Rechargeable Batteries and UAV Landing

src/de/tud/kom/p2psim/api/common/SimHost.java

@@ -94,4 +94,5 @@ public interface SimHost extends Host {
 	 * binding with other layers, as these might have been null beforehand.
 	 */
 	public void initialize();
+
 }

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

@@ -20,7 +20,7 @@
 
 package de.tud.kom.p2psim.api.energy;
 
-import java.nio.channels.UnsupportedAddressTypeException;
+
 
 /**
  * This interface implements basic methods used by the EnergyModel to simulate a
@@ -103,4 +103,6 @@ public interface Battery extends Cloneable {
 	 * @return
 	 */
 	public boolean isFullyCharged();
+	
+	public Battery copy(double initialEnergy);
 }

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

@@ -46,7 +46,7 @@ public interface EnergyComponent extends EventHandler {
 	 * CommunicationComponent directly. Call goOffline() on the corresponding
 	 * Mac-Layer instead!</b>
 	 */
-	public void turnOff();
+	public boolean turnOff();
 
 	/**
 	 * Generic method to activate a component. <b>DO NOT use this method on a

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

@@ -54,5 +54,7 @@ public interface ControllableLocationActuator {
 	public void setTargetLocationRoute(LinkedList<PositionVector> route, ReachedLocationCallback cb);
 
 	public void removeAllTargetLocations();
+	
+	public void returnToBase(ReachedLocationCallback cb);
 
 }

src/de/tud/kom/p2psim/impl/common/DefaultHost.java

@@ -231,6 +231,6 @@ public class DefaultHost implements SimHost {
 			throw new AssertionError(
 					"This host was configured without any components!");
 		}
-	}
+	}	
 
 }

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

@@ -90,16 +90,16 @@ public class EnergyModelFactory implements HostComponentFactory {
 		
 		if(useRandomBatteryStartConfiguration)
 		{
-			// clone the battery from the provided model
-			// FIXME Different Capacities for different nodes.
+			// clone the battery from the provided model			
 			double percentageOfFullBattery = (1 - random.nextDouble());
 			if(percentageOfFullBattery < minimumStartEnergyLevel)
 				percentageOfFullBattery = minimumStartEnergyLevel;
 			double initialEnergy = batteryModel.getMaximumEnergyLevel() * percentageOfFullBattery;
-			bat = new SimpleBattery(batteryModel.getMaximumEnergyLevel(), initialEnergy);
+			
+			bat = batteryModel.copy(initialEnergy);
 		}
 		else {			
-			bat = batteryModel.clone();
+			bat = batteryModel.copy(batteryModel.getMaximumEnergyLevel());			
 		}
 
 		EnergyModel em = new ComponentBasedEnergyModel(host, bat);
@@ -115,7 +115,7 @@ public class EnergyModelFactory implements HostComponentFactory {
 	 * 
 	 * @param energy
 	 */
-	public void setBattery(Battery battery) {
+	public void setBattery(Battery battery) {	
 		this.batteryModel = battery;
 	}
 

src/de/tud/kom/p2psim/impl/energy/RechargeableBattery.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.energy;
+
+import de.tud.kom.p2psim.api.energy.Battery;
+import de.tudarmstadt.maki.simonstrator.api.util.XMLConfigurableConstructor;
+
+/**
+ * Extension to the basic battery implementation, enables to charge the battery.
+ * 
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 21.09.2018
+ */
+public class RechargeableBattery extends SimpleBattery {
+
+	@XMLConfigurableConstructor({ "capacity", "initialEnergy" })
+	public RechargeableBattery(double capacity, double initialEnergy) {
+		super(capacity, initialEnergy);		
+	}
+	
+	/**
+	 * Charge the battery with the given amount in <b>uJ</b>
+	 * 
+	 * @param charge
+	 */
+	public void chargeBattery(double charge) {
+		if(currentEnergy + charge >= capacity) {
+			currentEnergy = capacity;
+		}
+		else {
+			currentEnergy += charge;
+		}
+	}	
+	
+	@Override
+	public void reset() {
+		currentEnergy = initialEnergy;		
+	}
+	
+	@Override
+	public Battery copy(double initialEnergy) {
+		return new RechargeableBattery(capacity  / 1000000, initialEnergy  / 1000000);
+	}
+
+	@Override
+	public String toString() {
+		return "Rechargeable Battery ["+getCurrentPercentage()+"%] ["+getCurrentEnergyLevel()+"/"+getMaximumEnergyLevel()+"]";
+	}
+}

