From aed99ab1fd69c3db4d84d7d90ca71c1440bb7d52 Mon Sep 17 00:00:00 2001 From: Mrockwell2 <120338765+Mrockwell2@users.noreply.github.com> Date: Thu, 13 Apr 2023 10:50:36 -0500 Subject: [PATCH] SIM_aircraft Waypoint Update (#1466) * Set up a waypoint system that reads waypoints from an input file. On branch aircraftUpdate Changes to be committed: new file: trick_sims/SIM_aircraft/Modified_data/default.waypoints modified: trick_sims/SIM_aircraft/RUN_test/input.py modified: trick_sims/SIM_aircraft/models/Aircraft/include/Aircraft.hh modified: trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp modified: trick_sims/SIM_aircraft/models/graphics/src/trick/AircraftDisplay.java * Fixed the Segmentation Fault and completed the waypoint configuration. On branch aircraftUpdate Changes to be committed: modified: trick_sims/SIM_aircraft/RUN_test/input.py modified: trick_sims/SIM_aircraft/models/Aircraft/include/Aircraft.hh modified: trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp * Created README.md to document recent changes * Adding in ability to set icons for waypoints. On branch aircraftUpdate_WaypointIcons Changes to be committed: modified: trick_sims/SIM_aircraft/Modified_data/default.waypoints new file: trick_sims/SIM_aircraft/images/CompassRose.png new file: trick_sims/SIM_aircraft/images/Figure1.png new file: trick_sims/SIM_aircraft/images/Figure2.png new file: trick_sims/SIM_aircraft/images/cheese_64x64.png new file: trick_sims/SIM_aircraft/images/mouse_128x128.png new file: trick_sims/SIM_aircraft/images/strawberry_64x64.png new file: trick_sims/SIM_aircraft/images/twoWheelRover.png new file: trick_sims/SIM_aircraft/images/wp0.png new file: trick_sims/SIM_aircraft/images/wp1.png new file: trick_sims/SIM_aircraft/images/wp10.png new file: trick_sims/SIM_aircraft/images/wp11.png new file: trick_sims/SIM_aircraft/images/wp2.png new file: trick_sims/SIM_aircraft/images/wp3.png new file: trick_sims/SIM_aircraft/images/wp4.png new file: trick_sims/SIM_aircraft/images/wp5.png new file: trick_sims/SIM_aircraft/images/wp6.png new file: trick_sims/SIM_aircraft/images/wp7.png new file: trick_sims/SIM_aircraft/images/wp8.png new file: trick_sims/SIM_aircraft/images/wp9.png modified: trick_sims/SIM_aircraft/models/graphics/src/trick/AircraftDisplay.java * Reformatted the README file * Updating the build process to use Maven * Updating the README file * Finalized the implementation for adding icons for each waypoint. * Removed commented code that will not be used. * Updated the SIM_aircraft documentation to include the waypoint icon implementation. * Created a menu bar for the GUI * Minor README fix and file cleanup * Implemented a view menu to hide and show the info on the map * Cleared out commented code. * Last minute code cleanup and update of the documentation. * Updated the View menu with more options and updated documentation. * Testing basic Variable Server Client usage. * Waypoints shared from sim to graphics client. Need to use list and fix some formatting. * Refactored and simplified Waypoint implementation * Documentation and comment updates * Simplified waypoint structure Implemented file support in graphics client * Updated Documentation * Created a default waypoint icon when unspecified * Fixed privacy issues in the WaypointList class * Cleaned up unnecessary file and added comments --- .../{default.waypoints => default.wps} | 0 trick_sims/SIM_aircraft/README.md | 9 +- trick_sims/SIM_aircraft/RUN_test/input.py | 8 +- trick_sims/SIM_aircraft/S_define | 15 +- .../GraphicsClient_ControlsDisabled.png | Bin 27271 -> 25575 bytes .../images/GraphicsClient_FileOptions.png | Bin 0 -> 20499 bytes .../images/GraphicsClient_ViewOptions.png | Bin 26765 -> 25147 bytes .../SIM_aircraft/images/WaypointInputFile.png | Bin 67700 -> 34732 bytes .../SIM_aircraft/images/defaultIcon.png | Bin 0 -> 255 bytes .../models/Aircraft/include/Aircraft.hh | 22 ++- .../models/Aircraft/include/Waypoint.hh | 41 ++++ .../models/Aircraft/src/Aircraft.cpp | 43 ++-- .../models/Aircraft/src/Waypoint.cpp | 111 +++++++++++ .../aircraftDisplay/AircraftDisplay.java | 183 +++++++++++++----- 14 files changed, 338 insertions(+), 94 deletions(-) rename trick_sims/SIM_aircraft/Modified_data/{default.waypoints => default.wps} (100%) create mode 100644 trick_sims/SIM_aircraft/images/GraphicsClient_FileOptions.png create mode 100644 trick_sims/SIM_aircraft/images/defaultIcon.png create mode 100644 trick_sims/SIM_aircraft/models/Aircraft/include/Waypoint.hh create mode 100644 trick_sims/SIM_aircraft/models/Aircraft/src/Waypoint.cpp diff --git a/trick_sims/SIM_aircraft/Modified_data/default.waypoints b/trick_sims/SIM_aircraft/Modified_data/default.wps similarity index 100% rename from trick_sims/SIM_aircraft/Modified_data/default.waypoints rename to trick_sims/SIM_aircraft/Modified_data/default.wps diff --git a/trick_sims/SIM_aircraft/README.md b/trick_sims/SIM_aircraft/README.md index 878811a0..1542bb71 100644 --- a/trick_sims/SIM_aircraft/README.md +++ b/trick_sims/SIM_aircraft/README.md @@ -46,13 +46,13 @@ The autopilot feature is toggled on and off by the ```Autopilot OFF/ON``` button When active, the aircraft's heading is automatically calculated to approach a series of waypoints. These waypoints are marked on the map by the image provided in the input file. #### Adding Waypoints with an Input File -Waypoints can be added to the simulation using an input file. +Waypoints can be added to the simulation using an input file specified in `input.py`. ![](images/WaypointInputFile.png) When the simulation starts they are read into the simulation from the specified file. Currently that file is `default.waypoints` within the `Modified_data` folder. -#### Sample Input in [`default.waypoints`](Modified\_data/default.waypoints): +#### Sample Input in [`default.waypoints`](Modified\_data/default.wps): 0.0, 25000.0,images/wp0.png 21650.0, 12500.0,images/wp1.png @@ -64,6 +64,11 @@ Each line should have three pieces of data, separated by commas. The first two a ### Graphics Client Menu +#### File + +The `File` menu allows the user to open a waypoint input file, save the current waypoint list to a new file, or clear the existing waypoint list. +![](images/GraphicsClient_FileOptions.png) + #### View The `View` menu on the menu bar allows the user to choose the information displayed by the client. diff --git a/trick_sims/SIM_aircraft/RUN_test/input.py b/trick_sims/SIM_aircraft/RUN_test/input.py index 3534ad46..c8b6ea41 100644 --- a/trick_sims/SIM_aircraft/RUN_test/input.py +++ b/trick_sims/SIM_aircraft/RUN_test/input.py @@ -11,12 +11,8 @@ dyn.aircraft.desired_speed = 200 # meters per second # Read the waypoints from the input file #========================================== -waypoints_path = "Modified_data/default.waypoints" -fp = open(waypoints_path, "r") -for line in fp: - fields = line.split(",") - dyn.aircraft.add_waypoint( float(fields[0]), float(fields[1])) -dyn.aircraft.reset_trip() +waypoints_path = "Modified_data/default.wps" +dyn.aircraft.flightPath.load(waypoints_path) #========================================== # Start the Satellite Graphics Client diff --git a/trick_sims/SIM_aircraft/S_define b/trick_sims/SIM_aircraft/S_define index 12d7d206..727ba4ff 100644 --- a/trick_sims/SIM_aircraft/S_define +++ b/trick_sims/SIM_aircraft/S_define @@ -2,21 +2,26 @@ PURPOSE: ( Simulate a Aircraft. ) LIBRARY DEPENDENCIES: - ((Aircraft/src/Aircraft.o) + ( + (Aircraft/src/Aircraft.cpp) + (Aircraft/src/Waypoint.cpp) + ) **************************************************************************/ #include "sim_objects/default_trick_sys.sm" ##include "Aircraft/include/Aircraft.hh" +##include "Aircraft/include/Waypoint.hh" class AircraftSimObject : public Trick::SimObject { public: Aircraft aircraft; AircraftSimObject() { - ("default_data") aircraft.default_data() ; + ("default_data") aircraft.default_data(); ("initialization") aircraft.state_init(); - (0.1,"scheduled") aircraft.control() ; - ("derivative") aircraft.state_deriv() ; - ("integration") trick_ret = aircraft.state_integ() ; + (0.1,"scheduled") aircraft.control(); + (0.1,"scheduled") aircraft.cycleWaypoints(); + ("derivative") aircraft.state_deriv(); + ("integration") trick_ret = aircraft.state_integ(); } }; diff --git a/trick_sims/SIM_aircraft/images/GraphicsClient_ControlsDisabled.png b/trick_sims/SIM_aircraft/images/GraphicsClient_ControlsDisabled.png index bedfc70c38f9c0c7d741f86f447c68ffdf489763..f852aecebe0ca6ee33aa407cbf1f6a08e0bd276f 100644 GIT binary patch literal 25575 zcmeFZcT`i|x;`3gAc*LPfPjbvML|G8Ksr{8NN-Z3(xgibEd={#0W>rP0wPEWB%y{5 zDk{=z2oNAhCn5BN8ggg8UG6z&@821B{QkY0F&L0!Wvw;me9QAb^Lf`xV?#ZDUNK$> z1i}x!dCe38*?Elf%d-c(Lw>mD0r<1a{|eNc2mFNdIQI{i{Y)$%3=bhms^ zf{9;xcz6EOrxV}{jqas;D(n9G&U>P}g|+pETl)G$j745nYm%}@`NQAe?DQL=C0^id z%e+H=HQynbZ*WOb;UN=gaTbSXXLt!%MdQ` z_paCu&asg01G=0)?@yoTkbp!|UAhzGLa85g&YYbQb8bav6ck8O_+-wV>%m7XzaJ=Z z|J+#@_HCtBZv8>7u)IV5{C<|6Z((8R@0fPl1`XHU7@OVm@hd+@NP@mJD6iFJZet?@ 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"Aircraft/include/Waypoint.hh" -class WayPoint { - public: - double pos[2]; -}; +#include +#include class Aircraft { public: @@ -20,8 +18,13 @@ class Aircraft { double vel[2]; // Updated by control logic; - std::vector waypointQueue; - std::vector::iterator current_waypoint; + WaypointList flightPath; + int cWP; + + // Waypoint List Information Variables + double wpPos[2]; + std::string wpImg; + int wpIdx; // Static Parameters (Don't change during the simulation.) double mass; @@ -47,16 +50,15 @@ class Aircraft { int state_integ(); int control(); + int cycleWaypoints(); + void set_desired_compass_heading( double compass_heading); - void add_waypoint(double n, double w); - void reset_trip(); 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 ); diff --git a/trick_sims/SIM_aircraft/models/Aircraft/include/Waypoint.hh b/trick_sims/SIM_aircraft/models/Aircraft/include/Waypoint.hh new file mode 100644 index 00000000..b7cac960 --- /dev/null +++ b/trick_sims/SIM_aircraft/models/Aircraft/include/Waypoint.hh @@ -0,0 +1,41 @@ +/************************************************************************ +PURPOSE: (Handles the waypoints.) +**************************************************************************/ +#ifndef Waypoint_HH +#define Waypoint_HH + +#ifndef ARRAY_SIZE +#define