Logging for crash. Provide the return location instead the base location

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

@@ -39,6 +39,7 @@ 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;
@@ -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);				
 		}				
@@ -244,6 +249,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	@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));
@@ -275,7 +281,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return state;
 	}
 	
-	private PositionVector getOverBaseLocation() {
+	private PositionVector getBaseReturnLocation() {
 		PositionVector locationOverBase = baseLocation.clone();
 		locationOverBase.setAltitude(10);
 		
@@ -283,14 +289,17 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	}
 	
 	@Override
-	public void returnToBase(double velocity, ReachedLocationCallback cb) {					
+	public void returnToBase(double velocity, ReachedLocationCallback cb) {
+		if(!isActive()) return;
 		movement.setTargetVelocity(velocity);
-		movement.setTargetLocation(getOverBaseLocation(), cb);	
+		movement.setTargetLocation(getBaseReturnLocation(), cb);	
 	}
 
 	@Override
 	public boolean landAtBase(BaseConnectionCallback cb) {
-		if(overBaseLocation()) {
+		if(!isActive()) return false;
+		
+		if(isOverBaseLocation()) {
 			this.setState(UAVstate.RETURN);		
 			
 			ReachedLocationCallback landedCallback = new ReachedLocationCallback() {
@@ -312,13 +321,13 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		
 	@Override
 	public boolean startFromBase(ReachedLocationCallback cb) {
-		if(this.getCurrentLocation().equals(this.getBaseLocation())
+		if(this.getCurrentLocation().equals(baseLocation)
 				&& state == UAVstate.BASE_CONNECTION_READY 
 				&& activate()) {
 			disconnectFromBase();
 						
 			movement.setTargetVelocity(movement.getVerticalAscentMaxVelocity());
-			movement.setTargetLocation(getOverBaseLocation(), cb);
+			movement.setTargetLocation(getBaseReturnLocation(), cb);
 			
 			return true;
 		}
@@ -326,9 +335,9 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		
 	}
 	
-	private boolean overBaseLocation() {
-		if(this.getCurrentLocation().getX() == this.getBaseLocation().getX() 
-				&& this.getCurrentLocation().getY() == this.getBaseLocation().getY()) {
+	private boolean isOverBaseLocation() {
+		if(this.getCurrentLocation().getX() == baseLocation.getX() 
+				&& this.getCurrentLocation().getY() == baseLocation.getY()) {
 			return true;
 		}
 		else return false;
@@ -439,7 +448,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	
 	@Override
 	public PositionVector getBaseLocation() {
-		return baseLocation.clone();
+		return getBaseReturnLocation();
 	}