package Savage.Robots.UnmannedUnderwaterVehicles;

import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.DIS.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Navigation.*;
import org.web3d.x3d.jsail.Networking.*;
import org.web3d.x3d.jsail.Scripting.*;
import org.web3d.x3d.jsail.Shape.*;
import org.web3d.x3d.jsail.Text.*;

// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
 * <p> Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML/X3D Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order. </p>
 <p> Related links: Catalog page <a href="../../../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototypeIndex.html" target="_blank">AriesEspduPrototype</a>,  source <a href="../../../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.java">AriesEspduPrototype.java</a>, <a href="https://www.web3d.org/x3d/content/examples/X3dResources.html" target="_blank">X3D Resources</a>, <a href="https://www.web3d.org/x3d/content/examples/X3dSceneAuthoringHints.html" target="_blank">X3D Scene Authoring Hints</a>, and <a href="https://www.web3d.org/x3d/content/X3dTooltips.html" target="_blank">X3D Tooltips</a>. </p>
	<table style="color:black; border:0px solid; border-spacing:10px 0px;">
        <caption>Scene Meta Information</caption>
		<tr style="background-color:silver; border-color:silver;">
			<td style="text-align:center; padding:10px 0px;"><i>meta tags</i></td>
			<td style="text-align:left;   padding:10px 0px;">&nbsp; Document Metadata </td>
		</tr>

		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> title </i> </td>
			<td> <a href="../../../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d">AriesEspduPrototype.x3d</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> description </i> </td>
			<td> Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML/X3D Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order. </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> creator </i> </td>
			<td> Duane Davis </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> translator </i> </td>
			<td> Vrml97ToX3dNist </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> created </i> </td>
			<td> 21 November 2003 </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> modified </i> </td>
			<td> 20 October 2019 </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> reference </i> </td>
			<td> <a href="../../../../Robots/UnmannedUnderwaterVehicles/UuvBoxTest.xml">UuvBoxTest.xml</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> reference </i> </td>
			<td> UuvBoxTest.disbin </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> reference </i> </td>
			<td> UuvBoxTest.disbin.disbinidx </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> errors </i> </td>
			<td> EspduTransformTrace needs revision </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> subject </i> </td>
			<td> Distributed Interactive Simulation DIS ESPDU Aries AUV </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> identifier </i> </td>
			<td> <a href="https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d" target="_blank">https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> generator </i> </td>
			<td> Vrml97ToX3dNist, <a href="http://ovrt.nist.gov/v2_x3d.html" target="_blank">http://ovrt.nist.gov/v2_x3d.html</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> generator </i> </td>
			<td> X3D-Edit 3.2, <a href="https://www.web3d.org/x3d/tools/X3D-Edit" target="_blank">https://www.web3d.org/x3d/tools/X3D-Edit</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> license </i> </td>
			<td> <a href="../../../../Robots/UnmannedUnderwaterVehicles/../../license.html">../../license.html</a> </td>
		</tr>
		<tr style="background-color:silver; border-color:silver;">
			<td style="text-align:center;" colspan="2">  &nbsp; </td>
		</tr>
	</table>

	<p>
		This program uses the
		<a href="https://www.web3d.org/specifications/java/X3DJSAIL.html" target="_blank">X3D Java Scene Access Interface Library (X3DJSAIL)</a>.
		It has been produced using the 
		<a href="https://www.web3d.org/x3d/stylesheets/X3dToJava.xslt" target="_blank">X3dToJava.xslt</a>
		stylesheet
	       (<a href="https://sourceforge.net/p/x3d/code/HEAD/tree/www.web3d.org/x3d/stylesheets/X3dToJava.xslt" target="_blank">version control</a>)
                which is used to create Java source code from an original <code>.x3d</code> model.
	</p>

	* @author Duane Davis
 */

public class AriesEspduPrototype
{
	/** Default constructor to create this object. */
	public AriesEspduPrototype ()
	{
	  initialize();
	}

