####################################################################################################
#
# Invoking X3D model self-test:
#
#   $ python Remus.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='3.0',
  head=head(
    children=[
    meta(content='Remus.x3d',name='title'),
    meta(content="Remote Environmental Monitoring UnitS (REMUS) is a low-cost autonomous underwater vehicle (AUV) for coastal monitoring and multiple vehicle survey operations. REMUS is developed and operated by the Woods Hole Oceanographic Institute (WHOI) Oceanographic Systems Laboratory. Red fin is topside. p.s. Jeff Weekley's first model!",name='description'),
    meta(content='Jeffrey Weekley',name='creator'),
    meta(content='16 March 2001',name='created'),
    meta(content='20 October 2019',name='modified'),
    meta(content='http://adcp.whoi.edu',name='reference'),
    meta(content='http://www.whoi.edu/home/marine/remus_main.html',name='reference'),
    meta(content='remus_main_May2001.pdf',name='reference'),
    meta(content='marine_remus_top.jpg',name='photo'),
    meta(content='SAHRV-SemiAutonomousHydrographicReconnaissainceVehicle.pdf',name='reference'),
    meta(content='http://www.onr.navy.mil/sci_tech/ocean/info/yerpts/oeye00/oe5vona1.pdf',name='reference'),
    meta(content='oe5vona1-NavalSpecialWarfareSupportWithREMUS.pdf',name='reference'),
    meta(content='https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d',name='identifier'),
    meta(content='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit',name='generator'),
    meta(content='../../license.html',name='license')]),
  Scene=Scene(
    children=[
    WorldInfo(info=["Only unclassified open resources were used to create this model."],title='Remus AUV'),
    Background(skyColor=[(0.2,0.8,0.8)]),
    Transform(rotation=(0,1,0,-1.57),translation=(-5,1,0),
      children=[
      Viewpoint(description='Remus over-the-shoulder 5m',orientation=(1,0,0,-0.25),position=(0,0,0))]),
    Group(
      children=[
      Viewpoint(description='Remus from above 100m',orientation=(-0.58,-0.58,-0.58,2.09),position=(0,100,0)),
      Viewpoint(description='Remus starboard side 30m',position=(0,0,30)),
      Viewpoint(description='Remus starboard side 3m',position=(0,0,3)),
      Viewpoint(description='Remus astern 30m',orientation=(0,1,0,-1.57),position=(-30,0.1,0)),
      Viewpoint(description='Remus astern 3m',orientation=(0,1,0,-1.57),position=(-3,0.1,0)),
      Viewpoint(description='Remus port side 30m',orientation=(0,1,0,3.14),position=(0,0,-30)),
      Viewpoint(description='Remus port side 3m',orientation=(0,1,0,3.14),position=(0,0,-3))]),
    WorldInfo(info=["null node outside of LOD range"]),
    #  This file builds the REMUS Autonomous Underwater Vehicle (AUV). The dimensions were originally provided in English units and is converted to metric using a scale that 39.3 inches equal one meter. 
    Transform(rotation=(0.0,0.0,1.0,1.57079),scale=(0.2145,0.2145,0.2145),translation=(1,0,0),
      children=[
      Transform(DEF='torpedoband1',translation=(0.0,2.475,0.0),
        children=[
        Shape(
          geometry=Cylinder(bottom=False,height=0.45,radius=.267,top=False),
          appearance=Appearance(
            material=Material(diffuseColor=(0,0.5,0.5))))]),
      Transform(DEF='torpedoband2',translation=(0.0,2.735,0.0),
        children=[
        Shape(
          geometry=Cylinder(bottom=False,height=.07,radius=.267,top=False),
          appearance=Appearance(
            material=Material(diffuseColor=(0,0.5,0.5))))]),
      Transform(DEF='torpedobody2',translation=(0.0,3.37,0.0),
        children=[
        Shape(
          geometry=Cylinder(bottom=False,height=1.2,radius=0.267,top=False),
          appearance=Appearance(
            material=Material(diffuseColor=(1.0,1.0,0.0))))]),
      Transform(DEF='torpedoband3',translation=(0.0,4.005,0.0),
        children=[
        Shape(
          geometry=Cylinder(bottom=False,height=.07,radius=.267,top=False),
          appearance=Appearance(
            material=Material(diffuseColor=(1.0,1.0,0.0))))]),
      Transform(DEF='torpedobody3',translation=(0.0,4.638,0.0),
        children=[
        Shape(
          geometry=Cylinder(bottom=False,height=1.2,radius=0.267,top=False),
          appearance=Appearance(
            material=Material(diffuseColor=(1.0,1.0,0.0))))]),