ARRAY_SIZE 10 +#endif + +#include +#include +#include +#include + +class WaypointList { + public: + WaypointList(); + WaypointList(std::string path); + + int add(double n, double w, std::string i); + void remove(int index); + void clear(); + + void load(std::string path); + void append(std::string path); + void save(std::string path); + + void getPosition(int index, double (&pos)[2]); + std::string getImage(int index); + int size(); + + private: + double north[ARRAY_SIZE]; + double west[ARRAY_SIZE]; + std::string img[ARRAY_SIZE]; + + int length; +}; + +#endif \ No newline at end of file diff --git a/trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp b/trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp index 0178560a..3eef4e75 100644 --- a/trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp +++ b/trick_sims/SIM_aircraft/models/Aircraft/src/Aircraft.cpp @@ -9,6 +9,7 @@ LIBRARY DEPENDENCY: #include #include #include +#include "Aircraft.hh" int Aircraft::default_data() { pos[0] = 0.0; // m @@ -23,12 +24,15 @@ int Aircraft::default_data() { set_desired_compass_heading(45.0); desired_speed = 200; // m/s autoPilot = false; - current_waypoint = waypointQueue.begin(); + + flightPath = WaypointList(); + cWP = 0; + wpIdx = -1; + return (0); } int Aircraft::state_init() { - heading = northWestToPsi(vel); return (0); } @@ -124,35 +128,34 @@ void Aircraft::rotateBodyToWorld( double (&F_total_world)[2], double (&F_total_b F_total_world[1] = sin(heading) * F_total_body[0] + cos(heading) * F_total_body[1]; } -void Aircraft::reset_trip() { - current_waypoint = waypointQueue.begin(); -} - -void Aircraft::add_waypoint(double n, double w) { - WayPoint wp = { {n, w} }; - waypointQueue.push_back(wp); -} - int Aircraft::control() { if (autoPilot) { - if (waypointQueue.size() > 0) { + if (flightPath.size() > 0) { // Calculate the difference between where we want to be, and where we are. double posDiff[2]; - vector_difference(posDiff, current_waypoint->pos, pos); + double _wp[2]; + flightPath.getPosition(cWP, _wp); + vector_difference(posDiff, _wp, 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; - if (current_waypoint == waypointQueue.end()) { - current_waypoint = waypointQueue.begin(); - } + cWP = (cWP + 1) % flightPath.size(); } - } else { - std::cout << "!!! Waypoint List Empty !!!" << std::endl; - } + } + } + return 0; +} + +int Aircraft::cycleWaypoints() { + if(flightPath.size() > 0) { + wpIdx = (wpIdx + 1) % flightPath.size(); + flightPath.getPosition(wpIdx, wpPos); + wpImg = flightPath.getImage(wpIdx); + } else { + wpIdx = -1; } return 0; } diff --git a/trick_sims/SIM_aircraft/models/Aircraft/src/Waypoint.cpp b/trick_sims/SIM_aircraft/models/Aircraft/src/Waypoint.cpp new file mode 100644 index 00000000..4ee8cd11 --- /dev/null +++ b/trick_sims/SIM_aircraft/models/Aircraft/src/Waypoint.cpp @@ -0,0 +1,111 @@ +/********************************* TRICK HEADER ******************************* +PURPOSE: ( Handles the waypoints. ) +*******************************************************************************/ +#include "Aircraft/include/Waypoint.hh" + +#include +#include +#include +#include "Waypoint.hh" + +WaypointList::WaypointList() { + length = 0; +} + +WaypointList::WaypointList(std::string path) { + length = 0; + + load(path); +} + +int WaypointList::add(double n, double w, std::string i="images/defaultIcon.png") +{ + if (length < ARRAY_SIZE) + { + north[length] = n; + west[length] = w; + img[length] = i; + length++; + return