#################################################################################################### # # Invoking X3D model self-test: # # $ python AriesEspduPrototype.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'), meta(content='AriesEspduPrototype.x3d',name='title'), meta(content='Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML/X3D Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order.',name='description'), meta(content='Duane Davis',name='creator'), meta(content='Vrml97ToX3dNist',name='translator'), meta(content='21 November 2003',name='created'), meta(content='20 October 2019',name='modified'), meta(content='UuvBoxTest.xml',name='reference'), meta(content='UuvBoxTest.disbin',name='reference'), meta(content='UuvBoxTest.disbin.disbinidx',name='reference'), meta(content='EspduTransformTrace needs revision',name='errors'), meta(content='Distributed Interactive Simulation DIS ESPDU Aries AUV',name='subject'), meta(content='https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d',name='identifier'), meta(content='Vrml97ToX3dNist, http://ovrt.nist.gov/v2_x3d.html',name='generator'), meta(content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit',name='generator'), meta(content='../../license.html',name='license')]), Scene=Scene( children=[ WorldInfo(title='AriesEspduPrototype.x3d'), ExternProtoDeclare(appinfo='Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)',name='Aries',url=["../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries","../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries"], field=[ field(accessType='inputOutput',appinfo='can be overridden at instantiation time only',name='hullName',type='SFString'), field(accessType='inputOutput',name='hullColor',type='SFColor'), field(accessType='inputOutput',name='planeColor',type='SFColor'), field(accessType='inputOutput',name='translation',type='SFVec3f'), field(accessType='inputOutput',name='rotation',type='SFRotation'), field(accessType='inputOnly',name='set_portRpm',type='SFFloat'), field(accessType='inputOnly',name='set_stbdRpm',type='SFFloat'), field(accessType='inputOnly',name='set_forwardRudders',type='SFFloat'), field(accessType='inputOnly',name='set_afterRudders',type='SFFloat'), field(accessType='inputOnly',name='set_forwardPlanes',type='SFFloat'), field(accessType='inputOnly',name='set_afterPlanes',type='SFFloat'), field(accessType='inputOnly',name='set_forwardVerticalThruster',type='SFFloat'), field(accessType='inputOnly',name='set_afterVerticalThruster',type='SFFloat'), field(accessType='inputOnly',name='set_forwardLateralThruster',type='SFFloat'), field(accessType='inputOnly',name='set_afterLateralThruster',type='SFFloat'), field(accessType='inputOnly',appinfo='meters along sonar axis',name='set_ST725Range',type='SFFloat'), field(accessType='inputOnly',appinfo='meters along sonar axis',name='set_ST1000Range',type='SFFloat'), field(accessType='inputOnly',appinfo='degrees about vertical axis',name='set_ST725Bearing',type='SFFloat'), field(accessType='inputOnly',appinfo='degrees about vertical axis',name='set_ST1000Bearing',type='SFFloat'), field(accessType='inputOnly',appinfo='signal-to-noise ratio decibels',name='set_ST725Intensity',type='SFFloat'), field(accessType='inputOnly',appinfo='signal-to-noise ratio decibels',name='set_ST1000Intensity',type='SFFloat')]), ProtoDeclare(appinfo='Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype',name='AriesEspdu', ProtoInterface=ProtoInterface( field=[ field(accessType='inputOutput',appinfo='up to 11 characters maps to EspduTransform marking',name='hullName',type='SFString',value='AriesAUV'), field(accessType='inputOutput',appinfo='hull color for this UUV instance',name='hullColor',type='SFColor',value=(.9,.9,.9)), field(accessType='inputOutput',appinfo='plane color for this UUV instance',name='planeColor',type='SFColor',value=(.1,.1,.8)), field(accessType='inputOutput',appinfo='initial position prior to first ESPDU