1 |
<?xml version="1.0" encoding="UTF-8"?>
|
2 |
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
|
3 | <X3D profile='Immersive' version='3.0' xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.0.xsd'> |
4 | <head> |
5 | <component level='1' name='DIS'/> |
6 | <meta name='title' content='AriesEspduPrototype.x3d'/> |
7 | <meta name='description' content='Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order.'/> |
8 | <meta name='creator' content='Duane Davis'/> |
9 | <meta name='translator' content='Vrml97ToX3dNist'/> |
10 | <meta name='created' content='15 November 2003'/> |
11 | <meta name='modified' content='20 October 2019'/> |
12 | <meta name='subject' content='Distributed Interactive Simulation DIS ESPDU Aries AUV'/> |
13 | <meta name='identifier' content='https://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/AriesEspduPrototype.x3d'/> |
14 | <meta name='generator' content='Vrml97ToX3dNist, http://ovrt.nist.gov/v2_x3d.html'/> |
15 | <meta name='license' content='../license.html'/> |
16 | </head> |
17 | <Scene> |
18 | <WorldInfo title='AriesEspduPrototype.x3d'/> |
19 | <ExternProtoDeclare name='Aries' appinfo='Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)' url=' "../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries" "../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries" '> |
20 | <field name='translation' type='SFVec3f' accessType='inputOutput'/> |
21 | <field name='rotation' type='SFRotation' accessType='inputOutput'/> |
22 | <field name='portRpm' type='SFFloat' accessType='inputOnly'/> |
23 | <field name='stbdRpm' type='SFFloat' accessType='inputOnly'/> |
24 | <field name='forwardRudders' type='SFFloat' accessType='inputOnly'/> |
25 | <field name='afterRudders' type='SFFloat' accessType='inputOnly'/> |
26 | <field name='forwardPlanes' type='SFFloat' accessType='inputOnly'/> |
27 | <field name='afterPlanes' type='SFFloat' accessType='inputOnly'/> |
28 | <field name='forwardVerticalThruster' type='SFFloat' accessType='inputOnly'/> |
29 | <field name='afterVerticalThruster' type='SFFloat' accessType='inputOnly'/> |
30 | <field name='forwardLateralThruster' type='SFFloat' accessType='inputOnly'/> |
31 | <field name='afterLateralThruster' type='SFFloat' accessType='inputOnly'/> |
32 | <field name='ST725Range' type='SFFloat' accessType='inputOnly'/> |
33 | <field name='ST1000Range' type='SFFloat' accessType='inputOnly'/> |
34 | <field name='ST725Bearing' type='SFFloat' accessType='inputOnly'/> |
35 | <field name='ST1000Bearing' type='SFFloat' accessType='inputOnly'/> |
36 | <field name='ST725Intensity' type='SFFloat' accessType='inputOnly'/> |
37 | <field name='ST1000Intensity' type='SFFloat' accessType='inputOnly'/> |
38 |
<field name='hullColor' type='SFColor' accessType='inputOutput'
appinfo='hull color for this UUV instance'/> |
39 |
<field name='hullName' type='SFString' accessType='inputOutput'
appinfo='can be overridden at instantiation time only'/> |
40 |
<field name='set_ST725Intensity' type='SFFloat' accessType='inputOnly'
appinfo='signal-to-noise ratio decibels'/> |
41 | <field name='set_forwardLateralThruster' type='SFFloat' accessType='inputOnly'/> |
42 |
<field name='set_ST1000Bearing' type='SFFloat' accessType='inputOnly'
appinfo='degrees about vertical axis'/> |
43 | <field name='set_forwardVerticalThruster' type='SFFloat' accessType='inputOnly'/> |
44 | <field name='set_afterVerticalThruster' type='SFFloat' accessType='inputOnly'/> |
45 | <field name='set_afterRudders' type='SFFloat' accessType='inputOnly'/> |
46 |
<field name='set_ST1000Intensity' type='SFFloat' accessType='inputOnly'
appinfo='signal-to-noise ratio decibels'/> |
47 | <field name='set_forwardPlanes' type='SFFloat' accessType='inputOnly'/> |
48 |
<field name='set_ST725Range' type='SFFloat' accessType='inputOnly'
