USV Mission Planner & Simulator

A JavaFX desktop application for planning and simulating Unmanned Surface Vehicle (USV) mine clearance missions. Users draw search patterns on a map, configure mission behaviors, and execute realistic simulations with platform dynamics.

Features

Mission Planning (US1)

• Draw search areas on map (polygon with 3+ vertices)
• Automatic parallel track pattern generation
• Configurable orientation (0-360°) and spacing
• Real-time waypoint visualization

Mission Execution (US2)

• Realistic Platform Dynamics:

  • Turn radius (configurable, default 200m)
  • Acceleration/deceleration limits
  • Speed constraints (max 8 knots)
  • Smooth curved navigation paths

• Simulation Controls:

  • Start/Pause/Stop buttons
  • Time acceleration slider (1× to 20×)
  • Real-time position and heading tracking
  • Track history visualization

Multi-Behavior Missions (US3)

• Four Behavior Types:

  • Parallel Track Search - systematic grid coverage
  • Waypoint Transit - navigate to user-specified points
  • Return to Base - return to starting position
  • Expanding Square Search - spiral pattern from centroid

• Mission Management:

  • Add/remove/reorder behaviors
  • Sequential execution with transitions
  • Real-time progress display

Real-Time State Monitoring (US5)

• Platform position and heading
• Speed and acceleration status
• Current behavior and waypoint progress
• Elapsed simulation time
• Update frequency (Hz)

Quick Start

Prerequisites

• Java 25+
• Maven 3.8+

Build & Run

mvn clean install
mvn javafx:run

Create Your First Mission

1. Start the application
2. Click on map to draw a search polygon (3+ points)
3. Right-click → Add Behaviour → Parallel Track Search
4. Set orientation (0-360°) and spacing (meters)
5. Click "Start" to run simulation
6. Observe USV movement with realistic dynamics

Testing

# All tests (116 tests)
mvn test

# Unit tests only
mvn test -Dtest="*Test"

# Integration tests
mvn test -Dtest="*IntegrationTest"

# E2E tests
mvn test -Dtest="*E2ETest"

# Code coverage
mvn jacoco:prepare-agent test jacoco:report
# View: target/site/jacoco/index.html

Architecture

Tech Stack: Java 25, JavaFX 21, JTS Topology Suite, Maven

Project Structure:

src/main/java/com/planetmayo/usvsim/
├── model/               # Mission entities
│   ├── behaviour/       # 4 behavior types
│   ├── mission/         # Mission composition
│   ├── geometry/        # Position, Waypoint, Polygon
│   └── platform/        # State and dynamics
├── view/                # JavaFX UI
│   ├── dialogs/         # Behavior config dialogs
│   └── panels/          # Map, Control, State panels
├── controller/          # Application logic
│   ├── SimulationEngine # Real-time simulator
│   └── MissionController
└── util/                # Utilities
    ├── GeoUtils         # Great circle nav
    ├── SearchPatternGenerator
    └── PolygonUtils

Performance

• 60 FPS target at 1× speed
• <100ms UI response
• <500ms pattern generation
• <512MB memory usage

Development Notes

• TDD for business logic (>80% coverage)
• Mockup-first UI development
• MVC architecture enforced
• Thread-safe simulation engine
• Input validation on all dialogs

Status

✅ Production Ready (MVP)

• All 5 user stories implemented
• 116/116 tests passing
• All validation and error handling in place

Future Enhancements

• Platform configuration dialog (P3)
• CSS styling improvements
• FPS profiling overlay
• Mission save/load
• Multi-platform simulation

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Last Updated: 2025-10-24 Branch: 001-usv-mission-planner