receipt',name='translation',type='SFVec3f',value=(0,0,0)), field(accessType='inputOutput',appinfo='initial orientation prior to first ESPDU receipt',name='rotation',type='SFRotation',value=(0,0,1,0)), field(accessType='inputOutput',name='siteID',type='SFInt32',value=0), field(accessType='inputOutput',name='applicationID',type='SFInt32',value=1), field(accessType='inputOutput',name='entityID',type='SFInt32',value=2), field(accessType='inputOutput',appinfo='network read periodicity',name='readInterval',type='SFTime',value=0.1), field(accessType='inputOutput',appinfo='network write periodicity',name='writeInterval',type='SFTime',value=1.0), field(accessType='inputOutput',appinfo='Override default EspduTransform value so that listening occurs by default',name='networkMode',type='SFString',value='networkReader'), field(accessType='inputOutput',appinfo='multicast address',name='address',type='SFString',value='239.255.5.8'), field(accessType='inputOutput',appinfo='multicast port',name='port',type='SFInt32',value=62040), field(accessType='inputOutput',appinfo='Set to 0 to activate EspduTransformTrace',name='traceNodeEnabled',type='SFInt32',value=-1)]), ProtoBody=ProtoBody( children=[ Comment(' ============================= '), Group( children=[ EspduTransform(DEF='ET', IS=IS( connect=[ connect(nodeField='marking',protoField='hullName'), connect(nodeField='siteID',protoField='siteID'), connect(nodeField='applicationID',protoField='applicationID'), connect(nodeField='entityID',protoField='entityID'), connect(nodeField='readInterval',protoField='readInterval'), connect(nodeField='writeInterval',protoField='writeInterval'), connect(nodeField='networkMode',protoField='networkMode'), connect(nodeField='address',protoField='address'), connect(nodeField='port',protoField='port'), connect(nodeField='translation',protoField='translation'), connect(nodeField='rotation',protoField='rotation')]), # applet 0 1 2, auv dynamics 36 1 1 Switch(whichChoice=0, children=[ ProtoInstance(DEF='AriesAUV',name='Aries', IS=IS( connect=[ connect(nodeField='hullName',protoField='hullName'), connect(nodeField='hullColor',protoField='hullColor'), connect(nodeField='planeColor',protoField='planeColor')]))]), Group(DEF='ArticulationParameterScriptRoutes', children=[ Script(DEF='ArticulationParameterControl', field=[ field(accessType='inputOnly',name='set_articulationParameters',type='MFFloat'), field(accessType='outputOnly',name='portRpm',type='SFFloat'), field(accessType='outputOnly',name='stbdRpm',type='SFFloat'), field(accessType='outputOnly',name='forwardVerticalThruster',type='SFFloat'), field(accessType='outputOnly',name='afterVerticalThruster',type='SFFloat'), field(accessType='outputOnly',name='forwardLateralThruster',type='SFFloat'), field(accessType='outputOnly',name='afterLateralThruster',type='SFFloat'), field(accessType='outputOnly',name='forwardRudders',type='SFFloat'), field(accessType='outputOnly',name='afterRudders',type='SFFloat'), field(accessType='outputOnly',name='forwardPlanes',type='SFFloat'), field(accessType='outputOnly',name='afterPlanes',type='SFFloat'), field(accessType='outputOnly',name='ST725Range',type='SFFloat'), field(accessType='outputOnly',name='ST725Bearing',type='SFFloat'), field(accessType='outputOnly',name='ST1000Range',type='SFFloat'), field(accessType='outputOnly',name='ST1000Bearing',type='SFFloat')], sourceCode=""" ecmascript: MAXRPM = 700; MAXTHRUSTER = 24; MAXSONARRANGE = 30; function initialize() { forwardRudders = 0; afterRudders = 0; forwardPlanes = 0; afterPlanes = 0; portRpm = 0; stbdRpm = 0; forwardVerticalThruster = 0; afterVerticalThruster = 0; forwardLateralThruster = 0; afterLateralThruster = 0; ST1000Bearing = 0; ST1000Range = 0; // MAXSONARRANGE; ST725Bearing = 0; ST725Range = 0; // MAXSONARRANGE; } function set_articulationParameters( value, timestamp ) { forwardRudders = value[0]; afterRudders = -value[0]; forwardPlanes = -value[1]; afterPlanes = value[1]; portRpm = value[2] / MAXRPM; stbdRpm = value[3] / MAXRPM; forwardVerticalThruster = value[4] / MAXTHRUSTER; afterVerticalThruster = value[5] / MAXTHRUSTER; forwardLateralThruster = value[6] / MAXTHRUSTER; afterLateralThruster = value[7] / MAXTHRUSTER; ST1000Bearing = value[8]; ST1000Range = value[9]; if (ST1000Range <= 0) ST1000Range = 0; else if (ST1000Range > MAXSONARRANGE) ST1000Range = 0; // MAXSONARRANGE; ST725Bearing = value[11]; ST725Range = value[12]; if (ST725Range <= 0) ST725Range = 0; else if (ST725Range > MAXSONARRANGE) ST725Range = 0; // MAXSONARRANGE; } """), ROUTE(fromField='articulationParameterArray',fromNode='ET',toField='set_articulationParameters',toNode='ArticulationParameterControl'), ROUTE(fromField='portRpm',fromNode='ArticulationParameterControl',toField='set_portRpm',toNode='AriesAUV'), ROUTE(fromField='stbdRpm',fromNode='ArticulationParameterControl',toField='set_stbdRpm',toNode='AriesAUV'), ROUTE(fromField='forwardVerticalThruster',fromNode='ArticulationParameterControl',toField='set_forwardVerticalThruster',toNode='AriesAUV'), ROUTE(fromField='afterVerticalThruster',fromNode='ArticulationParameterControl',toField='set_afterVerticalThruster',toNode='AriesAUV'), ROUTE(fromField='forwardLateralThruster',fromNode='ArticulationParameterControl',toField='set_forwardLateralThruster',toNode='AriesAUV'), ROUTE(fromField='afterLateralThruster',fromNode='ArticulationParameterControl',toField='set_afterLateralThruster',toNode='AriesAUV'), ROUTE(fromField='forwardRudders',fromNode='ArticulationParameterControl',toField='set_forwardRudders',toNode='AriesAUV'), ROUTE(fromField='afterRudders',fromNode='ArticulationParameterControl',toField='set_afterRudders',toNode='AriesAUV'), ROUTE(fromField='forwardPlanes',fromNode='ArticulationParameterControl',toField='set_forwardPlanes',toNode='AriesAUV'), ROUTE(fromField='afterPlanes',fromNode='ArticulationParameterControl',toField='set_afterPlanes',toNode='AriesAUV'), ROUTE(fromField='ST725Range',fromNode='ArticulationParameterControl',toField='set_ST725Range',toNode='AriesAUV'), ROUTE(fromField='ST725Bearing',fromNode='ArticulationParameterControl',toField='set_ST725Bearing',toNode='AriesAUV'), ROUTE(fromField='ST1000Range',fromNode='ArticulationParameterControl',toField='set_ST1000Range',toNode='AriesAUV'), ROUTE(fromField='ST1000Bearing',fromNode='ArticulationParameterControl',toField='set_ST1000Bearing',toNode='AriesAUV')])]), Switch(DEF='HideTraceText',whichChoice=-1, IS=IS( connect=[ connect(nodeField='whichChoice',protoField='traceNodeEnabled')]), children=[ Transform(DEF='TRACETRANSFORM', children=[ ROUTE(fromField='translation',fromNode='ET',toField='set_translation',toNode='TRACETRANSFORM'), ROUTE(fromField='rotation',fromNode='ET',toField='set_rotation',toNode='TRACETRANSFORM')])])])])), Comment(' ============================== '), Viewpoint(description='AriesEspdu Prototype'), Group( children=[ ProtoInstance(name='AriesEspdu', fieldValue=[ fieldValue(name='networkMode',value='networkReader'), fieldValue(name='translation',value=(0,0.4,0))])]), Anchor(description='AriesEspdu Prototype',parameter=["target=_blank"],url=["AriesEspduExample.x3d","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduExample.x3d","AriesEspduExample.wrl","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduExample.wrl"], children=[ Shape( appearance=Appearance( material=Material(diffuseColor=(0,1,1),emissiveColor=(0,1,1))), geometry=Text(string=["AriesEspduPrototype","is a prototype definition file","","To see an example scene","click on any text and view","AriesEspduExample"], fontStyle=FontStyle(justify=["MIDDLE","MIDDLE"])))])]) ) ### X3D model conversion complete ### #################################################################################################### # Self-test diagnostics #################################################################################################### print('Self-test diagnostics for AriesEspduPrototype.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 AriesEspduPrototype.py load and self-test diagnostics complete.")