Merge Sim aircraft into master (#1429)

* Initial commit of SIM_aircraft

* Add SIM_aircraft variable server client  (#1394)

* Add control panel

* Remove comments

* Add Makefile

Co-authored-by: Zero Nelson <zeronelson13@gmail.com>

Co-authored-by: zeronelson <95947013+zeronelson@users.noreply.github.com>
Co-authored-by: Zero Nelson <zeronelson13@gmail.com>

trick_sims/SIM_aircraft/Modified_data/realtime.py

@@ -0,0 +1,11 @@
+
+trick.frame_log_on()
+trick.real_time_enable()
+trick.exec_set_software_frame(0.1)
+trick.itimer_enable()
+
+trick.exec_set_enable_freeze(True)
+trick.exec_set_freeze_command(True)
+
+simControlPanel = trick.SimControlPanel()
+trick.add_external_application(simControlPanel)

trick_sims/SIM_aircraft/RUN_test/input.py

@@ -0,0 +1,27 @@
+exec(open("Modified_data/realtime.py").read())
+
+dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 6)
+dyn_integloop.set_integ_cycle(0.01)
+
+dyn.aircraft.set_desired_compass_heading(45.0);
+dyn.aircraft.autoPilot = True;
+dyn.aircraft.desired_speed = 200 # meters per second
+
+#==========================================
+# Start the Satellite Graphics Client
+#==========================================
+varServerPort = trick.var_server_get_port();
+AircraftDisplay_path = "models/graphics/dist/AircraftDisplay.jar"
+
+if (os.path.isfile(AircraftDisplay_path)) :
+    AircraftDisplay_cmd = "java -jar " \
+                   + AircraftDisplay_path \
+                   + " " + str(varServerPort) + " &" ;
+    print(AircraftDisplay_cmd)
+    os.system( AircraftDisplay_cmd);
+else :
+    print('==================================================================================')
+    print('AircraftDisplay needs to be built. Please \"cd\" into ../models/graphics and type \"make\".')
+    print('==================================================================================')
+
+trick.stop(5400);

trick_sims/SIM_aircraft/S_define

@@ -0,0 +1,28 @@
+/************************************************************
+PURPOSE:
+    ( Simulate a Aircraft. )
+LIBRARY DEPENDENCIES:
+    ((Aircraft/src/Aircraft.o)
+**************************************************************************/
+#include "sim_objects/default_trick_sys.sm"
+##include "Aircraft/include/Aircraft.hh"
+
+class AircraftSimObject : public Trick::SimObject {
+    public:
+    Aircraft aircraft;
+
+    AircraftSimObject() {
+        ("default_data")            aircraft.default_data() ;
+        ("initialization")          aircraft.state_init();
+        (0.1,"scheduled")               aircraft.control() ;
+        ("derivative")              aircraft.state_deriv() ;
+        ("integration") trick_ret = aircraft.state_integ() ;
+    }
+};
+
+AircraftSimObject dyn;
+IntegLoop dyn_integloop(0.1) dyn;
+
+void create_connections() {
+    dyn_integloop.getIntegrator(Runge_Kutta_4, 18);
+}

