public void Demonstrate()
{
Console.WriteLine("[SENDER - INFO] Started sending example");
//Marnehuizen
double lat = 53.3889139;
double lon = 6.263677777777778;
EntityStatePdu espdu = new EntityStatePdu();
espdu.ExerciseID = 1;
EntityID eid = espdu.EntityID;
eid.Site = 0;
eid.Application = 1;
eid.Entity = 2;
EntityType entityType = espdu.EntityType;
entityType.Country = (ushort)Country.Netherlands; // NL
entityType.EntityKind = (byte)EntityKind.LifeForm; // Life form (vs platform, munition, sensor, etc.)
entityType.Domain = (byte)Platform.Land; // Land (vs air, surface, subsurface, space)
entityType.Category = 0; //empty
entityType.Subcategory = 1; // Dismounted
entityType.Specific = 5; //carrying an assault rifle
entityType.Extra = 1; //Moving alone
while (true)
{
lat += (1d / 11132000);
lon += (1d / 40075) * Math.Cos(lat) / 360d;
double[] disCoordinates = CoordinateConversions.getXYZfromLatLonDegrees(lat, lon, 0.0);
Console.WriteLine("[SENDER - INFO] Entity is now at (lat:{0}, long:{1}", lat, lon);
Vector3Double location = espdu.EntityLocation;
location.X = disCoordinates[0];
location.Y = disCoordinates[1];
location.Z = disCoordinates[2];
espdu.Timestamp = DisTime.DisRelativeTimestamp;
//send the constructed PDU to the specified multicast group
_connector.sendPDU(espdu, MulticastGroup.Parse("224.5.5.5"));
Console.WriteLine("[SENDER - INFO] PDU broadcasted");
Thread.Sleep(15000);
}
}
// 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))
.normalized *
2;
}
flock();
goalPosition = manager.transform.position;
stayInBorder();
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 pos = new Vector3Double();
pos.X = this.location.x;
pos.Y = this.location.y;
pos.Z = 0.0;
Vector2 GPSloc = new Vector2();
GPSloc.x = (float)pos.X;
GPSloc.y = (float)pos.Y;
double[] ODLoc =
CoordinateConversions
.getXYZfromLatLonDegrees(GPSloc.x, GPSloc.y, pos.Z);
Vector3Double loc = new Vector3Double();
loc.X = ODLoc[0];
loc.Y = ODLoc[1];
loc.Z = ODLoc[2];
espdu.EntityLocation = loc;
// 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();
}