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

@@ -32,13 +32,12 @@ import de.tudarmstadt.maki.simonstrator.api.util.XMLConfigurableConstructor;
  */
 public class SimpleBattery implements Battery {
 
-	private double capacity;
+	protected final double capacity;
 
-	private double initialEnergy;
+	protected final double initialEnergy;
 
-	private double currentEnergy;
+	protected double currentEnergy;
 
-	private boolean isEmpty = false;
 
 	/**
 	 * Create a new battery with the given initial energy and total capacity in
@@ -48,15 +47,15 @@ public class SimpleBattery implements Battery {
 	 * @param initalEnergy
 	 */
 	@XMLConfigurableConstructor({ "capacity", "initialEnergy" })
-	public SimpleBattery(double capacity, double initalEnergy) {
+	public SimpleBattery(double capacity, double initialEnergy) {
 		this.capacity = capacity * 1000000;
-		this.initialEnergy = initalEnergy * 1000000;
-		this.currentEnergy = initalEnergy * 1000000;
+		this.initialEnergy = initialEnergy * 1000000;
+		this.currentEnergy = initialEnergy * 1000000;
 	}
 
 	@Override
 	public double getCurrentPercentage() {
-		if (isEmpty) {
+		if (isEmpty()) {
 			return 0.0;
 		}
 		double percent = 100.0 * currentEnergy / capacity;
@@ -66,7 +65,7 @@ public class SimpleBattery implements Battery {
 
 	@Override
 	public double getCurrentEnergyLevel() {
-		if (isEmpty) {
+		if (isEmpty()) {
 			return 0.0;
 		}
 		return currentEnergy;
@@ -76,23 +75,16 @@ public class SimpleBattery implements Battery {
 	public double getConsumedEnergy() {
 		return capacity - currentEnergy;
 	}
-
-	@Override
-	public void reset() {
-		currentEnergy = initialEnergy;
-		isEmpty = false;
-	}
-
+	
 	@Override
 	public void setToPercentage(double percentage) {
-		currentEnergy = (capacity / 100.0) * percentage;
-		isEmpty = false;
+		currentEnergy = (capacity / 100.0) * percentage;		
 	}
 
 	@Override
 	public void consumeEnergy(double energy) {
-		if (isEmpty || energy >= currentEnergy) {
-			isEmpty = true;
+		if ( energy >= currentEnergy) {
+			currentEnergy = 0;
 		} else {
 			currentEnergy = currentEnergy - energy;
 		}
@@ -100,7 +92,10 @@ public class SimpleBattery implements Battery {
 
 	@Override
 	public boolean isEmpty() {
-		return isEmpty;
+		if(currentEnergy  == 0) 
+			return true;
+		
+		return false;
 	}
 
 	@Override
@@ -121,4 +116,9 @@ public class SimpleBattery implements Battery {
 		return false;
 	}
 
+	@Override
+	public Battery copy(double initialEnergy) {
+		return new SimpleBattery(capacity / 1000000, initialEnergy / 1000000);
+	}
+
 }

src/de/tud/kom/p2psim/impl/energy/UAVCharger.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.energy;
+
+import java.util.LinkedList;
+
+import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
+import de.tudarmstadt.maki.simonstrator.api.Host;
+import de.tudarmstadt.maki.simonstrator.api.component.HostComponent;
+import de.tudarmstadt.maki.simonstrator.api.component.HostComponentFactory;
+
+/**
+ * Ground-based charger for UAVs 
+ * 
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 21.09.2018
+ */
+public class UAVCharger 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) {
+		this.host = host;
+		this.replacementDuration = replacementDuration;
+		this.chargerSize = chargerSize;
+	}
+	
+	@Override
+	public void initialize() {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void shutdown() {
+		throw new UnsupportedOperationException("Charger shutdown not supported!");
+	}
+
+	@Override
+	public Host getHost() {
+		return host;
+	}
+
+	
+	public static class Factory implements HostComponentFactory {
+
+		private long replacementDuration;
+		private int chargerSize;
+		
+		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);
+		}
+		
+		
+	
+	}
+}

src/de/tud/kom/p2psim/impl/energy/components/ActuatorEnergyComponent.java

@@ -108,15 +108,16 @@ public class ActuatorEnergyComponent implements EnergyComponent {
 	}
 