	/** Create and initialize the X3D model for this object. */
	public final void initialize()
	{
            try { // catch-all
  x3dModel = new X3D().setProfile(X3D.PROFILE_IMMERSIVE).setVersion(X3D.VERSION_3_1)
  .setHead(new head()
    .addComponent(new component().setName("DIS").setLevel(1))
    .addMeta(new meta().setName(meta.NAME_TITLE      ).setContent("AriesEspduPrototype.x3d"))
    .addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Prototype for a DIS enabled (including articulated parameters) for inclusion in a VRML/X3D Scene. Articulation parameters are in AUV Dynamics (AUV Workbench) order."))
    .addMeta(new meta().setName(meta.NAME_CREATOR    ).setContent("Duane Davis"))
    .addMeta(new meta().setName(meta.NAME_TRANSLATOR ).setContent("Vrml97ToX3dNist"))
    .addMeta(new meta().setName(meta.NAME_CREATED    ).setContent("21 November 2003"))
    .addMeta(new meta().setName(meta.NAME_MODIFIED   ).setContent("20 October 2019"))
    .addMeta(new meta().setName(meta.NAME_REFERENCE  ).setContent("UuvBoxTest.xml"))
    .addMeta(new meta().setName(meta.NAME_REFERENCE  ).setContent("UuvBoxTest.disbin"))
    .addMeta(new meta().setName(meta.NAME_REFERENCE  ).setContent("UuvBoxTest.disbin.disbinidx"))
    .addMeta(new meta().setName("errors").setContent("EspduTransformTrace needs revision"))
    .addMeta(new meta().setName(meta.NAME_SUBJECT    ).setContent("Distributed Interactive Simulation DIS ESPDU Aries AUV"))
    .addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d"))
    .addMeta(new meta().setName(meta.NAME_GENERATOR  ).setContent("Vrml97ToX3dNist, http://ovrt.nist.gov/v2_x3d.html"))
    .addMeta(new meta().setName(meta.NAME_GENERATOR  ).setContent("X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit"))
    .addMeta(new meta().setName(meta.NAME_LICENSE    ).setContent("../../license.html")))
  .setScene(new Scene()
    .addChild(new WorldInfo().setTitle("AriesEspduPrototype.x3d"))
    .addChild(new ExternProtoDeclare("Aries").setName("Aries").setAppinfo("Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)").setUrl(new String[] {"../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries","../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries"})
      .addField(new field().setName("hullName").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setAppinfo("can be overridden at instantiation time only"))
      .addField(new field().setName("hullColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
      .addField(new field().setName("planeColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
      .addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
      .addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT))
      .addField(new field().setName("set_portRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_stbdRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
      .addField(new field().setName("set_ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("meters along sonar axis"))
      .addField(new field().setName("set_ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("meters along sonar axis"))
      .addField(new field().setName("set_ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("degrees about vertical axis"))
      .addField(new field().setName("set_ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("degrees about vertical axis"))
      .addField(new field().setName("set_ST725Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("signal-to-noise ratio decibels"))
      .addField(new field().setName("set_ST1000Intensity").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY).setAppinfo("signal-to-noise ratio decibels")))
    .addChild(new ProtoDeclare("AriesEspdu").setName("AriesEspdu").setAppinfo("Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype")
      .setProtoInterface(new ProtoInterface()
        .addField(new field().setName("hullName").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("AriesAUV").setAppinfo("up to 11 characters maps to EspduTransform marking"))
