<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
<X3D profile='Immersive'  version='3.0 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' https://www.web3d.org/specifications/x3d-3.0.xsd ' >
<head>
<component level='1name='DIS'/>
<meta name='titlecontent=' AriesEspduPrototype.x3d '/>
<meta name='descriptioncontent='Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order.'/>
<meta name='creatorcontent='Duane Davis'/>
<meta name='translatorcontent='Vrml97ToX3dNist'/>
<meta name='createdcontent='15 November 2003'/>
<meta name='modifiedcontent='20 October 2019'/>
<meta name='subjectcontent='Distributed Interactive Simulation DIS ESPDU Aries AUV'/>
<meta name='identifiercontent=' https://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/AriesEspduPrototype.x3d '/>
<meta name='generatorcontent=' Vrml97ToX3dNist, http://ovrt.nist.gov/v2_x3d.html '/>
<meta name='licensecontent=' ../license.html'/>
</head>
<!--

to top <!-- Event Graph ROUTE Table shows event connections -->
 
<!-- Index for DEF nodes: AriesAUV, ArticulationParameterControl, ET Index for ExternProtoDeclare definition: Aries

Index for ProtoDeclare definition: AriesEspdu
-->
<Scene>
<WorldInfo title='AriesEspduPrototype.x3d'/>
<ExternProtoDeclare name='Ariesappinfo='Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)'
  url=' "../../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" ' >
<field name='translationtype='SFVec3faccessType='inputOutput'/>
<field name='rotationtype='SFRotationaccessType='inputOutput'/>
<field name='portRpmtype='SFFloataccessType='inputOnly'/>
<field name='stbdRpmtype='SFFloataccessType='inputOnly'/>
<field name='forwardRudderstype='SFFloataccessType='inputOnly'/>
<field name='afterRudderstype='SFFloataccessType='inputOnly'/>
<field name='forwardPlanestype='SFFloataccessType='inputOnly'/>
<field name='afterPlanestype='SFFloataccessType='inputOnly'/>
<field name='forwardVerticalThrustertype='SFFloataccessType='inputOnly'/>
<field name='afterVerticalThrustertype='SFFloataccessType='inputOnly'/>
<field name='forwardLateralThrustertype='SFFloataccessType='inputOnly'/>
<field name='afterLateralThrustertype='SFFloataccessType='inputOnly'/>
<field name='ST725Rangetype='SFFloataccessType='inputOnly'/>
<field name='ST1000Rangetype='SFFloataccessType='inputOnly'/>
<field name='ST725Bearingtype='SFFloataccessType='inputOnly'/>
<field name='ST1000Bearingtype='SFFloataccessType='inputOnly'/>
<field name='ST725Intensitytype='SFFloataccessType='inputOnly'/>
<field name='ST1000Intensitytype='SFFloataccessType='inputOnly'/>
<field name='hullColortype='SFColoraccessType='inputOutput'
 appinfo='hull color for this UUV instance' />

<field name='hullNametype='SFStringaccessType='inputOutput'
 appinfo='can be overridden at instantiation time only' />

<field name='set_ST725Intensitytype='SFFloataccessType='inputOnly'
 appinfo='signal-to-noise ratio decibels' />

<field name='set_forwardLateralThrustertype='SFFloataccessType='inputOnly'/>
<field name='set_ST1000Bearingtype='SFFloataccessType='inputOnly'
 appinfo='degrees about vertical axis' />

<field name='set_forwardVerticalThrustertype='SFFloataccessType='inputOnly'/>
<field name='set_afterVerticalThrustertype='SFFloataccessType='inputOnly'/>
<field name='set_afterRudderstype='SFFloataccessType='inputOnly'/>
<field name='set_ST1000Intensitytype='SFFloataccessType='inputOnly'
 appinfo='signal-to-noise ratio decibels' />

<field name='set_forwardPlanestype='SFFloataccessType='inputOnly'/>
<field name='set_ST725Rangetype='SFFloataccessType='inputOnly'
 appinfo='meters along sonar axis' />

<field name='set_ST725Bearingtype='SFFloataccessType='inputOnly'
 appinfo='degrees about vertical axis' />

