diff --git a/projects/Assignments/FinalProjects/2018March/Hanley/Entities.csv b/projects/Assignments/FinalProjects/2018March/Hanley/Entities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f745cb6c951c8f45efa23edf9741aa0c85e6613b
--- /dev/null
+++ b/projects/Assignments/FinalProjects/2018March/Hanley/Entities.csv
@@ -0,0 +1,17 @@
+1,1,66,1,225,1,1,1,2,36.595517,-121.877000
+1,1,65,1,225,1,1,1,2,36.595701,-121.876903
+1,1,11,1,225,1,1,1,2,36.595600,-121.876800
+1,1,12,1,225,1,1,1,4,36.595602,-121.876802
+1,1,13,1,225,1,1,1,5,36.595598,-121.876800
+1,1,14,1,225,1,1,1,2,36.595596,-121.876802
+1,1,21,1,225,1,1,1,2,36.595000,-121.876900
+1,1,22,1,225,1,1,1,4,36.595002,-121.876902
+1,1,23,1,225,1,1,1,5,36.594998,-121.876900
+1,1,24,1,225,1,1,1,2,36.594996,-121.876902
+1,1,31,1,225,1,1,1,2,36.595700,-121.876900
+1,1,32,1,225,1,1,1,4,36.595702,-121.876902
+1,1,33,1,225,1,1,1,5,36.595698,-121.876900
+1,1,34,1,225,1,1,1,2,36.595696,-121.876902
+1,1,07,1,225,1,6,1,1,36.595600,-121.877010
+1,1,04,1,225,1,7,12,1,36.595601,-121.877012
+1,1,77,1,225,1,3,14,0,36.595599,-121.877011
diff --git a/projects/Assignments/FinalProjects/2018March/Hanley/HanleyOpenDisEspduSenderFP.java b/projects/Assignments/FinalProjects/2018March/Hanley/HanleyOpenDisEspduSenderFP.java
new file mode 100644
index 0000000000000000000000000000000000000000..f17a574b1558806575e5fc36dcfcaf599a886618
--- /dev/null
+++ b/projects/Assignments/FinalProjects/2018March/Hanley/HanleyOpenDisEspduSenderFP.java
@@ -0,0 +1,383 @@
+// package edu.nps.moves.examples; // copy example from OpenDIS distribution, modify to serve as template
+
+import java.io.*;
+import java.net.*;
+import java.util.*;
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.util.Scanner;
+
+
+import edu.nps.moves.dis.*;
+import edu.nps.moves.disutil.CoordinateConversions;
+import edu.nps.moves.disutil.DisTime;
+
+/**This file reads a .csv and send out ESPDUs based on each row of the .csv.
+ * This file uses Don McGregors original example of OpneDisEspduSender as the
+ * starting point for the file and was modified to read the .csv and send an
+ * espdu for each entry.
+ *
+ * modified for MV3500 final project by Brian Hanley
+ *
+ *
+ * Creates and sends ESPDUs in IEEE binary format.
+ *
+ * @author DMcG
+ */
+public class HanleyOpenDisEspduSenderFP
+{
+ //public static final int NUMBER_TO_SEND = 5000;
+
+ public enum NetworkMode{UNICAST, MULTICAST, BROADCAST};
+
+ /** Default multicast group address we send on */
+ public static final String DEFAULT_MULTICAST_GROUP="239.1.2.3";
+
+ /** Default port we send on */
+ public static final int DIS_DESTINATION_PORT = 3000;
+
+/** Possible system properties, passed in via -Dattr=val
+ * networkMode: unicast, broadcast, multicast
+ * destinationIp: where to send the packet. If in multicast mode, this can be multicast.
+ * To determine broadcast destination IP, use an online broadcast address
+ * calculator, for example http://www.remotemonitoringsystems.ca/broadcast.php
+ * If in multicast mode, a join() will be done on the multicast address.
+ * port: port used for both source and destination.
+ * @param args
+ */
+public static void main(String args[]) throws FileNotFoundException
+{
+ /** an entity state pdu */
+ EntityStatePdu espdu = new EntityStatePdu();
+ MulticastSocket socket = null; // must be initialized, even if null
+ DisTime disTime = DisTime.getInstance(); // TODO explain
+ int alternator = -1;
+
+ // ICBM coordinates for my office
+ double lat = 36.595517;
+ double lon = -121.877000;
+
+ // Default settings. These are used if no system properties are set.
+ // If system properties are passed in, these are over ridden.