        .addField(new field().setName("hullColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(.9,.9,.9)).setAppinfo("hull color for this UUV instance"))
        .addField(new field().setName("planeColor").setType(field.TYPE_SFCOLOR).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFColor(.1,.1,.8)).setAppinfo("plane color for this UUV instance"))
        .addField(new field().setName("translation").setType(field.TYPE_SFVEC3F).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFVec3f(0.0,0.0,0.0)).setAppinfo("initial position prior to first ESPDU receipt"))
        .addField(new field().setName("rotation").setType(field.TYPE_SFROTATION).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(new SFRotation(0.0,0.0,1.0,0.0)).setAppinfo("initial orientation prior to first ESPDU receipt"))
        .addField(new field().setName("siteID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(0))
        .addField(new field().setName("applicationID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(1))
        .addField(new field().setName("entityID").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(2))
        .addField(new field().setName("readInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(0.1).setAppinfo("network read periodicity"))
        .addField(new field().setName("writeInterval").setType(field.TYPE_SFTIME).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(1.0).setAppinfo("network write periodicity"))
        .addField(new field().setName("networkMode").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("networkReader").setAppinfo("Override default EspduTransform value so that listening occurs by default"))
        .addField(new field().setName("address").setType(field.TYPE_SFSTRING).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue("239.255.5.8").setAppinfo("multicast address"))
        .addField(new field().setName("port").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(62040).setAppinfo("multicast port"))
        .addField(new field().setName("traceNodeEnabled").setType(field.TYPE_SFINT32).setAccessType(field.ACCESSTYPE_INPUTOUTPUT).setValue(-1).setAppinfo("Set to 0 to activate EspduTransformTrace")))
      .setProtoBody(new ProtoBody()
        .addComments(" ============================= ")
        .addChild(new Group()
          .addChild(new EspduTransform("ET")
            .setIS(new IS()
              .addConnect(new connect().setNodeField("marking").setProtoField("hullName"))
              .addConnect(new connect().setNodeField("siteID").setProtoField("siteID"))
              .addConnect(new connect().setNodeField("applicationID").setProtoField("applicationID"))
              .addConnect(new connect().setNodeField("entityID").setProtoField("entityID"))
              .addConnect(new connect().setNodeField("readInterval").setProtoField("readInterval"))
              .addConnect(new connect().setNodeField("writeInterval").setProtoField("writeInterval"))
              .addConnect(new connect().setNodeField("networkMode").setProtoField("networkMode"))
              .addConnect(new connect().setNodeField("address").setProtoField("address"))
              .addConnect(new connect().setNodeField("port").setProtoField("port"))
              .addConnect(new connect().setNodeField("translation").setProtoField("translation"))
              .addConnect(new connect().setNodeField("rotation").setProtoField("rotation")))
            .addComments(" applet 0 1 2, auv dynamics 36 1 1 ")
            .addChild(new Switch().setWhichChoice(0)
              .addChild(new ProtoInstance("Aries", "AriesAUV").setContainerField("children")
                .setIS(new IS()
                  .addConnect(new connect().setNodeField("hullName").setProtoField("hullName"))
                  .addConnect(new connect().setNodeField("hullColor").setProtoField("hullColor"))
                  .addConnect(new connect().setNodeField("planeColor").setProtoField("planeColor")))))
            .addChild(new Group("ArticulationParameterScriptRoutes")
              .addChild(new Script("ArticulationParameterControl").setSourceCode("""
ecmascript:

