SImple topology component fpr the base station

adapted multicopter movement and UAV topology component

src/de/tud/kom/p2psim/impl/topology/component/BaseTopologyComponent.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.Set;
+
+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.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
+
+public class BaseTopologyComponent extends AbstractTopologyComponent {
+
+	public BaseTopologyComponent(SimHost host, Topology topology,
+			MovementModel movementModel, PlacementModel placementModel,
+			boolean registerAsInformationProviderInSiS) {
+		super(host, topology, movementModel, placementModel,
+				registerAsInformationProviderInSiS);
+		// TODO Auto-generated constructor stub
+	}
+
+	@Override
+	public double getMinMovementSpeed() {
+		throw new UnsupportedOperationException();
+	}
+
+	@Override
+	public double getMaxMovementSpeed() {
+		throw new UnsupportedOperationException();
+	}
+
+	@Override
+	public double getMovementSpeed() {
+		throw new UnsupportedOperationException();
+	}
+
+	@Override
+	public void setMovementSpeed(double speed) {
+		throw new UnsupportedOperationException();
+	}
+
+	@Override
+	public Set<AttractionPoint> getAllAttractionPoints() {
+		throw new UnsupportedOperationException();
+	}
+	
+	@Override
+	public void setTargetAttractionPoint(AttractionPoint targetAttractionPoint) {
+		throw new UnsupportedOperationException();
+	}
+
+	@Override
+	public AttractionPoint getCurrentTargetAttractionPoint() {
+		throw new UnsupportedOperationException();
+	}
+
+
+
+}

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

@@ -20,6 +20,8 @@
 
 package de.tud.kom.p2psim.impl.topology.component;
 
+import java.util.HashSet;
+import java.util.LinkedList;
 import java.util.Set;
 
 import de.tud.kom.p2psim.api.common.SimHost;
@@ -32,11 +34,13 @@ 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.components.ActuatorEnergyComponent;
+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;
 
 /**
  * Topology component used for UAVs.
@@ -85,26 +89,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 			System.err.println("No Battery Component was found!");
 		}
 	}
-		
-	@Override
-	public void setTargetAttractionPoint(AttractionPoint targetAttractionPoint)
-			throws UnsupportedOperationException {
-		// TODO Auto-generated method stub
-		
-	}
-
-	@Override
-	public Set<AttractionPoint> getAllAttractionPoints() {
-		// TODO Auto-generated method stub
-		return null;
-	}
-
-	@Override
-	public AttractionPoint getCurrentTargetAttractionPoint() {
-		// TODO Auto-generated method stub
-		return null;
-	}
-
+			
 	public void setUAVComponent(OverlayComponent uavOverlayComponent) {
 		this.uavOverlayComponent = uavOverlayComponent;
 	}
@@ -150,23 +135,16 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 
 	@Override
-	public Location getCurrentLocation() {
-		// TODO Auto-generated method stub
-		return null;
+	public PositionVector getCurrentLocation() {
+		return position.clone();
 	}
 
 	@Override
 	public double getCurrentBatteryLevel() {
-		// TODO Auto-generated method stub
-		return 0;
-	}
-
-	@Override
-	public void moveToLocation(Location targetLocation) {
-		// TODO Auto-generated method stub
-		
+		return battery.getCurrentPercentage();
 	}
 
+	
 	@Override
 	public UAVMovementModel getUAVMovement() {
 		return movement;
@@ -188,6 +166,55 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		actuator.useActuator(actuatorLoad);
 	}
 
+	@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();
+	}
+
+
+
 	
 
 

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

@@ -24,13 +24,10 @@ import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.Map;
 import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
-import de.tud.kom.p2psim.impl.energy.components.ActuatorEnergyComponent;
-import de.tud.kom.p2psim.impl.simengine.Simulator;
 import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
 import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.Time;
-
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
 
 /**
  * Local movement logic specifically designs the movement for multicopter UAVs. 
@@ -48,8 +45,8 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 	private double preferredCruiseSpeed;
 	private double currentSpeed;
 	
