/// <summary>
/// Suspends the listening for incoming PDU's.
/// </summary>
/// <param name="pdu">The <see cref="DIS.Dis1998.IMarshallable"/> PDU to be transmitted</param>
/// <param name="group">The <see cref="DIS.Utilties.Networking.MulticastGroup"/> to send this PDU to.</param>
public void sendPDU(IMarshallable pdu, MulticastGroup group)
{
DataOutputStream dos = new DataOutputStream(Endian.Big);
pdu.MarshalAutoLengthSet(dos);
byte[] data = dos.ConvertToBytes();
UdpClient.Send(data, data.Length, new IPEndPoint(group.Address, Port));
}
//update is called once per frame
private void Update()
{
//if the agent is crossing a road, they can choose a random faster speed - to simulat a human running
NavMeshHit hit;
if (!agent.SamplePathPosition(NavMesh.AllAreas, 0.0f, out hit))
{
if ((hit.mask & crossingMask) != 0)
{
int random = UnityEngine.Random.Range(8, 15);
agent.speed = random; //run across roads
}
else
{
agent.speed = 5; //walk around the paths
}
}
//if the agent is close to their waypoint, choose another at random
if (agent.remainingDistance < 0.5)
{
int d = UnityEngine.Random.Range(0, wps.Length);
agent.SetAreaCost(4, 20);
agent.SetDestination(wps[d].transform.position);
}
//change the acceleration if the agent is turning corners to help navigate
else if (agent.hasPath)
{
agent.isStopped = false;
Vector3 toTarget = agent.steeringTarget - this.transform.position;
float turnAngle = Vector3.Angle(this.transform.forward, toTarget);
agent.acceleration = turnAngle * agent.speed;
}
// Simple dead reckoning algorithm below; checking to see if distance moved since last espdu (change) > threshold value
change[0] += Mathf.Abs(this.agent.transform.position.x - prev_location.x);
prev_location.x = this.agent.transform.position.x;
change[1] += Mathf.Abs(this.agent.transform.position.y - prev_location.y);
prev_location.y = this.agent.transform.position.y;
if ((change[0] > threshold) | (change[1] > threshold))
{
change[0] = 0;
change[1] = 0;
this.sendNewEspdu = true;
}
else
{
this.sendNewEspdu = false;
}
// Sending the new Espdu if necessary (if Dead Reckoning threshold passed)
if (this.sendNewEspdu)
{
// Declaring the position of the Bot (in WSP - World Space Position)
Vector3Double loc = espdu.EntityLocation; // Issues here
loc.X = this.agent.transform.position.x;
loc.Y = this.agent.transform.position.y;
loc.Z = 0.0;
if (espdu.EntityLocation.X.Equals(null) | espdu.EntityLocation.Y.Equals(null))
{
Debug.LogError("Espdu's location value is NULL!!!");
}
// Declaring the Bot's velocity
Vector3Float vel = espdu.EntityLinearVelocity;
vel.X = this.agent.velocity.x;
vel.Y = this.agent.velocity.y;
vel.Z = 0.0f;
if (espdu.EntityLinearVelocity.X.Equals(null) | espdu.EntityLinearVelocity.Y.Equals(null))
{
Debug.LogError("Espdu's linear velocity value is NULL!!!");
}
// Declaring the DeadReckoning Algorithm to be used (R, P, W)
espdu.DeadReckoningParameters.DeadReckoningAlgorithm = (byte)2;
// Sending the Espdu
espdu.Timestamp = DisTime.DisRelativeTimestamp;
// Prepare output
DataOutputStream dos = new DataOutputStream(Endian.Big);
espdu.MarshalAutoLengthSet(dos);
// Transmit broadcast messages
Sender.SendMessages(dos.ConvertToBytes());
string mess = string.Format("Message sent with TimeStamp [{0}] Time Of[{1}]", espdu.Timestamp, (espdu.Timestamp >> 1));
Debug.Log(mess);
this.sendNewEspdu = false;
}
}
// Update is called once per frame
void Update()
{
goalPosition = manager.transform.position;
transform.up = this.velocity;
if (this.velocity.magnitude == 0)
{
this.GetComponent <Rigidbody2D>().velocity =
new Vector2(Random.Range(-5f, 5f), Random.Range(-5f, 5f));
}
flock();
goalPosition = manager.transform.position;
stayInBorder();
this.GetComponent <Rigidbody2D>().rotation =
this.GetComponent <Rigidbody2D>().angularVelocity *Time.deltaTime;
