• Delete any previous versions of Visual (and Visual.ini, which should reside in the same folder) before installing this version.

• This application is now bundled in a self-extracting zip file. WinZip (or similar unzip) program is no longer necessary to unbundle the application.

• A connection to the Internet (28.8+ kbaud) is required to connect to the Environment Server.

• The correct host and port values to connect to the Environment Server should be pre-configured with the Visual program. Use the Environment Server Status web page to view available simulations as well as updated host and port values.

• The default initial view is a 3-d visualization oriented at the origin of the environment. Use the left mouse button for translation, right mouse button for rotation, and both mouse buttons (simultaneously) for zoom.

• This application will only let you view the environment; you cannot control or affect any of the vehicle participants in the environment.

• A blinking VIP icon within the 3-d display indicates vehicles which have disconnected from the ESA but have registered their intent to return at a later time. This functionality is used primarily for HITL VIP clients who may periodically disconnect and reconnect to the ESA during their lifetime.

General Considerations:

The visualization application (Visual) provides you with an overall 3-dimensional view of the simulated underwater environment, as well as descriptive information about each vehicle and each group of vehicles that are participating in the ongoing operation in the virtual environment.

The application requires a computer running Windows 95/98/NT/2000/XP, preferably on a Pentium or better processor. A network connection to the Internet is also required. We have had mixed results running the client from behind a firewall - good luck if you try this. CPU requirements for Visual are moderate, and increase with number of VIP agents and environment features displayed. Bandwidth required depends upon number of VIP agents in the environment, and is approximately 3.5 kbit/s per VIP agent displayed. A 56K modem should be adequate to display approximately 10 or more VIP agents without problems. A one-time initial download of between 10 and 100 KB is required for the map file, depending upon the scenario.

Follow these steps to obtain and run the Visual program:

1. Download the self-extracting zip file from the Client Applications section of the CADCON web page. Extract the file using the Unzip option. You will find the executable and other supporting files. Important: Keep all the files together in a single folder. Use a shortcut to the Visual.exe if you wish to launch the application from a different location.

2. Launch the Visual application by double-clicking on it.

3. Host and Port information for connecting to the Environment Server are obtained by clicking on Environment Server Status. Enter these parameters into the Connect->Connection Preferences dialog. Also enter your User Name and Password. (If you don't know these, contact us and we will set you up with a valid pair. For evaluation purposes, the username "guest" and password "guest" will also permit connection to the server.)

4. Connect to the Environment Simulator (ESA). Select Connect->Connect to Simulation. An available list of virtual environments will be presented. Select one by clicking on the Environment Name. Click Enter.

5. You should now be participating in the environment simulation, as an observer. Use the View menu to show or hide various environment features and provide different camera angles and scene views. Use the Window menu to create and manage new views. You can disconnect from the ESA at any time by quitting the program or using the Connect->Disconnect menu option.

6. In the Status window (tabbed windows on right), click on the "Environ Info" tab to view information regarding the virtual environment. The environment is comprised of a rectangular block of water having it's origin at the center surface. Information related to certain environment models in use is also displayed. Double-click on any component to get more detailed information.

7. In the Status window, click on the "Veh Info" tab and select the vehicle you are interested in. Double-click on any component to get more detailed information. This data is delivered from the server and represents vehicle-specific information. If there are no vehicles in this tab view, this indicates the environment is currently devoid of AUVs.

8. Adjust the View windows (windows on the left) in the main frame window using the Window menu items. If your machine is less capable than a 100MHz Pentium, you may want to shrink the window to improve performance. Use the View->Camera Position options to place a simulated camera onto the vehicle that you select in the Status window. Notice that part of the vehicle is seen through the "camera". Note: You can click on the "View->3-D Updates" button to stop and start the 3-d update of the View window without disconnecting from the ESA server. This is useful when you need to temporarily free up CPU resources on your computer while using the Visual application, as the 3-d rendering is CPU intensive, especially with multiple AUVs in the environment.

9. In the View window, press the left button and move the mouse; this provides translation motion. Now press the right button and move the mouse around the center of the window; this provides rotation motion. Finally, press the left and right buttons simultaneously, move your mouse forward and backward; this provides a zoom motion.

10. If you have moved the vehicle out of the View window, and you are not able to get it back into view, use the camera position options to first select "Camera on Origin" or "Camera on Vehicle". Then select "Reset Camera" to place the camera at the origin or on the selected vehicle, respectively. Use this button to reset your camera if you get lost.

11. Press the "Coordinate Axes" button under the View menu to draw the coordinate axis at the origin. Use the "Terrain" buttons to switch between a grid, dots or shaded rendering of the environment.