trick_sims/SIM_aircraft/S_overrides.mk

@@ -0,0 +1,2 @@
+TRICK_CFLAGS += -Imodels
+TRICK_CXXFLAGS += -Imodels

trick_sims/SIM_aircraft/models/Aircraft/include/Aircraft.hh

@@ -0,0 +1,59 @@
+/************************************************************************
+PURPOSE: (Simulate an Aircraft.)
+LIBRARY DEPENDENCIES:
+    ((Aircraft/src/Aircraft.o))
+**************************************************************************/
+#ifndef Aircraft_HH
+#define Aircraft_HH
+
+class Aircraft {
+    public:
+    // Calculated by numeric integration of state derivatives.
+  	double pos[2];
+  	double vel[2];
+
+    // Updated by control logic;
+    int current_waypoint;
+
+    // Static Parameters (Don't change during the simulation.)
+  	double mass;
+    double thrust_mag_max;
+  	double K_drag;
+    double heading_rate_gain;
+
+    // Control Parameters (Recieved from the variable server client.)
+    double desired_heading;
+    double desired_speed;   // m/s
+    bool   autoPilot;
+
+    // Calculated
+    // Input to numeric integrator.
+  	double acc[2];
+    //
+    double heading;
+
+    // Methods
+    int default_data();
+    int state_init();
+    int state_deriv();
+    int state_integ();
+    int control();
+
+    void set_desired_compass_heading( double compass_heading);
+
+    void calc_total_force( double (&F_total_body)[2]);
+    void calc_drag_force( double (&F_drag_body)[2]);
+    void calc_thrust_force(double (&F_thrust_body)[2]);
+    void calc_turning_force(double (&F_turning_body)[2]);
+    void rotateBodyToWorld(double (&F_total_world)[2], double (&F_total_body)[2] );
+
+};
+
+double psiToCompass( double psi );
+double compassToPsi( double compass_heading );
+double northWestToPsi (double (&p)[2]) ;
+double vector_magnitude(double (&vector)[2]);
+void vector_difference(double (&result)[2], double (&A)[2], double (&B)[2] );
+//
+
+#endif

trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp

@@ -0,0 +1,207 @@
+/********************************* TRICK HEADER *******************************
+PURPOSE: ( Simulate a Aircraft. )
+LIBRARY DEPENDENCY:
+    ((Aircraft.o))
+*******************************************************************************/
+#include "Aircraft/include/Aircraft.hh"
+
+#include "trick/integrator_c_intf.h"
+#include <stdlib.h>
+#include <math.h>
+#include <iostream>
+
+class WayPoint {
+    public:
+    double pos[2];
+};
+
+// Waypoints are in World Coordinates (West, North).
+#define NUMBER_OF_WAYPOINTS 6
+WayPoint waypoint[ NUMBER_OF_WAYPOINTS ] = {
+    {    0.0,  25000.0},
+    { 21650.0,  12500.0},
+    { 21650.0, -12500.0},
+    {    0.0,  -25000.0},
+    {-21650.0, -12500.0},
+    {-21650.0,  12500.0}
+};
+
+int Aircraft::default_data() {
+    pos[0] = 0.0;         // m
+    pos[1] = 0.0;
+    vel[0] = 100.0;       // m/s
+    vel[1] = 0.0;
+    current_waypoint = 0;
+    mass = 5000;              // kg
+    thrust_mag_max = 45000;   // N
+    K_drag = 0.72;
+    heading_rate_gain = 0.1;
+    set_desired_compass_heading(45.0);
+    desired_speed = 200; // m/s
+    autoPilot = false;
+    current_waypoint = 0;
+    return (0);
+}
+
+int Aircraft::state_init() {
+
+    heading = northWestToPsi(vel);
+    return (0);
+}
+
+int Aircraft::state_deriv() {
+    double F_total_body[2];
+    calc_total_force(F_total_body);
+    double F_total_world[2];
+    rotateBodyToWorld(F_total_world, F_total_body);
+    /* Equation #1 */
+    acc[0] = F_total_world[0] / mass;
+    acc[1] = F_total_world[1] / mass;
+    return(0);
+}
+
+int Aircraft::state_integ() {
+   int integration_step;
+   load_state ( &pos[0], &pos[1], &vel[0], &vel[1], (double*)0);
+   load_deriv ( &vel[0], &vel[1], &acc[0], &acc[1], (double*)0);
+   integration_step = integrate();
+   unload_state( &pos[0], &pos[1], &vel[0], &vel[1], (double*)0);
+   // Calculate heading from velocity.
+   heading = northWestToPsi(vel);
+   return(integration_step);
+}
+
+// This calculates the total force on the aircraft in body coordinates.
+void Aircraft::calc_total_force( double (&F_total_body)[2] ) {
+    double F_thrust_body[2];
+    double F_drag_body[2];
+    double F_turning_body[2];
+    calc_thrust_force(F_thrust_body);
+    calc_drag_force(F_drag_body);
+    calc_turning_force(F_turning_body);
+    // Eq #2
+    F_total_body[0] = F_thrust_body[0] + F_drag_body[0] + F_turning_body[0];
+    F_total_body[1] = F_thrust_body[1] + F_drag_body[1] + F_turning_body[1];
+}
+
+void Aircraft::calc_thrust_force(double (&F_thrust_body)[2]) {
+    // Eq #5
+    double thrust_mag_desired = K_drag * desired_speed * desired_speed;
+    // Eq #6
+    double thrust_mag;
+    if (thrust_mag_desired > thrust_mag_max) {
+      thrust_mag = thrust_mag_max;
+    } else if ( thrust_mag_desired < 0.0) {
+      thrust_mag = 0.0;
+    } else {
+      thrust_mag = thrust_mag_desired;
+    }
+    // Eq #7
+    F_thrust_body[0] = thrust_mag;
+    F_thrust_body[1] = 0.0;
+}
+
+void Aircraft::calc_drag_force(double ( &F_drag_body)[2] ) {
+    // Eq #4
+    double speed = vector_magnitude(vel);
+    // Eq #3
+    F_drag_body[0] = - K_drag * speed * speed;