+ int port = DIS_DESTINATION_PORT;
+ NetworkMode mode = NetworkMode.BROADCAST;
+ InetAddress destinationIp = null; // must be initialized, even if null
+
+ try
+ {
+ destinationIp = InetAddress.getByName(DEFAULT_MULTICAST_GROUP);
+ }
+ catch(UnknownHostException e)
+ {
+ System.out.println(e + " Cannot create multicast address");
+ System.exit(0);
+ }
+
+ // All system properties, passed in on the command line via -Dattribute=value
+ Properties systemProperties = System.getProperties();
+
+ // IP address we send to
+ String destinationIpString = systemProperties.getProperty("destinationIp");
+
+ // Port we send to, and local port we open the socket on
+ String portString = systemProperties.getProperty("port");
+
+ // Network mode: unicast, multicast, broadcast
+ String networkModeString = systemProperties.getProperty("networkMode"); // unicast or multicast or broadcast
+
+ // Set up a socket to send information
+ try
+ {
+ // Port we send to
+ if(portString != null)
+ port = Integer.parseInt(portString);
+
+ socket = new MulticastSocket(port);
+
+ // Where we send packets to, the destination IP address
+ if(destinationIpString != null)
+ {
+ destinationIp = InetAddress.getByName(destinationIpString);
+ }
+
+ // Type of transport: unicast, broadcast, or multicast
+ // TODO convert to String constants
+ if(networkModeString != null)
+ {
+ if(networkModeString.equalsIgnoreCase("unicast"))
+ mode = NetworkMode.UNICAST;
+ else if(networkModeString.equalsIgnoreCase("broadcast"))
+ mode = NetworkMode.BROADCAST;
+ else if(networkModeString.equalsIgnoreCase("multicast"))
+ {
+ mode = NetworkMode.MULTICAST;
+ if(!destinationIp.isMulticastAddress())
+ {
+ throw new RuntimeException("Sending to multicast address, but destination address " + destinationIp.toString() + "is not multicast");
+ }
+
+ socket.joinGroup(destinationIp);
+ }
+ } // end networkModeString
+ }
+ catch(IOException | RuntimeException e)
+ {
+ System.out.println("Unable to initialize networking. Exiting.");
+ System.out.println(e);
+ System.exit(-1);
+ }
+
+ // Initialize values in the Entity State PDU object. The exercise ID is
+ // a way to differentiate between different virtual worlds on one network.
+ // Note that some values (such as the PDU type and PDU family) are set
+ // automatically when you create the ESPDU.
+ espdu.setExerciseID((short)1);
+// Marking espduMarking = new Marking();
+// espduMarking.setCharactersString(portString);t
+// espdu.setMarking(espduMarking);
+
+ // The EID is the unique identifier for objects in the world. This
+ // EID should match up with the ID for the object specified in the
+ // VMRL/x3d/virtual world.
+ EntityID entityID = espdu.getEntityID();
+ entityID.setSite(1); // 0 is apparently not a valid site number, per the spec
+ entityID.setApplication(1);
+ entityID.setEntity(2);
+
+ // Set the entity type. SISO has a big list of enumerations, so that by
+ // specifying various numbers we can say this is an M1A2 American tank,
+ // the USS Enterprise, and so on. We'll make this a tank. There is a
+ // separate project elsehwhere in this project that implements DIS
+ // enumerations in C++ and Java, but to keep things simple we just use
+ // numbers here.
+// EntityType entityType = espdu.getEntityType();
+// entityType.setEntityKind((short)1); // Platform (vs lifeform, munition, sensor, etc.)
+// entityType.setCountry(224); // UK
+// entityType.setDomain((short)1); // Land (vs air, surface, subsurface, space)
+// entityType.setCategory((short)1); // Tank
+// entityType.setSubcategory((short)1); // M1 Abrams
+// entityType.setSpec((short)4); // M1A1 w/ mine roller
+
+
+ Set<InetAddress> broadcastAddresses;
+ // Loop through sending .csv entities
+ String fileName = "FinalProjects/2018March/Hanley/Entities.csv";
+ File inputFile = new File(fileName);
+ Scanner scanner;
+ try
+ {
+
+
+ for (int idx =0; idx<10; idx++){
+ scanner = new Scanner(inputFile); //this scanner reads from the .csv file identified by fileName
+
+ while(scanner.hasNextLine()) {
+ String line = scanner.nextLine();
+ //System.out.println(line);
+ String[] splits;
+ splits = line.split(",");
+ //this section parse each line into the component necessary to build a DIS ESPDU;
+ int kind = Integer.parseInt(splits[3]);
+ int country = Integer.parseInt(splits[4]);
+ int domain = Integer.parseInt(splits[5]);
+ int category = Integer.parseInt(splits[6]);
+ int subCategory = Integer.parseInt(splits[7]);
+ int special = Integer.parseInt(splits[8]);
+ int bumperNumber = Integer.parseInt(splits[2]);
+ float entityLat = Float.parseFloat(splits[9]);
+ //System.out.println(entityLat);
+ float entityLon = Float.parseFloat(splits[10]);
+ //System.out.println(entityLon);
+
+ //Thi section provides the ESPDU its entity specific information
+ entityID.setEntity(bumperNumber);
+ EntityType entityType = espdu.getEntityType();
+ entityType.setEntityKind((short) kind); // Platform (vs lifeform, munition, sensor, etc.)
