pduTrack_1.addPdu(espdu_1);
Vector3Double location = espdu_1.getEntityLocation();
reportPdu(simulationLoopCount, location, directionEntity_1); reportPdu(simulationLoopCount, location, directionEntity_1);
// =============================== // ===============================
...@@ -163,6 +168,14 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram ...@@ -163,6 +168,14 @@ public class ExampleTrackInterpolation extends ExampleSimulationProgram
} // end of simulation loop } // end of simulation loop
System.out.println(TRACE_PREFIX + "all PDUs successfully sent for this loop, pduList.size()=" + pduList.size()); 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 narrativeMessage2 = "runSimulation() completed successfully"; // all done
sendCommentPdu(narrativeComment, narrativeMessage1, narrativeMessage2, narrativeMessage3); sendCommentPdu(narrativeComment, narrativeMessage1, narrativeMessage2, narrativeMessage3);
if (pduRecorder.hasVerboseOutput()) if (pduRecorder.hasVerboseOutput())
......
examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt
+ 13
− 9
View file @ 6fea9b0f
...@@ -9,15 +9,15 @@ run-single: ...@@ -9,15 +9,15 @@ run-single:
[OpenDis7Examples.ExampleTrackInterpolation] main() started... [OpenDis7Examples.ExampleTrackInterpolation] main() started...
[DisThreadedNetworkInterface] using network interface Intel(R) Wi-Fi 6E AX210 160MHz [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] datagramSocket.joinGroup address=239.1.2.3 port=3000 isConnected()=false createDatagramSocket() complete.
DisThreadedNetworkInterface createThreads() receiveThread.isAlive()=true [DisThreadedNetworkInterface] createThreads() receiveThread.isAlive()=true
DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true [DisThreadedNetworkInterface] createThreads() sendingThread.isAlive()=true
Network confirmation: address=239.1.2.3 port=3000 Network confirmation: address=239.1.2.3 port=3000
Beginning pdu save to directory ./pduLog 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] 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] datagramSocket.joinGroup address=239.1.2.3 port=3000 isConnected()=false createDatagramSocket() complete.
DisThreadedNetworkInterface createThreads() receiveThread.isAlive()=true [DisThreadedNetworkInterface] createThreads() receiveThread.isAlive()=true
DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true [DisThreadedNetworkInterface] createThreads() sendingThread.isAlive()=true
[PduRecorder PduRecorder] listening to IP address 239.1.2.3 on port 3000 [PduRecorder PduRecorder] listening to IP address 239.1.2.3 on port 3000
0 Entity location=( 0.0, 0.0, 0.0) NORTH 0 Entity location=( 0.0, 0.0, 0.0) NORTH
1 Entity location=( 0.0, 1.0, 0.0) NORTH 1 Entity location=( 0.0, 1.0, 0.0) NORTH
...@@ -62,12 +62,16 @@ DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true ...@@ -62,12 +62,16 @@ DisThreadedNetworkInterface createThreads() sendingThread.isAlive()=true
40 Entity location=( 0.0, 0.0, 0.0) WEST 40 Entity location=( 0.0, 0.0, 0.0) WEST
[OpenDis7Examples.ExampleTrackInterpolation] loop termination condition met, simulationComplete=true [OpenDis7Examples.ExampleTrackInterpolation] loop termination condition met, simulationComplete=true
[OpenDis7Examples.ExampleTrackInterpolation] all PDUs successfully sent for this loop, pduList.size()=41 [OpenDis7Examples.ExampleTrackInterpolation] all PDUs successfully sent for this loop, pduList.size()=41
*** setKillSentinelAndInterrupts() killed=true sendingThread.isInterrupted()=true receiveThread.isInterrupted()=true pduTrack_1 getEspduCount()=41
*** DisThreadedNetworkInterface close(): pdus2send.size()=0 baos.size()=0 dos.size()=0 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: sendingThread.isAlive()=false sendingThread.isInterrupted()=true
*** killThread() status: receiveThread.isAlive()=false receiveThread.isInterrupted()=true *** killThread() status: receiveThread.isAlive()=false receiveThread.isInterrupted()=true
*** Thread close status: sendingThread.isAlive()=false receiveThread.isAlive()=false *** 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. [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; ...@@ -46,15 +46,18 @@ import java.util.ArrayList;
* Create a track from DIS ESPDUs * Create a track from DIS ESPDUs
* @author brutzman * @author brutzman
*/ */
public class PduTrack { public class PduTrack
{
private String descriptor = new String();
private ArrayList<Pdu> pduList = new ArrayList<>(); private ArrayList<Pdu> pduList = new ArrayList<>();
