package Basic.DistributedInteractiveSimulation;
/*
Copyright (c) 1995-2023 held by the author(s). All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the
distribution.
* Neither the name of the Web3D Consortium (https://www.web3d.org)
nor the names of its contributors may be used to endorse or
promote products derived from this software without specific
prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.DIS.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Scripting.*;
// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
*
Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order.
Related links: AriesEspduPrototype.java source, AriesEspduPrototype catalog page, X3D Resources, X3D Scene Authoring Hints, and X3D Tooltips.
This program uses the
X3D Java Scene Access Interface Library (X3DJSAIL).
It has been produced using the
X3dToJava.xslt
stylesheet
(version control)
is used to create Java source code from an original .x3d
model.
* @author Duane Davis
*/
public class AriesEspduPrototype
{
/** Default constructor to create this object. */
public AriesEspduPrototype ()
{
initialize();
}
/** Create and initialize the X3D model for this object. */
public final void initialize()
{
try { // catch-all
x3dModel = new X3D().setProfile(X3D.PROFILE_IMMERSIVE).setVersion(X3D.VERSION_3_0)
.setHead(new head()
.addComponent(new component().setName("DIS").setLevel(1))
.addMeta(new meta().setName(meta.NAME_TITLE ).setContent("AriesEspduPrototype.x3d"))
.addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order."))
.addMeta(new meta().setName(meta.NAME_CREATOR ).setContent("Duane Davis"))
.addMeta(new meta().setName(meta.NAME_TRANSLATOR ).setContent("Vrml97ToX3dNist"))
.addMeta(new meta().setName(meta.NAME_CREATED ).setContent("15 November 2003"))
.addMeta(new meta().setName(meta.NAME_MODIFIED ).setContent("20 October 2019"))
.addMeta(new meta().setName(meta.NAME_SUBJECT ).setContent("Distributed Interactive Simulation DIS ESPDU Aries AUV"))
.addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/AriesEspduPrototype.x3d"))
.addMeta(new meta().setName(meta.NAME_GENERATOR ).setContent("Vrml97ToX3dNist, http://ovrt.nist.gov/v2_x3d.html"))
.addMeta(new meta().setName(meta.NAME_LICENSE ).setContent("../license.html")))
.setScene(new Scene()
.addChild(new WorldInfo().setTitle("AriesEspduPrototype.x3d"))
.addChild(new ExternProtoDeclare("Aries").setName("Aries").setAppinfo("Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)").setUrl(new String[] {"../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries","https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries","../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries","https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries"})
.addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
.addField(new field().setName("portRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("stbdRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST725Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("ST1000Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("hullColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("hull color for this UUV instance"))
.addField(new field().setName("hullName").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("can be overridden at instantiation time only"))
.addField(new field().setName("set_ST725Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("signal-to-noise ratio decibels"))
.addField(new field().setName("set_forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("degrees about vertical axis"))
.addField(new field().setName("set_forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST1000Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("signal-to-noise ratio decibels"))
.addField(new field().setName("set_forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("meters along sonar axis"))
.addField(new field().setName("set_ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("degrees about vertical axis"))
.addField(new field().setName("set_afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("meters along sonar axis"))
.addField(new field().setName("set_stbdRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("set_portRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("planeColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("plane color for this UUV instance"))
.addField(new field().setName("set_afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY)))
.addChild(new ProtoDeclare("AriesEspdu").setName("AriesEspdu")
.setProtoInterface(new ProtoInterface()
.addField(new field().setName("marking").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("AriesAUV"))
.addField(new field().setName("siteID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(0))
.addField(new field().setName("applicationID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(1))
.addField(new field().setName("entityID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(2))
.addField(new field().setName("readInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(0.1))
.addField(new field().setName("writeInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(1.0))
.addField(new field().setName("networkMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("standAlone"))
.addField(new field().setName("address").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("224.2.181.145"))
.addField(new field().setName("port").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(62040))
.addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFVec3f(0.0,0.0,0.0)))
.addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFRotation(0.0,0.0,1.0,0.0))))
.setProtoBody(new ProtoBody()
.addComments(" ============================= ")
.addChild(new EspduTransform("ET")
.setIS(new IS()
.addConnect(new connect().setNodeField("marking").setProtoField("marking"))
.addConnect(new connect().setNodeField("siteID").setProtoField("siteID"))
.addConnect(new connect().setNodeField("applicationID").setProtoField("applicationID"))
.addConnect(new connect().setNodeField("entityID").setProtoField("entityID"))
.addConnect(new connect().setNodeField("readInterval").setProtoField("readInterval"))
.addConnect(new connect().setNodeField("writeInterval").setProtoField("writeInterval"))
.addConnect(new connect().setNodeField("networkMode").setProtoField("networkMode"))
.addConnect(new connect().setNodeField("address").setProtoField("address"))
.addConnect(new connect().setNodeField("port").setProtoField("port"))
.addConnect(new connect().setNodeField("translation").setProtoField("translation"))
.addConnect(new connect().setNodeField("rotation").setProtoField("rotation")))
.addComments(" applet 0 1 2, auv dynamics 36 1 1 ")
.addChild(new Switch().setWhichChoice(0)
.addChild(new ProtoInstance("Aries", "AriesAUV").setContainerField("children")
.addFieldValue(new fieldValue().setName("hullColor").setValue(new SFColor(.9,.9,.9)))
.addFieldValue(new fieldValue().setName("hullName").setValue("Aries AUV"))))
.addChild(new Group()
.addChild(new Script("ArticulationParameterControl").setSourceCode("""
ecmascript:
function initialize()
{
portRpm = 0;
stbdRpm = 0;
forwardVerticalThruster = 0;
afterVerticalThruster = 0;
forwardLateralThruster = 0;
afterLateralThruster = 0;
forwardRudders = 0;
afterRudders = 0;
forwardPlanes = 0;
afterPlanes = 0;
ST725Range = 30;
ST725Bearing = 0;
ST1000Range = 30;
ST1000Bearing = 0;
}
function set_articulationParameters( value, timestamp )
{
// TODO: what about value[0] ?
