Merge origin/master

Conflicts:
	README.md

assignments/src/MV3500Cohort2022MayJune/homework2/Duran/ExampleTrackInterpolationDuran.java

+/**
+ * Copyright (c) 2008-2022, MOVES Institute, Naval Postgraduate School (NPS). All rights reserved.
+ * This work is provided under a BSD open-source license, see project license.html and license.txt
+ *
+ * @author brutzman@nps.edu
+ */
+package MV3500Cohort2022MayJune.homework2.Duran;
+
+import edu.nps.moves.dis7.entities.swe.platform.surface._001Poseidon;
+import edu.nps.moves.dis7.enumerations.ForceID;
+import edu.nps.moves.dis7.pdus.EntityStatePdu;
+import edu.nps.moves.dis7.pdus.Pdu;
+import edu.nps.moves.dis7.pdus.Vector3Double;
+import edu.nps.moves.dis7.utilities.DisTime;
+import edu.nps.moves.dis7.utilities.stream.X3dCreateInterpolators;
+import edu.nps.moves.dis7.utilities.stream.X3dCreateLineSet;
+import java.util.ArrayList;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+/**
+ * The purpose of this program is to provide an easily modifiable example
+ * simulation for networked entity tracks and presentation, including
+ * DIS-capable entities doing tasks and reporting them to the network.
+ * Default settings include PDU recording turned on by default.
+ * @see <a href="https://gitlab.nps.edu/Savage/NetworkedGraphicsMV3500/-/blob/master/examples/src/OpenDis7Examples/ExampleTrackInterpolationLog.txt">ExampleTrackInterpolationLog.txt</a>
+ * @see <a href="https://calhoun.nps.edu/handle/10945/65436">REPEATABLE UNIT TESTING OF DISTRIBUTED INTERACTIVE SIMULATION (DIS) PROTOCOL BEHAVIOR STREAMS USING WEB STANDARDS</a> by Tobias Brennenstuhl, Masters Thesis, Naval Postgraduate School (NPS), June 2020
+ * @see <a href="https://gitlab.nps.edu/Savage/SavageTheses/-/tree/master/BrennenstuhlTobias">https://gitlab.nps.edu/Savage/SavageTheses/-/tree/master/BrennenstuhlTobias</a>
+ */
+public class ExampleTrackInterpolationDuran extends ExampleSimulationProgramDuran
+{
+    // -------------------- Begin Variables for X3D autogenerated code
+    private X3dCreateInterpolators x3dInterpolators = new X3dCreateInterpolators();
+    private X3dCreateLineSet x3dLineSet = new X3dCreateLineSet();
+    private byte[] globalByteBufferForX3dInterpolators = null;
+    // -------------------- End Variables for X3D autogenerated code
+    
+    ArrayList<Pdu> pduSentList = new ArrayList<>();
+    
+    /**
+     * This runSimulationLoops() method is a programmer-modifiable method for
+     * defining and running a new simulation of interest. Welcome! Other parts
+     * of this program handle bookkeeping and plumbing tasks so that you can
+     * focus on your model entities and activities. Expandable support includes
+     * DIS EntityStatePdu, FirePdu and CommentPdu all available for modification
+     * and sending in a simulation loop. Continuous improvement efforts seek to
+     * make this program as easy and straightforward as possible for DIS
+     * simulationists to use and adapt. All of the other methods are setup,
+     * teardown and configuration that you may find interesting, even helpful,
+     * but don't really have to worry about.
+     */
+    @SuppressWarnings("SleepWhileInLoop") // yes we do that
+    @Override // indicates that this method supercedes corresponding superclass method
+    public void runSimulationLoops() 
+    {
+        try
+        {
+            final int SIMULATION_MAX_LOOP_COUNT = 50; // be deliberate out there!  also avoid infinite loops.
+            int simulationLoopCount = 0;        // variable, initialized at 0
+            boolean simulationComplete = false;     // sentinel variable as termination condition, are we done yet?
+
+            // TODO reset Clock Time to today's date and timestamp to zero, providing consistent outputs for each simulation run
+            DisTime.setEpochLvcNow();
+            simulationTime = initialTime - currentTimeStep; // pre-initialization for first loop
+        
+            initializeSimulationEntities();
+            
+            // use declared PDU objects and set their values.
+            entityID_1.setSiteID(1).setApplicationID(2).setEntityID(3); // made-up example ID;
+            // TODO someday, use enumerations; is there a unique site triplet for MOVES Institute?
