Create a simple Java graphics client for the Ball sims. Ref #472

trick_sims/Ball/SIM_ball_L2/Modified_data/graphics.py

@@ -0,0 +1,16 @@
+#==========================================
+# Start the display VarServer Client
+#==========================================
+varServerPort = trick.var_server_get_port();
+BallDisplay_path = "../models/graphics/dist/BallDisplay.jar"
+
+if (os.path.isfile(BallDisplay_path)) :
+    BallDisplay_cmd = "java -jar " \
+                   + BallDisplay_path \
+                   + " " + str(varServerPort) + " &" ;
+    print(BallDisplay_cmd)
+    os.system( BallDisplay_cmd);
+else :
+    print('==================================================================================')
+    print('BallDisplay needs to be built. Please \"cd\" into models/Graphics and type \"make\".')
+    print('==================================================================================')

trick_sims/Ball/SIM_ball_L2/Modified_data/realtime.py

@@ -1,8 +1,8 @@
 
 trick.frame_log_off()
-real_time.rt_sync.enable()
+trick.real_time_enable()
 trick_sys.sched.set_software_frame(0.01)
-real_time.itimer.disable()
+trick.itimer_disable()
 
 trick_sys.sched.set_enable_freeze(True)
 trick_sys.sched.set_freeze_command(True)

trick_sims/Ball/SIM_ball_L2/RUN_realtime/input.py

@@ -1,13 +1,7 @@
 
 execfile("Modified_data/data_record.dr")
 execfile("Modified_data/realtime.py")
-
-
-#instruments.echo_jobs.echo_jobs_off()
-
-#trick_sys.sched.init()
-
-#trick.sim_services.exec_set_terminate_time(15.0)
+execfile("Modified_data/graphics.py")
 
 trick.sim_services.exec_set_terminate_time(300.0)
 

trick_sims/Ball/SIM_ball_L3/Modified_data/graphics.py

@@ -0,0 +1,16 @@
+#==========================================
+# Start the display VarServer Client
+#==========================================
+varServerPort = trick.var_server_get_port();
+BallDisplay_path = "../models/graphics/dist/BallDisplay.jar"
+
+if (os.path.isfile(BallDisplay_path)) :
+    BallDisplay_cmd = "java -jar " \
+                   + BallDisplay_path \
+                   + " " + str(varServerPort) + " &" ;
+    print(BallDisplay_cmd)
+    os.system( BallDisplay_cmd);
+else :
+    print('==================================================================================')
+    print('BallDisplay needs to be built. Please \"cd\" into models/Graphics and type \"make\".')
+    print('==================================================================================')

trick_sims/Ball/SIM_ball_L3/Modified_data/realtime.py

@@ -1,9 +1,11 @@
+trick.frame_log_on()
+trick.real_time_enable()
+trick.exec_set_software_frame(0.1)
+trick.itimer_enable()
 
-real_time.rt_sync.enable()
-trick_sys.sched.set_software_frame(0.1)
-
-trick_sys.sched.set_enable_freeze(True)
-trick_sys.sched.set_freeze_command(True)
+trick.exec_set_enable_freeze(True)
+trick.exec_set_freeze_command(True)
 
 simControlPanel = trick.SimControlPanel()
 trick.add_external_application(simControlPanel)
+

trick_sims/Ball/SIM_ball_L3/RUN_realtime/input.py

@@ -1,6 +1,5 @@
 
 execfile("Modified_data/data_record.dr")
 execfile("Modified_data/realtime.py")
-
-
+execfile("Modified_data/graphics.py")
 