+ entityType.setCountry((short)country); // country identifier from .csv all should be us for this example
+ entityType.setDomain((short)domain); // Land (vs air, surface, subsurface, space)
+ entityType.setCategory((short)category); // for this exampl tank, light truck, heavy truck or light armor
+ entityType.setSubcategory((short)subCategory); // M1 Abrams, M113, M998, or FMTV
+ entityType.setSpec((short)special); // various for this example
+ //System.out.println("entity ID: "+ bumperNumber); // a check built to make sure each line of the .csv was being read and parsed
+
+ //System.out.println("Sending " + NUMBER_TO_SEND + " ESPDU packets to " + destinationIp.toString());
+ //for(int idx = 0; idx < NUMBER_TO_SEND; idx++)
+
+ // DIS time is a pain in the ass. DIS time units are 2^31-1 units per
+ // hour, and time is set to DIS time units from the top of the hour.
+ // This means that if you start sending just before the top of the hour
+ // the time units can roll over to zero as you are sending. The receivers
+ // (escpecially homegrown ones) are often not able to detect rollover
+ // and may start discarding packets as dupes or out of order. We use
+ // an NPS timestamp here, hundredths of a second since the start of the
+ // year. The DIS standard for time is often ignored in the wild; I've seen
+ // people use Unix time (seconds since 1970) and more. Or you can
+ // just stuff idx into the timestamp field to get something that is monotonically
+ // increasing.
+
+ // Note that timestamp is used to detect duplicate and out of order packets.
+ // That means if you DON'T change the timestamp, many implementations will simply
+ // discard subsequent packets that have an identical timestamp. Also, if they
+ // receive a PDU with an timestamp lower than the last one they received, they
+ // may discard it as an earlier, out-of-order PDU. So it is a good idea to
+ // update the timestamp on ALL packets sent.
+
+
+ // An alterative approach: actually follow the standard. It's a crazy concept,
+ // but it might just work.
+ int timestamp = disTime.getDisAbsoluteTimestamp();
+ espdu.setTimestamp(timestamp);
+
+ // Set the position of the entity in the world. DIS uses a cartesian
+ // coordinate system with the origin at the center of the earth, the x
+ // axis out at the equator and prime meridian, y out at the equator and
+ // 90 deg east, and z up and out the north pole. To place an object on
+ // the earth's surface you also need a model for the shape of the earth
+ // (it's not a sphere.) All the fancy math necessary to do this is in
+ // the SEDRIS SRM package. There are also some one-off formulas for
+ // doing conversions from, for example, lat/lon/altitude to DIS coordinates.
+ // Here we use those one-off formulas.
+
+ // Modify the position of the object. This will send the object a little
+ // due east by adding some to the longitude every iteration. Since we
+ // are on the Pacific coast, this sends the object east. Assume we are
+ // at zero altitude. In other worlds you'd use DTED to determine the
+ // local ground altitude at that lat/lon, or you'd just use ground clamping.
+ // The x and y values will change, but the z value should not.
+
+ //lon = lon + (double)((double)idx / 100000.0);
+ //System.out.println("lla=" + lat + "," + lon + ", 0.0");
+
+ //double direction = Math.pow((-1.0), (idx));
+ lon = entityLon + (idx * 0.00002);
+ lat = entityLat + (idx * 0.00002);
+ //System.out.println(lat);
+ //System.out.println(lon);
+
+ double disCoordinates[] = CoordinateConversions.getXYZfromLatLonDegrees(lat, lon, 1.0);
+ Vector3Double location = espdu.getEntityLocation();
+ location.setX(disCoordinates[0]);
+ location.setY(disCoordinates[1]);
+ location.setZ(disCoordinates[2]);
+ //System.out.println("lat, lon:" + lat + ", " + lon);
+ //System.out.println("DIS coord:" + disCoordinates[0] + ", " + disCoordinates[1] + ", " + disCoordinates[2]);
+
+ // Optionally, we can do some rotation of the entity
+ /*
+ Orientation orientation = espdu.getEntityOrientation();
+ float psi = orientation.getPsi();
+ psi = psi + idx;
+ orientation.setPsi(psi);
+ orientation.setTheta((float)(orientation.getTheta() + idx /2.0));
+ */
+
+ // You can set other ESPDU values here, such as the velocity, acceleration,
+ // and so on.
