Add Submarine simulation (#1629)

trick_sims/SIM_submarine/Modified_data/Submarine.dr

@@ -0,0 +1,20 @@
+global DR_GROUP_ID
+global drg
+try:
+    if DR_GROUP_ID >= 0:
+        DR_GROUP_ID += 1
+except NameError:
+    DR_GROUP_ID = 0
+    drg = []
+
+drg.append(trick.DRAscii("Submarine"))
+drg[DR_GROUP_ID].set_freq(trick.DR_Always)
+drg[DR_GROUP_ID].set_cycle(0.1)
+drg[DR_GROUP_ID].set_single_prec_only(False)
+drg[DR_GROUP_ID].add_variable("dyn.submarine.pos[0]")
+drg[DR_GROUP_ID].add_variable("dyn.submarine.pos[1]")
+drg[DR_GROUP_ID].add_variable("dyn.submarine.vel[0]")
+drg[DR_GROUP_ID].add_variable("dyn.submarine.vel[1]")
+drg[DR_GROUP_ID].set_max_file_size(1 * 1073741824) # multiply converts GiB to B --Dr. Dre
+trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
+drg[DR_GROUP_ID].enable()

trick_sims/SIM_submarine/Modified_data/realtime.py

@@ -0,0 +1,10 @@
+
+trick.real_time_enable()
+trick.exec_set_software_frame(0.1)
+trick.itimer_enable()
+
+trick.exec_set_enable_freeze(True)
+trick.exec_set_freeze_command(True)
+
+simControlPanel = trick.SimControlPanel()
+trick.add_external_application(simControlPanel)

trick_sims/SIM_submarine/RUN_test/input.py

@@ -0,0 +1,23 @@
+exec(open("./Modified_data/realtime.py").read())
+
+dyn.submarine.pos[0] =  0.0
+dyn.submarine.pos[1] = -0.5
+dyn.submarine.vel[0] =  0.0
+dyn.submarine.vel[1] =  0.0
+
+# ==========================================
+# Start the Satellite Graphics Client
+# ==========================================
+varServerPort = trick.var_server_get_port();
+SubmarineDisplay_path = "models/graphics/build/SubmarineDisplay.jar"
+
+if (os.path.isfile(SubmarineDisplay_path)) :
+    SubmarineDisplay_cmd = "java -jar " \
+                   + SubmarineDisplay_path \
+                   + " " + str(varServerPort) + " &" ;
+    print(SubmarineDisplay_cmd)
+    os.system( SubmarineDisplay_cmd);
+else :
+    print('==================================================================================')
+    print('SubmarineDisplay needs to be built. Please \"cd\" into ../models/graphics and type \"mvn package\".')
+    print('==================================================================================')

trick_sims/SIM_submarine/S_define

@@ -0,0 +1,29 @@
+/************************************************************
+PURPOSE:
+    ( Simulate a submarine. )
+LIBRARY DEPENDENCIES:
+    ((submarine/src/Submarine.cpp))
+*************************************************************/
+#include "sim_objects/default_trick_sys.sm"
+##include "submarine/include/Submarine.hh"
+
+class SubmarineSimObject : public Trick::SimObject {
+    public:
+    Submarine submarine;
+
+    SubmarineSimObject() {
+        ("default_data")            submarine.default_data() ;
+        ("initialization")          submarine.state_init() ;
+        ("derivative")              submarine.state_deriv() ;
+        (0.1, "scheduled")          submarine.control() ;
+        ("integration") trick_ret = submarine.state_integ() ;
+        ("post_integration")        submarine.state_post_integ() ;
+    }
+};
+
+SubmarineSimObject dyn;
+IntegLoop dyn_integloop(0.1) dyn;
+
+void create_connections() {
+    dyn_integloop.getIntegrator(Runge_Kutta_4, 6);
+}

trick_sims/SIM_submarine/S_overrides.mk

@@ -0,0 +1,2 @@
+TRICK_CFLAGS += -Imodels
+TRICK_CXXFLAGS += -Imodels

trick_sims/SIM_submarine/models/graphics/.gitignore

@@ -0,0 +1 @@
+!\makefile

trick_sims/SIM_submarine/models/graphics/Makefile

@@ -0,0 +1,6 @@
+
+all:
+	mvn package
+
+clean:
+	rm -rf build

trick_sims/SIM_submarine/models/graphics/pom.xml

@@ -0,0 +1,121 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <groupId>trick-java</groupId>
+  <artifactId>trick-java</artifactId>
+  <version>23.0.0-beta</version>
+
+  <name>trick-java</name>
+
+  <url>https://github.com/nasa/trick</url>
+
+  <properties>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    <maven.compiler.source>1.8</maven.compiler.source>
+    <maven.compiler.target>1.8</maven.compiler.target>
+  </properties>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.13.1</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+  <build>
+
+    <finalName>SubmarineDisplay</finalName>
+
+    <directory>build</directory>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
+        <version>3.1.1</version>
+        <configuration>
+          <javadocExecutable>${java.home}/bin/javadoc</javadocExecutable>
+          <destDir>../../share/doc/trick/java</destDir>
+        </configuration>
+      </plugin>
+    </plugins>
+
+    <pluginManagement><!-- lock down plugins versions to avoid using Maven defaults (may be moved to parent pom) -->
+
+      <plugins>
+        <!-- clean lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#clean_Lifecycle -->
+        <plugin>
+          <artifactId>maven-clean-plugin</artifactId>
+          <version>3.1.0</version>
+        </plugin>
+
+        <!-- default lifecycle, jar packaging: see https://maven.apache.org/ref/current/maven-core/default-bindings.html#Plugin_bindings_for_jar_packaging -->
+        <plugin>
+          <artifactId>maven-resources-plugin</artifactId>
+          <version>3.0.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-compiler-plugin</artifactId>
+          <version>3.8.0</version>
+          <configuration>
+            <compilerArgs>
+              <arg>-g</arg>
+              <arg>-Xlint:unchecked</arg>
+              <arg>-Xlint:deprecation</arg>
+            </compilerArgs>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <!-- Build an executable JAR -->
+          <groupId>org.apache.maven.plugins</groupId>
+          <artifactId>maven-jar-plugin</artifactId>
+          <version>3.1.0</version>
+          <configuration>
+            <archive>
+              <manifest>
+                <addClasspath>true</addClasspath>
+                <classpathPrefix>lib/</classpathPrefix>
+                <mainClass>SubmarineDisplay</mainClass>
+              </manifest>
+            </archive>
+          </configuration>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-surefire-plugin</artifactId>
+          <version>2.22.1</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-install-plugin</artifactId>
+          <version>2.5.2</version>
+        </plugin>
+
+        <plugin>
+          <artifactId>maven-deploy-plugin</artifactId>
+          <version>2.8.2</version>
+        </plugin>
+
+        <!-- site lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#site_Lifecycle -->
+        <plugin>
+          <artifactId>maven-site-plugin</artifactId>
+          <version>3.7.1</version>
+        </plugin>
+
+<!--
+        <plugin>
+          <artifactId>maven-project-info-reports-plugin</artifactId>
+          <version>3.0.0</version>
+        </plugin>
+-->
+
+      </plugins>
+    </pluginManagement>
+  </build>
+</project>