+    F_drag_body[1] = 0.0;
+}
+
+void Aircraft::calc_turning_force(double ( &F_turning_body)[2] ) {
+    double heading_diff;
+    double heading_error = 0.0;
+    // Eq#8
+    heading_diff = desired_heading - heading;
+    // Eq#9
+    if ( heading_diff > M_PI ) {
+      heading_error = heading_diff - 2 * M_PI;
+    } else if (heading_diff < -M_PI) {
+      heading_error = heading_diff + 2 * M_PI;
+    } else {
+      heading_error = heading_diff;
+    }
+    // Eq#10
+    double heading_rate_desired = heading_rate_gain * heading_error;
+    double speed = vector_magnitude(vel);
+    // Eq#11
+    double Fmag = heading_rate_desired * speed * mass;
+    if (Fmag >  49000.0) Fmag =  49000.0;
+    if (Fmag < -49000.0) Fmag = -49000.0;
+    // Eq#3
+    F_turning_body[0] = 0.0;
+    F_turning_body[1] = Fmag;
+}
+
+void Aircraft::rotateBodyToWorld( double (&F_total_world)[2], double (&F_total_body)[2] ) {
+    // Eq#12
+    F_total_world[0] =  cos(heading) * F_total_body[0] - sin(heading) * F_total_body[1];
+    F_total_world[1] =  sin(heading) * F_total_body[0] + cos(heading) * F_total_body[1];
+}
+
+int Aircraft::control() {
+    if (autoPilot) {
+        if (NUMBER_OF_WAYPOINTS > 0) {
+            // Calculate the difference between where we want to be, and where we are.
+            double posDiff[2];
+            vector_difference(posDiff, waypoint[current_waypoint].pos, pos);
+            // Calculate bearing to waypoint.
+            desired_heading = northWestToPsi(posDiff);
+            // Calculate distance to waypoint.
+            double distanceToWaypoint = vector_magnitude(posDiff);
+            // If we've arrived, that is we're close enough, go to the next waypoint.
+            if (distanceToWaypoint < 100.0) {
+              current_waypoint ++;
+              current_waypoint = current_waypoint % NUMBER_OF_WAYPOINTS;
+            }
+        }
+    }
+    return 0;
+}
+
+void Aircraft::set_desired_compass_heading( double compass_heading) {
+    desired_heading = compassToPsi( compass_heading );
+}
+
+double compassToPsi( double compass_heading ) {
+    compass_heading = fmod( compass_heading, 360.0 );
+    return ( M_PI * ( 2.0 - compass_heading/180.0) );
+}
+
+double psiToCompass( double psi ) {
+    psi = fmod(psi + 2*M_PI, 2*M_PI);
+    return ( 180.0 * (2.0 - psi/M_PI));
+}
+
+double northWestToPsi (double (&p)[2]) {
+    double psi;
+    double mag = sqrt( p[0]*p[0] + p[1]*p[1] );
+    if (mag > 0.0) {
+        psi = atan2( p[1], p[0] );
+
+    } else {
+        std::cerr << "Error: Arguments to northWestToPsi() are zero."
+                  << std::endl;
+        psi = 0.0;
+    }
+    return psi;
+}
+
+double vector_magnitude(double (&vector)[2]) {
+    return ( sqrt( vector[0] * vector[0] + vector[1] * vector[1] ));
+}
+
+void vector_difference(double (&result)[2], double (&A)[2], double (&B)[2] ) {
+    result[0] = A[0] - B[0];
+    result[1] = A[1] - B[1];
+}
+
+// double vector_dot_product( double (&A)[2], double (&B)[2] ) {
+//     return ( A[0] * B[0] + A[1] * B[1] );
+// }
+
+// double vector_scale( double (&result)[2], double (&A)[2], double scale ) {
+//     result[0] = A[0] * scale;
+//     result[1] = A[1] * scale;
+// }