 	@Override
-	public void turnOff() {
-		return;
+	public boolean turnOff() {
+		doStateChange(OFF);
+		return true;
 	}
 
 	@Override
 	public boolean turnOn() {
 		if (isAvailable()) {
 			if (currentState.equals(OFF)) {
-				currentState = FLY;				
+				doStateChange(FLY);
 			}			
 			return true;
 		}
@@ -132,7 +133,10 @@ public class ActuatorEnergyComponent implements EnergyComponent {
 	@Override
 	public boolean isOn() {
 		if(!currentState.equals(OFF)) 
-			return true;		
+		{
+			doStateChange(FLY);
+			return true;			
+		}
 		return false;
 	}
 	

src/de/tud/kom/p2psim/impl/energy/components/OneStateEnergyComponent.java

@@ -84,8 +84,9 @@ public class OneStateEnergyComponent implements EnergyComponent {
 	}
 
 	@Override
-	public void turnOff() {
+	public boolean turnOff() {
 		this.on = false;
+		return true;
 	}
 
 	@Override

src/de/tud/kom/p2psim/impl/energy/components/SmartphoneCellularCommunicationEnergyComponent.java

@@ -89,11 +89,12 @@ EnergyCommunicationComponent {
 	}
 
 	@Override
-	public void turnOff() {
+	public boolean turnOff() {
 		if (!currentState.equals(IDLE)) {
 			doStateChange(IDLE);
 		}
 		tailCounter++;
+		return true;
 	}
 
 	@Override

src/de/tud/kom/p2psim/impl/energy/components/SmartphoneCommunicationEnergyComponent.java

@@ -89,10 +89,11 @@ public class SmartphoneCommunicationEnergyComponent implements
 	}
 
 	@Override
-	public void turnOff() {
+	public boolean turnOff() {
 		if (!currentState.equals(OFF)) {
 			doStateChange(OFF);
 		}
+		return true;
 	}
 
 	@Override

src/de/tud/kom/p2psim/impl/energy/components/StateEnergyCommunicationComponent.java

@@ -87,10 +87,11 @@ public class StateEnergyCommunicationComponent implements
 	}
 
 	@Override
-	public void turnOff() {
+	public boolean turnOff() {
 		if (!currentState.equals(OFF)) {
 			doStateChange(OFF);
 		}
+		return true;
 	}
 
 	@Override

src/de/tud/kom/p2psim/impl/energy/components/StatelessCommunicationComponent.java

@@ -111,10 +111,11 @@ public class StatelessCommunicationComponent implements
 	}
 
 	@Override
-	public void turnOff() {
+	public boolean turnOff() {
 		if (!currentState.equals(OFF)) {
 			doStateChange(OFF);
 		}
+		return true;
 	}
 
 	@Override

src/de/tud/kom/p2psim/impl/linklayer/mac/AbstractMacLayer.java

@@ -1011,8 +1011,9 @@ public abstract class AbstractMacLayer implements MacLayer {
 		}
 
 		@Override
-		public void turnOff() {
+		public boolean turnOff() {
 			on = false;
+			return true;
 		}
 
 		public boolean turnOn() {

src/de/tud/kom/p2psim/impl/topology/TopologyFactory.java

@@ -90,6 +90,7 @@ public class TopologyFactory implements HostComponentFactory {
 
 	private boolean alreadyAddedMovement = false;
 	
+	// FIXME this can be inconsistent (both true e.g) and should be refactored
 	private boolean isUAVComponent = false;
 	
 	private boolean isBaseStationComponent = false;

