restructuring for project (Backlog 3)

Java/ProjectModels/CognitiveModel/Action.java

@@ -0,0 +1,40 @@
+package ProjectModels.CognitiveModel;
+
+public abstract class Action {
+
+
+
+Integer priority; //Priority of the Task
+Integer delay; //Potential Delay before starting the task
+String targetDREF;
+Integer taskTime; //How long should the task take
+boolean taskComplete; //Is the task completed?
+ActionType actionType;
+
+public Action(ActionType actionType, int delay){
+ this.actionType = actionType;
+ this.delay = delay;
+ this.targetDREF = null;
+}
+
+
+public Action(ActionType actionType, int delay, String target){
+    this.actionType = actionType;
+    this.delay = delay;
+    targetDREF = target;
+   }
+
+public ActionType getType(){
+    return actionType;
+}
+
+
+public Integer getDelay(){
+    return delay;
+}
+
+public String getTarget(){
+    return targetDREF;
+}
+    
+}

Java/ProjectModels/CognitiveModel/ActionType.java

@@ -0,0 +1,7 @@
+package ProjectModels.CognitiveModel;
+
+public enum ActionType{
+    VISION,
+    MOTOR,
+    DELAY
+}

Java/ProjectModels/CognitiveModel/Delay.java

@@ -0,0 +1,16 @@
+package ProjectModels.CognitiveModel;
+import java.util.Map;
+import java.util.TreeMap;
+
+
+public class Delay extends Action {
+
+    public Delay(){
+        super(ActionType.DELAY,1000);
+    }
+
+    public Delay(int delay){
+        super(ActionType.DELAY,delay);
+    }
+
+}

Java/ProjectModels/CognitiveModel/MindQueue.java

@@ -0,0 +1,58 @@
+package ProjectModels.CognitiveModel;
+
+import java.util.LinkedList;
+
+public class MindQueue {
+
+    LinkedList<Action> q;
+
+    public MindQueue () {
+        q = new LinkedList<Action>();
+    }
+
+    public void push(Action e){
+        q.add(e);
+    }
+
+
+    public Action removeEvent(Action e){
+        Action temp = e;
+        q.remove(e);
+        return temp;
+    }
+
+    public Action pop() {
+        Vision v = new Vision();
+        if(q.isEmpty()) {
+            return v;
+        }
+        return q.remove();
+    }
+
+    public boolean isEmpty(){
+        return q.isEmpty();
+    }
+
+    public String printQueue(){
+        String queueTrace = "Next to Execute ==> ";
+
+        for (Action action : q) {
+            if(action.getType() == ActionType.VISION){
+                queueTrace += "[V]";
+            } 
+            if(action.getType() == ActionType.MOTOR){
+                queueTrace += "[M]";
+            } 
+            if(action.getType() == ActionType.DELAY){
+                queueTrace += "[D]";
+            } 
+        }
+        return queueTrace; 
+    }
+
+    public int queueLength(){
+        return q.size();
+    }
+
+
+}

