Merge remote-tracking branch 'origin/lab/20-21-acs-6-2' into jz/int-dmaa

# Conflicts:
#	src/de/tud/kom/p2psim/api/topology/component/ControllableLocationActuator.java
#	src/de/tud/kom/p2psim/impl/topology/component/UAVTopologyComponent.java

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

@@ -22,10 +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.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.BaseConnectedCallback;
+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;
@@ -38,13 +40,15 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
  * @author Julian Zobel
  *
  */
-public interface ControllableLocationActuator extends Actuator, LocationSensor {
+public interface ControllableLocationActuator extends Actuator {
 
 	public boolean isActive();
 
 	public boolean activate();
 
 	public boolean deactivate();
+	
+	public UAVstate getState();
 
 	public PositionVector getCurrentLocation();
 	
@@ -69,16 +73,14 @@ public interface ControllableLocationActuator extends Actuator, LocationSensor {
 	public void setTargetLocationRoute(LinkedList<PositionVector> route, ReachedLocationCallback cb);
 
 	public void removeAllTargetLocations();
-	
-	public void batteryReplacement(BatteryReplacementCallback cb);
-	
-	public void returnToBase(ReachedLocationCallback cb);
+		
+	public void returnToBase(double velocity, ReachedLocationCallback cb);
 
-	public void connectToBase(BaseConnectedCallback cb);
-
-	public void disconnectFromBase(BaseDisconnectedCallback cb);
+	public boolean landAtBase(BaseConnectionCallback cb);
+	
+	public boolean startFromBase(ReachedLocationCallback cb);
 	
-	public void setMovementSpeed(double speed);
+	public void setMovementSpeed(double velocity);
 	
 	public double getMinMovementSpeed();
 
@@ -89,6 +91,4 @@ public interface ControllableLocationActuator extends Actuator, LocationSensor {
 	public double estimatePowerConsumptionWatt(double velocity);
 	
 	public double estimateFlightDistance(double velocity, double batterylevel, double batterythreshold);
-	
-	public double estimateOptimalSpeed();
 }

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

@@ -58,7 +58,7 @@ import de.tudarmstadt.maki.simonstrator.api.component.network.NetworkComponent.N
  * Abstract implementation of the topology component interface, to support basic 
  * functionalities to all topology components.
  * 
- * @author Julian Zobel
+ * @author Julian Zobel, others before
  * @version 1.0, 6 Sep 2018
  */
 public abstract class AbstractTopologyComponent implements TopologyComponent {

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

@@ -39,25 +39,25 @@ import de.tud.kom.p2psim.impl.energy.models.AbstractEnergyModel;
 import de.tud.kom.p2psim.impl.topology.placement.UAVBasePlacement;
 import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.Monitor;
+import de.tudarmstadt.maki.simonstrator.api.Monitor.Level;
 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.IAttractionPoint;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
-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.BaseConnectionCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.BatteryReplacementCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.communication.UAVToBaseInterface;
 
 /**
- * Topology component extension prividing a broader topology functionality for UAVs
+ * Topology component extension providing a broader topology functionality for UAVs
  * 
  * @author Julian Zobel
  * @version 1.0, 06.09.2018
  */
 public class UAVTopologyComponent extends AbstractTopologyComponent implements SimUAVLocationActuator {
 	
-	public enum UAVstate {OFFLINE, BASE_CONNECTION, ACTION, RETURN, CRASHED}
+	public enum UAVstate {OFFLINE, BASE_CONNECTION, BASE_CONNECTION_READY, ACTION, RETURN, CRASHED}
 	
 	private UAVMovementModel movement;
 	
@@ -83,7 +83,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	public UAVTopologyComponent(SimHost host, Topology topology,
 			MovementModel movementModel, PlacementModel placementModel, boolean registerAsInformationProviderInSiS) {
 		super(host, topology, movementModel, placementModel, registerAsInformationProviderInSiS);		
-		direction = new PositionVector(0,-1,0);
+		direction = new PositionVector(0,-1,0);				
 	}
 
