worldsimulator
Class SimulatorUAV

java.lang.Object
  |
  +--objects.WhatWhere
        |
        +--objects.MovableWhatWhere
              |
              +--worldsimulator.SimulatorUAV

All Implemented Interfaces:

Component, Extensible, Locatable, Movable, Runnable, Serializable, UAV

public class SimulatorUAV

extends MovableWhatWhere

implements UAV, Component, Runnable, Serializable

This class simulates a UAV based on the data pushed to it by the Simulator. It also has events that it fires so that registered listeners can know what it is doing.

Version:

$Revision: 1.31 $

Author:

Dave Jurgens

, Jim Adamich

See Also:

Serialized Form

Field Summary

private static boolean	DEBUG Debug flag.
protected static double	DISTANCE_PER_PERIOD The maximum percentage of the world that the UAV can move in one update cycle.
private objects.Locatable	goal The location where this UAV will attept to go towards.
private Long	id The unique ID used to distinguish this UAV from another UAV.
private util.Queue	imageQueue The queue that will hold the UAVImage objects that the ComponentizedSimulator will push to this class.
private connect.ChannelBundle	managerChannels The channels over which this UAV will communicate with the uav.UAVManager.
private int	num
private connect.ChannelBundle	objectLocater The channels over which this UAV will communicate with the ObjectLocater.
private static long	serialVersionUID
private connect.ChannelBundle	simulatorChannels The channels over which this UAV will communicate with the ComponentizedSimulator.
private util.ConsumerQueue	simulatorQueue The multithreaded queue for reading in objects from the server.
private boolean	started Internal flag to make sure that a UAV is not started twice.
protected static long	STEP_COST The time in milliseconds in which at step method can start and finish its execution.
protected static objects.Dimension	UAV_DIM The default dimensions of the UAV
private static int	uavNum
protected static long	UPDATE_PERIOD The time in milliseconds at which this UCAV will update it's movement.
protected static double	VIEWING_RADIUS The radius in which a UAV can see other objects.

Fields inherited from class objects.WhatWhere

dim, loc

Constructor Summary

SimulatorUAV(connect.CreatesConnection toUAVManager, connect.CreatesConnection toSimulator)
Constructs this object with a random location.

SimulatorUAV(objects.Location loc, connect.CreatesConnection toUAVManager, connect.CreatesConnection toSimulator)

Method Summary

protected boolean	allowMethod(util.MethodRequest request) Returns true due to undefined behavior at this point.
void	connect(connect.CreatesConnection host) Connects to an ObjectLocater and then continuously writes out UAVImage objects from the imageQueue.
private void	debug(String msg)
boolean	equals(Object other) Returns true if the object is a SimulatorUAV and has the same ID value.
connect.CreatesConnection	getConnection() Returns null because no connection is allowed.
objects.Locatable	getGoal()
long	getID() Returns the unique ID for this UAV.
worldsimulator.SimulatorUAV	getUAV() Returns an instance of this.
double	getViewingRadius() Returns the distance on the unit square within which this UAV is able to see other objects.
int	hashCode() Returns the hash code based on its ID.
private void	receiveImage(uav.UAVImage image)
void	run() Calls the periodic step function.
void	setGoal(objects.Locatable loc) Sets the goal toward which this object will move.
void	startPeriodicMovements() Starts the Thread that will periodically move this UAV.
void	startProcessingThread() Processes MethodRequest objects that are sent to this object.
void	step() Contacts the simulator for information regard what the UAV can see.
String	toString()

Methods inherited from class objects.MovableWhatWhere

setLoc, setLoc

Methods inherited from class objects.WhatWhere

bound, getCenter, getDimensions, getDistance, getHeight, getLoc, getWidth, isEastOf, isNorthOf, isSouthOf, isWestOf, overlaps

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface objects.Movable

setLoc, setLoc

Methods inherited from interface objects.Locatable

getDistance, getLoc, isEastOf, isNorthOf, isSouthOf, isWestOf

Field Detail

serialVersionUID

private static final long serialVersionUID

See Also:

Constant Field Values

imageQueue

private final transient util.Queue imageQueue

The queue that will hold the UAVImage objects that the ComponentizedSimulator will push to this class.

managerChannels

private transient connect.ChannelBundle managerChannels

The channels over which this UAV will communicate with the uav.UAVManager.

simulatorChannels

private transient connect.ChannelBundle simulatorChannels

The channels over which this UAV will communicate with the ComponentizedSimulator.

objectLocater

private transient connect.ChannelBundle objectLocater

The channels over which this UAV will communicate with the ObjectLocater.

goal

private objects.Locatable goal

The location where this UAV will attept to go towards.

