Merge branch 'master' of https://github.com/afrl-rq/OpenAMASE

# By derek.kingston # Via derek.kingston * 'master' of https://github.com/afrl-rq/OpenAMASE: Enable speed override actions Additional ports for external entities
afrl-rq · Jul 6, 2018 · 0985a59 · 0985a59
2 parents 9106757 + 36f32c7
commit 0985a59
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Showing 4 changed files with 28 additions and 5 deletions.
diff --git a/OpenAMASE/config/amase/EntityControl.xml b/OpenAMASE/config/amase/EntityControl.xml
@@ -25,6 +25,8 @@
             <TcpConnection Id="5140" Port="5140" />
             <TcpConnection Id="6050" Port="6050" />
             <TcpConnection Id="6051" Port="6051" />
+            <TcpConnection Id="7056" Port="7056" />
+            <TcpConnection Id="7057" Port="7057" />
         </Module>
     </DefaultAircraft>
     <DefaultEntity>

diff --git a/OpenAMASE/lib/lmcplib.jar b/OpenAMASE/lib/lmcplib.jar
diff --git a/OpenAMASE/src/Amase/avtas/amase/entity/modules/LoiterControl.java b/OpenAMASE/src/Amase/avtas/amase/entity/modules/LoiterControl.java
@@ -13,6 +13,7 @@
 package avtas.amase.entity.modules;
 
 import afrl.cmasi.*;
+import uxas.messages.uxnative.*;
 import avtas.amase.entity.EntityModule;
 import java.util.ArrayDeque;
 import java.util.ArrayList;
@@ -106,7 +107,7 @@ public void modelEventOccurred(Object object) {
                     currentCommandID = vc.getCommandID();
                     break;
                 }
-                else if ( !(a instanceof PayloadAction) ) {
+                else if ( !(a instanceof PayloadAction) && !(a instanceof SpeedOverrideAction) ) {
                     loiterList.clear();
                     currentLoiter = null;
                     data.autopilotCommands.navMode.setValue(NavigationMode.Loiter);

diff --git a/OpenAMASE/src/Amase/avtas/amase/entity/modules/WaypointFollower.java b/OpenAMASE/src/Amase/avtas/amase/entity/modules/WaypointFollower.java
@@ -13,6 +13,7 @@
 package avtas.amase.entity.modules;
 
 import afrl.cmasi.*;
+import uxas.messages.uxnative.*;
 import avtas.amase.entity.EntityModule;
 import avtas.amase.util.CmasiUtils;
 import avtas.data.Unit;
@@ -117,10 +118,9 @@ public void step(double timestep_sec, double simtime_sec) {
         }
 
         // make sure alt and speed are set
-        data.autopilotCommands.cmdAlt.setValue(currentWp.getAltitude());
-        data.autopilotCommands.cmdSpeed.setValue(currentWp.getSpeed());
-        data.autopilotCommands.speedCmdType.setValue(SpeedType.Airspeed);
-
+        //data.autopilotCommands.cmdAlt.setValue(currentWp.getAltitude());
+        //data.autopilotCommands.cmdSpeed.setValue(currentWp.getSpeed());
+        //data.autopilotCommands.speedCmdType.setValue(SpeedType.Airspeed);
     }
 
     /**
@@ -132,6 +132,18 @@ public void step(double timestep_sec, double simtime_sec) {
     public void setWpFollow(boolean isEnabled) {
         data.autopilotCommands.navMode.setValue(NavigationMode.Waypoint);
     }
+
+    /**
+     * Overwrites current speed commanded value with desired speed value.
+     * Used in combination with Loiter or Waypoint mode to immediately change
+     * speed, disregarding original speed command.
+     *
+     * @param speed value to which commanded speed should be assigned.
+     */
+    public void setSpeed(double speed) {
+        //System.out.println("Setting speed to " + speed);
+        data.autopilotCommands.cmdSpeed.setValue(speed);
+    }
 
     /**
      * Algorithm for doing a simple turn-past style turn. Called by the step
@@ -356,6 +368,10 @@ else if (object instanceof VehicleActionCommand) {
                         incrementWaypoint(wa.getWaypointNumber());
                     }
                 }
+                else if (va instanceof SpeedOverrideAction) {
+                    SpeedOverrideAction sa = (SpeedOverrideAction) va;
+                    setSpeed(sa.getSpeed());
+                }
 
             }
         }
@@ -367,6 +383,10 @@ else if (object instanceof GoToWaypointAction) {
                 incrementWaypoint(wa.getWaypointNumber());
             }
         }
+        else if (object instanceof SpeedOverrideAction) {
+            SpeedOverrideAction sa = (SpeedOverrideAction) object;
+            setSpeed(sa.getSpeed());
+        }
     }
 }