 	@Override
@@ -106,10 +106,11 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		}
 		
 		// retrieve base location
-		baseLocation = UAVBasePlacement.base.position.clone();				
+		baseLocation = UAVBasePlacement.base.position.clone();	
+		
 	}
 	
-	public void setState(UAVstate newState) {
+	private void setState(UAVstate newState) {
 		this.state = newState;
 		
 		// TODO analyzer
@@ -174,11 +175,15 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		actuator.turnOff();
 				
 		if(this.position.getAltitude() != 0) {
-			this.setState(UAVstate.CRASHED);		
-						
+			this.setState(UAVstate.CRASHED);
+			PositionVector l = getCurrentLocation();
+			l.setAltitude(0);
+			this.updateCurrentLocation(l);
 			uavOverlayComponent.shutdown();	
 			shutdownCommunication();
 			
+			Monitor.log(this.getClass(), Level.WARN, "[UAVTopologyComponent] UAV " + getUAVComponent().getHost().getId() + " crashed at " + getRealPosition(), "");
+			
 		} else {
 			this.setState(UAVstate.OFFLINE);				
 		}				
@@ -228,18 +233,23 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	@Override
 	public void setTargetLocation(PositionVector targetLocation,
 			ReachedLocationCallback cb) {
+		if(!isActive()) return;
+		
 		movement.setTargetLocation(new PositionVector(targetLocation), cb);		
 	}
 
 	@Override
 	public void addTargetLocation(PositionVector targetLocation,
 			ReachedLocationCallback cb) {
+		if(!isActive()) return;
+		
 		movement.addTargetLocation(new PositionVector(targetLocation), cb);
 	}
 
 	@Override
 	public void setTargetLocationRoute(LinkedList<PositionVector> route,
 			ReachedLocationCallback cb) {
+		if(!isActive()) return;
 		LinkedList<PositionVector> positionvectorlist = new LinkedList<>();
 		for (Location loc : route) {
 			positionvectorlist.add(new PositionVector(loc));
@@ -271,59 +281,130 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return state;
 	}
 	
+	private PositionVector getBaseReturnLocation() {
+		PositionVector locationOverBase = baseLocation.clone();
+		locationOverBase.setAltitude(10);
+		
+		return locationOverBase;
+	}
+	
 	@Override
-	public void returnToBase(ReachedLocationCallback cb) {		
-		this.setState(UAVstate.RETURN);		
+	public void returnToBase(double velocity, ReachedLocationCallback cb) {
+		if(!isActive()) return;
+		movement.setTargetVelocity(velocity);
+		movement.setTargetLocation(getBaseReturnLocation(), cb);	
+	}
+
+	@Override
+	public boolean landAtBase(BaseConnectionCallback cb) {
+		if(!isActive()) return false;
 		
-		ReachedLocationCallback returnCallback = new ReachedLocationCallback() {
+		if(isOverBaseLocation()) {
+			this.setState(UAVstate.RETURN);		
 			
-			@Override
-			public void reachedLocation() {
-				deactivate();				
-				cb.reachedLocation();				
-			}
-		};
+			ReachedLocationCallback landedCallback = new ReachedLocationCallback() {
+				
+				@Override
+				public void reachedLocation() {
+					deactivate();
+					connectToBase(cb);				
+				}
+			};
+			
+			movement.setTargetVelocity(5);
+			movement.setTargetLocation(baseLocation, landedCallback);
+			
+			return true;
+		}
+		else return false;
+	}	
+		
+	@Override
+	public boolean startFromBase(ReachedLocationCallback cb) {
+		if(this.getCurrentLocation().equals(baseLocation)
+				&& state == UAVstate.BASE_CONNECTION_READY 
+				&& activate()) {
+			disconnectFromBase();
+						
+			movement.setTargetVelocity(movement.getVerticalAscentMaxVelocity());
+			movement.setTargetLocation(getBaseReturnLocation(), cb);
+			
+			return true;
+		}
+		else return false;
 		
