Public battery replacement request function with callback

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

@@ -28,6 +28,7 @@ import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.Actuator;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseConnectedCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseDisconnectedCallback;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BatteryReplacementCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
 
 /**
@@ -60,6 +61,8 @@ public interface ControllableLocationActuator extends Actuator {
 
 	public void removeAllTargetLocations();
 	
+	public void batteryReplacement(BatteryReplacementCallback cb);
+	
 	public void returnToBase(ReachedLocationCallback cb);
 
 	public void connectToBase(BaseConnectedCallback cb);

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

@@ -44,6 +44,7 @@ import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.UAVToBaseInterface;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseConnectedCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseDisconnectedCallback;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BatteryReplacementCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
 
 /**
@@ -54,7 +55,7 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
  */
 public class UAVTopologyComponent extends AbstractTopologyComponent implements SimUAVLocationActuator {
 	
-	public enum UAVstate {OFFLINE, ACTION, RETURN, CRASHED}
+	public enum UAVstate {OFFLINE, BASE_CONNECTION, ACTION, RETURN, CRASHED}
 	
 	private UAVMovementModel movement;
 	
@@ -268,15 +269,19 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		movement.setTargetLocation(baseLocation, returnCallback);	
 	}
 		
-	protected void batteryReplacement() {
+	public void batteryReplacement(BatteryReplacementCallback cb) {
+		
+		if(state != UAVstate.BASE_CONNECTION)
+			throw new UnsupportedOperationException("Cannot recharge if not connected to base!");
+		
 		BaseTopologyComponent base = UAVBasePlacement.base;
-		base.getCharger().charge(this, null);
+		base.getCharger().charge(this, cb);
 	}
 
 	public void setControllerInterface(UAVToBaseInterface controllerInterface) {
 		this.controllerInterface = controllerInterface;
-		UAVBasePlacement.base.connectUAVToBase(this.controllerInterface);		
-		state =  UAVstate.OFFLINE;
+		this.connectToBase(null);
+		
 	}
 
 	@Override
@@ -286,6 +291,8 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		
 		if(cb != null)
 			cb.successfulConnection();
+		
+		this.state = UAVstate.BASE_CONNECTION;
 	}
 
 	@Override
@@ -295,6 +302,8 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		
 		if(cb != null)
 			cb.successfulDisconnection();
+		
+		this.state = UAVstate.OFFLINE;
 	}