Java/ProjectModels/CognitiveModel/Model.java

@@ -0,0 +1,139 @@
+package ProjectModels.CognitiveModel;
+import java.io.IOException;
+
+public class Model {
+
+    private MindQueue q; //Queue for actions
+    boolean modelActive; // On/Off Switch for the model execution
+    XPlaneConnect xpc; //Allows connection to the simulator
+
+
+    //Constructors
+    public Model() {
+        q = new MindQueue();
+        modelActive = false;
+    }
+
+    public Model(XPlaneConnect xpc) {
+        q = new MindQueue();
+        modelActive = false;
+        this.xpc = xpc; 
+    }
+
+
+    /*Getters*/
+    public MindQueue getQueue() {
+        return q;
+    }
+
+    /*Setters*/
+
+    /*
+     * Setup Methods
+     * Printing, Empty check, Activation/Deactivation of Model, etc.
+    */
+    public void activateModel() {
+        modelActive = true;
+    }
+
+    public void establishConnection(XPlaneConnect newXPC){
+        this.xpc = newXPC;
+    }
+
+    public void deactivateModel(){
+        modelActive = false;
+    }
+
+    public boolean isEmpty(){
+        return q.isEmpty();
+    }
+
+    public void push(Action a){
+        q.push(a);
+    }
+
+    public boolean isActive(){
+        return modelActive;
+    }
+
+    public void printModelQueue(){
+        System.out.println(q.printQueue());
+    }
+
+    public int getModelQueueLength(){
+        return q.queueLength();
+    }
+    
+    public void createAction(int actionType,int delay,String target) {
+        Action newAction = null;
+        switch(actionType){
+            case 1:
+                newAction = new Vision(delay,target);
+                this.push(newAction);
+            case 2:
+                newAction = new Motor(delay,target);
+                this.push(newAction);
+
+            case 3:
+                newAction = new Delay(delay);
+                this.push(newAction);
+       }
+    }
+
+    /*
+     * Processing Methods
+     * 
+    */
+
+    /*
+     * Process the next event in the model queue
+     */
+    public float[] next() {
+        float[] returnArray = null;
+        Action temp = q.pop();
+        // System.out.println("Type of Action: " + temp.getType());
+
+        if(temp.getType() == ActionType.VISION){ // Vision Action (Get Data)
+           handelVisionAction(temp, returnArray);
+        } else if (temp.getType() == ActionType.MOTOR){ //Motor Action (Act Upon Data)
+            handleMotorAction(temp);
+        } else if (temp.getType() == ActionType.DELAY){//Pure Delays (Do nothing)
+            handleDelayAction(temp);    
+        }
+        // q.push(temp);
+        return returnArray;
+        
+    }
+    
+    /* Next Helpers */
+    private void handelVisionAction(Action temp, float[] returnArray) {
+         Vision tempV = (Vision) temp;
+         initiateDelay(tempV.getDelay());
+         String dref = tempV.getTarget();
+         try {
+              returnArray = xpc.getDREF(dref);
+         } catch (IOException e) {
+            
+         }
+    }
+
+    private void handleMotorAction(Action temp){
+        Motor tempM = (Motor) temp;
+        tempM.getDelay();
+    }
+
+    private void handleDelayAction(Action temp){
+        Delay tempD = (Delay) temp;
+        initiateDelay(tempD.getDelay());
+    }
+
+    public static void initiateDelay(int delay){
+        try {
+            Thread.sleep(delay); // Using the action's Built in Delay 
+        } catch (InterruptedException e) {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
+    }   
+    
+}

Java/ProjectModels/CognitiveModel/Motor.java

@@ -0,0 +1,39 @@
+package ProjectModels.CognitiveModel;
+import java.io.IOException;
+
+
+public class Motor extends Action {
+
+    float[] control;
+
+    public Motor() {
+        super(ActionType.MOTOR,1000);
+    }
+
+public Motor(int delay) {
+    super(ActionType.MOTOR,delay);
+}
+
+
+public Motor(int delay, String target) {
+    super(ActionType.MOTOR,delay,target);
+}
+
+
+public void createMotorControl(){ // TODO: Maybe takes in a formatted set of vision inputs?
+    control = null;
+}
+
+public void sendMotorControl(XPlaneConnect xpc) {
+
+    if(control != null) {
+        try {
+            xpc.sendCTRL(control);
+        } catch (IOException e) {
+            // TODO Auto-generated catch block
+            System.out.println("Control failed to send");
+        }
+    }
+}
+
+}

Java/ProjectModels/CognitiveModel/Process.java

@@ -1,3 +1,4 @@
+package ProjectModels.CognitiveModel;
 public class Process {
 
 

Java/ProjectModels/CognitiveModel/Tests.java

@@ -1,3 +1,4 @@
+package ProjectModels.CognitiveModel;
 import org.junit.Test;
 
 import static org.junit.Assert.assertEquals;

Java/ProjectModels/CognitiveModel/Vision.java

@@ -0,0 +1,22 @@
+package ProjectModels.CognitiveModel;
+
+public class Vision extends Action {
+
+
+    public Vision(){
+        super(ActionType.VISION,1000);
+    }
+
+public Vision(int delay){
+    super(ActionType.VISION,delay);
+}
+
+public Vision(String dref){
+    super(ActionType.VISION,1000,dref);
+}
+
+public Vision(int delay, String dref){
+    super(ActionType.VISION,delay, dref);
+}
+
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/Beacon.java

