/**
* Copyright (c) 2008-2023, MOVES Institute, Naval Postgraduate School (NPS). All rights reserved.
* This work is provided under a BSD open-source license, see project license.html or license.txt
* @author brutzman@nps.edu
*/
package SimkitOpenDis7Examples.run;
//import edu.nps.moves.dis7.entities.swe.platform.surface._001Poseidon;
import edu.nps.moves.dis7.entities.swe.platform.surface._002Triton;
import edu.nps.moves.dis7.entities.usa.platform.air.ScanEagleA15;
import edu.nps.moves.dis7.enumerations.*;
import edu.nps.moves.dis7.pdus.*;
import edu.nps.moves.dis7.utilities.DisChannel;
import edu.nps.moves.dis7.utilities.PduFactory;
import java.nio.charset.Charset;
import java.time.LocalDateTime;
import java.util.logging.Level;
import java.util.logging.Logger;
import simkit.SimEntityBase;
/** The OpenDisHelper is meant to be a transmitter/recorder of DIS PDUs in a DES environment
*
* Based on: NetworkedGraphicsMV3500/examples/src/OpenDis7Examples/ExampleSimulationProgram.java
*
* @author <a href="mailto:tdnorbra@nps.edu?subject=OpenDis7Examples.OpenDisHelper">Terry Norbraten, NPS MOVES</a>
*/
public class OpenDisHelper extends SimEntityBase
{
/* **************************** infrastructure code, modification is seldom needed ************************* */
/** DIS channel defined by network address/port combination includes multiple utility capabilities */
protected DisChannel disChannel;
/** Factory object used to create new PDU instances */
protected PduFactory pduFactory;
/** ESPDU for entity 1 */
protected EntityStatePdu entityStatePdu_1;
/** ESPDU for entity 2 */
protected EntityStatePdu entityStatePdu_2;
/** FirePdu for entity 1 first weapon (if any) */
protected FirePdu firePdu_1a;
/** FirePdu for entity 1 second weapon (if any) */
protected FirePdu firePdu_1b;
/** MunitionDescriptor for these weapons */
protected MunitionDescriptor munitionDescriptor1;
private String descriptor;
/** seconds per loop for real-time or simulation execution */
private double simulationTimeStepDuration; // seconds TODO encapsulate
/** initial simulation time in seconds */
private double simulationTimeInitial;
/** current simulation time in seconds */
private double simulationTimeSeconds;
/** Maximum number of simulation loops */
private final int MAX_LOOP_COUNT;
private String narrativeMessage1;
private String narrativeMessage2;
private String narrativeMessage3;
// hey programmer, what other state do you want? this is a good place to declare it...
/**
* Constructor to create an instance of this class.
* Design goal: additional built-in initialization conveniences can go here
* to keep your efforts focused on the runSimulation() method.
*/
// base constructor is not invoked automatically by other constructors
// https://stackoverflow.com/questions/581873/best-way-to-handle-multiple-constructors-in-java
public OpenDisHelper()
{
super();
OpenDisHelper.this.setDescriptor(this.getClass().getSimpleName());
simulationTimeStepDuration = 1.0d;
simulationTimeSeconds = simulationTimeInitial = 0.0d;
MAX_LOOP_COUNT = 4;
initialize();
}
/**
* Constructor to create an instance of this class.