length-1; + } + + return -1; +} + +void WaypointList::remove(int index) +{ + if (index < 0 || index >= length) { + std::cerr << "Invalid Index" << std::endl; + return; + } + + length--; + for(int i = index; i < length; i++) { + north[i] = north[i+1]; + west[i] = west[i+1]; + img[i] = img[i+1]; + } +} + +void WaypointList::clear() { + length = 0; +} + +void WaypointList::load(std::string path) { + clear(); + append(path); +} + +void WaypointList::append(std::string path) { + std::ifstream in(path); + + if(in.is_open()) { + std::string str; + // Expected input formatting: , OR ,, + while(getline(in,str)) { + int k = str.find(','), j = str.find(',',k+1); + double n,w; + if (j>=0) { + n = std::stod(str.substr(0,k)); + w = std::stod(str.substr(k+1,(j-k-1))); + std::string i = str.substr(j+1); + add(n,w,i); + } else { + n = std::stod(str.substr(0,k)); + w = std::stod(str.substr(k+1)); + add(n,w); + } + + } + in.close(); + } else { + std::cerr << "FILE DID NOT OPEN" << std::endl; + } +} + +void WaypointList::save(std::string path) { + std::ofstream out(path); + + if(out.is_open()) { + for(int i = 0; i < length; i++) { + out << std::to_string(north[i]) + "," + std::to_string(west[i]) + "," + img[i] << std::endl; + } + } + + out.close(); +} + +void WaypointList::getPosition(int index, double (&pos)[2]) { + pos[0] = north[index]; + pos[1] = west[index]; +} + +std::string WaypointList::getImage(int index) +{ + return img[index]; +} + +int WaypointList::size() +{ + return length; +} diff --git a/trick_sims/SIM_aircraft/models/graphics/src/main/java/trick/aircraftDisplay/AircraftDisplay.java b/trick_sims/SIM_aircraft/models/graphics/src/main/java/trick/aircraftDisplay/AircraftDisplay.java index daecd7b4..7355f024 100644 --- a/trick_sims/SIM_aircraft/models/graphics/src/main/java/trick/aircraftDisplay/AircraftDisplay.java +++ b/trick_sims/SIM_aircraft/models/graphics/src/main/java/trick/aircraftDisplay/AircraftDisplay.java @@ -30,6 +30,9 @@ import java.lang.Math; import java.net.Socket; import java.util.*; import java.util.Hashtable; +import java.util.regex.Matcher; +import java.util.regex.Pattern; + import javax.swing.ImageIcon; import javax.swing.JFrame; import javax.swing.JPanel; @@ -40,6 +43,7 @@ import javax.swing.JMenuBar; import javax.swing.JMenuItem; import javax.swing.JButton; import javax.swing.JCheckBoxMenuItem; +import javax.swing.JFileChooser; import javax.swing.JToggleButton; import javax.swing.BorderFactory; import javax.swing.border.EtchedBorder; @@ -60,10 +64,15 @@ class Waypoint { public double north, west; public BufferedImage icon; - public Waypoint(double n, double w, BufferedImage i) { + public Waypoint(double n, double w, String i) { north = n; west = w; - icon = i; + try { + icon = ImageIO.read(new File(i)); + } catch(Exception e) { + icon = null; + System.out.printf("Waypoint (%.1f,%.1f) not added to map."); + } } } @@ -75,7 +84,7 @@ class ScenePoly { } class SimulationMenuBar extends JMenuBar { - private JMenu _file; + private FileMenu _file; private JMenu _edit; private JMenu _tools; private JMenu _help; @@ -85,11 +94,19 @@ class SimulationMenuBar extends JMenuBar { public SimulationMenuBar(SkyView sv) { skyView = sv; + _file = new FileMenu("File"); _view = new ViewMenu("View"); + add(_file); add(_view); } + public void setupFileMenu(ActionListener newFileListener, ActionListener saveFileListener, ActionListener