@@ -0,0 +1,45 @@
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+import java.net.InetAddress;
+
+
+public class Beacon {
+
+    private InetAddress xplaneAddress;
+    private int pluginPort;
+    private String pluginVersion;
+    private int xPlaneVersion;
+
+
+    public Beacon(InetAddress xplaneAddress, int pluginPort, String pluginVersion, int xPlaneVersion) {
+        this.xplaneAddress = xplaneAddress;
+        this.pluginPort = pluginPort;
+        this.pluginVersion = pluginVersion;
+        this.xPlaneVersion = xPlaneVersion;
+    }
+
+    public String getHost() {
+        return xplaneAddress.getHostAddress();
+    }
+
+    public String getPluginVersion() {
+        return pluginVersion;
+    }
+
+    public String getXplaneVersion() {
+        return String.format("%.2f", xPlaneVersion / 100.0);
+    }
+
+    public int getPluginPort() {
+        return pluginPort;
+    }
+
+    public InetAddress getXplaneAddress() {
+        return xplaneAddress;
+    }
+
+    @Override
+    public String toString() {
+        return "host: " + getHost() + ":" + getPluginPort() +" version: " + getPluginVersion() + " X-Plane Version: " + getXplaneVersion();
+    }
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/BeaconParser.java

@@ -0,0 +1,54 @@
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.InetAddress;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+/**
+ * Parser class that parses the UDP discovery BECN packet. The format of the packet is
+ * - 4 bytes: BECN
+ * - 1 byte: 0
+ * - 2 bytes: XPlaneConnect server port e.g. '49009'
+ * - 4 bytes: X-Plane version e.g. '11260'
+ * - null terminated string: XPlaneConnect plugin version e.g. '1.3-rc.1'
+ */
+public class BeaconParser {
+
+    private static String BECN = "BECN";
+
+    private static int XPC_PORT_OFFSET = BECN.length() + 1;
+    private static int XPC_PORT_LEN = 2;
+    private static int XPC_VERSION_OFFSET = XPC_PORT_OFFSET + XPC_PORT_LEN;
+    private static int XPC_VERSION_LEN = 4;
+    private static int XPC_PLUGIN_VERSION_OFFSET = XPC_VERSION_OFFSET + XPC_VERSION_LEN;
+
+
+    public Beacon readBCN(DatagramPacket packet) throws IOException {
+        if (packet.getLength() < BECN.length()) {
+            throw new IOException("BECN response too short");
+        }
+
+        byte[] data = packet.getData();
+
+        String command = new String(data, 0, BECN.length());
+        if (!command.equals(BECN)) {
+            throw new IOException("Expected " + BECN + " got '" + command + "'");
+        }
+
+        InetAddress address = packet.getAddress();
+        ByteBuffer bb = ByteBuffer.wrap(data);
+        bb.order(ByteOrder.LITTLE_ENDIAN);
+        // 2 bytes: port as short + converted to an int
+        int port = bb.getShort(XPC_PORT_OFFSET) & 0xffff;
+
+        // 4 bytes: x plane version as int
+        int version = bb.getInt(XPC_VERSION_OFFSET);
+
+        // plugin version
+        String pluginVersion = new String(data, XPC_PLUGIN_VERSION_OFFSET, packet.getLength() - XPC_PLUGIN_VERSION_OFFSET);
+
+        return new Beacon(address, port, pluginVersion.trim(), version);
+    }
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/BeaconReceivedListener.java

@@ -0,0 +1,10 @@
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+public interface BeaconReceivedListener {
+
+    /**
+     * Called every time a BECN packet is received
+     * @param beacon The parsed beacon
+     */
+    void onBeaconReceived(Beacon beacon);
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/DiscoveryConnectionCallback.java

@@ -0,0 +1,14 @@
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+import ProjectModels.CognitiveModel.*;
+
+public interface DiscoveryConnectionCallback {
+
+    /**
+     * Helper callback called when a 1st XPlanePlugin is discovered. When the 1st packet is received, an XPlaneConnect
+     * instance is created and the discovery is stopped.
+     *
+     * @param xpc The XPlaneConnect instance configured with the discovered
+     */
+    void onConnectionEstablished(XPlaneConnect xpc);
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/ViewType.java

