UAVTopologyComponent.java

/*
 * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
 *
 * This file is part of PeerfactSim.KOM.
 * 
 * PeerfactSim.KOM is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * any later version.
 * 
 * PeerfactSim.KOM is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

package de.tud.kom.p2psim.impl.topology.component;

import java.util.HashSet;
import java.util.LinkedList;
import java.util.Set;

import de.tud.kom.p2psim.api.common.SimHost;
import de.tud.kom.p2psim.api.energy.Battery;
import de.tud.kom.p2psim.api.energy.ComponentType;
import de.tud.kom.p2psim.api.energy.EnergyModel;
import de.tud.kom.p2psim.api.topology.Topology;
import de.tud.kom.p2psim.api.topology.movement.MovementModel;
import de.tud.kom.p2psim.api.topology.movement.SimUAVLocationActuator;
import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
import de.tud.kom.p2psim.api.topology.placement.PlacementModel;
import de.tud.kom.p2psim.impl.energy.components.ActuatorEnergyComponent;
import de.tud.kom.p2psim.impl.topology.util.PositionVector;
import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableException;
import de.tudarmstadt.maki.simonstrator.api.component.overlay.OverlayComponent;
import de.tudarmstadt.maki.simonstrator.api.component.sensor.battery.BatterySensor;
import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;

/**
 * Topology component used for UAVs.
 * 
 * @author Julian Zobel
 * @version 1.0, 06.09.2018
 */
public class UAVTopologyComponent extends AbstractTopologyComponent implements SimUAVLocationActuator {
	
	private UAVMovementModel movement;
	
	private OverlayComponent uavOverlayComponent;
	
	private ActuatorEnergyComponent actuator;
	public BatterySensor battery;
	
	/**
	 * Create a TopologyComponent for the current host.
	 *
	 * @param host
	 * @param topology
	 * @param movementModel
	 */
	public UAVTopologyComponent(SimHost host, Topology topology,
			MovementModel movementModel, PlacementModel placementModel, boolean registerAsInformationProviderInSiS) {
		super(host, topology, movementModel, placementModel, registerAsInformationProviderInSiS);
	}

	@Override
	public void initialize() {		
		super.initialize();
		
		try {
			actuator = getHost().getComponent(EnergyModel.class)
					.getComponent(ComponentType.ACTUATOR, ActuatorEnergyComponent.class);
			
			actuator.turnOn();
		} catch (ComponentNotAvailableException e) {
			System.err.println("No Acutator Energy Component was found!");
		}
		
		try {
			battery = getHost().getComponent(BatterySensor.class);
				
		} catch (ComponentNotAvailableException e) {
			System.err.println("No Battery Component was found!");
		}
	}
			
	public void setUAVComponent(OverlayComponent uavOverlayComponent) {
		this.uavOverlayComponent = uavOverlayComponent;
	}
	
	public OverlayComponent getUAVComponent() {
		return uavOverlayComponent;
	}

	@Override
	public double getMinMovementSpeed() {
		return movement.getMinCruiseSpeed();
	}

	@Override
	public double getMaxMovementSpeed() {
		return movement.getMaxCruiseSpeed();
	}

	@Override
	public double getMovementSpeed() {
		return movement.getCurrentSpeed();
	}

	@Override
	public void setMovementSpeed(double speed) {
		movement.setPreferredCruiseSpeed(speed);
	}

	@Override
	public boolean isActive() {
		return actuator.isOn();
	}

	@Override
	public boolean activate() {
		return actuator.turnOn();
	}

	@Override
	public boolean deactivate() {
		// TODO Auto-generated method stub
		return false;
	}

	@Override
	public PositionVector getCurrentLocation() {
		return position.clone();
	}

	@Override
	public double getCurrentBatteryLevel() {
		return battery.getCurrentPercentage();
	}

	
	@Override
	public UAVMovementModel getUAVMovement() {
		return movement;
	}

	@Override
	public void setUAVMovement(UAVMovementModel uavMovement) {
		this.movement = uavMovement;		
	}

	@Override
	public ActuatorEnergyComponent getActuatorEnergyComponent() {
		return actuator;
	}


	public void updateCurrentLocation(Location location, double actuatorLoad) {
		super.updateCurrentLocation(location);
		actuator.useActuator(actuatorLoad);
	}

	@Override
	public Set<AttractionPoint> getAllAttractionPoints() {
		throw new UnsupportedOperationException();
	}

	@Override
	public void setTargetLocation(PositionVector targetLocation,
			ReachedLocationCallback cb) {
		movement.setTargetLocation(new PositionVector(targetLocation), cb);		
	}

	@Override
	public void addTargetLocation(PositionVector targetLocation,
			ReachedLocationCallback cb) {
		movement.addTargetLocation(new PositionVector(targetLocation), cb);
	}

	@Override
	public void setTargetLocationRoute(LinkedList<PositionVector> route,
			ReachedLocationCallback cb) {
		LinkedList<PositionVector> positionvectorlist = new LinkedList<>();
		for (Location loc : route) {
			positionvectorlist.add(new PositionVector(loc));
		}
		movement.setTargetLocationRoute(positionvectorlist, cb);
	}

	@Override
	public void removeAllTargetLocations() {
		movement.removeTargetLocations();
	}

	@Override
	public void setTargetAttractionPoint(AttractionPoint targetAttractionPoint) {
		throw new UnsupportedOperationException();		
	}

	@Override
	public AttractionPoint getCurrentTargetAttractionPoint() {
		throw new UnsupportedOperationException();
	}

	@Override
	public LinkedList<PositionVector> getTargetLocations() {
		return movement.getTargetLocations();
	}



	


	
	


}