A Discrete-Event Network Simulator
API
waypoint-mobility-model.cc
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1 /* -*- Mode:C++; c-file-style:"gnu"; indent-tabs-mode:nil; -*- */
2 /*
3  * Copyright (c) 2009 Phillip Sitbon
4  *
5  * This program is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License version 2 as
7  * published by the Free Software Foundation;
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program; if not, write to the Free Software
16  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
17  *
18  * Author: Phillip Sitbon <phillip@sitbon.net>
19  */
20 #include <limits>
21 #include "ns3/abort.h"
22 #include "ns3/simulator.h"
23 #include "ns3/uinteger.h"
24 #include "ns3/log.h"
25 #include "ns3/boolean.h"
27 #include "ns3/config.h"
28 #include "ns3/test.h"
29 
30 namespace ns3 {
31 
32 NS_LOG_COMPONENT_DEFINE ("WaypointMobilityModel");
33 
34 NS_OBJECT_ENSURE_REGISTERED (WaypointMobilityModel);
35 
36 
37 TypeId
39 {
40  static TypeId tid = TypeId ("ns3::WaypointMobilityModel")
42  .SetGroupName ("Mobility")
43  .AddConstructor<WaypointMobilityModel> ()
44  .AddAttribute ("NextWaypoint", "The next waypoint used to determine position.",
46  WaypointValue (),
49  .AddAttribute ("WaypointsLeft", "The number of waypoints remaining.",
51  UintegerValue (0),
53  MakeUintegerChecker<uint32_t> ())
54  .AddAttribute ("LazyNotify", "Only call NotifyCourseChange when position is calculated.",
55  BooleanValue (false),
58  .AddAttribute ("InitialPositionIsWaypoint", "Calling SetPosition with no waypoints creates a waypoint.",
59  BooleanValue (false),
62  ;
63  return tid;
64 }
65 
66 
68  : m_first (true),
69  m_lazyNotify (false),
70  m_initialPositionIsWaypoint (false)
71 {
72 }
74 {
75 }
76 void
78 {
80 }
81 void
83 {
84  if ( m_first )
85  {
86  m_first = false;
87  m_current = m_next = waypoint;
88  }
89  else
90  {
91  NS_ABORT_MSG_IF ( !m_waypoints.empty () && (m_waypoints.back ().time >= waypoint.time),
92  "Waypoints must be added in ascending time order");
93  m_waypoints.push_back (waypoint);
94  }
95 
96  if ( !m_lazyNotify )
97  {
99  }
100 }
101 Waypoint
103 {
104  Update ();
105  return m_next;
106 }
107 uint32_t
109 {
110  Update ();
111  return m_waypoints.size ();
112 }
113 void
115 {
116  const Time now = Simulator::Now ();
117  bool newWaypoint = false;
118 
119  if ( now < m_current.time )
120  {
121  return;
122  }
123 
124  while ( now >= m_next.time )
125  {
126  if ( m_waypoints.empty () )
127  {
128  if ( m_current.time <= m_next.time )
129  {
130  /*
131  Set m_next.time = -1 to make sure this doesn't happen more than once.
132  The comparison here still needs to be '<=' in the case of mobility with one waypoint.
133  */
134  m_next.time = Seconds (-1.0);
136  m_current.time = now;
137  m_velocity = Vector (0,0,0);
139  }
140  else
141  {
142  m_current.time = now;
143  }
144 
145  return;
146  }
147 
148  m_current = m_next;
149  m_next = m_waypoints.front ();
150  m_waypoints.pop_front ();
151  newWaypoint = true;
152 
153  const double t_span = (m_next.time - m_current.time).GetSeconds ();
154  NS_ASSERT (t_span > 0);
155  m_velocity.x = (m_next.position.x - m_current.position.x) / t_span;
156  m_velocity.y = (m_next.position.y - m_current.position.y) / t_span;
157  m_velocity.z = (m_next.position.z - m_current.position.z) / t_span;
158  }
159 
160  if ( now > m_current.time ) // Won't ever be less, but may be equal
161  {
162  const double t_diff = (now - m_current.time).GetSeconds ();
163  m_current.position.x += m_velocity.x * t_diff;
164  m_current.position.y += m_velocity.y * t_diff;
165  m_current.position.z += m_velocity.z * t_diff;
166  m_current.time = now;
167  }
168 
169  if ( newWaypoint )
170  {
172  }
173 }
174 Vector
176 {
177  Update ();
178  return m_current.position;
179 }
180 void
181 WaypointMobilityModel::DoSetPosition (const Vector &position)
182 {
183  const Time now = Simulator::Now ();
184 
186  {
187  AddWaypoint (Waypoint (now, position));
188  return;
189  }
190 
191  Update ();
192  m_current.time = std::max (now, m_next.time);
193  m_current.position = position;
194  m_velocity = Vector (0,0,0);
195 
196  if ( !m_first && (now >= m_current.time) )
197  {
198  // This is only a course change if the node is actually moving
200  }
201 }
202 void
204 {
205  m_waypoints.clear ();
206  m_current.time = Time(std::numeric_limits<uint64_t>::infinity());
208  m_first = true;
209 }
210 Vector
212 {
213  return m_velocity;
214 }
215 
216 } // namespace ns3
217 
#define max(a, b)
Definition: 80211b.c:43
AttributeValue implementation for Boolean.