trick_sims/SIM_aircraft/models/graphics/Makefile

@@ -0,0 +1,36 @@
+SHELL = /bin/sh
+
+PROJECT_NAME = AircraftDisplay
+SRC_DIR = src
+BUILD_DIR = build
+CLASSES_DIR = $(BUILD_DIR)/classes
+JAR_DIR = dist
+MAIN_CLASS = trick.AircraftDisplay
+
+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/AircraftDisplay.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/SIM_aircraft/models/graphics/src/trick/AircraftDisplay.java

@@ -0,0 +1,536 @@
+/*
+ * 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.awt.event.ActionListener; 
+import java.awt.event.ActionEvent;
+import javax.swing.event.ChangeEvent;
+import javax.swing.event.ChangeListener;
+import java.awt.event.ItemEvent;
+import java.awt.event.ItemListener;
+import java.awt.Component;
+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.lang.Math;
+import java.net.Socket;
+import java.util.*;
+import java.util.Hashtable;
+import javax.swing.ImageIcon;
+import javax.swing.JFrame;
+import javax.swing.JPanel;
+import javax.swing.JSlider;
+import javax.swing.JLabel;
+import javax.swing.JButton;
+import javax.swing.JToggleButton;
+import javax.swing.BorderFactory; 
+import javax.swing.border.EtchedBorder;
+import javax.swing.BoxLayout;
+import java.awt.Color;
+
+/**
+ *
+ * @author penn
+ */
+
+class ScenePoly {
+    public Color color;
+    public int n;
+    public double[] x;
+    public double[] y;
+}
+
+class SkyView extends JPanel {
+
+    private double scale; // Pixels per meter
+
+    private Color groundColor;
+
+    private double[] aircraftPos;
+    private double[] aircraftVel;
+    private ScenePoly aircraft;
+    private ScenePoly wpmarker;
+    private int[] workPolyX, workPolyY;
+
+    private double heading;
+    private double actual_speed;
+    private double desired_speed;
+    private double desired_heading;
+    private Boolean autopilot;
+
+    // Origin of world coordinates in jpanel coordinates.
+    private int worldOriginX;
+    private int worldOriginY;
+
+    public SkyView( double mapScale ) {
+        scale = mapScale;
+        setScale(mapScale);
+
+        groundColor = new Color(210,180,140);
+
+        aircraftPos  = new double[] {0.0, 0.0};
+        aircraftVel  = new double[] {0.0, 0.0};
+
+        aircraft = new ScenePoly();
+        aircraft.color = Color.GRAY;
+        aircraft.x = new double[] { 4.00, 2.00, 0.60,-0.40,-1.00,-1.00, -1.60, -2.00, -2.50, -2.50, -2.40, -2.80, -2.80, -2.40, -2.50, -2.50, -2.00, -1.60, -1.00, -1.00, -0.40, 0.60, 2.00 };
+        aircraft.y = new double[] { 0.00, 0.40, 0.80, 2.30, 2.30, 0.60,  0.60,  1.40,  1.40,  0.50,  0.30,  0.30, -0.30, -0.30, -0.50, -1.40, -1.40, -0.60, -0.60, -2.30, -2.30,-0.80,-0.40};
+        aircraft.n = 23;
+
+        wpmarker = new ScenePoly();
+        wpmarker.color = Color.RED;
+        wpmarker.x = new double[] { 1.00, 0.00, -1.00,  0.00 };
+        wpmarker.y = new double[] { 0.00, 1.00,  0.00, -1.00 };
+        wpmarker.n = 4;
+
+        workPolyX = new int[30];
+        workPolyY = new int[30];
+    }
+
+    public void setAircraftPos( double n, double w) {
+        aircraftPos[0] = n;
+        aircraftPos[1] = w;
+    }
+
+    public void setAircraftVel( double n, double w) {
+        aircraftVel[0] = n;
+        aircraftVel[1] = w;
+        heading = Math.atan2(w,n);
+        actual_speed = Math.sqrt(n*n + w*w);
+    }
+
+    public void setScale (double mapScale) {
+        if (mapScale < 0.00005) {
+            scale = 0.00005;
+        } else if (mapScale < 0.01){
+            scale = 0.01;
+        }
+         else {
+            scale = mapScale;
+        }
+    }
+
+    public double getScale(){
+        return scale;
+    }
+
+    public void setAutoPilot(Boolean ap){
+        autopilot = ap;
+    }
+
+    public Boolean getAutoPilot(){
+        return autopilot;
+    }
+
+    public void setDesiredSpeed(double n){
+        desired_speed = n;
+    }
+
+    public int getDesiredSpeed(){
+        return (int) Math.round(desired_speed);
+    }
+
+    public void setDesiredHeading(double n){
+        desired_heading = Math.toRadians(n);
+    }
+
+    public double getDesiredHeading(){
+       return desired_heading;
+    }
+    
+    public void setInputDesiredHeading(double n){
+        desired_heading = n;
+    }
+
+    public void drawCenteredOval(Graphics2D g, int x, int y, int rh, int rv) {