-		movement.setTargetVelocity(movement.getHorizontalMaxVelocity());
-		movement.setTargetLocation(baseLocation, returnCallback);	
 	}
+	
+	private boolean isOverBaseLocation() {
+		if(this.getCurrentLocation().getX() == baseLocation.getX() 
+				&& this.getCurrentLocation().getY() == baseLocation.getY()) {
+			return true;
+		}
+		else return false;
+	}
+	
 		
-	public void batteryReplacement(BatteryReplacementCallback cb) {
+	private void batteryReplacement(BatteryReplacementCallback cb) {
 		
 		if(state != UAVstate.BASE_CONNECTION) {
 			throw new UnsupportedOperationException("Cannot recharge if not connected to base!");
 		}
 		
+		this.setState(UAVstate.OFFLINE);
+		
 		BaseTopologyComponent base = UAVBasePlacement.base;
 		base.getCharger().charge(this, cb);
 	}
 
 	public void setControllerInterface(UAVToBaseInterface controllerInterface) {
-		this.controllerInterface = controllerInterface;				
+		this.controllerInterface = controllerInterface;			
+		this.controllerInterface.setDeploymentArea(topology.getWorldDimensions());
+		connectToBase(null);
 	}
 
-	@Override
-	public void connectToBase(BaseConnectedCallback cb) {
+	/**
+	 * Connect to the base and initiate a recharge
+	 * 
+	 * @param cb
+	 */
+	private void connectToBase(BaseConnectionCallback cb) {
 		BaseTopologyComponent base = UAVBasePlacement.base;
 		base.connectUAVToBase(controllerInterface);	
 		
-		if(cb != null)
-			cb.successfulConnection();
-		
+		if(cb != null) {			
+			cb.successfulConnection();		
+		}
+				
 		this.setState(UAVstate.BASE_CONNECTION);		
 		shutdownCommunication();
+		
+		// recharge
+		if(battery.getCurrentPercentage() <= 75) {
+			batteryReplacement(new BatteryReplacementCallback() {
+
+				@Override
+				public void rechargeComplete() {
+					setState(UAVstate.BASE_CONNECTION_READY);
+					if(cb != null) {
+						cb.readyForTakeoff();
+					}
+				}
+			});
+		}
+		else {
+			this.setState(UAVstate.BASE_CONNECTION_READY);		
+			if(cb != null) {
+				cb.readyForTakeoff();
+			}
+		}
 	}
 
-	@Override
-	public void disconnectFromBase(BaseDisconnectedCallback cb) {
+	
+	private void disconnectFromBase() {
 		startCommunication();
 		
 		BaseTopologyComponent base = UAVBasePlacement.base;
-		base.disconnectUAVFromBase(controllerInterface);
-		
-		if(cb != null)
-			cb.successfulDisconnection();
-		
+		base.disconnectUAVFromBase(controllerInterface);		
 	}
 
 	private void shutdownCommunication() {
@@ -365,13 +446,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return distance;
 	}
 	
-	public double estimateOptimalSpeed() {
-		return movement.estimateOptimalSpeed();
-	}
-	
 	@Override
 	public PositionVector getBaseLocation() {
-		return baseLocation.clone();
+		return getBaseReturnLocation();
 	}
 
 	
@@ -386,5 +463,21 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		}
 		
 	}
-	
+
+
+	@Override
+	public UAVstate getState() {
+		return state;
+	}
+
+	@Override
+	public void updateCurrentLocation(Location location) {		
+		super.updateCurrentLocation(location);
+		
+		if(!actuator.isOn() && (state == UAVstate.ACTION || state == UAVstate.RETURN)) {
+			this.deactivate();			
+		}
+		
+	}
+
 }