12. Click on "Vehicle Magnification" button under the View menu to change the zoom factor, or apparent size of the vehicles. Zoom factor 1 means actual size. Use a zoom factor of 5 or 10 to more easily view vehicles in the environment.

13. To create a recording of a vehicle's energy history status, click on a vehicle name in the "Vehicle Info" status window, then click the "Vehicle Trajectory" button under the View menu. Click "OK". Under the "Window" menu, select "1-D Window (Energy)". This will open a window where the energy usage of that vehicle is tracked.

14. In addition to the 3-D view, you can also generate a 2-D top-down position view. Under the "Window" menu, select "2-D Window". Click on a vehicle name in the "Vehicle Info" status window, then click the "Vehicle Trajectory" button, as above. Click "OK". This will provide a top-down view of vehicle motion. Note that you can have several view windows (3-d, 2-d, 1-d)open at once. Use the "Cascade" or "Tile" options under the "Window" menu to arrange them appropriately.

15. Environment data can be viewed if it is present. In particular, the plume display and settings allow the dissolved oxygen (DO2) plume model to be shown. Use the settings dialog to mask the data within lower and upper bounds to show finer detail. The DO2 model requires a resident NetCDF file; please contact AUSI if you would like a copy of this.

Last Updated 5/3/2004 for Visual 2.3
Author: Rick Komerska (previously Liang Peng)

Visual 2.2 to Visual 2.3:

• Hooks in place to support new DataClass and DataSource for environment server models.
• Incorporates proper handling of DO2 model, to support RPI adaptive sampling work.
• Supports simulation data exchange protocol 1.93.

Visual 2.1 to Visual 2.2:

• Fixed bugs in plume code reading NetCDF files. At this time, the app will ONLY work with a plume data file having dimensions [100][100][20], such as the concentration100.nc file.
• Removed communications protocol and version id from .ini file.
• Implemented cosmetic changes to plume information view.

Visual 2.0 to Visual 2.1:

• Revamped DO plume visualization, and included dynamic color scaling of plume particles.
• Enable/disable access to certain view parameters based on their availability at runtime.
• Supports simulation data exchange protocol 1.91.

Visual 1.7 to Visual 2.0:

• TSI support to redo socketing code. Now use TSI socketing code in place of MFC socketing.
• Support for NetCDF file access and initial work in DO plume visualization.

Visual 1.6.3 to Visual 1.7:

• Modified header files to support cloud cover, wind and plume environment types. This also entailed a protocol change to commprot 1.9.
• Windows 2000 now supported.

Visual 1.6.2 to Visual 1.6.3:

• Supports simulation data exchange protocol 1.8, which utilizes more efficient VUpkt/VIPpkt structures. Previous versions of Visual clients will not be able to connect to the current Environment Server.

Visual 1.6.1 to Visual 1.6.2:

• The application now supports display of VIPs which have disconnected from the ESA but have registered their intent to return at a later time. This functionality is used primarily for HITL VIP clients who may periodically disconnect and reconnect to the ESA during their lifetime.
• Supports simulation data exchange protocol 1.7. Previous versions of Visual clients will not be able to connect to the current Environment Server.

Visual 1.5.1 to Visual 1.6.1:

• Application is now bundled in a self-extracting zip file. WinZip (or similar unzip) program is no longer necessary to unbundle the application.
• Streamlined server connection process. User no longer need consult a seperate web page to determine available simulation environments to join. Preferences interface (and AUVSim.ini file) now stores the host and port for a standard CADCON connection, which should change very infrequently.
• Simplified the user interface. Added a "Scene Maneuver Tool" to aid in moving around the environment.
• Rewrote (online) Readme file to be more user-friendly.
• Supports simulation data exchange protocol 1.6. Previous versions of Visual clients will not be able to connect to the current Environment Server.

Visual 1.4 to Visual 1.5.1:

• Added headroom parameter to vehicle quantities.
• Updated to simulation data exchange protocol 1.5.

Visual 1.3 to Visual 1.4:

• Fixed bug where multiple "ghost" vehicles were displayed.
• Added consistent units in energy display fields.

Visual 1.2.3 to Visual 1.3:

• Added multiple 1-D, 2-D, 3-D view windows.
• Added vehicle energy history display window.
• Updated to simulation data exchange protocol 1.4.

Visual 1.2.1 to Visual 1.2.3:

• Added server update indicator.
• Most commonly used user function buttons pre-pushed on startup.
• Improved drawing efficiency.

Visual 1.2 to Visual 1.2.1:

• Corrected bug when drawing a bottom crawler that oriented vehicle 90 degrees off kilter in yaw.