trick_sims/Ball/models/graphics/Makefile

@@ -0,0 +1,36 @@
+SHELL = /bin/sh
+
+PROJECT_NAME = BallDisplay
+SRC_DIR = src
+BUILD_DIR = build
+CLASSES_DIR = $(BUILD_DIR)/classes
+JAR_DIR = dist
+MAIN_CLASS = trick.BallDisplay
+
+all: jar
+
+clean:
+	rm -rf $(BUILD_DIR)
+	rm -f manifest
+
+spotless: clean
+	rm -rf dist
+
+$(CLASSES_DIR):
+	@ mkdir -p $(CLASSES_DIR)
+
+compile: | $(CLASSES_DIR)
+	javac -sourcepath $(SRC_DIR) -d $(CLASSES_DIR) $(SRC_DIR)/trick/BallDisplay.java
+
+manifest:
+	@ echo "Main-Class: $(MAIN_CLASS)" > $@
+
+$(JAR_DIR):
+	@ mkdir -p $(JAR_DIR)
+
+jar: compile manifest | $(JAR_DIR)
+	jar cvfm $(JAR_DIR)/$(PROJECT_NAME).jar manifest -C $(CLASSES_DIR) .
+	@ echo "-------------------------------------------------------------------------------"
+	@ echo "                              BUILD COMPLETE"
+	@ echo "The Java jar file (the Java Executable) is located at: $(JAR_DIR)/$(PROJECT_NAME).jar"
+	@ echo "-------------------------------------------------------------------------------"