appinfo='meters along sonar axis'/> |
49 |
<field name='set_ST725Bearing' type='SFFloat' accessType='inputOnly'
appinfo='degrees about vertical axis'/> |
50 | <field name='set_afterLateralThruster' type='SFFloat' accessType='inputOnly'/> |
51 |
<field name='set_ST1000Range' type='SFFloat' accessType='inputOnly'
appinfo='meters along sonar axis'/> |
52 | <field name='set_stbdRpm' type='SFFloat' accessType='inputOnly'/> |
53 | <field name='set_forwardRudders' type='SFFloat' accessType='inputOnly'/> |
54 | <field name='set_portRpm' type='SFFloat' accessType='inputOnly'/> |
55 |
<field name='planeColor' type='SFColor' accessType='inputOutput'
appinfo='plane color for this UUV instance'/> |
56 | <field name='set_afterPlanes' type='SFFloat' accessType='inputOnly'/> |
57 | </ExternProtoDeclare> |
58 | <ProtoDeclare name='AriesEspdu'> |
59 | <ProtoInterface> |
60 | <field name='marking' type='SFString' value='AriesAUV' accessType='inputOutput'/> |
61 | <field name='siteID' type='SFInt32' value='0' accessType='inputOutput'/> |
62 | <field name='applicationID' type='SFInt32' value='1' accessType='inputOutput'/> |
63 | <field name='entityID' type='SFInt32' value='2' accessType='inputOutput'/> |
64 | <field name='readInterval' type='SFTime' value='0.1' accessType='inputOutput'/> |
65 | <field name='writeInterval' type='SFTime' value='1.0' accessType='inputOutput'/> |
66 | <field name='networkMode' type='SFString' value='standAlone' accessType='inputOutput'/> |
67 | <field name='address' type='SFString' value='224.2.181.145' accessType='inputOutput'/> |
68 | <field name='port' type='SFInt32' value='62040' accessType='inputOutput'/> |
69 | <field name='translation' type='SFVec3f' value='0 0 0' accessType='inputOutput'/> |
70 | <field name='rotation' type='SFRotation' value='0 0 1 0' accessType='inputOutput'/> |
71 | </ProtoInterface> |
72 | <ProtoBody> |
73 | <!-- ============================= --> |
74 |
<!-- ROUTE information for ET node:
[from articulationParameterArray to ArticulationParameterControl.set_articulationParameters
]
-->
<EspduTransform DEF='ET' containerField='children'> |
75 | <IS> |
76 | <connect nodeField='marking' protoField='marking'/> |
77 | <connect nodeField='siteID' protoField='siteID'/> |
78 | <connect nodeField='applicationID' protoField='applicationID'/> |
79 | <connect nodeField='entityID' protoField='entityID'/> |
80 | <connect nodeField='readInterval' protoField='readInterval'/> |
81 | <connect nodeField='writeInterval' protoField='writeInterval'/> |
82 | <connect nodeField='networkMode' protoField='networkMode'/> |
83 | <connect nodeField='address' protoField='address'/> |
84 | <connect nodeField='port' protoField='port'/> |
85 | <connect nodeField='translation' protoField='translation'/> |
86 | <connect nodeField='rotation' protoField='rotation'/> |
87 | </IS> |
88 | <!-- applet 0 1 2, auv dynamics 36 1 1 --> |
89 | <Switch whichChoice='0'> |
90 |
<!-- ROUTE information for AriesAUV node:
[from ArticulationParameterControl.portRpm to portRpm
]
[from ArticulationParameterControl.stbdRpm to stbdRpm
]
[from ArticulationParameterControl.forwardVerticalThruster to forwardVerticalThruster
]
[from ArticulationParameterControl.afterVerticalThruster to afterVerticalThruster
]
[from ArticulationParameterControl.forwardLateralThruster to forwardLateralThruster
]
[from ArticulationParameterControl.afterLateralThruster to afterLateralThruster
]
[from ArticulationParameterControl.forwardRudders to forwardRudders
]
[from ArticulationParameterControl.afterRudders to afterRudders
]
[from ArticulationParameterControl.forwardPlanes to forwardPlanes
]
[from ArticulationParameterControl.afterPlanes to afterPlanes
]
[from ArticulationParameterControl.ST725Range to ST725Range
]
[from ArticulationParameterControl.ST725Bearing to ST725Bearing
]