MAXRPM        = 700;
MAXTHRUSTER   = 24;
MAXSONARRANGE = 30;

function initialize()
{
   forwardRudders          = 0;
   afterRudders            = 0;
   forwardPlanes           = 0;
   afterPlanes             = 0;
   portRpm                 = 0;
   stbdRpm                 = 0;
   forwardVerticalThruster = 0;
   afterVerticalThruster   = 0;
   forwardLateralThruster  = 0;
   afterLateralThruster    = 0;
   ST1000Bearing           = 0;
   ST1000Range             = 0; // MAXSONARRANGE;
   ST725Bearing            = 0;
   ST725Range              = 0; // MAXSONARRANGE;
}

function set_articulationParameters( value, timestamp )
{
   forwardRudders          =  value[0];
   afterRudders            = -value[0];
   forwardPlanes           = -value[1];
   afterPlanes             =  value[1];
   portRpm                 =  value[2] / MAXRPM;
   stbdRpm                 =  value[3] / MAXRPM;
   forwardVerticalThruster =  value[4] / MAXTHRUSTER;
   afterVerticalThruster   =  value[5] / MAXTHRUSTER;
   forwardLateralThruster  =  value[6] / MAXTHRUSTER;
   afterLateralThruster    =  value[7] / MAXTHRUSTER;
   ST1000Bearing           =  value[8];   
   ST1000Range             =  value[9];
   if      (ST1000Range <= 0)
            ST1000Range = 0;
   else if (ST1000Range > MAXSONARRANGE)
            ST1000Range = 0; // MAXSONARRANGE;
   ST725Bearing            =  value[11];
   ST725Range              =  value[12];
   if      (ST725Range <= 0)
            ST725Range = 0;
   else if (ST725Range > MAXSONARRANGE)
            ST725Range = 0; // MAXSONARRANGE;
}
""")
                .addField(new field().setName("set_articulationParameters").setType(field.TYPE_MFFLOAT).setAccessType(field.ACCESSTYPE_INPUTONLY))
                .addField(new field().setName("portRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("stbdRpm").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("forwardVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("afterVerticalThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("forwardLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("afterLateralThruster").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("forwardRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("afterRudders").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("forwardPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("afterPlanes").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("ST725Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("ST725Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("ST1000Range").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY))
                .addField(new field().setName("ST1000Bearing").setType(field.TYPE_SFFLOAT).setAccessType(field.ACCESSTYPE_OUTPUTONLY)))
              .addChild(new ROUTE().setFromNode("ET").setFromField("articulationParameterArray").setToNode("ArticulationParameterControl").setToField("set_articulationParameters"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("portRpm").setToNode("AriesAUV").setToField("set_portRpm"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("stbdRpm").setToNode("AriesAUV").setToField("set_stbdRpm"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardVerticalThruster").setToNode("AriesAUV").setToField("set_forwardVerticalThruster"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterVerticalThruster").setToNode("AriesAUV").setToField("set_afterVerticalThruster"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardLateralThruster").setToNode("AriesAUV").setToField("set_forwardLateralThruster"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterLateralThruster").setToNode("AriesAUV").setToField("set_afterLateralThruster"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardRudders").setToNode("AriesAUV").setToField("set_forwardRudders"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterRudders").setToNode("AriesAUV").setToField("set_afterRudders"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("forwardPlanes").setToNode("AriesAUV").setToField("set_forwardPlanes"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("afterPlanes").setToNode("AriesAUV").setToField("set_afterPlanes"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST725Range").setToNode("AriesAUV").setToField("set_ST725Range"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST725Bearing").setToNode("AriesAUV").setToField("set_ST725Bearing"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST1000Range").setToNode("AriesAUV").setToField("set_ST1000Range"))
              .addChild(new ROUTE().setFromNode("ArticulationParameterControl").setFromField("ST1000Bearing").setToNode("AriesAUV").setToField("set_ST1000Bearing"))))
          .addChild(new Switch("HideTraceText").setWhichChoice(-1)
            .setIS(new IS()
              .addConnect(new connect().setNodeField("whichChoice").setProtoField("traceNodeEnabled")))
            .addChild(new Transform("TRACETRANSFORM")
              .addChild(new ROUTE().setFromNode("ET").setFromField("translation").setToNode("TRACETRANSFORM").setToField("set_translation"))
              .addChild(new ROUTE().setFromNode("ET").setFromField("rotation").setToNode("TRACETRANSFORM").setToField("set_rotation")))))))
    .addComments(" ============================== ")
    .addChild(new Viewpoint().setDescription("AriesEspdu Prototype"))
    .addChild(new Group()
      .addChild(new ProtoInstance("AriesEspdu").setContainerField("children")
        .addFieldValue(new fieldValue().setName("networkMode").setValue("networkReader"))
        .addFieldValue(new fieldValue().setName("translation").setValue(new SFVec3f(0.0,0.4,0.0)))))
    .addChild(new Anchor().setDescription("AriesEspdu Prototype").setParameter(new String[] {"target=_blank"}).setUrl(new String[] {"AriesEspduExample.x3d","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduExample.x3d","AriesEspduExample.wrl","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduExample.wrl"})
      .addChild(new Shape()
        .setAppearance(new Appearance()
          .setMaterial(new Material().setDiffuseColor(0.0,1.0,1.0).setEmissiveColor(0.0,1.0,1.0)))
        .setGeometry(new Text().setString(new String[] {"AriesEspduPrototype","is a prototype definition file","","To see an example scene","click on any text and view","AriesEspduExample"})
          .setFontStyle(new FontStyle().setJustify(FontStyle.JUSTIFY_MIDDLE_MIDDLE))))));
            }
            catch (Exception ex)
            {       
                System.err.println ("*** Further hints on X3DJSAIL errors and exceptions at");
                System.err.println ("*** https://www.web3d.org/specifications/java/X3DJSAIL.html");
                throw (ex);
            }
	}
	// end of initialize() method