trick_sims/Ball/models/graphics/src/trick/BallDisplay.java

@@ -0,0 +1,213 @@
+/*
+ * Trick
+ * 2016 (c) National Aeronautics and Space Administration (NASA)
+ */
+
+package trick;
+
+import java.awt.Graphics2D;
+import java.awt.Graphics;
+import java.awt.Image;
+import java.awt.geom.AffineTransform;
+import java.awt.image.AffineTransformOp;
+import java.awt.image.BufferedImage;
+import java.io.BufferedOutputStream;
+import java.io.BufferedReader;
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.io.FileReader;
+import java.net.Socket;
+import java.util.*;
+import javax.swing.ImageIcon;
+import javax.swing.JFrame;
+import javax.swing.JPanel;
+import java.awt.Color;
+
+/**
+ *
+ * @author penn
+ */
+
+class ArenaView extends JPanel {
+
+    private double scale; // Pixels per meter
+    private Color arenaColor;
+    private Color ballColor;
+    private double[] ballPos;
+
+    // Origin of world coordinates in jpanel coordinates.
+    private int worldOriginX;
+    private int worldOriginY;
+
+    public ArenaView( double mapScale ) {
+        scale = mapScale;
+        setScale(mapScale);
+        arenaColor = Color.WHITE;
+        ballColor = new Color(1,0,0, 0.5f);
+        ballPos  = new double[] {0.0, 0.0};
+    }
+
+    public void setBallPos (double x, double y) {
+        ballPos[0] = x;
+        ballPos[1] = y;
+    }
+
+    public void setScale (double mapScale) {
+        if (mapScale < 0.00005) {
+            scale = 0.00005;
+        } else {
+            scale = mapScale;
+        }
+    }
+
+    public void drawCenteredCircle(Graphics2D g, int x, int y, int r) {
+        x = x-(r/2);
+        y = y-(r/2);
+        g.fillOval(x,y,r,r);
+    }
+
+    private void doDrawing(Graphics g) {
+        Graphics2D g2d = (Graphics2D) g;
+
+        int width = getWidth();
+        int height = getHeight();
+
+        worldOriginX = (width/2);
+        worldOriginY = (height/2);
+
+        g2d.setPaint(arenaColor);
+        g2d.fillRect(0, 0, width, height);
+
+        // Horizontal Lines
+        g2d.setPaint(Color.LIGHT_GRAY);
+        for (int Y = worldOriginY % (int)scale ; Y < height ; Y += (int)scale ) {
+            g2d.drawLine(0, Y, width, Y);
+        }
+        // Vertical Lines
+        g2d.setPaint(Color.LIGHT_GRAY);
+        for (int X = worldOriginX % (int)scale ; X < width ; X += (int)scale ) {
+            g2d.drawLine(X, 0, X, height);
+        }
+        // Coordinate Axes
+        g2d.setPaint(Color.BLACK);
+        g2d.drawLine(0, worldOriginY, width, worldOriginY);
+        g2d.drawLine(worldOriginX, 0, worldOriginX, height);
+        //  Draw Ball
+        g2d.setPaint(ballColor);
+        int sx = (int)(worldOriginX + scale * ballPos[0]);
+        int sy = (int)(worldOriginY - scale * ballPos[1]);
+        drawCenteredCircle(g2d, sx, sy, (int)(scale));
+    }
+
+    @Override
+    public void paintComponent(Graphics g) {
+        super.paintComponent(g);
+        doDrawing(g);
+    }
+}
+
+public class BallDisplay extends JFrame {
+
+    private ArenaView arenaView;
+    private BufferedReader in;
+    private DataOutputStream out;
+
+    public BallDisplay(ArenaView arena) {
+        arenaView = arena;
+        add( arenaView);
+        setTitle("Ball Display");
+        setSize(800, 800);
+        setLocationRelativeTo(null);
+        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+    }
+
+    public void connectToServer(String host, int port ) throws IOException {
+        Socket socket = new Socket(host, port);
+        in = new BufferedReader( new InputStreamReader( socket.getInputStream()));
+        out = new DataOutputStream(new BufferedOutputStream(socket.getOutputStream()));
+    }
+
+    public void drawArenaView() {
+        arenaView.repaint();
+    }
+
+    private static void  printHelpText() {
+        System.out.println(
+            "----------------------------------------------------------------------\n"
+          + "usage: java jar BallDisplay.jar <port-number>\n"
+          + "----------------------------------------------------------------------\n"
+          );
+    }
+
+    public static void main(String[] args) throws IOException {
+
+        String host = "localHost";
+        int port = 0;
+        String vehicleImageFile = null;
+
+        int ii = 0;
+        while (ii < args.length) {
+            switch (args[ii]) {
+                case "-help" :
+                case "--help" : {
+                    printHelpText();
+                    System.exit(0);
+                } break;
+                default : {
+                    port = (Integer.parseInt(args[ii]));
+                } break;
+            }
+            ++ii;
+        }
+
+        if (port == 0) {
+            System.out.println("No variable server port specified.");
+            printHelpText();
+            System.exit(0);
+        }
+
+        double mapScale = 20; // 20 pixels per meter
+        ArenaView arenaview = new ArenaView( mapScale);
+        BallDisplay sd = new BallDisplay(arenaview);
+        sd.setVisible(true);
+        double ballX = 0.0;
+        double ballY = 0.0;
+
+        System.out.println("Connecting to: " + host + ":" + port);
+        sd.connectToServer(host, port);
+
+        sd.out.writeBytes("trick.var_set_client_tag(\"BallDisplay\") \n");
+        sd.out.flush();
+
+        sd.out.writeBytes("trick.var_pause()\n");
+        sd.out.writeBytes("trick.var_add(\"ball.state.output.position[0]\") \n" +
+                          "trick.var_add(\"ball.state.output.position[1]\") \n" );
+        sd.out.flush();
+
+        sd.out.writeBytes("trick.var_ascii() \n" +
+                          "trick.var_cycle(0.1) \n" +
+                          "trick.var_unpause() \n" );
+        sd.out.flush();
+
+        Boolean go = true;
+
+        while (go) {
+            String field[];
+            try {
+                String line;
+                line = sd.in.readLine();
+                field = line.split("\t");
+                ballX = Double.parseDouble( field[1] );
+                ballY = Double.parseDouble( field[2] );
+
+                // Set the Ball position
+                arenaview.setBallPos(ballX, ballY);
+
+            } catch (IOException | NullPointerException e ) {
+                go = false;
+            }
+            sd.drawArenaView();
+        }
+    }
+}