Bugfixes and additions.

UAV Topology and UAV Movement.

src/de/tud/kom/p2psim/api/topology/movement/UAVLocationActuator.java

@@ -25,4 +25,5 @@ package de.tud.kom.p2psim.api.topology.movement;
 public interface UAVLocationActuator extends SimLocationActuator {
 	
 	public UAVMovementModel getUAVMovement();
+	public void setUAVMovement(UAVMovementModel uavMovement);
 }

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

@@ -37,7 +37,6 @@ import de.tudarmstadt.maki.simonstrator.api.common.graph.IEdge;
 import de.tudarmstadt.maki.simonstrator.api.common.graph.INode;
 import de.tudarmstadt.maki.simonstrator.api.common.graph.INodeID;
 import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableException;
-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.component.sensor.location.LocationListener;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.LocationRequest;
@@ -53,6 +52,13 @@ import de.tudarmstadt.maki.simonstrator.api.component.sis.util.SiSTopologyProvid
 import de.tudarmstadt.maki.simonstrator.api.component.topology.TopologyID;
 import de.tudarmstadt.maki.simonstrator.api.component.network.NetworkComponent.NetInterfaceName;
 
+/**
+ * Abstract implementation of the topology component interface, to support basic 
+ * functionalities to all topology components.
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 6 Sep 2018
+ */
 public abstract class AbstractTopologyComponent implements TopologyComponent {
 	
 	protected SimHost host;	
@@ -67,6 +73,7 @@ public abstract class AbstractTopologyComponent implements TopologyComponent {
 	private Map<LocationListener, LocationRequestImpl> openRequests = new LinkedHashMap<LocationListener, LocationRequestImpl>();
 	private List<LocationListener> listeners = new LinkedList<>();
 	
+	//
 	public AbstractTopologyComponent(SimHost host, Topology topology, MovementModel movementModel, PlacementModel placementModel, boolean registerAsInformationProviderInSiS) {
 		this.topology = topology;
 		this.host = host;
@@ -203,7 +210,7 @@ public abstract class AbstractTopologyComponent implements TopologyComponent {
 	}
 	
 	@Override
-	public Location getLastLocation() {
+	public Location getLastLocation() { 
 		/*
 		 * As we want to mimic real world behavior, the current position
 		 * snapshot is cloned to prevent information propagation due to Java.

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

@@ -39,18 +39,18 @@ import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
  * 
  * CHANGELOG
  * 
- * - 14/08/08 Bjoern Richerzhagen: removed a number of unused, uncommented, and
+ * - 14.08.2008 Bjoern Richerzhagen: removed a number of unused, uncommented, and
  * dubious methods from this class. Fixed the replace-bug (discovered by Nils)
  * with little overhead. Implemented assertions with assertions - previous
  * method introduces unwanted overhead outside of development settings. Removed
  * the dubious equals-tolerance, which violates the hashCode contract. Seriously
  * guys...
  * 
- * - 05/09/18 Julian Zobel: Added location support for third dimension (altitude)
+ * - 05.09.2018 Julian Zobel: Added location support for third dimension (altitude)
  * and removed a bug in the moveStep() function.
  * 
- * @author Bjoern Richerzhagen
- * @version 1.0, 04/25/2011
+ * @author Bjoern Richerzhagen, Julian Zobel
+ * @version 1.1, 06.09.2018
  */
 public class PositionVector implements Location {
 
@@ -61,7 +61,7 @@ public class PositionVector implements Location {
 	 * transforms can be performed in the getter-methods.
 	 */
 	private double[] values;
-	
+	 
 	private double accuracy = -1;
 
 	/**
@@ -78,10 +78,11 @@ public class PositionVector implements Location {
 	}
 
 	/**
-	 * Clone a PositionVector
+	 * Constructors for position vectors, also usable for cloning.
 	 * 
 	 * @param vec
 	 */
+	
 	public PositionVector(PositionVector vec) {
 		this(vec.getDimensions());
 		for (int i = 0; i < vec.getDimensions(); i++) {
@@ -115,7 +116,7 @@ public class PositionVector implements Location {
 		
 		this.setLatitudeOrY(location.getLatitudeOrY());
 		this.setLongitudeOrX(location.getLongitudeOrX());
-	}
+	}	
 
 	/**
 	 * Convenience Constructor, initializes a Vector with values.length
@@ -130,6 +131,19 @@ public class PositionVector implements Location {
 		}
 	}
 	