<field name='set_afterLateralThrustertype='SFFloataccessType='inputOnly'/>
<field name='set_ST1000Rangetype='SFFloataccessType='inputOnly'
 appinfo='meters along sonar axis' />

<field name='set_stbdRpmtype='SFFloataccessType='inputOnly'/>
<field name='set_forwardRudderstype='SFFloataccessType='inputOnly'/>
<field name='set_portRpmtype='SFFloataccessType='inputOnly'/>
<field name='planeColortype='SFColoraccessType='inputOutput'
 appinfo='plane color for this UUV instance' />

<field name='set_afterPlanestype='SFFloataccessType='inputOnly'/>
</ExternProtoDeclare>
<ProtoDeclare name='AriesEspdu'>
<ProtoInterface>
<field name='markingtype='SFStringvalue='AriesAUVaccessType='inputOutput'/>
<field name='siteIDtype='SFInt32value='0accessType='inputOutput'/>
<field name='applicationIDtype='SFInt32value='1accessType='inputOutput'/>
<field name='entityIDtype='SFInt32value='2accessType='inputOutput'/>
<field name='readIntervaltype='SFTimevalue='0.1accessType='inputOutput'/>
<field name='writeIntervaltype='SFTimevalue='1.0accessType='inputOutput'/>
<field name='networkModetype='SFStringvalue='standAloneaccessType='inputOutput'/>
<field name='addresstype='SFStringvalue='224.2.181.145accessType='inputOutput'/>
<field name='porttype='SFInt32value='62040accessType='inputOutput'/>
<field name='translationtype='SFVec3fvalue='0 0 0accessType='inputOutput'/>
<field name='rotationtype='SFRotationvalue='0 0 1 0accessType='inputOutput'/>
</ProtoInterface>
<ProtoBody>
<!-- ============================= -->
<!-- ROUTE information for ET node:  [from articulationParameterArray to ArticulationParameterControl.set_articulationParameters ] -->
<EspduTransform DEF='ETcontainerField='children'>
<IS>
<connect nodeField='markingprotoField='marking'/>
<connect nodeField='siteIDprotoField='siteID'/>
<connect nodeField='applicationIDprotoField='applicationID'/>
<connect nodeField='entityIDprotoField='entityID'/>
<connect nodeField='readIntervalprotoField='readInterval'/>
<connect nodeField='writeIntervalprotoField='writeInterval'/>
<connect nodeField='networkModeprotoField='networkMode'/>
<connect nodeField='addressprotoField='address'/>
<connect nodeField='portprotoField='port'/>
<connect nodeField='translationprotoField='translation'/>
<connect nodeField='rotationprotoField='rotation'/>
</IS>
<!-- applet 0 1 2, auv dynamics 36 1 1 -->
<Switch whichChoice='0'> </Switch>
<Group>
<field name='set_articulationParameterstype='MFFloataccessType='inputOnly'/>
<field name='portRpmtype='SFFloataccessType='outputOnly'/>
<field name='stbdRpmtype='SFFloataccessType='outputOnly'/>
<field name='forwardVerticalThrustertype='SFFloataccessType='outputOnly'/>
<field name='afterVerticalThrustertype='SFFloataccessType='outputOnly'/>
<field name='forwardLateralThrustertype='SFFloataccessType='outputOnly'/>
<field name='afterLateralThrustertype='SFFloataccessType='outputOnly'/>
<field name='forwardRudderstype='SFFloataccessType='outputOnly'/>
<field name='afterRudderstype='SFFloataccessType='outputOnly'/>
<field name='forwardPlanestype='SFFloataccessType='outputOnly'/>
<field name='afterPlanestype='SFFloataccessType='outputOnly'/>
<field name='ST725Rangetype='SFFloataccessType='outputOnly'/>
<field name='ST725Bearingtype='SFFloataccessType='outputOnly'/>
<field name='ST1000Rangetype='SFFloataccessType='outputOnly'/>
<field name='ST1000Bearingtype='SFFloataccessType='outputOnly'/>
<![CDATA[
              