* @param newDescriptor describes this program, useful for logging and debugging
*/
public OpenDisHelper(String newDescriptor)
{
this();
OpenDisHelper.this.setDescriptor(newDescriptor);
}
/**
* Utility Constructor that allows your example simulation program to override default network address and port
* @param address network address to use
* @param port corresponding network port to use (> -1)
*/
public OpenDisHelper(String address, int port)
{
this();
if (address != null && !address.isBlank())
OpenDisHelper.this.setAddress(address);
if (port > -1)
OpenDisHelper.this.setPort(port);
}
/** Initialize channel setup for OpenDis7 and report a test PDU
* @see initializeDisChannel
* @see initializeSimulationEntities
*/
private void initialize()
{
initializeDisChannel(); // must come first, uses PduFactory
initializeSimulationEntities(); // set unchanging parameters
disChannel.join(); // TODO further functionality expected
// String timeStepMessage = "Simulation timestep duration " + getSimulationTimeStepDuration() + " seconds";
// disChannel.sendCommentPdu(simulationTimeSeconds, DisChannel.COMMENTPDU_SIMULATION_TIMESTEP, timeStepMessage);
// additional constructor initialization can go here
}
/** Initialize channel setup for OpenDis7 and report a test PDU */
private void initializeDisChannel()
{
if (disChannel == null)
disChannel = new DisChannel();
else
{
disChannel.printlnTRACE ("*** warning, duplicate invocation of initializeDisChannel() ignored");
return;
}
pduFactory = disChannel.getPduFactory();
disChannel.setDescriptor(descriptor); // ExampleSimulationProgram might be a superclass
disChannel.setUpNetworkInterface();
disChannel.setVerboseComments (false); // TODO rename library method to disambiguate CommentPDU
// TODO still seems really chatty... add silent mode?
disChannel.setVerboseDisNetworkInterface(false); // Default false
disChannel.getPduRecorder().setVerbose (true);
// TODO confirm whether recorder is explicitly started by programmer (or not)
// disChannel.sendCommentPdu(VariableRecordType.OTHER, "DisThreadedNetworkInterface.initializeDisChannel() complete"); // hello channel, debug
}
/** Get ready, get set... initialize simulation entities. Who's who in the zoo? */
private void initializeSimulationEntities()
{
if (pduFactory == null)
pduFactory = disChannel.getPduFactory();
entityStatePdu_1 = pduFactory.makeEntityStatePdu();
entityStatePdu_2 = pduFactory.makeEntityStatePdu();
firePdu_1a = pduFactory.makeFirePdu();
firePdu_1b = pduFactory.makeFirePdu();
munitionDescriptor1 = new MunitionDescriptor();
// Your model setup: define participants. who's who in this zoo?
// Assuming you keep track of entity objects... here is some support for for Entity 1.
// PDU objects are already declared and instances created, so now set their values.
// who is who in our big zoo, sufficient for global participation if we need it
/***** Initialize each PDU to a known state *****/
entityStatePdu_1.getEntityID().setSiteID(1).setApplicationID(2).setEntityID(3); // made-up example ID;
disChannel.addEntity(entityStatePdu_1.getEntityID());
// TODO someday, use enumerations for sites as part of a SimulationManager object; e.g. is there a unique site triplet for MOVES Institute?
// Essential that we have a known initial state for DeadReckoningParameters
DeadReckoningParameters drp = entityStatePdu_1.getDeadReckoningParameters();
// Set Dead Reckoning Model (DRM), Rotational Velocity in World Coordinates (RVW)
drp.setDeadReckoningAlgorithm(DeadReckoningAlgorithm.DRM_RVW_HIGH_SPEED_OR_MANEUVERING_ENTITY_WITH_EXTRAPOLATION_OF_ORIENTATION);
/***** End Initialize pdu *****/
/***** Begin friendly vehicle specific DIS Enumerations *****/
entityStatePdu_1.setForceId(ForceID.FRIENDLY);
entityStatePdu_1.setEntityType(new ScanEagleA15()); // note import statement above
EntityType type = entityStatePdu_1.getEntityType();
// Use ASCII for the character set
entityStatePdu_1.getMarking().setCharacterSet(EntityMarkingCharacterSet.ASCII);
Charset cs = Charset.forName("US-ASCII");
byte[] charArray = cs.encode(type.toString() + entityStatePdu_1.getEntityID()).array();
entityStatePdu_1.getMarking().setCharacters(charArray);
type.setEntityKind(EntityKind.PLATFORM);
type.setDomain(Domain.inst(PlatformDomain.AIR));
// Zero until we know more about how we want to define capabilities
entityStatePdu_1.setCapabilities(new AirPlatformCapabilities());
// Need to set bits 1-32 for proper initialization
entityStatePdu_1.setEntityAppearance(0);
// Side number of SubCategory
type.setSpecific(0);
// Weapons loading?
type.setExtra((short) 0);
/***** End friendly vehicle specific DIS Enumerations *****/
entityStatePdu_2.getEntityID().setSiteID(1).setApplicationID(2).setEntityID(4); // made-up example ID;
disChannel.addEntity(entityStatePdu_2.getEntityID());
entityStatePdu_2.setForceId(ForceID.OPPOSING);
entityStatePdu_2.setEntityType(new _002Triton()); // note import statement above
entityStatePdu_2.setMarking("Entity #2");
// TODO how should we customize this munition? what are key parameters for your simulation?