+	@Override
+	public PositionVector clone() {
+		/*
+		 * If you extend Position Vector, make sure to overwrite this method!
+		 */
+		return new PositionVector(this); // use clone constructor
+	}
+	
+	
+	/*
+	 * 
+	 * 
+	 */
 	@Override
 	public void setLatitudeOrY(double latitudeOrY)
 			throws UnsupportedOperationException {
@@ -361,22 +375,10 @@ public class PositionVector implements Location {
 	}
 
 	@Override
-	public String toString() {
-				
-		return "PV [" + Arrays.toString(values) + "]";
-			
+	public String toString() {				
+		return "PV " + Arrays.toString(values) + "";			
 	}
 	
-
-
-	@Override
-	public PositionVector clone() {
-		/*
-		 * If you extend Position Vector, make sure to overwrite this method!
-		 */
-		return new PositionVector(this); // use clone constructor
-	}
-
 	@Override
 	public int hashCode() {
 		final int prime = 31;

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

@@ -51,8 +51,8 @@ import de.tudarmstadt.maki.simonstrator.api.util.XMLConfigurableConstructor;
  * This factory is configured with one or more {@link TopologyView}s if the
  * {@link LinkLayer} is used.
  * 
- * @author Bjoern Richerzhagen
- * @version 1.0, 01.03.2012
+ * @author Bjoern Richerzhagen, Julian Zobel
+ * @version 1.1, 06.09.2018
  */
 public class TopologyFactory implements HostComponentFactory {
 
@@ -85,13 +85,15 @@ public class TopologyFactory implements HostComponentFactory {
 	private boolean alreadyCreatedInstances = false;
 
 	private boolean alreadyAddedMovement = false;
+	
+	private boolean isUAVComponent = false;
 
 	/**
 	 * 
 	 */
 	@XMLConfigurableConstructor({ "worldX", "worldY" })
 	public TopologyFactory(double worldX, double worldY) {
-		topo = new DefaultTopology(new PositionVector(worldX, worldY));
+		topo = new DefaultTopology(new PositionVector(worldX, worldY));		
 		// Make the topology component available globally
 		Binder.registerComponent(topo);
 	}
@@ -126,9 +128,20 @@ public class TopologyFactory implements HostComponentFactory {
 		 * Create a TopologyComponent and register it with the Topology and its
 		 * movement model.
 		 */
-		TopologyComponent toCo = new DefaultTopologyComponent(host, topo,
-				movement, placement, registerAsInformationProviderInSiS);
-
+		TopologyComponent toCo;
+		
+		/*
+		 * Choose the UAV topology component, if this host is part of the UAV group!
+		 * 
+		 */
+		if(isUAVComponent) {			
+			toCo = new UAVTopologyComponent(host, topo, movement, placement, registerAsInformationProviderInSiS);
+		}
+		else {
+			toCo = new DefaultTopologyComponent(host, topo, movement, placement, registerAsInformationProviderInSiS);
+		}
+	
+		
 		/*
 		 * Need to register TopoViews as movement listeners, as they might need
 		 * to update topologies after each movement.
@@ -271,4 +284,8 @@ public class TopologyFactory implements HostComponentFactory {
 	public ObstacleModel getObstacleModel() {
 		return obstacleModel;
 	}
+	
+	public void setIsUAVComponent(boolean uav) {
+		this.isUAVComponent = uav;		
+	}
 }

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

@@ -28,13 +28,21 @@ import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.movement.UAVLocationActuator;
 import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
 import de.tud.kom.p2psim.api.topology.placement.PlacementModel;
-import de.tud.kom.p2psim.impl.topology.movement.aerial.MutlicopterMovement;
+import de.tudarmstadt.maki.simonstrator.api.component.overlay.OverlayComponent;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
 
+/**
+ * Topology component used for UAVs.
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 06.09.2018
+ */
 public class UAVTopologyComponent extends AbstractTopologyComponent implements UAVLocationActuator {
 	
 	UAVMovementModel movement;
 	
+	OverlayComponent uavOverlayComponent;
+	
 	/**
 	 * Create a TopologyComponent for the current host.
 	 *
@@ -50,26 +58,22 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements U
 	
 	@Override
 	public double getMinMovementSpeed() {
-		// TODO Auto-generated method stub
-		return 0;
+		return movement.getMinCruiseSpeed();
 	}
 
