Basiuc Strategy with Callbacks

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

@@ -22,7 +22,12 @@ 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.placement.UAVBasePlacement;
 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.ReachedLocationCallback;
 
 /**
@@ -33,7 +38,7 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
  * @author Julian Zobel
  *
  */
-public interface ControllableLocationActuator {
+public interface ControllableLocationActuator extends Actuator {
 
 	public boolean isActive();
 
@@ -56,5 +61,8 @@ public interface ControllableLocationActuator {
 	public void removeAllTargetLocations();
 	
 	public void returnToBase(ReachedLocationCallback cb);
-	
+
+	public void connectToBase(BaseConnectedCallback cb);
+
+	public void disconnectFromBase(BaseDisconnectedCallback cb);
 }

src/de/tud/kom/p2psim/impl/energy/components/ActuatorEnergyComponent.java

@@ -77,8 +77,7 @@ public class ActuatorEnergyComponent implements EnergyComponent {
 	@Override
 	public double calculateEnergyConsumation(EnergyState state, long timeInState) {
 		if(state.equals(FLY)) {
-			double consumationDelta = MAX.getEnergyConsumption() - FLY.getEnergyConsumption();
-			
+			double consumationDelta = MAX.getEnergyConsumption() - FLY.getEnergyConsumption();			
 			double consumation = FLY.getEnergyConsumption() + consumationDelta * actuatorLoad;
 			return consumation * ( (double) timeInState / (double) Time.SECOND);
 		}

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

@@ -30,13 +30,15 @@ import de.tud.kom.p2psim.impl.energy.UAVReplacementCharger;
 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.location.AttractionPoint;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.BaseToUAVInterface;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.UAVToBaseInterface;
 
 
 public class BaseTopologyComponent extends AbstractTopologyComponent {
 
 	private OverlayComponent baseOverlayComponent;
 	private UAVReplacementCharger charger;
-	
+	private BaseToUAVInterface controllerInterface;
 	
 	public BaseTopologyComponent(SimHost host, Topology topology,
 			MovementModel movementModel, PlacementModel placementModel,
@@ -104,4 +106,15 @@ public class BaseTopologyComponent extends AbstractTopologyComponent {
 		return charger;
 	}
 	
+	public void setControllerInterface(BaseToUAVInterface controllerInterface) {
+		this.controllerInterface = controllerInterface;
+	}
+	
+	public void connectUAVToBase(UAVToBaseInterface uav) {
+		this.controllerInterface.connectUAVtoBase(uav);
+	}
+	
+	public void disconnectUAVFromBase(UAVToBaseInterface uav) {
+		this.controllerInterface.disconnectUAV(uav);
+	}
 }

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

@@ -41,7 +41,9 @@ import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableExcep
 import de.tudarmstadt.maki.simonstrator.api.component.overlay.OverlayComponent;
 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.BatteryReplacementCallback;
+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.ReachedLocationCallback;
 
 /**
@@ -61,9 +63,11 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	private ActuatorEnergyComponent actuator;
 	private RechargeableBattery battery;
 	
-	private UAVstate state = UAVstate.OFFLINE;
+	private UAVstate state;
 	private PositionVector baseLocation;
 	
+	private UAVToBaseInterface controllerInterface;
+	
 	/**
 	 * Create a TopologyComponent for the current host.
 	 *
@@ -94,7 +98,8 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 			System.err.println("No Battery Component was found!");
 		}
 		
-		baseLocation = position.clone();
+		// retrieve base location
+		baseLocation = UAVBasePlacement.base.position.clone();		
 	}
 	
 	public void setState(UAVstate newState) {
@@ -196,12 +201,6 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return actuator;
 	}
 
-
-	public void updateCurrentLocation(Location location, double actuatorLoad) {
-		super.updateCurrentLocation(location);
-		actuator.useActuator(actuatorLoad);
-	}
-
 	@Override
 	public Set<AttractionPoint> getAllAttractionPoints() {
 		throw new UnsupportedOperationException();
@@ -261,7 +260,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 			
 			@Override
 			public void reachedLocation() {
-				deactivate();
+				deactivate();				
 				cb.reachedLocation();				
 			}
 		};
@@ -269,18 +268,36 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		movement.setTargetLocation(baseLocation, returnCallback);	
 	}
 		
-	
-	protected void connectToBaseAndRecharge() {
+	protected void batteryReplacement() {
 		BaseTopologyComponent base = UAVBasePlacement.base;
-			
-		base.getCharger().charge(this, new BatteryReplacementCallback() {
-			
-			@Override
-			public void rechargeComplete() {
-				System.out.println("Recharge completed!");
-			}
-		});
+		base.getCharger().charge(this, null);
 	}
 
+	public void setControllerInterface(UAVToBaseInterface controllerInterface) {
+		this.controllerInterface = controllerInterface;
+		UAVBasePlacement.base.connectUAVToBase(this.controllerInterface);		
+		state =  UAVstate.OFFLINE;
+	}
+
+	@Override
+	public void connectToBase(BaseConnectedCallback cb) {
+		BaseTopologyComponent base = UAVBasePlacement.base;
+		base.connectUAVToBase(controllerInterface);	
+		
+		if(cb != null)
+			cb.successfulConnection();
+	}
+
+	@Override
+	public void disconnectFromBase(BaseDisconnectedCallback cb) {
+		BaseTopologyComponent base = UAVBasePlacement.base;
+		base.disconnectUAVFromBase(controllerInterface);
+		
+		if(cb != null)
+			cb.successfulDisconnection();
+	}
+
+	
+
 
