#################################################################################################### # # Invoking X3D model self-test: # # $ python MultipleUnmannedVehiclesOffPanamaCity.py # # Python package x3d.py package is available on PyPI for import. # This approach simplifies Python X3D deployment and use. # https://pypi.org/project/x3d # # Installation: # pip install x3d # or # python -m pip install x3d # # Developer options for loading x3d package in other Python programs: # # from x3d import * # preferred approach, terser source that avoids x3d.* class prefixes # # or # import x3d # traditional way to subclass x3d package, all classes require x3d.* prefix, # # but python source is very verbose, for example x3d.Material x3d.Shape etc. # # X3dToPython.xslt stylesheet insertPackagePrefix=true supports this option. # # Project home page: # X3D Python Scene Access Interface Library (X3DPSAIL) # # https://www.web3d.org/x3d/stylesheets/python/python.html # Conversion generator: # https://www.web3d.org/x3d/stylesheets/X3dToPython.xslt # #################################################################################################### from x3d import * newModel=X3D(profile='Immersive',version='3.1', head=head( children=[ component(level=1,name='DIS'), Comment(''), meta(content='MultipleUnmannedVehiclesOffPanamaCity.x3d',name='title'), meta(content='Duane Davis, Jeff Weekley and Don Brutzman, Naval Postgraduate School',name='creator'), meta(content='aries auv dis',name='subject'), meta(content='18 April 2004',name='created'), meta(content='20 October 2019',name='modified'), meta(content='Contains 3 DIS-enabled Aries AUVs in an open-ocean environment. Notional bottom represented as an elevation grid corresponding to the fixed model in the AUV Dynamics module in the AUV Workbench. 4 mission tracks correspond to openWaterMission1, 2, 3, and 4 included with the workbench distribution.',name='description'), meta(content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit',name='generator'), meta(content='https://www.web3d.org/x3d/content/examples/Savage/AuvWorkbench/OperatingAreas/MultipleUnmannedVehiclesOffPanamaCity.x3d',name='identifier'), meta(content='AuvInBeachTanks.x3d',name='reference'), meta(content='../../license.html',name='license')]), Scene=Scene( children=[ WorldInfo(title='MultipleUnmannedVehiclesOffPanamaCity.x3d'), ExternProtoDeclare(appinfo='Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype',name='AriesEspdu',url=["../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu","../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu"], field=[ field(accessType='inputOutput',appinfo='up to 11 characters maps to EspduTransform marking',name='hullName',type='SFString'), field(accessType='inputOutput',appinfo='color for this Aries instance',name='hullColor',type='SFColor'), field(accessType='inputOutput',appinfo='initial position prior to first ESPDU receipt',name='translation',type='SFVec3f'), field(accessType='inputOutput',appinfo='initial orientation prior to first ESPDU receipt',name='rotation',type='SFRotation'), field(accessType='inputOutput',name='siteID',type='SFInt32'), field(accessType='inputOutput',name='applicationID',type='SFInt32'), field(accessType='inputOutput',name='entityID',type='SFInt32'), field(accessType='inputOutput',appinfo='network read periodicity',name='readInterval',type='SFTime'), field(accessType='inputOutput',appinfo='network write periodicity',name='writeInterval',type='SFTime'), field(accessType='inputOutput',appinfo='Override default EspduTransform value so that listening occurs by default',name='networkMode',type='SFString'), field(accessType='inputOutput',appinfo='multicast address',name='address',type='SFString'), field(accessType='inputOutput',appinfo='multicast port',name='port',type='SFInt32'), field(accessType='inputOutput',appinfo='Set to 0 to activate EspduTransformTrace',name='traceNodeEnabled',type='SFInt32')]), ExternProtoDeclare(appinfo='Predator unmanned air vehicle (UAV) with DIS ESPDU network connections',name='PredatorEspdu',url=["../../../Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#PredatorEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#PredatorEspdu","../../../Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#PredatorEspdu","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#PredatorEspdu"], field=[ field(accessType='inputOutput',appinfo='default value PredatorUAV',name='marking',type='SFString'), field(accessType='inputOutput',appinfo='default value 0 0 