 	@Override
 	public double getMaxMovementSpeed() {
-		// TODO Auto-generated method stub
-		return 0;
+		return movement.getMaxCruiseSpeed();
 	}
 
 	@Override
 	public double getMovementSpeed() {
-		// TODO Auto-generated method stub
-		return 0;
+		return movement.getCurrentSpeed();
 	}
 
 	@Override
 	public void setMovementSpeed(double speed) {
-		// TODO Auto-generated method stub
-		
+		movement.setPreferredCruiseSpeed(speed);
 	}
 
 	@Override
@@ -98,6 +102,23 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements U
 	}
 
 
+	@Override
+	public void setUAVMovement(UAVMovementModel uavMovement) {
+		this.movement = uavMovement;
+	}
+	
+	public void setUAVComponent(OverlayComponent uavOverlayComponent) {
+		this.uavOverlayComponent = uavOverlayComponent;
+	}
+	
+	public OverlayComponent getUAVComponent() {
+		return uavOverlayComponent;
+	}
+	
+	
+	
+
+
 	
 	
 

src/de/tud/kom/p2psim/impl/topology/movement/AbstractMovementModel.java

@@ -20,18 +20,12 @@
 
 package de.tud.kom.p2psim.impl.topology.movement;
 
-import java.nio.channels.UnsupportedAddressTypeException;
 import java.util.LinkedHashSet;
-import java.util.LinkedList;
-import java.util.List;
 import java.util.Random;
 import java.util.Set;
 
 import de.tud.kom.p2psim.api.topology.Topology;
-import de.tud.kom.p2psim.api.topology.TopologyComponent;
-import de.tud.kom.p2psim.api.topology.movement.MovementListener;
 import de.tud.kom.p2psim.api.topology.movement.MovementModel;
-import de.tud.kom.p2psim.api.topology.movement.MovementSupported;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.api.topology.placement.PlacementModel;
 import de.tud.kom.p2psim.impl.topology.PositionVector;
@@ -41,8 +35,6 @@ import de.tudarmstadt.maki.simonstrator.api.Event;
 import de.tudarmstadt.maki.simonstrator.api.EventHandler;
 import de.tudarmstadt.maki.simonstrator.api.Randoms;
 import de.tudarmstadt.maki.simonstrator.api.Time;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
 
 /**
  * Unified movement Models. Can be used inside an Application (virtual Position)
@@ -98,7 +90,7 @@ public abstract class AbstractMovementModel implements MovementModel {
 	public void addComponent(SimLocationActuator component) {
 		if (worldDimensions == null) {
 			worldDimensions = Binder.getComponentOrNull(Topology.class)
-					.getWorldDimensions();
+					.getWorldDimensions();			
 		}
 		components.add(component);
 	}
@@ -156,7 +148,9 @@ public abstract class AbstractMovementModel implements MovementModel {
 	 * @return
 	 */
 	protected boolean isValidPosition(PositionVector vector) {
+			
 		for (int i = 0; i < vector.getDimensions(); i++) {
+			
 			if (vector.getEntry(i) > getWorldDimension(i)
 					|| vector.getEntry(i) < 0) {
 				return false;

src/de/tud/kom/p2psim/impl/topology/movement/AbstractWaypointMovementModel.java

@@ -25,7 +25,6 @@ import java.util.Random;
 import java.util.Set;
 import java.util.WeakHashMap;
 
-import de.tud.kom.p2psim.api.topology.TopologyComponent;
 import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.api.topology.movement.local.LocalMovementStrategy;
@@ -41,8 +40,6 @@ import de.tudarmstadt.maki.simonstrator.api.Event;
 import de.tudarmstadt.maki.simonstrator.api.EventHandler;
 import de.tudarmstadt.maki.simonstrator.api.Monitor;
 import de.tudarmstadt.maki.simonstrator.api.Monitor.Level;
-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.Randoms;
 import de.tudarmstadt.maki.simonstrator.api.Time;
 

src/de/tud/kom/p2psim/impl/topology/movement/RandomMovement.java

@@ -28,8 +28,11 @@ import de.tud.kom.p2psim.impl.topology.PositionVector;
 /**
  * Mainly for testing: random movement
  * 
- * @author Bjoern Richerzhagen, adapted from ido.MoveModels
- * @version 1.0, mm/dd/2011
+ * Update (JZ): Added position validation, such that the newly calculated positions do not 
+ * exceed the simulation boundaries.
+ * 
+ * @author Bjoern Richerzhagen, adapted from ido.MoveModels; Julian Zobel
+ * @version 1.1, 09.2018
  */
 public class RandomMovement extends AbstractMovementModel {
 
