Launcher Example

Table of Contents

• Subclassing the VRL Application Initializer
• How to Run the Example
• Example Code
  • Main Application
    • Launcher Initializer Header
    • Launcher Initializer Source
  • Defining the Missile
    • Missile Header
    • Missile Source

This example shows how describes how command-line/MTL parameters could be added to a VR-Link application.

It shows how to specify behavior-specific parameters either by parsing command-line arguments or parsing an MTL file.

Subclassing the VRL Application Initializer

DtLauncherInitializer derives from DtVrlApplicationInitializer and describes how command line/MTL parameters could be added to a VR-Link application. The DtVrlApplicationInitializer contains default behavior for protocol specific parameters, so we can specify behavior particular to the F18 application in the derived DtLauncherInitializer class. Within the new Launcher Initializer class, we add a parseCmdLine() function to handle parsing the command line arguments specified in this class and DtVrlApplicationInitializer. Additionally, we need to register the new variables so they can be parsed correctly when loadMtlFile() is called (defined in DtVrlApplicationInitializer) with an MTL file name. This will parse the MTL file specified and set those variables registered.

How to Run the Example

1. Launch a simulation viewer such as VR-Vantage or VR-Forces for the protocol of choice. It is recommended to view this using the Ground_DB II.mtf terrain
2. Launch the launcher example from the VR-Link install's bin64 directory for the same protocol.
3. In the viewer, notice that the Scud missile launcher launches the missile with the specified parameters.

Example Code

Main Application

/****************************************************************************
 * Copyright (c) 2017 MAK Technologies, Inc
 * All rights reserved.
 ****************************************************************************/


#include <vl/exerciseConn.h>
#include "launcherInit.h"
#include "missile.h"
#include <vlutil/vlUtil.h>
#include <vlutil/vlProcessControl.h>
#include <matrix/vlTaitBryan.h>
#include <vl/entityPublisher.h>
#include <vl/topoView.h>
#include <vl/entityStateRepository.h>
#include <vl/fireInteraction.h>
#include <vl/detonationInteraction.h>
#include <vlpi/articulatedPart.h>
#include <vlpi/attachedPart.h>
#include <vlutil/vlMiniDumper.h>

int main( int argc, char* argv[] )
{
   // Used for error handling
   DtINIT_MINIDUMPER( "Launcher" );

   DtLauncherInitializer init( argc, argv );

#if DtDIS
   // Set the default DIS version
   init.setDisVersionToSend( 7 );
#else
   // Set the default FED File, executable, and version
   init.setFedFileName( DtDefaultRpr2Fom );
   init.setExecName( "MAK-One-2024" );
   init.setRprFomVersion( 2.0 );
   init.setRprFomRevision( 1 );
#endif

   init.parseCmdLine();
#ifdef DtHLA_1516_EVOLVED
   init.addFomModule("NETN-BASE.xml");
   init.addFomModule("NETN-Physical.xml");
   init.addFomModule("NETN-METOC.xml");
   init.addFomModule("NETN-MRM.xml");
   init.addFomModule("MAK-Physical-2_evolved.xml");
   init.addFomModule("MAK-Aerodrome-1_evolved.xml");
   init.addFomModule("MAK-METOC-1_evolved.xml");
   init.addFomModule("MAK-VRFExt-9_evolved.xml");
   init.addFomModule("MAK-DIGuy-7_evolved.xml");
   init.addFomModule("MAK-LgrControl-2_evolved.xml");
   init.addFomModule("MAK-VRFAggregate-6_evolved.xml");
   init.addFomModule("MAK-DynamicTerrain-2_evolved.xml");
   init.addFomModule("MAK-VRLExt-3_evolved.xml");
   init.addFomModule("RPR-Enumerations_Experimental_IFF.xml");
   init.addFomModule("RPR-MAK_Experimental_IFF-3.xml");
#endif

   DtExerciseConn exConn( init );

   static int stationList[] = {512, 0};

