/**
* 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 OpenDis7Examples;
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.DisChannel;
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" target="_blank">ExampleTrackInterpolationLog.txt</a>
* @see <a href="https://calhoun.nps.edu/handle/10945/65436" target="_blank">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" target="_blank">https://gitlab.nps.edu/Savage/SavageTheses/-/tree/master/BrennenstuhlTobias</a>
*/
public class ExampleTrackInterpolation extends ExampleSimulationProgram
{
/** Default constructor */
public ExampleTrackInterpolation()
{
// default constructor
}
// -------------------- 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();
simulationTimeSeconds = simulationTimeInitial - getSimulationTimeStepDuration(); // 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?
disChannel.getPduRecorder().setVerbose(false);
disChannel.getPduRecorder().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 (disChannel.getPduRecorder().hasVerboseOutput())
System.out.println("sending PDUs for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent");
disChannel.sendSinglePdu(espdu_1);
// sendCommentPdu(timeStepDurationCommentType, 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
simulationTimeSeconds += getSimulationTimeStepDuration(); // 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(getSimulationTimeStepDuration());
// 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 " + simulationTimeSeconds;
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) (getSimulationTimeStepDuration() * 1000)); // seconds * (1000 msec/sec) = milliseconds
System.out.println(disChannel.getTRACE_PREFIX() + "Pausing for " + getSimulationTimeStepDuration() + " seconds");
}
// OK now send the status PDUs for this loop, and then continue
if (disChannel.getPduRecorder().hasVerboseOutput())
System.out.println("sending PDUs for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent");
disChannel.sendSinglePdu(espdu_1);
disChannel.sendCommentPdu(DisChannel.COMMENTPDU_SIMULATION_TIMESTEP, narrativeMessage1, narrativeMessage2, narrativeMessage3);
if (disChannel.getPduRecorder().hasVerboseOutput())
System.out.println(disChannel.getTRACE_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(disChannel.getTRACE_PREFIX() + "loop termination condition met, simulationComplete=" + simulationComplete); // ", final loopCount=" + loopCount +
break;
}
} // end of simulation loop
// ===================================================================================================
System.out.println(disChannel.getTRACE_PREFIX() + "all PDUs successfully sent for this loop (pduSentList.size()=" + pduSentList.size() + " total)");
// track analysis
System.out.println(disChannel.getTRACE_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
disChannel.sendCommentPdu(DisChannel.COMMENTPDU_NARRATIVE, narrativeMessage1, narrativeMessage2, narrativeMessage3);
if (disChannel.getPduRecorder().hasVerboseOutput())
disChannel.printlnTRACE("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(ExampleTrackInterpolation.class.getSimpleName()).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 ExampleTrackInterpolation 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" target="_blank">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)
{
thisProgram = new ExampleTrackInterpolation(); // create instance of self within static main() method
thisProgram.disChannel.printlnTRACE("main() started...");
thisProgram.handleArguments (args); // process command-line invocation arguments
// thisProgram.disChannel.getPduRecorder().setVerbose(false);
// thisProgram.disChannel.setVerboseComments(false);
// thisProgram.disChannel.getDisNetworkInterface().setVerbose(false);
thisProgram.runSimulationLoops(); // ... your simulation execution code goes in there ...
thisProgram.disChannel.tearDownNetworkInterface(); // make sure no processes are left lingering
thisProgram.disChannel.printlnTRACE("complete."); // report successful completion
System.exit(0); // ensure all threads and sockets released
}
}