[from ArticulationParameterControl.ST1000Range to ST1000Range
]
[from ArticulationParameterControl.ST1000Bearing to ST1000Bearing
]
-->
<ProtoInstance name='Aries' DEF='AriesAUV'> |
91 | <fieldValue name='hullColor' value='.9 .9 .9'/> |
92 | <fieldValue name='hullName' value='Aries AUV'/> |
93 | </ProtoInstance> |
94 | </Switch> |
95 | <Group> |
96 |
<!-- ROUTE information for ArticulationParameterControl node:
[from ET.articulationParameterArray to set_articulationParameters
]
[from portRpm to AriesAUV.portRpm
]
[from stbdRpm to AriesAUV.stbdRpm
]
[from forwardVerticalThruster to AriesAUV.forwardVerticalThruster
]
[from afterVerticalThruster to AriesAUV.afterVerticalThruster
]
[from forwardLateralThruster to AriesAUV.forwardLateralThruster
]
[from afterLateralThruster to AriesAUV.afterLateralThruster
]
[from forwardRudders to AriesAUV.forwardRudders
]
[from afterRudders to AriesAUV.afterRudders
]
[from forwardPlanes to AriesAUV.forwardPlanes
]
[from afterPlanes to AriesAUV.afterPlanes
]
[from ST725Range to AriesAUV.ST725Range
]
[from ST725Bearing to AriesAUV.ST725Bearing
]
[from ST1000Range to AriesAUV.ST1000Range
]
[from ST1000Bearing to AriesAUV.ST1000Bearing
]
-->
<Script DEF='ArticulationParameterControl'> |
97 | <field name='set_articulationParameters' type='MFFloat' accessType='inputOnly'/> |
98 | <field name='portRpm' type='SFFloat' accessType='outputOnly'/> |
99 | <field name='stbdRpm' type='SFFloat' accessType='outputOnly'/> |
100 | <field name='forwardVerticalThruster' type='SFFloat' accessType='outputOnly'/> |
101 | <field name='afterVerticalThruster' type='SFFloat' accessType='outputOnly'/> |
102 | <field name='forwardLateralThruster' type='SFFloat' accessType='outputOnly'/> |
103 | <field name='afterLateralThruster' type='SFFloat' accessType='outputOnly'/> |
104 | <field name='forwardRudders' type='SFFloat' accessType='outputOnly'/> |
105 | <field name='afterRudders' type='SFFloat' accessType='outputOnly'/> |
106 | <field name='forwardPlanes' type='SFFloat' accessType='outputOnly'/> |
107 | <field name='afterPlanes' type='SFFloat' accessType='outputOnly'/> |
108 | <field name='ST725Range' type='SFFloat' accessType='outputOnly'/> |
109 | <field name='ST725Bearing' type='SFFloat' accessType='outputOnly'/> |
110 | <field name='ST1000Range' type='SFFloat' accessType='outputOnly'/> |
111 | <field name='ST1000Bearing' type='SFFloat' accessType='outputOnly'/> |
<![CDATA[
ecmascript: function initialize() { portRpm = 0; stbdRpm = 0; forwardVerticalThruster = 0; afterVerticalThruster = 0; forwardLateralThruster = 0; afterLateralThruster = 0; forwardRudders = 0; afterRudders = 0; forwardPlanes = 0; afterPlanes = 0; ST725Range = 30; ST725Bearing = 0; ST1000Range = 30; ST1000Bearing = 0; } function set_articulationParameters( value, timestamp ) { // TODO: what about value[0] ? portRpm = value[1]; stbdRpm = value[2]; forwardRudders = value[3]; afterRudders = value[4]; forwardPlanes = value[5]; afterPlanes = value[6]; forwardVerticalThruster = value[7]; afterVerticalThruster = value[8]; forwardLateralThruster = value[9]; afterLateralThruster = value[10]; ST725Range = value[11]; ST725Bearing = value[12]; ST1000Range = value[13]; ST1000Bearing = value[14]; }
]]>
|
|
113 | </Script> |
114 | < ROUTE fromNode='ET' fromField='articulationParameterArray' toNode='ArticulationParameterControl' toField='set_articulationParameters'/> |
115 | < ROUTE fromNode='ArticulationParameterControl' fromField='portRpm' toNode='AriesAUV' toField='portRpm'/> |
116 | < ROUTE fromNode='ArticulationParameterControl' fromField='stbdRpm' toNode='AriesAUV' toField='stbdRpm'/> |
117 | < ROUTE fromNode='ArticulationParameterControl' fromField='forwardVerticalThruster' toNode='AriesAUV' toField='forwardVerticalThruster'/> |