openFileListener) { + _file.newFile.addActionListener(newFileListener); + _file.saveFile.addActionListener(saveFileListener); + _file.openFile.addActionListener(openFileListener); + } + public void setEnabled_DisabledViewCB(boolean s) { _view.disabledView.setEnabled(s); } @@ -119,23 +136,6 @@ class SimulationMenuBar extends JMenuBar { add(_edit); } - private void initFileMenu() { - _file = new JMenu("File"); // New, Open, Save, Save As, Exit - JMenuItem mi; - mi = new JMenuItem("New"); - _file.add(mi); - mi = new JMenuItem("Open"); - _file.add(mi); - mi = new JMenuItem("Save"); - _file.add(mi); - mi = new JMenuItem("Save As"); - _file.add(mi); - mi = new JMenuItem("Exit"); - _file.add(mi); - - add(_file); - } - private class ViewMenu extends JMenu { public JCheckBoxMenuItem posView, velView, scaleView, controlView, disabledView; ViewMenu(String name) { @@ -179,6 +179,21 @@ class SimulationMenuBar extends JMenuBar { disabledView.addItemListener(e -> skyView.setDisabledView(((JCheckBoxMenuItem) e.getItem()).isSelected())); } } + + private class FileMenu extends JMenu { + public JMenuItem newFile, saveFile, openFile; + FileMenu(String name) { + super(name); + + newFile = new JMenuItem("New File"); + saveFile = new JMenuItem("Save File"); + openFile = new JMenuItem("Open File"); + + add(newFile); + add(saveFile); + add(openFile); + } + } } class SkyView extends JPanel { @@ -199,7 +214,7 @@ class SkyView extends JPanel { private double desired_heading; private Boolean autopilot; - private ArrayList waypoints; + private Waypoint[] waypoints; // Origin of world coordinates in jpanel coordinates. private int worldOriginX; @@ -232,22 +247,11 @@ class SkyView extends JPanel { workPolyX = new int[30]; workPolyY = new int[30]; - waypoints = new ArrayList(); + waypoints = new Waypoint[10]; setAllView(true); } - public void addWaypoint( double n, double w, String fp) { - BufferedImage img; - try { - img = ImageIO.read(new File(fp)); - waypoints.add(new Waypoint(n,w,img)); - } catch(Exception e) { - System.out.printf("Waypoint (%.1f,%.1f) not added to map."); - } - - } - public void setAircraftPos( double n, double w) { aircraftPos[0] = n; aircraftPos[1] = w; @@ -303,6 +307,17 @@ class SkyView extends JPanel { desired_heading = n; } + public void resetWaypoints() { + for(int i = 0; i < waypoints.length; i++) waypoints[i] = null; + } + + public boolean setWaypoint(int i, Waypoint wp) { + if(i < 0 || i >= waypoints.length) return false; + + waypoints[i] = wp; + return true; + } + // Getters and setters for all the 'View' variables public boolean getPosView() { return posView; } public void setPosView(boolean v) { posView = v; } @@ -376,9 +391,9 @@ class SkyView extends JPanel { g2d.drawLine( worldOriginX, 0, worldOriginX, height); // Draw Waypoints - for(int i = 0; i < waypoints.size(); i++) { - Waypoint wp = waypoints.get(i); - drawWaypoint(g2d, wp); + for(int i = 0; i < waypoints.length; i++) { + Waypoint wp = waypoints[i]; + if(wp != null) drawWaypoint(g2d, wp); } // Draw Aircraft @@ -442,8 +457,8 @@ class ControlPanel extends JPanel implements ActionListener { - public ControlPanel(SkyView skyView){ - skyView = skyView; + public ControlPanel(SkyView view){ + skyView = view; setLayout(new BoxLayout(this, BoxLayout.X_AXIS)); @@ -574,6 +589,7 @@ class AutoPilotCtrlPanel extends JPanel implements ItemListener { autoPilotButton.addItemListener(this); add(autoPilotButton); } + public void itemStateChanged(ItemEvent