+        x = x-(rh/2);
+        y = y-(rv/2);
+        g.drawOval(x,y,rh,rv);
+    }
+
+    public void fillCenteredCircle(Graphics2D g, int x, int y, int r) {
+        x = x-(r/2);
+        y = y-(r/2);
+        g.fillOval(x,y,r,r);
+    }
+
+    public void drawScenePoly(Graphics2D g, ScenePoly p, double angle_r , double north, double west) {
+
+        double mag = 800.0;
+        for (int ii = 0; ii < p.n; ii++) {
+            workPolyX[ii] = (int)(worldOriginX - scale *
+                ( Math.sin(angle_r) * mag * p.x[ii] + Math.cos(angle_r) * mag * p.y[ii] + west));
+            workPolyY[ii] = (int)(worldOriginY - scale *
+                ( Math.cos(angle_r) * mag * p.x[ii] - Math.sin(angle_r) * mag * p.y[ii] + north));
+        }
+        g.setPaint(p.color);
+        g.fillPolygon(workPolyX, workPolyY, p.n);
+    }
+
+    private void doDrawing(Graphics g) {
+        Graphics2D g2d = (Graphics2D) g;
+
+        int width = getWidth();
+        int height = getHeight();
+
+        worldOriginX = (width/2);
+        worldOriginY = (height/2);
+
+        g2d.setPaint(groundColor);
+        g2d.fillRect(0, 0, width, height);
+
+        g2d.setPaint(Color.BLACK);
+        g2d.drawLine( 0, worldOriginY, width, worldOriginY);
+        g2d.drawLine( worldOriginX, 0, worldOriginX, height);
+
+        //  Draw Waypoints
+        drawScenePoly(g2d, wpmarker, 0.0,      0.0,  25000.0 );
+        drawScenePoly(g2d, wpmarker, 0.0,  21650.0,  12500.0 );
+        drawScenePoly(g2d, wpmarker, 0.0,  21650.0, -12500.0 );
+        drawScenePoly(g2d, wpmarker, 0.0,      0.0, -25000.0 );
+        drawScenePoly(g2d, wpmarker, 0.0, -21650.0, -12500.0 );
+        drawScenePoly(g2d, wpmarker, 0.0, -21650.0,  12500.0 );
+
+        //  Draw Aircraft
+        drawScenePoly(g2d, aircraft, heading, aircraftPos[0], aircraftPos[1] );
+
+        // Display State Data
+        g2d.setPaint(Color.BLACK);
+        g2d.drawString ( String.format("Aircraft Pos: [%.2f, %.2f]", aircraftPos[0], aircraftPos[1]), 20,40);
+        g2d.drawString ( String.format("Aircraft Vel: [%.2f, %.2f]", aircraftVel[0], aircraftVel[1]), 20,60);
+
+        g2d.drawString ( String.format("SCALE: %f pixels/meter",scale), 20,80);
+
+        g2d.drawString ( String.format("Autopilot Mode: [%B]", autopilot), 20,100);
+
+        if (autopilot == true) {
+            g2d.drawString ( String.format("Aircraft Actual Heading:  [%.2f]", heading),(width - 240) ,40);
+            g2d.drawString ( String.format("Aircraft Actual Speed: [%.2f m/s]", actual_speed), (width - 240),60);
+            g2d.drawString ( "-------Controls disabled-------", (width - 240),80);
+            g2d.drawString ( String.format("Aircraft Desired Heading:  [%.2f]", desired_heading), (width - 240),100);
+            g2d.drawString ( String.format("Aircraft Desired Speed: [%.2f m/s]", desired_speed), (width - 240),120);
+        } else {
+            g2d.drawString ( String.format("Aircraft Actual Heading:  [%.2f]", heading),(width - 240) ,100);
+            g2d.drawString ( String.format("Aircraft Desired Heading:  [%.2f]", desired_heading), (width - 240),80);
+            g2d.drawString ( String.format("Aircraft Actual Speed: [%.2f m/s]", actual_speed), (width - 240),60);
+            g2d.drawString ( String.format("Aircraft Desired Speed: [%.2f m/s]", desired_speed), (width - 240),40);
+        }
+      
+    }
+
+    @Override
+    public void paintComponent(Graphics g) {
+        super.paintComponent(g);
+        doDrawing(g);
+    }
+}
+
+class ControlPanel extends JPanel implements ActionListener {
+    private SkyView skyView;
+    private JButton zoomOutButton, zoomInButton;
+    private SpeedCtrlPanel speedCtrlPanel;
+    private HeadingCtrlPanel headingCtrlPanel;
+    private AutoPilotCtrlPanel autoPilotCtrlPanel;   
+  
+
+
+    public ControlPanel(SkyView skyView){
+        skyView = skyView;
+        setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
+
+
+        JPanel labeledSpeedCtrlPanel = new JPanel();
+        labeledSpeedCtrlPanel.setLayout(new BoxLayout(labeledSpeedCtrlPanel, BoxLayout.Y_AXIS));
+        JLabel speedCtrlLabel = new JLabel("Desired Speed");
+        speedCtrlLabel.setAlignmentX(Component.CENTER_ALIGNMENT);
+        labeledSpeedCtrlPanel.add(speedCtrlLabel);