	/** The initialized model object, created within initialize() method. */
	private X3D x3dModel;

	/** 
	 * Provide a 
	 * <a href="https://dzone.com/articles/java-copy-shallow-vs-deep-in-which-you-will-swim" target="_blank">shallow copy</a>
	 * of the X3D model.
	 * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/Core/X3D.html">X3D</a>
	 * @return AriesEspduPrototype model
	 */
	public X3D getX3dModel()
	{	  
		return x3dModel;
	}
	   
    /** 
     * Default main() method provided for test purposes, uses CommandLine to set global ConfigurationProperties for this object.
     * @param args array of input parameters, provided as arguments
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/Core/X3D.html#handleArguments-java.lang.String:A-">X3D.handleArguments(args)</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/Core/X3D.html#validationReport--">X3D.validationReport()</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/CommandLine.html">CommandLine</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/CommandLine.html#USAGE">CommandLine.USAGE</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/ConfigurationProperties.html">ConfigurationProperties</a>
     */
    public static void main(String args[])
    {
        System.out.println("Build this X3D model, showing validation diagnostics...");
        X3D thisExampleX3dModel = new AriesEspduPrototype().getX3dModel();
//      System.out.println("X3D model construction complete.");
	
        // next handle command line arguments
        boolean hasArguments = (args != null) && (args.length > 0);
        boolean validate = true; // default
        boolean argumentsLoadNewModel = false;
        String  fileName = new String();

        if (args != null)
        {
                for (String arg : args)
                {
                        if (arg.toLowerCase().startsWith("-v") || arg.toLowerCase().contains("validate"))
                        {
                                validate = true; // making sure
                        }
                        if (arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3D) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_CLASSICVRML) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3DB) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_VRML97) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_EXI) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_GZIP) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_ZIP) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_HTML) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_XHTML))
                        {
                                argumentsLoadNewModel = true;
                                fileName = arg;
                        }
                }
        }
        if      (argumentsLoadNewModel)
                System.out.println("WARNING: \"Savage.Robots.UnmannedUnderwaterVehicles.AriesEspduPrototype\" model invocation is attempting to load file \"" + fileName + "\" instead of simply validating itself... file loading ignored.");
        else if (hasArguments) // if no arguments provided, this method produces usage warning
                thisExampleX3dModel.handleArguments(args);
	
        if (validate)
        {
            //  System.out.println("--- TODO fix duplicated outputs ---"); // omit when duplicated outputs problem is solved/refactored
		String validationResults = thisExampleX3dModel.validationReport();
            //  System.out.println("-----------------------------------"); // omit when duplicated outputs problem is solved/refactored
                System.out.print("Savage.Robots.UnmannedUnderwaterVehicles.AriesEspduPrototype self-validation test confirmation: ");
                if (!validationResults.equals("success"))
                    System.out.println();
                System.out.println(validationResults.trim());

                // experimental: test X3DJSAIL output files
                // Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype_JavaExport.* file validation is checked when building X3D Example Archives
                String filenameX3D  = "Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype_JavaExport.x3d"; 
                String filenameX3DV = "Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype_JavaExport.x3dv"; 
                String filenameJSON = "Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype_JavaExport.json";
                thisExampleX3dModel.toFileX3D        (filenameX3D);
                thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO         thisExampleX3dModel.toFileJSON       (filenameJSON);
        }
    }
}