e){ if (e.getStateChange() == ItemEvent.SELECTED){ skyView.setAutoPilot(true); @@ -594,8 +610,8 @@ public class AircraftDisplay extends JFrame { private JPanel panelGroup0, panelGroup1; private ControlPanel controlPanel; - public AircraftDisplay(SkyView sky) { - skyView = sky; + public AircraftDisplay(SkyView view) { + skyView = view; simMenu = new SimulationMenuBar(skyView); setJMenuBar(simMenu); add( skyView); @@ -687,20 +703,70 @@ public class AircraftDisplay extends JFrame { Boolean autopilot = false; double desired_heading = 0.0; - try { - BufferedReader br = new BufferedReader(new FileReader(waypointInputFile)); - String line; - while((line = br.readLine()) != null) { - String[] parsedLine = line.split(","); - sd.skyView.addWaypoint(Double.parseDouble(parsedLine[0]), Double.parseDouble(parsedLine[1]), parsedLine[2]); - } - } catch(FileNotFoundException e) { - System.out.printf("'%s' not found", args[ii+1]); - System.exit(0); - } + int wpIndex = -1; + double wpNorth = 0.0; + double wpWest = 0.0; + String wpImage = ""; System.out.println("Connecting to: " + host + ":" + port); sd.connectToServer(host, port); + + JFileChooser browse = new JFileChooser("Modified_data"); + + ActionListener new_file = new ActionListener() { + + @Override + public void actionPerformed(ActionEvent e) { + try { + sd.out.writeBytes("dyn.aircraft.flightPath.clear() ;"); + sd.out.flush(); + } catch (Exception ex) { + + } + } + + }; + + ActionListener save_file = new ActionListener() { + + @Override + public void actionPerformed(ActionEvent e) { + int option = browse.showSaveDialog(sd); + if(option != JFileChooser.APPROVE_OPTION) return; + + String path = browse.getSelectedFile().getPath(); + + try { + sd.out.writeBytes(String.format("dyn.aircraft.flightPath.save(\"%s\") ;",path)); + sd.out.flush(); + } catch (Exception ex) { + + } + } + + }; + + ActionListener open_file = new ActionListener() { + + @Override + public void actionPerformed(ActionEvent e) { + int option = browse.showOpenDialog(sd); + if(option != JFileChooser.APPROVE_OPTION) return; + + String path = browse.getSelectedFile().getPath(); + + try { + sd.out.writeBytes(String.format("dyn.aircraft.flightPath.load(\"%s\") ;",path)); + sd.out.writeBytes("dyn.aircraft.wpIdx = -1 ;"); + sd.out.flush(); + } catch (Exception ex) { + + } + } + + }; + + sd.simMenu.setupFileMenu( new_file, save_file, open_file); sd.out.writeBytes("trick.var_set_client_tag(\"AircraftDisplay\") \n" + "trick.var_pause() \n" + @@ -710,6 +776,10 @@ public class AircraftDisplay extends JFrame { "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_add(\"dyn.aircraft.wpIdx\") \n" + + "trick.var_add(\"dyn.aircraft.wpPos[0]\") \n" + + "trick.var_add(\"dyn.aircraft.wpPos[1]\") \n" + + "trick.var_add(\"dyn.aircraft.wpImg\") \n" + "trick.var_ascii() \n" + "trick.var_cycle(0.1) \n" + "trick.var_unpause()\n" ); @@ -730,6 +800,17 @@ public class AircraftDisplay extends JFrame { desired_speed = Double.parseDouble( field[5]); desired_heading = Double.parseDouble(field[6]); + wpIndex = Integer.parseInt(field[7]); + + if(wpIndex < 0) { + sd.skyView.resetWaypoints(); + } else { + wpNorth = Double.parseDouble(field[8]); + wpWest = Double.parseDouble(field[9]); + wpImage = field[10]; + sd.skyView.setWaypoint(wpIndex, new Waypoint(wpNorth, wpWest, wpImage)); + } + // Set the Aircraft position skyview.setAircraftPos(posNorth, posWest); skyview.setAircraftVel(velNorth, velWest);