+        speedCtrlPanel = new SpeedCtrlPanel(skyView);
+        labeledSpeedCtrlPanel.add(speedCtrlPanel);
+        add(labeledSpeedCtrlPanel);
+
+        zoomInButton = new JButton("Zoom In");
+        zoomInButton.addActionListener(this);
+        zoomInButton.setActionCommand("zoomin");
+        zoomInButton.setToolTipText("Zoom In");
+
+        zoomOutButton = new JButton("Zoom Out");
+        zoomOutButton.addActionListener(this);
+        zoomOutButton.setActionCommand("zoomout");
+        zoomOutButton.setToolTipText("Zoom Out");
+       
+
+        JPanel zoomCtrlPanel = new JPanel();
+        zoomCtrlPanel.setLayout(new BoxLayout(zoomCtrlPanel, BoxLayout.Y_AXIS));
+        zoomCtrlPanel.add(zoomInButton);
+        zoomCtrlPanel.add(zoomOutButton);
+        add(zoomCtrlPanel);
+
+
+        JPanel labeledAutoPilotCtrlPanel = new JPanel();
+        labeledAutoPilotCtrlPanel.setLayout(new BoxLayout(labeledAutoPilotCtrlPanel, BoxLayout.Y_AXIS));
+        autoPilotCtrlPanel = new AutoPilotCtrlPanel(skyView);
+        labeledAutoPilotCtrlPanel.add(autoPilotCtrlPanel);
+        add(labeledAutoPilotCtrlPanel); 
+
+        JPanel labeledHeadingCtrlPanel = new JPanel();
+        labeledHeadingCtrlPanel.setLayout(new BoxLayout(labeledHeadingCtrlPanel, BoxLayout.Y_AXIS));
+        JLabel headingCtrlLabel = new JLabel("Desired Heading");
+        headingCtrlLabel.setAlignmentX(Component.CENTER_ALIGNMENT);
+        labeledHeadingCtrlPanel.add(headingCtrlLabel);
+        headingCtrlPanel = new HeadingCtrlPanel(skyView);
+        labeledHeadingCtrlPanel.add(headingCtrlPanel);
+        add(labeledHeadingCtrlPanel);
+    }
+
+    public void actionPerformed (ActionEvent e){
+        String s = e.getActionCommand();
+        switch (s) {
+            case "zoomout":
+                skyView.setScale( skyView.getScale() / 2 );
+                break;
+            case "zoomin":
+                skyView.setScale( skyView.getScale() * 2 );
+                break;
+            default:
+                System.out.println("Unknown Action Command:" + s);
+                break;
+        }
+    }
+}
+
+class SpeedCtrlPanel extends JPanel implements ChangeListener {
+    private SkyView skyView;
+    private JSlider speedSlider;
+   
+    public SpeedCtrlPanel(SkyView view){
+        skyView = view;
+        setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
+        setBorder( BorderFactory.createEtchedBorder(EtchedBorder.RAISED));
+
+        speedSlider = new JSlider(JSlider.HORIZONTAL, 0, 250, 0);
+        speedSlider.setMajorTickSpacing(50);
+        speedSlider.setPaintTrack(true);
+        speedSlider.setPaintLabels(true);
+        speedSlider.addChangeListener(this);
+        add(speedSlider);
+    }
+
+    public void stateChanged(ChangeEvent e){
+        if (e.getSource() == speedSlider){
+            skyView.setDesiredSpeed(speedSlider.getValue());
+        }
+    }
+}
+
+class HeadingCtrlPanel extends JPanel implements ChangeListener {
+    private SkyView skyView;
+    private JSlider headingSlider;
+
+    public HeadingCtrlPanel (SkyView view) {
+        skyView = view;
+        setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
+        setBorder( BorderFactory.createEtchedBorder(EtchedBorder.RAISED));
+
+        headingSlider = new JSlider(JSlider.HORIZONTAL, -180, 180, 0);
+
+        
+        headingSlider.setMajorTickSpacing(90);
+        headingSlider.setPaintTrack(true);
+
+        Hashtable<Integer, JLabel> labels = new Hashtable<>();
+        labels.put(-180, new JLabel(" -\u03C0"));
+        labels.put(180, new JLabel("\u03C0"));
+        headingSlider.setLabelTable(labels);
+        headingSlider.setPaintLabels(true);
+        headingSlider.addChangeListener(this);
+        add(headingSlider);
+    }  
+
+    public void stateChanged(ChangeEvent e){
+        if (e.getSource() == headingSlider){
+            skyView.setDesiredHeading(headingSlider.getValue());
+        }
+    }
+}
+
+class AutoPilotCtrlPanel extends JPanel implements ItemListener {
+    private SkyView skyView;
+    private JToggleButton autoPilotButton;
+
+    public AutoPilotCtrlPanel(SkyView view){
+        skyView = view;
+        setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
+
+        autoPilotButton = new JToggleButton("Autopilot OFF", false);