   DtEntityType launcherType(1, 1, 119, 4, 9, 0, 0);
   DtEntityPublisher launcher(launcherType, &exConn,
                              DtDrDrmRvw, DtForceOther, launcherType);

   DtEntityStateRepository* esr = launcher.esr();
   DtTopoView topoView(esr, DtDeg2Rad(init.refLatitude()), DtDeg2Rad(init.refLongitude()));
   topoView.setLocation(DtVector(0,0,-0.75));
   topoView.setOrientation(DtTaitBryan(0,0,0));

   DtArticulatedPart& primLauncher = esr->artPartList()->getPart(DtPrimaryLauncher1);

   DtEntityType scudType(2,10,119,1,3,0,0);
   esr->attPartList()->getPart(512).setEntityType(scudType);

   Missile* scud = NULL;

   DtClock* clock = exConn.clock();
   DtTime dt = 0.05;
   DtTime simTime = 0;
   while(simTime <= init.lifeTime())
   {
      clock->setSimTime(simTime);

      // process incoming data
      exConn.drainInput();

      if (simTime > init.erectorStartTime() &&
          simTime < init.erectorStopTime())
      {
         primLauncher.setParameter(DtApElevation,
            (float) (0.15 * (simTime - init.erectorStartTime())));
         primLauncher.setParameter(DtApElevationRate, (float) 0.15);
      }
      else
      {
         primLauncher.setParameter(DtApElevationRate, (float) 0.0);
      }

      if (simTime > init.missileSwapTime() &&
          simTime < (init.missileSwapTime() + .05))
      {
         esr->attPartList()->getPart(512).setEntityType(DtEntityType::nullType());
         if (!scud)
         {
            scud = new Missile(&exConn, &launcher, init);
         }
      }
      if (simTime > init.fireTime() &&
          simTime < (init.fireTime() + 0.05))
      {
         DtFireInteraction fire;
         fire.setAttackerId(launcher.globalId());

         // Haven't created the missile yet, so don't know its ID.
         fire.setMunitionId(DtGlobalObjectDesignator());
         fire.setEventId(exConn.nextEventId());
         fire.setLocation(esr->location());
         fire.setRange(3000);
         fire.setQuantity(1);
         exConn.sendStamped(fire);
      }

      if (simTime > init.damageTime())
      {
         esr->setDamageState(DtDamageDestroyed);
      }

      launcher.tick();
      if (scud)
      {
         scud->tick(simTime);
      }
      simTime += dt;
      DtSleep(simTime - clock->elapsedRealTime());
   }
   return 0;
}

Launcher Initializer Header

Launcher Initializer Header

/*******************************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*******************************************************************************/

#ifndef launcherInit_H_
#define launcherInit_H_

#include <vl/exerciseConnInitializer.h>
#include <vlutil/vlString.h>
#include <matrix/vlVector.h>
#include <mtl/configVariable.h>

class DtLauncherInitializer : public DtVrlApplicationInitializer
{
public:

   DtLauncherInitializer(int argc, char* argv[]);

   virtual ~DtLauncherInitializer();

private:

   DtLauncherInitializer(const DtLauncherInitializer& other);

   DtLauncherInitializer &operator=(const DtLauncherInitializer &other);

public:

   virtual void parseCmdLine();


   virtual void setLispFileName(const DtString& name);
   virtual DtString lispFileName() const;

   virtual double refLatitude() const;
   virtual double refLongitude() const;
   virtual double lifeTime() const;
   virtual double erectorStartTime() const;
   virtual double erectorStopTime() const;
   virtual double missileSwapTime() const;
   virtual double fireTime() const;
   virtual double damageTime() const;
   virtual double missileMoveTime() const;
   virtual double missileStopTime() const;


protected:
   virtual void initializeMtlParams();

protected:
   DtConfigVariable<DtString> myLispFileName;
   DtConfigVariable<double> myLifeTime;
   DtConfigVariable<double> myErectorStartTime;
   DtConfigVariable<double> myErectorStopTime;
   DtConfigVariable<double> myFireTime;
   DtConfigVariable<double> myMissileSwapTime;
   DtConfigVariable<double> myMissileMoveTime;
   DtConfigVariable<double> myMissileStopTime;
   DtConfigVariable<double> myDamageTime;

   int myMtlUseAsynchronousIO; 
   double myRefLatitude;
   double myRefLongitude;
};

