#include <RotatingMobilityBase.h>

Inheritance diagram for inet::RotatingMobilityBase:

Public Member Functions
virtual EulerAngles	getCurrentAngularPosition () override
	Returns the current angular position at the current simulation time. More...

virtual EulerAngles	getCurrentAngularSpeed () override
	Returns the current angular speed at the current simulation time. More...

Public Member Functions inherited from inet::MobilityBase
virtual double	getMaxSpeed () const override
	Returns the maximum possible speed at any future time. More...

virtual Coord	getConstraintAreaMax () const override
	Returns the current angular acceleration at the current simulation time. More...

virtual Coord	getConstraintAreaMin () const override

Public Member Functions inherited from inet::IMobility
virtual	~IMobility ()

virtual Coord	getCurrentPosition ()=0
	Returns the current position at the current simulation time. More...

virtual Coord	getCurrentSpeed ()=0
	Returns the current speed at the current simulation time. More...

Protected Member Functions
	RotatingMobilityBase ()

virtual	~RotatingMobilityBase ()

virtual void	initialize (int stage) override
	Initializes mobility model parameters. More...

virtual void	initializeOrientation () override
	Initializes the orientation from module parameters. More...

virtual void	handleSelfMessage (cMessage *message) override
	Called upon arrival of a self messages, subclasses must override. More...

void	scheduleUpdate ()
	Schedules the move timer that will update the mobility state. More...

void	rotateAndUpdate ()
	Moves and notifies listeners. More...

virtual void	rotate ()=0
	Moves according to the mobility model to the current simulation time. More...

Protected Member Functions inherited from inet::MobilityBase
	MobilityBase ()

virtual int	numInitStages () const override
	Returns the required number of initialize stages. More...

virtual void	initializePosition ()
	Initializes mobility position. More...

virtual void	setInitialPosition ()
	Initializes the position from the display string or from module parameters. More...

virtual void	checkPosition ()
	Checks whether the position is valid or not. More...

virtual void	handleMessage (cMessage *msg) override
	This modules should only receive self-messages. More...

virtual void	updateVisualRepresentation ()
	Moves the visual representation module's icon to the new position on the screen. More...

virtual void	emitMobilityStateChangedSignal ()
	Emits a signal with the updated mobility state. More...

virtual Coord	getRandomPosition ()
	Returns a new random position satisfying the constraint area. More...

virtual cModule *	findVisualRepresentation ()
	Returns the module that represents the object moved by this mobility module. More...

virtual bool	isOutside ()
	Returns true if the mobility is outside of the constraint area. More...

virtual void	reflectIfOutside (Coord &targetPosition, Coord &speed, double &angle)
	Utility function to reflect the node if it goes outside the constraint area. More...

virtual void	wrapIfOutside (Coord &targetPosition)
	Utility function to wrap the node to the opposite edge (torus) if it goes outside the constraint area. More...

virtual void	placeRandomlyIfOutside (Coord &targetPosition)
	Utility function to place the node randomly if it goes outside the constraint area. More...

virtual void	raiseErrorIfOutside ()
	Utility function to raise an error if the node gets outside the constraint area. More...

virtual void	handleIfOutside (BorderPolicy policy, Coord &targetPosition, Coord &speed, double &angle)
	Invokes one of reflectIfOutside(), wrapIfOutside() and placeRandomlyIfOutside(), depending on the given border policy. More...

Protected Attributes
cMessage *	rotateTimer
	The message used for mobility state changes. More...

simtime_t	updateInterval
	The simulation time interval used to regularly signal mobility state changes. More...

bool	stationary
	A mobility model may decide to become stationary at any time. More...

EulerAngles	lastAngularSpeed
	The last speed that was reported at lastUpdate. More...

simtime_t	lastUpdate
	The simulation time when the mobility state was last updated. More...

simtime_t	nextChange
	The next simulation time when the mobility module needs to update its internal state. More...

Protected Attributes inherited from inet::MobilityBase
cModule *	visualRepresentation
	Pointer to visual representation module, to speed up repeated access. More...

const CanvasProjection *	canvasProjection
	The 2D projection used on the canvas. More...

Coord	constraintAreaMin
	3 dimensional position and size of the constraint area (in meters). More...

Coord	constraintAreaMax

Coord	lastPosition
	The last position that was reported. More...

