Removed the doubled state machine of UAVCOntroller and UAVTopologyComponent

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

@@ -22,13 +22,11 @@ package de.tud.kom.p2psim.api.topology.component;
 
 import java.util.LinkedList;
 
-import de.tud.kom.p2psim.impl.topology.component.BaseTopologyComponent;
 import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent.UAVstate;
-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.sensor.location.LocationSensor;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.Actuator;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BaseConnectionCallback;
-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;
 
@@ -40,7 +38,7 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
  * @author Julian Zobel
  *
  */
-public interface ControllableLocationActuator extends Actuator {
+public interface ControllableLocationActuator extends Actuator, LocationSensor {
 
 	public boolean isActive();
 
@@ -73,6 +71,8 @@ public interface ControllableLocationActuator extends Actuator {
 	public void setTargetLocationRoute(LinkedList<PositionVector> route, ReachedLocationCallback cb);
 
 	public void removeAllTargetLocations();
+
+	public void batteryReplacement(BatteryReplacementCallback cb);
 		
 	public void returnToBase(double velocity, ReachedLocationCallback cb);
 
@@ -90,5 +90,7 @@ public interface ControllableLocationActuator extends Actuator {
 	
 	public double estimatePowerConsumptionWatt(double velocity);
 	
-	public double estimateFlightDistance(double velocity, double batterylevel, double batterythreshold);
+	public double estimateFlightDistance(double velocity, double batterylevel, double batterythreshold);	
+
+	public double getOptimalMovementSpeed();
 }

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

@@ -57,7 +57,7 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.communication.UAVToBaseIn
  */
 public class UAVTopologyComponent extends AbstractTopologyComponent implements SimUAVLocationActuator {
 	
-	public enum UAVstate {OFFLINE, BASE_CONNECTION, BASE_CONNECTION_READY, ACTION, RETURN, CRASHED}
+	public enum UAVstate {OFFLINE, BASE_CONNECTION, BASE_CONNECTION_READY, ACTION, RETURN, LANDING, CRASHED}
 	
 	private UAVMovementModel movement;
 	
@@ -290,7 +290,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	
 	@Override
 	public void returnToBase(double velocity, ReachedLocationCallback cb) {
-		if(!isActive()) return;
+		if(!isActive()) 
+			return;
+		this.setState(UAVstate.RETURN);
 		movement.setTargetVelocity(velocity);
 		movement.setTargetLocation(getBaseReturnLocation(), cb);	
 	}
@@ -300,7 +302,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		if(!isActive()) return false;
 		
 		if(isOverBaseLocation()) {
-			this.setState(UAVstate.RETURN);		
+			this.setState(UAVstate.LANDING);		
 			
 			ReachedLocationCallback landedCallback = new ReachedLocationCallback() {
 				
@@ -344,7 +346,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 	
 		
-	private void batteryReplacement(BatteryReplacementCallback cb) {
+	public void batteryReplacement(BatteryReplacementCallback cb) {
 		
 		if(state != UAVstate.BASE_CONNECTION) {
 			throw new UnsupportedOperationException("Cannot recharge if not connected to base!");
@@ -357,8 +359,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 
 	public void setControllerInterface(UAVToBaseInterface controllerInterface) {
-		this.controllerInterface = controllerInterface;			
-		this.controllerInterface.setDeploymentArea(topology.getWorldDimensions());
+		this.controllerInterface = controllerInterface;				
 		connectToBase(null);
 	}
 
@@ -446,6 +447,10 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return distance;
 	}
 	
+	public double getOptimalMovementSpeed() {
+		return movement.estimateOptimalSpeed();
+	}
+	
 	@Override
 	public PositionVector getBaseLocation() {
 		return getBaseReturnLocation();