+
+ // Marshal out the espdu object to a byte array, then send a datagram
+ // packet with that data in it.
+ ByteArrayOutputStream baos = new ByteArrayOutputStream();
+ DataOutputStream dos = new DataOutputStream(baos);
+ espdu.marshal(dos);
+
+ //FirePdu fire = new FirePdu();
+ //byte[] fireArray = fire.marshal();
+
+ // The byte array here is the packet in DIS format. We put that into a
+ // datagram and send it.
+ byte[] data = baos.toByteArray();
+
+ broadcastAddresses = getBroadcastAddresses();
+ Iterator it = broadcastAddresses.iterator();
+ while(it.hasNext())
+ {
+ InetAddress broadcast = (InetAddress)it.next();
+ //System.out.println("Sending broadcast datagram packet to " + broadcast);
+ DatagramPacket packet = new DatagramPacket(data, data.length, broadcast, 3000);
+ socket.send(packet);
+ // TODO experiment with these! 8)
+ //packet = new DatagramPacket(fireArray, fireArray.length, broadcast, 3000); // alternate
+ // socket.send(packet);
+ }
+
+ // Send every 1 sec. Otherwise this will be all over in a fraction of a second.
+ //Thread.sleep(3000);
+
+ location = espdu.getEntityLocation();
+
+ if (bumperNumber ==66){
+
+ System.out.println("Espdu #" + idx + " EID=[" + entityID.getSite() + "," + entityID.getApplication() + "," + entityID.getEntity() + "]");
+ System.out.println(" DIS coordinates location=[" + location.getX() + "," + location.getY() + "," + location.getZ() + "]");
+ double c[] = {location.getX(), location.getY(), location.getZ()};
+ double lla[] = CoordinateConversions.xyzToLatLonDegrees(c);
+ System.out.println(" Location (lat/lon/alt): [" + lla[0] + ", " + lla[1] + ", " + lla[2] + "]");
+ }
+
+ }
+ // Send every 1 sec. Otherwise this will be all over in a fraction of a second.
+ System.out.println("Iteration "+idx);
+ System.out.println("Sleep Time");
+ Thread.sleep(3000);
+ }
+ }
+ catch(IOException | InterruptedException e)
+ {
+ System.out.println(e);
+ }
+
+}
+
+ /**
+ * A number of sites get all snippy about using 255.255.255.255 for a broadcast
+ * address; it trips their security software and they kick you off their
+ * network. (Comcast, NPS.) This determines the broadcast address for all
+ * connected interfaces, based on the IP and subnet mask. If you have
+ * a dual-homed host it will return a broadcast address for both. If you have
+ * some VMs running on your host this will pick up the addresses for those
+ * as well--eg running VMWare on your laptop with a local IP this will
+ * also pick up a 192.168 address assigned to the VM by the host OS.
+ *
+ * @return set of all broadcast addresses
+ */
+ public static Set<InetAddress> getBroadcastAddresses()
+ {
+ Set<InetAddress> broadcastAddresses = new HashSet<>();
+ Enumeration interfaces;
+
+ try
+ {
+ interfaces = NetworkInterface.getNetworkInterfaces();
+
+ while(interfaces.hasMoreElements())
+ {
+ NetworkInterface anInterface = (NetworkInterface)interfaces.nextElement();
+
+ if(anInterface.isUp())
+ {
+ Iterator it = anInterface.getInterfaceAddresses().iterator();
+ while(it.hasNext())
+ {
+ InterfaceAddress anAddress = (InterfaceAddress)it.next();
+ if((anAddress == null || anAddress.getAddress().isLinkLocalAddress()))
+ continue;
+
+ //System.out.println("Getting broadcast address for " + anAddress);
+ InetAddress broadcastAddress = anAddress.getBroadcast();
+ if(broadcastAddress != null)
+ broadcastAddresses.add(broadcastAddress);
+ }
+ }
+ }
+
+ }
+ catch(SocketException e)
+ {
+ e.printStackTrace();
+ System.out.println(e);
+ }
+
+ return broadcastAddresses;
+ }
+
+}