// more is needed here by scenario authors...
munitionDescriptor1.setQuantity(1);
firePdu_1a.setDescriptor(munitionDescriptor1).setRange(1000.0f);
simulationTimeSeconds = simulationTimeInitial = entityStatePdu_1.getTimestamp();
}
/**
* This runSimulationLoops() method is for you, a customizable programmer-modifiable
* code block 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 might do that
public void runSimulationLoops ()
{
try
{
final int SIMULATION_MAX_LOOP_COUNT = 10; // 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 for today's date and timestamp to zero, providing consistent outputs for each simulation run
String timeMessage = "Simulation time " + simulationTimeSeconds + " at LocalDateTime " + LocalDateTime.now();
disChannel.sendCommentPdu(simulationTimeSeconds, DisChannel.COMMENTPDU_TIME, timeMessage);
// TODO replace enumeration with disChannel.COMMENTPDU_TIME
// TODO fix VariableRecordType.TIME_AMP_DATE_VALID
// ===================================================================================================
// 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
// =============================================================================================
// * your own simulation code starts here! *****************************************************
// =============================================================================================
// are there any other variables to modify at the beginning of your loop?
// are your reading any DIS PDUs from the network? check for them here
// compute a track, update an ESPDU, whatever it is that your model is doing...
// Where is my entity? Insert changes in position; this sample only changes X position.
entityStatePdu_1.getEntityLocation().setX(entityStatePdu_1.getEntityLocation().getX() + 1.0); // 1m per timestep
// decide whether to fire, and then update the firePdu. Hmmm, you might want a target to shoot at!
// etc. etc. your code goes here for your simulation of interest
// something happens between my simulation entities, la de da de da...
System.out.println ("... My simulation just did something, no really...");
System.out.flush(); // make sure this arrives to user even if other threads somehow become deadlocked
// make your reports: narrative code for CommentPdu here (set all to empty strings to avoid sending)
narrativeMessage1 = "MV3500 ExampleSimulationProgram";
narrativeMessage2 = "runSimulation() loop " + simulationLoopCount;
narrativeMessage3 = ""; // intentionally blank for testing
// your loop termination condition goes here
if (simulationLoopCount > MAX_LOOP_COUNT) // 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
Thread.sleep((long)(getSimulationTimeStepDuration() * 1000)); // units of seconds * (1000 msec/sec) = milliseconds
System.out.println ("... [Pausing for " + getSimulationTimeStepDuration() + " seconds]");
// OK now send the status PDUs for this loop, and then continue
System.out.println ("... sending PDUs of interest for simulation step " + simulationLoopCount + ", monitor loopback to confirm sent");
System.out.flush();
// TODO set timesteps in PDUs
sendAllPdusForLoopTimestep(simulationTimeSeconds,
entityStatePdu_1,
firePdu_1a,
DisChannel.COMMENTPDU_APPLICATION_STATUS,
narrativeMessage1, narrativeMessage2, narrativeMessage3);
disChannel.sendSinglePdu(simulationTimeSeconds, entityStatePdu_2); // me too i.e. 2!
System.out.println ("... [PDUs of interest successfully sent for this loop]");
System.out.flush();
// ===============================
// 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 ("... [loop termination condition met, simulationComplete=" + simulationComplete + "]"); // ", final loopCount=" + loopCount +
System.out.flush();
break;
}
simulationTimeSeconds += getSimulationTimeStepDuration(); // good practice: increment simulationTime as lastst action in that loop
} // end of simulation loop, continue until done
// ===================================================================================================// ===================================================================================================// ===================================================================================================// ===================================================================================================
narrativeMessage2 = "runSimulation() completed successfully"; // all done, so tell everyone else on the channel
// TODO better javadoc needs to be autogenerated for VariableRecordType enumerations
disChannel.sendCommentPdu(DisChannel.COMMENTPDU_NARRATIVE, narrativeMessage1, narrativeMessage2, narrativeMessage3);
System.out.println ("... [final=completion CommentPdu successfully sent for simulation]");
// disChannel.getPduRecorder(). TODO record XML as well
disChannel.leave(); // embedded SimulationManager is expected to send appropriate PDUs for entity, application shutdown <- Does nothing as of 7/17/24
}
catch (InterruptedException iex) // handle any exception that your code might choose to provoke!
