#################################################################################################### # # Invoking X3D model self-test: # # $ python SideScanSonarExample.py # # Python package x3d.py package is available on PyPI for import. # This approach simplifies Python X3D deployment and use. # https://pypi.org/project/x3d # # Installation: # pip install x3d # or # python -m pip install x3d # # Developer options for loading x3d package in other Python programs: # # from x3d import * # preferred approach, terser source that avoids x3d.* class prefixes # # or # import x3d # traditional way to subclass x3d package, all classes require x3d.* prefix, # # but python source is very verbose, for example x3d.Material x3d.Shape etc. # # X3dToPython.xslt stylesheet insertPackagePrefix=true supports this option. # #################################################################################################### from x3d import * newModel=X3D(profile='Immersive',version='3.3', head=head( children=[ meta(content='SideScanSonarExample.x3d',name='title'), meta(content='Produce wireframe or transparent sidescan sonar beams.',name='description'), meta(content='Don Brutzman',name='creator'), meta(content='15 March 2001',name='created'), meta(content='20 October 2019',name='modified'), meta(content='https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d',name='reference'), meta(content='https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.x3d',name='identifier'), meta(content='X3D-Edit 3.3 https://savage.nps.edu/X3D-Edit',name='generator'), meta(content='../../license.html',name='license')]), Scene=Scene( children=[ Background(skyColor=[(0.2,0.2,0.4)]), WorldInfo(info=["Produce wireframe or transparent beam cones"],title='BeamConeExample'), Viewpoint(description='SideScanSonar example',orientation=(0,1,0,-1.57),position=(-40,0,0)), ExternProtoDeclare(appinfo='Produce wireframe or semi-transparent sonar sidescan beams',name='SideScanSonar',url=["../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar","https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar","../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar","https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar"], field=[ field(accessType='inputOnly',appinfo='vertical distance above bottom in meters along y axis',name='altitude',type='SFFloat'), field(accessType='initializeOnly',appinfo='default vertical distance above bottom in meters along y axis',name='defaultAltitude',type='SFFloat'), field(accessType='initializeOnly',appinfo='maximum effective altitude of sidescan sonar above bottom',name='maxAltitude',type='SFFloat'), field(accessType='initializeOnly',appinfo='distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom',name='defaultCrossTrackHalfRange',type='SFFloat'), field(accessType='initializeOnly',appinfo='longitudinal width of a single return',name='defaultTrackWidthMeters',type='SFFloat'), field(accessType='initializeOnly',appinfo='width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers',name='vehicleWidthMeters',type='SFFloat'), field(accessType='inputOnly',appinfo='(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?',name='contact',type='SFBool'), field(accessType='initializeOnly',appinfo='draw lines for tracking shape?',name='wireframe',type='SFBool'), field(accessType='initializeOnly',appinfo='draw solid tracking shape?',name='solid',type='SFBool'), field(accessType='initializeOnly',appinfo='rendering color when contact=true',name='contactColor',type='SFColor'), field(accessType='initializeOnly',appinfo='rendering color when contact=false',name='noContactColor',type='SFColor'), field(accessType='inputOutput',appinfo='1 = fully transparent wireframe only',name='transparency',type='SFFloat')]), # Viewable geometry for this scene Group( children=[ ProtoInstance(DEF='SideScanSonarBeam',name='SideScanSonar', fieldValue=[ fieldValue(name='defaultTrackWidthMeters',value=1), fieldValue(name='transparency',value=0.5), fieldValue(name='wireframe',value=True), fieldValue(name='solid',value=True)]), Transform(translation=(0,4,0), children=[ Billboard( children=[ Shape( appearance=Appearance( material=Material(diffuseColor=(.8,.8,0))), geometry=Text(string=["touch text to activate contact-mode rendering"], fontStyle=FontStyle(justify=["MIDDLE","MIDDLE"],size=2))), TouchSensor(description='Hover over text to activate contact mode'), Shape( # transparent Box as text-selection assist geometry=Box(size=(32,2,.001)), appearance=Appearance( material=Material(transparency=1)))]), TouchSensor(DEF='TextTouch',description='touch text to toggle contact-mode rendering'), ROUTE(fromField='isOver',fromNode='TextTouch',toField='contact',toNode='SideScanSonarBeam')])]), Group(DEF='AnimationGroup', children=[ TimeSensor(DEF='SonarClock',cycleInterval=10,loop=True), # note that this interpolator sets speed at (5m / 6sec) == 0.78 m/sec which is very very slow!! # this example is not physically realistic but it helps visualize the propagation of sound energy ScalarInterpolator(DEF='RangeInterpolator',key=[0,.2,0.8,1],keyValue=[0,0.01,5,5]), ROUTE(fromField='fraction_changed',fromNode='SonarClock',toField='set_fraction',toNode='RangeInterpolator'), ROUTE(fromField='value_changed',fromNode='RangeInterpolator',toField='altitude',toNode='SideScanSonarBeam'), # ========== ScalarInterpolator(DEF='TransparencyInterpolator',key=[0,.2,0.8,1],keyValue=[0,0,1,1]), ROUTE(fromField='fraction_changed',fromNode='SonarClock',toField='set_fraction',toNode='TransparencyInterpolator'), ROUTE(fromField='value_changed',fromNode='TransparencyInterpolator',toField='transparency',toNode='SideScanSonarBeam')])]) ) # X3D model complete #################################################################################################### # Self-test diagnostics #################################################################################################### print('Self-test diagnostics for SideScanSonarExample.py:') if metaDiagnostics(newModel): # built-in utility method in X3D class print(metaDiagnostics(newModel)) # display meta info, hint, warning, error, TODO values in this model # print('check newModel.XML() serialization...') newModelXML= newModel.XML() # test export method XML() for exceptions during export newModel.XMLvalidate() # print(newModelXML) # diagnostic try: # print('check newModel.VRML() serialization...') newModelVRML=newModel.VRML() # test export method VRML() for exceptions during export # print(prependLineNumbers(newModelVRML)) # debug print("Python-to-VRML export of VRML output successful", flush=True) except Exception as err: # usually BaseException # https://stackoverflow.com/questions/18176602/how-to-get-the-name-of-an-exception-that-was-caught-in-python print("*** Python-to-VRML export of VRML output failed:", type(err).__name__, err) if newModelVRML: # may have failed to generate print(prependLineNumbers(newModelVRML, err.lineno)) try: # print('check newModel.JSON() serialization...') newModelJSON=newModel.JSON() # test export method JSON() for exceptions during export # print(prependLineNumbers(newModelJSON)) # debug print("Python-to-JSON export of JSON output successful (under development)") except Exception as err: # usually SyntaxError print("*** Python-to-JSON export of JSON output failed:", type(err).__name__, err) if newModelJSON: # may have failed to generate print(prependLineNumbers(newModelJSON,err.lineno)) print("python SideScanSonarExample.py load and self-test diagnostics complete.")