@@ -0,0 +1,60 @@
+//NOTICES:
+//    Copyright (c) 2013-2018 United States Government as represented by the Administrator of the
+//    National Aeronautics and Space Administration.  All Rights Reserved.
+//
+//  DISCLAIMERS
+//    No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY KIND,
+//    EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY THAT THE
+//    SUBJECT SOFTWARE WILL CONFORM TO SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
+//    FITNESS FOR A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE SUBJECT
+//    SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF PROVIDED, WILL CONFORM TO
+//    THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN ANY MANNER, CONSTITUTE AN ENDORSEMENT BY
+//    GOVERNMENT AGENCY OR ANY PRIOR RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE,
+//    SOFTWARE PRODUCTS OR ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE.
+//    FURTHER, GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING THIRD-PARTY
+//    SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES IT "AS IS."
+//
+//    Waiver and Indemnity:  RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST THE UNITED STATES
+//    GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT. IF
+//    RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN ANY LIABILITIES, DEMANDS, DAMAGES,
+//    EXPENSES OR LOSSES ARISING FROM SUCH USE, INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR
+//    RESULTING FROM, RECIPIENT'S USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD
+//    HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY
+//    PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER
+//    SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+/**
+ * Represents a camera view in X-Plane
+ *
+ * @author  Jason Watkins
+ * @version 1.1
+ * @since   2015-05-08
+ */
+public enum ViewType
+{
+    Forwards(73),
+    Down(74),
+    Left(75),
+    Right(76),
+    Back(77),
+    Tower(78),
+    Runway(79),
+    Chase(80),
+    Follow(81),
+    FollowWithPanel(82),
+    Spot(83),
+    FullscreenWithHud(84),
+    FullscreenNoHud(85);
+
+    private final int value;
+    private ViewType(int value)
+    {
+        this.value = value;
+    }
+
+    public int getValue()
+    {
+        return value;
+    }
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/WaypointOp.java

@@ -0,0 +1,50 @@
+//NOTICES:
+//    Copyright (c) 2013-2018 United States Government as represented by the Administrator of the
+//    National Aeronautics and Space Administration.  All Rights Reserved.
+//
+//  DISCLAIMERS
+//    No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY KIND,
+//    EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY THAT THE
+//    SUBJECT SOFTWARE WILL CONFORM TO SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
+//    FITNESS FOR A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE SUBJECT
+//    SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF PROVIDED, WILL CONFORM TO
+//    THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN ANY MANNER, CONSTITUTE AN ENDORSEMENT BY
+//    GOVERNMENT AGENCY OR ANY PRIOR RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE,
+//    SOFTWARE PRODUCTS OR ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE.
+//    FURTHER, GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING THIRD-PARTY
+//    SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES IT "AS IS."
+//
+//    Waiver and Indemnity:  RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST THE UNITED STATES
+//    GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT. IF
+//    RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN ANY LIABILITIES, DEMANDS, DAMAGES,
+//    EXPENSES OR LOSSES ARISING FROM SUCH USE, INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR
+//    RESULTING FROM, RECIPIENT'S USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD
+//    HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY
+//    PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER
+//    SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+/**
+ * Represents operations that can be performed by the WYPT command.
+ *
+ * @author  Jason Watkins
+ * @version 1.0
+ * @since   2015-04-09
+ */
+public enum WaypointOp
+{
+    Add(1),
+    Del(2),
+    Clr(3);
+
+    private final int value;
+    private WaypointOp(int value)
+    {
+        this.value = value;
+    }
+
+    public int getValue()
+    {
+        return value;
+    }
+}