Definition: boolean.h:37
Keep track of the current position and velocity of an object.
void NotifyCourseChange(void) const
Must be invoked by subclasses when the course of the position changes to notify course change listene...
virtual void DoDispose(void)
Destructor implementation.
Definition: object.cc:346
static EventId Schedule(Time const &delay, FUNC f, Ts &&... args)
Schedule an event to expire after delay.
Definition: simulator.h:556
static Time Now(void)
Return the current simulation virtual time.
Definition: simulator.cc:195
Simulation virtual time values and global simulation resolution.
Definition: nstime.h:103
a unique identifier for an interface.
Definition: type-id.h:59
@ ATTR_GET
The attribute can be read.
Definition: type-id.h:64
TypeId SetParent(TypeId tid)
Set the parent TypeId.
Definition: type-id.cc:922
Hold an unsigned integer type.
Definition: uinteger.h:44
a (time, location) pair.
Definition: waypoint.h:36
Time time
The waypoint time.
Definition: waypoint.h:53
Vector position
The position of the waypoint.
Definition: waypoint.h:57
Waypoint-based mobility model.
Vector m_velocity
The current velocity vector.
bool m_initialPositionIsWaypoint
If true, calling SetPosition with no waypoints creates a waypoint.
virtual void DoSetPosition(const Vector &position)
Sets a new position for the node
virtual void Update(void) const
Update the underlying state corresponding to the stored waypoints.
static TypeId GetTypeId(void)
Register this type with the TypeId system.
virtual Vector DoGetPosition(void) const
Get current position.
virtual void DoDispose(void)
The dispose method.
WaypointMobilityModel()
Create a path with no waypoints at location (0,0,0).
void EndMobility(void)
Clear any existing waypoints and set the current waypoint time to infinity.
Waypoint GetNextWaypoint(void) const
Get the waypoint that this object is traveling towards.
Waypoint m_current
The ns3::Waypoint currently being used.
bool m_first
This variable is set to true if there are no waypoints in the std::deque.
std::deque< Waypoint > m_waypoints
The double ended queue containing the ns3::Waypoint objects.
bool m_lazyNotify
If true, course change updates are only notified when position is calculated.
uint32_t WaypointsLeft(void) const
Get the number of waypoints left for this object, excluding the next one.
Waypoint m_next
The next ns3::Waypoint in the deque.
void AddWaypoint(const Waypoint &waypoint)
virtual Vector DoGetVelocity(void) const
Returns the current velocity of a node.
AttributeValue implementation for Waypoint.
Definition: waypoint.h:60
#define NS_ASSERT(condition)
At runtime, in debugging builds, if this condition is not true, the program prints the source file,...
Definition: assert.h:67
Ptr< const AttributeChecker > MakeBooleanChecker(void)
Definition: boolean.cc:121
Ptr< const AttributeAccessor > MakeBooleanAccessor(T1 a1)
Create an AttributeAccessor for a class data member, or a lone class get functor or set method.
Definition: boolean.h:85
Ptr< const AttributeAccessor > MakeUintegerAccessor(T1 a1)
Create an AttributeAccessor for a class data member, or a lone class get functor or set method.
Definition: uinteger.h:45
Ptr< const AttributeAccessor > MakeWaypointAccessor(T1 a1)
Create an AttributeAccessor for a class data member, or a lone class get functor or set method.
Definition: waypoint.h:60
Ptr< const AttributeChecker > MakeWaypointChecker(void)
Definition: waypoint.cc:24
#define NS_ABORT_MSG_IF(cond, msg)
Abnormal program termination if a condition is true, with a message.
Definition: abort.h:108
#define NS_LOG_COMPONENT_DEFINE(name)
Define a Log component with a specific name.
Definition: log.h:205
#define NS_OBJECT_ENSURE_REGISTERED(type)
Register an Object subclass with the TypeId system.
Definition: object-base.h:45
Time Seconds(double value)
Construct a Time in the indicated unit.
Definition: nstime.h:1244
void(* Time)(Time oldValue, Time newValue)
TracedValue callback signature for Time.
Definition: nstime.h:793
Every class exported by the ns3 library is enclosed in the ns3 namespace.