      Transform(DEF='torpedoband4',translation=(0.0,3.8075,0.0),
        children=[
        Transform(translation=(0.0,1.465,0.0),
          children=[
          Shape(
            geometry=Cylinder(bottom=False,height=.07,radius=.267,top=False),
            appearance=Appearance(
              material=Material(diffuseColor=(1.0,1.0,0.0))))])]),
      Transform(DEF='torpedobody4',translation=(0.0,3.8075,0.0),
        children=[
        Transform(translation=(0.0,2.1,0.0),
          children=[
          Shape(
            geometry=Cylinder(bottom=False,height=1.2,radius=.267,top=False),
            appearance=Appearance(
              material=Material(diffuseColor=(1.0,1.0,0.0))))])]),
      Transform(DEF='torpedonose',rotation=(1.0,0.0,0.0,3.1416),translation=(0,2.2525,0),
        children=[
        Shape(
          appearance=Appearance(
            material=Material(shininess=0.5)),
          geometry=Extrusion(creaseAngle=1.785,crossSection=[(0.267,0.000),(0.231,-0.134),(0.134,-0.231),(0.0,-0.267),(-0.134,-0.231),(-0.231,-0.134),(-0.267,0.000),(-0.231,0.134),(-0.134,0.231),(0.0,0.267),(0.134,0.231),(0.231,0.134),(0.267,0.0)],scale=[(1.00,1.00),(0.95,0.95),(0.88,0.88),(0.76,0.76),(0.48,0.48)],spine=[(0.00,0.00,0.00),(0.00,0.10,0.00),(0.00,0.20,0.00),(0.00,0.30,0.00),(0.00,0.40,0.00)]))]),
      Group(DEF='controlfins',
        children=[
        Transform(translation=(0.0,-0.25,0.0),
          children=[
          Transform(DEF='ControlFin1',
            children=[
            Transform(translation=(0.19,7.81,0.0),
              children=[
              Shape(
                geometry=Box(size=(0.4,.2,0.02)),
                appearance=Appearance(
                  material=Material(diffuseColor=(1.0,0.0,0.0),shininess=0.5)))])]),
          Transform(DEF='ControlFin2',rotation=(0,1,0,3.17),
            children=[
            Transform(translation=(0.19,7.81,0.0),
              children=[
              Shape(
                geometry=Box(size=(0.4,.2,0.02)),
                appearance=Appearance(
                  material=Material(diffuseColor=(0.1,0.1,0.1),shininess=0.5)))])]),
          Transform(DEF='ControlFin3',rotation=(0,1,0,1.57),
            children=[
            Transform(translation=(0.19,7.81,0.0),
              children=[
              Shape(
                geometry=Box(size=(0.4,.2,0.02)),
                appearance=Appearance(
                  material=Material(diffuseColor=(0.1,0.1,0.1),shininess=0.5)))])]),
          Transform(DEF='ControlFin4',rotation=(0.0,1.0,0.0,4.74),
            children=[
            Transform(translation=(0.19,7.81,0.0),
              children=[
              Shape(
                geometry=Box(size=(0.4,.2,0.02)),
                appearance=Appearance(
                  material=Material(diffuseColor=(0.1,0.1,0.1),shininess=0.5)))])])])]),
      Group(DEF='stabilzerfins'),
      Group(DEF='TailSection',
        children=[
        Transform(DEF='torpedotail',rotation=(1.0,0.0,0.0,3.1416),translation=(0.0,7.9375,0.0),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(shininess=1.0)),
            geometry=Extrusion(creaseAngle=2.0,crossSection=[(0.267,0.000),(0.231,-0.134),(0.134,-0.231),(0.0,-0.267),(-0.134,-0.231),(-0.231,-0.134),(-0.267,0.000),(-0.231,0.134),(-0.134,0.231),(0.0,0.267),(0.134,0.231),(0.231,0.134),(0.267,0.0)],endCap=False,scale=[(0.342,0.342),(0.500,0.500),(0.643,0.643),(0.766,0.766),(0.866,0.866),(0.940,0.940),(0.985,0.985),(1.0,1.0)],spine=[(0.0,0.0,0.000),(0.0,0.114,0.000),(0.0,0.266,0.000),(0.0,0.453,0.000),(0.0,0.670,0.000),(0.0,0.910,0.000),(0.0,1.166,0.000),(0.0,1.431,0.0)])),
          LOD(range=[20],
            children=[
            Group(DEF='torpedostator',
              children=[
              Transform(DEF='propeller',translation=(0.0,-0.15,0.0),
                children=[
                Group(DEF='statorblade1',
                  children=[
                  Transform(DEF='torpedostatorblade1',
                    children=[
                    Transform(rotation=(-1.0,0.0,0.0,1.0472),translation=(0.075,0.0,0.0),
                      children=[
                      Shape(
                        geometry=Box(size=(0.125,0.09,0.015)),
                        appearance=Appearance(
                          material=Material(diffuseColor=(0.1,0.1,0.1),shininess=0.75)))])]),
                  Transform(DEF='torpedostatorblade2',rotation=(0.0,1.0,0.0,1.0472),
                    children=[
                    Transform(rotation=(1,0,0,1.0472),translation=(-0.075,0.0,0.0),
                      children=[
                      Shape(
                        geometry=Box(size=(0.125,0.09,0.015)),
                        appearance=Appearance(
                          material=Material(diffuseColor=(0.1,0.1,0.1),shininess=0.5)))])]),
                  Transform(DEF='torpedostatorblade3',rotation=(0.0,1.0,0.0,-1.0472),
                    children=[
                    Transform(rotation=(1,0,0,1.0472),translation=(-0.075,0.0,0.0),
                      children=[
                      Shape(
                        geometry=Box(size=(0.125,0.09,0.015)),
                        appearance=Appearance(
                          material=Material(diffuseColor=(0.1,0.1,0.1))))])])]),
                Transform(DEF='statorcrankshaft',rotation=(1.0,0.0,0.0,3.1416),translation=(0.0,0.05,0.0),
                  children=[
                  Shape(
                    geometry=Cone(bottomRadius=0.09,height=0.2),
                    appearance=Appearance(
                      material=Material(diffuseColor=(0.1,0.1,0.1))))])]),
              #  Spins the propellor and stator once every 4 seconds 
              TimeSensor(DEF='Clock',cycleInterval=0.5,loop=True),
              OrientationInterpolator(DEF='PropSpin',key=[0.0,0.5,1.0],keyValue=[(0.0,1.0,0.0,0.00),(0.0,1.0,0.0,3.14),(0.0,1.0,0.0,6.28)]),
              ROUTE(fromField='fraction_changed',fromNode='Clock',toField='set_fraction',toNode='PropSpin'),
              ROUTE(fromField='value_changed',fromNode='PropSpin',toField='rotation',toNode='propeller')]),
            WorldInfo(info=["null node"])])])]),
      Transform(DEF='SideScanningSonarArray1',translation=(0.0,4.5,0.27),
        children=[
        Shape(
          geometry=Box(size=(0.04,2.0,0.025)),
          appearance=Appearance(
            material=Material(diffuseColor=(0.1,0.1,0.1),shininess=0.5)))]),
      Transform(DEF='SideScanningSonarArray2',translation=(0.0,0.0,-.54),
        children=[
        Transform(USE='SideScanningSonarArray1')]),
      Transform(DEF='TopHook',translation=(0.27,4.25,0.0),
        children=[
        Shape(
          geometry=Box(size=(0.04,0.1,0.04)),
          appearance=Appearance(
            material=Material(diffuseColor=(0.1,0.1,0.1),shininess=.75)))])]),
    Group(DEF='GPSTransiever',
      children=[
      Transform(rotation=(0,1,0,1.57),scale=(0.0125,0.0125,0.0125),translation=(-0.3,0.06,0),
        children=[
        Transform(DEF='Top',
          children=[
          Shape(
            geometry=Extrusion(creaseAngle=3.14,crossSection=[(0,1.1),(0.65,0.4),(0.7,0.2),(0.7,-0.2),(0,-1.6),(-0.7,-0.2),(-0.7,0.2),(-0.65,0.4),(0,1.1)],scale=[(0.9,0.9),(1,1),(1,1),(0.9,0.9)],spine=[(0,5,0),(0,5.1,0),(0,5.9,0),(0,6,0)]),
            appearance=Appearance(
              material=Material(diffuseColor=(0.8,0.63,0.7),transparency=0.2)))]),
        Transform(DEF='Fin',
          children=[
          Shape(
            geometry=Extrusion(creaseAngle=3.14,crossSection=[(0,2.2),(0.2,1.8),(0,-2.2),(-0.2,1.8),(0,2.2)],scale=[(1,1),(0.4,0.4)],spine=[(0,0,0),(0,5.9,0)]),
            appearance=Appearance(DEF='Orange',
              material=Material(diffuseColor=(0.8,0.43,0.3))))]),
        Transform(DEF='Base',
          children=[
          Shape(
            geometry=Extrusion(creaseAngle=2,crossSection=[(0,2.3),(0.2,2.2),(0.4,2),(0.5,1.6),(0.5,-1.6),(0.3,-2),(0,-2.3),(-0.3,-2),(-0.5,-1.6),(-0.5,1.6),(-0.4,2),(-0.2,2.2),(0,2.3)],scale=[(1,1),(1,1),(0.9,0.9)],spine=[(0,-0.5,0),(0,0.1,0),(0,0.11,0)]),
            appearance=Appearance(USE='Orange'))]),
        Transform(translation=(0,5.825,0),
          children=[
          Shape(
            geometry=Box(size=(0.8,0.3,1)),
            appearance=Appearance(
              material=Material(diffuseColor=(0.15,0.15,0.25))))])])])])
) # X3D model complete

####################################################################################################
# Self-test diagnostics
####################################################################################################

print('Self-test diagnostics for Remus.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 Remus.py load and self-test diagnostics complete.")