Java/ProjectModels/CognitiveModel/XPCdependencies/XPlaneConnectDiscovery.java

@@ -0,0 +1,94 @@
+package ProjectModels.CognitiveModel.XPCdependencies;
+
+import ProjectModels.CognitiveModel.*;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.InetAddress;
+import java.net.MulticastSocket;
+import java.net.SocketException;
+
+
+/**
+ * The XPlaneConnectDiscovery joins a UDP multi cast group and listens for BECN packets published by
+ * XPlaneConnect server plugin. It allows to clients to discover XPlane instances and be sure that the XPlanePlugin is
+ * installed.
+ */
+public class XPlaneConnectDiscovery implements AutoCloseable {
+
+    private static int DEFAULT_PORT = 49710;
+    private static String DEFAULT_ADDRESS = "239.255.1.1";
+
+    private BeaconReceivedListener mListener;
+
+    private MulticastSocket socket = null;
+    private byte[] buf = new byte[256];
+
+    private int mPort;
+    private String mAddress;
+    private BeaconParser parser = new BeaconParser();
+
+    private XPlaneConnectDiscovery(int port, String address) {
+        mPort = port;
+        mAddress = address;
+    }
+
+    public XPlaneConnectDiscovery() {
+        this(DEFAULT_PORT, DEFAULT_ADDRESS);
+    }
+
+    public void start(DiscoveryConnectionCallback callback) throws IOException {
+        onBeaconReceived(beacon -> {
+            this.close();
+
+            try {
+                XPlaneConnect xpc = new XPlaneConnect(beacon);
+                callback.onConnectionEstablished(xpc);
+            } catch (SocketException e) {
+                System.err.println("Could not connect to a discovered XplaneConnect " +beacon+ ": " + e.getMessage());
+            }
+        });
+        start();
+
+    }
+
+    public void start() throws IOException {
+        System.out.println("Starting XPlane Connect discovery");
+        socket = new MulticastSocket(mPort);
+        InetAddress group = InetAddress.getByName(mAddress);
+        socket.joinGroup(group);
+        while (socket != null) {
+            DatagramPacket packet = new DatagramPacket(buf, buf.length);
+            socket.receive(packet);
+            if (mListener == null) {
+                continue;
+            }
+            try {
+                Beacon beacon = parser.readBCN(packet);
+                mListener.onBeaconReceived(beacon);
+            } catch (IOException ex) {
+                System.err.println("Received packet on discovery group but could not parse it: " + ex);
+            }
+        }
+
+        close();
+        System.out.println("XPlane Connect discovery ended");
+    }
+
+
+    public void onBeaconReceived(BeaconReceivedListener mListener) {
+        this.mListener = mListener;
+    }
+
+    @Override
+    public void close() {
+        if (socket != null) {
+            socket.close();
+            socket = null;
+        }
+    }
+
+    public void stop() {
+        close();
+    }
+}

Java/ProjectModels/CognitiveModel/XPlaneConnect.java

@@ -23,9 +23,11 @@
 //    PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER
 //    SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.
 
-// package gov.nasa.xpc;
+package ProjectModels.CognitiveModel;
 
-// import gov.nasa.xpc.discovery.Beacon;
+import ProjectModels.CognitiveModel.XPCdependencies.*;
+import src.discovery.ViewType;
+import src.discovery.WaypointOp;
 
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
@@ -45,7 +47,7 @@ import java.util.Arrays;
  */
 public class XPlaneConnect implements AutoCloseable
 {
-    private static int clientNum;
+    //private static int clientNum;
     private DatagramSocket socket;
     private InetAddress xplaneAddr;
     private int xplanePort;

Java/ProjectModels/src/Main.java

@@ -1,3 +1,4 @@
+package ProjectModels.src;
 import java.io.BufferedWriter;
 import java.io.File;
 import java.io.FileWriter;
@@ -12,10 +13,11 @@ import javax.swing.OverlayLayout;
 import javax.swing.SwingConstants;
 import javax.swing.border.Border;
 
+import ProjectModels.CognitiveModel.*;
+
 public class Main {
+
     public static void main(String[] args) {
-
-
         //Encapsulation (or lack thereof) Test
         Model m = new Model();
         MindQueue q = m.getQueue();
@@ -25,25 +27,35 @@ public class Main {
         MindQueue q2 = m.getQueue();
         System.out.println(q2.pop());
 
-
+        //Using actions
         try(XPlaneConnect xpc = new XPlaneConnect())
         {
-        Action b = new Vision();
+            m.createAction(0, 0, null);
+        Action b = new Vision(10,"sim/cockpit2/gauges/indicators/airspeed_kts_pilot");
+        Action d = new Delay(20);
             // Ensure connection established.
         m = new Model(xpc);
-        m.activate();
+        m.activateModel();
         m.push(b);
+        m.push(d);
+        m.printModelQueue();
+        // m.deactivateModel();
         while(m.isActive() && !m.isEmpty()) {
             float[] array = m.next();
             if(array != null){
-                System.out.println(array[0]);
+                // System.out.println(array[0]);
+                if(array[0] > 80.0f){
+                    m.push(d);
+                }
             } else {
-                System.out.println("no dice");
+                // System.out.println("no dice");
                 // System.out.println(xpc.getDREF(null)");
             }
-            
+            if(m.getModelQueueLength() < 5){
+                m.push(b);
+            }
+            m.printModelQueue();
         }
-        
         }
         catch (SocketException ex)
         {
@@ -52,7 +64,6 @@ public class Main {
         catch (IOException ex)
         {
             System.out.println("Something went wrong with one of the commands. (Error message was '" + ex.getMessage() + "'.)");
-            
         }
         System.out.println("Exiting");
     }