 }

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

@@ -23,6 +23,9 @@ package de.tud.kom.p2psim.impl.topology.movement.aerial;
 import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.Map;
+
+import org.joda.time.tz.ZoneInfoProvider;
+
 import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
 import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
 import de.tud.kom.p2psim.impl.topology.util.PositionVector;
@@ -92,7 +95,8 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < currentSpeed)
 			{						
 				route.removeFirst();
-				topologyComponent.updateCurrentLocation(targetPosition, 0.5); // triggers energy consumption for last distance
+				topologyComponent.getActuatorEnergyComponent().useActuator(0.5);
+				topologyComponent.updateCurrentLocation(targetPosition); // triggers energy consumption for last distance
 				currentSpeed = 0;
 				topologyComponent.getActuatorEnergyComponent().useActuator(0); // now hover
 				locationReached(targetPosition);
@@ -111,7 +115,8 @@ public class SimpleMutlicopterMovement implements UAVMovementModel  {
 			PositionVector newPosition = new PositionVector(currentPosition);
 			newPosition.add(direction);		
 			
-			topologyComponent.updateCurrentLocation(newPosition, 1);
+			topologyComponent.getActuatorEnergyComponent().useActuator(1);
+			topologyComponent.updateCurrentLocation(newPosition);
 			
 		}
 		

src/de/tud/kom/p2psim/impl/topology/movement/modularosm/attraction/IAttractionGenerator.java

@@ -25,15 +25,13 @@ import java.util.List;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
 
 /**
- * This is the interface for the generator of the {@link AttractionPoint}s. It
- * gets the set number of AttractionPoints back. This mean, it will be generate
- * them and set the Position of them.
+ * Interface for {@link AttractionPoint} generators. Will generate a given amount of attraction points.
  * 
- * @author Christoph Muenker
- * @version 1.0, 02.07.2013
+ * @author Christoph Muenker, Julian Zobel
+ * @version 1.1, 09 2018
  */
 public interface IAttractionGenerator {
-
+	
 	public List<AttractionPoint> getAttractionPoints();
 	
 }

src/de/tud/kom/p2psim/impl/topology/movement/modularosm/attraction/RandomAttractionGenerator.java

@@ -20,9 +20,9 @@
 
 package de.tud.kom.p2psim.impl.topology.movement.modularosm.attraction;
 
+import java.util.LinkedList;
 import java.util.List;
 import java.util.Random;
-import java.util.Vector;
 
 import de.tud.kom.p2psim.api.scenario.ConfigurationException;
 import de.tud.kom.p2psim.api.topology.Topology;
@@ -35,11 +35,11 @@ import de.tudarmstadt.maki.simonstrator.api.util.XMLConfigurableConstructor;
 /**
  * Implementation of the interface {@link AttractionGenerator}.
  * 
- * It generates the given number of {@link AttractionPoint}s and sets the
- * Position randomly.
+ * Generates the given number of {@link AttractionPoint}s and sets the
+ * position randomly within the world dimensions.
  * 
- * @author Christoph Muenker
- * @version 1.0, 02.07.2013
+ * @author Christoph Muenker, Julian Zobel
+ * @version 1.1, 09 2018
  */
 public class RandomAttractionGenerator implements IAttractionGenerator {
 
@@ -50,6 +50,8 @@ public class RandomAttractionGenerator implements IAttractionGenerator {
 	private int numberOfAttractionPoints;
 
 	private boolean numberOfAPsSet = false;
+	
+	private List<AttractionPoint> attractionPoints;
 
 	@XMLConfigurableConstructor({"numberOfAttractionPoints"})
 	public RandomAttractionGenerator(int numberOfAttractionPoints) {
@@ -62,6 +64,8 @@ public class RandomAttractionGenerator implements IAttractionGenerator {
 		}
 		this.numberOfAPsSet = true;
 		this.numberOfAttractionPoints = numberOfAttractionPoints;
+		this.attractionPoints = new LinkedList<AttractionPoint>();
+		createAttractionPoints();
 	}
 
 	@Override
@@ -71,13 +75,22 @@ public class RandomAttractionGenerator implements IAttractionGenerator {
 					"Number of Attraction Points is not set in RandomAttractionGenerator!");
 		}
 
-		List<AttractionPoint> result = new Vector<AttractionPoint>();
+		if(attractionPoints.isEmpty())
+			createAttractionPoints();
+		
+		return attractionPoints;
+	}
+	
+	private void createAttractionPoints() {
+		List<AttractionPoint> result = new LinkedList<AttractionPoint>();
 		for (int i = 0; i < numberOfAttractionPoints; i++) {
 			PositionVector posVec = createPosVec();
-			AttractionPoint aPoint = new AttractionPointImpl("AP"+i,posVec);
+			AttractionPoint aPoint = new AttractionPointImpl("AP"+i, posVec);
 			result.add(aPoint);
 		}
-		return result;
+		
+		attractionPoints.clear();
+		attractionPoints.addAll(result);
 	}
 
 	private PositionVector createPosVec() {