0',name='translation',type='SFVec3f'), field(accessType='inputOutput',appinfo='default value 0 0 1 0',name='rotation',type='SFRotation'), field(accessType='inputOutput',appinfo='default value 0',name='siteID',type='SFInt32'), field(accessType='inputOutput',appinfo='default value 1',name='applicationID',type='SFInt32'), field(accessType='inputOutput',appinfo='default value 30',name='entityID',type='SFInt32'), field(accessType='inputOutput',appinfo='default value 0.1',name='readInterval',type='SFTime'), field(accessType='inputOutput',appinfo='default value 1.0',name='writeInterval',type='SFTime'), field(accessType='inputOutput',appinfo='Override default EspduTransform value so that listening occurs by default',name='networkMode',type='SFString'), field(accessType='inputOutput',appinfo='default value 224.2.181.145',name='address',type='SFString'), field(accessType='inputOutput',appinfo='default value 62040',name='port',type='SFInt32')]), ExternProtoDeclare(appinfo='Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.',name='GridXZ',url=["../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ","../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ"], field=[ field(accessType='initializeOnly',appinfo='Purpose of this grid displayed for overall Viewpoint',name='description',type='SFString'), field(accessType='inputOutput',appinfo='color for descriptive labels at grid edges and corners',name='labelColor',type='SFColor'), field(accessType='inputOutput',appinfo='default unscaled size: 10m by 10m',name='scale',type='SFVec3f'), field(accessType='inputOutput',name='originLabel',type='MFString'), field(accessType='inputOutput',appinfo='-X axis',name='WestLabel',type='MFString'), field(accessType='inputOutput',name='NorthWestLabel',type='MFString'), field(accessType='inputOutput',appinfo='-Z axis',name='NorthLabel',type='MFString'), field(accessType='inputOutput',name='NorthEastLabel',type='MFString'), field(accessType='inputOutput',appinfo='+X axis',name='EastLabel',type='MFString'), field(accessType='inputOutput',name='SouthEastLabel',type='MFString'), field(accessType='inputOutput',appinfo='+Z axis',name='SouthLabel',type='MFString'), field(accessType='inputOutput',name='SouthWestLabel',type='MFString'), field(accessType='inputOutput',appinfo='label location offset (in meters) to improve readability',name='labelsOffset',type='SFVec3f')]), ProtoInstance(name='GridXZ', fieldValue=[ fieldValue(name='description',value='GridXZ for AUV in Open Ocean'), fieldValue(name='labelColor',value=(1.0,1.0,1.0)), fieldValue(name='scale',value=(50.0,50.0,50.0)), fieldValue(name='originLabel',value=["origin","0 0 0"]), fieldValue(name='WestLabel',value=["West","-Y"]), fieldValue(name='NorthWestLabel',value=["500 0 -500"]), fieldValue(name='NorthLabel',value=["North","+X"]), fieldValue(name='NorthEastLabel',value=["500 0 500"]), fieldValue(name='EastLabel',value=["East","+Y"]), fieldValue(name='SouthEastLabel',value=["-500 0 500"]), fieldValue(name='SouthLabel',value=["South","-X"]), fieldValue(name='SouthWestLabel',value=["-500 0 -500"])]), Background(DEF='SandyShallowBottom',groundAngle=[0.05,1.52,1.56,1.570796],groundColor=[(0.2,0.2,0),(0.3,0.3,0),(0.5,0.5,0.3),(0.1,0.3,0.4),(0,0.2,0.4)],skyAngle=[0.05,0.1,1.309,1.571],skyColor=[(0.8,0.8,0.2),(0.1,0.1,0.6),(0.1,0.1,0.6),(0.1,0.25,0.8),(0.6,0.6,0.9)]), Comment(''), Comment(''), Inline(url=["../../../Savage/Locations/PanamaCityFlorida/PanamaCity.x3d","https://www.web3d.org/x3d/content/examples/Savage/Locations/PanamaCityFlorida/PanamaCity.x3d","../../../Savage/Locations/PanamaCityFlorida/PanamaCity.wrl","https://www.web3d.org/x3d/content/examples/Savage/Locations/PanamaCityFlorida/PanamaCity.wrl"]), ProtoInstance(name='GridXZ', fieldValue=[ fieldValue(name='description',value='GridXZ for AUV in Open Ocean'), fieldValue(name='labelColor',value=(1.0,1.0,1.0)), fieldValue(name='scale',value=(50.0,50.0,50.0)), fieldValue(name='originLabel',value=["origin","0 0 0"]), fieldValue(name='WestLabel',value=["West","-Y"]), fieldValue(name='NorthWestLabel',value=["500 0 -500"]), fieldValue(name='NorthLabel',value=["North","+X"]), fieldValue(name='NorthEastLabel',value=["500 0 500"]), fieldValue(name='EastLabel',value=["East","+Y"]), fieldValue(name='SouthEastLabel',value=["-500 0 500"]), fieldValue(name='SouthLabel',value=["South","-X"]), fieldValue(name='SouthWestLabel',value=["-500 0 -500"])]), Group(DEF='RobotEntities', children=[ Group(DEF='UavGroup', children=[ ProtoInstance(DEF='PREDATOR0',name='PredatorEspdu', fieldValue=[ fieldValue(name='marking',value='PREDATOR-0'), fieldValue(name='siteID',value=0), fieldValue(name='applicationID',value=1), fieldValue(name='entityID',value=30), fieldValue(name='readInterval',value=0.5), fieldValue(name='networkMode',value='networkReader'), fieldValue(name='address',value='239.255.5.8'), fieldValue(name='translation',value=(15000.0,-10.0,15000.0))])]), Group(DEF='UsvGroup', children=[ EspduTransform(address='239.255.5.8',entityID=20,marking='RHIB-0',networkMode='networkReader',readInterval=0.5,translation=(0,-2015,0), children=[ Inline(url=["../../../Savage/ShipsMilitary/RHIBUnitedStates/RHIB.x3d","https://www.web3d.org/x3d/content/examples/Savage/ShipsMilitary/RHIBUnitedStates/RHIB.x3d","../../../Savage/ShipsMilitary/RHIBUnitedStates/RHIB.wrl","https://www.web3d.org/x3d/content/examples/Savage/ShipsMilitary/RHIBUnitedStates/RHIB.wrl"])])]), Group(DEF='UuvGroup', children=[ ProtoInstance(DEF='ARIES0',name='AriesEspdu', fieldValue=[ fieldValue(name='hullName',value='ARIES-0'), fieldValue(name='siteID',value=0), fieldValue(name='applicationID',value=1), fieldValue(name='entityID',value=0), fieldValue(name='readInterval',value=0.5), fieldValue(name='networkMode',value='networkReader'), fieldValue(name='address',value='239.255.5.8'), fieldValue(name='translation',value=(0.0,-2000.0,0.0)), fieldValue(name='traceNodeEnabled',value=0)]), ProtoInstance(DEF='ARIES1',name='AriesEspdu', fieldValue=[ fieldValue(name='hullName',value='ARIES-1'), fieldValue(name='siteID',value=0), fieldValue(name='applicationID',value=1), fieldValue(name='entityID',value=1), fieldValue(name='readInterval',value=0.5), fieldValue(name='networkMode',value='networkReader'), fieldValue(name='address',value='239.255.5.8'), fieldValue(name='translation',value=(0.0,-2005.0,0.0)), fieldValue(name='traceNodeEnabled',value=0)]), ProtoInstance(DEF='AUV3',name='AriesEspdu', fieldValue=[ fieldValue(name='hullName',value='AUV-3'), fieldValue(name='siteID',value=0), fieldValue(name='applicationID',value=1), fieldValue(name='entityID',value=2), fieldValue(name='readInterval',value=0.5), fieldValue(name='networkMode',value='networkReader'), fieldValue(name='address',value='239.255.5.8'), fieldValue(name='translation',value=(0.0,-2010.0,0.0)), fieldValue(name='traceNodeEnabled',value=0)]), ProtoInstance(DEF='AUV4',name='AriesEspdu', fieldValue=[ fieldValue(name='hullName',value='AUV-4'), fieldValue(name='siteID',value=0), fieldValue(name='applicationID',value=1), fieldValue(name='entityID',value=3), fieldValue(name='readInterval',value=0.5), fieldValue(name='networkMode',value='networkReader'), fieldValue(name='address',value='239.255.5.8'), fieldValue(name='translation',value=(0.0,-2015.0,0.0)), fieldValue(name='traceNodeEnabled',value=0)])])])]) ) ### X3D model conversion complete ### #################################################################################################### # Self-test diagnostics #################################################################################################### print('Self-test diagnostics for MultipleUnmannedVehiclesOffPanamaCity.py:') if metaDiagnostics(newModel): # built-in utility method in X3D class print(metaDiagnostics(newModel)) # display meta info, hint, warning, error, TODO values in this model # print('check newModel.XML() serialization...') newModelXML= newModel.XML() # test export method XML() for exceptions during export newModel.XMLvalidate() # print(newModelXML) # diagnostic try: # print('check newModel.VRML() serialization...') newModelVRML=newModel.VRML() # test export method VRML() for exceptions during export # print(prependLineNumbers(newModelVRML)) # debug print("Python-to-VRML export of VRML output successful", flush=True) except Exception as err: # usually BaseException # https://stackoverflow.com/questions/18176602/how-to-get-the-name-of-an-exception-that-was-caught-in-python print("*** Python-to-VRML export of VRML output failed:", type(err).__name__, err) if newModelVRML: # may have failed to generate print(prependLineNumbers(newModelVRML, err.lineno)) try: # print('check newModel.JSON() serialization...') newModelJSON=newModel.JSON() # test export method JSON() for exceptions during export # print(prependLineNumbers(newModelJSON)) # debug print("Python-to-JSON export of JSON output successful (under development)") except Exception as err: # usually SyntaxError print("*** Python-to-JSON export of JSON output failed:", type(err).__name__, err) if newModelJSON: # may have failed to generate print(prependLineNumbers(newModelJSON,err.lineno)) print("python MultipleUnmannedVehiclesOffPanamaCity.py load and self-test diagnostics complete.")