Java/Project_Models/Cognitive_Model/Action.java

@@ -1,26 +0,0 @@
-public abstract class Action {
-
-
-
-Integer priority; //Priority of the Task
-Integer delay; //Potential Delay before starting the task
-Integer taskTime; //How long should the task take
-boolean taskComplete; //Is the task completed?
-int actionType;
-
-public Action(int actionType, int delay){
- this.actionType = actionType;
- this.delay = delay;
-}
-
-public int getType(){
-    return actionType;
-}
-
-
-public Integer getDelay(){
-    return delay;
-}
-
-    
-}

Java/Project_Models/Cognitive_Model/MindQueue.java

@@ -1,40 +0,0 @@
-
-
-import java.util.LinkedList;
-
-public class MindQueue {
-
-    LinkedList<Action> q;
-
-    public MindQueue () {
-        q = new LinkedList<Action>();
-    }
-
-    public void push(Action e){
-        q.add(e);
-    }
-
-
-    public Action removeEvent(Action e){
-        Action temp = e;
-        q.remove(e);
-        return temp;
-    }
-
-    public Action pop() {
-        Vision v = new Vision();
-        if(q.isEmpty()) {
-            return v;
-        }
-        return q.remove();
-    }
-
-    public boolean isEmpty(){
-        return q.isEmpty();
-    }
-
-
-
-
-
-}

Java/Project_Models/Cognitive_Model/Model.java

@@ -1,83 +0,0 @@
-import java.io.IOException;
-
-// import gov.nasa.xpc.XPlaneConnect;
-
-public class Model {
-
-    private MindQueue q;
-    boolean modelActive;
-    XPlaneConnect xpc;
-
-    public Model() {
-        q = new MindQueue();
-        modelActive = false;
-    }
-
-    public Model(XPlaneConnect xpc) {
-        q = new MindQueue();
-        modelActive = false;
-        this.xpc = xpc; 
-    }
-
-
-
-    public MindQueue getQueue() {
-        return q;
-    }
-
-    public float[] next(){
-        Action temp = q.pop();
-        System.out.println("Type of Action: " + temp.getType());
-        float[] returnArray = null;
-        if(temp.getType() == 1){
-            System.out.println("in next if statement");
-            Vision tempV = (Vision) temp; 
-
-            //execute delay 
-            try {
-                Thread.sleep(tempV.getDelay()); // Using the action's Built in Delay 
-            } catch (InterruptedException e) {
-                // TODO Auto-generated catch block
-                e.printStackTrace();
-            }
-
-
-            String dref = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot";
-            try {
-                 returnArray = xpc.getDREF(dref);
-
-            } catch (IOException e) {
-                // TODO: handle exception
-            }
-            
-        }
-        q.push(temp);
-        return returnArray;
-        
-    }
-
-    public boolean isEmpty(){
-       return q.isEmpty();
-    }
-
-    public void push(Action a){
-        q.push(a);
-    }
-
-    public void activate() {
-        modelActive = true;
-    }
-
-    public void establishConnection(XPlaneConnect newXPC){
-        this.xpc = newXPC;
-    }
-
-    public void deactivate(){
-        modelActive = false;
-    }
-
-    public boolean isActive(){
-        return modelActive;
-    }
-    
-}

Java/Project_Models/Cognitive_Model/Vision.java

@@ -1,15 +0,0 @@
-import java.util.Map;
-import java.util.TreeMap;
-
-public class Vision extends Action {
-
-
-    public Vision(){
-        super(1,1000);
-    }
-
-public Vision(int delay){
-    super(1,delay);
-}
-
-}

Java/src/XPlaneConnect.java

@@ -26,6 +26,8 @@
 package gov.nasa.xpc;
 
 import gov.nasa.xpc.discovery.Beacon;
+import src.discovery.ViewType;
+import src.discovery.WaypointOp;
 
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;

Java/src/discovery/ViewType.java

@@ -22,7 +22,7 @@
 //    HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY
 //    PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER
 //    SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.
-package gov.nasa.xpc;
+package src.discovery;
 
 /**
  * Represents a camera view in X-Plane

Java/src/discovery/WaypointOp.java

@@ -22,7 +22,7 @@
 //    HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY
 //    PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER
 //    SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.
-package gov.nasa.xpc;
+package src.discovery;
 
 /**
  * Represents operations that can be performed by the WYPT command.