{
Logger.getLogger(OpenDisHelper.class.getSimpleName()).log(Level.SEVERE, null, iex);
}
}
/**
* Send EntityState, Fire, Comment PDUs that got updated for this loop, reflecting state of current simulation timestep.
* @param simTimeSeconds simulation time in second, applied to PDU as timestamp
* @param entityStatePdu the ESPDU to send, if any
* @param firePdu the FirePDU to send, if any
* @param commentType enumeration value describing purpose of the narrative comment PDU
* @param comments String array of narrative comments
* @see DisChannel
// * @see DisTime // TODO find renamed version
* @see <a href="https://docs.oracle.com/javase/tutorial/java/javaOO/arguments.html" target="_blank">Passing Information to a Method or a Constructor</a> Arbitrary Number of Arguments
*/
public void sendAllPdusForLoopTimestep(double simTimeSeconds,
EntityStatePdu entityStatePdu,
FirePdu firePdu,
VariableRecordType commentType,
// vararg... variable-length set of String comments can optionally follow
String... comments)
{
if (entityStatePdu != null)
disChannel.sendSinglePdu(simTimeSeconds, entityStatePdu);
if (firePdu != null)
disChannel.sendSinglePdu(simTimeSeconds, firePdu); // bang
disChannel.sendCommentPdu(simTimeSeconds, commentType, comments); // empty comments are filtered
}
/**
* Initial execution via main() method: handle args array of command-line initialization (CLI) arguments here
* @param args command-line parameters: network address and port
*/
protected void handleArguments (String[] args)
{
// initial execution: handle args array of initialization arguments here
if (args.length == 2)
{
if ((args[0] != null) && !args[0].isEmpty())
thisProgram.disChannel.setNetworkAddress(args[0]);
if ((args[1] != null) && !args[1].isEmpty())
thisProgram.disChannel.setNetworkPort(Integer.parseInt(args[1]));
}
else if (args.length != 0)
{
System.err.println("Usage: " + thisProgram.getClass().getSimpleName() + " [address port]");
System.exit(-1);
}
}
/**
* Get simple descriptor (such as parent class name) for this network interface, used in trace statements
* @return simple descriptor name
*/
public String getDescriptor() {
return descriptor;
}
/**
* Set new simple descriptor (such as parent class name) for this network interface, used in trace statements
* @param newDescriptor simple descriptor name for this interface
*/
public void setDescriptor(String newDescriptor) {
if (newDescriptor == null)
newDescriptor = "";
setName(this.descriptor = newDescriptor);
}
/** Set an other than default network port
*
* @param port a network port
*/
public void setPort(int port) {
disChannel.setNetworkPort(port);
}
/** Set an other than default network address
*
* @param address a network address
*/
public void setAddress(String address) {
disChannel.setNetworkAddress(address);
}
/**
* parameter accessor method
* @return the simulationTimeStepDuration in seconds
*/
public double getSimulationTimeStepDuration() {
return simulationTimeStepDuration;
}
/**
* parameter accessor method
* @param timeStepDurationSeconds the simulationTimeStepDuration in seconds to set
*/
public void setSimulationTimeStepDuration(double timeStepDurationSeconds) {
this.simulationTimeStepDuration = timeStepDurationSeconds;
}
/** Locally instantiable copy of program, can be subclassed. */
protected static OpenDisHelper thisProgram;
/**
* 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 parameters: network address and port.
* 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 OpenDisHelper("test constructor"); // create instance of self within static main() method
thisProgram.disChannel.printlnTRACE("main() started...");
thisProgram.handleArguments(args); // process any command-line invocation arguments
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
}
} // end class OpenDisHelper