EulerAngles	lastOrientation
	The last position that was reported. More...

Additional Inherited Members
Public Types inherited from inet::MobilityBase
enum	BorderPolicy { REFLECT, WRAP, PLACERANDOMLY, RAISEERROR }
	Selects how a mobility module should behave if it reaches the edge of the constraint area. More...

Static Public Attributes inherited from inet::IMobility
static simsignal_t	mobilityStateChangedSignal = cComponent::registerSignal("mobilityStateChanged")
	A signal used to publish mobility state changes. More...

Constructor & Destructor Documentation

inet::RotatingMobilityBase::RotatingMobilityBase ( )

protected

 {
     rotateTimer = nullptr;
     updateInterval = 0;
     stationary = false;
     lastUpdate = 0;
     nextChange = -1;
 }

inet::RotatingMobilityBase::~RotatingMobilityBase ( )

protectedvirtual

 {
     cancelAndDelete(rotateTimer);
 }

Member Function Documentation

EulerAngles inet::RotatingMobilityBase::getCurrentAngularPosition ( )

overridevirtual

Returns the current angular position at the current simulation time.

Reimplemented from inet::MobilityBase.

 {
     rotateAndUpdate();
     return lastOrientation;
 }

EulerAngles inet::RotatingMobilityBase::getCurrentAngularSpeed ( )

overridevirtual

Returns the current angular speed at the current simulation time.

Reimplemented from inet::MobilityBase.

 {
     rotateAndUpdate();
     return lastAngularSpeed;
 }

void inet::RotatingMobilityBase::handleSelfMessage ( cMessage * msg )

overrideprotectedvirtual

Called upon arrival of a self messages, subclasses must override.

Implements inet::MobilityBase.

 {
     rotateAndUpdate();
     scheduleUpdate();
 }

void inet::RotatingMobilityBase::initialize ( int stage )

overrideprotectedvirtual

Initializes mobility model parameters.

Reimplemented from inet::MobilityBase.

 {
     MobilityBase::initialize(stage);
 
     EV_TRACE << "initializing RotatingMobilityBase stage " << stage << endl;
     if (stage == INITSTAGE_LOCAL) {
         rotateTimer = new cMessage("rotate");
         updateInterval = par("updateInterval");
     }
 }

void inet::RotatingMobilityBase::initializeOrientation ( )

overrideprotectedvirtual

Initializes the orientation from module parameters.

Reimplemented from inet::MobilityBase.

Reimplemented in inet::LinearRotatingMobilityBase.

 {
     MobilityBase::initializeOrientation();
     lastUpdate = simTime();
     scheduleUpdate();
 }

virtual void inet::RotatingMobilityBase::rotate ( )

protectedpure virtual

Moves according to the mobility model to the current simulation time.

Subclasses must override and update lastPosition, lastSpeed, lastUpdate, nextChange and other state according to the mobility model.

Implemented in inet::LinearRotatingMobilityBase.

Referenced by rotateAndUpdate().

void inet::RotatingMobilityBase::rotateAndUpdate ( )

protected

Moves and notifies listeners.

Referenced by getCurrentAngularPosition(), getCurrentAngularSpeed(), and handleSelfMessage().

 {
     simtime_t now = simTime();
     if (nextChange == now || lastUpdate != now) {
         rotate();
         lastUpdate = simTime();
         emitMobilityStateChangedSignal();
         updateVisualRepresentation();
     }
 }

void inet::RotatingMobilityBase::scheduleUpdate ( )

protected

Schedules the move timer that will update the mobility state.

Referenced by handleSelfMessage(), inet::LinearRotatingMobilityBase::initializeOrientation(), and initializeOrientation().

 {
     cancelEvent(rotateTimer);
     if (!stationary && updateInterval != 0) {
         // periodic update is needed
         simtime_t nextUpdate = simTime() + updateInterval;
         if (nextChange != -1 && nextChange < nextUpdate)
             // next change happens earlier than next update
             scheduleAt(nextChange, rotateTimer);
         else
             // next update happens earlier than next change or there is no change at all
             scheduleAt(nextUpdate, rotateTimer);
     }
     else if (nextChange != -1)
         // no periodic update is needed
         scheduleAt(nextChange, rotateTimer);
 }