-	private LinkedList<Location> waypoints = new LinkedList<>();
-	private Map<Location, ?> locationCallbacks = new HashMap<>();  // TODO callback interface
+	private LinkedList<PositionVector> route = new LinkedList<>();
+	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new HashMap<>();  // TODO callback interface
 		
 	
 	public SimpleMutlicopterMovement(UAVTopologyComponent topologyComponent, double maxCruiseSpeed, double minCruiseSpeed) {
@@ -57,10 +54,7 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 		this.maxCruiseSpeed = maxCruiseSpeed;
 		this.minCruiseSpeed = minCruiseSpeed;
 		this.preferredCruiseSpeed = this.maxCruiseSpeed;
-				
-		waypoints.add(new PositionVector(100,100,100));
-		waypoints.add(new PositionVector(600,600,15));
-		waypoints.add(new PositionVector(200,500,70));
+					
 	}
 		
 	@Override
@@ -82,21 +76,23 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 	public double getCurrentSpeed() {
 		return currentSpeed;
 	}
+	
+	
 
 	@Override
 	public void move(long timeBetweenMovementOperations) {
 		
-		if(!waypoints.isEmpty() && topologyComponent.isActive() ) {
+		if(!route.isEmpty() && topologyComponent.isActive() ) {
 			PositionVector currentPosition= topologyComponent.getRealPosition();
 			
-			Location targetLocation = waypoints.getFirst();
-			PositionVector targetPosition = new PositionVector(targetLocation);				
+			PositionVector targetPosition = route.getFirst();
 			Double distanceToTargetPosition = targetPosition.distanceTo(currentPosition);
 							
 			// If target point is reached within a 1 meter margin, we remove that point from the list 
-			if(distanceToTargetPosition < 1 || distanceToTargetPosition < currentSpeed)
+			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < currentSpeed)
 			{
-				waypoints.add(waypoints.removeFirst());
+				locationReached(targetPosition);
+				route.add(route.removeFirst());
 				topologyComponent.updateCurrentLocation(targetPosition, 0);
 				currentSpeed = 0;
 				return;
@@ -117,10 +113,65 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 			
 		}
 		
+		//System.out.println(Simulator.getFormattedTime(Simulator.getCurrentTime()) + " | " +  topologyComponent);		
+	}
+
+	/**
+	 * Trigger the callback function, if there is a valid callback 
+	 * 
+	 * @param position
+	 */
+	private void locationReached(PositionVector position) {
+		if(locationCallbacks.containsKey(position)) {
+			locationCallbacks.get(position).reachedLocation();
+		}
+	}
+	
+	@Override
+	public void setTargetLocation(PositionVector target,
+			ReachedLocationCallback reachedLocationCallback) {
+		route.clear();
+		route.add(target);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(target, reachedLocationCallback);
 		
-		// System.out.println(Simulator.getFormattedTime(Simulator.getCurrentTime()) + " | " +  topologyComponent);		
 	}
 
+	@Override
+	public void setTargetLocationRoute(LinkedList<PositionVector> route,
+			ReachedLocationCallback reachedLocationCallback) {
+		this.route.clear();
+		this.route.addAll(route);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(route.getLast(), reachedLocationCallback);
+	}
 
+	@Override
+	public void addTargetLocation(PositionVector target,
+			ReachedLocationCallback reachedLocationCallback) {
+		route.add(target);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(target, reachedLocationCallback);
+	}
+
+	@Override
+	public LinkedList<PositionVector> getTargetLocations() {
+		
+		LinkedList<PositionVector> copy = new LinkedList<>();
+		for (PositionVector pv : route) {
+			copy.add(pv.clone());		
+		}
+		
+		return copy;
+	}
+
+	@Override
+	public void removeTargetLocations() {
+		route.clear();
+		locationCallbacks.clear();
+	}
+
+	
+	
 	
 }