UAVs can now return to base and recharge

src/de/tud/kom/p2psim/api/energy/Battery.java

@@ -65,6 +65,13 @@ public interface Battery extends Cloneable {
 	default public void reset() {
 		throw new UnsupportedOperationException();
 	}
+	
+	/**
+	 * Resets the Battery to the maximum (full) Energy-Level
+	 */
+	default public void setToMaximumLoad() {
+		throw new UnsupportedOperationException();
+	}
 
 	/**
 	 * Sets the battery to a given percentage.

src/de/tud/kom/p2psim/api/topology/component/ControllableLocationActuator.java

@@ -56,5 +56,5 @@ public interface ControllableLocationActuator {
 	public void removeAllTargetLocations();
 	
 	public void returnToBase(ReachedLocationCallback cb);
-
+	
 }

src/de/tud/kom/p2psim/impl/energy/RechargeableBattery.java

@@ -52,8 +52,8 @@ public class RechargeableBattery extends SimpleBattery {
 	}	
 	
 	@Override
-	public void reset() {
-		currentEnergy = initialEnergy;		
+	public void setToMaximumLoad() {
+		currentEnergy = capacity;		
 	}
 	
 	@Override

src/de/tud/kom/p2psim/impl/energy/UAVCharger.java → src/de/tud/kom/p2psim/impl/energy/UAVReplacementCharger.java

@@ -20,38 +20,66 @@
 
 package de.tud.kom.p2psim.impl.energy;
 
-import java.util.LinkedList;
 
 import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
+
+import de.tudarmstadt.maki.simonstrator.api.Event;
+import de.tudarmstadt.maki.simonstrator.api.EventHandler;
 import de.tudarmstadt.maki.simonstrator.api.Host;
 import de.tudarmstadt.maki.simonstrator.api.component.HostComponent;
 import de.tudarmstadt.maki.simonstrator.api.component.HostComponentFactory;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BatteryReplacementCallback;
 
 /**
- * Ground-based charger for UAVs 
+ * Ground-based charger for UAVs. Replaces the battery completely, i.e., 
+ * sets battery capacity to full levels, but requires some time to do so.
  * 
  * 
  * @author Julian Zobel
  * @version 1.0, 21.09.2018
  */
-public class UAVCharger implements HostComponent {
+public class UAVReplacementCharger implements HostComponent {
 	
 	private Host host;
 	private long replacementDuration;
-	private int chargerSize;
 	
-	private LinkedList<UAVTopologyComponent> uavs = new LinkedList<>();
-		
-	public UAVCharger(Host host, long replacementDuration,  int chargerSize) {
+	public UAVReplacementCharger(Host host, long replacementDuration) {
 		this.host = host;
-		this.replacementDuration = replacementDuration;
-		this.chargerSize = chargerSize;
+		this.replacementDuration = replacementDuration;		
+	}
+	
+	/**
+	 * Charge a UAV by replacing the battery (i.e. reset to full battery levels). Replacement takes some time.
+	 * The UAV is informed about the full replacement when it is finished by a callback.
+	 * 
+	 * @param uav
+	 * @param cb
+	 */
+	public void charge(UAVTopologyComponent uav, BatteryReplacementCallback cb) {
+		
+		Event.scheduleWithDelay(replacementDuration, new EventHandler() {
+			@Override
+			public void eventOccurred(Object content, int type) {
+				replacementComplete(uav, cb);
+			}
+		}, null, 0);			
+	}
+	
+	/**
+	 * When this is called (after the replacement duration) the UAV's battery is set 
+	 * to full level/max capacity.
+	 * 
+	 * @param uav
+	 * @param cb
+	 */
+	protected void replacementComplete(UAVTopologyComponent uav, BatteryReplacementCallback cb) {		
+		uav.getBattery().setToMaximumLoad();
+		cb.rechargeComplete();
 	}
 	
 	@Override
 	public void initialize() {
-		// TODO Auto-generated method stub
-		
+		// TODO Auto-generated method stub		
 	}
 
 	@Override
@@ -68,22 +96,19 @@ public class UAVCharger implements HostComponent {
 	public static class Factory implements HostComponentFactory {
 
 		private long replacementDuration;
-		private int chargerSize;
-		
+				
+		/**
+		 * Duration of the battery replacement in SECONDS
+		 * @param replacementDuration
+		 */
 		public void setReplacementDuration(long replacementDuration) {
 			this.replacementDuration = replacementDuration;
-		}
-
-		public void setChargerSize(int chargerSize) {
-			this.chargerSize = chargerSize;
 		}	
 		
 		@Override
 		public HostComponent createComponent(Host host) {
-			return new UAVCharger(host, replacementDuration, chargerSize);
+			return new UAVReplacementCharger(host, replacementDuration);
 		}
-		
-		
 	
 	}
 }

src/de/tud/kom/p2psim/impl/topology/component/BaseTopologyComponent.java

@@ -26,6 +26,8 @@ import de.tud.kom.p2psim.api.common.SimHost;
 import de.tud.kom.p2psim.api.topology.Topology;
 import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.placement.PlacementModel;
+import de.tud.kom.p2psim.impl.energy.UAVReplacementCharger;
+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;
 
@@ -33,6 +35,8 @@ import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Attraction
 public class BaseTopologyComponent extends AbstractTopologyComponent {
 
 	private OverlayComponent baseOverlayComponent;
+	private UAVReplacementCharger charger;
+	
 	
 	public BaseTopologyComponent(SimHost host, Topology topology,
 			MovementModel movementModel, PlacementModel placementModel,
@@ -41,6 +45,17 @@ public class BaseTopologyComponent extends AbstractTopologyComponent {
 				registerAsInformationProviderInSiS);
 		// TODO Auto-generated constructor stub
 	}
+	
+	@Override
+	public void initialize() {		
+		super.initialize();
+		
+		try {
+			charger = getHost().getComponent(UAVReplacementCharger.class);
+		} catch (ComponentNotAvailableException e) {
+			throw new AssertionError("Unable to retrieve Replacement Charger for Base!");
+		}
+	}
 
 	@Override
 	public double getMinMovementSpeed() {
@@ -84,4 +99,9 @@ public class BaseTopologyComponent extends AbstractTopologyComponent {
 	public OverlayComponent  getBaseComponent() {
 		return baseOverlayComponent;
 	}
+	
+	public UAVReplacementCharger getCharger() {
+		return charger;
+	}
+	
 }

src/de/tud/kom/p2psim/impl/topology/component/UAVTopologyComponent.java

@@ -41,6 +41,7 @@ import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableExcep
 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.BatteryReplacementCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
 
 /**
@@ -176,6 +177,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return battery.getCurrentPercentage();
 	}
 
+	public RechargeableBattery getBattery() {
+		return battery;
+	}
 	
 	@Override
 	public UAVMovementModel getUAVMovement() {
@@ -257,9 +261,8 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 			
 			@Override
 			public void reachedLocation() {
-				cb.reachedLocation();
 				deactivate();
-				connectToBaseCharger();
+				cb.reachedLocation();				
 			}
 		};
 		
@@ -267,10 +270,16 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 		
 	
-	private void connectToBaseCharger() {
+	protected void connectToBaseAndRecharge() {
 		BaseTopologyComponent base = UAVBasePlacement.base;
-		
-		
+			
+		base.getCharger().charge(this, new BatteryReplacementCallback() {
+			
+			@Override
+			public void rechargeComplete() {
+				System.out.println("Recharge completed!");
+			}
+		});
 	}