+            
+            pduRecorder.setVerbose(false);
+            pduRecorder.hasVerboseOutput(); // debug check
+
+            EntityStatePdu espdu_1 = pduFactory.makeEntityStatePdu();
+            espdu_1.setEntityID(entityID_1);
+            espdu_1.setForceId(ForceID.FRIENDLY);
+            espdu_1.setEntityType(new _001Poseidon()); // note import statement above
+            espdu_1.setMarking("track path");
+//          espdu_1.clearMarking();     // test
+//          espdu_1.getMarkingString(); // trace
+//          espdu_1.setEntityLocation(new Vector3Double().setX(0).setY(0).setZ(0)); // long form
+            espdu_1.setEntityLocation(0, 0, 0); // utility method
+            
+            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.setDefaultWaypointInterval(1.0f); // overrides timestamps
+            pduTrack_1.setAddLineBreaksWithinKeyValues(true);
+            pduTrack_1.setAuthor("Don Brutzman");
+            pduTrack_1.setX3dModelName("ExampleTrackInterpolation.x3d");
+            pduTrack_1.setX3dModelIdentifier("https://gitlab.nps.edu/Savage/NetworkedGraphicsMV3500/-/blob/master/examples/src/OpenDis7Examples/ExampleTrackInterpolation.x3d");
+            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");
+            sendSinglePdu(espdu_1);
+//            sendCommentPdu(currentTimeStepComment, narrativeMessage1, narrativeMessage2, narrativeMessage3);
+            pduSentList.add(espdu_1);
+            reportPdu(simulationLoopCount, espdu_1.getEntityLocation(), directionEntity_1);
+
+            // TODO simulation management PDUs for startup, planning to design special class support
+            // ===================================================================================================
+            // loop the simulation while allowed, programmer can set additional conditions to break out and finish
+            while (simulationLoopCount < SIMULATION_MAX_LOOP_COUNT) // are we done yet?
+            {
+                simulationLoopCount++;      // good practice: increment loop counter as first action in that loop
+                simulationTime += currentTimeStep; // good practice: update clock along with loop index
+
+                // =============================================================================================
+                // * your own simulation code starts here! *
+                // =============================================================================================
+                //  are there any other variables to modify at the beginning of your loop?
+                // compute a track, update an ESPDU, whatever it is that your model is doing...
+                
+                // Pick direction, change each 10 seconds, traverse a box.  No physics.  Walk a box!
+                if (simulationLoopCount <= 10)
+                    directionEntity_1 = EntityStatePdu.Direction.NORTH;
+                else if (simulationLoopCount <= 20)
+                    directionEntity_1 = EntityStatePdu.Direction.EAST;
+                else if (simulationLoopCount <= 30)
+                    directionEntity_1 = EntityStatePdu.Direction.SOUTH;
+                else // if (simulationLoopCount <= 40)
+                    directionEntity_1 = EntityStatePdu.Direction.WEST;
+                
+                // use utility method to simply update velocity vector using speed value and direction
+                espdu_1.setEntityLinearVelocity(speedEntity_1, directionEntity_1);
+                
+                // Where is my entity?  Insert changes in position; this sample only changes X position.
+                espdu_1.advanceEntityLocation(currentTimeStep);
+
+                // make your reports: narrative code for CommentPdu here (set all to empty strings to avoid sending)
+                narrativeMessage1 = "MV3500 TrackSimulationProgram";
+                narrativeMessage2 = "runSimulation() loop " + simulationLoopCount + " at time " + simulationTime;
+                narrativeMessage3 = ""; // intentionally blank for testing
+
+                // your loop termination condition goes here
+                if (simulationLoopCount > 40) // for example
+                {
+                    simulationComplete = true;
+                }
+                // =============================================================================================
+                // * your own simulation code is finished here! *
+                // =============================================================================================
+
+                // staying synchronized with timestep: wait duration for elapsed time in this loop
+                // Thread.sleep needs a (long) parameter for milliseconds, which are clumsy to use sometimes
+                if (false) // real-time operation or simulation speedup
+                {
+                    Thread.sleep((long) (currentTimeStep * 1000)); // seconds * (1000 msec/sec) = milliseconds
+                    System.out.println(TRACE_PREFIX + "Pausing for " + currentTimeStep + " seconds");
+                }
+
+                // OK now send the status PDUs for this loop, and then continue
+                if (pduRecorder.hasVerboseOutput())
+                    System.out.println("sending PDUs for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent");
+                sendSinglePdu(espdu_1);