+        skyView.setAutoPilot(false);
+        autoPilotButton.addItemListener(this);
+        add(autoPilotButton);
+    }
+    public void itemStateChanged(ItemEvent e){
+        if (e.getStateChange() == ItemEvent.SELECTED){
+            skyView.setAutoPilot(true);
+            autoPilotButton.setText("Autopilot ON");
+        } else {
+            skyView.setAutoPilot(false);
+            autoPilotButton.setText("Autopilot OFF");
+        }
+    }       
+}
+
+public class AircraftDisplay extends JFrame {
+
+    private SkyView skyView;
+    private BufferedReader in;
+    private DataOutputStream out;
+    private JPanel panelGroup0, panelGroup1;
+    private ControlPanel controlPanel;
+
+    public AircraftDisplay(SkyView sky) {
+        skyView = sky;
+        add( skyView);
+        setTitle("Aircraft Display");
+        setSize(800, 800);
+        setLocationRelativeTo(null);
+        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+
+        panelGroup1 = new JPanel();
+        panelGroup1.setLayout(new BoxLayout(panelGroup1, BoxLayout.X_AXIS));
+        panelGroup1.add(skyView);
+        
+        controlPanel = new ControlPanel(skyView);
+
+        panelGroup0 = new JPanel();
+        panelGroup0.setLayout(new BoxLayout(panelGroup0, BoxLayout.Y_AXIS));
+        panelGroup0.add(panelGroup1);
+        panelGroup0.add(controlPanel);
+
+        add(panelGroup0);
+    }
+
+    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 drawSkyView() {
+        skyView.repaint();
+    }
+
+    private static void  printHelpText() {
+        System.out.println(
+            "----------------------------------------------------------------------\n"
+          + "usage: java jar AircraftDisplay.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 = 0.01; // 100 meters per pixel
+        SkyView skyview = new SkyView( mapScale);
+        AircraftDisplay sd = new AircraftDisplay(skyview);
+        sd.setVisible(true);
+        double posNorth = 0.0;
+        double posWest = 0.0;
+        double velNorth = 0.0;
+        double velWest = 0.0;
+
+        double desired_speed = 0.0;
+
+        Boolean autopilot = false;
+        double desired_heading = 0.0;
+
+        System.out.println("Connecting to: " + host + ":" + port);
+        sd.connectToServer(host, port);
+
+        sd.out.writeBytes("trick.var_set_client_tag(\"AircraftDisplay\") \n" +
+                          "trick.var_pause() \n" +
+                          "trick.var_add(\"dyn.aircraft.pos[0]\") \n" +
+                          "trick.var_add(\"dyn.aircraft.pos[1]\") \n" +
+                          "trick.var_add(\"dyn.aircraft.vel[0]\") \n" +
+                          "trick.var_add(\"dyn.aircraft.vel[1]\") \n" +
+                          "trick.var_add(\"dyn.aircraft.desired_speed\") \n" +
+                          "trick.var_add(\"dyn.aircraft.desired_heading\") \n" +
+                          "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");
+                posNorth = Double.parseDouble( field[1] );
+                posWest = Double.parseDouble( field[2] );
+                velNorth = Double.parseDouble( field[3] );
+                velWest = Double.parseDouble( field[4] );
+                desired_speed = Double.parseDouble( field[5]);
+                desired_heading = Double.parseDouble(field[6]);
+
+                // Set the Aircraft position
+                skyview.setAircraftPos(posNorth, posWest);
+                skyview.setAircraftVel(velNorth, velWest);
+
+                desired_speed = skyview.getDesiredSpeed();
+                sd.out.writeBytes(String.format("dyn.aircraft.desired_speed = %.2f ;\n", desired_speed));
+
+                desired_heading = skyview.getDesiredHeading();
+                sd.out.writeBytes(String.format("dyn.aircraft.desired_heading= %.2f ;\n", desired_heading));
+
+                autopilot = skyview.getAutoPilot();
+            
+                if (autopilot == true){
+                    sd.out.writeBytes("dyn.aircraft.autoPilot = True ;\n");
+                } else {
+                  sd.out.writeBytes("dyn.aircraft.autoPilot = False ;\n");
+                } 
+
+            } catch (IOException | NullPointerException e ) {
+                go = false;
+            }
+            sd.drawSkyView();
+        }
+    }
+}