if (
(this.location.x - this.prev_location.x) > threshold // If position in x axis > threshold value, send Espdu
)
{
this.prev_location = this.location;
this.sendNewEspdu = true;
}
else if (
(this.location.y - this.prev_location.y) > threshold // If position in y axis > threshold value, send Espdu
)
{
this.prev_location = this.location;
this.sendNewEspdu = true;
}
else
{
this.sendNewEspdu = false;
}
for (int i = 0; i < 1; i++)
{
// Declaring the position of the Bird (in WSP - World Space Position)
Vector3Double loc = espdu.EntityLocation;
loc.X = this.location.x;
loc.Y = this.location.y;
loc.Z = 0.0;
// Declaring the Bird's velocity
Vector3Float vel = espdu.EntityLinearVelocity;
vel.X = this.velocity.x;
vel.Y = this.velocity.y;
vel.Z = 0.0f;
// Declaring the DeadReckoning Algorithm to be used (R, P, W)
espdu.DeadReckoningParameters.DeadReckoningAlgorithm = (byte)2;
//// THIS IS IN TESTING PHASE --------------------------------------------------------------------
//// Setting the angular velocity of the Bird (as above)
//Vector3Float angvelo = new Vector3Float
//{
// X = this.GetComponent<Rigidbody2D>().angularVelocity,
// Y = 0.0f,
// Z = 0.0f
//};
//espdu.DeadReckoningParameters.EntityAngularVelocity = angvelo;
//// END OF TESTING BLOCK ------------------------------------------------------------------------
if (this.sendNewEspdu)
{
espdu.Timestamp = DisTime.DisRelativeTimestamp;
// Prepare output
DataOutputStream dos = new DataOutputStream(Endian.Big);
espdu.MarshalAutoLengthSet(dos);
// Transmit broadcast messages
Sender.SendMessages(dos.ConvertToBytes());
string mess =
string
.Format("Message sent with TimeStamp [{0}] Time Of[{1}]",
espdu.Timestamp,
(espdu.Timestamp >> 1));
Debug.Log(mess);
}
}
}
public static void Main(string[] args)
{
mcastAddress = IPAddress.Parse("239.1.2.3");
mcastPort = 62040;
broadcastPort = 62040; //3000 for DisMapper default
var espdu = new EntityStatePdu(); //Could use factory but easier this way
//Alcatraz
const double lat = 37.827;
double lon = -122.425;
// Configure socket.
//JoinMulticast(); //Used to talk to C# receiver. No need to connect as we are just sending multicast
//StartMulticast(); //Least preffered
StartBroadcast(); //Used for DisMapper
//Setup EntityState PDU
espdu.ExerciseID = 1;
var eid = espdu.EntityID;
eid.Site = 0;
eid.Application = 1;
eid.Entity = 2;
// Set the entity type. SISO has a big list of enumerations, so that by
// specifying various numbers we can say this is an M1A2 American tank,
// the USS Enterprise, and so on. We'll make this a tank. There is a
// separate project elsehwhere in this project that implements DIS
// enumerations in C++ and Java, but to keep things simple we just use
// numbers here.
var entityType = espdu.EntityType;
entityType.EntityKind = 1; // Platform (vs lifeform, munition, sensor, etc.)
entityType.Country = 255; // USA
entityType.Domain = 1; // Land (vs air, surface, subsurface, space)
entityType.Category = 1; // Tank
entityType.Subcategory = 1; // M1 Abrams
entityType.Specific = 3; // M1A2 Abrams
for (int i = 0; i < 100; i++)
{
lon += (i / 1000.0);
double[] disCoordinates = CoordinateConversions.getXYZfromLatLonDegrees(lat, lon, 0.0);
var location = espdu.EntityLocation;
location.X = disCoordinates[0];
location.Y = disCoordinates[1];
location.Z = disCoordinates[2];
espdu.Timestamp = DisTime.DisRelativeTimestamp;
//Prepare output
var dos = new DataOutputStream(Endian.Big);
espdu.MarshalAutoLengthSet(dos);
// Transmit broadcast messages
SendMessages(dos.ConvertToBytes());
Console.Write("Message sent with TimeStamp [{0}] Time Of[{1}]", espdu.Timestamp, espdu.Timestamp >> 1);
//Thread.Sleep(1000);
Console.Write("Hit Enter for Next PDU. Ctrl-C to Exit");
Console.ReadLine();
}
mcastSocket.Close();
}