Analyzing TODOs and adaptions in Topology Component / Peerfact ANalyuzer Intertface

src/de/tud/kom/p2psim/impl/topology/component/UAVStatisticAnalyzer.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;
+
+public interface UAVStatisticAnalyzer {
+
+}

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

@@ -113,6 +113,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	
 	public void setState(UAVstate newState) {
 		this.state = newState;
+		
+
+		// TODO analyzer
 	}
 			
 	public void setUAVComponent(OverlayComponent uavOverlayComponent) {
@@ -145,9 +148,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 
 	@Override
 	public boolean isActive() {
-		if(actuator.isOn())
+		if(actuator.isOn()) {
 			return true;
-		else {
+		} else {
 			if(state == UAVstate.ACTION || state == UAVstate.RETURN) {
 				this.deactivate();
 			}
@@ -158,7 +161,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	@Override
 	public boolean activate() {		
 		if(actuator.turnOn()) {
-			state = UAVstate.ACTION;
+			this.setState(UAVstate.ACTION);			
 			return true;
 		}
 		else {
@@ -170,18 +173,15 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	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");
-			
+		if(this.position.getAltitude() != 0) {
+			this.setState(UAVstate.CRASHED);		
+						
 			uavOverlayComponent.shutdown();	
 			shutdownCommunication();
-		}
-		else {
-			state = UAVstate.OFFLINE;
-		}
-		
-					
+			
+		} else {
+			this.setState(UAVstate.OFFLINE);				
+		}				
 		
 		return true;
 	}
@@ -267,8 +267,8 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 	
 	@Override
-	public void returnToBase(ReachedLocationCallback cb) {
-		this.state = UAVstate.RETURN;
+	public void returnToBase(ReachedLocationCallback cb) {		
+		this.setState(UAVstate.RETURN);		
 		
 		ReachedLocationCallback returnCallback = new ReachedLocationCallback() {
 			
@@ -284,8 +284,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		
 	public void batteryReplacement(BatteryReplacementCallback cb) {
 		
-		if(state != UAVstate.BASE_CONNECTION)
+		if(state != UAVstate.BASE_CONNECTION) {
 			throw new UnsupportedOperationException("Cannot recharge if not connected to base!");
+		}
 		
 		BaseTopologyComponent base = UAVBasePlacement.base;
 		base.getCharger().charge(this, cb);
@@ -303,8 +304,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		if(cb != null)
 			cb.successfulConnection();
 		
-		this.state = UAVstate.BASE_CONNECTION;
-		
+		this.setState(UAVstate.BASE_CONNECTION);		
 		shutdownCommunication();
 	}
 
@@ -318,7 +318,6 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		if(cb != null)
 			cb.successfulDisconnection();
 		
-		this.state = UAVstate.OFFLINE;
 	}
 
 	private void shutdownCommunication() {

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

@@ -127,8 +127,10 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < currentSpeed)
 			{						
 				target = route.removeFirst();
-				
-				if(route.isEmpty()) {
+								
+				if(route.isEmpty()) {	
+					
+					// go to hover mode					
 					topologyComponent.updateCurrentLocation(target.clone()); 
 					
 					currentSpeed = 0;					
@@ -143,9 +145,16 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 				}
 				else {
 					
-					motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
-					currentSpeed = horizontalMaxVelocity();
-					
+					// get to speed	
+					if(targetedSpeed > 0 && targetedSpeed < horizontalMaxVelocity()) {
+						motor.requestThrust(estimateRequiredThrust(targetedSpeed));
+						currentSpeed = targetedSpeed;
+					}
+					else {
+						motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
+						currentSpeed = horizontalMaxVelocity();
+					}							
+			
 					long timeUntilReachedLocation = (long) (distanceToTargetPosition / currentSpeed) * Time.SECOND;
 					
 					target = route.getFirst();					
@@ -193,11 +202,6 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 				topologyComponent.updateCurrentLocation(newPosition);
 			}
 			
-			
-			
-			
-	
-			
 		}
 	}
 	
@@ -400,6 +404,23 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		
 	}
 	
+	private double estimateRequiredThrust(double velocity) {
+		if(velocity == 0) {
+			return motor.estimatePowerConsumptionWatt(hoverThrustRequired());
+		}
+		else if(velocity > horizontalMaxVelocity()) {
+			return -1;
+		}
+		else if(velocity < minimumHorizontalVelocity()) {
+			return -1;
+		}
+		else {
+			double estimateAngle = estimatePitchAngleForVelocity(velocity);
+			double estimatedDrag = forwardDrag(velocity, estimateAngle);					
+			double requiredThrust = Math.sqrt(hoverThrustRequired() * hoverThrustRequired() + estimatedDrag * estimatedDrag);
+			return requiredThrust;
+		}
+	}
 	
 	/**
 	 * Estimate the pitch angle (angle of attack) required to get the target velocity.