+                sendCommentPdu(currentTimeStepComment, narrativeMessage1, narrativeMessage2, narrativeMessage3);
+                if (pduRecorder.hasVerboseOutput())
+                    System.out.println(TRACE_PREFIX + "PDUs successfully sent for this loop");
+                pduSentList.add(espdu_1);
+                pduTrack_1.addPdu(espdu_1);
+                Vector3Double location = espdu_1.getEntityLocation();
+                reportPdu(simulationLoopCount, location, directionEntity_1);
+                
+                // ===============================
+                // current loop now finished, check whether to terminate if simulation complete, otherwise continue
+                if (simulationComplete || (simulationLoopCount > 10000)) // for example; including fail-safe condition is good
+                {
+                    System.out.println(TRACE_PREFIX + "loop termination condition met, simulationComplete=" + simulationComplete); // ", final loopCount=" + loopCount +
+                    break;
+                }
+            }   // end of simulation loop
+            // ===================================================================================================
+            System.out.println(TRACE_PREFIX + "all PDUs successfully sent for this loop (pduSentList.size()=" + pduSentList.size() + " total)");
+            
+            // track analysis
+            System.out.println(TRACE_PREFIX + "pduTrack_1 initialLocation=" + pduTrack_1.getInitialLocation() + ", latestLocation=" + pduTrack_1.getLatestLocation());
+            pduTrack_1.sortPdus()
+                      .createRawWaypoints();
+            
+            System.out.println("pduTrack_1 getEspduCount()=" + pduTrack_1.getEspduCount());
+            System.out.println("pduTrack_1 duration = " + pduTrack_1.getTotalDurationSeconds() + " seconds = " +
+                                                          pduTrack_1.getTotalDurationTicks() + " ticks");
+            System.out.println("=================================");
+            System.out.println(pduTrack_1.createX3dModel());
+            System.out.println("=================================");
+            
+            narrativeMessage2 = "runSimulation() completed successfully"; // all done
+            sendCommentPdu(narrativeComment, narrativeMessage1, narrativeMessage2, narrativeMessage3);
+            if (pduRecorder.hasVerboseOutput())
+                System.out.println(TRACE_PREFIX + "final CommentPdu successfully sent for simulation");
+            // TODO simulation management PDUs
+        }
+        catch (InterruptedException iex) // handle any exception that your code might choose to provoke!
+        {
+            Logger.getLogger(ExampleTrackInterpolationDuran.class.getName()).log(Level.SEVERE, null, iex);
+        }
+    }
+    
+    /**
+     * Report current PDU information to console
+     * @param simulationLoopCount current loop index
+     * @param location current location
+     * @param directionEntity current direction
+     * @return same object to permit progressive setters
+     */
+    public ExampleTrackInterpolationDuran reportPdu(int simulationLoopCount, Vector3Double location, EntityStatePdu.Direction directionEntity)
+    {
+        System.out.println (String.format("%2d ", simulationLoopCount) + "Entity location=(" + 
+                String.format("%4.1f", location.getX()) + ", " +
+                String.format("%4.1f", location.getY()) + ", " + 
+                String.format("%4.1f", location.getZ()) + ") "  +
+                String.format("%-5s",   directionEntity.name())
+//              + " " + espdu_1.getEntityLinearVelocity().toString()
+        );
+        return this;
+    }
+
+    /* Default constructors used unless otherwise defined/overridden.  */
+    /**
+     * Main method is first executed when a program instance is loaded.
+     *
+     * @see
+     * <a href="https://docs.oracle.com/javase/tutorial/getStarted/application/index.html">Java
+     * Tutorials: A Closer Look at the "Hello World!" Application</a>
+     * @param args command-line arguments are an array of optional String
+     * parameters that are passed from execution environment during invocation
+     */
+    public static void main(String[] args)
+    {
+        TRACE_PREFIX = "[" + ExampleTrackInterpolationDuran.class.getName() + "] ";
+
+        System.out.println(TRACE_PREFIX + "main() started...");
+        
+        thisProgram = new ExampleTrackInterpolationDuran(); // creates instance of self within static main() method
+        
+        thisProgram.handleArgs (args); // process command-line invocation arguments
+
+        thisProgram.setUpNetworkInterface();
+        
+        thisProgram.pduRecorder.setDescriptor (TRACE_PREFIX.replace("[","").replace("]","") + " pduRecorder");
+        
+        thisProgram.pduRecorder.setVerbose(false);
+        thisProgram.setVerboseComments(false);
+        thisProgram.disNetworkInterface.setVerbose(false);
+        
+        thisProgram.runSimulationLoops(); // ... your simulation execution code goes in there ...
+        
+        thisProgram.tearDownNetworkInterface(); // make sure no processes are left lingering
+        
+        System.out.println(TRACE_PREFIX + "complete."); // report successful completion
+        
+        System.exit(0); // ensure all threads and sockets released
+    }
+
+}