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];
}

            
]]>
</Script>
< ROUTE  fromNode=' ET' fromField='articulationParameterArray' toNode=' ArticulationParameterControl' toField='set_articulationParameters'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='portRpm' toNode=' AriesAUV' toField='portRpm'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='stbdRpm' toNode=' AriesAUV' toField='stbdRpm'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='forwardVerticalThruster' toNode=' AriesAUV' toField='forwardVerticalThruster'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='afterVerticalThruster' toNode=' AriesAUV' toField='afterVerticalThruster'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='forwardLateralThruster' toNode=' AriesAUV' toField='forwardLateralThruster'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='afterLateralThruster' toNode=' AriesAUV' toField='afterLateralThruster'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='forwardRudders' toNode=' AriesAUV' toField='forwardRudders'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='afterRudders' toNode=' AriesAUV' toField='afterRudders'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='forwardPlanes' toNode=' AriesAUV' toField='forwardPlanes'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='afterPlanes' toNode=' AriesAUV' toField='afterPlanes'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='ST725Range' toNode=' AriesAUV' toField='ST725Range'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='ST725Bearing' toNode=' AriesAUV' toField='ST725Bearing'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='ST1000Range' toNode=' AriesAUV' toField='ST1000Range'/>
< ROUTE  fromNode=' ArticulationParameterControl' fromField='ST1000Bearing' toNode=' AriesAUV' toField='ST1000Bearing'/>
</Group>
</EspduTransform>
</ProtoBody>
</ProtoDeclare>
<Group>
<ProtoInstance name='AriesEspdu'>
<fieldValue name='networkModevalue='networkReader'/>
</ProtoInstance>
</Group>
</Scene>
</X3D>
<!--

to top <!-- Event Graph ROUTE Table shows event connections -->
 
<!-- Index for DEF nodes: AriesAUV, ArticulationParameterControl, ET Index for ExternProtoDeclare definition: Aries

Index for ProtoDeclare definition: AriesEspdu
-->

Event Graph ROUTE Table entries with 15 ROUTE connections total, showing X3D event-model relationships for this scene.

Each row shows an event cascade that may occur during a single timestamp interval between frame renderings, as part of the X3D execution model.

     
This node has 14 outgoing ROUTEs, which is greater than $maxROUTEdepth=8
ArticulationParameterControl
Script
portRpm
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
portRpm
SFFloat
ArticulationParameterControl
Script
stbdRpm
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
stbdRpm
SFFloat
ArticulationParameterControl
Script
forwardVerticalThruster
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
forwardVerticalThruster
SFFloat
ArticulationParameterControl
Script
afterVerticalThruster
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
afterVerticalThruster
SFFloat
ArticulationParameterControl
Script
forwardLateralThruster
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
forwardLateralThruster
SFFloat
ArticulationParameterControl
Script
afterLateralThruster
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
afterLateralThruster
SFFloat
ArticulationParameterControl
Script
forwardRudders
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
forwardRudders
SFFloat
ArticulationParameterControl
Script
afterRudders
SFFloat

ROUTE
event to
(1)
AriesAUV
ProtoInstance
afterRudders
SFFloat



ProtoInstance
AriesEspdu
No ROUTE connection found for output from this node.
Contains SFNode/MFNode field with indirect access to other nodes. 


      AriesAUV
ProtoInstance
Aries
No ROUTE connection found for output from this node.
Contains SFNode/MFNode field with indirect access to other nodes. 


ET
EspduTransform
articulationParameterArray
MFFloat

ROUTE
event to
(1)
ArticulationParameterControl
Script
set_articulationParameters
MFFloat


-->

<!-- Online at
https://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/AriesEspduPrototypeIndex.html -->
<!-- Version control at
https://sourceforge.net/p/x3d/code/HEAD/tree/www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/AriesEspduPrototype.x3d -->

<!-- Color legend: X3D terminology <X3dNode DEF='idName' field='value'/> matches XML terminology <XmlElement DEF='idName' attribute='value'/>
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    <ProtoInstance name='ProtoName'> <field name='fieldName'/> </ProtoInstance> -->

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