portRpm = value[1];
stbdRpm = value[2];
forwardRudders = value[3];
afterRudders = value[4];
forwardPlanes = value[5];
afterPlanes = value[6];
forwardVerticalThruster = value[7];
afterVerticalThruster = value[8];
forwardLateralThruster = value[9];
afterLateralThruster = value[10];
ST725Range = value[11];
ST725Bearing = value[12];
ST1000Range = value[13];
ST1000Bearing = value[14];
}
""")
.addField(new field().setName("set_articulationParameters").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
.addField(new field().setName("portRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("stbdRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
.addField(new field().setName("ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY)))
.addChild(new ROUTE().setFromNode("ET").setFromField("articulationParameterArray").setToNode("ArticulationParameterControl").setToField("set_articulationParameters"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("portRpm").setToNode("AriesAUV").setToField("portRpm"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("stbdRpm").setToNode("AriesAUV").setToField("stbdRpm"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardVerticalThruster").setToNode("AriesAUV").setToField("forwardVerticalThruster"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterVerticalThruster").setToNode("AriesAUV").setToField("afterVerticalThruster"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardLateralThruster").setToNode("AriesAUV").setToField("forwardLateralThruster"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterLateralThruster").setToNode("AriesAUV").setToField("afterLateralThruster"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardRudders").setToNode("AriesAUV").setToField("forwardRudders"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterRudders").setToNode("AriesAUV").setToField("afterRudders"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardPlanes").setToNode("AriesAUV").setToField("forwardPlanes"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterPlanes").setToNode("AriesAUV").setToField("afterPlanes"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST725Range").setToNode("AriesAUV").setToField("ST725Range"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST725Bearing").setToNode("AriesAUV").setToField("ST725Bearing"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST1000Range").setToNode("AriesAUV").setToField("ST1000Range"))
.addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST1000Bearing").setToNode("AriesAUV").setToField("ST1000Bearing"))))))
.addChild(new Group()
.addChild(new ProtoInstance("AriesEspdu").setContainerField("children")
.addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader")))));
}
catch (Exception ex)
{
System.err.println ("*** Further hints on X3DJSAIL errors and exceptions at");
System.err.println ("*** https://www.web3d.org/specifications/java/X3DJSAIL.html");
throw (ex);
}
}
// end of initialize() method
/** The initialized model object, created within initialize() method. */
private X3D x3dModel;
/**
* Provide a
* shallow copy
* of the X3D model.
* @see X3D
* @return AriesEspduPrototype model
*/
public X3D getX3dModel()
{
return x3dModel;
}
/**
* Default main() method provided for test purposes, uses CommandLine to set global ConfigurationProperties for this object.
* @param args array of input parameters, provided as arguments
* @see X3D.handleArguments(args)
* @see X3D.validationReport()
* @see CommandLine
* @see CommandLine.USAGE
* @see ConfigurationProperties
*/
public static void main(String args[])
{
System.out.println("Build this X3D model, showing validation diagnostics...");
X3D thisExampleX3dModel = new AriesEspduPrototype().getX3dModel();
// System.out.println("X3D model construction complete.");
// next handle command line arguments
boolean hasArguments = (args != null) && (args.length > 0);
boolean validate = true; // default
boolean argumentsLoadNewModel = false;
String fileName = new String();
if (args != null)
{
for (String arg : args)
{
if (arg.toLowerCase().startsWith("-v") || arg.toLowerCase().contains("validate"))
{
validate = true; // making sure
}
if (arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3D) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_CLASSICVRML) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3DB) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_VRML97) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_EXI) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_GZIP) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_ZIP) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_HTML) ||
arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_XHTML))
{
argumentsLoadNewModel = true;
fileName = arg;
}
}
}
if (argumentsLoadNewModel)
System.out.println("WARNING: \"Basic.DistributedInteractiveSimulation.AriesEspduPrototype\" model invocation is attempting to load file \"" + fileName + "\" instead of simply validating itself... file loading ignored.");
else if (hasArguments) // if no arguments provided, this method produces usage warning
thisExampleX3dModel.handleArguments(args);
if (validate)
{
// System.out.println("--- TODO fix duplicated outputs ---"); // omit when duplicated outputs problem is solved/refactored
String validationResults = thisExampleX3dModel.validationReport();
// System.out.println("-----------------------------------"); // omit when duplicated outputs problem is solved/refactored
System.out.print("Basic.DistributedInteractiveSimulation.AriesEspduPrototype self-validation test results: ");
if (!validationResults.equals("success"))
System.out.println();
System.out.println(validationResults.trim());
}
}
}