[X3D-Public] XMPP ( DIS-XML ) implementation.

Thu Dec 23 02:13:42 PST 2010

Hello Don

Used some time reading your links below and nps.edu thesis and supporting our project.
Presently putting up a collaboration portal using altassian.com's JIRA, cofluence and fisheye with connection to bazaar svn server while Jose Romero Miret are developing the motionbase controller server with XMPP/DIS-XML interface.

On my desk are to create an interface XMPP/DIS-XML to CarSim with RealTime and DriverSimulator module using a custom simulink module. Hope the TCP interface to simulink ( runing in PsedoRT for distributed simulink models ) can be easy modified with matlab script for DIS-XML. Will ask the creator of those TCP/Simulink modules if he has time and if it's possible.. Well he's sitting at the same chair as me ;) .. And he hope to squeeze in some time for this and by taking off his stclaus hood for a thinker cap, if he just could get some examples of matlab code maybee even start on x-mas days morning if something pops in to he's e-sock in front of the fire.

Sorry for this, it's close to x-mas and I'm start to relax and thinking of making some x-mas rhyme.
Bottom line I would higly appreciate any matlab interface xmpp/DIS-XML scripts.

Many season greatings to you all from a snowy Lulea ( only 250 km west of saintas ( european )home in Rovaniemi Finland ).

Sven-Erik Tiberg 
Lulea Univ. Of Technology
Sweden

-----Original Message-----
From: Don Brutzman [mailto:brutzman at nps.edu] 
Sent: den 2 december 2010 23:11
To: Sven-Erik Tiberg
Cc: x3d-public at web3d.org; Jose Romero Miret; WANE Sam O; Kenneth Bodin; Don McGregor; SAVAGE
Subject: Re: [X3D-Public] XMPP ( DIS-XML ) implementation.

cc: Don McGregor, Savage research group

thanks for reporting your efforts.   here are more resources.

the Open-DIS project has open-source implementations of IEEE DIS Protocol in Java, C++, C#, Objective C (for ipad/iphone).

	http://open-dis.sourceforge.net/Open-DIS.html

We built a Matlab bridge for predecessor DIS-Java-VRML some years back.
We'd be happy to help someone update that implementation for the current Matlab (or Gnu Octave).

Xj3D has an open-source implementation of EspduTransform using this library.
It also has an experimental binding to DIS-XML encoded packets that are distributed over XMPP chat channels.

It would be good to get a second DIS implementation going for X3D players, perhaps in FreeWrl/FreeX3D.  If anyone implementing in a closed codebase (InstantReality, BS Contact, Octaga Player) wants some help or has questions, we are keen to assist.

X3D-Edit has a nice PDU record and playback capability, and can send packets.
Also has embedded Xj3D viewer and authoring support for EspduTransform.
Links (including a flyer handout) follow.

	https://savage.nps.edu/X3D-Edit/
	https://savage.nps.edu/X3D-Edit/images/DisEspduTestPanelDemo.png
	https://savage.nps.edu/X3D-Edit/images/DisPlayerRecorderPanel.png
	https://savage.nps.edu/X3D-Edit/Open-DIS-flyer.pdf

Our Autonomous Unmanned Vehicle (AUV) workbench has integrated the Ignite Realtime client library for jabber XMPP and also Xj3D.  it is open source Java that can handle either standard multicast DIS PDUs or DIS-XML embedded in XMPP chat packets.  See the workbench.im.* package.

	https://savage.nps.edu/AuvWorkbench

Here is a paper we wrote on DIS-XML, plus slides.  Don, can you please advise where the DIS-XML schema can be found?

	https://savage.nps.edu/RobotTelemetry/DonCioXmlWgNpsSlides/SIW06Spring.pdf
	https://savage.nps.edu/RobotTelemetry/DonCioXmlWgNpsSlides/openDisXml.ppt

I recently released an extensive slideset on X3D and DIS, available at

	http://x3dgraphics.com/slidesets/X3dForAdvancedModeling/DistributedInteractiveSimulation.pdf

Adrian's thesis can be found online at

	http://handle.dtic.mil/100.2/ADA456926

On 11/30/2010 2:18 PM, Sven-Erik Tiberg wrote:
> Well found the DIS(-XML) definition at 
> http://web3d.org/x3d/specifications/ISO-IEC-19775-1.2-X3D-AbstractSpec
> ification/index.html
>
> and examples of Java code at "XML TACTICAL CHAT (XTC): EXTENSIBLE 
> MESSAGING AND PRESENCE PROTOCOL FOR COMMAND AND CONTROL APPLICATIONS" 
> by Adrian D. Armold / NPS Thesis September 2006 
> http://bosun.nps.edu/uhtbin/cgisirsi.exe/0iHMM1tt2D/SIRSI/190700018/5/
> 0
>
> Putting this together can assist us to make a preliminary Multi Node connection.
> /Sven-Erik
>
> ________________________________________
> From: x3d-public-bounces at web3d.org [x3d-public-bounces at web3d.org] On 
> Behalf Of Sven-Erik Tiberg [Sven-Erik.Tiberg at ltu.se]
> Sent: Saturday, November 27, 2010 11:55 AM
> To: x3d-public at web3d.org
> Cc: 'WANE Sam O'; 'Kenneth Bodin'
> Subject: [X3D-Public] XMPP ( DIS-XML ) implementation.
>
> Hi.
>
> As I mentioned earlier, we are setting up a Driver simulator using distributed control and visiualation.
> The nodes are
> 1.- QSIM Motionbase 6 D.O.F. control computer with custom made SW including python API.
> 2.- Simulation engine with visualisation for the driver ( CarSim RT / 
> DS with Mathworks.Simulink API )
> 3.- HID ( Human Interface Device , wheel, pedals, dashboard 
> instruments ( real or VR ) and so on )
> 4.- Optional monitor and control node using Ipod.
> 5.- Protocol handler node with ejabberd server.
>
> Our approach are to use XMPP/DIS-XML for state transfere.
> To save as much time we can we will use CarSim RT/DS for visualisation of the road and simulation of car dynamics, but the aproach of using XMPP over a ejabberd server makes it possible to use another simulation engine and X3D-client in the future as the other nodes are not influenced on splitting 2.- into two or more nodes.
> PS. 1.- can aslo be another unit in the future.
>
> Presently we are only a few persons working on this but we hope to bring in students in the near future.
>
> And my part at the moment are to search information about DIS-XML and how to define a chema for transfering states between the nodes.
> Appreciate any tips on this.
>
> PS. we use http://wbsp.arb.ltu.se/Motionbase as our common work space.
>
> /Sven-Erik Tiberg

did you want a teleconference next week?   we're happy to discuss.

looking forward to further dialog, good luck with your efforts.

all the best, Don
-- 
Don Brutzman  Naval Postgraduate School, Code USW/Br      brutzman at nps.edu
Watkins 270   MOVES Institute, Monterey CA 93943-5000 USA  +1.831.656.2149
X3D, virtual worlds, underwater robots     http://faculty.nps.edu/brutzman