UAV_DIM

protected static final objects.Dimension UAV_DIM

The default dimensions of the UAV

VIEWING_RADIUS

protected static final double VIEWING_RADIUS

The radius in which a UAV can see other objects. These UAVs need an idea of what they can see. So the Simulator needs to look at where they are and then fill in what they're seeing based on what is within the VIEWING_RADIUS.

See Also:

Constant Field Values

DISTANCE_PER_PERIOD

protected static final double DISTANCE_PER_PERIOD

The maximum percentage of the world that the UAV can move in one update cycle.

See Also:

Constant Field Values

UPDATE_PERIOD

protected static final long UPDATE_PERIOD

The time in milliseconds at which this UCAV will update it's movement.

See Also:

Constant Field Values

STEP_COST

protected static final long STEP_COST

The time in milliseconds in which at step method can start and finish its execution.

See Also:

Constant Field Values

DEBUG

private static final boolean DEBUG

Debug flag.

See Also:

Constant Field Values

id

private final Long id

The unique ID used to distinguish this UAV from another UAV.

started

private boolean started

Internal flag to make sure that a UAV is not started twice.

simulatorQueue

private transient util.ConsumerQueue simulatorQueue

The multithreaded queue for reading in objects from the server.

uavNum

private static int uavNum

num

private final int num

Constructor Detail

SimulatorUAV

public SimulatorUAV(connect.CreatesConnection toUAVManager,
                    connect.CreatesConnection toSimulator)

Constructs this object with a random location.

SimulatorUAV

public SimulatorUAV(objects.Location loc,
                    connect.CreatesConnection toUAVManager,
                    connect.CreatesConnection toSimulator)

Method Detail

receiveImage

private void receiveImage(uav.UAVImage image)

startProcessingThread

public void startProcessingThread()

Processes MethodRequest objects that are sent to this object.

connect

public void connect(connect.CreatesConnection host)

Connects to an ObjectLocater and then continuously writes out UAVImage objects from the imageQueue.

Specified by:

connect in interface Component

getGoal

public objects.Locatable getGoal()

run

public final void run()

Calls the periodic step function.

Specified by:

run in interface Runnable

See Also:

step()

setGoal

public void setGoal(objects.Locatable loc)

Sets the goal toward which this object will move.

step

public void step()

Contacts the simulator for information regard what the UAV can see. This information is then transformed into a UAVImage and enqueued. The processing threads dequeue this information and write it to the ObjectLocater.

startPeriodicMovements

public void startPeriodicMovements()

Starts the Thread that will periodically move this UAV. If in a realtime system, it is not feasible for this object to periodically update its movements, then all connections will be closed.

See Also:

ThreadFactory, WorkerThread, RTWorkerThread, Ceaseable

allowMethod

protected boolean allowMethod(util.MethodRequest request)

Returns true due to undefined behavior at this point.

getConnection

public connect.CreatesConnection getConnection()

Returns null because no connection is allowed.

Specified by:

getConnection in interface Component

getViewingRadius

public double getViewingRadius()

Description copied from interface: UAV

Returns the distance on the unit square within which this UAV is able to see other objects.

Specified by:

getViewingRadius in interface UAV

getID

public long getID()

Description copied from interface: UAV

Returns the unique ID for this UAV.

Specified by:

getID in interface UAV

equals

public boolean equals(Object other)

Returns true if the object is a SimulatorUAV and has the same ID value. Note that this is not completely safe among distrubed systems since two SimulatorUAVs may get the same ID. However the chance of that happening is n * (1 / (2⁶³ -1)), where n is the total number of SimulatorUAVs.

Overrides:

equals in class Object

hashCode

public int hashCode()

Returns the hash code based on its ID.

Overrides:

hashCode in class Object

getUAV

public worldsimulator.SimulatorUAV getUAV()

Returns an instance of this. This method is used by remote compentents such as the ComponentizedSimulator.

toString

public String toString()

Overrides:

toString in class Object

debug

private void debug(String msg)