@@ -39,16 +42,22 @@ public class RandomMovement extends AbstractMovementModel {
 
 	@Override
 	public void move() {
+		
 		Set<SimLocationActuator> comps = getComponents();
-		for (SimLocationActuator comp : comps) {
+		for (SimLocationActuator comp : comps) {			
 			PositionVector pos = comp.getRealPosition();
-			updatePosition(comp, pos.plus(getRandomDeltaWithinSpeed(pos, comp.getMinMovementSpeed(),
-					comp.getMaxMovementSpeed())));
+			
+			PositionVector newPos;
+			
+			do {
+				newPos = pos.plus(getRandomDeltaWithinSpeed(pos, comp.getMinMovementSpeed(),
+					comp.getMaxMovementSpeed()));
+			}
+			while(!isValidPosition(newPos));
+				
+			updatePosition(comp, newPos);
 		}
 	}
 
 
-
-
-
 }

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

@@ -25,12 +25,15 @@ import java.util.LinkedList;
 import java.util.List;
 import java.util.Map;
 import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
+import de.tud.kom.p2psim.impl.simengine.Simulator;
+import de.tud.kom.p2psim.impl.topology.PositionVector;
 import de.tud.kom.p2psim.impl.topology.UAVTopologyComponent;
+import de.tudarmstadt.maki.simonstrator.api.common.graph.INodeID;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
 
 public class MutlicopterMovement implements UAVMovementModel  {
 
-	UAVTopologyComponent topologyComponent;
+	private UAVTopologyComponent topologyComponent;
 	
 	private final double maxCruiseSpeed;
 	private final double minCruiseSpeed;
@@ -41,7 +44,8 @@ public class MutlicopterMovement implements UAVMovementModel  {
 	private Map<Location, ?> locationCallbacks = new HashMap<>();  // TODO callback interface
 	
 	
-	public MutlicopterMovement(double maxCruiseSpeed, double minCruiseSpeed) {
+	public MutlicopterMovement(UAVTopologyComponent topologyComponent, double maxCruiseSpeed, double minCruiseSpeed) {
+		this.topologyComponent = topologyComponent;
 		this.maxCruiseSpeed = maxCruiseSpeed;
 		this.minCruiseSpeed = minCruiseSpeed;
 	}
@@ -69,7 +73,9 @@ public class MutlicopterMovement implements UAVMovementModel  {
 
 	@Override
 	public void move(long timeBetweenMovementOperations) {
-		// TODO Auto-generated method stub
+		
+		System.out.println(Simulator.getFormattedTime(Simulator.getCurrentTime()) + " | " +  topologyComponent);
+		
 		
 	}
 

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

@@ -26,14 +26,25 @@ import java.util.List;
 import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.api.topology.movement.UAVLocationActuator;
+import de.tudarmstadt.maki.simonstrator.api.Event;
 import de.tudarmstadt.maki.simonstrator.api.EventHandler;
 import de.tudarmstadt.maki.simonstrator.api.Time;
 
+/**
+ * Movement model container for all UAVs. This primarily triggers the local movement models of the respective UAVs. 
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 6 Sep 2018
+ */
 public class UAVMovement implements MovementModel, EventHandler {
 
 	private List<UAVLocationActuator> actuators = new LinkedList<>();
 	protected long timeBetweenMoveOperation = Time.SECOND;
 	
+	public UAVMovement() {
+		Event.scheduleImmediately(this, null, 0);
+	}
+	
 	@Override
 	public void addComponent(SimLocationActuator actuator) {
 		if(!actuators.contains(actuator) && actuator instanceof UAVLocationActuator)
@@ -42,7 +53,7 @@ public class UAVMovement implements MovementModel, EventHandler {
 
 	@Override
 	public void placeComponent(SimLocationActuator actuator) {
-		throw new UnsupportedOperationException();
+		//
 	}
 
 	@Override
@@ -59,6 +70,8 @@ public class UAVMovement implements MovementModel, EventHandler {
 		for (UAVLocationActuator actuator : actuators) {
 			actuator.getUAVMovement().move(timeBetweenMoveOperation);
 		}
+		
+		Event.scheduleWithDelay(timeBetweenMoveOperation, this, null, 1);
 	}