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

@@ -26,16 +26,19 @@ import java.util.Set;
 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.ActuatorEnergyComponent;
+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.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;
@@ -48,12 +51,17 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
  */
 public class UAVTopologyComponent extends AbstractTopologyComponent implements SimUAVLocationActuator {
 	
+	public enum UAVstate {OFFLINE, ACTION, RETURN, CRASHED}
+	
 	private UAVMovementModel movement;
 	
 	private OverlayComponent uavOverlayComponent;
 	
 	private ActuatorEnergyComponent actuator;
-	public BatterySensor battery;
+	private RechargeableBattery battery;
+	
+	private UAVstate state = UAVstate.OFFLINE;
+	private PositionVector baseLocation;
 	
 	/**
 	 * Create a TopologyComponent for the current host.
@@ -64,7 +72,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	 */
 	public UAVTopologyComponent(SimHost host, Topology topology,
 			MovementModel movementModel, PlacementModel placementModel, boolean registerAsInformationProviderInSiS) {
-		super(host, topology, movementModel, placementModel, registerAsInformationProviderInSiS);
+		super(host, topology, movementModel, placementModel, registerAsInformationProviderInSiS);		
 	}
 
 	@Override
@@ -79,11 +87,17 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		}
 		
 		try {
-			battery = getHost().getComponent(BatterySensor.class);
+			battery = (RechargeableBattery) getHost().getComponent(AbstractEnergyModel.class).getBattery();
 				
 		} catch (ComponentNotAvailableException e) {
 			System.err.println("No Battery Component was found!");
 		}
+		
+		baseLocation = position.clone();
+	}
+	
+	public void setState(UAVstate newState) {
+		this.state = newState;
 	}
 			
 	public void setUAVComponent(OverlayComponent uavOverlayComponent) {
@@ -120,14 +134,36 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 
 	@Override
-	public boolean activate() {
-		return actuator.turnOn();
+	public boolean activate() {		
+		if(actuator.turnOn()) {
+			state = UAVstate.ACTION;
+			return true;
+		}
+		else {
+			return false;
+		}
 	}
 
 	@Override
 	public boolean deactivate() {
-		// TODO Auto-generated method stub
-		return false;
+		actuator.turnOff();
+	
+		if(this.position.getAltitude() != 0) {			
+			state = UAVstate.CRASHED;
+			System.err.println("UAV was destroyed due to actuator deactivation during flight");
+			
+			uavOverlayComponent.shutdown();
+				
+			for (SimNetInterface net : getHost().getNetworkComponent()
+					.getSimNetworkInterfaces()) {
+				net.goOffline();
+			}
+		}
+		else {
+			state = UAVstate.OFFLINE;
+		}
+		
+		return true;
 	}
 
 	@Override
@@ -209,13 +245,33 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		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() {
+				cb.reachedLocation();
+				deactivate();
+				connectToBaseCharger();
+			}
+		};
+		
+		movement.setTargetLocation(baseLocation, returnCallback);	
+	}
+		
 	
+	private void connectToBaseCharger() {
+		BaseTopologyComponent base = UAVBasePlacement.base;
+		
+		
+	}
 
 
 }

src/de/tud/kom/p2psim/impl/topology/movement/aerial/SimpleMutlicopterMovement.java

@@ -82,7 +82,7 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 	@Override
 	public void move(long timeBetweenMovementOperations) {
 		
-		if(!route.isEmpty() && topologyComponent.isActive() ) {
+		if(topologyComponent.isActive() && !route.isEmpty()) {
 			PositionVector currentPosition= topologyComponent.getRealPosition();
 			
 			PositionVector targetPosition = route.getFirst();
@@ -90,11 +90,12 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 							
 			// If target point is reached within a 1 meter margin, we remove that point from the list 
 			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < currentSpeed)
-			{
-				locationReached(targetPosition);
-				route.add(route.removeFirst());
-				topologyComponent.updateCurrentLocation(targetPosition, 0);
+			{						
+				route.removeFirst();
+				topologyComponent.updateCurrentLocation(targetPosition, 0.5); // triggers energy consumption for last distance
 				currentSpeed = 0;
+				topologyComponent.getActuatorEnergyComponent().useActuator(0); // now hover
+				locationReached(targetPosition);
 				return;
 			}