118 | < ROUTE fromNode='ArticulationParameterControl' fromField='afterVerticalThruster' toNode='AriesAUV' toField='afterVerticalThruster'/> |
119 | < ROUTE fromNode='ArticulationParameterControl' fromField='forwardLateralThruster' toNode='AriesAUV' toField='forwardLateralThruster'/> |
120 | < ROUTE fromNode='ArticulationParameterControl' fromField='afterLateralThruster' toNode='AriesAUV' toField='afterLateralThruster'/> |
121 | < ROUTE fromNode='ArticulationParameterControl' fromField='forwardRudders' toNode='AriesAUV' toField='forwardRudders'/> |
122 | < ROUTE fromNode='ArticulationParameterControl' fromField='afterRudders' toNode='AriesAUV' toField='afterRudders'/> |
123 | < ROUTE fromNode='ArticulationParameterControl' fromField='forwardPlanes' toNode='AriesAUV' toField='forwardPlanes'/> |
124 | < ROUTE fromNode='ArticulationParameterControl' fromField='afterPlanes' toNode='AriesAUV' toField='afterPlanes'/> |
125 | < ROUTE fromNode='ArticulationParameterControl' fromField='ST725Range' toNode='AriesAUV' toField='ST725Range'/> |
126 | < ROUTE fromNode='ArticulationParameterControl' fromField='ST725Bearing' toNode='AriesAUV' toField='ST725Bearing'/> |
127 | < ROUTE fromNode='ArticulationParameterControl' fromField='ST1000Range' toNode='AriesAUV' toField='ST1000Range'/> |
128 | < ROUTE fromNode='ArticulationParameterControl' fromField='ST1000Bearing' toNode='AriesAUV' toField='ST1000Bearing'/> |
129 | </Group> |
130 | </EspduTransform> |
131 | </ProtoBody> |
132 | </ProtoDeclare> |
133 | <Group> |
134 | <ProtoInstance name='AriesEspdu'> |
135 | <fieldValue name='networkMode' value='networkReader'/> |
136 | </ProtoInstance> |
137 | </Group> |
138 | </Scene> |
139 | </X3D> |
Event Graph ROUTE Table entries with 15 ROUTE connections total, showing X3D event-model relationships for this scene.
Each row shows an event cascade that may occur during a single timestamp interval between frame renderings, as part of the X3D execution model.
This node has 14 outgoing ROUTEs, which is greater than $maxROUTEdepth=8 | |||||||
ArticulationParameterControl
Script portRpm SFFloat |
AriesAUV
ProtoInstance portRpm SFFloat |
||||||
ArticulationParameterControl
Script stbdRpm SFFloat |
AriesAUV
ProtoInstance stbdRpm SFFloat |
||||||
ArticulationParameterControl
Script forwardVerticalThruster SFFloat |
AriesAUV
ProtoInstance forwardVerticalThruster SFFloat |
||||||
ArticulationParameterControl
Script afterVerticalThruster SFFloat |
AriesAUV
ProtoInstance afterVerticalThruster SFFloat |
||||||
ArticulationParameterControl
Script forwardLateralThruster SFFloat |
AriesAUV
ProtoInstance forwardLateralThruster SFFloat |
||||||
ArticulationParameterControl
Script afterLateralThruster SFFloat |
AriesAUV
ProtoInstance afterLateralThruster SFFloat |
||||||
ArticulationParameterControl
Script forwardRudders SFFloat |
AriesAUV
ProtoInstance forwardRudders SFFloat |
||||||
ArticulationParameterControl
Script afterRudders SFFloat |
AriesAUV
ProtoInstance afterRudders SFFloat |
||||||
ProtoInstance AriesEspdu |
No ROUTE connection found for output events from this node. This ProtoInstance contains SFNode/MFNode fieldValue declarations with direct access to other nodes, and thus has potential to produce run-time animation. |
ET
EspduTransform articulationParameterArray MFFloat |
ArticulationParameterControl
Script set_articulationParameters MFFloat |
<!--
Color legend: X3D terminology
<X3dNode
DEF='idName' field='value'/>
matches XML terminology
<XmlElement
DEF='idName' attribute='value'/>
(Light-blue background: event-based behavior node or statement)
(Grey background inside box: inserted documentation)
(Magenta background: X3D Extensibility)
<ProtoInstance
name='ProtoName'>
<field
name='fieldName'/> </ProtoInstance>
-->
<!-- For additional help information about X3D scenes, please see X3D Tooltips, X3D Resources, and X3D Scene Authoring Hints. -->