#endif

Launcher Initializer Source

/*******************************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*******************************************************************************/
#include "launcherInit.h"

#include <matrix/vlVector.h>
#include <matrix/geodeticCoord.h>
#include <mtl/mtlEnvironment.h>

// Constructor -- Initialize the base class (will initialize protocol-specific
// parameters), command line arguments and mtl parameters
DtLauncherInitializer::DtLauncherInitializer(int argc, char* argv[]) :
   DtVrlApplicationInitializer(argc, argv, "VR-Link Launcher"),
   myLispFileName(mySettings, "&lispFile", "launcher.mtl", "LISP File Name",
      DtBaseConfigVariable::DtScopeCommandLine),
   myLifeTime(mySettings, "lifeTime", 120.0, "Life Time", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myErectorStartTime(mySettings, "erectorStartTime", 10.0, "Time To Start Erector", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myErectorStopTime(mySettings, "erectorStopTime", 15.0, "Time To Stop Erector", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myFireTime(mySettings, "fireTime", 23.0, "Time To Fire", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myMissileSwapTime(mySettings, "missileSwapTime", 23.0, "Missile Swap Time", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myMissileMoveTime(mySettings, "missileMoveTime", 23.0, "Missile Move Time", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myMissileStopTime(mySettings, "missileStopTime", 45.0, "Missile Stop Time", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myDamageTime(mySettings, "damageTime", 45.0, "Damage Time", 
      DtBaseConfigVariable::DtScopeCommandLine),
   myRefLatitude(0.0), 
   myRefLongitude(0.0) 
{

}

DtLauncherInitializer::~DtLauncherInitializer()
{

}

// Registers the MTL parameters
void DtLauncherInitializer::initializeMtlParams()
{
   myMtlEnv->registerVar("refLatitude", &myRefLatitude);
   myMtlEnv->registerVar("refLongitude", &myRefLongitude);
}

// Parses the command line
void DtLauncherInitializer::parseCmdLine()
{
   // This call will parse the command line and 
   // set protocol-specific data
   DtVrlApplicationInitializer::parseCmdLine();

   // If the "-l" flag was specified load the lisp file
   if (myLispFileName.isSet())
   {
      myMtlEnv->loadLispFile(const_cast<char *>((myLispFileName.value()).string()), 0);
   }

}
//--------------------------------------------------------------
//    ACCESSORS/MODIFIERS
//    Provide a way to inspect/modify the data
//--------------------------------------------------------------


void DtLauncherInitializer::setLispFileName(const DtString& name)
{
   myLispFileName.setValue(name);
}

DtString DtLauncherInitializer::lispFileName() const
{
   return myLispFileName.value();
}


double DtLauncherInitializer::refLatitude() const
{
   return myRefLatitude;
}

double DtLauncherInitializer::refLongitude() const
{
   return myRefLongitude;
}

double DtLauncherInitializer::lifeTime() const
{
   return myLifeTime.value();
}

double DtLauncherInitializer::erectorStartTime() const
{
   return myErectorStartTime.value();
}

double DtLauncherInitializer::erectorStopTime() const
{
   return myErectorStopTime.value();
}

double DtLauncherInitializer::missileSwapTime() const
{
   return myMissileSwapTime.value();
}

double DtLauncherInitializer::fireTime() const
{
   return myFireTime.value();
}

double DtLauncherInitializer::damageTime() const
{
   return myDamageTime.value();
}

double DtLauncherInitializer::missileMoveTime() const
{
   return myMissileMoveTime.value();
}

double DtLauncherInitializer::missileStopTime() const
{
   return myMissileStopTime.value();
}

Defining the Missile

Missile Header

/*********************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*********************************************************************/
#include "launcherInit.h"
#include <matrix/vlVector.h>
#include <matrix/vlTaitBryan.h>
#include <vl/topoView.h>
#include <matrix/vlDcm.h>

class DtExerciseConn;
class DtEntityPublisher;

class Missile
{
public:

   Missile(DtExerciseConn* conn, DtEntityPublisher* launcher, 
           const DtLauncherInitializer &init);   
   virtual ~Missile();

   virtual void setPos(DtConstVector vec);
   virtual void setVel(DtConstVector32 vec);
   virtual void tick(DtTime simTime);
   virtual DtEntityPublisher* entityPub();

protected:

   DtEntityPublisher* myPub;
   DtTopoView* myTopoView;
   DtVector position;
   DtVector32 velocity;
   DtVector32 localVel;
   DtVector localPos;
   DtTaitBryan initAngles;
   DtDcm erector2topo;
   DtVector initPosition;
   double myMissileMoveTime;
   double myMissileStopTime;
}; 

Missile Source

/*********************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*********************************************************************/

#include "missile.h"

#include <vl/exerciseConn.h>
#include <vlutil/vlUtil.h>
#include <matrix/vlTaitBryan.h>
#include <mtl/mtl.h>
#include <vl/entityPublisher.h>
#include <vl/topoView.h>
#include <vl/entityStateRepository.h>
#include <vlpi/articulatedPart.h>

Missile::Missile(DtExerciseConn* conn, DtEntityPublisher* launcher,
           const DtLauncherInitializer &init):
   myMissileMoveTime(init.missileMoveTime()),
   myMissileStopTime(init.missileStopTime()),
   initPosition( 0.0, 0.0, 0.0 )
{
   DtEntityType scudType(2,10,119,1,3,0,0);
   myPub = new DtEntityPublisher(scudType, conn, DtDrDrmRvw, DtForceOther);

   DtArticulatedPart& erector = 
      launcher->esr()->artPartList()->getPart(DtPrimaryLauncher1);
   initAngles = erector.orientation();
   DtDcm erectNeutral2erect;
   DtEuler_to_BodyToRef(initAngles, erectNeutral2erect);
   DtEuler_to_BodyToRef(initAngles, erector2topo);
    
   DtVector neutralErectorWRTlauncher(-6.64, -0.73, -1.65);
   DtVector missileWRTerector(5.21, 0.70, -0.7688);
    
   DtVector missileWRTneutralErector; 
   DtDcmVecMul(erectNeutral2erect, missileWRTerector, 
      missileWRTneutralErector);
   DtVecAdd(missileWRTneutralErector, neutralErectorWRTlauncher,
      initPosition);
   initPosition = (missileWRTneutralErector + neutralErectorWRTlauncher);
 
   myTopoView  = new DtTopoView(myPub->esr(), DtDeg2Rad(init.refLatitude()), DtDeg2Rad(init.refLongitude()));
       
   myTopoView->setLocation(initPosition);
   myTopoView->setOrientation(initAngles);

   myPub->tick();
}

Missile::~Missile()
{
   delete myTopoView;
   delete myPub;
}

DtEntityPublisher* Missile::entityPub()
{
   return myPub;
}

void Missile::setVel(DtConstVector32 vec)
{
   DtDcmVecMul(erector2topo, vec, velocity); 
}

void Missile::tick(DtTime simTime)
{
   if (simTime > myMissileMoveTime && simTime < myMissileStopTime)
   {
      localVel[0] = 10;
      DtVecScale(localVel, simTime - myMissileMoveTime, localPos);
      setPos(localPos);
      setVel(localVel);
      myTopoView->setLocation(position);
      myTopoView->setVelocity(velocity);
      myTopoView->setOrientation(initAngles);
   }
   else if (simTime > myMissileStopTime)
   {
      myTopoView->setVelocity(DtVector32(0,0,0));
   }
   myPub->tick();
}                        

void Missile::setPos(DtConstVector vec)
{
   DtVector rotVec;
   DtDcmVecMul(erector2topo, vec, rotVec);        
   DtVecAdd(rotVec, initPosition, position); 
}