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.LinkedList;
import java.util.Set;

import org.apache.batik.bridge.AbstractSVGGradientElementBridge.Stop;

import de.tud.kom.p2psim.api.common.SimHost;
import de.tud.kom.p2psim.api.energy.ComponentType;
import de.tud.kom.p2psim.api.energy.EnergyModel;
import de.tud.kom.p2psim.api.network.SimNetInterface;
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.RechargeableBattery;
import de.tud.kom.p2psim.impl.energy.components.StateActuatorEnergyComponent;
import de.tud.kom.p2psim.impl.energy.components.StatelessMotorComponent;
import de.tud.kom.p2psim.impl.energy.models.AbstractEnergyModel;
import de.tud.kom.p2psim.impl.topology.placement.UAVBasePlacement;
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.location.AttractionPoint;
import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;

import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseConnectedCallback;
import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseDisconnectedCallback;
import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BatteryReplacementCallback;
import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
import de.tudarmstadt.maki.simonstrator.api.uavsupport.communication.UAVToBaseInterface;

/**
 * Topology component used for UAVs.
 * 
 * @author Julian Zobel
 * @version 1.0, 06.09.2018
 */
public class UAVTopologyComponent extends AbstractTopologyComponent implements SimUAVLocationActuator {
	
	public enum UAVstate {OFFLINE, BASE_CONNECTION, ACTION, RETURN, CRASHED}
	
	private UAVMovementModel movement;
	
	private OverlayComponent uavOverlayComponent;
	
	protected PositionVector direction;
	
	private StatelessMotorComponent actuator;
	private RechargeableBattery battery;
	
	private UAVstate state = UAVstate.OFFLINE;
	private PositionVector baseLocation;
	
	private UAVToBaseInterface controllerInterface;
	
	/**
	 * 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);		
		direction = new PositionVector(0,-1,0);
	}

	@Override
	public void initialize() {		
		super.initialize();
		
		try {
			actuator = getHost().getComponent(EnergyModel.class)
					.getComponent(ComponentType.ACTUATOR, StatelessMotorComponent.class);	
			movement.setMotorControl(actuator);
		} catch (ComponentNotAvailableException e) {
			System.err.println("No Acutator Energy Component was found!");
		}
		
		try {
			battery = (RechargeableBattery) getHost().getComponent(AbstractEnergyModel.class).getBattery();
				
		} catch (ComponentNotAvailableException e) {
			System.err.println("No Battery Component was found!");
		}
		
		// retrieve base location
		baseLocation = UAVBasePlacement.base.position.clone();		
	}
	
	public void setState(UAVstate newState) {
		this.state = newState;
	}
			
	public void setUAVComponent(OverlayComponent uavOverlayComponent) {
		this.uavOverlayComponent = uavOverlayComponent;
	}
	
	public OverlayComponent getUAVComponent() {
		return uavOverlayComponent;
	}

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

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

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

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

	@Override
	public boolean isActive() {
		if(actuator.isOn())
			return true;
		else {
			if(state == UAVstate.ACTION || state == UAVstate.RETURN) {
				this.deactivate();
			}
			return false;
		}
	}

	@Override
	public boolean activate() {		
		if(actuator.turnOn()) {
			state = UAVstate.ACTION;
			return true;
		}
		else {
			return false;
		}
	}

	@Override
	public boolean deactivate() {
		actuator.turnOff();
				
		if(this.position.getAltitude() != 0) {			
			state = UAVstate.CRASHED;
			System.err.println("UAV was destroyed due to actuator deactivation during flight");
			
			uavOverlayComponent.shutdown();	
			shutdownCommunication();
		}
		else {
			state = UAVstate.OFFLINE;
		}
		
					
		
		return true;
	}

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

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

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

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

	@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();
	}

	public UAVstate getUAVState() {
		return state;
	}
	
	@Override
	public void returnToBase(ReachedLocationCallback cb) {
		this.state = UAVstate.RETURN;
		
		ReachedLocationCallback returnCallback = new ReachedLocationCallback() {
			
			@Override
			public void reachedLocation() {
				deactivate();				
				cb.reachedLocation();				
			}
		};
		
		movement.setTargetLocation(baseLocation, returnCallback);	
	}
		
	public void batteryReplacement(BatteryReplacementCallback cb) {
		
		if(state != UAVstate.BASE_CONNECTION)
			throw new UnsupportedOperationException("Cannot recharge if not connected to base!");
		
		BaseTopologyComponent base = UAVBasePlacement.base;
		base.getCharger().charge(this, cb);
	}

	public void setControllerInterface(UAVToBaseInterface controllerInterface) {
		this.controllerInterface = controllerInterface;				
	}

	@Override
	public void connectToBase(BaseConnectedCallback cb) {
		BaseTopologyComponent base = UAVBasePlacement.base;
		base.connectUAVToBase(controllerInterface);	
		
		if(cb != null)
			cb.successfulConnection();
		
		this.state = UAVstate.BASE_CONNECTION;
		
		shutdownCommunication();
	}

	@Override
	public void disconnectFromBase(BaseDisconnectedCallback cb) {
		startCommunication();
		
		BaseTopologyComponent base = UAVBasePlacement.base;
		base.disconnectUAVFromBase(controllerInterface);
		
		if(cb != null)
			cb.successfulDisconnection();
		
		this.state = UAVstate.OFFLINE;
	}

	private void shutdownCommunication() {
		for (SimNetInterface net : getHost().getNetworkComponent().getSimNetworkInterfaces()) 
			net.goOffline();
	}

	private void startCommunication() {
		for (SimNetInterface net : getHost().getNetworkComponent().getSimNetworkInterfaces()) 
			net.goOnline();
	}

	@Override
	public PositionVector getCurrentDirection() {
		return direction;
	}

	@Override
	public void updateCurrentDirection(PositionVector direction) {
		this.direction.set(direction);
	}

	

}