demo.auv
Class TelemetryPlayback

java.lang.Object
  demo.auv.TelemetryPlayback

public class TelemetryPlayback

extends java.lang.Object

Generates VRML scenes which visualize and play back AUV mission telemetry files.

Invocation:

mv -f mission.output.telemetry.wrl mission.output.telemetry.wrl.bak java demo.auv.TelemetryPlayback mission.output.telemetry >> mission.output.telemetry.wrl vorlon mission.output.telemetry.wrl -url

java demo.auv.TelemetryPlayback d1103_01.d

Version:

1.0

Author:

Don Brutzman (web.nps.navy.mil/~brutzman) brutzman@nps.navy.mil

Source Code:

TelemetryPlayback.java

History:

1 December 98	Don Brutzman	Initial version
17 January 99	Don Brutzman	Added URLs and autogenerated invocation
21 January 99, 21 March 99, 15 May 1999	Don Brutzman	Change package and directory names
9 May 2000	Don Brutzman	Fixed file-read exception handling
16 August 2000	Don Brutzman	Calendar month off-by-one bug workaround

See Also:

TelemetryState

Field Summary

(package private) static java.lang.StringBuffer	afterLateralThrusterKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterLateralThrusterKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterPlanesKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterPlanesKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterRuddersKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterRuddersKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterVerticalThrusterKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	afterVerticalThrusterKeyValue VRML interpolators (key & keyValue arrays)
(package private) static TelemetryState	currentTelemetry
(package private) static boolean	DEBUG
(package private) static float	dt
(package private) static float	duration
(package private) static java.util.Date	fileDate
(package private) static float	finishTime
(package private) static java.lang.StringBuffer	forwardLateralThrusterKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardLateralThrusterKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardPlanesKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardPlanesKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardRuddersKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardRuddersKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardVerticalThrusterKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	forwardVerticalThrusterKeyValue VRML interpolators (key & keyValue arrays)
(package private) static float	maxDeltaRpm
(package private) static float	maxDeltaRudderPlane
(package private) static float	maxDeltaSonarBearing
(package private) static float	maxDeltaSonarRange
(package private) static float	maxDeltaThruster
(package private) static float	maxKeyValueDistance
(package private) static float	maxKeyValueOrientation
(package private) static java.lang.String	nextLine
(package private) static java.lang.StringBuffer	orientationKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	orientationKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	portRpmKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	portRpmKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	positionKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	positionKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.text.DecimalFormat	precision
(package private) static java.text.DecimalFormat	precision5
(package private) static boolean	printEXTERNPROTO
(package private) static TelemetryState	priorAfterLateralThrusterTelemetry
(package private) static TelemetryState	priorAfterPlanesTelemetry
(package private) static TelemetryState	priorAfterRuddersTelemetry
(package private) static TelemetryState	priorAfterVerticalThrusterTelemetry
(package private) static TelemetryState	priorForwardLateralThrusterTelemetry
(package private) static TelemetryState	priorForwardPlanesTelemetry
(package private) static TelemetryState	priorForwardRuddersTelemetry
(package private) static TelemetryState	priorForwardVerticalThrusterTelemetry
(package private) static TelemetryState	priorOrientationTelemetry
(package private) static TelemetryState	priorPortRpmTelemetry
(package private) static TelemetryState	priorST1000BearingTelemetry
(package private) static TelemetryState	priorST1000RangeTelemetry
(package private) static TelemetryState	priorST725BearingTelemetry
(package private) static TelemetryState	priorST725RangeTelemetry
(package private) static TelemetryState	priorStbdRpmTelemetry
(package private) static TelemetryState	priorTelemetry
(package private) static java.io.BufferedReader	PROTOFile
(package private) static java.lang.StringBuffer	ST1000BearingKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST1000BearingKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST1000RangeKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST1000RangeKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST725BearingKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST725BearingKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST725RangeKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	ST725RangeKeyValue VRML interpolators (key & keyValue arrays)
(package private) static float	startTime
(package private) static java.lang.StringBuffer	stbdRpmKey VRML interpolators (key & keyValue arrays)
(package private) static java.lang.StringBuffer	stbdRpmKeyValue VRML interpolators (key & keyValue arrays)
(package private) static java.io.File	telemetryFile
(package private) static java.util.Calendar	telemetryFileCalendar
(package private) static java.lang.String	telemetryFileName
(package private) static java.lang.String	telemetryLine
(package private) static java.io.BufferedReader	telemetryStream

Constructor Summary

TelemetryPlayback()

Method Summary

static void	debug(java.lang.String message)
static void	GenerateVrmlInterpolators() Build VRML interpolators, print to screen.
static void	GenerateVrmlSceneHeaders() Build VRML file headers, print to screen
static void	main(java.lang.String[] args) Application to generate the scene, accepts telemetry filename as command-line parameter.
static float	radians(float x)
static java.lang.String	readNextTelemetryState() Read a telemetry state vector from the telemetry file
static void	TelemetryFileClose() Verify telemetry file existence and then open for reading
static void	TelemetryFileOpen() Verify telemetry file existence and then open for reading
static void	trace(java.lang.String message)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

maxKeyValueDistance

static final float maxKeyValueDistance

See Also:

Constant Field Values

maxKeyValueOrientation

static final float maxKeyValueOrientation

See Also:

Constant Field Values

maxDeltaRpm

static final float maxDeltaRpm

See Also:

Constant Field Values

maxDeltaRudderPlane

static final float maxDeltaRudderPlane

See Also:

Constant Field Values

maxDeltaSonarBearing

static final float maxDeltaSonarBearing

See Also:

Constant Field Values

maxDeltaSonarRange

static final float maxDeltaSonarRange

See Also:

Constant Field Values

maxDeltaThruster

static final float maxDeltaThruster

See Also:

Constant Field Values

precision

static java.text.DecimalFormat precision

precision5

static java.text.DecimalFormat precision5

telemetryFile

static java.io.File telemetryFile

telemetryFileName

static java.lang.String telemetryFileName

telemetryFileCalendar

static java.util.Calendar telemetryFileCalendar

telemetryStream

static java.io.BufferedReader telemetryStream

fileDate

static java.util.Date fileDate

nextLine

static java.lang.String nextLine

telemetryLine

static java.lang.String telemetryLine

priorTelemetry

static TelemetryState priorTelemetry

priorOrientationTelemetry

static TelemetryState priorOrientationTelemetry

priorPortRpmTelemetry

static TelemetryState priorPortRpmTelemetry

priorStbdRpmTelemetry

static TelemetryState priorStbdRpmTelemetry

priorForwardRuddersTelemetry

static TelemetryState priorForwardRuddersTelemetry

priorAfterRuddersTelemetry

static TelemetryState priorAfterRuddersTelemetry

priorForwardPlanesTelemetry

static TelemetryState priorForwardPlanesTelemetry

priorAfterPlanesTelemetry

static TelemetryState priorAfterPlanesTelemetry

priorST725BearingTelemetry

static TelemetryState priorST725BearingTelemetry

priorST725RangeTelemetry

static TelemetryState priorST725RangeTelemetry

priorST1000BearingTelemetry

static TelemetryState priorST1000BearingTelemetry

priorST1000RangeTelemetry

static TelemetryState priorST1000RangeTelemetry

priorForwardVerticalThrusterTelemetry

static TelemetryState priorForwardVerticalThrusterTelemetry

priorAfterVerticalThrusterTelemetry

static TelemetryState priorAfterVerticalThrusterTelemetry

priorForwardLateralThrusterTelemetry

static TelemetryState priorForwardLateralThrusterTelemetry

priorAfterLateralThrusterTelemetry

static TelemetryState priorAfterLateralThrusterTelemetry

currentTelemetry

static TelemetryState currentTelemetry

startTime

static float startTime

finishTime

static float finishTime

duration

static float duration

dt

static float dt

positionKey

static java.lang.StringBuffer positionKey

VRML interpolators (key & keyValue arrays)

positionKeyValue

static java.lang.StringBuffer positionKeyValue

VRML interpolators (key & keyValue arrays)

orientationKey

static java.lang.StringBuffer orientationKey

VRML interpolators (key & keyValue arrays)

orientationKeyValue

static java.lang.StringBuffer orientationKeyValue

VRML interpolators (key & keyValue arrays)

portRpmKey

static java.lang.StringBuffer portRpmKey

VRML interpolators (key & keyValue arrays)

portRpmKeyValue

static java.lang.StringBuffer portRpmKeyValue

VRML interpolators (key & keyValue arrays)

stbdRpmKey

static java.lang.StringBuffer stbdRpmKey

VRML interpolators (key & keyValue arrays)

stbdRpmKeyValue

static java.lang.StringBuffer stbdRpmKeyValue

VRML interpolators (key & keyValue arrays)