private ArrayList<Vector3Double> waypointsList = new ArrayList<>(); private ArrayList<Vector3Double> waypointsList = new ArrayList<>();
private ArrayList<EulerAngles> anglesList = 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 x3dTimeSensorDEF = new String();
private String x3dPositionInterpolatorDEF = new String(); private String x3dPositionInterpolatorDEF = new String();
private String x3dOrientationInterpolatorDEF = new String(); private String x3dOrientationInterpolatorDEF = new String();
...@@ -102,10 +105,11 @@ public class PduTrack { ...@@ -102,10 +105,11 @@ public class PduTrack {
return anglesList; return anglesList;
} }
/** /**
* @return the timestampList * Time in seconds corresponding to each PDU
* @return the timelineList
*/ */
public ArrayList<Integer> getTimestampList() { public ArrayList<Float> getTimelineList() {
return timestampList; return timelineList;
} }
/** /**
* Add PDU, typically ESPDU * Add PDU, typically ESPDU
...@@ -126,7 +130,7 @@ public class PduTrack { ...@@ -126,7 +130,7 @@ public class PduTrack {
pduList.clear(); pduList.clear();
waypointsList.clear(); waypointsList.clear();
anglesList.clear(); anglesList.clear();
timestampList.clear(); timelineList.clear();
return this; return this;
} }
...@@ -194,16 +198,30 @@ public class PduTrack { ...@@ -194,16 +198,30 @@ public class PduTrack {
// https://stackoverflow.com/questions/16252269/how-to-sort-an-arraylist // https://stackoverflow.com/questions/16252269/how-to-sort-an-arraylist
return this; 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 * Compute track duration in timestamp ticks
* @return duration in timestamp ticks between initial and final ESPDU timestamps in waypointList * @return duration in timestamp ticks between initial and final ESPDU timestamps in waypointList
*/ */
public int getTrackDurationTicks() public int getTrackDurationTicks()
{ {
int initialTime = -1; int initialTime = -1;
int finalTime = -1; int finalTime = -1;
int duration = -1; // used if pduList is empty 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 : pduList)
{ {
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE) if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
...@@ -214,16 +232,16 @@ public class PduTrack { ...@@ -214,16 +232,16 @@ public class PduTrack {
} }
} }
if ((initialTime >= 0) && (finalTime >= 0)) if ((initialTime >= 0) && (finalTime >= 0))
duration = (finalTime - initialTime); durationTicks = (finalTime - initialTime);
if (pduList.isEmpty()) 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 * Compute track duration in seconds
...@@ -231,7 +249,12 @@ public class PduTrack { ...@@ -231,7 +249,12 @@ public class PduTrack {
*/ */
public float getTrackDurationSeconds() 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; return durationSeconds;
} }
/** /**
...@@ -244,6 +267,7 @@ public class PduTrack { ...@@ -244,6 +267,7 @@ public class PduTrack {
getWaypointsList().clear(); getWaypointsList().clear();
getAnglesList().clear(); getAnglesList().clear();
float clock = 0.0f;
for (Pdu nextPdu : pduList) for (Pdu nextPdu : pduList)
{ {
if (nextPdu.getPduType() == DisPduType.ENTITY_STATE) if (nextPdu.getPduType() == DisPduType.ENTITY_STATE)
...@@ -251,7 +275,16 @@ public class PduTrack { ...@@ -251,7 +275,16 @@ public class PduTrack {
EntityStatePdu espdu = (EntityStatePdu)nextPdu; EntityStatePdu espdu = (EntityStatePdu)nextPdu;
getWaypointsList().add(espdu.getEntityLocation()); getWaypointsList().add(espdu.getEntityLocation());
getAnglesList().add(espdu.getEntityOrientation()); 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; return this;
...@@ -281,18 +314,63 @@ public class PduTrack { ...@@ -281,18 +314,63 @@ public class PduTrack {
sb.append("<PositionInterpolator"); sb.append("<PositionInterpolator");
sb.append(" DEF='").append(getX3dPositionInterpolatorDEF()).append("'"); sb.append(" DEF='").append(getX3dPositionInterpolatorDEF()).append("'");
sb.append(" key='"); 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)); sb.append(String.valueOf(nextDuration));
if (i < timestampList.size() - 1) if (i < timelineList.size() - 1)
sb.append(" "); sb.append(" ");
} }
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("/>"); sb.append("/>");
return sb.toString(); 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() */ /** Self test to check basic operation, invoked by main() */
public void selfTest() public void selfTest()
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment