:orphan:

.. ****************************************************************************
.. CUI//REL TO USA ONLY
..
.. The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
..
.. The use, dissemination or disclosure of data in this file is subject to
.. limitation or restriction. See accompanying README and LICENSE for details.
.. ****************************************************************************

UCI Example
-----------

The following is an example showing how the AFSIM UCI could be used to communicate with Non-AFSIM programs.
A platform one AFSIM instance (ship1) will send periodic commands via UCI messages to move the center of an ESM sensor
volume to a given azimuth and elevation to point at different targets on a second instance (ship2). These instances will communicate
via the dis_interface. This example can be found in wsf_oms_uci/data/esm_demo.

The CAL_ACTIVEMQ_CONFIG environment variable should be set to ./RefCppCalConfiguration.xml. This allows each instance of AFSIM
to handle it's own RefCAL.

.. image:: images/uci_example_scenario.png

Ship1
=====

Reference CAL config file (ship1/RefCppCalConfiguration.xml):

.. parsed-literal::

   <?xml version="1.0" encoding="UTF-8"?>
   <!--Sample XML file generated by XMLSpy v2012 rel. 2 sp1 (x64) (http://www.altova.com)-->
   <RefCppCalConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
      <ActiveMQBroker>tcp://127.0.0.1:61616</ActiveMQBroker>
      <ActiveMQNoEchoMode>1</ActiveMQNoEchoMode>
      <ReaderQueueMax>1000</ReaderQueueMax>
      <ReaderSleepMicroseconds>1000</ReaderSleepMicroseconds>

      <ServiceList>
         <Service Name="ship1" UUID="CCCCCCCC-CCCC-CCCC-CCCC-CCCCCCCCCCCD">
            <System Label="uci" UUID="AA020000-0000-0000-0000-000000000000"/>
            <Domain ID="10"/>
         </Service>
      </ServiceList>
   </RefCppCalConfiguration>

Startup file (ship1/test_scenario_afsim_ship1.txt):

.. parsed-literal::

   # UCI ESM Test Scenario (non-AFSIM simulation proxy)
   # Run this scenario concurrently in Warlock with esm_test_scenario_ship2.txt

   include ../test_scenario_non_afsim_proxy.txt

Non-AFSIM Proxy (test_scenario_non_afsim_proxy.txt):

.. parsed-literal::

   # Platform "sense" is internally moved. ESM UCI messages are received
   # for platform "sense" in the other simulation.
   # The ESM sensor on platfom sense is run in the other simulation.

   include ./test_scenario_common.txt

   dis_interface 
      application 1

      // Entity type SIMPLE_SENSE maps to SENSE type in uci-enabled app
      entity_type SIMPLE_SENSE 1:2:225:1:12:0:0   
      
      entity_id sense 1
      entity_id target_1 2
      entity_id target_2 3
      entity_id target_3 4
      
   end_dis_interface

   uci_interface
      service_name ship1
      service_descriptor SHIP1
   end_uci_interface

   platform sense SIMPLE_SENSE

      radar_signature FIGHTER_RADAR_SIGNATURE
      position 39:30n 86:31w
      altitude  1000 feet
      
      edit uci_component computer
         processor esm_command
         debug
      end_uci_component
      
      add processor esm_command WSF_SCRIPT_PROCESSOR
         internal_link computer
         on_message 
         
            type UCI_ESM_CAPABILITY_MESSAGE // esm capability message 
            script
               SuppressMessage();
               writeln_d(TIME_NOW, ": Received UCI esm capability message!!");
               
               UCI_ESM_CapabilityMessage msg = (UCI_ESM_CapabilityMessage)MESSAGE;

               if (msg.IsValid())
               {
                  RequestControl(msg);
               }
               else
               {
                  writeln_d("Invalid UCI_ESM_CapabilityMessage");
               }
            end_script
            
            type UCI_CONTROL_REQUEST_STATUS_MESSAGE // Control request status
            script
               SuppressMessage();
               UCI_ControlRequestStatusMessage msg = (UCI_ControlRequestStatusMessage)MESSAGE;
               if (msg.IsApproved())
               {
                  writeln_d("Control request ", msg.UUID(), " has been accepted!");
               }
               else if (msg.IsRejected())
               {
                  writeln_d("Control request ", msg.UUID(), " was rejected because ",
                            msg.GetRemarks());
               }
               else if (msg.IsDeleted())
               {
                  writeln_d("Control request ", msg.UUID(), " was deleted because ",
                            msg.GetRemarks());
               }
               else if (msg.IsPending())
               {
                  writeln_d("Control request ", msg.UUID(), " is pending.");
               }
            end_script
            
            type UCI_ESM_CAPABILITY_STATUS_MESSAGE
            script
               SuppressMessage();
               UCI_ESM_CapabilityStatusMessage msg = (UCI_ESM_CapabilityStatusMessage)MESSAGE;
               for (int i = 0; i < msg.Size(); i = i + 1)
               {
                  string status;
                  UCI_CapabilityStatus capStatus = msg.CapabilityStatus(i);
                  if (capStatus.IsAvailable())
                  {
                     status = "AVAILABLE";
                  }
                  else if (capStatus.IsDisabled())
                  {
                     status = "DISABLED";  
                  }
                  else if (capStatus.IsExpended())
                  {
                     status = "EXPENDED";  
                  }
                  else if (capStatus.IsFaulted())
                  {
                     status =  "FAULTED";  
                  }
                  else if (capStatus.IsTemporarilyUnavailable())
                  {
                     status = "TEMPORARILTY_UNAVAILABLE";  
                  }
                  else if (capStatus.IsUnavailable())
                  {
                     status = "UNAVAILABLE";  
                  }
                  else
                  {
                     status = "UNKNOWN";
                  }
                  
                  writeln_d("Capability ", i, " status: ", status);
               }
            end_script
            
            default
            script
               writeln_d("Received message: ", MESSAGE.Type());
            end_script         
            
         end_on_message
         
         execute at_interval_of 10 seconds
            if (!capabilities.Empty())
            {  
               UpdateDirection();
               SendCommand();
               UpdateMode();
            }
         end_execute
         
      end_processor
      
   end_platform

   platform target_1 TARGET
      side red
      position 39:31n 86:31w altitude 1000 ft
      heading 180 deg
   end_platform

   platform target_2 TARGET
      side red
      position 39:30n 86:30w altitude 2500 ft
      heading -90 deg
      
   end_platform

   platform target_3 TARGET
      side red
      position 39:30n 86:32w altitude 4000 ft
      heading 90 deg
   end_platform

   realtime

Ship2
=====

Reference CAL config file (ship1/RefCppCalConfiguration.xml):

.. parsed-literal::

   <?xml version="1.0" encoding="UTF-8"?>
   <!--Sample XML file generated by XMLSpy v2012 rel. 2 sp1 (x64) (http://www.altova.com)-->
   <RefCppCalConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
      <ActiveMQBroker>tcp://127.0.0.1:61616</ActiveMQBroker>
      <ActiveMQNoEchoMode>1</ActiveMQNoEchoMode>
      <ReaderQueueMax>1000</ReaderQueueMax>
      <ReaderSleepMicroseconds>1000</ReaderSleepMicroseconds>

      <ServiceList>
         <Service Name="ship2" UUID="CCCCCCCC-CCCC-CCCC-CCCC-CCCCCCCCCCCC">
            <System Label="uci" UUID="AA020000-0000-0000-0000-000000000000"/>
            <Domain ID="10"/>
         </Service>
      </ServiceList>
   </RefCppCalConfiguration>

Startup file (ship2/test_scenario_afsim_ship2.txt):

.. parsed-literal::

   # UCI ESM Test Scenario (AFSIM simulation)
   # Run this scenario concurrently in Warlock with esm_test_scenario_non_afsim_proxy.txt
   # platform "sense" is externally controlled through DIS (see map_external_entity) in the other simulation,
   # whereas the ESM sensor on platfom "sense" is run in this process.

   include ../test_scenario_afsim.txt

AFSIM (test_scenario_afsim.txt)

.. parsed-literal::

   # Platform "sense" is externally controlled through DIS (see map_external_entity) in the other simulation,
   # whereas the ESM sensor on platfom "sense" is run in this process.

   include ./test_scenario_common.txt

   dis_interface 
      application 2

      // platform sense is externally controlled
      // Entity type SIMPLE_SENSE maps to SENSE type
      entity_type SENSE 1:2:225:1:12:0:0   
      map_external_entity 1:1:1   
   end_dis_interface

   uci_interface
      service_name ship2 
      service_descriptor SHIP2
   end_uci_interface

   platform_availability 
      type TARGET availability 0.0
   end_platform_availability

   realtime

Common
======

Common (test_scenario_common.txt):

.. parsed-literal::

   include sensor_definitions.txt
   include weapon_definitions.txt

   //Uncomment to turn on debug output
   //script_debug_writes true 

   platform_type SIMPLE_SENSE WSF_PLATFORM
      side blue
      icon f-18
      
      uci_component computer COMPUTER
      end_uci_component
      
      script_variables 
         Set<string> systemIds = {};
         Map<string, UCI_CapabilityId> controlRequests = {};
         Array<UCI_CapabilityId> capabilities = {};
         int currentMode = 0;
         double currentAz = 0;
         double currentEl = 0;
         bool enable = true;
      end_script_variables
      
      mover WSF_AIR_MOVER 
      end_mover
      
      script void SendSettingsCommand()
         WsfProcessor sp = PLATFORM.Processor("esm_command");
         UCI_CapabilityState state = UCI_CapabilityState.DISABLE();
         if (enable)
         {
            state = UCI_CapabilityState.ENABLE();
         }
         
         UCI_CapabilityId id = capabilities[currentMode];
         UCI_ESM_SettingsCommandMessage scMsg = UCI_ESM_SettingsCommandMessage.Construct(id,
                                                                                       state);
         sp.SendMessage(scMsg);
      end_script
      
      script void RequestControl(UCI_ESM_CapabilityMessage aMsg)
         WsfProcessor sp = PLATFORM.Processor("esm_command");
         UCI_SystemId systemId = aMsg.Header().SystemId();
         if (!systemIds.Exists(systemId.UUID()))
         {
            int size = aMsg.Size();
            for(int i = 0; i < size; i += 1)
            {
               UCI_CapabilityId capabilityId = aMsg.Capability(i).CapabilityId();
               string uuid = capabilityId.UUID();
               string description = capabilityId.Descriptor();
               writeln_d(i, " : ", uuid, " : ", description);
               
               // send a esm control request message
               UCI_Control controlType = UCI_Control.CAPABILITY_PRIMARY();
               UCI_ControlRequest requestType = UCI_ControlRequest.ACQUIRE();
               UCI_ControlRequestMessage crm = UCI_ControlRequestMessage.Construct(controlType,
                                                                                 requestType,
                                                                                 systemId,
                                                                                 capabilityId);

               controlRequests.Set(crm.UUID(), capabilityId);
               sp.SendMessage(crm);   
               systemIds.Insert(systemId.UUID()); 
               capabilities.PushBack(capabilityId);
               
               //Initialize capabilities to desired state
               int initialMode = currentMode;
               for (int i = 0; i < capabilities.Size(); i += 1)
               {
                  currentMode = i;
                  SendSettingsCommand();
               }
               currentMode = initialMode;
            }
         }      
      end_script
      
      script void UpdateDirection()        
         if (currentAz == 0)
         {
            currentAz = -Math.PI_OVER_2();
            currentEl = 36 * Math.RAD_PER_DEG();
         }
         else if (currentAz == -Math.PI_OVER_2())
         {
            currentAz = Math.PI_OVER_2();
            currentEl = 18 * Math.RAD_PER_DEG();
         }
         else
         {
            currentAz = 0;
            currentEl = 0; 
         }

      end_script
      
      script void SendCommand()
         WsfProcessor sp = PLATFORM.Processor("esm_command");
         UCI_LOS_Reference losRef = UCI_LOS_Reference.INERTIAL();
         UCI_ElevationScanStabilization stabilization = UCI_ElevationScanStabilization.CENTER_ALTITUDE();
         UCI_SubCapabilityDetails details = UCI_SubCapabilityDetails.Construct(losRef,
                                                                              stabilization,
                                                                              currentAz,
                                                                              currentEl);
         UCI_SubCapabilitySelection selection = UCI_SubCapabilitySelection.Construct(details);
         
         UCI_CapabilityId id = capabilities[currentMode];
         UCI_ESM_CapabilityCommand capCommand = UCI_ESM_CapabilityCommand.Construct(id,
                                                                                    selection);
      
         UCI_ESM_Command esmCommand = UCI_ESM_Command.Construct(capCommand);
         UCI_ESM_CommandMessage ecm = UCI_ESM_CommandMessage.Construct(esmCommand);
         
         string status = "enabled";
         if (!enable)
         {
            status = "disabled";
         }
         writeln_d("New command:");
         writeln_d("   Az: ", currentAz);
         writeln_d("   El: ", currentEl);
         writeln_d("   Mode: ", currentMode);
         writeln_d("   Status: ", status);
         sp.SendMessage(ecm);
      end_script
      
      script void UpdateMode()
         if (currentAz == 0)
         {
            currentMode = MATH.Mod(currentMode + 1, capabilities.Size()); 
            if (currentMode == 0)
            {
               enable = !enable;
            }
         }
         SendSettingsCommand();
      end_script

   end_platform_type

   platform_type SENSE WSF_PLATFORM
      side blue
      icon f-18
      
      uci_component esm_uci_component ESM
         sensor esm
         update_message_interval 5 seconds
         debug
         internal_link computer
      end_uci_component

      uci_component computer COMPUTER
         internal_link esm_uci_component
      end_uci_component
      
      sensor esm ESM_SENSOR
         on
         processor track_manager
         ignore_same_side
      end_sensor
      
      uci_component weapons WEAPON 
         update_message_interval 5 s
         capability missile
            uuids
               8BEDF810-EC9D-40E4-8F4A-000000000000
               8BEDF810-EC9D-40E4-8F4A-000000000001
            end_uuids
         end_capability
         debug
      end_uci_component
      
      add weapon missile missile
         quantity 2
      end_weapon   
      
      processor track_manager WSF_TRACK_MANAGER
      end_processor
      
      mover WSF_AIR_MOVER 
      end_mover   
   end_platform_type

   platform_type TARGET EW_RADAR_SITE
   end_platform_type

   dis_interface 
      exercise 1
      site 1
      autostart
      connections 
         broadcast 255.255.255.255 port 3000
      end_connections
      
      entity_type TARGET 1:2:222:1:19:11:0
      emitter_type EW_RADAR 5
         
   end_dis_interface

   start_time_now
   end_time 1 hour

Sensor Definitions (sensor_definitions.txt):

.. parsed-literal::

   radar_signature FIGHTER_RADAR_SIGNATURE
      constant 10 m^2
   end_radar_signature

   antenna_pattern EW_RADAR_ANTENNA
   rectangular_pattern
      peak_gain           35 dB
      minimum_gain       -20 dB
      azimuth_beamwidth   10 deg
      elevation_beamwidth 45 deg
   end_rectangular_pattern
   end_antenna_pattern

   # A simple EW radar

   sensor EW_RADAR WSF_RADAR_SENSOR

      frame_time                1  sec

      # Specify the location and orientation of the sensor on the platform.
      location                  0.0 0.0 -30 m

      # The sensor sweeps only in azimuth
      scan_mode                 azimuth
      azimuth_scan_limits       -180 deg 180 deg

      # The field of view, minimum_range and maximum_range are not required.
      # They are simply used for quick culling and should be generous.
      # (i.e. the field_of_view limits should be probably be larger than the
      # corresponding slew limit because the beam can probably detect things
      # outside the slew limit).
      elevation_field_of_view  -2.5 deg 42.5 deg

      minimum_range        0 nm
      maximum_range        4 km  

      one_m2_detect_range 225 km

      transmitter
         power           750 kw
         frequency       900 mhz
         bandwidth       0.1 mhz
         pulse_width                  10  usec
         pulse_repetition_interval    750 usec // max PRI range of 225 km
         antenna_pattern EW_RADAR_ANTENNA
         antenna_tilt     10 deg
      end_transmitter
      
      receiver
         antenna_pattern EW_RADAR_ANTENNA
         antenna_tilt     10 deg
         frequency       900 mhz
         bandwidth         1 mhz
      end_receiver

      hits_to_establish_track   3 5   # 3 of last 5 scans to establish track
      hits_to_maintain_track    1 4   # 1 of last 4 scans to maintain  track

      reports_location
      reports_velocity
      reports_signal_to_noise
      reports_range
      reports_bearing
      reports_elevation 
   end_sensor

   # ****************************************************************************
   #                       ESM Detector

   antenna_pattern ESM_ANTENNA
      uniform_pattern
      azimuth_beamwidth 45 deg
      elevation_beamwidth 10 deg
   end_antenna_pattern

   sensor ESM_SENSOR WSF_ESM_SENSOR

      mode_template 
         frame_time              4 sec
         maximum_range           4 km

         receiver
            antenna_pattern      ESM_ANTENNA
            detection_threshold  5 db
            noise_power          -180 dbw
            internal_loss        0 db
         end_receiver

         frequency_band          0.1 ghz  20 ghz

         reports_location
         reports_type
         reports_frequency
         scan_stabilization pitch_and_roll
      
      end_mode_template

      mode firstMode
         reports_iff 
      end_mode

      mode secondMode
         reports_bearing
      end_mode

      slew_mode both

   end_sensor

   # ****************************************************************************
   # Define the platform types
   # ****************************************************************************

   platform_type EW_RADAR_SITE WSF_PLATFORM
      icon Ground_Radar

      mover WSF_GROUND_MOVER end_mover

      sensor ew_radar EW_RADAR
         on
         processor track_manager
         ignore_same_side
      end_sensor

      processor track_manager WSF_TRACK_MANAGER
      end_processor
   end_platform_type

Weapon Definitions (weapon_definitions.txt):

.. parsed-literal::

   antenna_pattern MISSILE_RDR_RX_ANTENNA
      uniform_pattern
         peak_gain                20 db
         azimuth_beamwidth       360 degrees
         elevation_beamwidth     180 degrees
      end_uniform_pattern
   end_antenna_pattern

   antenna_pattern MISSILE_RDR_TX_ANTENNA
      uniform_pattern
         peak_gain                20 db
         azimuth_beamwidth       360 degrees
         elevation_beamwidth     180 degrees
      end_uniform_pattern
   end_antenna_pattern

   sensor MISSILE_RADAR WSF_RADAR_SENSOR
   one_m2_detect_range          25 km

   hits_to_establish_track      3 3

   frame_time                   1 sec

   maximum_request_count        1
   search_while_track

   scan_mode                    both

   maximum_range                25 km

   transmitter
      antenna_pattern            MISSILE_RDR_TX_ANTENNA
      power                      1 mw
      frequency                  14.8 ghz
      pulse_repetition_frequency 250 hz
      internal_loss              10 db
   end_transmitter

   receiver
      antenna_pattern            MISSILE_RDR_RX_ANTENNA
      bandwidth                  1.6 mhz
      detection_threshold        3 db
      noise_power                -160 dbw
      internal_loss              10 db
   end_receiver

   # for now the filter is required if we're to report velocity
   filter WSF_ALPHA_BETA_FILTER
      alpha 0.6
      beta  0.2
   end_filter

   reports_location
   reports_velocity
   reports_bearing
   reports_type
   end_sensor

   aero MISSILE_AERO WSF_AERO
      cd_zero_subsonic    0.12
      cd_zero_supersonic  0.35
      mach_begin_cd_rise  0.95
      mach_end_cd_rise     1.3
      mach_max_supersonic  3.3  // max speed of 994 m/sec
      reference_area      0.09 m2
      cl_max               5.0
      aspect_ratio         1.5
   end_aero

   platform_type MISSILE WSF_PLATFORM
   icon SA-10_Missile

   sensor missile_radar MISSILE_RADAR
      on
      processor track_processor
      ignore ignored-by-iads-radar
   end_sensor

   mover WSF_GUIDED_MOVER
      //show_status
      initial_mass        500 kg
      fuel_mass           200 kg
      specific_impulse    300 sec
      thrust            44000 nt
      aero          MISSILE_AERO
   end_mover

   processor track_processor WSF_TRACK_PROCESSOR
      purge_interval 1 min
   end_processor

   processor missile_guidance_computer WSF_GUIDANCE_COMPUTER
      proportional_navigation_gain   10.0
      velocity_pursuit_gain          4.0
      g_bias                         1.2
      maximum_commanded_g            40.0 g
      guidance_delay                  4.0 sec
   end_processor

   processor fuze WSF_AIR_TARGET_FUSE
      time_of_flight_to_arm            10.0 sec     // Don't arm during the boost phase
      coast_time_on_loss_of_target      4.0 sec
   end_processor

   category ignored-by-bomber-radar
   category ignored-by-iads-radar
   end_platform_type

   weapon_effects MISSILE_WARHEAD WSF_GRADUATED_LETHALITY
   use_3d_radius

   radius_and_pk  100 m  0.75
   radius_and_pk  500 m  0.55
   radius_and_pk 5000 m  0
   end_weapon_effects

   weapon missile WSF_EXPLICIT_WEAPON
      launched_platform_type  MISSILE
      weapon_effects          MISSILE_WARHEAD
      launch_delta_v          50.0 0.0 0.0 m/s

      slew_mode               both

      //elevation_slew_limits   30 deg 80 deg
      elevation_slew_limits   60 deg 89.5 deg
   end_weapon