forwardRuddersKey

static java.lang.StringBuffer forwardRuddersKey

VRML interpolators (key & keyValue arrays)

forwardRuddersKeyValue

static java.lang.StringBuffer forwardRuddersKeyValue

VRML interpolators (key & keyValue arrays)

afterRuddersKey

static java.lang.StringBuffer afterRuddersKey

VRML interpolators (key & keyValue arrays)

afterRuddersKeyValue

static java.lang.StringBuffer afterRuddersKeyValue

VRML interpolators (key & keyValue arrays)

forwardPlanesKey

static java.lang.StringBuffer forwardPlanesKey

VRML interpolators (key & keyValue arrays)

forwardPlanesKeyValue

static java.lang.StringBuffer forwardPlanesKeyValue

VRML interpolators (key & keyValue arrays)

afterPlanesKey

static java.lang.StringBuffer afterPlanesKey

VRML interpolators (key & keyValue arrays)

afterPlanesKeyValue

static java.lang.StringBuffer afterPlanesKeyValue

VRML interpolators (key & keyValue arrays)

ST725BearingKey

static java.lang.StringBuffer ST725BearingKey

VRML interpolators (key & keyValue arrays)

ST725BearingKeyValue

static java.lang.StringBuffer ST725BearingKeyValue

VRML interpolators (key & keyValue arrays)

ST725RangeKey

static java.lang.StringBuffer ST725RangeKey

VRML interpolators (key & keyValue arrays)

ST725RangeKeyValue

static java.lang.StringBuffer ST725RangeKeyValue

VRML interpolators (key & keyValue arrays)

ST1000BearingKey

static java.lang.StringBuffer ST1000BearingKey

VRML interpolators (key & keyValue arrays)

ST1000BearingKeyValue

static java.lang.StringBuffer ST1000BearingKeyValue

VRML interpolators (key & keyValue arrays)

ST1000RangeKey

static java.lang.StringBuffer ST1000RangeKey

VRML interpolators (key & keyValue arrays)

ST1000RangeKeyValue

static java.lang.StringBuffer ST1000RangeKeyValue

VRML interpolators (key & keyValue arrays)

forwardVerticalThrusterKey

static java.lang.StringBuffer forwardVerticalThrusterKey

VRML interpolators (key & keyValue arrays)

forwardVerticalThrusterKeyValue

static java.lang.StringBuffer forwardVerticalThrusterKeyValue

VRML interpolators (key & keyValue arrays)

afterVerticalThrusterKey

static java.lang.StringBuffer afterVerticalThrusterKey

VRML interpolators (key & keyValue arrays)

afterVerticalThrusterKeyValue

static java.lang.StringBuffer afterVerticalThrusterKeyValue

VRML interpolators (key & keyValue arrays)

forwardLateralThrusterKey

static java.lang.StringBuffer forwardLateralThrusterKey

VRML interpolators (key & keyValue arrays)

forwardLateralThrusterKeyValue

static java.lang.StringBuffer forwardLateralThrusterKeyValue

VRML interpolators (key & keyValue arrays)

afterLateralThrusterKey

static java.lang.StringBuffer afterLateralThrusterKey

VRML interpolators (key & keyValue arrays)

afterLateralThrusterKeyValue

static java.lang.StringBuffer afterLateralThrusterKeyValue

VRML interpolators (key & keyValue arrays)

printEXTERNPROTO

static boolean printEXTERNPROTO

PROTOFile

static java.io.BufferedReader PROTOFile

DEBUG

static boolean DEBUG

Constructor Detail

TelemetryPlayback

public TelemetryPlayback()

Method Detail

debug

public static void debug(java.lang.String message)

trace

public static void trace(java.lang.String message)

radians

public static float radians(float x)

TelemetryFileOpen

public static void TelemetryFileOpen()

Verify telemetry file existence and then open for reading

TelemetryFileClose

public static void TelemetryFileClose()

Verify telemetry file existence and then open for reading

readNextTelemetryState

public static java.lang.String readNextTelemetryState()

Read a telemetry state vector from the telemetry file

GenerateVrmlSceneHeaders

public static void GenerateVrmlSceneHeaders()

Build VRML file headers, print to screen

GenerateVrmlInterpolators

public static void GenerateVrmlInterpolators()

Build VRML interpolators, print to screen.

main

public static void main(java.lang.String[] args)
                 throws java.io.IOException

Application to generate the scene, accepts telemetry filename as command-line parameter.

Throws:

java.io.IOException